diff --git a/phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-privileged--d6lwld9.json b/phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-privileged--d6lwld9.json new file mode 100644 index 0000000000000000000000000000000000000000..911ddd60ce8aed674a4c2adee46825ba0907ad8d --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-privileged--ghalddb.json b/phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-privileged--ghalddb.json new file mode 100644 index 0000000000000000000000000000000000000000..6ff53e43db441bc1bd40271578ec1be8f79a9123 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-privileged--iysiobk.json b/phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-privileged--iysiobk.json new file mode 100644 index 0000000000000000000000000000000000000000..7aac6b18cbe7c97e622645bae686291d2bb72402 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-privileged--v8kdtog.json b/phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-privileged--v8kdtog.json new file mode 100644 index 0000000000000000000000000000000000000000..c1c1c8d500963436c512518b57cfe69b5056ce3f --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-privileged--vermrqj.json b/phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-privileged--vermrqj.json new file mode 100644 index 0000000000000000000000000000000000000000..1814e5ee356ff1ddc2d443741ac6d603ca0f5280 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-standard--dtk9zkn.json b/phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-standard--dtk9zkn.json new file mode 100644 index 0000000000000000000000000000000000000000..b1b763957d6d0b57dc7f4fce8957c047de0ecbc4 --- /dev/null +++ b/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」缺乏力或穿透证据，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" + } + } +} diff --git a/phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-standard--fxywtq6.json b/phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-standard--fxywtq6.json new file mode 100644 index 0000000000000000000000000000000000000000..91816124f71bf58e5c844550a11256e378aae3ca --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-standard--guys9pq.json b/phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-standard--guys9pq.json new file mode 100644 index 0000000000000000000000000000000000000000..076f51ce9eeeed5fdddcee03030e0454026658ae --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-standard--jrohbwq.json b/phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-standard--jrohbwq.json new file mode 100644 index 0000000000000000000000000000000000000000..29a640d248abeaa3847900be79cbae3e99e39439 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-standard--r23fwn6.json b/phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-standard--r23fwn6.json new file mode 100644 index 0000000000000000000000000000000000000000..8c5ef70ac2ead27470debd4545c7a29a741c8328 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-standard--tt7uvu3.json b/phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-standard--tt7uvu3.json new file mode 100644 index 0000000000000000000000000000000000000000..77b9c08943bf956029c4fee686ee53048274f231 --- /dev/null +++ b/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，六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" + } + } +} diff --git a/phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-standard--v8m3jm3.json b/phase2/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-standard--v8m3jm3.json new file mode 100644 index 0000000000000000000000000000000000000000..58a649fd5b936c5828e2ef4fcde534f3cf8083fb --- /dev/null +++ b/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/擦", + "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" + } + } +} diff --git a/phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-privileged--8x6s4dh.json b/phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-privileged--8x6s4dh.json new file mode 100644 index 0000000000000000000000000000000000000000..5cba89b5e589236e5426b8b28f688d5cbe9757d5 --- /dev/null +++ b/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 条件内，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力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" + } + } +} diff --git a/phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-privileged--g5ydpzx.json b/phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-privileged--g5ydpzx.json new file mode 100644 index 0000000000000000000000000000000000000000..b037ba48e12379111593a179147f6d77ffdc9e22 --- /dev/null +++ b/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；区间端取视频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另一条也短暂回折，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" + } + } +} diff --git a/phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-privileged--mxppkno.json b/phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-privileged--mxppkno.json new file mode 100644 index 0000000000000000000000000000000000000000..6c18957cba2cf9d33e2e93fa26427a4f9b8857cc --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-privileged--yrbukhw.json b/phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-privileged--yrbukhw.json new file mode 100644 index 0000000000000000000000000000000000000000..40b6db64fb21b270f063d3acfa4958f94b14c795 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-standard--6hzmmh7.json b/phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-standard--6hzmmh7.json new file mode 100644 index 0000000000000000000000000000000000000000..477bbe3d0d374b78ddfde827f1a01d87507a4029 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-standard--6ybzseu.json b/phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-standard--6ybzseu.json new file mode 100644 index 0000000000000000000000000000000000000000..c93158296df0a3878f430fef23bfb70e3074c795 --- /dev/null +++ b/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架，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" + } + } +} diff --git a/phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-standard--aqckxaa.json b/phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-standard--aqckxaa.json new file mode 100644 index 0000000000000000000000000000000000000000..ceeeb51e0f52646692c9a877607bc549af67fbd8 --- /dev/null +++ b/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，支腿杆端既未被带起也未绕铰链转开；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" + } + } +} diff --git a/phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-standard--e3yzjdc.json b/phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-standard--e3yzjdc.json new file mode 100644 index 0000000000000000000000000000000000000000..2201e9653ed8ef350d25660a12117ba263792662 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-standard--fqukl5r.json b/phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-standard--fqukl5r.json new file mode 100644 index 0000000000000000000000000000000000000000..8a36121a249472514f34d195d7520e7cbe537163 --- /dev/null +++ b/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": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 418, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "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, + "resumes": 0, + "sim_error": 0, + "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 架子一直倒放，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" + } + } +} diff --git a/phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-standard--ihkvlr3.json b/phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-standard--ihkvlr3.json new file mode 100644 index 0000000000000000000000000000000000000000..8f951068a35a07aef0129c99577cc96858d909d2 --- /dev/null +++ b/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 降至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" + } + } +} diff --git a/phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-standard--j6utvar.json b/phase2/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-standard--j6utvar.json new file mode 100644 index 0000000000000000000000000000000000000000..ea20814dccf6f60c5382039743e38c96e53d3796 --- /dev/null +++ b/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°；视频 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" + } + } +} diff --git a/phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-privileged--fsxfxer.json b/phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-privileged--fsxfxer.json new file mode 100644 index 0000000000000000000000000000000000000000..f86e7495f3738622b5a29d24043869c49eecff70 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-privileged--gshwsyh.json b/phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-privileged--gshwsyh.json new file mode 100644 index 0000000000000000000000000000000000000000..570299dd17d2760ea95b4354c74ef95cb09d9e6e --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-privileged--iyj3xmy.json b/phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-privileged--iyj3xmy.json new file mode 100644 index 0000000000000000000000000000000000000000..b70812da52d5c77813fee6e53ef7e36cbfd9395b --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-privileged--jmc46hl.json b/phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-privileged--jmc46hl.json new file mode 100644 index 0000000000000000000000000000000000000000..f25855f332e8b49bf7d96c2cf3efe1664d32845c --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-privileged--yhtr7dk.json b/phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-privileged--yhtr7dk.json new file mode 100644 index 0000000000000000000000000000000000000000..38909e020e2817f3a95982193b4a345d729c4712 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-privileged--z8sexho.json b/phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-privileged--z8sexho.json new file mode 100644 index 0000000000000000000000000000000000000000..ed7044e5f8f02fd048d54b0bc20459efeafe0ef2 --- /dev/null +++ b/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的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" + } + } +} diff --git a/phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-standard--2pnah2w.json b/phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-standard--2pnah2w.json new file mode 100644 index 0000000000000000000000000000000000000000..13d751f02b888e0db41d9834dea69e2aab1953bd --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-standard--cbv2wgw.json b/phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-standard--cbv2wgw.json new file mode 100644 index 0000000000000000000000000000000000000000..2b17fa786f85da22bff744e6294706ec24ccc791 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-standard--e8kvyun.json b/phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-standard--e8kvyun.json new file mode 100644 index 0000000000000000000000000000000000000000..50f6966e38c329e3c6669de9b9847256738babcf --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-standard--gkluoag.json b/phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-standard--gkluoag.json new file mode 100644 index 0000000000000000000000000000000000000000..c950033fbce3b54cdcf7f97338bcef838a562744 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-standard--st6qhgb.json b/phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-standard--st6qhgb.json new file mode 100644 index 0000000000000000000000000000000000000000..63b4ea35d2969f954d2eb0c32530cefa221d1e77 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-standard--wusbio4.json b/phase2/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-standard--wusbio4.json new file mode 100644 index 0000000000000000000000000000000000000000..8a39ed0494eb7c9c99956567a34d74900dc95d62 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-privileged--owaavbg.json b/phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-privileged--owaavbg.json new file mode 100644 index 0000000000000000000000000000000000000000..96a7af77fd3ea5fe0c67544a131d61c76ad743a9 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-privileged--owrfzps.json b/phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-privileged--owrfzps.json new file mode 100644 index 0000000000000000000000000000000000000000..77c8e01c6054c952110d91ae873a79ca6d7b9cf3 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-privileged--umqmbvn.json b/phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-privileged--umqmbvn.json new file mode 100644 index 0000000000000000000000000000000000000000..4a9974c05027b8d147852c74ac5b2fc3279a907f --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-privileged--wtilqms.json b/phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-privileged--wtilqms.json new file mode 100644 index 0000000000000000000000000000000000000000..3eaba25b3221fa28c3befc80ed50daf1170d8575 --- /dev/null +++ b/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 的交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" + } + } +} diff --git a/phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-standard--etdxdtm.json b/phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-standard--etdxdtm.json new file mode 100644 index 0000000000000000000000000000000000000000..670a79cc5e8a5003d1b60fe5f2532fa99b13d967 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-standard--hetayu6.json b/phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-standard--hetayu6.json new file mode 100644 index 0000000000000000000000000000000000000000..3076489b4f2b34837821e3752e049e3d84c8efbf --- /dev/null +++ b/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指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" + } + } +} diff --git a/phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-standard--jdqozyq.json b/phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-standard--jdqozyq.json new file mode 100644 index 0000000000000000000000000000000000000000..4a217e8a25e7714a8385c2697d76b40e69bc442b --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-standard--meh8gne.json b/phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-standard--meh8gne.json new file mode 100644 index 0000000000000000000000000000000000000000..3f98a15fba5342891a784441fee93653461c3d55 --- /dev/null +++ b/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": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 182, + "control_steps_total": 1969, + "elapsed_s": 1847.439, + "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": 89, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 20, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 89, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 17.082, + "peak_processes": 6, + "peak_disk_gb": 0.3, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/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，笔只小幅前移，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" + } + } +} diff --git a/phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-standard--yk9mraz.json b/phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-standard--yk9mraz.json new file mode 100644 index 0000000000000000000000000000000000000000..6feba13163ed4c3f924d1a17242f6c993df57515 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-standard--yv8kztb.json b/phase2/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-standard--yv8kztb.json new file mode 100644 index 0000000000000000000000000000000000000000..5f503a4239b0201bfd8b961d8ad0d197cb00413f --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-privileged--kfnzwhr.json b/phase2/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-privileged--kfnzwhr.json new file mode 100644 index 0000000000000000000000000000000000000000..68a262be937bdbf7c88bb5b136b03d791a8bbc63 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-privileged--mfwparj.json b/phase2/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-privileged--mfwparj.json new file mode 100644 index 0000000000000000000000000000000000000000..27605df4b130c0eeaa470db9dad2057bcd4ae8e0 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-privileged--snb7mtf.json b/phase2/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-privileged--snb7mtf.json new file mode 100644 index 0000000000000000000000000000000000000000..a097a6afedaf1fa130b95c8c4d5e9c1909fd4108 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-standard--c9euzdz.json b/phase2/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-standard--c9euzdz.json new file mode 100644 index 0000000000000000000000000000000000000000..94e7906f2942fd2894d99afc24f0337d447f5258 --- /dev/null +++ b/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", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "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": { + "run_json_sha256": "81db0686539dc0afb9fbf2dec495b077c982b5c7446252de5333c7e1b70addc2", + "video_sha256": "209ddab145e4f8bf65ab4b10a22156eb7a89e92f139d7af6f07c11b21c905f39", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-standard--jpsw6qm.json b/phase2/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-standard--jpsw6qm.json new file mode 100644 index 0000000000000000000000000000000000000000..2c62b943a4fe7817df51bdc055aa51356bd99952 --- /dev/null +++ b/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": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 80, + "control_steps_total": 2478, + "elapsed_s": 3269.926, + "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": 888, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 12, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 888, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.308, + "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 的末段拨动只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" + } + } +} diff --git a/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-privileged--avqxfuf.json b/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-privileged--avqxfuf.json new file mode 100644 index 0000000000000000000000000000000000000000..109c87fda9d4d0aad8895f14cebeb7bf5b76678e --- /dev/null +++ b/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-privileged--avqxfuf.json @@ -0,0 +1,303 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-essential-two-object-i00-privileged--avqxfuf", + "taskKey": "dexhand/essential_two_object", + "dag_sha256": "531229b39d851ab1d907e1264ab1da4b275b30aec7af561984af7640acd7c097", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 371, + "sim_steps": 371, + "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": 0.873, + "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-two-object-i00-privileged--avqxfuf/replay.mp4", + "duration_s": 7.48, + "fps": 25.0, + "frames": 187, + "sha256": "99f29d161ec51aa560828e5b82b16d401bf13ee7a464ea0cf5799859e7fbc13d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "a_quarter_turned": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00、1.00、2.00、3.00、4.00、5.00、6.00 s 显示右手在接盘上方保持腕部位置，手指逐步改变弯曲姿态，核桃操作区被掌指包围；核桃外壳仅局部露出，不能直接量出A的完整旋转角度。" + }, + { + "t": 7.4, + "log_step": 60, + "text_zh": "观察：视频 6.40–7.44 s 密集帧中手指停在较展开的姿态，核桃仍在手边，接盘为空。log step 60 的最终生成与保存回合输出 saved (371, 28)、success False、reason stage_guard:0:a_hand_contacts、steps 371；评分器 reward 同报 n_actions=371、sim_steps=371、stages_completed=0、deterministic=1。这是最终交付回合的第一阶段失握反馈，不是从总奖励为零反推未完成。" + }, + { + "t": 7.44, + "log_step": 60, + "text_zh": "推断：最终交付回合与视频的单次手内操纵及未落盘结局一致；原生阶段计数为0，故A转九十度的姿态、速度及连续保持联合判据从未完成，节点无成立区间。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "手内调整", + "note_zh": "推断：视频 0.00–6.00 s 的包握姿态和逐步改变的指关节姿态，结合 log step 59 最终生成脚本的食指MCP/PIP/DIP阶梯驱动，表明右手在原有夹持中用食指推转A；log step 60 确认末段失去A的有效手接触。未见把A移交到另一只手或借接盘支撑。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "B的接触单列为未知：总览画面只露出部分核桃外壳，不能分辨B与各手指、掌面的实际承重接触，且没有本次状态接触日志；不将任务DAG的典型B抓握方案当作实测。" + } + ] + }, + "a_returned": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.44, + "log_step": 60, + "text_zh": "推断：log step 60 最终交付回合在 stage_guard:0:a_hand_contacts 结束，评分器 stages_completed=0，尚未完成先行九十度阶段；视频 0.00–7.44 s 仅见手内操纵，没有证据表明机器人已进入完成九十度后的回正阶段。按原生顺序和event判据，开局朝向或操纵中的回摆不算A回初始朝向，节点全程未达。" + } + ] + }, + "a_in_tray": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.44, + "log_step": null, + "text_zh": "观察：视频全程粗看及视频 6.40–7.44 s 密集末段检查，浅灰方形接盘始终为空，未见任何核桃从手内落入盘中；视频 7.44 s 末帧核桃仍在手边。成功参考视频 12.80 s 的同一视角能清楚看见盘中央棕色核桃，本次没有这一落盘结果。" + }, + { + "t": 7.44, + "log_step": 60, + "text_zh": "推断：视频中A未进入接盘，且 log step 60 最终交付仍在第一阶段失握，故未启动合规的选择性释放，也未满足接盘支撑、中央距离及静置验收；节点无成立区间。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "a_quarter_turn_error", + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better", + "value": null + }, + { + "name": "a_orientation_error", + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better", + "value": null + }, + { + "name": "a_position_error", + "unit": "m", + "threshold": 0.035, + "direction": "lower_better", + "value": null + }, + { + "name": "a_deposit_distance", + "unit": "m", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "b_position_error", + "unit": "m", + "threshold": 0.015, + "direction": "lower_better", + "value": null + }, + { + "name": "b_orientation_error", + "unit": "rad", + "threshold": 0.2, + "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 + }, + { + "name": "a_linear_speed", + "unit": "m/s", + "threshold": 2.5, + "direction": "lower_better", + "value": null + }, + { + "name": "a_angular_speed", + "unit": "rad/s", + "threshold": 80, + "direction": "lower_better", + "value": null + }, + { + "name": "a_height", + "unit": "m", + "threshold": [ + 0.135, + 0.6 + ], + "direction": "target", + "value": null + }, + { + "name": "speed_rotate_return", + "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 + } + ], + "failure": { + "breakpoint": { + "ref": "a_quarter_turned", + "t": 7.4, + "log_step": 60, + "where": "操作中", + "evidence_zh": "观察：视频 0.00–6.00 s 机器人持续在手内操纵核桃，视频 6.40–7.44 s 手指较展开而盘内仍无核桃；log step 60 最终保存的371行动作回合在 stage_guard:0:a_hand_contacts 终止，评分器确认 stages_completed=0。推断：首次未修复的失败属于A转九十度的操作过程，A在完成该阶段前失去有效手接触；视频约7.40 s 仅作末段导航锚点，不声称画面能测出接触力失效的精确子步。" + }, + "unmet": { + "a_quarter_turned": false, + "a_returned": false, + "a_in_tray": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 7.4, + "log_step": 60, + "evidence_zh": "观察：视频开局右手以包握姿态持物，视频 4.00–6.00 s 指关节逐渐展开，视频 6.40–7.44 s 核桃仍贴近手部而没有落盘；log step 60 的最终交付生成回合明确报告第一阶段 a_hand_contacts 守卫失败。推断：原本的A握持未能保持到九十度阶段完成，属于有效手接触丢失；并非计划释放后的盘内不稳，也没有视频证据证明A已掉到桌面。" + } + ], + "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：食指驱动的接触行程与其余手指稳持A的配置未能同时维持转动力矩和承重接触。依据是 log step 59 最终脚本在PUSH阶段仅改变食指MCP/PIP/DIP阶梯目标，其余手指保持复位目标；log step 60 最终交付仍在第一阶段失去A接触。会话诊断 log step 53 还观察到同类阶梯驱动下 a_finger_contacts 从3减到2、转动停滞后回退，最终 a_hand_contacts=0；该诊断只辅助根因，不用它的角度、控制步时刻或其他回合重接触动作标注本次进度。替代接触配置在本次会话中是否已验证可行未知。" + } + ], + "gap_zh": "没有状态日志，也没有最终交付逐控制样本的完整特征记录；总览中核桃及指腹相互遮挡，无法直接测量A的精确朝向、B的承重接触、接触力或有效接触消失的子步。失握依据最终保存回合的原生失败原因及相符视频，约7.40 s只是末段锚点；视频终止时尚未出现可见的完整下落。评分器未报告DAG各原生连续指标，故native_metrics均为null；不将其他会话试验的数值当作本次终值。" + }, + "summary_zh": "本次只尝试A转九十度，原生完成阶段数为0，三个节点均未达；视频末帧接盘为空，未进入合规回正和选择性释放。最终交付回合在第一阶段因A失去有效手接触结束，食指驱动的接触布局未能持续稳持并推进旋转是有日志支持的控制根因推断。总览遮挡且无状态日志，无法从画面精确测出朝向、B接触和失握子步。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "三个节点均未达（评分器 stages_completed=0，log step 60 在 stage_guard:0:a_hand_contacts 结束）与视频相符；断点 a_quarter_turned/操作中、接触·没保持住、控制·抓取和接触设计（alt_feasible 未知）均有日志支持，且已把无法由画面判定的部分标为推断/未知。总览视角过小，视频本身几乎无法验证手指展开等细节，但未发现被证据推翻的标签。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:41:28Z", + "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-essential-two-object-i00-privileged--avqxfuf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-essential-two-object-i00-privileged--avqxfuf/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f48b956554fdb2b1aa6552db1a5f5dae2e41cdfb1afe2b27f658b289ec70d31e", + "video_sha256": "99f29d161ec51aa560828e5b82b16d401bf13ee7a464ea0cf5799859e7fbc13d", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-privileged--ps8ufe5.json b/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-privileged--ps8ufe5.json new file mode 100644 index 0000000000000000000000000000000000000000..68b62ea1779f347be0479d08e507ae63a6dab857 --- /dev/null +++ b/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-privileged--ps8ufe5.json @@ -0,0 +1,292 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-essential-two-object-i00-privileged--ps8ufe5", + "taskKey": "dexhand/essential_two_object", + "dag_sha256": "531229b39d851ab1d907e1264ab1da4b275b30aec7af561984af7640acd7c097", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 259, + "sim_steps": 254, + "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": 0.818, + "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-two-object-i00-privileged--ps8ufe5/replay.mp4", + "duration_s": 5.12, + "fps": 25.0, + "frames": 128, + "sha256": "5cf37d5189898ba1b1cbdd0a3c21ed1dec4bb79c075ab2c764ccb37941a78920" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "a_quarter_turned": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 63, + "text_zh": "观察：视频0.0 s右手已在接盘上方围住核桃；视频0.6–3.6 s手指缓慢弯曲，露出的棕色壳体轮廓小幅变化，未见成功参考视频中明显的完整转动过程。log step 63的交付生成代码首先执行掌心Y轴正转九十度控制，故这段是第一步的实际尝试。" + }, + { + "t": 5.08, + "log_step": 74, + "text_zh": "观察：视频4.0–5.08 s逐帧检查中，核桃仍位于手指遮挡区域，接盘为空；log step 74明确读取并独立回放已保存的259行交付文件，原生检查器返回stage_index=0、stage_hold=0、failure=stage_guard:0:a_hand_contacts，最终a_quarter_turn_error=1.106 rad；评分字段也记录stages_completed=0、sim_steps=254、deterministic=1。推断：交付回放与画面均停留在手内操作阶段，第一步从未达到原生阶段验收，而非仅依据零奖励判定。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "手内调整", + "note_zh": "观察：视频0.6–3.6 s右手手指围着棕色核桃弯曲，壳体轮廓随之改变。推断：结合log step 63交付脚本及log step 11复位接触对，这是拇指、食指、中指对A进行手内转动；末端有效承重接触丢失由log step 74交付回放确认。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "推断：视频0.0–5.08 s右手其余手指保持闭合，未见第二枚核桃掉落；结合log step 11复位接触对与log step 63仅改变拇指、食指、中指的交付代码，同一右手其余手指持续围夹B。B的具体接触点在总览中受遮挡。" + } + ] + }, + "a_returned": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.08, + "log_step": 74, + "text_zh": "观察：视频0.0–5.08 s仅有小幅手内调整，未见先完整正转再回正的动作；log step 74已交付文件回放的stage_index=0，与评分字段stages_completed=0一致。推断：第一阶段未完成，log step 63中由stage>=1才执行的回正段没有进入；开局朝向不能计为已回正。" + } + ] + }, + "a_in_tray": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.08, + "log_step": 74, + "text_zh": "观察：本次视频全程接盘为空，视频4.0–5.08 s末段逐帧均无核桃下落或落盘；成功参考视频约12.0–13.0 s则能清楚看见一枚棕色核桃在盘内。log step 74交付回放仍为stage_index=0、terminal_hold=0，支持本次未进入选择释放段；本节点从开局到结束均不成立。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "a_quarter_turn_error", + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better", + "value": null + }, + { + "name": "a_orientation_error", + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better", + "value": null + }, + { + "name": "a_position_error", + "unit": "m", + "threshold": 0.035, + "direction": "lower_better", + "value": null + }, + { + "name": "a_deposit_distance", + "unit": "m", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "b_position_error", + "unit": "m", + "threshold": 0.015, + "direction": "lower_better", + "value": null + }, + { + "name": "b_orientation_error", + "unit": "rad", + "threshold": 0.2, + "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 + }, + { + "name": "a_linear_speed", + "unit": "m/s", + "threshold": 2.5, + "direction": "lower_better", + "value": null + }, + { + "name": "a_angular_speed", + "unit": "rad/s", + "threshold": 80, + "direction": "lower_better", + "value": null + }, + { + "name": "a_height", + "unit": "m", + "threshold": [ + 0.135, + 0.6 + ], + "direction": "target", + "value": null + }, + { + "name": "speed_rotate_return", + "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 + } + ], + "failure": { + "breakpoint": { + "ref": "a_quarter_turned", + "t": 5.0, + "log_step": 74, + "where": "操作中", + "evidence_zh": "观察：视频0.6–3.6 s右手在手内调整核桃，视频4.0–5.08 s仍未落盘。log step 64保存交付文件时已报stage_guard:0:a_hand_contacts；log step 74再次独立回放同一文件，原生检查器在控制样本254终止，stage_index=0。推断：失败发生在A转九十度的握持过程中，未修复并进入后续步骤；视频5.0 s仅作为末段导航锚点，遮挡下无法直接定位承重接触跌破阈值的瞬间。" + }, + "unmet": { + "a_quarter_turned": false, + "a_returned": false, + "a_in_tray": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 5.0, + "log_step": 74, + "evidence_zh": "观察：视频0.0–3.6 s手指原本围住核桃并带动其小幅变化，至视频5.08 s未有计划释放或落盘。log step 74对已交付轨迹的原生回放返回stage_guard:0:a_hand_contacts，第一阶段因A没有有效承重手接触而失败。推断：这是转动中丢失原有承重接触，不是从未抓住，也不是完成落盘后的不稳定；画面没有显示核桃已经掉到盘或桌面。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：log step 47、59的控制器与log step 63实际生成交付的代码按估计的关节响应调整A的旋转和位置，承重接触仅作为ok_state失败后的退出条件，未见相应的维持接触或恢复握持动作；log step 64保存的这一控制序列及log step 74对该文件的独立回放均以A承重手接触丢失结束，且仍未完成第一阶段。证据支持手指操作控制未能同时实现转向与保持握持；缺少逐时接触力和跟踪记录，无法进一步区分接触设计、轨迹或反馈控制子类。" + } + ], + "gap_zh": "观察：inputs中没有状态日志，视频仅有总览视角，A和B及指尖接触区域大部分被手遮挡，视频4.0–5.08 s也不能直接读出有效承重接触或0.16 rad角度容差。推断：节点未达及失握依据画面与已交付文件的原生回放记录联合判断；断点视频5.0 s是粗略末段锚点，非可见的精确失接触时刻。评分reward未报告DAG所列连续指标，native_metrics全部保留null；log step 74打印的部分终值仅作为回放证据。控制根因的具体子类无法确定。" + }, + "summary_zh": "右手尝试在掌内转动A，但原生第一阶段始终未完成，最终三个节点均未达成（0/3），没有进入回正或选择释放，接盘全程为空。已交付文件的独立回放在第一阶段因A有效承重手接触丢失而终止，断点为A转九十度，现象为没保持住，根因保守归为控制。总览遮挡和缺少逐时状态、接触力记录使精确失接触时刻及控制子类不能确定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "三节点全未达成、断点 a_quarter_turned、现象没保持住（第一阶段 stage_guard:0:a_hand_contacts）均与日志 id 74 的独立回放（stage 0、a_qt_err 1.106）及视频（接盘全程为空、核桃始终在手内）一致；log step 按 id 引用且存在，时钟均标注视频时间。根因控制为保守归类，现有证据无法进一步区分，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": "2026-10-30T05:36:39Z", + "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-essential-two-object-i00-privileged--ps8ufe5/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-essential-two-object-i00-privileged--ps8ufe5/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "dd085a55bf629f39aff2505879d915e54c7a3e9ceb82de4eccb1e9cdb0d8f360", + "video_sha256": "5cf37d5189898ba1b1cbdd0a3c21ed1dec4bb79c075ab2c764ccb37941a78920", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-privileged--qjiklrw.json b/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-privileged--qjiklrw.json new file mode 100644 index 0000000000000000000000000000000000000000..8f9995253262549dff90e34310ea2fcecaccb945 --- /dev/null +++ b/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-privileged--qjiklrw.json @@ -0,0 +1,354 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-essential-two-object-i00-privileged--qjiklrw", + "taskKey": "dexhand/essential_two_object", + "dag_sha256": "531229b39d851ab1d907e1264ab1da4b275b30aec7af561984af7640acd7c097", + "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": 2, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.849, + "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-essential-two-object-i00-privileged--qjiklrw/replay.mp4", + "duration_s": 8.76, + "fps": 25.0, + "frames": 219, + "sha256": "905014e831f08e91e1b2bac01ff0c7e2e70210af4909079463ce39ff55bedf14" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "a_quarter_turned": { + "method": "visual", + "intervals": [ + [ + 3.04, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.00–3.00 s，固定在接盘上方的右手以相向手指夹持两枚核桃，上侧核桃A随手指动作改变外壳纹理和轮廓朝向，另一枚B仍在手内；视频 3.12 s 起A开始反向回转。" + }, + { + "t": 3.04, + "log_step": 143, + "text_zh": "观察：评分器 reward.stages_completed=2、deterministic=1；log step 143 对已保存的435行交付文件重新执行原生回放，返回 stage_index=2、samples=435、failure=None，确认九十度与回正两阶段都已验收。" + }, + { + "t": 3.04, + "log_step": 120, + "text_zh": "推断：log step 120、123 的同一转动前缀在控制样本152完成第一阶段、样本240完成第二阶段；log step 139 明确将该 actions_full.npy 的前240行用于最终交付。按任务50 Hz控制率，152/50≈视频 3.04 s、240/50≈视频 4.80 s；435/50=8.70 s与视频 8.76 s 接近，并已在视频 4.80–5.28 s 由回正转为张指释放的动作处核对；达标时刻为约值，非agent工作时间换算。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "手内调整", + "note_zh": "视频 0.00–3.04 s，右手拇指与对侧手指围住核桃A，以手指接触使A在手内滚转，未将A释放。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "同一右手其余弯曲手指夹持核桃B；视频 0.00–3.04 s，B仍留在手内，未见落到环境支撑面。" + } + ] + }, + "a_returned": { + "method": "visual", + "intervals": [ + [ + 4.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.8, + "log_step": null, + "text_zh": "观察：视频 3.12–4.80 s，右手继续围住A，A可见外壳朝向反向变化，至视频 4.80 s 接近开局朝向；B仍留在手内，接盘为空。" + }, + { + "t": 4.8, + "log_step": 143, + "text_zh": "观察：log step 143 对最终保存文件的原生回放返回 stage_index=2，评分器也给 stages_completed=2，确认回正阶段在九十度阶段之后已完成；不将开局同向算作完成。" + }, + { + "t": 4.8, + "log_step": 120, + "text_zh": "推断：log step 120、123 记录最终文件所用转动前缀在控制样本240完成回正，log step 139 取此前240行交付；按50 Hz定位约视频 4.80 s，已与视频 4.80–5.28 s 张指释放的转折核对。单一总览画面不能独立量出0.16 rad误差或5样本窗口。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "手内调整", + "note_zh": "视频 3.12–4.80 s，右手拇指与对侧手指在仍夹持A时使其回转，A一直留在手内。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "同一右手其余弯曲手指继续夹住核桃B，回正过程中B未离手。" + } + ] + }, + "a_in_tray": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.32, + "log_step": null, + "text_zh": "观察：视频 5.04–6.20 s，右手逐渐伸开操纵A的手指，A下降并沿伸出的手指向外移；视频 6.28–6.32 s A离手下落，视频 6.36–6.48 s 落在接盘右后部，B仍在弯曲手指内。" + }, + { + "t": 8.72, + "log_step": 143, + "text_zh": "观察：视频 6.48–8.72 s，A留在盘内明显偏右后的位置，右手未再收回或向中心移动A；逐帧检查视频 7.76–8.72 s，落点未见修复。log step 143 回放最终文件仍为 stage_index=2、success=False，评分器 stages_completed=2、success=0，释放阶段未完成。" + }, + { + "t": 8.72, + "log_step": null, + "text_zh": "推断：A虽实际落盘，但未满足该节点的中心附近落盘与终态保持联合条件，因此从未记为完成；成功参考视频 12.40–14.00 s 显示相同总览视角下A停在接盘中央附近，仅用于辨认达标外观。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "视频 4.80 s 释放动作开始时右手仍夹持A，随后操纵A的手指张开；同一右手其余弯曲手指始终夹持B，直到视频 8.72 s。" + }, + { + "who": "手指/夹爪", + "how": "托/舀", + "note_zh": "视频约 5.60–6.20 s，A在已伸开的右手手指上方受到托承，随后滑向指端并脱离；未见右手再抓回落盘的A。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "a_quarter_turn_error", + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better", + "value": null + }, + { + "name": "a_orientation_error", + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better", + "value": null + }, + { + "name": "a_position_error", + "unit": "m", + "threshold": 0.035, + "direction": "lower_better", + "value": null + }, + { + "name": "a_deposit_distance", + "unit": "m", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "b_position_error", + "unit": "m", + "threshold": 0.015, + "direction": "lower_better", + "value": null + }, + { + "name": "b_orientation_error", + "unit": "rad", + "threshold": 0.2, + "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 + }, + { + "name": "a_linear_speed", + "unit": "m/s", + "threshold": 2.5, + "direction": "lower_better", + "value": null + }, + { + "name": "a_angular_speed", + "unit": "rad/s", + "threshold": 80, + "direction": "lower_better", + "value": null + }, + { + "name": "a_height", + "unit": "m", + "threshold": [ + 0.135, + 0.6 + ], + "direction": "target", + "value": null + }, + { + "name": "speed_rotate_return", + "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 + } + ], + "failure": { + "breakpoint": { + "ref": "a_in_tray", + "t": 6.28, + "log_step": 139, + "where": "操作中", + "evidence_zh": "观察：视频 5.60–6.20 s，机器人伸开的手指使A沿指面向外移；视频 6.28–6.36 s，A离开手指并落到接盘右后部，至视频 8.72 s 未回到中央附近。log step 139 保存了包含该释放动作的435行文件，log step 143 对它回放仍为 stage_index=2；失败发生在选择释放与落盘这一步。" + }, + "unmet": { + "a_quarter_turned": true, + "a_returned": true, + "a_in_tray": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 6.28, + "log_step": 143, + "evidence_zh": "观察：视频 6.00–6.20 s，A随伸开的手指向盘的右后侧移动，视频 6.28–6.36 s 从该侧离手落下，视频 6.48–8.72 s 始终偏离盘中央；未见先在中央达标后再滚出。log step 143 的交付回放及评分器均只完成两阶段，A释放落点未达第三阶段的中心容差。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "t": 6.28, + "log_step": 139, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 139 的交付生成代码从回正握姿把拇指、食指、中指插值到伸直外展姿态，再保持该姿态；视频 5.28–6.28 s 对应显示A沿打开后的指面向外移并从偏侧脱离，机器人未以接触动作把A导向盘中央。该释放接触几何能让A离手，却未控制其横向离手位置，导致偏侧落盘；从这个回正握姿出发的可行替代接触动作未在本次记录中验证。" + } + ], + "gap_zh": "无逐帧模拟器状态日志，视频仅总览视角，不能独立精确测量转角、承重接触力、落点米制距离及原生保持计数；前两节点的达标由评分器已完成两阶段和最终文件原生回放确认，时刻由交付前缀控制样本与可见转折近似定位。log step 139 的0.0743 m来自影子候选评估，log step 144 的约0.074 m为agent自述，均不作为评分器终态指标；具体最终距离和速度未上报，native_metrics留null。" + }, + "summary_zh": "本次右手在固定手腕下完成核桃A正转九十度和回正，两个事件节点最终保持完成，进展为2/3。视频约6.3 s，A从伸开的手指偏侧脱离并落在接盘右后部，B仍留在手内，但A未达到中心附近落盘条件；释放接触几何未控制好横向离手位置。缺少逐帧状态日志，精确旋转验收依赖原生阶段结果，时间为视频与交付控制样本核对后的约值。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "前两节点（评分器 stages_completed=2、log 143 回放 stage_index=2、控制样本152/240按50 Hz换算约3.04/4.80 s）与视频一致；A 约6.3 s 从伸开手指偏侧落到接盘右后部、至结尾未回中央，a_in_tray 未达成、断点与位姿不准/抓取和接触设计的判断有证据支持。未发现需改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:37:46Z", + "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-essential-two-object-i00-privileged--qjiklrw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-essential-two-object-i00-privileged--qjiklrw/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3698be8d296eb83db3d94077a4c07d8a24e7e2a8930eefacf4f8cc3036635ab7", + "video_sha256": "905014e831f08e91e1b2bac01ff0c7e2e70210af4909079463ce39ff55bedf14", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-standard--c4u2usk.json b/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-standard--c4u2usk.json new file mode 100644 index 0000000000000000000000000000000000000000..7396bfc52263ebfede0e23f903bf124c6c316e60 --- /dev/null +++ b/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-standard--c4u2usk.json @@ -0,0 +1,340 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-essential-two-object-i00-standard--c4u2usk", + "taskKey": "dexhand/essential_two_object", + "dag_sha256": "531229b39d851ab1d907e1264ab1da4b275b30aec7af561984af7640acd7c097", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 690, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 208, + "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": 208, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.408, + "peak_processes": 10, + "peak_disk_gb": 1.04, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-essential-two-object-i00-standard--c4u2usk/replay.mp4", + "duration_s": 4.2, + "fps": 25.0, + "frames": 105, + "sha256": "80f5984dd68a9064d4396d8c0cda10c8fd328f687fddf258fca8bfe938a4432f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "a_quarter_turned": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 121, + "text_zh": "观察：视频0.0 s至4.16 s，右手腕位置基本固定，浅灰手指夹持区内的棕色核桃A随手指伸展逐渐向外露出、滚动，未见回转或释放；log step 121为最后现场回合配置，食指MCP_FE增量为-0.75 rad，中指MCP_FE增量为-0.45 rad。" + }, + { + "t": 4.0, + "log_step": 124, + "text_zh": "推断：视频0.6–4.16 s可见右手使A在指间滚动并逐渐向夹持区外侧露出，未见达到要求的四分之一圈姿态；转动方向无法由视频或可采信证据判定。log step 124的追踪表是agent计算的核桃中心位移估计，不是原生朝向或转角记录，不能据此确定绕掌心局部Y轴转动的正负方向；服务在roll0.73期间报告task_failure，未执行后续保持、回正或释放。因此保留第一阶段未完成的判断，无法从总览精读角度或0.16 rad容差。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "手内调整", + "note_zh": "观察：视频0.6–4.16 s，单只右手的手指保持与A接触并使A在指间向外滚动；结合log step 121，执行的是食指和中指伸展，不是另一只手参与。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "推断：同一右手未参与伸展的屈曲手指保留初始对B的包围抓握；B大部被遮挡，视频未见B掉出，log step 124本回合的图像追踪估计B中心基本不动。具体承重手指及接触力无法确认。" + } + ] + }, + "a_returned": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.16, + "log_step": 124, + "text_zh": "观察：视频0.0–4.16 s只有手指逐渐伸展及A向外滚动，没有反向回转至开局姿态的动作；log step 124显示最后现场回合在roll0.73结束。log step 100所写且log step 121执行的脚本在该失败分支之后跳过return，后写出的完整gen.py（log step 130）没有再运行。" + } + ] + }, + "a_in_tray": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.16, + "log_step": 124, + "text_zh": "观察：视频0.0–4.16 s下方浅灰接盘始终为空，末秒逐帧中A仍在手指夹持区，没有下落或落盘；成功参考视频约12.0–14.2 s同一视角可清楚看到盘中棕色核桃，本次没有该结果。log step 124记录的最后回合仍止于roll阶段，未开始释放。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "a_quarter_turn_error", + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better", + "value": null + }, + { + "name": "a_orientation_error", + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better", + "value": null + }, + { + "name": "a_position_error", + "unit": "m", + "threshold": 0.035, + "direction": "lower_better", + "value": null + }, + { + "name": "a_deposit_distance", + "unit": "m", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "b_position_error", + "unit": "m", + "threshold": 0.015, + "direction": "lower_better", + "value": null + }, + { + "name": "b_orientation_error", + "unit": "rad", + "threshold": 0.2, + "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 + }, + { + "name": "a_linear_speed", + "unit": "m/s", + "threshold": 2.5, + "direction": "lower_better", + "value": null + }, + { + "name": "a_angular_speed", + "unit": "rad/s", + "threshold": 80, + "direction": "lower_better", + "value": null + }, + { + "name": "a_height", + "unit": "m", + "threshold": [ + 0.135, + 0.6 + ], + "direction": "target", + "value": null + }, + { + "name": "speed_rotate_return", + "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 + } + ], + "failure": { + "breakpoint": { + "ref": "a_quarter_turned", + "t": 4.0, + "log_step": 124, + "where": "操作中", + "evidence_zh": "观察：视频约4.0–4.16 s右手仍在指间滚转A，接盘为空，尚未回转或释放；log step 124服务状态为episode=21、control_steps=208、done=true、reason=task_failure，脚本记录结束于roll0.73。评分字段live_matches_replay=1、n_actions=208，与这段短回合一致；断点是正在操作且此后未修复的A转九十度，而不是后写却未执行的完整动作脚本。" + }, + "unmet": { + "a_quarter_turned": false, + "a_returned": false, + "a_in_tray": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无状态日志；视频0.0–4.16 s总览中核桃较小且B大部被手指遮挡，A的精确三维转角、承重接触数、接触力及各子步约束无法复核。log step 124服务在roll0.73报告done=true、reason=task_failure，任务在A转九十度尚未完成时被fail-fast提前终止，但没有原生stage_index或具体失败项；视频末段A仍在指间、接盘为空，无法判定触发规则是B滑动、两核桃接触、A承重接触不足还是其他守卫，故phenomena留空。log step 100脚本和log step 121的A8配置表明，roll按固定关节增量推进，观测仅拟合两核桃中心、没有A朝向反馈，stopz=-99也未提供目标转角停止条件；这些是控制结构事实，尚不足以证明其导致本次fail-fast，无法区分接触布局、跟踪误差或其他机制，故root_causes也留空。agent在log step 132–133自述的“几何卡阻”未经独立证据确认，不据此标碰撞、力超限或控制根因。图像中心追踪是agent计算值，不是评分器指标，全部未报告的native_metrics保持null。 是否存在可行替代方案：未知。" + }, + "summary_zh": "评分采用最后现场第21回合：右手固定腕部并在指间向外滚动A，未完成正向九十度转动，未进入回正及释放落盘，最终0/3节点。断点在A转九十度的操作中；log step 124服务在roll0.73以task_failure提前终止，具体触发规则不明，现象和根因均留空。置信度由6降至5：无状态日志及原生阶段、具体失败项，且固定关节增量、缺少A朝向反馈仅能确认控制结构，不能确认失败机制或agent自述的卡阻。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 3, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值（0/3）、断点（a_quarter_turned，操作中）和时钟都成立。问题在 why：最后一回合是被服务 fail-fast（task_failure）在 roll0.73、约 4.16 s 终止的，A 当时仍在手里。评分字段和视频都无法判定触发的是哪条规则（B 滑动、两核桃接触、A 承重接触数或别的），文件却把它写成现象“位姿不准”，并把根因定为“控制”。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点0/3、断点a_quarter_turned（操作中）、空phenomena/root_causes加gap_zh均成立（task_failure无失败项，视频判不出触发规则）。仅一处证据措辞过强：称本次滚转方向与要求“相反”，依据不足。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 3, + "kind": "confirm", + "verdict": "agree", + "summary_zh": "I1已按接受意见落实：a_quarter_turned的evidence[1]已删去“方向相反”和“掌心局部z正向位移”，改为方向无法判定、追踪表非朝向记录。", + "n_issues": 0, + "n_checks": 1 + } + ], + "open_zh": [], + "confirm": { + "verdict": "confirmed", + "summary_zh": "I1已按接受意见落实：a_quarter_turned的evidence[1]已删去“方向相反”和“掌心局部z正向位移”，改为方向无法判定、追踪表非朝向记录。", + "checks_ok": "1/1", + "n_factual_errors": 0 + } + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:50:14Z", + "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-essential-two-object-i00-standard--c4u2usk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-essential-two-object-i00-standard--c4u2usk/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-essential-two-object-i00-standard--c4u2usk/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-essential-two-object-i00-standard--c4u2usk/04_review_r2" + }, + { + "stage": "reconcile", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-essential-two-object-i00-standard--c4u2usk/05_reconcile_r2" + }, + { + "stage": "confirm", + "round": 3, + "ok": true, + "space": "work/runs/dexhand-essential-two-object-i00-standard--c4u2usk/06_confirm_r3" + } + ], + "confirm_prompt": "prompts/06_confirm.md", + "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267", + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "248b62e0afb35a5fd5f688183efdc9189aa80467ec31c8c5d3a4407d6eeaedf7", + "video_sha256": "80f5984dd68a9064d4396d8c0cda10c8fd328f687fddf258fca8bfe938a4432f", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-standard--geb2jcj.json b/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-standard--geb2jcj.json new file mode 100644 index 0000000000000000000000000000000000000000..e478b647d1882cabe8093878ccc5bb1a89f908ff --- /dev/null +++ b/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-standard--geb2jcj.json @@ -0,0 +1,292 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-essential-two-object-i00-standard--geb2jcj", + "taskKey": "dexhand/essential_two_object", + "dag_sha256": "531229b39d851ab1d907e1264ab1da4b275b30aec7af561984af7640acd7c097", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 1, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 0, + "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": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.331, + "peak_processes": 7, + "peak_disk_gb": 0.255, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-two-object-i00-standard--geb2jcj/replay.mp4", + "duration_s": 0.04, + "fps": 25.0, + "frames": 1, + "sha256": "36f1082fb154c6ca62cb28f81cb769556462c8be6aff6c2ad12c39e8e468fc9d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "a_quarter_turned": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 39, + "text_zh": "观察：本次视频仅有视频 0.00 s 的初始帧，浅灰灵巧手位于空接盘上方，核桃大部分被手指遮挡；log step 4 与 log step 39 的服务状态均为 control_steps=0，评分器记录 n_actions=0、sim_steps=0。推断：本回合未执行核桃A转动，九十度阶段未达到；此判断依据零执行记录与初始帧，不是仅由 success=0 推出。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 n_actions=0、sim_steps=0，log step 40 为提供方过滤器阻断提示；未交付执行动作轨迹，初始抓姿不作为该步骤的操作接触。" + } + ] + }, + "a_returned": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 39, + "text_zh": "观察：视频 0.00 s 为唯一初始帧；log step 39 的服务状态仍为 episode=1、control_steps=0、done=false，评分器记录 sim_steps=0。推断：没有先转九十度再回正的过程；本节点是有前置条件的事件，开局朝向不计为回正，故未达到。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 n_actions=0、sim_steps=0，log step 40 为提供方过滤器阻断提示；未交付执行动作轨迹，初始抓姿不作为该步骤的操作接触。" + } + ] + }, + "a_in_tray": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 39, + "text_zh": "观察：视频 0.00 s 的唯一帧中，手下方浅灰接盘内没有核桃；log step 39 的服务状态为 control_steps=0，评分器记录 n_actions=0、sim_steps=0。推断：机器人未释放A，A落盘并静置的条件未达到。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 n_actions=0、sim_steps=0，log step 40 为提供方过滤器阻断提示；未交付执行动作轨迹，初始抓姿不作为该步骤的操作接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "a_quarter_turn_error", + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better", + "value": null + }, + { + "name": "a_orientation_error", + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better", + "value": null + }, + { + "name": "a_position_error", + "unit": "m", + "threshold": 0.035, + "direction": "lower_better", + "value": null + }, + { + "name": "a_deposit_distance", + "unit": "m", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "b_position_error", + "unit": "m", + "threshold": 0.015, + "direction": "lower_better", + "value": null + }, + { + "name": "b_orientation_error", + "unit": "rad", + "threshold": 0.2, + "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 + }, + { + "name": "a_linear_speed", + "unit": "m/s", + "threshold": 2.5, + "direction": "lower_better", + "value": null + }, + { + "name": "a_angular_speed", + "unit": "rad/s", + "threshold": 80, + "direction": "lower_better", + "value": null + }, + { + "name": "a_height", + "unit": "m", + "threshold": [ + 0.135, + 0.6 + ], + "direction": "target", + "value": null + }, + { + "name": "speed_rotate_return", + "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 + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 40, + "where": "首步前", + "evidence_zh": "观察：log step 40 的最终消息为“This request was blocked by Gemini's filters”；此前 log step 39 的机器人服务状态仍为 control_steps=0、done=false、reason=null，资源监控显示尚余669.9 s，评分器记录 n_actions=0、sim_steps=0。本次视频只有视频 0.00 s 的初始帧。推断：提供方过滤器在物理动作及回合完成前中断会话，无法定位机器人操作失败的步骤或视频时刻。" + }, + "unmet": { + "a_quarter_turned": false, + "a_returned": false, + "a_in_tray": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：log step 40 记录提供方Gemini过滤器阻断；log step 39 时回合尚未完成，且尚余669.9 s，评分器记录零动作、零仿真步。本次视频存在但仅一帧、时长0.04 s，已完整检查；没有状态日志，手内核桃大部分受遮挡，原生阶段计数和14项连续指标未报告。推断：按CASES.md FAIL-5，本次为结果固定前的外部因素中断，应重测并排除出agent失败归因；保留目录success=0，不标“没尝试”、物理现象或根因，也不将会话中的几何计算当作已执行动作。" + }, + "summary_zh": "本次视频仅显示视频 0.00 s 的初始场景，接盘为空；结合服务与评分器的零控制步、零动作记录，三个节点均未达到，最终进度0/3。log step 40 的提供方过滤器在动作开始及回合完成前阻断会话，故断点记unknown／首步前，按外部中断处理，现象与根因留空；目录success=0原样保留。视频仅一帧且无状态日志，无法观察执行过程或读取原生连续指标；成功参考仅用于比较落盘外观，不作为本次进度证据。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 9, + "summary_zh": "标注与证据一致：视频仅一帧（视频 0.00 s，空接盘），log step 40 为 Gemini 过滤器阻断，评分器零动作；三个节点未达到，断点 unknown/首步前，现象与根因留空且有 gap_zh，符合 CASES.md FAIL-5。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:38:59Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-essential-two-object-i00-standard--geb2jcj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-essential-two-object-i00-standard--geb2jcj/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1099d6b2cdb46482d0b588350406a7493782868cc740fa9861f19eeb7c48811e", + "video_sha256": "36f1082fb154c6ca62cb28f81cb769556462c8be6aff6c2ad12c39e8e468fc9d", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-standard--qee3fdt.json b/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-standard--qee3fdt.json new file mode 100644 index 0000000000000000000000000000000000000000..ed991c8f934f1b0d445f394278cc5fe9ca792a94 --- /dev/null +++ b/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-standard--qee3fdt.json @@ -0,0 +1,296 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-essential-two-object-i00-standard--qee3fdt", + "taskKey": "dexhand/essential_two_object", + "dag_sha256": "531229b39d851ab1d907e1264ab1da4b275b30aec7af561984af7640acd7c097", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 129, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 150, + "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": 150, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.428, + "peak_processes": 9, + "peak_disk_gb": 0.533, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-two-object-i00-standard--qee3fdt/replay.mp4", + "duration_s": 3.04, + "fps": 25.0, + "frames": 76, + "sha256": "1d1ad504fef87168c923fbc7eab3f048f475b78be5673d94829534bd89bd93fb" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "a_quarter_turned": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 96, + "text_zh": "观察：视频0.00–3.00 s的全部76帧中，右手和露出的棕色核桃轮廓保持开局姿态，未见手指滚转动作。log step 96的脚本在重置为episode 16后，将初始关节目标原样重复150行，以dt=0.02提交；服务返回control_steps=150、done=False。该最后回合与评分字段n_actions=150、live_matches_replay=1一致，评分回合仅保持初始抓姿，未启动A转九十度；因此不把初始握持列为该步的操作接触。" + }, + { + "t": 3.0, + "log_step": 100, + "text_zh": "推断：结合视频全程静止与log step 96的恒定目标，可排除A曾达到九十度；log step 100中agent也明确自述最后留下的是复位抓姿。此前其他episode的滚转试验不计入本次进度。" + } + ] + }, + "a_returned": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.0, + "log_step": 96, + "text_zh": "观察：视频0.00–3.00 s没有核桃转出再回转的过程，右手保持初始握持姿态；log step 96提交的全部150行均为同一初始目标。" + }, + { + "t": 3.0, + "log_step": null, + "text_zh": "推断：本次评分回合未先完成A转九十度，开局保持原朝向不满足第二阶段的回正事件；该步未启动。" + } + ] + }, + "a_in_tray": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.0, + "log_step": 96, + "text_zh": "观察：视频0.00–3.00 s中浅灰接盘始终为空，棕色核桃仍在手指围成的区域，未见张指释放、下落或落盘；最后一秒逐帧检查亦相同。log step 96只提交恒定抓姿，该步未启动。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "a_quarter_turn_error", + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better", + "value": null + }, + { + "name": "a_orientation_error", + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better", + "value": null + }, + { + "name": "a_position_error", + "unit": "m", + "threshold": 0.035, + "direction": "lower_better", + "value": null + }, + { + "name": "a_deposit_distance", + "unit": "m", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "b_position_error", + "unit": "m", + "threshold": 0.015, + "direction": "lower_better", + "value": null + }, + { + "name": "b_orientation_error", + "unit": "rad", + "threshold": 0.2, + "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 + }, + { + "name": "a_linear_speed", + "unit": "m/s", + "threshold": 2.5, + "direction": "lower_better", + "value": null + }, + { + "name": "a_angular_speed", + "unit": "rad/s", + "threshold": 80, + "direction": "lower_better", + "value": null + }, + { + "name": "a_height", + "unit": "m", + "threshold": [ + 0.135, + 0.6 + ], + "direction": "target", + "value": null + }, + { + "name": "speed_rotate_return", + "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 + } + ], + "failure": { + "breakpoint": { + "ref": "a_quarter_turned", + "t": 0.0, + "log_step": 96, + "where": "首步前", + "evidence_zh": "观察：视频0.00–3.00 s全程只维持开局抓姿，无A转动操作。log step 96中agent重置到最后评分回合episode 16，仅提交150步初始伺服目标，随后log step 100结束会话；评分字段n_actions=150、live_matches_replay=1与此对应。首个任务动作未启动，未将此前试验中的task_failure归入此回合。" + }, + "unmet": { + "a_quarter_turned": false, + "a_returned": false, + "a_in_tray": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 0.0, + "log_step": 96, + "evidence_zh": "观察：视频0.00–3.00 s中机器人手指及核桃的可见轮廓保持不变，接盘一直为空；log step 96的最终评分动作是重复初始目标150次，无任何滚转指令。因此A转九十度步骤根本未启动。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：会话试验显示agent尚未实现完成首步的手内滚转控制：log step 95在修正初始伺服目标后，脚本逐次增加食指屈曲目标，脚本自估A转角由约−3°增至约−17°后停滞，服务随后返回task_failure；log step 100中agent明确自述继续到九十度所需的重新接触滚转循环尚未实现。该试验已被重置，不能作为评分视频的失败现象，但支持最终只留下初始保持动作背后的控制困难；证据不足以细分接触设计、轨迹或反馈控制。" + } + ], + "gap_zh": "没有状态日志或原生stage_index、接触力和物体姿态记录，不能精确读出角度、承重指数量及此前试验task_failure的具体触发条件；原生连续指标均未在评分字段报告，故value为null。视频只有远景且核桃部分遮挡，但最终脚本的恒定初始目标及全程静止画面足以判定三个动作均未达成；控制根因依据重置前会话证据推断，不把脚本自估转角当作评分回合事实。" + }, + "summary_zh": "评分回合仅保持初始抓姿，视频0.00–3.00 s未见A滚转、回正或落盘，三个节点最终均未达到；断点为A转九十度的首步前，现象是没尝试。会话日志显示滚转控制仍未实现完整九十度动作，最终重置后仅提交150步恒定目标；控制根因依据会话试验推断。缺少原生阶段与姿态记录，无法细分此前试验的具体失效机制。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "评分回合（episode 16）只提交150行初始声明目标，视频0.00–3.04 s全程静止、接盘为空，三个节点均未达成，与标签一致；断点首步前/没尝试及控制根因（据会话证据，按FAIL-22处理）有证据支持，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:42:03Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-essential-two-object-i00-standard--qee3fdt/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-essential-two-object-i00-standard--qee3fdt/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c763edc1c014ac9d310833baecef13dbc6c175f8e66ce49905aa1b4c528e5f10", + "video_sha256": "1d1ad504fef87168c923fbc7eab3f048f475b78be5673d94829534bd89bd93fb", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-standard--qtie6df.json b/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-standard--qtie6df.json new file mode 100644 index 0000000000000000000000000000000000000000..5b73a3541cfb940974df8fb2d1a46cdd0f2331e9 --- /dev/null +++ b/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-standard--qtie6df.json @@ -0,0 +1,304 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-essential-two-object-i00-standard--qtie6df", + "taskKey": "dexhand/essential_two_object", + "dag_sha256": "531229b39d851ab1d907e1264ab1da4b275b30aec7af561984af7640acd7c097", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 440, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 663, + "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": 663, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.648, + "peak_processes": 10, + "peak_disk_gb": 0.906, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-two-object-i00-standard--qtie6df/replay.mp4", + "duration_s": 13.32, + "fps": 25.0, + "frames": 333, + "sha256": "74ed553242eeed05db16255d64fa24edce276c51fb8df2ddbc6f16a1a2ad4e0f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "a_quarter_turned": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，右手在接盘上方已合指持物；视频 0.0–12.0 s 每约0.5 s检查手部裁剪，手指与露出的核桃外壳仅小幅变化，没有出现成功参考视频约 1–6 s 中明显的屈指滚转过程。" + }, + { + "t": 12.3, + "log_step": 115, + "text_zh": "推断：视频 11.8–13.28 s 的密集末段帧仍见近开局的手内构型及小幅偏转的外壳，没有达到四分之一圈的可见变化，故A转九十度未达成。log step 115 确认启动最后的episode 21，脚本只打印rotate循环，其自算quarter_turn_error从1.569降至1.225 rad；该估计仅辅助解释动作，不当作原生阶段验收值。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "手内调整", + "note_zh": "观察：视频 0.0–12.3 s，单只右手包围核桃并以小幅屈指改变手内接触，尝试转动A；未见主动释放。具体指尖接触点受遮挡。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "推断：视频 0.0–13.28 s 保持双核桃的开局包握构型，没有核桃落入盘中；结合开局已持两核桃及log step 115 的食指/拇指转A、其余指维持握持策略，同一右手仍包握B。B的全部接触点不可见，不能据此保证原生承重力阈值始终合格。" + } + ] + }, + "a_returned": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.3, + "log_step": 115, + "text_zh": "推断：视频 0.0–13.28 s 只见小幅手内转动，没有先完成九十度再反转回正的过程；log step 115 的最后回合输出仍为rotate循环。前置a_quarter_turned未达成，不能把近开局朝向计为已完成回正。" + } + ] + }, + "a_in_tray": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.28, + "log_step": null, + "text_zh": "观察：视频 0.0–13.28 s 接盘始终为空，视频 11.8–13.28 s 密集检查及最后一帧均无核桃落在盘中；手仍悬在盘上方。成功参考视频约 12–14 s 可清楚看见核桃落盘，本次未出现该结果。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "a_quarter_turn_error", + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better", + "value": null + }, + { + "name": "a_orientation_error", + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better", + "value": null + }, + { + "name": "a_position_error", + "unit": "m", + "threshold": 0.035, + "direction": "lower_better", + "value": null + }, + { + "name": "a_deposit_distance", + "unit": "m", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "b_position_error", + "unit": "m", + "threshold": 0.015, + "direction": "lower_better", + "value": null + }, + { + "name": "b_orientation_error", + "unit": "rad", + "threshold": 0.2, + "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 + }, + { + "name": "a_linear_speed", + "unit": "m/s", + "threshold": 2.5, + "direction": "lower_better", + "value": null + }, + { + "name": "a_angular_speed", + "unit": "rad/s", + "threshold": 80, + "direction": "lower_better", + "value": null + }, + { + "name": "a_height", + "unit": "m", + "threshold": [ + 0.135, + 0.6 + ], + "direction": "target", + "value": null + }, + { + "name": "speed_rotate_return", + "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 + } + ], + "failure": { + "breakpoint": { + "ref": "a_quarter_turned", + "t": 12.3, + "log_step": 115, + "where": "操作中", + "evidence_zh": "推断：视频 0.0–12.3 s 右手一直在原抓姿附近作小幅手内转动，至视频 12.3–13.28 s 画面停在未完成九十度的构型，未进入回正或落盘；断点在首个转动步骤。视频 12.3 s 只是末次操作附近的粗略导航点，具体触发失败的子步不可见。log step 115 启动最后回合并只输出rotate循环；log step 120 中agent自述该回合663控制步后task_failure，评分器另记录n_actions=663、live_matches_replay=1、success=0。" + }, + "unmet": { + "a_quarter_turned": false, + "a_returned": false, + "a_in_tray": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 12.3, + "log_step": 115, + "evidence_zh": "观察：视频 0.0–12.3 s，右手只缓慢微调，指缝露出的核桃外壳与开局相比变化有限；视频 11.8–13.28 s 未呈现目标四分之一圈的转动构型，也未随后回正和释放。推断：本次实际手内调姿没有把A转到要求的九十度目标；log step 115 的脚本自身估计仍距目标1.225 rad与此一致，该值不是评分器测量。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 115, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 114 所展示、log step 115 最终启动的控制器，以测得关节位置为起点小步推进食指和拇指，并周期调整中指接触；视频 0.0–12.3 s 对应只产生有限的手内转动，始终没有形成达到目标的滚转动作。更早的log step 81、96、108中agent也自述食指转动过程中接触会提前打开，最终加入拇指跟随后仍未完成首阶段。证据支持手指调姿控制未奏效，但不足以区分接触设计、轨迹跟踪或参数问题，故停在控制大类。" + } + ], + "gap_zh": "观察：inputs/提供本次视频、完整会话日志及成功参考视频，但无状态日志；评分器reward未给出stage_index、逐步接触力、各原生误差或具体失败子项。视频中核桃和指尖有部分遮挡，只能判断宏观转动不足及未落盘，无法确定终止是否由瞬间失去有效接触、B微小偏转或其他原生阈值触发；也不能精确核验九十度误差和连续样本窗口。log step 115 的角度是agent脚本估计，不能填入评分器原生指标；此前重置回合的失握自述仅用作根因辅助证据，不作为本次的失握现象。" + }, + "summary_zh": "计分回合只尝试了A的手内转动，未完成九十度、回正或落盘，终态为0/3。断点在“A转九十度”的操作中：视频全程仅见小幅手指和外壳变化，末尾接盘仍为空，手指调姿控制未能实现目标。缺少原生阶段、接触力和具体失败子项，不能确定导致立即终止的微观事件。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "视频仅13.3 s（663控制步，与n_actions一致），右手悬在空盘上方，全程无明显转动、接盘始终为空，A三个节点均未达成、断点在a_quarter_turned的判断与帧相符；现象“位姿不准”与根因“控制”（已声明不足以细分）有证据支持。未发现需改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:39:29Z", + "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-essential-two-object-i00-standard--qtie6df/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-essential-two-object-i00-standard--qtie6df/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2ff101c27d82809eee3abc371bbfddf00c408649cd25199801f6f8395bbb124d", + "video_sha256": "74ed553242eeed05db16255d64fa24edce276c51fb8df2ddbc6f16a1a2ad4e0f", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-standard--u5h7mmj.json b/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-standard--u5h7mmj.json new file mode 100644 index 0000000000000000000000000000000000000000..cb328eb9effe3821fdb83dc6bea11d3fb326d81d --- /dev/null +++ b/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-standard--u5h7mmj.json @@ -0,0 +1,313 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-essential-two-object-i00-standard--u5h7mmj", + "taskKey": "dexhand/essential_two_object", + "dag_sha256": "531229b39d851ab1d907e1264ab1da4b275b30aec7af561984af7640acd7c097", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 226, + "control_steps_total": 2981, + "elapsed_s": 2705.83, + "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": 199, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 20, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 199, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.628, + "peak_processes": 6, + "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-two-object-i00-standard--u5h7mmj/replay.mp4", + "duration_s": 4.04, + "fps": 25.0, + "frames": 101, + "sha256": "f782bcaeeadde57a980ab3a90f9b775c0d5abe51c061ca1dd4bb89675f500855" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": null, + "peak": null, + "final": null, + "nodes": { + "a_quarter_turned": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 0.0, + "log_step": 349, + "text_zh": "观察：视频 0.0–1.9 s 中右手固定在接盘上方，包夹核桃的手指逐渐屈曲，露出的棕色壳面逐渐被遮住；视频 1.6–1.9 s 的壳纹不足以追踪A的完整朝向。log step 349 的控制脚本安排正向转动及保持，log step 351 仅报告该动作块结束且 done=False，未报告评分器 stage_index 或旋转误差，不能据此确认九十度阶段达标。" + }, + { + "t": 1.8, + "log_step": null, + "text_zh": "观察：成功参考视频 0.0–5.0 s 同样存在手内遮挡，虽可见更大的手指屈曲和核桃外观变化，仍不能从该总览视角读出本次A在关键遮挡窗口内是否达到0.16 rad误差及连续保持条件；本节点保留未知。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 0.0–1.9 s，单只右手的弯曲手指与拇指围夹棕色核桃并屈伸；A的全部接触点及B的承重手指被遮挡，不能逐指确认，也不能据此认定已完成手内九十度转动。" + } + ] + }, + "a_returned": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 3.5, + "log_step": 351, + "text_zh": "观察：视频 2.0–3.8 s 可见右手手指缓慢回摆，但核桃主要藏在指后，未露出足够壳纹来核对其是否回到初始朝向。log step 351 报告控制脚本的回转块及保持块分别在 control_steps=175、190 结束，均 done=False；这些是脚本执行边界，并非评分器第二阶段完成记录。" + }, + { + "t": 3.8, + "log_step": 351, + "text_zh": "推断：九十度阶段本身未能核实，且无原生第二阶段计数，故不能把手指回摆或脚本进入释放块当成已按顺序完成A回正，本节点保留未知。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 2.0–3.8 s，右手仍围夹手内核桃，手指作回摆；核桃未离手。具体作用于A或稳持B的手指接触被遮挡。" + } + ] + }, + "a_in_tray": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.0, + "log_step": 351, + "text_zh": "观察：已检查视频 0.0–4.0 s 的全程抽帧及全部101帧手部裁剪，尤其视频 3.0–4.0 s；接盘始终为空，末尾仅见右手略张指，核桃仍在手内，未见核桃落下或在盘中央静置。成功参考视频 12.0–13.0 s 则清楚可见核桃已落到接盘中。log step 351 报告最后一局在释放动作块内 control_steps=199 时 done=True、reason=task_failure。" + }, + { + "t": 4.0, + "log_step": 426, + "text_zh": "观察：log step 356 的服务状态确认 episode=21、control_steps=199、task_failure；log step 426 执行后来修改的脚本时，脚本因该局已结束且 resets_left=0 而直接返回，没有产生新的动作。因此后来脚本的阶段设定与最终成功式总结均不构成本次落盘证据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 3.8–4.0 s，原先包夹核桃的右手手指略张开，核桃仍处于指间；结合 log step 351，这是脚本对A执行的选择性释放尝试，未出现核桃脱手落盘。B的具体承重接触不可见。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "a_quarter_turn_error", + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better", + "value": null + }, + { + "name": "a_orientation_error", + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better", + "value": null + }, + { + "name": "a_position_error", + "unit": "m", + "threshold": 0.035, + "direction": "lower_better", + "value": null + }, + { + "name": "a_deposit_distance", + "unit": "m", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "b_position_error", + "unit": "m", + "threshold": 0.015, + "direction": "lower_better", + "value": null + }, + { + "name": "b_orientation_error", + "unit": "rad", + "threshold": 0.2, + "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 + }, + { + "name": "a_linear_speed", + "unit": "m/s", + "threshold": 2.5, + "direction": "lower_better", + "value": null + }, + { + "name": "a_angular_speed", + "unit": "rad/s", + "threshold": 80, + "direction": "lower_better", + "value": null + }, + { + "name": "a_height", + "unit": "m", + "threshold": [ + 0.135, + 0.6 + ], + "direction": "target", + "value": null + }, + { + "name": "speed_rotate_return", + "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 + } + ], + "failure": { + "breakpoint": { + "ref": "a_in_tray", + "t": 3.8, + "log_step": 351, + "where": "操作中", + "evidence_zh": "观察：视频 3.8–4.0 s，机器人右手开始略张指，A没有进入始终为空的接盘；log step 351 记录最后一局在选择性释放块内 control_steps=199 时被服务判为 task_failure。推断：log step 351 的50 Hz控制计数给出释放开始约视频 190/50=3.8 s、结束约视频 199/50=3.98 s，已与末尾张指和视频约4.0 s终止核对；以该段明确发生且未修复的释放尝试定位断点。前两节点的验收因遮挡未知，不能排除更早已有未达标的旋转或回正。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "视频只有总览视角，无状态日志；两核桃在手内关键阶段被手指遮挡，无法确定A的完整朝向、逐指承重接触及B的微小位姿变化。最后一局日志仅报告 task_failure，没有 stage_index、terminal_hold 或具体失败特征；脚本块执行完成不等于评分器阶段完成，无法排除更早旋转/回正未达标。释放仅进行了约0.18 s便终止，既未见核桃脱手，也无阻挡、滑落或力异常的充分证据，故不将终止时仍夹持直接定为“没松开”，现象层留空；也无法区分接触布局、跟踪控制或阶段切换等根因，根因层留空。DAG所列原生指标均未在评分器reward字段报告，故value均为null。", + "unmet": { + "a_quarter_turned": null, + "a_returned": null, + "a_in_tray": false + } + }, + "summary_zh": "最后评分局中，右手进行了手指屈伸、回摆和短暂张指，A从未进入接盘，落盘节点为假；九十度转动与回正因手内遮挡及缺少原生阶段记录均为未知，没有可确认完成的节点。断点定位在视频约 3.8 s 开始的选择性释放尝试，服务随后判失败；缺少具体失败特征，无法可靠给出现象或根因。log step 426 表明后来修改的脚本未执行新动作，log step 428 的完成式自述不能替代这段评分视频。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "视频仅4.04 s、手内核桃被遮挡，标注者把前两节点留为unknown、a_in_tray为false、断点定在释放块（log step 351 的 control_steps 190–199 对应视频约3.8–4.0 s），与帧和日志一致；现象与根因留空并有gap_zh，证据不足以补充，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": "2026-10-30T05:38:13Z", + "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-two-object-i00-standard--u5h7mmj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-essential-two-object-i00-standard--u5h7mmj/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "dc9ece86c17070b4d75cb4316e6a504dc3317f6f9df002477e98d164e8228298", + "video_sha256": "f782bcaeeadde57a980ab3a90f9b775c0d5abe51c061ca1dd4bb89675f500855", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-standard--us8gpyh.json b/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-standard--us8gpyh.json new file mode 100644 index 0000000000000000000000000000000000000000..bcc5d9d77fa58add3e7421d5e312c99ca71529b7 --- /dev/null +++ b/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-standard--us8gpyh.json @@ -0,0 +1,313 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-essential-two-object-i00-standard--us8gpyh", + "taskKey": "dexhand/essential_two_object", + "dag_sha256": "531229b39d851ab1d907e1264ab1da4b275b30aec7af561984af7640acd7c097", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 130, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 678, + "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": 678, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.927, + "peak_processes": 9, + "peak_disk_gb": 1.115, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-two-object-i00-standard--us8gpyh/replay.mp4", + "duration_s": 13.6, + "fps": 25.0, + "frames": 340, + "sha256": "fbb5d82831071a7612ff30bb8f5853f24cc6684609b0981b55082f66ec53aaa0" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "a_quarter_turned": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s，右手在接盘上方包围两枚核桃，A的棕色壳面从手指间部分露出；视频 2、4、6、8、9.6、12 s及视频 12.48–13.56 s的密集末段画面中，手指逐渐改变夹持姿态，A随之滚转，未出现释放或落盘。" + }, + { + "t": 13.56, + "log_step": 124, + "text_zh": "推断：视频 0–13.56 s可见的壳纹和轮廓变化不足以构成目标四分之一转，结合本局log step 123仍在向九十度目标校正、log step 124的自建RGB-D跟踪器最后输出旋转向量[-0.0258,-1.2372,0.1499] rad且服务返回done=True，判断第一阶段未完成；该旋转向量是agent脚本的估计，不是评分器原生指标。" + }, + { + "t": null, + "log_step": 118, + "text_zh": "观察：log step 118复位到episode 16并重放mp1至mp4；log step 121–124继续执行dyn5、auto16_0。log step 124保存的命令序列包含这六段、共678行，评分记录n_actions=678、live_matches_replay=1；此前15次复位中的测试不计入本视频进度。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "手内调整", + "note_zh": "观察：视频 0–13.56 s，单只右手围住核桃A并以手指相对运动使其滚转；结合log step 121–124，执行端为拇指、食指和中指，未进行计划释放。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "推断：视频 0–13.56 s其余弯曲手指维持对核桃B的包围夹持；结合本局脚本沿用外侧手指握持目标，B未见落出。有效承重接触点及微小滑动无法由总览精确核实。" + } + ] + }, + "a_returned": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.56, + "log_step": 124, + "text_zh": "观察：视频 0–13.56 s中机器人持续沿同一调姿过程动作，末段没有使A反向回到开局朝向的回转序列；log step 123的脚本仍以九十度为目标，log step 124结束在该校正段，未执行返回段。" + }, + { + "t": null, + "log_step": 126, + "text_zh": "观察：agent在log step 126最后自述拟再试连续转动、回转和选择释放，但此后无工具调用；该计划不属于已录制动作，也不能作为完成回正的证据。" + } + ] + }, + "a_in_tray": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.56, + "log_step": null, + "text_zh": "观察：全视频粗查并检查视频 0、6、12、13.56 s总览以及视频 12.48–13.56 s末段，浅灰方形接盘始终为空，机器人没有让A落入盘中。成功参考视频约12.5–13.5 s在同一视角可清楚看到盘中央的棕色核桃；本视频没有这一落盘结果。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "a_quarter_turn_error", + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better", + "value": null + }, + { + "name": "a_orientation_error", + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better", + "value": null + }, + { + "name": "a_position_error", + "unit": "m", + "threshold": 0.035, + "direction": "lower_better", + "value": null + }, + { + "name": "a_deposit_distance", + "unit": "m", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "b_position_error", + "unit": "m", + "threshold": 0.015, + "direction": "lower_better", + "value": null + }, + { + "name": "b_orientation_error", + "unit": "rad", + "threshold": 0.2, + "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 + }, + { + "name": "a_linear_speed", + "unit": "m/s", + "threshold": 2.5, + "direction": "lower_better", + "value": null + }, + { + "name": "a_angular_speed", + "unit": "rad/s", + "threshold": 80, + "direction": "lower_better", + "value": null + }, + { + "name": "a_height", + "unit": "m", + "threshold": [ + 0.135, + 0.6 + ], + "direction": "target", + "value": null + }, + { + "name": "speed_rotate_return", + "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 + } + ], + "failure": { + "breakpoint": { + "ref": "a_quarter_turned", + "t": 13.5, + "log_step": 124, + "where": "操作中", + "evidence_zh": "推断：视频约13.5 s最后的手内转动校正仍未使A完成目标转角，随后本局停止；log step 123–124显示机器人执行的是九十度目标的校正段，服务done=True，未进入回正与释放。断点为仍在操作的A转九十度，而非后续未启动的落盘步骤。" + }, + "unmet": { + "a_quarter_turned": false, + "a_returned": false, + "a_in_tray": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 13.5, + "log_step": 124, + "evidence_zh": "推断：视频 0、6、12、13.56 s对照及末段放大画面显示A只完成部分手内滚转；本局log step 123尚需较大转动校正，log step 124的自建跟踪器估计主转角约71°并带偏轴分量，支持A朝向尚未到九十度目标的判断。估计角度只作辅助，未当作原生验收值。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 121的控制器用估计核桃中心和指节局部接触点求关节增量；log step 123再依据自建视觉跟踪误差生成转动校正，任务目标和先后顺序正确，但log step 124执行后仍有明显转角余量且本局已终止，与视频末段未完成目标的结果相符。证据支持手内调姿控制未实现要求，尚不足以细分为接触几何、轨迹跟踪或参数问题。" + } + ], + "gap_zh": "无状态日志，只有总览视频；A壳面部分被手指遮挡，不能精确测量转角、承重接触、接触力或速度。日志未给本局stage_index、terminal_hold或具体失败特征；log step 124的姿态数值来自agent自己的跟踪器，log step 126“失去有效抓握”是agent自述，不能据此判定没保持住或哪条约束触发终止。节点未完成判断由画面与本局动作/跟踪记录共同推断，未将成功参考的阶段记录移作本局证据；所有原生指标均因评分字段未报告而留null。" + }, + "summary_zh": "评分局中右手保持在接盘上方并尝试手内转动A，但未完成九十度阶段，回正与选择释放均未启动，终态为0/3，接盘始终为空。断点在末段A调姿操作，画面和本局自建跟踪记录支持转角未到位，根因保留到控制层；没有原生阶段、接触力或具体终止原因，不能核实agent所称的失握。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "标注与视频和日志一致：全程总览中右手悬空持核桃、接盘始终为空，三个节点均未达成（0/3），断点在a_quarter_turned操作中；证据已区分观察与推断，根因落在控制层有日志支持，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:40:17Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-essential-two-object-i00-standard--us8gpyh/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-essential-two-object-i00-standard--us8gpyh/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2936a3c564d0c06d68419f769a450c581643feb7d9ef8e6e37e637526a292da1", + "video_sha256": "fbb5d82831071a7612ff30bb8f5853f24cc6684609b0981b55082f66ec53aaa0", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-standard--usuffpp.json b/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-standard--usuffpp.json new file mode 100644 index 0000000000000000000000000000000000000000..767c0cb39b4d33f669e059288bca6525b30c2e7d --- /dev/null +++ b/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-standard--usuffpp.json @@ -0,0 +1,320 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-essential-two-object-i00-standard--usuffpp", + "taskKey": "dexhand/essential_two_object", + "dag_sha256": "531229b39d851ab1d907e1264ab1da4b275b30aec7af561984af7640acd7c097", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 168, + "control_steps_total": 2522, + "elapsed_s": 2634.928, + "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": 631, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 11, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 631, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.346, + "peak_processes": 9, + "peak_disk_gb": 0.258, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-two-object-i00-standard--usuffpp/replay.mp4", + "duration_s": 12.68, + "fps": 25.0, + "frames": 317, + "sha256": "8a54bdeeb277a075e9a19cd7833ed157965e2270c9712ff6cf0dd10e200b9a72" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": null, + "peak": null, + "final": null, + "nodes": { + "a_quarter_turned": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 6.0, + "log_step": null, + "text_zh": "观察：视频0.0–12.64 s总览及每0.2 s手部放大图中，主要可见上方被夹持的核桃，掌内核桃A的外壳及接触面被手遮挡，无法追踪其绕掌心Y轴的朝向。成功参考视频的手内转动阶段同样主要遮挡A；本次没有原生stage_index或旋转误差记录，不能从近似不变的握形或总分0确认第一阶段完成与否，故保留未知。" + } + ] + }, + "a_returned": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 11.4, + "log_step": 51, + "text_zh": "观察：视频11.4 s前后手部仍遮挡A，无法比较其壳纹与初始朝向；log step 51只输出early end C: task_failure，没有第二阶段计数。推断：不能将脚本名为R2的等待段视为完成回正，且首个九十度前置事件也未能核实，故本节点未知。" + } + ] + }, + "a_in_tray": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.64, + "log_step": 51, + "text_zh": "观察：已查看视频0.0–12.64 s总览、每0.2 s手部放大图及视频10.8–12.64 s每帧放大图，浅灰接盘始终为空，没有核桃从手内落入接盘；末帧可见上方核桃仍被相对的手指夹持。log step 51的最后现场控制器在搬运C段返回task_failure，未进入随后的选择张指释放D段。成功参考视频12.0–13.0 s则明确显示棕色核桃进入接盘，参考仅用于确认可见线索。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频11.4–12.64 s，右手上方相对的手指持续夹持可见核桃B，侧方手指小幅移动；没有选择性释放动作。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频11.4–12.64 s，拟搬运的核桃A及其与右手无名指、小指的接触面被手遮挡，不能确认搬运时实际为夹持、推擦还是接触丢失；不能把脚本指令当成实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "a_quarter_turn_error", + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better", + "value": null + }, + { + "name": "a_orientation_error", + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better", + "value": null + }, + { + "name": "a_position_error", + "unit": "m", + "threshold": 0.035, + "direction": "lower_better", + "value": null + }, + { + "name": "a_deposit_distance", + "unit": "m", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "b_position_error", + "unit": "m", + "threshold": 0.015, + "direction": "lower_better", + "value": null + }, + { + "name": "b_orientation_error", + "unit": "rad", + "threshold": 0.2, + "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 + }, + { + "name": "a_linear_speed", + "unit": "m/s", + "threshold": 2.5, + "direction": "lower_better", + "value": null + }, + { + "name": "a_angular_speed", + "unit": "rad/s", + "threshold": 80, + "direction": "lower_better", + "value": null + }, + { + "name": "a_height", + "unit": "m", + "threshold": [ + 0.135, + 0.6 + ], + "direction": "target", + "value": null + }, + { + "name": "speed_rotate_return", + "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 + } + ], + "failure": { + "breakpoint": { + "ref": "a_quarter_turned", + "t": 0.0, + "log_step": 48, + "where": "操作中", + "evidence_zh": "观察：视频0.0–12.64 s总览与每0.2 s手部放大图中，手部前段近似静止，末段仅见小幅指动，没有可见的核桃转动或落盘；A本身被手遮挡。inputs/run.json log step 48的转动控制循环先调用a_center、计算mig=c[2]-A0[2]，在mig>=0.029时先break，再有可能增加push并提交转动动作；log step 50–51未修改此逻辑。log step 18同类复位测量中较大的B区域中心高度为0.3582 m、A0高度为0.329 m，B也在0.09 m候选范围内。推断：a_center按最大区域选中B，使mig约为0.0292 m，首个转动反馈循环即可能误判达标退出、push保持0，故最早未修复的失败步骤定位为a_quarter_turned，操作中指该步骤的感知反馈控制环节；并非从视频直接测得A的转角。视频0.0 s仅作开局转动环节的粗略导航锚点，未将agent时间换算为视频时间。log step 51的early end C: task_failure是后续搬运时的终止反馈，接盘始终为空是后果，均不能替代更早的步骤断点；agent在log step 50声称R/R2存活不能证明转动完成。" + }, + "unmet": { + "a_quarter_turned": null, + "a_returned": null, + "a_in_tray": false + }, + "phenomena": [], + "root_causes": [ + { + "cat": "认知", + "item": "感知", + "t": 0.0, + "log_step": 48, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 18同一RGB深度分割在复位姿态给出B为5117像素、中心(0.0224,-0.022,0.3582) m，A为2770像素、中心(-0.0187,0.0208,0.3293) m。log step 48的a_center没有按接近A的位置区分两者，只在距A0不超过0.09 m的候选中选最大区域；B距A0约0.066 m，因而会被当作A。控制器用错误对象的高度计算A的滚动进度，0.3582-0.329=0.0292 m使首个转动循环提前退出。log step 50–51保留该错误，视频近似静止至末段、最终未释放的过程与其相符；这是错误对象估计影响动作的证据，而非由失败分数反推感知原因。" + } + ], + "gap_zh": "观察：inputs内有本次与成功参考视频、完整run.json，但没有states.jsonl或最后回合的原生stage_index、接触力与违规名称。A在总览中主要被手遮挡，无法测得其朝向及实际接触，首两节点保留未知；最后回合也没有打印a_center的实际返回值。推断：感知根因及a_quarter_turned断点来自最终代码、会话复位测量与本次近似静止视频的组合，断点是最早失败步骤的推断，不是对原生阶段计数的直接读取；因此不把首两节点强判为假。已直接确认未落盘及搬运C段task_failure，但不能据此把搬运终止处当作首个失败步骤，也无法区分A滑脱、B偏移、接触力异常等具体物理现象，现象层仍留空；agent在log step 52猜测第二阶段位置守卫仍生效，未采为事实。" + }, + "summary_zh": "观察：本次视频未见A落入接盘，确认完成0/3节点；A的手内朝向被遮挡，九十度与回正两个阶段均保留未知，log step 51最后现场回合在放盘前的搬运C段以task_failure终止。推断：最终控制器在同时包含两核桃的范围内选择最大棕色区域，会把早先复位测量中较大的B区域当作A，错误高度差使首个转动循环可能提前退出。因此断点前移至a_quarter_turned，搬运段终止与未落盘为后续结果。观察：缺少最后回合的原生阶段、实际追踪返回值和违规名称，断点及感知根因仍为组合证据推断，conf维持5，不能确定具体物理失败现象。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点全部保守地标为未知/false，合理；但断点与自身的根因推断不一致：标签称A被误选为B导致首个转动循环提前退出，则转动阶段未真正尝试，断点应在 a_quarter_turned 而非 a_in_tray。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点保守标为未知/false合理，断点a_quarter_turned与感知根因（a_center在0.09 m范围内取最大区域，会选中较大的B，mig≈0.0292≥0.029使phase R首循环即break）有代码与视频（手近似静止、接盘为空）支持，且已标明为推断；未发现需改动的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:59:12Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun1/runs/dexhand-essential-two-object-i00-standard--usuffpp/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun1/runs/dexhand-essential-two-object-i00-standard--usuffpp/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun1/runs/dexhand-essential-two-object-i00-standard--usuffpp/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun1/runs/dexhand-essential-two-object-i00-standard--usuffpp/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3a30d552d7474cc5d3c50e96da18816bcf8a2f4ce8a821ebeeb24e72dd91527d", + "video_sha256": "8a54bdeeb277a075e9a19cd7833ed157965e2270c9712ff6cf0dd10e200b9a72", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-standard--wnsuynf.json b/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-standard--wnsuynf.json new file mode 100644 index 0000000000000000000000000000000000000000..480c6aa223b3de2d2627282d74bbda8c3f72b7a9 --- /dev/null +++ b/phase2/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-standard--wnsuynf.json @@ -0,0 +1,318 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-essential-two-object-i00-standard--wnsuynf", + "taskKey": "dexhand/essential_two_object", + "dag_sha256": "531229b39d851ab1d907e1264ab1da4b275b30aec7af561984af7640acd7c097", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 125, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 657, + "no_verdict": 0, + "replay_success": 0, + "reset_budget": 20, + "resets": 18, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 657, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.698, + "peak_processes": 9, + "peak_disk_gb": 0.3, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-essential-two-object-i00-standard--wnsuynf/replay.mp4", + "duration_s": 13.2, + "fps": 25.0, + "frames": 330, + "sha256": "38d63a526ad998f6824e60d2cdaa7d16de2d0ec2624e19322012fd40eb3395d7" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "a_quarter_turned": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.2, + "log_step": 41, + "text_zh": "观察：视频0.0、1.2、1.6、2.0 s及随后每约0.2 s的手部放大帧中，右手手指反复小幅屈伸，夹持区可见的核桃A外壳只小幅转动、回摆，未出现绕掌心Y轴转过约四分之一圈的变化；视频8.0—13.16 s继续小幅调整，A始终留在手内。" + }, + { + "t": 13.16, + "log_step": 45, + "text_zh": "观察：log step 41复位后执行四组食指屈伸，log step 43确认episode=19、control_steps=400；log step 44在该回合继续操作至650步，log step 45在657步由服务报告done=True、reason=task_failure。评分器n_actions=657、live_matches_replay=1，与视频13.2 s的最后回合相符。" + }, + { + "t": 8.0, + "log_step": 41, + "text_zh": "推断：结合全程可见的有限滚转及log step 41、44、45所示手指指令，A未完成九十度阶段。log step 41的图像跟踪结果只是agent脚本估计，不是原生阶段验收；不把早期复位测试或另存控制脚本计入这段评分视频。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "手内调整", + "note_zh": "观察：右手拇指与对侧弯曲手指夹持核桃A，食指反复屈伸，随后拇指末节屈伸，带动A在手内小幅滚转；未发生释放。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "推断：结合双核桃开局和视频中掌侧手指持续包合、没有另一枚核桃落下，右手其余手指继续包持核桃B；B及具体承重接触点大部分被手遮挡，不能确认逐指接触力。" + } + ] + }, + "a_returned": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.0, + "log_step": 41, + "text_zh": "观察：视频0.0—8.0 s右手反复屈伸、回摆；log step 41对应的是四组食指往复指令，未执行已完成九十度阶段后的独立回正。" + }, + { + "t": 13.16, + "log_step": 45, + "text_zh": "推断：视频0.0—13.16 s未达到九十度前置阶段，故这些小幅回摆及接近开局的姿态不构成DAG规定的第二阶段回正事件；a_returned未到达。" + } + ] + }, + "a_in_tray": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.16, + "log_step": null, + "text_zh": "观察：全片约每1 s的总览帧及视频13.16 s末帧中，浅灰接盘始终为空，A仍在悬空右手的夹持区，没有核桃从手中落下或停在盘中。" + }, + { + "t": 12.0, + "log_step": 45, + "text_zh": "观察：视频12.0—13.16 s逐帧检查未见选择性释放；成功参考inputs/oracle/replay.mp4在参考视频12.5—13.5 s能清楚看到一枚核桃已在盘中央附近，本次同一总览视角没有该落盘结果。参考只用于辨认可见线索。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "a_quarter_turn_error", + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better", + "value": null + }, + { + "name": "a_orientation_error", + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better", + "value": null + }, + { + "name": "a_position_error", + "unit": "m", + "threshold": 0.035, + "direction": "lower_better", + "value": null + }, + { + "name": "a_deposit_distance", + "unit": "m", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "b_position_error", + "unit": "m", + "threshold": 0.015, + "direction": "lower_better", + "value": null + }, + { + "name": "b_orientation_error", + "unit": "rad", + "threshold": 0.2, + "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 + }, + { + "name": "a_linear_speed", + "unit": "m/s", + "threshold": 2.5, + "direction": "lower_better", + "value": null + }, + { + "name": "a_angular_speed", + "unit": "rad/s", + "threshold": 80, + "direction": "lower_better", + "value": null + }, + { + "name": "a_height", + "unit": "m", + "threshold": [ + 0.135, + 0.6 + ], + "direction": "target", + "value": null + }, + { + "name": "speed_rotate_return", + "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 + } + ], + "failure": { + "breakpoint": { + "ref": "a_quarter_turned", + "t": 13.1, + "log_step": 45, + "where": "操作中", + "evidence_zh": "观察：视频12.0—13.16 s，右手仍夹持A作小幅手内调整，未转到九十度、未释放；log step 45的最后一段屈指指令仅执行到control_steps=657即由服务报告task_failure。推断：失败发生时仍在第一步转动A，该步始终没有修复；视频13.1 s仅作末次操作的导航锚点，不能据此指定某条守卫违规。" + }, + "unmet": { + "a_quarter_turned": false, + "a_returned": false, + "a_in_tray": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 1.2, + "log_step": 41, + "evidence_zh": "观察：视频1.2、2.0、4.0、6.0、8.0 s及视频9.0—13.16 s的放大帧中，右手虽持续屈伸手指，A的可见外壳仅小幅滚转和回摆，没有达到要求的四分之一圈重定向；最后仍被手夹持，目标朝向未完成。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：log step 41的控制器以四次食指屈伸尝试积累滚转，log step 44改为拇指末节屈伸，log step 45继续叠加食指与拇指目标；视频0.0—13.16 s实际只形成有限的往复调整，未形成所需的大幅重定向。目标和阶段顺序没有被误读，现有证据支持手内操作控制未能实现目标，但不足以区分接触设计、轨迹或反馈控制子类。" + } + ], + "gap_zh": "本次没有状态日志，评分器与服务未提供stage_index、terminal_hold、原生朝向误差、接触力或具体守卫失败字段；总览中A部分可见、B大部分被遮挡，不能精确核实0.16 rad容差和逐指承重，也不能确定末次终止是两核桃相碰、速度越限或其他守卫触发。log step 48关于滑移、相碰和速度尖峰的表述是agent自述与猜测，不据此添加没保持住、碰撞或具体控制子类；所有native_metrics因评分器未报告数值而填null。" + }, + "summary_zh": "评分视频对应最后的第19回合：右手仅对A作小幅往复手内调整，未完成九十度转动，故顺序要求的回正未达成，接盘也始终为空，最终0/3。断点是A转九十度，现象为位姿不准，手指控制未能产生所需重定向；服务在log step 45报告task_failure。缺少原生阶段、姿态误差与接触记录，无法确认精确守卫触发原因，早期复位测试及另存脚本不作为本次节点进度。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "三个节点均未到达，与视频一致：手内核桃A只小幅滚转，接盘全程为空。断点 a_quarter_turned、位姿不准、根因停在“控制”，都有视频和服务读数支持；step 41/44/45 的 400+250+7 步与视频 13.2 s（657 步）对得上。无需修改。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:40:15Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-essential-two-object-i00-standard--wnsuynf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-essential-two-object-i00-standard--wnsuynf/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "733171403652745b175d3bf83fcb2ec9df8dcea8c02ac47d698f37fe87f554c2", + "video_sha256": "38d63a526ad998f6824e60d2cdaa7d16de2d0ec2624e19322012fd40eb3395d7", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-privileged--etavkxl.json b/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-privileged--etavkxl.json new file mode 100644 index 0000000000000000000000000000000000000000..f5de97d3d887c4bb989c9f0d2fc3d28a3108f60c --- /dev/null +++ b/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-privileged--etavkxl.json @@ -0,0 +1,311 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-fan-guard-install-i00-privileged--etavkxl", + "taskKey": "dexhand/fan_guard_install", + "dag_sha256": "780b495033f927e2f99d6c0c605a490e62e3855b405d828e8318daf24d90f374", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 1644, + "sim_steps": 1644, + "stages_completed": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.38, + "peak_processes": 10, + "peak_disk_gb": 0.842, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-fan-guard-install-i00-privileged--etavkxl/replay.mp4", + "duration_s": 29.5, + "fps": 10.0, + "frames": 295, + "sha256": "2f2165e7559ffde963b8c8475a2513d3e226d530d6889514719e6b767f50a77c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "guard_seated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 前护罩平放桌面，与竖立的风扇后罩分离；视频 7.0、15.0、24.0、26.0 s 右手夹住中央帽并逐渐抬升护罩，但护罩仍近乎水平，未竖起贴合后罩。" + }, + { + "t": 27.4, + "log_step": 335, + "text_zh": "观察：视频 27.4 s 字幕变为 FAIL: guard_dropped，仍为 Stage 0/3、同心偏差约453.9 mm、两轴夹角约89.4°；视频 28.5–29.4 s 的末秒逐帧保持同一未装配终态。log step 335 的最终生成运行返回 seated=false、first_seated_step=None、steps=1644；log step 345、347 对所交付1644行文件的独立回放均返回 guard_dropped，与视频一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 7.0–26.0 s，单只右手的拇指与对侧手指夹住前护罩凸起的中央帽，并带动整片护罩离开桌面抬升；末段抓持失去，未将罩沿装到后罩。" + } + ] + }, + "clip_45_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，上方、世界y较大侧的45度扣随其余扣向外张开；本次右手随后一直在桌面前护罩中央帽处抓持、抬升，未见拨动该扣。" + }, + { + "t": 29.4, + "log_step": 335, + "text_zh": "观察：视频 27.4–29.4 s 终态前护罩仍与后罩分离，字幕 clips locked 0/4；log step 335 的最终生成运行中四个 clip_angles_rad 均约1.413 rad，clips_locked=0，包含45度扣。log step 345、347 确认交付文件独立回放同样以1644个控制步失败；该扣未达到闭合范围。" + } + ] + }, + "clip_135_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，上方、世界y较小侧的135度扣随其余扣向外张开；本次右手随后一直在桌面前护罩中央帽处抓持、抬升，未见拨动该扣。" + }, + { + "t": 29.4, + "log_step": 335, + "text_zh": "观察：视频 27.4–29.4 s 终态前护罩仍与后罩分离，字幕 clips locked 0/4；log step 335 的最终生成运行中四个 clip_angles_rad 均约1.413 rad，clips_locked=0，包含135度扣。log step 345、347 确认交付文件独立回放同样以1644个控制步失败；该扣未达到闭合范围。" + } + ] + }, + "clip_225_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，下方、世界y较小侧的225度扣随其余扣向外张开；本次右手随后一直在桌面前护罩中央帽处抓持、抬升，未见拨动该扣。" + }, + { + "t": 29.4, + "log_step": 335, + "text_zh": "观察：视频 27.4–29.4 s 终态前护罩仍与后罩分离，字幕 clips locked 0/4；log step 335 的最终生成运行中四个 clip_angles_rad 均约1.413 rad，clips_locked=0，包含225度扣。log step 345、347 确认交付文件独立回放同样以1644个控制步失败；该扣未达到闭合范围。" + } + ] + }, + "clip_315_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，下方、世界y较大侧的315度扣随其余扣向外张开；本次右手随后一直在桌面前护罩中央帽处抓持、抬升，未见拨动该扣。" + }, + { + "t": 29.4, + "log_step": 335, + "text_zh": "观察：视频 27.4–29.4 s 终态前护罩仍与后罩分离，字幕 clips locked 0/4；log step 335 的最终生成运行中四个 clip_angles_rad 均约1.413 rad，clips_locked=0，包含315度扣。log step 345、347 确认交付文件独立回放同样以1644个控制步失败；该扣未达到闭合范围。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "concentric_m", + "unit": "m", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_seat_axial_m", + "unit": "m", + "threshold": 0.0025, + "direction": "lower_better", + "value": null + }, + { + "name": "parallel_rad", + "unit": "rad", + "threshold": 0.0872664626, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_45_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_135_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_225_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_315_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "guard_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "guard_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "fan_displacement_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "fan_tilt_rad", + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "guard_seated", + "t": 27.4, + "log_step": 335, + "where": "操作中", + "evidence_zh": "观察：视频 24.0–27.3 s 右手夹持中央帽抬起仍水平的前护罩；视频 27.4 s 画面首次显示 FAIL: guard_dropped，此时护罩还远离同心竖立的座位，四扣未操作。log step 335 返回 hand_contact=false，失败细节 unsupported_vz_m_s=-0.2095065，first_seated_step=None；log step 345、347 的交付文件回放复现该失败。失败发生在就位步骤所包含的搬运操作中。" + }, + "unmet": { + "guard_seated": false, + "clip_45_closed": false, + "clip_135_closed": false, + "clip_225_closed": false, + "clip_315_closed": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 27.4, + "log_step": 335, + "evidence_zh": "观察：视频 15.0–26.8 s，右手夹住中央帽并带动整片护罩抬高，说明先前已建立承载抓持；视频 27.3–27.4 s 护罩相对指尖下滑，字幕随后显示 guard_dropped。log step 335 的同一最终生成运行返回 hand_contact=false，且失败细节为无外部接触时向下速度约0.2095 m/s；视频在判负后冻结，未显示后续落桌或落地。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 27.4, + "log_step": 335, + "source_zh": "视频 / 日志", + "evidence_zh": "推断：右手在视频 15.0–27.4 s 已能夹住中央帽抬升，却未能在后续动作中持续承载护罩。log step 324、327 的会话测试均先返回 hand_contact=true 的高位抬升，随后在 translateX 初段返回 hand_contact=false、guard_dropped；最终生成运行（log step 335）及交付文件独立回放（log step 345、347）也以失去接触下落结束。结合视频所见，将原因归于抓持与搬运控制；现有证据不足以进一步区分接触设计和动作衔接中的控制失配。" + } + ], + "gap_zh": "没有逐帧状态日志、接触力和最终控制目标序列；输入日志的最终生成器编辑记录未包含完整代码，不能确定失去抓持的具体控制机制，故根因仅标控制。总览足以判断护罩未就位，四扣锁合计数始终为0/4，但不能从图像量测毫米级座位误差或单扣精确角度；run.json 的 reward 未报告 DAG 所列原生几何、角度及速度指标，因此 native_metrics.value 均留null，未用会话测试数值代替评分字段。" + }, + "summary_zh": "右手夹住前护罩中央帽并将其近乎水平地抬离桌面，但未完成竖起与同心贴合，四个夹扣也未操作，五个节点均未达成。约视频 27.4 s 抓持失去并触发 guard_dropped，断点为前护罩就位的操作中；交付文件两次独立回放复现该失败。现有证据支持控制失败，但缺少逐帧接触力与控制目标，无法确定更细的控制机制。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频帧与标注一致：护罩被右手抓住抬离桌面（阴影可见）但仍水平，27.4 s 字幕出现 FAIL: guard_dropped，Stage 0/3、clips locked 0/4，五节点均未达成，断点 guard_seated 合理；没保持住 + 控制的标注有日志支撑且已声明不确定性。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:19:10Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-fan-guard-install-i00-privileged--etavkxl/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-fan-guard-install-i00-privileged--etavkxl/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "439fc2e81e3a7bad5d1ff2a5d4f5caa8b810fb28a70414e17c7b8f037872ab45", + "video_sha256": "2f2165e7559ffde963b8c8475a2513d3e226d530d6889514719e6b767f50a77c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-privileged--igfdnze.json b/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-privileged--igfdnze.json new file mode 100644 index 0000000000000000000000000000000000000000..19dd942a6c7103ea7b8bf6a1e654d157a5f5e539 --- /dev/null +++ b/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-privileged--igfdnze.json @@ -0,0 +1,357 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-fan-guard-install-i00-privileged--igfdnze", + "taskKey": "dexhand/fan_guard_install", + "dag_sha256": "780b495033f927e2f99d6c0c605a490e62e3855b405d828e8318daf24d90f374", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 690, + "sim_steps": 690, + "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": 0.709, + "peak_processes": 12, + "peak_disk_gb": 0.982, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-fan-guard-install-i00-privileged--igfdnze/replay.mp4", + "duration_s": 15.9, + "fps": 10.0, + "frames": 159, + "sha256": "284c2944191cbdd19dc99ac790a4e15ccbf00cf130662aba214d3fb57b97207c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "guard_seated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 9.5, + "log_step": null, + "text_zh": "观察：视频 9.3–9.8 s，机器人右手指端落在平放护罩的中央帽附近，护罩只在桌面短距离滑移；视频 9.9–10.5 s，手上升并离开，护罩仍留在桌面，未被拿起或竖直对合。" + }, + { + "t": 15.8, + "log_step": 176, + "text_zh": "观察：视频 15.8 s，护罩仍平放桌面，与风扇分离；画面字幕为 Stage 0/3、parallel 90.0 deg、concentric 532.1 mm。log step 176 对最终690行交付文件回放的结果为 success=False、stage=0、steps=690、reason为空。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 9.3–9.8 s，右手指端抵住中央帽附近的罩面并使护罩在台面略微滑移，随后空手上升；未见拇指与其他手指对向夹住护罩。" + } + ] + }, + "clip_45_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 15.8, + "log_step": null, + "text_zh": "观察：视频 0.0 s 至 15.8 s，风扇上方45度扣保持向外张开，机器人未对它实施合扣；末帧总锁扣数为2/4，前护罩也始终没有就位。" + } + ] + }, + "clip_135_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 15.8, + "log_step": null, + "text_zh": "观察：视频 0.0 s 至 15.8 s，风扇上方135度扣保持向外张开，机器人未对它实施合扣；末帧总锁扣数为2/4，前护罩也始终没有就位。" + } + ] + }, + "clip_225_closed": { + "method": "visual", + "intervals": [ + [ + 7.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.1, + "log_step": null, + "text_zh": "观察：视频 7.0 s，右手贴近另一侧下扣，字幕 clips locked 为1/4；视频 7.1 s，该扣收拢且字幕变为2/4。" + }, + { + "t": 7.2, + "log_step": 166, + "text_zh": "推断：log step 164 的生成代码先操作315度扣（索引3），再操作225度扣（索引2）；log step 166 最终改动只替换后续搬运路线。该调用顺序与视频两次下扣闭合相符，故将视频 7.1 s 的第二次闭合归为225度扣。" + }, + { + "t": 15.8, + "log_step": null, + "text_zh": "观察：视频 7.2–15.8 s，该下扣未再打开；末帧仍显示 clips locked 2/4，且两只上扣可见张开。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 6.8–7.1 s，右手从下扣旁接近，以指端沿扣片推动方向拨合225度扣，未以拇指和其余手指夹住扣片。" + } + ] + }, + "clip_315_closed": { + "method": "visual", + "intervals": [ + [ + 2.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.8, + "log_step": null, + "text_zh": "观察：视频 2.7 s，手在后罩下方一侧作业，字幕 clips locked 为0/4；视频 2.8 s 变为1/4，该侧下扣已收拢，之后未再张开。" + }, + { + "t": 7.1, + "log_step": 166, + "text_zh": "推断：结合视频 2.8 s 首扣闭合、视频 7.1 s 另一侧下扣闭合的顺序，以及 log step 164 的交付生成代码依次调用 close_clip(s,3)、close_clip(s,2)，第一扣对应315度，第二扣对应225度；log step 166 保留这两个调用并生成最终690行动作。" + }, + { + "t": 15.8, + "log_step": null, + "text_zh": "观察：视频 15.8 s，两只上扣仍张开，两只下扣收拢，字幕 clips locked 2/4；此下扣闭合状态保持至结尾。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "推断：视频 2.4–2.8 s，右手在后罩下侧拨动315度夹扣并使其合拢；结合 log step 164 调用的合扣原语及 log step 177 对该原语的说明，作用端为食指指垫。手部部分被后罩和扇叶遮挡，未见对向夹持。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "concentric_m", + "unit": "m", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_seat_axial_m", + "unit": "m", + "threshold": 0.0025, + "direction": "lower_better", + "value": null + }, + { + "name": "parallel_rad", + "unit": "rad", + "threshold": 0.0872664626, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_45_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_135_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_225_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_315_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "guard_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "guard_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "fan_displacement_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "fan_tilt_rad", + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "guard_seated", + "t": 9.9, + "log_step": 166, + "where": "操作中", + "evidence_zh": "观察：视频 9.3–9.8 s，机器人右手在护罩中央附近合指并推移罩面；视频 9.9–10.5 s 抬手时护罩没有跟随，而是继续平躺桌面，至视频 15.8 s 未修复。log step 176 核验最终690行文件的回放为 stage=0、success=False、done=False、reason为空，交付结束时装配仍未开始成立。" + }, + "unmet": { + "guard_seated": false, + "clip_45_closed": false, + "clip_135_closed": false, + "clip_225_closed": true, + "clip_315_closed": true + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 9.9, + "log_step": null, + "evidence_zh": "观察：视频 9.3–9.8 s，右手接触护罩并使其略微平移，但没有形成可带动护罩离桌的夹持；视频 9.9–10.5 s 手空着上升，护罩留在原台面区域。所缺的是承载抓握接触，而非完全未碰到护罩。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "alt_feasible": "未知", + "log_step": 170, + "evidence_zh": "推断：合扣后手指姿态未恢复到预抓取目标，使后续固定抓取动作未能建立承载接触，可能是本次抓取失败的原因。会话诊断 log step 170 使用与交付生成脚本相同的两个合扣调用和40步抓取预备动作，合扣后多处手指实测关节角仍约0.49–0.55 rad，对应目标约0.10–0.20 rad；食指尖为[0.499,-0.234,0.703] m，而未合扣对照为[0.468,-0.203,0.679] m。log step 172 在合扣后另加25步伸指，并实际执行35步合指，护罩高度仍为0.67 m、未随抬手升高；log step 174 改用较直的合扣手型后，护罩由0.67 m升至0.72 m但触发guard_dropped，支持手型历史影响抓取，尚未验证可完成装配的替代方案。评分视频9.9–10.5 s可见手升起而护罩仍在桌面。上述读数来自会话测试，不是最终690行评分回放的逐帧状态；因此控制根因是推断，不能据此确定反馈控制或接触设计子类。", + "source_zh": "日志" + } + ], + "gap_zh": "没有逐帧状态日志；总览中的下扣接触部分被后罩及扇叶遮挡，单扣角度精度不足，采用可见扣片变化及画面锁扣计数确定闭合时刻，误差约0.1–0.3秒。log step 170、172、174为会话诊断，支持合扣后手指姿态偏差可能导致抓取退化，但不能直接确定最终评分回放中各因素的贡献；按DECISIONS.md D26及CASES.md OPEN-17，控制子类不明时停在“控制”。log step 53、164的记录代码及log step 166的725次执行、690行动作证明35步独立合指未录入；log step 172实际执行35步合指仍未抬起护罩，故漏录是否导致或加重本次失败尚未证实，不再列为交付根因。评分器reward未报告DAG所列连续指标，native_metrics值均留null。" + }, + "summary_zh": "观察：评分视频中315度与225度下扣分别在视频约2.8 s和7.1 s闭合并保持，完成2/5个节点；前护罩始终平放桌面，两只上扣未合上。推断：断点为前护罩就位，视频约9.9 s机器人抬手却未夹起护罩；会话诊断支持合扣后手指姿态未恢复可能导致抓取退化，根因保留在“控制”。没有最终回放的逐帧状态日志，35步合指漏录的作用尚未证实，控制子类与因果贡献仍不确定，因此conf由8降为6。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "WHERE 标签（2/5 节点、断点 guard_seated、视频时间）经帧核对基本成立；问题在根因：把「漏录35步合指」断为抓取失败原因没有证据支持，log step 172 的会话探针在这35步照常执行、手指也未录入的情形下护罩仍未抬起，log step 170 显示合扣后手指卡在弯曲姿态，这一更直接的因素被丢弃。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "WHERE 标签（2/5 节点、两下扣 2.8 s/7.1 s 闭合、断点 guard_seated 约 9.9 s）与视频一致；第一轮根因问题已按证据改为带推断标记的“控制”，无新的可证明错误。", + "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": "2026-10-30T05:44:50Z", + "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-fan-guard-install-i00-privileged--igfdnze/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-fan-guard-install-i00-privileged--igfdnze/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-fan-guard-install-i00-privileged--igfdnze/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-fan-guard-install-i00-privileged--igfdnze/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "58ca06ddddcb71351f258a0627f96aa553f617e521d0e8ff89a7b1c65422c4a8", + "video_sha256": "284c2944191cbdd19dc99ac790a4e15ccbf00cf130662aba214d3fb57b97207c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-privileged--jq64rrk.json b/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-privileged--jq64rrk.json new file mode 100644 index 0000000000000000000000000000000000000000..1e3ce4b9d8762f2bf7e829810b00856f5ea232f9 --- /dev/null +++ b/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-privileged--jq64rrk.json @@ -0,0 +1,359 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-fan-guard-install-i00-privileged--jq64rrk", + "taskKey": "dexhand/fan_guard_install", + "dag_sha256": "780b495033f927e2f99d6c0c605a490e62e3855b405d828e8318daf24d90f374", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 4743, + "sim_steps": 4743, + "stages_completed": 3, + "success": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 1.195, + "peak_processes": 11, + "peak_disk_gb": 0.841, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-fan-guard-install-i00-privileged--jq64rrk/replay.mp4", + "duration_s": 31.8, + "fps": 10.0, + "frames": 318, + "sha256": "1c7407fcde3003cf257d3adbe8232765d5692e1b067ff16429e6f70c5a96724b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 5, + "final": 5, + "nodes": { + "guard_seated": { + "method": "visual", + "intervals": [ + [ + 19.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 10.5, + "log_step": null, + "text_zh": "观察：视频9.3 s右手合拢包住前护罩中央凸帽；视频10.5 s护罩已离开桌面原位，随手升起，视频14.0 s正在持罩转为竖直。" + }, + { + "t": 19.0, + "log_step": null, + "text_zh": "观察：视频18.9 s字幕仍为Stage 0/3、同心误差8.7 mm；视频19.0 s护罩竖直贴合后罩，字幕变为Stage 1/3、同心误差4.4 mm、轴夹角0.1°。视频19.1—22.4 s护罩继续就位，右手随后张开退离。" + }, + { + "t": 31.7, + "log_step": null, + "text_zh": "观察：视频29.7 s字幕变为PASS、Stage 3/3、四扣4/4、无手接触保持50/50；视频30.8—31.7 s终态近景显示前后罩同心贴合、手与护罩分离，安装状态保持到末帧。" + }, + { + "t": null, + "log_step": 83, + "text_zh": "观察：log step 83中交付生成器的终态输出seated=True、四个rim_in_clip_channel均为True、hand_contact=False、hold_steps=50；同一输出确认生成轨迹与原成功轨迹逐元素相同。log step 87记录该交付文件两次新进程回放成功且最终状态哈希一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：右手拇指与其余手指合拢包住前护罩中央凸帽，抓持提起、搬运并转为竖直，随后对合后罩；护罩由下扣承托后，右手张开并退离。" + } + ] + }, + "clip_45_closed": { + "method": "visual", + "intervals": [ + [ + 29.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 29.4, + "log_step": null, + "text_zh": "观察：视频29.3 s右手伸出的食指在上方夹扣处推动，字幕闭扣数仍为3/4；视频29.4 s闭扣数升为4/4，扣片收拢。此时前护罩已在视频19.0 s就位，上扣在就位后才闭合。" + }, + { + "t": 29.4, + "log_step": 81, + "text_zh": "推断：将该次闭扣对应为45度扣：视频动作位于对应上方罩沿，且与log step 81交付生成器先执行下扣索引[2,3]、后执行上扣索引[1,0]的顺序相符；log step 42中的角度表将索引[0,1,2,3]对应为[45,135,225,315]度。log step 83确认生成文件与成功轨迹一致，log step 87确认两次交付回放成功。" + }, + { + "t": 31.7, + "log_step": null, + "text_zh": "观察：视频29.7 s进入PASS并显示闭扣4/4、无手接触保持50/50；视频31.7 s终态近景显示安装状态保持，字幕仍为4/4，未见后续开扣动作。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：右手伸出食指抵住45度夹扣的扣片，将其绕铰链推向闭合位置，再撤回；其余手指弯曲收拢，没有对向夹住扣片。" + } + ] + }, + "clip_135_closed": { + "method": "visual", + "intervals": [ + [ + 25.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 25.1, + "log_step": null, + "text_zh": "观察：视频25.0 s右手伸出的食指在上方夹扣处推动，字幕闭扣数仍为2/4；视频25.1 s闭扣数升为3/4，扣片收拢。此时前护罩已在视频19.0 s就位，上扣在就位后才闭合。" + }, + { + "t": 25.1, + "log_step": 81, + "text_zh": "推断：将该次闭扣对应为135度扣：视频动作位于对应上方罩沿，且与log step 81交付生成器先执行下扣索引[2,3]、后执行上扣索引[1,0]的顺序相符；log step 42中的角度表将索引[0,1,2,3]对应为[45,135,225,315]度。log step 83确认生成文件与成功轨迹一致，log step 87确认两次交付回放成功。" + }, + { + "t": 31.7, + "log_step": null, + "text_zh": "观察：视频29.7 s进入PASS并显示闭扣4/4、无手接触保持50/50；视频31.7 s终态近景显示安装状态保持，字幕仍为4/4，未见后续开扣动作。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：右手伸出食指抵住135度夹扣的扣片，将其绕铰链推向闭合位置，再撤回；其余手指弯曲收拢，没有对向夹住扣片。" + } + ] + }, + "clip_225_closed": { + "method": "visual", + "intervals": [ + [ + 1.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.9, + "log_step": null, + "text_zh": "观察：视频1.8 s右手伸出的食指在下方夹扣处推动，字幕闭扣数仍为0/4；视频1.9 s闭扣数升为1/4，扣片收拢。此时前护罩仍平放桌面，按该节点允许先关闭下扣的判据计为已达。" + }, + { + "t": 1.9, + "log_step": 81, + "text_zh": "推断：将该次闭扣对应为225度扣：视频动作位于对应下方罩沿，且与log step 81交付生成器先执行下扣索引[2,3]、后执行上扣索引[1,0]的顺序相符；log step 42中的角度表将索引[0,1,2,3]对应为[45,135,225,315]度。log step 83确认生成文件与成功轨迹一致，log step 87确认两次交付回放成功。" + }, + { + "t": 31.7, + "log_step": null, + "text_zh": "观察：视频29.7 s进入PASS并显示闭扣4/4、无手接触保持50/50；视频31.7 s终态近景显示安装状态保持，字幕仍为4/4，未见后续开扣动作。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：右手伸出食指抵住225度夹扣的扣片，将其绕铰链推向闭合位置，再撤回；其余手指弯曲收拢，没有对向夹住扣片。" + } + ] + }, + "clip_315_closed": { + "method": "visual", + "intervals": [ + [ + 5.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 5.4, + "log_step": null, + "text_zh": "观察：视频5.3 s右手伸出的食指在下方夹扣处推动，字幕闭扣数仍为1/4；视频5.4 s闭扣数升为2/4，扣片收拢。此时前护罩仍平放桌面，按该节点允许先关闭下扣的判据计为已达。" + }, + { + "t": 5.4, + "log_step": 81, + "text_zh": "推断：将该次闭扣对应为315度扣：视频动作位于对应下方罩沿，且与log step 81交付生成器先执行下扣索引[2,3]、后执行上扣索引[1,0]的顺序相符；log step 42中的角度表将索引[0,1,2,3]对应为[45,135,225,315]度。log step 83确认生成文件与成功轨迹一致，log step 87确认两次交付回放成功。" + }, + { + "t": 31.7, + "log_step": null, + "text_zh": "观察：视频29.7 s进入PASS并显示闭扣4/4、无手接触保持50/50；视频31.7 s终态近景显示安装状态保持，字幕仍为4/4，未见后续开扣动作。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：右手伸出食指抵住315度夹扣的扣片，将其绕铰链推向闭合位置，再撤回；其余手指弯曲收拢，没有对向夹住扣片。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "concentric_m", + "unit": "m", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_seat_axial_m", + "unit": "m", + "threshold": 0.0025, + "direction": "lower_better", + "value": null + }, + { + "name": "parallel_rad", + "unit": "rad", + "threshold": 0.0872664626, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_45_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_135_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_225_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_315_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "guard_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "guard_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "fan_displacement_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "fan_tilt_rad", + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "右手先合上两个下扣，再抓住中央凸帽提起、转正并于视频约19.0 s使前护罩就位，随后松开护罩并依次合上两个上扣，五个节点最终全部达成。视频29.7 s显示PASS、四扣4/4及无手接触保持50/50，视频31.7 s末帧安装状态稳定；log step 87另记录交付文件两次回放均成功且最终状态哈希一致。没有逐帧状态日志，毫米级槽内关系与精确锁角由视频状态字幕、成功判定及交付终态输出辅助确认，节点时刻取视频近似值；reward未逐项报告原生指标，故native_metrics数值留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "成功运行，五节点全部达成；视频字幕显示闭扣计数在1.9/5.4/25.1/29.4 s升高、19.0 s进入Stage 1/3、29.7 s PASS，与标注一致，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": "2026-10-30T05:20:14Z", + "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-fan-guard-install-i00-privileged--jq64rrk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-fan-guard-install-i00-privileged--jq64rrk/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b0d88e1bbec0687079f9905c5da4cbe5c85b46cc370aafd7343dbde2f19f9e24", + "video_sha256": "1c7407fcde3003cf257d3adbe8232765d5692e1b067ff16429e6f70c5a96724b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-standard--94b29zz.json b/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-standard--94b29zz.json new file mode 100644 index 0000000000000000000000000000000000000000..56e8c57b8dd7f0a721dea79c1ae66b28231b3320 --- /dev/null +++ b/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-standard--94b29zz.json @@ -0,0 +1,327 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-fan-guard-install-i00-standard--94b29zz", + "taskKey": "dexhand/fan_guard_install", + "dag_sha256": "780b495033f927e2f99d6c0c605a490e62e3855b405d828e8318daf24d90f374", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 525, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 170, + "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": 170, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.307, + "peak_processes": 11, + "peak_disk_gb": 1.051, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-fan-guard-install-i00-standard--94b29zz/replay.mp4", + "duration_s": 5.6, + "fps": 5.0, + "frames": 28, + "sha256": "1d7043597719183da236a9bb40bc24ae62d6dd022c78e62a9c537e0d1e43f502" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "guard_seated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 283, + "text_zh": "观察：视频0.0 s前护罩平放在桌面，和竖立的后罩分离；log step 283重置到episode 20，此后没有再次重置。" + }, + { + "t": 2.4, + "log_step": 284, + "text_zh": "观察：视频0.4–2.4 s右手移向近侧罩沿、下降后抬回，护罩仍平放原处，没有随手离桌或竖起。log step 284的脚本在该局执行罩沿抓取与上抬。" + }, + { + "t": 5.4, + "log_step": 289, + "text_zh": "观察：视频2.6–3.4 s右手再次下降、合指并抬回，护罩仍留桌面；视频3.6–5.4 s终态静帧也未改变。末帧字幕为Stage 0/3、concentric 542.2 mm、parallel 90.0 deg；log step 289中agent自述护罩仍平放、没有就位，与画面一致。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频0.8–2.4 s及视频2.6–3.4 s右手在近侧罩沿下降、开合和上抬，护罩未被带起。局部指尖及罩沿接触区被手和画面下沿遮挡，无法确定是否抵压、擦碰或完全错过；没有可确认的对向夹持，故不把脚本的抓取命名当成实际抓握。" + } + ] + }, + "clip_45_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频0.0 s风扇后罩沿的四扣呈张开初态，其中本节点为上方、世界y较大侧的45度扣；字幕clips locked 0/4。" + }, + { + "t": 5.4, + "log_step": null, + "text_zh": "观察：视频0.2–3.4 s右手只在桌面前护罩处尝试抓取，未操作该夹扣；视频3.6–5.4 s风扇罩沿外观未改变，字幕仍为clips locked 0/4，故本扣未闭合。" + } + ] + }, + "clip_135_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频0.0 s风扇后罩沿的四扣呈张开初态，其中本节点为上方、世界y较小侧的135度扣；字幕clips locked 0/4。" + }, + { + "t": 5.4, + "log_step": null, + "text_zh": "观察：视频0.2–3.4 s右手只在桌面前护罩处尝试抓取，未操作该夹扣；视频3.6–5.4 s风扇罩沿外观未改变，字幕仍为clips locked 0/4，故本扣未闭合。" + } + ] + }, + "clip_225_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频0.0 s风扇后罩沿的四扣呈张开初态，其中本节点为下方、世界y较小侧的225度扣；字幕clips locked 0/4。" + }, + { + "t": 5.4, + "log_step": null, + "text_zh": "观察：视频0.2–3.4 s右手只在桌面前护罩处尝试抓取，未操作该夹扣；视频3.6–5.4 s风扇罩沿外观未改变，字幕仍为clips locked 0/4，故本扣未闭合。" + } + ] + }, + "clip_315_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频0.0 s风扇后罩沿的四扣呈张开初态，其中本节点为下方、世界y较大侧的315度扣；字幕clips locked 0/4。" + }, + { + "t": 5.4, + "log_step": null, + "text_zh": "观察：视频0.2–3.4 s右手只在桌面前护罩处尝试抓取，未操作该夹扣；视频3.6–5.4 s风扇罩沿外观未改变，字幕仍为clips locked 0/4，故本扣未闭合。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "concentric_m", + "unit": "m", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_seat_axial_m", + "unit": "m", + "threshold": 0.0025, + "direction": "lower_better", + "value": null + }, + { + "name": "parallel_rad", + "unit": "rad", + "threshold": 0.0872664626, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_45_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_135_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_225_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_315_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "guard_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "guard_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "fan_displacement_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "fan_tilt_rad", + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "guard_seated", + "t": 2.4, + "log_step": 284, + "where": "操作中", + "evidence_zh": "观察：视频约2.4 s右手完成第一次罩沿抓取后的上抬，前护罩仍平放桌面；视频2.6–3.4 s再次合指上抬仍未带起，直至视频5.4 s终态也没有就位。log step 284和287的脚本均在尝试抓取并提升前护罩，断在就位步骤的取持阶段。" + }, + "unmet": { + "guard_seated": false, + "clip_45_closed": false, + "clip_135_closed": false, + "clip_225_closed": false, + "clip_315_closed": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 2.4, + "log_step": 284, + "evidence_zh": "观察：视频1.8–2.4 s右手从近侧罩沿向上撤离，护罩仍留在桌面；视频2.8–3.4 s右手合指后再次上抬，护罩依然没有随手离桌。推断：没有建立足以取持护罩的有效抓取接触；并无先持起再滑落的可见过程。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 2.4, + "log_step": 287, + "source_zh": "视频 / 日志", + "evidence_zh": "推断：log step 284的脚本让右手保持同一腕部朝向，下降并闭合拇指、食指后上抬；log step 287改为全手屈指后再上抬。视频0.8–3.4 s显示这些动作均未使护罩跟随，说明实际取持控制未建立可承载的接触；现有证据不足以进一步区分接触几何、手指闭合程度或跟踪问题。" + } + ], + "gap_zh": "观察：inputs内没有状态日志；视频只有总览视角，近侧罩沿的具体指尖接触受遮挡，故contact_actual用未知，根因只标控制。没有单扣角度、接触力或逐步物体位姿，不能确认更细的控制子类；run.json的reward未报告DAG列出的原生指标，native_metrics均留null。此前重置掉的试验不计入本次节点进度。" + }, + "summary_zh": "观察：评分视频中右手两次尝试抓取桌面前护罩，但护罩始终平放，未完成就位；四扣均未操作和闭合，最终0/5节点成立。推断：断点为前护罩就位的取持阶段，现象为没建立有效抓取接触，根因为控制；具体接触方式及控制子类因局部遮挡和缺少状态日志而不能细分。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "四扣和前护罩就位均未成立，0/5；视频全程护罩平放桌面，断点为 guard_seated 的取持阶段，现象没建立接触、根因控制（停在控制不细分），与帧和日志一致。contact_actual 用未知有遮挡依据，我没有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": "2026-10-30T05:16:01Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-fan-guard-install-i00-standard--94b29zz/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-fan-guard-install-i00-standard--94b29zz/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0bc0988f9978ab52491f675b5a8dcecfff18fb46b5b15c3bf2104cfd319e155e", + "video_sha256": "1d7043597719183da236a9bb40bc24ae62d6dd022c78e62a9c537e0d1e43f502", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-standard--akxr7gk.json b/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-standard--akxr7gk.json new file mode 100644 index 0000000000000000000000000000000000000000..964928fa5a13d499d96e6eecb18c629a5ae454a1 --- /dev/null +++ b/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-standard--akxr7gk.json @@ -0,0 +1,333 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-fan-guard-install-i00-standard--akxr7gk", + "taskKey": "dexhand/fan_guard_install", + "dag_sha256": "780b495033f927e2f99d6c0c605a490e62e3855b405d828e8318daf24d90f374", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 103, + "control_steps_total": 887, + "elapsed_s": 3624.925, + "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": 565, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 5, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 565, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.327, + "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-fan-guard-install-i00-standard--akxr7gk/replay.mp4", + "duration_s": 13.4, + "fps": 5.0, + "frames": 67, + "sha256": "ddd9a9d8aa0d250142d39c007e9113016de26967f66cd869cca8214d61d90ecd" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "guard_seated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频0.0 s前护罩凸面朝上平放在桌面前部，与竖直后护罩分离。" + }, + { + "t": 13.2, + "log_step": 67, + "text_zh": "观察：视频0.0–13.2 s前护罩一直留在桌面，未被拿起、竖起或贴合后罩；视频13.2 s字幕为Stage 0/3、concentric 539.1 mm、parallel 90.0 deg。" + } + ] + }, + "clip_45_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频0.0 s右上侧45度扣向外张开。" + }, + { + "t": 13.2, + "log_step": null, + "text_zh": "观察：视频0.0–13.2 s右手仅在下方两扣区域运动，未操作上扣；视频13.2 s上扣仍向外张开，字幕clips locked 0/4，前护罩也从未就位。" + } + ] + }, + "clip_135_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频0.0 s左上侧135度扣向外张开。" + }, + { + "t": 13.2, + "log_step": null, + "text_zh": "观察：视频0.0–13.2 s右手未到上扣操作位置；视频13.2 s左上扣仍张开，字幕clips locked 0/4，前护罩也从未就位。" + } + ] + }, + "clip_225_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": 56, + "text_zh": "观察：视频1.4–3.2 s右手在画面右下侧225度扣下方弯指并回撤，未见扣片随手闭合；视频3.2 s后右手转往另一侧，字幕仍为clips locked 0/4。" + }, + { + "t": 11.2, + "log_step": 67, + "text_zh": "观察：视频6.8–11.2 s右手返回225度扣下方反复弯指，扣片始终向外张开；视频11.4–13.2 s终帧保持同一未闭合状态，字幕clips locked 0/4。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频1.4–3.2 s及6.8–11.2 s右手中指朝225度扣做勾拉尝试，但没有形成可见的有效勾合或夹持；总览不能确认指尖与扣片有无瞬时轻触，故实际接触方式记未知。" + } + ] + }, + "clip_315_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.8, + "log_step": 56, + "text_zh": "观察：视频4.6–5.8 s右手在画面左下侧315度扣前方伸指、弯指，未见扣片转至收拢位置；视频5.8 s字幕仍为clips locked 0/4。" + }, + { + "t": 13.2, + "log_step": null, + "text_zh": "观察：视频6.0–13.2 s该扣仍向外张开，没有后续闭合；终帧字幕clips locked 0/4。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频4.6–5.8 s右手中指朝315度扣做勾拉尝试，扣片未随动，未见夹持；总览不能分辨短暂轻触，故实际接触方式记未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "concentric_m", + "unit": "m", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_seat_axial_m", + "unit": "m", + "threshold": 0.0025, + "direction": "lower_better", + "value": null + }, + { + "name": "parallel_rad", + "unit": "rad", + "threshold": 0.0872664626, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_45_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_135_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_225_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_315_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "guard_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "guard_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "fan_displacement_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "fan_tilt_rad", + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "clip_225_closed", + "t": 2.8, + "log_step": 56, + "where": "操作中", + "evidence_zh": "观察：视频1.4–3.2 s右手尝试勾拉225度下扣，但手指弯曲后停在扣片下方，扣未闭合；视频3.2 s后转去315度扣，视频6.8–11.2 s又返回225度扣重试仍未闭合，直到视频13.2 s保持0/4锁合。推断：225度扣是最早尝试后未修复的步骤；log step 53重置到episode 6，log step 56记录先执行hook225再执行hook315，与视频顺序一致。" + }, + "unmet": { + "guard_seated": false, + "clip_45_closed": false, + "clip_135_closed": false, + "clip_225_closed": false, + "clip_315_closed": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 2.8, + "log_step": 56, + "evidence_zh": "观察：视频1.4–3.2 s右手弯指、回撤时225度扣没有随动，手指最终位于扣片下方；视频6.8–11.2 s重复动作仍无扣片闭合，字幕始终为clips locked 0/4。推断：右手没有建立能勾住并带转该扣的有效接触；这不排除视频分辨率无法辨认的轻触。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "观察：log step 52、55中的控制脚本用伸直中指MID_EXT的固定腕至指端偏置定位，弯指时仍沿用该偏置；log step 64调整掌面方向后仍继续使用它。log step 67读取机器人关节并经FK计算，报告中指末节位置[0.6671,0.0232,0.7353] m，距脚本目标w3为0.0977 m，而腕台测量位置与目标位置仅z相差约0.0052 m；这些是agent脚本的诊断量，扣片位置为其自身模型值。推断：脚本对腕位与弯指后的有效指端位置协调不足，与视频1.4–3.2 s及6.8–11.2 s手指在扣片下方空勾一致，支持控制归因；不把脚本估计的扣片坐标当作真实状态。" + } + ], + "gap_zh": "没有状态日志；本次视频只有总览，夹扣和指尖较小，不能确认尝试过程中是否发生瞬时轻触，两个已尝试节点的contact_actual因此记未知。毫米级装配误差和各扣精确角度无法量测，但前护罩持续平放、扣片张开且视频字幕持续0/4锁合足以判五节点均为false；原生指标未在run.json的评分字段中报告，全部value为null。日志含此前五个episode的试验，只以最后episode 6解释本次视频；根因使用该episode的控制脚本和诊断，控制子类型仍不确定。" + }, + "summary_zh": "评分视频对应最后一次重置后的episode 6：右手先尝试225度下扣，再尝试315度下扣，并返回225度扣重试；前护罩始终平放桌面，四扣均未闭合，最终0/5节点。断点是225度扣的有效勾合未建立，控制脚本的指端定位诊断支持控制归因；没有状态日志，总览不足以确定短暂轻触及更细的控制子类型。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "未发现需要改内容的错误：视频全程前护罩平放、四扣张开，字幕clips locked 0/4，五节点均false成立；断点225度扣（最先尝试且未修复）、没建立接触、contact_actual记未知均有视频与log支持；时间均标明视频时钟，未折算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": "2026-10-30T05:21:44Z", + "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-fan-guard-install-i00-standard--akxr7gk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-fan-guard-install-i00-standard--akxr7gk/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1718433e4bfdeb7f898a0ceb2e76bfc5d0a3ec4c6024d88690b21fc3a735b61a", + "video_sha256": "ddd9a9d8aa0d250142d39c007e9113016de26967f66cd869cca8214d61d90ecd", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-standard--na8vpx5.json b/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-standard--na8vpx5.json new file mode 100644 index 0000000000000000000000000000000000000000..898e134cc462c5a1774a2ceb30a05e2d5b1f6f51 --- /dev/null +++ b/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-standard--na8vpx5.json @@ -0,0 +1,307 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-fan-guard-install-i00-standard--na8vpx5", + "taskKey": "dexhand/fan_guard_install", + "dag_sha256": "780b495033f927e2f99d6c0c605a490e62e3855b405d828e8318daf24d90f374", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 410, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 288, + "no_verdict": 0, + "replay_success": 0, + "reset_budget": 20, + "resets": 7, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 288, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.325, + "peak_processes": 11, + "peak_disk_gb": 0.252, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-fan-guard-install-i00-standard--na8vpx5/replay.mp4", + "duration_s": 8.0, + "fps": 5.0, + "frames": 40, + "sha256": "46003f40a0b7f8bf31fc4b2fb1cc29ed05b6887659b2544ecb8d941bb1ac58e7" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "guard_seated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，前护罩平放在桌面前方，与竖立的风扇后罩分离。" + }, + { + "t": 5.0, + "log_step": null, + "text_zh": "观察：视频 3.6–5.0 s，机器人右手屈指勾住前护罩网格并抬升护罩；护罩仍在桌面前方，未与后罩同心贴合。" + }, + { + "t": 5.8, + "log_step": null, + "text_zh": "观察：视频 5.4–5.8 s，护罩在右手下方向下滑转，画面字幕于视频 5.8 s 显示 FAIL: guard_dropped、Stage 0/3；视频 7.8 s 的终态仍与风扇分离。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "勾", + "note_zh": "观察：视频约 2.4–5.0 s，右手先向下按压前护罩网面，再以弯曲的手指勾住网格将其抬离桌面；视频 5.4–5.8 s 护罩在指端下方滑转。未见拇指与其余手指相向夹住中央帽的抓握。" + } + ] + }, + "clip_45_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.8, + "log_step": null, + "text_zh": "观察：视频 0.0–7.8 s，上方、世界 y 较大侧的45度夹扣保持向外张开的初始外观；机器人右手离开风扇后只操作桌面前方的前护罩，未拨动该夹扣。视频 0.0 s、5.0 s、5.8 s 和 7.8 s 的基准环境字幕均显示 clips locked 0/4。" + } + ] + }, + "clip_135_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.8, + "log_step": null, + "text_zh": "观察：视频 0.0–7.8 s，上方、世界 y 较小侧的135度夹扣保持向外张开的初始外观；机器人右手离开风扇后只操作桌面前方的前护罩，未拨动该夹扣。视频 0.0 s、5.0 s、5.8 s 和 7.8 s 的基准环境字幕均显示 clips locked 0/4。" + } + ] + }, + "clip_225_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.8, + "log_step": null, + "text_zh": "观察：视频 0.0–7.8 s，下方、世界 y 较小侧的225度夹扣保持向外张开的初始外观；机器人右手离开风扇后只操作桌面前方的前护罩，未拨动该夹扣。视频 0.0 s、5.0 s、5.8 s 和 7.8 s 的基准环境字幕均显示 clips locked 0/4。" + } + ] + }, + "clip_315_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.8, + "log_step": null, + "text_zh": "观察：视频 0.0–7.8 s，下方、世界 y 较大侧的315度夹扣保持向外张开的初始外观；机器人右手离开风扇后只操作桌面前方的前护罩，未拨动该夹扣。视频 0.0 s、5.0 s、5.8 s 和 7.8 s 的基准环境字幕均显示 clips locked 0/4。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "concentric_m", + "unit": "m", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_seat_axial_m", + "unit": "m", + "threshold": 0.0025, + "direction": "lower_better", + "value": null + }, + { + "name": "parallel_rad", + "unit": "rad", + "threshold": 0.0872664626, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_45_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_135_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_225_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_315_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "guard_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "guard_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "fan_displacement_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "fan_tilt_rad", + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "guard_seated", + "t": 5.6, + "log_step": 89, + "where": "操作中", + "evidence_zh": "观察：视频 4.4–5.0 s，右手已把前护罩提离原来的平放位置；视频 5.4–5.8 s，护罩在手下向下滑转，未被带到后罩，字幕转为 FAIL: guard_dropped。log step 89 是最后一次重置并执行安装脚本，服务返回 EpisodeOver: task_failure；reward 记录 live_matches_replay=1、resets=7。" + }, + "unmet": { + "guard_seated": false, + "clip_45_closed": false, + "clip_135_closed": false, + "clip_225_closed": false, + "clip_315_closed": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 5.6, + "log_step": 89, + "evidence_zh": "观察：视频 4.4–5.0 s，前护罩随机器人右手上升；视频 5.4–5.8 s，手的位置变化很小，护罩却在指端下方向下滑转，字幕显示 guard_dropped，终态仍悬斜在桌面前方。此前建立的提持未能维持到翻转、搬运及就位。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "log_step": 89, + "source_zh": "日志", + "evidence_zh": "推断：log step 88 把翻转方案改为先由 F_hook 切换到 F_press 以解除网格勾持，再依靠掌部按压旋转，最后重新勾持；log step 89 保留该方案、增大按压偏置后重置运行，并在翻转阶段收到 task_failure。视频 5.0–5.8 s 显示右手只在网格一侧承载，护罩向下滑转；解除勾持后的按压接触布局没有持续约束护罩，支持归因为抓取和接触设计。尚未验证本次控制器可用的替代接触方案。" + } + ], + "gap_zh": "没有状态日志，无法恢复各指的精确接触对、接触力及触发 guard_dropped 的2 ms物理子步，不能区分判负来自抬起后再触台还是无接触下落；局部网格与指端接触有遮挡。根因依据最后一次运行的脚本变更与视频滑转作推断；夹扣未被操作且字幕为0/4，不影响五个节点均未达的判断。原生指标未在 run.json 的评分器字段中逐项报告，value 保留 null。" + }, + "summary_zh": "评分轨迹中，机器人右手按压并勾起前护罩，但护罩从未与风扇后罩对合，四个夹扣均未操作，最终完成0/5个节点。视频约 5.6 s，护罩在翻转开始阶段向下滑转，随后字幕显示 guard_dropped；最后一次脚本在翻转前解除勾持、改用按压承载，支持“没保持住”及“控制·抓取和接触设计”的判断。没有状态日志，精确失效接触与判负物理子步无法确定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点均未达、断点（guard_seated 操作中，视频约5.6 s，字幕 5.8 s 显示 FAIL: guard_dropped）、现象（没保持住）和根因（抓取和接触设计，推断，alt_feasible 未知）均与视频帧和 log step 88/89 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": "2026-10-30T05:22:59Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-fan-guard-install-i00-standard--na8vpx5/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-fan-guard-install-i00-standard--na8vpx5/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f0158459ed89fe5a19e7cee5386c3a86cd9a3bb84396cb072eba214841ce2da6", + "video_sha256": "46003f40a0b7f8bf31fc4b2fb1cc29ed05b6887659b2544ecb8d941bb1ac58e7", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-standard--nqfzid7.json b/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-standard--nqfzid7.json new file mode 100644 index 0000000000000000000000000000000000000000..f28d82852bb2c316d0607e7d125817c51add2108 --- /dev/null +++ b/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-standard--nqfzid7.json @@ -0,0 +1,305 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-fan-guard-install-i00-standard--nqfzid7", + "taskKey": "dexhand/fan_guard_install", + "dag_sha256": "780b495033f927e2f99d6c0c605a490e62e3855b405d828e8318daf24d90f374", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 302, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 215, + "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": 215, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.465, + "peak_processes": 10, + "peak_disk_gb": 1.091, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-fan-guard-install-i00-standard--nqfzid7/replay.mp4", + "duration_s": 6.4, + "fps": 5.0, + "frames": 32, + "sha256": "23f2192893ae4c107b00aba6ff0dd0d79628de624653e3a74cbbba17813b0fb8" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "guard_seated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，圆形前护罩凸面朝上平放桌面，与竖立的风扇后罩分离。" + }, + { + "t": 3.4, + "log_step": 170, + "text_zh": "观察：视频 1.6–3.4 s，右手移到中央帽上方并下压、屈指；视频 3.4–4.2 s，手向上移动而护罩外圈仍留在桌面，未竖起或移到风扇上。log step 170 执行最后一次抓取试验，随后 log step 173、175 的服务状态均为 episode 21、215 个控制步；此前 log step 153 的“seated”属于另一重置试验，不是本次视频的就位证据。" + }, + { + "t": 6.2, + "log_step": null, + "text_zh": "观察：逐帧检查视频 5.2–6.2 s，护罩一直平放桌面，字幕为 Stage 0/3、concentric 546.6 mm、parallel 90.0 deg；末态未就位。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 2.0–3.4 s，右手掌指在护罩中央帽上表面及边缘贴压、屈指；视频 3.4–4.2 s 抬手时护罩未随动。可见接触为帽面压触，未见对向夹住并带起护罩的有效抓握。" + } + ] + }, + "clip_45_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.2, + "log_step": null, + "text_zh": "观察：视频 0.0–6.2 s，风扇罩沿的45度上扣未见合拢动作；右手仅移向桌面护罩并尝试抓取中央帽，未操作该扣。视频 6.2 s 的基准状态字幕仍为 clips locked 0/4，结合全程无扣合动作，判定该扣从未闭合。前护罩也从未就位，故不满足上扣在首次就位之后锁合的条件。" + } + ] + }, + "clip_135_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.2, + "log_step": null, + "text_zh": "观察：视频 0.0–6.2 s，风扇罩沿的135度上扣未见合拢动作；右手仅移向桌面护罩并尝试抓取中央帽，未操作该扣。视频 6.2 s 的基准状态字幕仍为 clips locked 0/4，结合全程无扣合动作，判定该扣从未闭合。前护罩也从未就位，故不满足上扣在首次就位之后锁合的条件。" + } + ] + }, + "clip_225_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.2, + "log_step": null, + "text_zh": "观察：视频 0.0–6.2 s，风扇罩沿的225度下扣未见合拢动作；右手仅移向桌面护罩并尝试抓取中央帽，未操作该扣。视频 6.2 s 的基准状态字幕仍为 clips locked 0/4，结合全程无扣合动作，判定该扣从未闭合。" + } + ] + }, + "clip_315_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.2, + "log_step": null, + "text_zh": "观察：视频 0.0–6.2 s，风扇罩沿的315度下扣未见合拢动作；右手仅移向桌面护罩并尝试抓取中央帽，未操作该扣。视频 6.2 s 的基准状态字幕仍为 clips locked 0/4，结合全程无扣合动作，判定该扣从未闭合。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "concentric_m", + "unit": "m", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_seat_axial_m", + "unit": "m", + "threshold": 0.0025, + "direction": "lower_better", + "value": null + }, + { + "name": "parallel_rad", + "unit": "rad", + "threshold": 0.0872664626, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_45_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_135_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_225_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_315_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "guard_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "guard_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "fan_displacement_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "fan_tilt_rad", + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "guard_seated", + "t": 3.4, + "log_step": 170, + "where": "操作中", + "evidence_zh": "观察：视频 2.0–3.4 s，右手在桌面护罩中央帽处合指；视频 3.4–4.2 s 抬手时护罩仍贴着桌面，直到视频 6.2 s 均未拿起、竖起或就位。这是本次就位步骤中未修复的抓取失败。log step 170 为最后试验，log step 175 确认最终保留 episode 21、215 个控制步。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 3.4, + "log_step": 170, + "evidence_zh": "观察：视频 2.0–4.2 s，右手接近中央帽、屈指并上移，但护罩外圈始终留在原桌面位置，未出现已夹持搬起再滑落的过程。推断：建立了帽面压触，却从未建立就位步骤所需的承载抓持接触。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：视频 2.0–4.2 s，右手已到中央帽处并执行屈指、抬手，但未带起护罩，失败发生在抓取接触的执行环节。log step 163、170 显示 agent 的脚本改变手指屈曲与腕部高度后尝试抬升；log step 176 自述多种抓法均未产生可检测的护罩抬升，与本次视频一致。现有证据不足以细分为接触几何、夹持力或跟踪问题，根因只标控制。", + "source_zh": "视频 / 日志 / agent 自述" + } + ], + "gap_zh": "观察：inputs/ 无本次状态日志，只有总览视频，中央帽下侧及部分指端被手遮挡，无法核实接触对、夹持力或精确握持几何；因此控制根因不细分。评分器 reward 未报告 DAG 列出的原生连续指标，native_metrics.value 均保留 null；视频字幕仅用于节点判断。日志中的早先完整安装试验属于其他重置 episode，其合扣或“seated”记录不计入本次进度。", + "unmet": { + "guard_seated": false, + "clip_45_closed": false, + "clip_135_closed": false, + "clip_225_closed": false, + "clip_315_closed": false + } + }, + "summary_zh": "本次分级视频中，右手在中央帽处尝试抓取并抬手，但前护罩始终平放桌面，五个节点均未达到，四扣锁合字幕全程为 0/4。断点为前护罩就位步骤中的抓取阶段，未建立可承载的抓持，根因归于控制；此前重置试验的安装动作不属于本次评分轨迹。没有状态日志且局部接触被遮挡，无法进一步确定具体接触几何或力度问题。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "逐帧核对视频 0–6.4 s：护罩始终平放桌面，字幕 Stage 0/3、clips locked 0/4，五个节点均未达成，断点在 guard_seated 的抓取阶段，与标注一致。没建立接触（帽面压触但无承载抓持）、控制根因（不细分）均有视频和日志支持，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:18:06Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-fan-guard-install-i00-standard--nqfzid7/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-fan-guard-install-i00-standard--nqfzid7/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ec8470c491a74e4211846af919d541ee631c6db88dd55abd355dde4f68ce4793", + "video_sha256": "23f2192893ae4c107b00aba6ff0dd0d79628de624653e3a74cbbba17813b0fb8", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-standard--xdvnfxj.json b/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-standard--xdvnfxj.json new file mode 100644 index 0000000000000000000000000000000000000000..995a2a68a5edd2bd5bd59dc612d4740b41f5cc5b --- /dev/null +++ b/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-standard--xdvnfxj.json @@ -0,0 +1,341 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-fan-guard-install-i00-standard--xdvnfxj", + "taskKey": "dexhand/fan_guard_install", + "dag_sha256": "780b495033f927e2f99d6c0c605a490e62e3855b405d828e8318daf24d90f374", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 91, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 1217, + "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": 1217, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.347, + "peak_processes": 8, + "peak_disk_gb": 0.25, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-fan-guard-install-i00-standard--xdvnfxj/replay.mp4", + "duration_s": 26.6, + "fps": 5.0, + "frames": 133, + "sha256": "eddc2d6079b46c7fd16bf1072549d250b8ae4c456825adb9f759535492d0a838" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "guard_seated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.0, + "log_step": 65, + "text_zh": "观察：视频17.0 s桌面原位置已无前护罩，右手夹持中央帽将整罩抬离桌面；视频18.0–19.6 s随腕部转动将护罩竖起，但前后罩仍明显错开。log step 65记录最后评分回合episode 21的抓取及转腕动作。" + }, + { + "t": 24.4, + "log_step": 69, + "text_zh": "观察：视频22.0–24.4 s右手持歪斜护罩向后罩推进，字幕一直为Stage 0/3；视频23.6 s显示径向偏差31.3 mm、轴夹角39.2°，视频24.4 s显示FAIL: fan_displaced、径向偏差30.3 mm、轴夹角31.5°。视频25.6–26.4 s末秒仍为该未就位终态；与成功参考视频约20.0 s前后罩贴合同心且Stage 1/3的外观不同。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约14.0–17.0 s右手各指在护罩中央帽周围合拢夹持，随后抬起、转腕并搬向风扇；视频19.6–24.4 s仍夹持中央区域，失败时没有松手。" + } + ] + }, + "clip_45_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 26.4, + "log_step": 70, + "text_zh": "观察：视频0.0 s上方两扣均向外张开；下扣操作、抓罩及搬运后，视频19.6–26.4 s上方45度扣仍外张，字幕锁合仅2/4且Stage一直为0/3。右手没有转去拨合上扣；log step 70的最后回合控制脚本也只执行到持罩接近座位，未执行上扣动作。" + } + ] + }, + "clip_135_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 26.4, + "log_step": 70, + "text_zh": "观察：视频0.0 s上方两扣均向外张开；下扣操作、抓罩及搬运后，视频19.6–26.4 s上方135度扣仍外张，字幕锁合仅2/4且Stage一直为0/3。右手没有转去拨合上扣；log step 70的最后回合控制脚本也只执行到持罩接近座位，未执行上扣动作。" + } + ] + }, + "clip_225_closed": { + "method": "visual", + "intervals": [ + [ + 2.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.6, + "log_step": 65, + "text_zh": "观察：视频2.0–2.6 s右手伸出食指在风扇下方夹扣处拨动，视频2.4 s字幕clips locked为0/4，视频2.6 s变为1/4。视频3.0 s有单帧回到0/4，视频3.2 s恢复1/4，短于约0.3 s不拆分区间；闭扣起点精度约0.2 s。" + }, + { + "t": 26.4, + "log_step": 64, + "text_zh": "推断：log step 64的最后回合脚本依次调用225度、315度下扣拨合，视频相应先后出现1/4和2/4锁合；两个上扣始终外张，故第一只闭合扣对应225度。视频8.0–26.4 s锁合总数保持2/4，225度下扣保持闭合。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频约2.0–3.6 s右手其余手指收拢，伸出的食指抵住第一只下扣并拨动；结合log step 64动作顺序对应225度扣，未见捏夹扣片。" + } + ] + }, + "clip_315_closed": { + "method": "visual", + "intervals": [ + [ + 7.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.8, + "log_step": 65, + "text_zh": "观察：视频6.2–7.8 s右手食指移到另一侧下扣并拨动；视频7.4 s锁合字幕为1/4，视频7.6 s暂为0/4，视频7.8 s变为2/4，视频8.0 s仍为2/4。该短暂计数下降不足约0.3 s；第二只扣闭合起点约为视频7.8 s。" + }, + { + "t": 26.4, + "log_step": 64, + "text_zh": "推断：log step 64脚本的第二个拨扣动作指定315度下扣，与视频第二次下扣接触及锁合计数增至2/4相符；视频8.0–26.4 s两个上扣仍张开、锁合总数维持2/4，故315度下扣末态闭合。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频约6.2–8.2 s右手伸出的食指在第二只下扣外侧拨动，结合log step 64动作顺序对应315度扣；手掌局部遮住扣片，但计数随后增至2/4。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "concentric_m", + "unit": "m", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_seat_axial_m", + "unit": "m", + "threshold": 0.0025, + "direction": "lower_better", + "value": null + }, + { + "name": "parallel_rad", + "unit": "rad", + "threshold": 0.0872664626, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_45_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_135_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_225_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_315_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "guard_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "guard_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "fan_displacement_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "fan_tilt_rad", + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "guard_seated", + "t": 24.0, + "log_step": 69, + "where": "操作中", + "evidence_zh": "观察：视频23.6 s右手仍夹持歪斜护罩向风扇推近，视频23.8–24.4 s风扇底座及后罩随之移位，视频24.4 s字幕明确变为FAIL: fan_displaced；护罩从未达到Stage 1/3。log step 69服务在最后一次接近动作中返回task_failure，log step 70确认episode 21已终止；该步此后没有修复。" + }, + "unmet": { + "guard_seated": false, + "clip_45_closed": false, + "clip_135_closed": false, + "clip_225_closed": true, + "clip_315_closed": true + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 23.6, + "log_step": 69, + "evidence_zh": "观察：视频19.6 s右手持罩时前后罩已明显不平行，字幕轴夹角35.8°；视频22.0–23.6 s继续推进时轴夹角约37.3–39.2°，视频23.6 s径向偏差31.3 mm，远超就位要求5°与5 mm；护罩未与后罩同心贴合。" + }, + { + "cat": "接触", + "item": "带动本体", + "t": 24.0, + "log_step": 69, + "evidence_zh": "观察：视频23.8–24.4 s右手持前护罩继续推近后罩时，风扇底座相对桌面移动、后罩一起偏转，随后字幕显示FAIL: fan_displaced。机器人在装配前护罩时带动了应保持稳定的风扇本体。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "感知", + "evidence_zh": "推断：agent未正确估计本次抓取后护罩相对手腕的位姿。log step 65的本回合深度拟合只得到2个扇区，log step 67仍未提取出完整罩沿；log step 68–69却用固定的4.9°偏航、1.5°俯仰修正和固定腕罩偏移GOFF生成接近动作。视频19.6–23.6 s实际罩轴夹角仍为35.8–39.2°，明显不符合这套小角度修正的假设。agent在log step 71也自述本回合深度测量失败，沿用了早先回合的位置及角度估计；错误的持罩位姿估计使接近动作未能对准并带动风扇。", + "source_zh": "日志 / 视频 / agent 自述" + } + ], + "gap_zh": "没有状态日志和逐扣角度记录，两个下扣的身份按视频实际接触顺序结合最后回合脚本确定，闭合由视频锁合计数及后续姿态共同支持；具体碰撞点被手及前后网罩局部遮挡，不能断言撞到了机身哪个部位。视频明确给出fan_displaced，不能沿用agent在log step 71猜测的护罩撞底座或立柱作为失败原因；错误位姿估计是有日志支持的推断，尚不能区分抓取初态差异与转腕中罩在手内偏转各自的贡献。" + }, + "summary_zh": "评分回合先后合上225度和315度下扣，最终完成2/5个节点；右手成功抓起并竖起前护罩，但始终未将其同心、平行地就位，两个上扣未操作。视频约24.0 s持歪斜护罩推进时带动风扇本体，视频24.4 s明确显示fan_displaced失败；日志支持本回合沿用不准确的持罩位姿估计。没有状态日志，具体碰撞点及罩在手内偏转的来源仍不能确定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点（225/315度下扣闭合，其余未达成）、断点guard_seated、位姿不准与带动本体现象均与视频字幕和画面一致，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:23:10Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-fan-guard-install-i00-standard--xdvnfxj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-fan-guard-install-i00-standard--xdvnfxj/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "010dd67a25ddb7f6c54d03d6f698a9cdeac1b8ff6602ba6f92b4cfe49aca18d9", + "video_sha256": "eddc2d6079b46c7fd16bf1072549d250b8ae4c456825adb9f759535492d0a838", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-standard--ztfyjvc.json b/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-standard--ztfyjvc.json new file mode 100644 index 0000000000000000000000000000000000000000..43846c73c6c732cbcde6d6b4bd5ee6e60e17725a --- /dev/null +++ b/phase2/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-standard--ztfyjvc.json @@ -0,0 +1,420 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-fan-guard-install-i00-standard--ztfyjvc", + "taskKey": "dexhand/fan_guard_install", + "dag_sha256": "780b495033f927e2f99d6c0c605a490e62e3855b405d828e8318daf24d90f374", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 1001, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 4920, + "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": 4920, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.644, + "peak_processes": 11, + "peak_disk_gb": 1.06, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-fan-guard-install-i00-standard--ztfyjvc/replay.mp4", + "duration_s": 60.2, + "fps": 5.0, + "frames": 301, + "sha256": "b1457b28e175675a228d8b47b18c80f2b92e05d981ef43d7a2eca731f9c05d09" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 3, + "final": 1, + "nodes": { + "guard_seated": { + "method": "visual", + "intervals": [ + [ + 48.2, + 49.4 + ], + [ + 52.4, + 54.0 + ] + ], + "final": false, + "evidence": [ + { + "t": 32.0, + "log_step": null, + "text_zh": "观察：视频 24.0–32.0 s，右手合拢在前护罩中央帽及邻近网丝处，随后护罩离开原来的桌面位置；视频 34.0–40.0 s，右手将护罩竖起并搬到后罩前方。" + }, + { + "t": 48.2, + "log_step": null, + "text_zh": "观察：视频 48.0 s 字幕仍为 Stage 0/3、径向偏差6.7 mm；视频 48.2 s 两罩沿贴合，字幕变为 Stage 1/3、径向偏差4.5 mm、轴夹角0.5°，护罩首次就位。视频 49.4 s 径向偏差已达5.6 mm，视频 49.6 s 字幕回到 Stage 0/3，故结束第一次就位区间。" + }, + { + "t": 52.4, + "log_step": null, + "text_zh": "观察：视频 49.6–52.2 s 护罩继续随右手升降，径向偏差超过5 mm；视频 52.4 s 字幕恢复 Stage 1/3、径向偏差2.8 mm，视频 52.6–53.8 s 仍显示 Stage 1/3。视频 54.0 s 径向偏差5.6 mm且 Stage 0/3，此后未恢复。" + }, + { + "t": 58.0, + "log_step": null, + "text_zh": "观察：视频 56.4–57.4 s，右手撤离时前护罩跟随手向前上方离座；视频 58.0 s 字幕显示 FAIL: guard_dropped、径向偏差386.7 mm，视频 59.0–60.0 s 的终态中前护罩没有装在后罩上。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右手拇指与其余手指夹持前护罩的中央帽及邻近网丝，抬起、竖起、搬运和对合；撤指及撤腕时仍牵动护罩，未实现保持护罩就位的脱手。" + } + ] + }, + "clip_45_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，画面左上方、世界y较大侧的45度夹扣向外张开；视频 16.0–48.0 s 两个下扣已闭合，但这两个上扣仍向外突出。" + }, + { + "t": 52.8, + "log_step": null, + "text_zh": "观察：视频 48.2–53.2 s，右手抓着护罩作升降和对合动作，45度上扣未转入闭合位置，字幕闭扣数仍为2/4；视频 58.0–60.0 s 该上扣仍张开。成功参考视频 29.8 s 的上扣贴合罩沿外观用于辨认，未将其进展计入本次轨迹。" + }, + { + "t": null, + "log_step": 215, + "text_zh": "观察：log step 211 的脚本尝试通过持罩升降带动上扣；log step 215 中 agent 自述上扣仍开，计划先撤拇指再关上扣。视频末段未出现独立的指尖拨上扣动作，不能把脚本中未执行到的后续合扣计为完成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右手实际夹持前护罩中央帽及邻近网丝，作希望带动上扣的升降对合动作（log step 211）；未见手指直接抓握或推拨45度扣，护罩沿与该扣是否有效接触不能由总览分辨。" + } + ] + }, + "clip_135_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，画面右上方、世界y较小侧的135度夹扣向外张开；视频 16.0–48.0 s 两个下扣已闭合，但这两个上扣仍向外突出。" + }, + { + "t": 52.8, + "log_step": null, + "text_zh": "观察：视频 48.2–53.2 s，右手抓着护罩作升降和对合动作，135度上扣未转入闭合位置，字幕闭扣数仍为2/4；视频 58.0–60.0 s 该上扣仍张开。成功参考视频 29.8 s 的上扣贴合罩沿外观用于辨认，未将其进展计入本次轨迹。" + }, + { + "t": null, + "log_step": 215, + "text_zh": "观察：log step 211 的脚本尝试通过持罩升降带动上扣；log step 215 中 agent 自述上扣仍开，计划先撤拇指再关上扣。视频末段未出现独立的指尖拨上扣动作，不能把脚本中未执行到的后续合扣计为完成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右手实际夹持前护罩中央帽及邻近网丝，作希望带动上扣的升降对合动作（log step 211）；未见手指直接抓握或推拨135度扣，护罩沿与该扣是否有效接触不能由总览分辨。" + } + ] + }, + "clip_225_closed": { + "method": "visual", + "intervals": [ + [ + 6.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.2, + "log_step": null, + "text_zh": "观察：视频 5.8–6.2 s，右手伸指推拨画面右下方夹扣，字幕闭扣数从0/4变为1/4；视频 6.4–8.4 s 右手离开，该扣保持收拢。" + }, + { + "t": 14.6, + "log_step": 211, + "text_zh": "推断：log step 68 定义的 lowerclips 脚本先对世界y约0.0472 m的下扣、再对y约0.3128 m的下扣作食指推拨，log step 211 最后一次重置后调用此流程；结合视频 6.2 s 先闭画面右下扣、视频 14.6 s 再闭画面左下扣，先闭者对应225度扣。此处只用动作顺序辨认身份，未换算日志控制步为视频时间。" + }, + { + "t": 60.0, + "log_step": null, + "text_zh": "观察：视频 53.4 s 闭扣总数虽降为1/4，但画面右下方225度扣保持贴近罩沿，张开的是画面左下方扣；视频 58.0–60.0 s 右下扣仍收拢。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "右手伸出的食指从背侧推拨225度下扣，使扣片绕铰链收拢；没有夹住扣片。" + } + ] + }, + "clip_315_closed": { + "method": "visual", + "intervals": [ + [ + 14.6, + 53.4 + ] + ], + "final": false, + "evidence": [ + { + "t": 14.6, + "log_step": null, + "text_zh": "观察：视频 14.0–14.4 s，右手在画面左下扣背侧伸指；视频 14.6 s 闭扣数从1/4变为2/4，左下扣转入收拢位置，随后右手离开。" + }, + { + "t": 16.0, + "log_step": 211, + "text_zh": "推断：视频中第二个闭合的下扣位于画面左下方；结合 log step 68 的两次推拨目标及 log step 211 重复该流程，对应世界y较大侧的315度扣。" + }, + { + "t": 53.4, + "log_step": null, + "text_zh": "观察：视频 52.8–53.2 s 左下扣仍收拢；视频 53.4 s 右手撤拇指期间，左下扣开始向外翻开，字幕闭扣数从2/4降为1/4。视频 53.6–54.6 s 该扣继续外张，视频 58.0–60.0 s 也未重新闭合。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "右手食指从背侧推拨315度下扣并使其闭合；末段撤指时，仍与手相连的前护罩在该扣处牵动罩沿，原先闭合的扣重新张开。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "concentric_m", + "unit": "m", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_seat_axial_m", + "unit": "m", + "threshold": 0.0025, + "direction": "lower_better", + "value": null + }, + { + "name": "parallel_rad", + "unit": "rad", + "threshold": 0.0872664626, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_45_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_135_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_225_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "clip_315_angle_rad", + "unit": "rad", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "guard_linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "guard_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "fan_displacement_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "fan_tilt_rad", + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "guard_seated", + "t": 54.0, + "log_step": 215, + "where": "操作中", + "evidence_zh": "观察：视频 52.4 s 护罩恢复就位，视频 53.0–53.2 s 仍为Stage 1/3、闭扣2/4；右手仍在护罩中央持罩、撤指，没有独立推拨315度扣。视频 53.4 s 左下315度扣重开，闭扣数降为1/4；视频 54.0 s 径向偏差5.6 mm、Stage降为0/3，视频 54.4 s 偏差7.0 mm，此后护罩未再就位。视频 56.4–57.2 s 撤腕时护罩跟随右手整体离座，视频 58.0 s 显示FAIL: guard_dropped；log step 215 的脚本执行拇指后退，log step 218 的服务输出确认最后一局episode 21以task_failure结束。推断：当时正在处理的是保持护罩就位并脱手，315度扣重开是同一次持罩撤指牵动的附带后果；按docs/DECISIONS.md S14，将未修复的失败步骤定位为guard_seated。" + }, + "unmet": { + "guard_seated": false, + "clip_45_closed": false, + "clip_135_closed": false, + "clip_225_closed": true, + "clip_315_closed": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没松开", + "t": 56.4, + "log_step": 217, + "evidence_zh": "观察：log step 215 的脚本先规划拇指沿远离风扇的方向后退，log step 217 又将手指目标设为张开并撤腕。视频 53.4–56.0 s 手仍贴着护罩中央，其间视频 53.4 s 左下315度扣由收拢变成外张、闭扣数由2/4降为1/4，视频 54.0 s 护罩失去就位；视频 56.4–57.2 s 撤腕时护罩跟随右手整体离座并翻转，没有留在下扣支承上，随后视频 58.0 s 显示guard_dropped。推断：手未能在保持护罩就位的情况下脱离，下扣重开属于同次牵动的后果；未见可单独支持被挡/碰撞的阻挡接触，不另列第二现象。" + } + ], + "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：当前中央帽及邻近网丝的抓持布局与撤指路径不适配，手指未能在不牵动护罩的情况下脱离。log step 215 的脚本固定其余手指目标，只用手部正运动学规划拇指直线后退；log step 216 的最后一组拇指目标末关节约1.397 rad，而服务实际关节读数约0.125 rad，未达到预计的脱离姿态。视频 53.4–53.8 s 出现下扣被重新带开，视频 56.4–57.2 s 护罩继续随撤离的手运动，支持接触布局和退出方式失败；具体卡住哪根手指或哪根网丝仍无法确定。" + } + ], + "gap_zh": "没有状态日志，无法精确量测轴向座位误差、单扣铰链角、U槽内接触点和接触力；就位采用画面中的Stage及径向/轴角字幕与罩沿外观联合判断，区间边界约有一个视频帧（0.2 s）的误差。上扣的间接试合只看见持罩升降，无法确认罩沿是否有效碰到每个上扣；没有观察到单独合上扣的动作。拇指脱离失败的具体网丝接触只能推断。视频标示1.7倍回放，所有节点时间均直接取视频帧，未将agent时间或control_steps换算到视频；评分器未报告DAG列出的11项原生指标数值，故均为null。" + }, + "summary_zh": "本次评分轨迹先闭合两个下扣，再抓起并竖起前护罩；护罩在视频 48.2–49.4 s、52.4–54.0 s 两次短暂就位，最高达到3/5节点，两个上扣始终未闭合。断点为护罩就位：持罩撤指时视频 53.4 s 的315度下扣重开是附带后果，视频 54.0 s 护罩再次失去就位且未修复，随后被未能脱离的右手带出座位，视频 58.0 s 显示guard_dropped，最终仅225度扣保持完成（1/5）。抓持与撤指接触布局失败有视频及控制日志支持，但无状态日志，具体卡指接触和毫米级槽内关系仍不能确证。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值与时间（就位两段、225/315下扣、上扣未闭）经帧核对基本正确；问题在断点：315下扣被带开只是护罩未能脱手的附带后果，正在处理且未修复的步骤应是护罩就位（保持就位并脱手），不应把断点放在315扣。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "第1轮修改已落实：断点为 guard_seated，节点区间（就位两段、225/315 下扣、上扣未闭）与视频字幕一致，现象/根因有视频与日志支持，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:45:16Z", + "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-fan-guard-install-i00-standard--ztfyjvc/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-fan-guard-install-i00-standard--ztfyjvc/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-fan-guard-install-i00-standard--ztfyjvc/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-fan-guard-install-i00-standard--ztfyjvc/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "218c89c69ec2cbc5435889c76947363f11b61846d2732adfdee4e823205cc16e", + "video_sha256": "b1457b28e175675a228d8b47b18c80f2b92e05d981ef43d7a2eca731f9c05d09", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-privileged--2f4iooe.json b/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-privileged--2f4iooe.json new file mode 100644 index 0000000000000000000000000000000000000000..a8fa33e1c0d231e62d97fbdc66b90356899d81a4 --- /dev/null +++ b/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-privileged--2f4iooe.json @@ -0,0 +1,233 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-grinder-crank-i00-privileged--2f4iooe", + "taskKey": "dexhand/grinder_crank", + "dag_sha256": "70aeb6508b690fe8f013c97c5b13c4633c4dfa3bf5e280aa5f5507c412b2a337", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 317, + "sim_steps": 317, + "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": 2.519, + "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-grinder-crank-i00-privileged--2f4iooe/replay.mp4", + "duration_s": 8.4, + "fps": 10.0, + "frames": 84, + "sha256": "898a8c185d0b131427a6628767de612b2daf5f3bedac346aa29420ee4e2fbc2d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "crank_turned": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频0.0–6.3 s机器人先将双手移近磨豆机，再将左手降到机身下部并收拢手指；黑色旋钮和金属曲柄没有绕顶轴完成整圈，顶部Crank始终约为0.00/2.00。" + }, + { + "t": 5.2, + "log_step": null, + "text_zh": "观察：视频5.1 s顶部hand contacts仍为R 0 L 0，视频5.2–6.3 s变为R 0 L 3；左手数个指尖抵住机身下部一侧，右手悬在曲柄上方，没有带动旋钮转圈。" + }, + { + "t": 6.4, + "log_step": 73, + "text_zh": "观察：视频6.4–8.3 s为控制步317的静止末态，Crank约为-0.00/2.00，hand contacts为R 0 L 3，released hold为0/50，机身倾角显示约1.2°、滑移3.2毫米；log step 73验证实际交付文件仅有317行执行器目标。未满足两圈及释放保持的联合判据。" + }, + { + "t": 6.4, + "log_step": 72, + "text_zh": "推断：log step 64在left-grip阶段后插入前缀保存，log step 70–72均先输出saved-partial 317、随后才在控制步344报告grinder_tipped；视频在控制步317结束运动且评分器n_actions=317。因此控制步344的倾倒属于未交付的后续测试，不是本次评分轨迹的事件。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频5.2–6.3 s左灵巧手的数个指尖抵压磨豆机下部侧面，顶部显示左手3接触；未见拇指与其余手指在机身两侧形成对向夹持，不据此记抓握。右手移至曲柄上方但顶部始终显示右手0接触，未发生双手同时操作目标的接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "net_clockwise_deg", + "unit": "deg", + "threshold": 720, + "direction": "higher_better", + "value": null + }, + { + "name": "tilt_deg", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "slide_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "lift_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "base_z_m", + "unit": "m", + "threshold": 0.695, + "direction": "higher_better", + "value": null + }, + { + "name": "abs_body_yaw_deg", + "unit": "deg", + "threshold": 45, + "direction": "lower_better", + "value": null + }, + { + "name": "linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "crank_speed_rad_s", + "unit": "rad/s", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "released_hold_steps", + "unit": "control", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "crank_turned", + "t": 6.4, + "log_step": 73, + "where": "操作中", + "evidence_zh": "观察：视频6.3 s机器人仍以左手指尖抵住机身、右手悬在曲柄上方；视频6.4 s进入控制步317的最终静帧，曲柄约0圈且释放保持0/50，之后直到视频8.3 s无后续操作。log step 73确认只交付317行，评分器n_actions=317、stages_completed=0；该旋转步骤已开始准备接触但未完成。" + }, + "unmet": { + "crank_turned": false + }, + "phenomena": [], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 72, + "source_zh": "日志", + "evidence_zh": "推断：agent的接触控制尚未调成可继续操作的方案。log step 70–72的生成器测试均在左手接触后保存317步前缀，继续尝试右手接近旋钮时均于控制步344报告grinder_tipped、倾角10.17°，未生成成功转动及释放的完整交付；log step 73核实最终文件仍只有317行，与视频6.4 s停在左手接触阶段一致。这些测试作为未解决控制问题的会话证据，不把测试中的倾倒记为评分轨迹现象；证据不足以细分为具体接触几何或反馈参数错误。" + } + ], + "gap_zh": "观察：inputs/有完整运行日志、本次视频和成功参考视频，没有逐帧状态日志；评分器reward未报告DAG列出的原生数值指标，native_metrics均填null。交付在左手接触后的安全前缀结束，未包含右手抓旋钮及转动尝试；视频没有可定位的失手、碰撞或倾倒事件，因此现象层留空，不把未交付测试中的倾倒或未执行动作当成现象。左手对向夹持与接触力无充分可见证据，根因仅据会话测试保留宽类控制。" + }, + "summary_zh": "评分轨迹只执行到左手指尖抵压磨豆机下部、右手悬在曲柄上方，曲柄约0圈，唯一节点未达成，最终0/1。视频6.4 s起停在控制步317的前缀末态；log step 70–73显示后续右手接近测试反复倾倒，但这些动作未写入最终交付，控制问题尚未解决。没有逐帧状态日志，交付中也没有明确的失手事件，故现象层留空，不能将会话测试的倾倒用于本次轨迹。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点未达成、final=0、断点crank_turned、现象层留空并说明交付只含317步前缀，均与视频和log step 62-73一致；根因控制取宽类，证据不足以细分，合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:27:03Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-grinder-crank-i00-privileged--2f4iooe/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-grinder-crank-i00-privileged--2f4iooe/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3a4ce293ca14925f2ffea2b4ec9723c4d1c4a13e42092cd1f0d304d0cfd78361", + "video_sha256": "898a8c185d0b131427a6628767de612b2daf5f3bedac346aa29420ee4e2fbc2d", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-privileged--cfwpu8e.json b/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-privileged--cfwpu8e.json new file mode 100644 index 0000000000000000000000000000000000000000..ce3c6c790d77e00af9a0331fc2a04d2364389202 --- /dev/null +++ b/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-privileged--cfwpu8e.json @@ -0,0 +1,243 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-grinder-crank-i00-privileged--cfwpu8e", + "taskKey": "dexhand/grinder_crank", + "dag_sha256": "70aeb6508b690fe8f013c97c5b13c4633c4dfa3bf5e280aa5f5507c412b2a337", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 1935, + "sim_steps": 341, + "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": 3.119, + "peak_processes": 9, + "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-grinder-crank-i00-privileged--cfwpu8e/replay.mp4", + "duration_s": 7.0, + "fps": 10.0, + "frames": 70, + "sha256": "6f3d7d86bb71b3c27d19530b4fa0ece7631e93fb33e24afd3823cbd71d2ecbeb" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "crank_turned": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0–3.4 s，机器人左手绕到磨豆机下部，黑色旋钮始终停在顶轴同一侧；回放叠字 Crank 约为 0.00/2.00 圈。" + }, + { + "t": 3.8, + "log_step": null, + "text_zh": "观察：视频 3.5–4.9 s，机器人左手收指贴压机身下部，机身在台面上逐渐移位；右手在视频 4.3 s 后靠近，但未触到旋钮。叠字 hand contacts（双手与磨豆机的接触计数）仅左手短暂为3或4，右手一直为0。" + }, + { + "t": 4.9, + "log_step": 58, + "text_zh": "观察：视频 4.9 s 进入 FAIL: grinder_slid，显示 slide 20.1 mm、Crank 约0.00/2.00、R 0 L 3、released hold 0/50；视频 6.0–6.9 s 全部为同一失败终态。log step 58 生成并保存1935行最终轨迹，输出 grinder_slid、净顺时针角约0°、保持0步，与本次画面及评分字段 n_actions=1935、sim_steps=341 相符。" + }, + { + "t": 6.9, + "log_step": null, + "text_zh": "推断：本次曲柄未完成两圈，也未进入释放静置验收，节点全程为假。参考成功视频 30.0 s 显示 PASS、Crank +2.09/2.00、R 0 L 0、released hold 50/50，仅用于对照节点完成时的画面。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 3.5–4.9 s，左侧灵巧手的弯曲手指贴压磨豆机下部并把机身推移；拇指伸向台面，未见与其余手指形成对向夹持。右手仅接近旋钮，未建立目标接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "net_clockwise_deg", + "unit": "deg", + "threshold": 720, + "direction": "higher_better", + "value": null + }, + { + "name": "tilt_deg", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "slide_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "lift_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "base_z_m", + "unit": "m", + "threshold": 0.695, + "direction": "higher_better", + "value": null + }, + { + "name": "abs_body_yaw_deg", + "unit": "deg", + "threshold": 45, + "direction": "lower_better", + "value": null + }, + { + "name": "linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "crank_speed_rad_s", + "unit": "rad/s", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "released_hold_steps", + "unit": "control", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "crank_turned", + "t": 3.8, + "log_step": 58, + "where": "操作中", + "evidence_zh": "观察：视频 3.8 s 起，机器人左手收指时机身开始明显滑移，至视频 4.9 s，回放显示 FAIL: grinder_slid、水平位移20.1 mm；右手仍未接触旋钮，曲柄约0圈。log step 58 保存的最终轨迹同样在左手接触、右手接触数为0时因 grinder_slid 结束；这是旋转步骤中准备固定机身时未修复的失败。" + }, + "unmet": { + "crank_turned": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "接触力异常", + "t": 3.8, + "log_step": 58, + "evidence_zh": "观察：视频 3.4 s 机身基本静止，左手开始收指后，视频 3.8、4.0、4.3、4.8 s 的叠字 slide 依次约为2.6、6.6、12.7、19.8 mm，视频 4.9 s 超过20 mm而终止。左手在接触机身时将其持续推移，未起到固定作用；此时右手未碰旋钮，曲柄也未转动。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "t": 3.8, + "log_step": 58, + "evidence_zh": "推断：视频 3.5–4.9 s 可见左手四指向机身一侧弯曲，拇指伸到台面方向，未形成包住机身的对向夹持；收指及向内贴靠伴随机身滑移。log step 58 的保存脚本把 Lseat 恢复为0.008，重跑输出仍为左手3个接触、右手0接触及 grinder_slid；agent 在 log step 56 也自述持续贴掌推压且接触缺乏对抗。结合画面，固定机身的接触布局不适配是主要根因；没有验证过本次手形的可行修正。", + "source_zh": "视频 / 日志 / agent 自述" + } + ], + "gap_zh": "本次无状态日志，无法逐接触点确认受力与精确接触位置；接触布局根因由视频手形、滑移及保存脚本综合推断。评分器 reward 未报告DAG所列10项原生连续指标，故 native_metrics 的 value 均为 null，未用会话试验值代填。log step 59 的最后实验没有保存记录或返回结果，不作为评分片段证据。" + }, + "summary_zh": "机器人左手接近并收指贴压机身，右手尚未碰到旋钮，曲柄约为0圈，唯一节点“曲柄转满两圈”未达成。视频 3.8–4.9 s 左手把机身沿台面推移，最终因滑移超过2厘米而结束；手形和最终保存脚本支持固定机身的接触设计不当。无状态日志，精确受力及接触点无法核实，原生连续指标未在评分字段中报告。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "单节点未达成、断点 crank_turned/操作中、接触力异常与抓取和接触设计的判断与视频一致：视频 4.0 s 叠字 slide 6.6 mm，5.0 s 起 FAIL grinder_slid、slide 20.1 mm、Crank 0.00、R 0 L 3；右手从未碰旋钮；log step 55-58 的 contacts 读数与之相符。未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:30:58Z", + "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-grinder-crank-i00-privileged--cfwpu8e/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-grinder-crank-i00-privileged--cfwpu8e/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "dbb7f43e0a25fd45e9f659deba5068dd6421a6df3a62277ec692f6673db00cd5", + "video_sha256": "6f3d7d86bb71b3c27d19530b4fa0ece7631e93fb33e24afd3823cbd71d2ecbeb", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-privileged--jbsccsv.json b/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-privileged--jbsccsv.json new file mode 100644 index 0000000000000000000000000000000000000000..8f48fb3d0ac6cf2d5bb5a7e30f294e3617aefbc3 --- /dev/null +++ b/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-privileged--jbsccsv.json @@ -0,0 +1,216 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-grinder-crank-i00-privileged--jbsccsv", + "taskKey": "dexhand/grinder_crank", + "dag_sha256": "70aeb6508b690fe8f013c97c5b13c4633c4dfa3bf5e280aa5f5507c412b2a337", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 2873, + "sim_steps": 2873, + "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": 6.1, + "peak_processes": 12, + "peak_disk_gb": 0.844, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-grinder-crank-i00-privileged--jbsccsv/replay.mp4", + "duration_s": 30.9, + "fps": 10.0, + "frames": 309, + "sha256": "f20f30a17b5f8162182d1ae5485b63473c4753118fc890c8eb5468d095118a3e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "crank_turned": { + "method": "visual", + "intervals": [ + [ + 28.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.5, + "log_step": null, + "text_zh": "观察：视频 7.5 s，机器人左手四指弯曲环抱磨豆机身，拇指位于机身另一侧；视频 12.5、14.0、16.5 s，左手持续握机身，右手拇指与食指夹持黑色旋钮，旋钮随金属曲柄绕顶轴移动。" + }, + { + "t": 27.0, + "log_step": null, + "text_zh": "观察：视频 17.5 s 与 23.4 s，机器人右手张开并抬离旋钮，左手仍握机身；视频 19.5 s 与 25.4 s，右手重新夹住旋钮继续转动。视频 27.0 s 顶部 Crank 为 +2.10/2.00 圈，但 hand contacts 为 R 2 L 32、released hold 为 0/50，尚未完成联合验收。" + }, + { + "t": 28.8, + "log_step": 94, + "text_zh": "观察：视频 27.8 s，机器人右手已抬离且接触数 R 0，左手仍握机身；视频 28.2 s 双手接触数 R 0 L 0，保持计数仍为 0/50，视频 28.3—28.7 s 依次为 7、17、27、37、47/50。视频 28.8 s 首次显示 PASS、Crank +2.09/2.00、R 0 L 0、released hold 50/50，磨豆机底座落台直立；以该已检视帧作为达标时间，精度约 0.1 s。log step 94 的两次独立轨迹重放均返回 success=true、stage=2、净顺时针角 753.373029°、双手零接触、base_on_counter=true、保持 50 控制步，终态哈希相同，与视频终态一致。" + }, + { + "t": 30.8, + "log_step": 90, + "text_zh": "观察：视频 29.8—30.8 s 逐帧检查，机器人双手保持张开脱离，磨豆机仍直立落台，PASS、+2.09/2.00 圈及 50/50 保持不变。log step 94 的重放评分器终态报告线速度约 8.26e-11 米/秒、机身角速度约 1.23e-8 弧度/秒、曲柄速度约 3.74e-7 弧度/秒；log step 90 中仿真接口的成功终态还报告底座高度 0.699990953 米，其终态哈希与独立重放一致。无逐帧状态日志，精确速度和高度引用这些终态反馈，不由静帧测量。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 7.5—27.8 s，机器人左手以弯曲四指和对侧拇指环握机身；视频 12.5—27.0 s 中右手以拇指、食指夹住黑色旋钮转动曲柄，期间视频 17.5 s 与 23.4 s 可见松开抬手换握，左手继续固定机身。右手先松开退离，随后左手张开，视频 28.8 s 双手接触数为零。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "net_clockwise_deg", + "value": 753.3730290507306, + "unit": "deg", + "threshold": 720, + "direction": "higher_better" + }, + { + "name": "tilt_deg", + "value": 0.03383985435590865, + "unit": "deg", + "threshold": 10, + "direction": "lower_better" + }, + { + "name": "slide_m", + "value": 0.010510381915057427, + "unit": "m", + "threshold": 0.02, + "direction": "lower_better" + }, + { + "name": "lift_m", + "value": -9.047027138997521e-06, + "unit": "m", + "threshold": 0.02, + "direction": "lower_better" + }, + { + "name": "base_z_m", + "value": 0.699990952972861, + "unit": "m", + "threshold": 0.695, + "direction": "higher_better" + }, + { + "name": "abs_body_yaw_deg", + "value": 5.27260496435583, + "unit": "deg", + "threshold": 45, + "direction": "lower_better" + }, + { + "name": "linear_speed_m_s", + "value": 8.26492408319407e-11, + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better" + }, + { + "name": "angular_speed_rad_s", + "value": 1.2252503297915122e-08, + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better" + }, + { + "name": "crank_speed_rad_s", + "value": 3.7374406930017095e-07, + "unit": "rad/s", + "threshold": 0.5, + "direction": "lower_better" + }, + { + "name": "released_hold_steps", + "value": 50, + "unit": "control", + "threshold": 50, + "direction": "higher_better" + } + ], + "failure": null, + "summary_zh": "机器人左手环握机身，右手夹住旋钮分段顺时针转动并两次换握，最终净转角约753.37°；双手依次松开后，视频 28.8 s 首次显示PASS及释放保持50/50，唯一节点完成，末秒终态保持。没有独立逐帧状态日志，严格接触与微小速度由视频状态叠字和log step 94两次成功重放的评分器终态交叉支持；视频标明2倍速，保持窗按原生50控制步判定。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "唯一目标节点 crank_turned 在视频 28.8 s 首次显示 PASS、released hold 50/50、R 0 L 0，与标注时间一致；接触标注（左手环握机身、右手夹旋钮，双臂协作+抓握）与帧相符，成功运行无失败层，未发现错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:31:30Z", + "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-grinder-crank-i00-privileged--jbsccsv/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-grinder-crank-i00-privileged--jbsccsv/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d98ec635d8f3010b772b4ec6d944d981096e3a110a5aecf521004a1f7db1e834", + "video_sha256": "f20f30a17b5f8162182d1ae5485b63473c4753118fc890c8eb5468d095118a3e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-privileged--jncym8b.json b/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-privileged--jncym8b.json new file mode 100644 index 0000000000000000000000000000000000000000..9a8c08d5c46b93490b7d845b6a1554c0a6fd3275 --- /dev/null +++ b/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-privileged--jncym8b.json @@ -0,0 +1,226 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-grinder-crank-i00-privileged--jncym8b", + "taskKey": "dexhand/grinder_crank", + "dag_sha256": "70aeb6508b690fe8f013c97c5b13c4633c4dfa3bf5e280aa5f5507c412b2a337", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 984, + "sim_steps": 984, + "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": 2.489, + "peak_processes": 7, + "peak_disk_gb": 0.256, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-grinder-crank-i00-privileged--jncym8b/replay.mp4", + "duration_s": 21.8, + "fps": 10.0, + "frames": 218, + "sha256": "929300b333b3411d508464c8dd34224c5c3affe8b280920c724150c85ed29b50" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "crank_turned": { + "method": "visual", + "intervals": [ + [ + 19.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 磨豆机直立在台面，机器人双手张开，顶部原生回放读数为曲柄约0圈、双手接触数R 0 L 0、released hold 0/50，尚未完成旋转及释放验收。" + }, + { + "t": 3.5, + "log_step": null, + "text_zh": "观察：视频 3.0–4.0 s，机器人左手拇指与弯曲的其余手指从两侧包握磨豆机身，右手手指围住黑色旋钮；视频 3.5 s 顶部hand contacts（双手与磨豆机各部件的接触数）为R 3 L 13。随后右手带旋钮绕顶轴转动，左手继续固定机身。" + }, + { + "t": 15.8, + "log_step": null, + "text_zh": "观察：视频 15.6 s 曲柄读数为+1.99/2.00圈，视频 15.8 s 为+2.02/2.00圈；机器人两手仍接触目标，released hold仍为0/50，因此转角达标尚不构成该联合节点完成。" + }, + { + "t": 18.8, + "log_step": null, + "text_zh": "观察：视频 17.0 s 右手抬离旋钮，接触数R 0 L 24；视频 17.6–18.4 s 左手逐渐张开后撤，视频 18.4 s 双手接触数均为0但保持计数仍为0/50；视频 18.8 s 机身直立落台，曲柄+2.13/2.00圈，保持计数开始累计至6/50。" + }, + { + "t": 19.7, + "log_step": null, + "text_zh": "观察：视频 19.6 s 为IN PROGRESS、released hold 46/50；视频 19.7 s 为PASS、曲柄+2.13/2.00圈、接触数R 0 L 0、released hold 50/50、控制步984，机身直立留在台面。原生保持计数表示评分器已连续接受释放、落台、直立和低速条件，故以视频 19.7 s 为节点首次完成时刻（视频帧分辨率0.1秒）。" + }, + { + "t": 21.7, + "log_step": null, + "text_zh": "观察：视频 20.8–21.7 s 逐帧检查均是相同的PASS终态画面，曲柄+2.13/2.00圈、R 0 L 0、保持50/50，未显示节点再次失去；这是控制步984的终态停帧。inputs/run.json的评分器字段success=1、stages_completed=2、deterministic=1与该画面一致。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 3.5–16.6 s，机器人左灵巧手以拇指和弯曲手指包握机身抵抗转矩，右灵巧手围握黑色旋钮并带动曲柄转动；视频 17.0 s 右手已抬离，随后左手张开后撤，视频 18.4 s 双手接触数均为0。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "net_clockwise_deg", + "unit": "deg", + "threshold": 720, + "direction": "higher_better", + "value": null + }, + { + "name": "tilt_deg", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "slide_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "lift_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "base_z_m", + "unit": "m", + "threshold": 0.695, + "direction": "higher_better", + "value": null + }, + { + "name": "abs_body_yaw_deg", + "unit": "deg", + "threshold": 45, + "direction": "lower_better", + "value": null + }, + { + "name": "linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "crank_speed_rad_s", + "unit": "rad/s", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "released_hold_steps", + "unit": "control", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": null, + "summary_zh": "机器人左手包握机身、右手抓握旋钮顺时针转动，随后依次松开双手，视频 19.7 s 达到曲柄约2.13圈、零手部接触及50/50保持计数，唯一节点完成，评分成功。片尾至视频 21.7 s 均为相同PASS终态停帧，没有失败断点。无逐帧状态日志，评分记录未报告DAG所列连续原生指标的数值，因此这些指标保留null；精确速度条件由回放原生保持计数及成功判定共同确认。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "标注与视频一致：crank_turned 在视频 19.7 s 首次 PASS（released hold 50/50，步984），接触与最终值正确，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": "2026-10-30T05:31:48Z", + "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-grinder-crank-i00-privileged--jncym8b/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-grinder-crank-i00-privileged--jncym8b/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1a3272a7c372638b96c1958536882f7b7219c5012c8b9eefe55b76053e20853a", + "video_sha256": "929300b333b3411d508464c8dd34224c5c3affe8b280920c724150c85ed29b50", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-privileged--mi9zmu5.json b/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-privileged--mi9zmu5.json new file mode 100644 index 0000000000000000000000000000000000000000..be89d81d571aa44c54fbb969ef03f101467d8287 --- /dev/null +++ b/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-privileged--mi9zmu5.json @@ -0,0 +1,247 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-grinder-crank-i00-privileged--mi9zmu5", + "taskKey": "dexhand/grinder_crank", + "dag_sha256": "70aeb6508b690fe8f013c97c5b13c4633c4dfa3bf5e280aa5f5507c412b2a337", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 800, + "sim_steps": 800, + "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": 2.423, + "peak_processes": 11, + "peak_disk_gb": 0.982, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-grinder-crank-i00-privileged--mi9zmu5/replay.mp4", + "duration_s": 18.1, + "fps": 10.0, + "frames": 181, + "sha256": "e651e6e7e0017eaed4f2c537849d3a8b6139664841473f81fabe49b788caddb1" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "crank_turned": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，磨豆机直立落台，曲柄计数为−0.00/2.00圈，尚未转动。画面顶部的Crank是相对机身的净顺时针圈数，hand contacts是双手与磨豆机的接触数，released hold是释放静置验收的连续控制步数。" + }, + { + "t": 4.9, + "log_step": null, + "text_zh": "观察：视频 4.1–5.1 s，机器人右手伸出的食指抵在金属曲柄上，左手逐渐合拢包住机身；黑色旋钮随曲柄转向另一侧，Crank从约0.00降到视频 4.9 s的−0.10/2.00、视频 5.1 s的−0.15/2.00圈，转动方向与要求相反。" + }, + { + "t": 18.0, + "log_step": 150, + "text_zh": "观察：视频 16.0 s及17.0–18.0 s末段，机器人双手仍留在磨豆机上，顶部为Crank −0.18/2.00、hand contacts R 5 L 16、released hold 0/50；未出现两圈后释放静置。log step 150对最终交付文件的官方重放给出800个动作、stage 0、success false、净顺时针转角−65.4107287667°，与末帧相符。" + }, + { + "t": null, + "log_step": 154, + "text_zh": "观察：log step 148保存最终800步轨迹，log step 152确认交付文件仍为800×58；log step 150、154两次官方重放的state_sha相同，均报告未成功、无硬失败，后者再次报告净顺时针转角−65.411°；inputs/run.json的reward记录deterministic=1、stages_completed=0、sim_steps=800。此处仅采用最终交付的重放结果，早期会话测试中的倾倒及碰撞不属于本次视频。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频约5.0–18.0 s，机器人左手手掌与弯曲的多指从两侧包握磨豆机身，右手同时操作曲柄。" + }, + { + "who": "双臂协作", + "how": "推/扫", + "note_zh": "观察：视频约4.3–18.0 s，机器人右手伸出的食指抵住金属曲柄靠近顶轴的一段拨推；没有与拇指对夹黑色旋钮，左手同时在机身一侧合拢扶持。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "net_clockwise_deg", + "unit": "deg", + "threshold": 720, + "direction": "higher_better", + "value": -65.41072876671585 + }, + { + "name": "tilt_deg", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": 4.998723220856842 + }, + { + "name": "slide_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": 0.018578777623904325 + }, + { + "name": "lift_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": 0.002160185814332416 + }, + { + "name": "base_z_m", + "unit": "m", + "threshold": 0.695, + "direction": "higher_better", + "value": null + }, + { + "name": "abs_body_yaw_deg", + "unit": "deg", + "threshold": 45, + "direction": "lower_better", + "value": 15.95642997954889 + }, + { + "name": "linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": 8.582320887241877e-05 + }, + { + "name": "angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "crank_speed_rad_s", + "unit": "rad/s", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "released_hold_steps", + "unit": "control", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "crank_turned", + "t": 4.9, + "log_step": 150, + "where": "操作中", + "evidence_zh": "观察：视频 4.3–5.1 s，机器人右食指接触金属曲柄后，净顺时针圈数转为负值；视频 4.9 s已为−0.10/2.00圈，后续未恢复正向进度，视频 18.0 s仍为−0.18/2.00且双手未脱离。log step 150对交付轨迹的官方重放确认最大净顺时针转角仅0.0194°、最终−65.4107°，旋转步骤始终未完成。" + }, + "unmet": { + "crank_turned": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 4.9, + "log_step": 150, + "evidence_zh": "观察：视频 4.3–5.1 s，机器人右食指拨动曲柄时，顶部净顺时针圈数由约0.00变为−0.15，黑色旋钮沿反方向绕顶轴移到另一侧；视频 7.0–18.0 s仅保持在约−0.17至−0.18圈，未形成要求的正向两圈。log step 150的最终交付重放量测为−65.4107°，目标为至少+720°。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 4.9, + "log_step": 148, + "evidence_zh": "推断：log step 146、148记录agent脚本以右食指侧推曲柄、改变切向目标偏移后生成最终800步交付；视频 4.3–5.1 s显示机器人已建立食指与曲柄接触，却造成反向转动，之后仍未实现正向旋转。log step 150、154两次官方重放均确认最终约−65.411°，说明该控制器未把手指接触转化为所需的顺时针相对运动；现有证据不能进一步区分接触几何与反馈控制问题。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有逐帧状态日志及接触力方向记录，不能细分控制根因。log step 150的官方重放输出在linear_speed_m_s字段后被截断，未报告base_z_m、angular_speed_rad_s、crank_speed_rad_s及released_hold_steps的精确终值，这四项原生指标留null；视频末帧可见released hold为0/50，足以辅助否定节点。其余原生指标取同一最终交付的官方重放verdict，abs_body_yaw_deg取body_yaw_deg的绝对值；该重放与视频终态一致。" + }, + "summary_zh": "机器人左手合拢握住机身，右食指拨推金属曲柄，但视频约4.9 s出现反向旋转，最终净顺时针转角约−65.41°，双手仍接触，曲柄转满两圈节点未达成（0/1）。最终800步交付经两次官方重放均未成功且未触发硬失败；根因归于控制未产生所需顺时针运动，缺少逐帧接触力与状态数据，无法进一步细分。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点未达成、断点（操作中，约视频4.9 s反向转动）、位姿不准与控制根因均有视频顶部Crank读数和log step 150/154官方重放支持，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": "2026-10-30T05:28:44Z", + "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-grinder-crank-i00-privileged--mi9zmu5/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-grinder-crank-i00-privileged--mi9zmu5/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3c35fdf308fba6c62d533a4c38ee54f39c391e7f99a5a256f401d69a67873cd0", + "video_sha256": "e651e6e7e0017eaed4f2c537849d3a8b6139664841473f81fabe49b788caddb1", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-privileged--omrc7ex.json b/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-privileged--omrc7ex.json new file mode 100644 index 0000000000000000000000000000000000000000..a87e4a0d0f8cdc8076121013687a1b458513beb6 --- /dev/null +++ b/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-privileged--omrc7ex.json @@ -0,0 +1,249 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-grinder-crank-i00-privileged--omrc7ex", + "taskKey": "dexhand/grinder_crank", + "dag_sha256": "70aeb6508b690fe8f013c97c5b13c4633c4dfa3bf5e280aa5f5507c412b2a337", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 1, + "infra_error": 0, + "n_actions": 1389, + "sim_steps": 1389, + "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": 2.466, + "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-grinder-crank-i00-privileged--omrc7ex/replay.mp4", + "duration_s": 29.8, + "fps": 10.0, + "frames": 298, + "sha256": "4e8f4328f079288a4e2320164fc3c3b9323ffe739b47dddf03dbcf34f7e6fbbe" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "crank_turned": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频0.0–16.0 s，机器人左手从上方绕到磨豆机身侧面，逐渐以弯曲手指包握机身下部；黑色旋钮仍在初始方向，画面顶部Crank持续显示约0.00/2.00圈。" + }, + { + "t": 26.0, + "log_step": 204, + "text_zh": "观察：视频17.0–27.7 s，机器人右手靠近黑色旋钮、屈指并小幅调整腕位，左手保持包握机身；视频25.5–27.5 s右手已产生接触，仍未见旋钮绕顶轴转圈。log step 204的最终生成脚本只有靠近、屈指、腕位补偿和保持，没有曲柄环绕运动或双手撤离段。" + }, + { + "t": 29.7, + "log_step": 211, + "text_zh": "观察：视频28.8–29.7 s逐帧检查均为同一终态：磨豆机直立留在台面，双手仍贴着目标，顶部Crank为-0.00/2.00圈、hand contacts为R 2 L 4、released hold为0/50。log step 211输出两次交付文件重放均success=False且终态哈希相同；评分器reward为success=0、stages_completed=0。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频16.0 s、26.0 s及29.5 s，左灵巧手多指弯曲环绕磨豆机下部机身，形成包握；视频25.5 s后，右灵巧手以屈曲指端接触黑色旋钮附近，未包握旋钮。双手同时作用，故标双臂协作×抓握，其中抓握描述左手的实际方式，不表示右手也已抓牢旋钮；顶部接触数L 4–5仅作辅助证据。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "net_clockwise_deg", + "unit": "deg", + "threshold": 720, + "direction": "higher_better", + "value": null + }, + { + "name": "tilt_deg", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "slide_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "lift_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "base_z_m", + "unit": "m", + "threshold": 0.695, + "direction": "higher_better", + "value": null + }, + { + "name": "abs_body_yaw_deg", + "unit": "deg", + "threshold": 45, + "direction": "lower_better", + "value": null + }, + { + "name": "linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "crank_speed_rad_s", + "unit": "rad/s", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "released_hold_steps", + "unit": "control", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "crank_turned", + "t": 26.0, + "log_step": 204, + "where": "操作中", + "evidence_zh": "观察：视频25.5–27.7 s，机器人已让双手分别接触旋钮附近和机身，随后停留在接触姿态，曲柄没有绕轴转动；视频29.7 s仍为约0.00圈和释放保持0/50。log step 204保存的控制序列止于腕位补偿后的保持，未加入转动及松手段，曲柄转满两圈这一步始终未完成。" + }, + "unmet": { + "crank_turned": false + }, + "phenomena": [], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "agent 自述 / 日志", + "evidence_zh": "推断：agent在log step 200自述，会话扫转测试会带动机身自转、左手在转矩下失去保持，因此改存稳定的双手接触序列。log step 175、195的脚本记录了扫转控制尝试，但没有可核实这些测试结果的状态读数或视频；log step 204的最终脚本和视频25.5–29.7 s则只显示接触与保持，没有扫转。依docs/03_trajectory.md Step 3.3及CASES.md FAIL-22，会话尝试可作为根因线索，暂推断agent未能形成可交付的双手旋转控制方案；这不证明评分轨迹发生过旋转执行失稳。具体失握或抗转矩不足机制仅有agent自述、待核实，不细分控制子类。" + } + ], + "gap_zh": "交付视频与log step 204的生成脚本均表明本次评分序列止于建立双手接触后的保持，没有执行主动扫转；因此无法观察实际转动时的滑握、卡阻或跟踪偏差，现象层留空，不把会话测试中的自述失握搬到评分轨迹。根因“控制”仅为结合会话脚本和agent在log step 200自述的低置信推断，缺少扫转测试的独立结果，无法区分接触设计与轨迹控制问题。没有逐帧状态日志，左手包握的接触力和抗转矩能力无法核实；reward未报告DAG所列原生连续指标，native_metrics的value均留null。" + }, + "summary_zh": "观察：本次评分轨迹中机器人先以左手包握机身，再让右手指端接触旋钮附近；曲柄一直约为0.00圈，末尾仍双手接触、释放保持0/50，最终完成0/1个节点，断点为曲柄转满两圈的操作中。推断：会话脚本和log step 200的agent自述仅支持暂归“控制”，即未能形成可交付的双手旋转控制方案；评分序列没有主动扫转，不能确认失握或执行失稳。缺少会话扫转测试的独立结果和逐帧状态日志，现象层留空，根因不细分，conf由7降至5。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值(false)、断点(crank_turned/操作中)、时钟(控制步与视频时间吻合：step800≈16 s、step1300≈26 s)均正确；问题在contact_actual可能把左手包握误标为压/擦，以及根因“控制”只靠会话测试自述。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点false、断点crank_turned/操作中、双臂协作×抓握、控制步与视频时钟、推断标注均与视频和log一致；第1轮问题已正确处理，现象层留空有gap_zh，根因标为低置信推断可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:47:32Z", + "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-grinder-crank-i00-privileged--omrc7ex/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-grinder-crank-i00-privileged--omrc7ex/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-grinder-crank-i00-privileged--omrc7ex/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-grinder-crank-i00-privileged--omrc7ex/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c3ba0b1e34155d5e3a5116158735b91f8391259229f98148cbcb3b68f9ecfb8f", + "video_sha256": "4e8f4328f079288a4e2320164fc3c3b9323ffe739b47dddf03dbcf34f7e6fbbe", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-privileged--vsamao6.json b/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-privileged--vsamao6.json new file mode 100644 index 0000000000000000000000000000000000000000..a2e34f6bc0fac2479166b611b4e2617077895226 --- /dev/null +++ b/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-privileged--vsamao6.json @@ -0,0 +1,216 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-grinder-crank-i00-privileged--vsamao6", + "taskKey": "dexhand/grinder_crank", + "dag_sha256": "70aeb6508b690fe8f013c97c5b13c4633c4dfa3bf5e280aa5f5507c412b2a337", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 50, + "sim_steps": 50, + "stages_completed": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 2.659, + "peak_processes": 9, + "peak_disk_gb": 0.264, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-grinder-crank-i00-privileged--vsamao6/replay.mp4", + "duration_s": 3.1, + "fps": 10.0, + "frames": 31, + "sha256": "644ec73a4502d7825e0838b283719ec97eff37b8d9e8c05a1367cb16b9e39511" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "crank_turned": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 253, + "text_zh": "观察：视频0.0–1.0 s逐帧可见机器人张开的手停在磨豆机旁，未伸手夹持机身或旋钮，黑色旋钮与曲柄没有绕顶轴转动；回放状态栏持续显示Crank +0.00/2.00、hand contacts R 0 L 0、released hold 0/50。log step 253的生成脚本明确以50个s.hold_action()组成交付轨迹。" + }, + { + "t": 3.0, + "log_step": 269, + "text_zh": "观察：视频1.1–3.0 s为相同终态画面，控制步计数固定在50，曲柄仍为+0.00/2.00圈、释放保持0/50，磨豆机保持直立；包含最后一秒的全部帧均未出现转动或操作。log step 269读取交付文件得到actions形状(50,58)，评分器报告n_actions=50、sim_steps=50、stages_completed=0、success=0，与视频一致。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "net_clockwise_deg", + "unit": "deg", + "threshold": 720, + "direction": "higher_better", + "value": null + }, + { + "name": "tilt_deg", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "slide_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "lift_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "base_z_m", + "unit": "m", + "threshold": 0.695, + "direction": "higher_better", + "value": null + }, + { + "name": "abs_body_yaw_deg", + "unit": "deg", + "threshold": 45, + "direction": "lower_better", + "value": null + }, + { + "name": "linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "crank_speed_rad_s", + "unit": "rad/s", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "released_hold_steps", + "unit": "control", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "crank_turned", + "t": 0.0, + "log_step": 253, + "where": "首步前", + "evidence_zh": "观察：log step 253保存的基线仅重复50次hold_action，log step 269确认最终文件仍只有50行动行；视频0.0–3.0 s未见机器人开始扶机身、抓旋钮或转曲柄，曲柄计数始终为+0.00/2.00，故断在唯一旋转步骤启动前。" + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 0.0, + "log_step": 253, + "evidence_zh": "观察：视频0.0–1.0 s机器人保持开手初始姿态，未向磨豆机发起操作；视频1.1–3.0 s终态仍无变化，hand contacts R 0 L 0、Crank +0.00/2.00。log step 253的交付脚本只保存50次保持初始目标的动作，本次评分轨迹没有开始旋转任务。" + } + ], + "root_causes": [], + "gap_zh": "观察：inputs中无状态日志；log step 151、230、243的转动测试及log step 265的抓持稳定性测试只返回后台任务启动信息，未给出对应的完成结果，不能据此判断具体控制缺陷。log step 253明确保存基线，log step 278仅总结文件结构和确定性验证，未解释为何最终采用不动作的基线；没有足够证据归因于规划、控制、误以为完成或交付操作错误，故根因留空。评分器未报告DAG原生连续指标的数值，native_metrics按要求均为null。", + "unmet": { + "crank_turned": false + } + }, + "summary_zh": "本次评分轨迹仅保持初始执行器目标，视频0.0–3.0 s曲柄均为+0.00/2.00圈，唯一节点“曲柄转满两圈”从未达到，最终0/1。断点为该步骤首步前，现象为没尝试；会话中的抓持与转动测试没有写入最终50步基线，不能计为本次进度。日志缺少这些后台测试的完成结果及选择基线的具体原因，根因留空。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频0.0–3.1 s全程曲柄+0.00/2.00、手接触R0 L0、释放0/50，节点未达到、断点首步前、现象没尝试与证据一致；根因留空并有gap_zh，合理。日志log step 253–269确认交付仅为50步hold_action。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:27:45Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-grinder-crank-i00-privileged--vsamao6/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-grinder-crank-i00-privileged--vsamao6/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "66c6a274f88bcaa32306fe84830b06213eb6bea8117e364755c7abee9b4eb23a", + "video_sha256": "644ec73a4502d7825e0838b283719ec97eff37b8d9e8c05a1367cb16b9e39511", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-standard--ph9diuc.json b/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-standard--ph9diuc.json new file mode 100644 index 0000000000000000000000000000000000000000..ff10c6786931ed3d6d85c93182a21a64b6a0018f --- /dev/null +++ b/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-standard--ph9diuc.json @@ -0,0 +1,237 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-grinder-crank-i00-standard--ph9diuc", + "taskKey": "dexhand/grinder_crank", + "dag_sha256": "70aeb6508b690fe8f013c97c5b13c4633c4dfa3bf5e280aa5f5507c412b2a337", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "calls": 12, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 1, + "n_actions": 891, + "no_verdict": 0, + "replay_success": 1, + "reset_budget": 20, + "resets": 0, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 891, + "success": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.393, + "peak_processes": 7, + "peak_disk_gb": 0.273, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-grinder-crank-i00-standard--ph9diuc/replay.mp4", + "duration_s": 20.2, + "fps": 5.0, + "frames": 101, + "sha256": "57b52fc3a2507258239a9f596a4dca74c185f08f0cd7d9122078a6181f2f5c41" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "crank_turned": { + "method": "visual", + "intervals": [ + [ + 18.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 磨豆机立于台面，曲柄尚未转动，顶部基准状态读数 Crank 约为 0.00/2.00、released hold 0/50，节点尚未满足。" + }, + { + "t": 3.6, + "log_step": 51, + "text_zh": "观察：视频 2.8–4.0 s 机器人左手手指逐渐环抱机身，拇指与其余手指形成相对夹持；右手弯曲的手指围住黑色旋钮。视频 4.4–14.8 s 左手持续固定机身，右手携旋钮沿顶轴周围运动，金属曲柄随之转动，形成双手协作抓握。" + }, + { + "t": 14.0, + "log_step": null, + "text_zh": "观察：视频 13.6 s 顶部 Crank 为 +1.98/2.00，视频 14.0 s 为 +2.05/2.00，曲柄已超过净顺时针两圈；此时双手仍接触磨豆机，released hold 仍为 0/50，因此完整节点尚未完成。" + }, + { + "t": 16.8, + "log_step": 65, + "text_zh": "观察：视频 15.6–16.0 s 机器人右手松开旋钮并抬离，左手随后张开撤离机身；视频 16.8 s 顶部 hand contacts 为 R 0 L 0、released hold 为 2/50，磨豆机底座仍在台面，保持窗尚未完成。" + }, + { + "t": 18.0, + "log_step": 67, + "text_zh": "观察：视频 17.0、17.4、17.8 s 顶部 released hold 分别为 9/50、29/50、49/50；视频 18.0 s 首次可见 PASS、Crank +2.21/2.00、hand contacts R 0 L 0、released hold 50/50，机身直立且底座落台，故以视频 18.0 s 为完成锚点（5 fps 采样误差约 0.2 s）。log step 67 中服务已返回 done=true、reason=success、control_steps=891；inputs/run.json 的 live_success、replay_success、live_matches_replay 均为 1，与画面一致。" + }, + { + "t": 20.0, + "log_step": null, + "text_zh": "观察：视频 18.2–20.0 s 为同一 PASS 终态，机器人双手保持离开、磨豆机直立于台面，顶部转角与保持计数不变；已逐帧检查视频最后一秒，节点终值为真。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 3.6–15.6 s 机器人左手以拇指和弯曲手指环握磨豆机身，右手弯曲手指从相对方向夹持黑色旋钮并带动金属曲柄；随后右手先松开抬离，左手再张开撤离机身。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "net_clockwise_deg", + "unit": "deg", + "threshold": 720, + "direction": "higher_better", + "value": null + }, + { + "name": "tilt_deg", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "slide_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "lift_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "base_z_m", + "unit": "m", + "threshold": 0.695, + "direction": "higher_better", + "value": null + }, + { + "name": "abs_body_yaw_deg", + "unit": "deg", + "threshold": 45, + "direction": "lower_better", + "value": null + }, + { + "name": "linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "crank_speed_rad_s", + "unit": "rad/s", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "released_hold_steps", + "unit": "control", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": null, + "summary_zh": "机器人左手环握机身、右手夹持旋钮带动曲柄净顺时针转过两圈，再依次释放双手；视频 18.0 s 出现 PASS、Crank +2.21/2.00、双手接触数均为零及保持 50/50，唯一节点完成并保持至片尾。log step 67 的服务成功终结与评分器实时、回放成功记录一致，log step 70 的模型过滤发生在成功终结之后，不改变本次成功结论。没有状态日志，精确速度及逐子步接触不能独立量测，联合验收由画面保持计数与成功判定确认；评分记录未逐项报告 DAG 原生指标，其值均填 null。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "唯一节点 crank_turned 在视频 18.0 s 首次出现 PASS、released hold 50/50，与 17.4 s 的 29/50 及 step 891 一致；成功运行无失败层，contact_actual 与画面相符。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:31:13Z", + "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-grinder-crank-i00-standard--ph9diuc/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-grinder-crank-i00-standard--ph9diuc/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2dee1d5c4c85fbecc3accb3c3cf2b265d493ec4b838652d110b04dc1c3f4ae98", + "video_sha256": "57b52fc3a2507258239a9f596a4dca74c185f08f0cd7d9122078a6181f2f5c41", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-standard--qvpoxyb.json b/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-standard--qvpoxyb.json new file mode 100644 index 0000000000000000000000000000000000000000..6ed8a8f1af4b9b9ab2db832308f41fc9142c2b7e --- /dev/null +++ b/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-standard--qvpoxyb.json @@ -0,0 +1,255 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-grinder-crank-i00-standard--qvpoxyb", + "taskKey": "dexhand/grinder_crank", + "dag_sha256": "70aeb6508b690fe8f013c97c5b13c4633c4dfa3bf5e280aa5f5507c412b2a337", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 160, + "control_steps_total": 3441, + "elapsed_s": 3629.726, + "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": 497, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 7, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 497, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.427, + "peak_processes": 11, + "peak_disk_gb": 0.854, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-grinder-crank-i00-standard--qvpoxyb/replay.mp4", + "duration_s": 12.2, + "fps": 5.0, + "frames": 61, + "sha256": "01811807f188b4a456f38907dda300e8188176eb9f7193156ae935c52468cc41" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "crank_turned": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 磨豆机直立于台面，曲柄初始计数约为0.00/2.00圈；机器人两手尚未与磨豆机接触。" + }, + { + "t": 9.4, + "log_step": 107, + "text_zh": "观察：视频 6.4–9.2 s 左手停在机身旁，顶部hand contacts（机器人双手与磨豆机的接触数）始终为R 0 L 0；右手随后以屈曲手指下降接近黑色旋钮，视频 9.4 s 接触数变为R 2 L 0，尚未转出明显曲柄角度。log step 107 的脚本先在空中闭合右手，再将右腕降向旋钮，与回放动作顺序相符。" + }, + { + "t": 10.0, + "log_step": null, + "text_zh": "观察：视频 9.6、9.8、10.0 s 机身随右手接触逐渐滑移、转动；视频 10.0 s 顶部显示FAIL: grinder_slid、step 497、Crank +0.06/2.00、R 2 L 0、released hold 0/50、slide 20.4 mm、body yaw 44.9 deg。视频 10.2–12.0 s 保持该失败终态，没有达到两圈或释放保持，故节点始终未达成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 9.4–10.0 s 右手屈曲指端向下压接黑色旋钮并带动曲柄及机身；画面未显示围合夹持。左手虽在机身旁呈弯指姿态，顶部接触计数仍为L 0，因此不记为已发生的双臂抓握。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "net_clockwise_deg", + "unit": "deg", + "threshold": 720, + "direction": "higher_better", + "value": null + }, + { + "name": "tilt_deg", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "slide_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "lift_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "base_z_m", + "unit": "m", + "threshold": 0.695, + "direction": "higher_better", + "value": null + }, + { + "name": "abs_body_yaw_deg", + "unit": "deg", + "threshold": 45, + "direction": "lower_better", + "value": null + }, + { + "name": "linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "crank_speed_rad_s", + "unit": "rad/s", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "released_hold_steps", + "unit": "control", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "crank_turned", + "t": 9.8, + "log_step": 107, + "where": "操作中", + "evidence_zh": "观察：视频 9.4–10.0 s 机器人右手在下降接触曲柄旋钮时带动磨豆机身滑移及偏航，左手接触数仍为0；视频 10.0 s 显示滑移20.4 mm并以grinder_slid终止，曲柄仅约0.06圈。log step 107 的动作是降下右手接近旋钮，尚无完整转圈轨迹；失败发生在该旋转步骤建立操作接触的过程中。" + }, + "unmet": { + "crank_turned": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "带动本体", + "t": 9.8, + "log_step": 107, + "evidence_zh": "观察：视频 9.4–10.0 s 右手压到曲柄旋钮后，磨豆机机身一起移动并绕竖轴转动；顶部机身偏航从视频 9.4 s 的0.4°升至视频 10.0 s 的44.9°，滑移从0.2 mm升至20.4 mm，曲柄相对机身仅转到约0.06圈。视频 10.0 s 因机身滑移判负，所需相对旋转未达成。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "已验证有", + "t": 9.4, + "log_step": 107, + "source_zh": "视频", + "evidence_zh": "推断：视频 6.4–10.0 s 左手虽靠近机身，却始终没有形成接触（顶部L 0）；右手下压旋钮时缺少扶持机身的反力接触，机身随之滑移和转动，说明本次两手接触布局未能稳住磨豆机。log step 104 仅将左手闭合后移到机身旁，log step 107 随即执行右手下降；画面未见左手有效包握。可行替代由oracle视频约 13.5–25.5 s 的左手包握机身、右手夹旋钮转动以及oracle视频 29.5 s 的PASS、2.09圈和50/50保持验证；该参考仅用于替代方案可行性，不计入本次进度。" + } + ], + "gap_zh": "本次没有逐帧状态日志，接触对及接触力未记录，无法确定右手具体哪两个指节接触旋钮，也不能进一步归因为某个力控参数或跟踪误差。节点及失败依据回放画面和顶部原生状态显示；run.json评分字段未报告DAG所列连续指标，native_metrics的value均留null。" + }, + "summary_zh": "本次评分回放中，机器人左手靠近机身但没有建立扶持接触，右手下降压接旋钮；曲柄仅约0.06圈，曲柄转满两圈节点未达成，最终0/1。视频约 9.8–10.0 s 右手带动机身转动、滑移，滑移20.4 mm触发终止，根因指向抓取和接触布局未能稳住机身。缺少逐帧接触对和力数据，不能继续细分到具体指节或控制参数。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点未达成、断点 crank_turned/操作中、接触/带动本体现象与抓取和接触设计根因均与视频和顶部状态栏一致（视频 10.0 s grinder_slid、滑移20.4 mm、偏航44.9°、曲柄0.06圈、R 2 L 0）；时钟均标明视频，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": "2026-10-30T05:47:15Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-grinder-crank-i00-standard--qvpoxyb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-grinder-crank-i00-standard--qvpoxyb/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1e279a025b55e82093f80bb03a91ff688bc0c5fdce2179f583641ded7829d546", + "video_sha256": "01811807f188b4a456f38907dda300e8188176eb9f7193156ae935c52468cc41", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-standard--sxsfstk.json b/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-standard--sxsfstk.json new file mode 100644 index 0000000000000000000000000000000000000000..c320abeba93d39d8c32341999f7cb5153be44d4c --- /dev/null +++ b/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-standard--sxsfstk.json @@ -0,0 +1,275 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-grinder-crank-i00-standard--sxsfstk", + "taskKey": "dexhand/grinder_crank", + "dag_sha256": "70aeb6508b690fe8f013c97c5b13c4633c4dfa3bf5e280aa5f5507c412b2a337", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 323, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 769, + "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": 769, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.372, + "peak_processes": 13, + "peak_disk_gb": 0.282, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-grinder-crank-i00-standard--sxsfstk/replay.mp4", + "duration_s": 17.6, + "fps": 5.0, + "frames": 88, + "sha256": "209c8d2351b6776b0b2be37aeb9e1e88eeb54f4fb660e77f4d9209e7b4fd5f0f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "crank_turned": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.0, + "log_step": 72, + "text_zh": "观察：视频 6.0–10.0 s 的逐帧画面中，机器人左手持续接触磨豆机身，顶部 hand contacts 均为 R 0 L 3；左手呈握拳贴靠姿态，未见对向包住机身的夹持。视频 6.0 s 机身偏航为 -11.9°，视频 10.0 s 为 -17.8°；视频约 11.0 s 起左手接触计数降为 L 0。" + }, + { + "t": 15.4, + "log_step": 72, + "text_zh": "观察：视频 14.8–15.4 s，机器人右手下弯的食指抵住黑色旋钮并沿圆弧拨动，机身随之绕竖轴转动；视频 15.4 s 顶部显示 FAIL: grinder_spun、body yaw -45.2 deg、Crank +0.00/2.00 turns、hand contacts R 1 L 0、released hold 0/50。相对机身的两圈目标及释放保持均未达成。" + }, + { + "t": 17.4, + "log_step": null, + "text_zh": "观察：已检查本次视频 0.0–17.4 s 的全部采样帧；视频 15.6–17.4 s 为同一失败终态，末秒内无恢复或释放。成功参考视频 29.0 s 则显示 PASS、Crank +2.09/2.00、R 0 L 0、released hold 50/50，该参考仅用于辨认验收显示。" + }, + { + "t": 15.4, + "log_step": 72, + "text_zh": "观察：log step 72 重置到 episode 21、resets_left=0，最终在 crank0 返回 task_failure、control_steps=769；run.json 的 reward 记录 n_actions=769、live_matches_replay=1、live_success=0、replay_success=0，与视频 15.4 s 的 step 769 终止相符。此前重置各局不计入本次进度。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 6.0–10.0 s 左手合拢的手指持续贴靠、推挤机身侧面，接触计数为 L 3，但未见对向包住机身；视频约 11.0 s 起降为 L 0。视频 14.8–15.4 s 右手以单根下弯食指抵住黑色旋钮并拨动，其他手指展开，未夹住旋钮。右手拨动时显示 R 1 L 0，左手停在机身旁，故实际接触按先左手、后右手记录，未将预定的双手抓握方案当作已发生。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "net_clockwise_deg", + "unit": "deg", + "threshold": 720, + "direction": "higher_better", + "value": null + }, + { + "name": "tilt_deg", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "slide_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "lift_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "base_z_m", + "unit": "m", + "threshold": 0.695, + "direction": "higher_better", + "value": null + }, + { + "name": "abs_body_yaw_deg", + "unit": "deg", + "threshold": 45, + "direction": "lower_better", + "value": null + }, + { + "name": "linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "crank_speed_rad_s", + "unit": "rad/s", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "released_hold_steps", + "unit": "control", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "crank_turned", + "t": 15.0, + "log_step": 72, + "where": "操作中", + "evidence_zh": "观察：视频 14.8–15.4 s 机器人正在用右食指拨动旋钮，左手与磨豆机的接触计数为0；机身偏航由视频 14.6 s 的 -14.6°变至视频 15.0 s 的 -24.9°，视频 15.4 s 达 -45.2°并显示 FAIL: grinder_spun。曲柄相对机身仍显示约0.00圈，旋转步骤未完成；log step 72 的最终一局同时在 control_steps=769 返回 task_failure。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "带动本体", + "t": 15.0, + "log_step": 72, + "evidence_zh": "观察：视频 14.8–15.4 s，右食指推动旋钮时，金属曲柄与磨豆机机身一起转向，机身偏航读数降至 -45.2°，相对曲柄转角仍约0.00圈，随即显示 grinder_spun 失败；并非已经完成两圈后的释放验收失败。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 15.0, + "log_step": 72, + "source_zh": "视频 / 日志", + "evidence_zh": "推断：机器人未实现转柄所需的机身反向支承。视频 6.0–10.0 s 左手虽持续贴靠机身且接触计数为 L 3，但未见对向包住；视频约 11.0 s 起计数降为 L 0，视频 14.6–15.4 s 该手仍在机身旁闭合且接触计数为0；右手施力后机身随转，故可归于接触操作的控制失败。log step 69 的脚本安排左手合拢后保持关节目标，log step 72 的预姿态校准还记录左腕第6关节目标与实测差 -0.6784 rad；该记录支持存在跟踪困难，但不能证明校准后转柄时的精确误差，不据此细分根因。" + } + ], + "gap_zh": "未提供逐帧状态日志、接触对或接触力，也没有转柄时左腕的连续目标/实测轨迹，因此不能区分握位设计与关节跟踪失配各自的作用，控制根因保留大类。log step 74 中 agent 自述左腕可能挡住曲柄，现有视角未证实阻挡接触，故不标被挡/碰撞；run.json 的 reward 未报告 DAG 所列原生连续指标，native_metrics 的值均留 null，视频显示的四舍五入读数仅作视觉证据。", + "unmet": { + "crank_turned": false + } + }, + "summary_zh": "本次评分局中，机器人左手在视频 6.0–10.0 s 持续贴靠磨豆机（L 3），但未见对向包住机身，视频约 11.0 s 起接触计数降为 L 0；随后右食指拨动旋钮时，左手未维持有效支承；曲柄相对机身约为0.00圈，唯一节点“曲柄转满两圈”始终未达成，终态为0/1。视频 15.4 s 显示机身偏航 -45.2°并因 grinder_spun 失败，现象为带动本体，证据支持控制失败。缺少连续接触和关节跟踪记录，不能进一步确定控制子类，也不能证实 agent 提出的曲柄被左腕阻挡猜测。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "WHERE 标签（唯一节点未达成、final 0、断点 crank_turned/操作中）与视频、grader 终态一致；带动本体与控制根因有视频支持。仅一处观察描述不准：左手与机身的接触并非“短暂”，视频 6.0 s 与 10 s 顶部均为 R 0 L 3，至视频 11 s 才为 L 0。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 8, + "summary_zh": "唯一节点 crank_turned 未达成、final 0、断点操作中、带动本体现象与控制根因均有视频与 grader 终态支持；时钟用控制步（视频 15.4 s = step 769，1x）一致。第一轮修订已落实。", + "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": "2026-10-30T05:46:29Z", + "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-grinder-crank-i00-standard--sxsfstk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-grinder-crank-i00-standard--sxsfstk/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-grinder-crank-i00-standard--sxsfstk/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-grinder-crank-i00-standard--sxsfstk/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e69defd736019a0c8eb2d3492ad61e1d12fa84bbb7a2faf56c246a429718b6cd", + "video_sha256": "209c8d2351b6776b0b2be37aeb9e1e88eeb54f4fb660e77f4d9209e7b4fd5f0f", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-standard--v5ndwnk.json b/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-standard--v5ndwnk.json new file mode 100644 index 0000000000000000000000000000000000000000..5847b4a9379e949714ea73f7dd98f2b2467ad5df --- /dev/null +++ b/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-standard--v5ndwnk.json @@ -0,0 +1,247 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-grinder-crank-i00-standard--v5ndwnk", + "taskKey": "dexhand/grinder_crank", + "dag_sha256": "70aeb6508b690fe8f013c97c5b13c4633c4dfa3bf5e280aa5f5507c412b2a337", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 31, + "control_steps_total": 1251, + "elapsed_s": 3632.246, + "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": 0, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 10, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 0, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.399, + "peak_processes": 11, + "peak_disk_gb": 0.255, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-grinder-crank-i00-standard--v5ndwnk/replay.mp4", + "duration_s": 2.2, + "fps": 5.0, + "frames": 11, + "sha256": "e1949f6e57a2d6d7cfb7379d25a6de784e19bc224918841f1f35ff3cd6cf0da6" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "crank_turned": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 为初态；磨豆机直立在台上，黑色旋钮及曲柄未转动，画面原生状态栏显示 Crank -0.00/2.00、hand contacts R 0 L 0、released hold 0/50、step 0。" + }, + { + "t": 2.0, + "log_step": null, + "text_zh": "观察：逐帧检查视频 0.0–2.0 s 的全部11帧，机器人和磨豆机均保持初态；视频 0.2 s 起标为 final state，末帧仍为 step 0、Crank -0.00/2.00、released hold 0/50，未发生扶持或转柄动作，节点始终不成立。" + }, + { + "t": null, + "log_step": 65, + "text_zh": "观察：log step 63 的脚本先重置，再在内存中构造动作，只有逆解误差通过检查才提交；log step 64、65 均输出 IK unreachable, abort before submit。log step 67 只观察并计算正运动学，log step 68 只搜索候选逆解，没有提交动作；评分器字段 n_actions=0、sim_steps=0。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "net_clockwise_deg", + "unit": "deg", + "threshold": 720, + "direction": "higher_better", + "value": null + }, + { + "name": "tilt_deg", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "slide_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "lift_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "base_z_m", + "unit": "m", + "threshold": 0.695, + "direction": "higher_better", + "value": null + }, + { + "name": "abs_body_yaw_deg", + "unit": "deg", + "threshold": 45, + "direction": "lower_better", + "value": null + }, + { + "name": "linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "crank_speed_rad_s", + "unit": "rad/s", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "released_hold_steps", + "unit": "control", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "crank_turned", + "t": 0.0, + "log_step": 65, + "where": "首步前", + "evidence_zh": "观察：视频 0.0–2.0 s 全部帧中，机器人没有开始扶持磨豆机或转动曲柄，原生状态栏始终是 step 0、Crank -0.00/2.00；log step 65 在最后一次重置后、提交动作前退出，随后 log step 67–68 仅观察和计算。推断：评分的是最后一次重置后未启动动作的片段，断点为曲柄转满两圈的首步前；较早会话试验的抓握与失败不属于该片段。" + }, + "unmet": { + "crank_turned": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 0.0, + "log_step": 65, + "evidence_zh": "观察：视频 0.0–2.0 s 中磨豆机和机器人均未运动，控制步保持0、双手与磨豆机接触数均为0，曲柄保持 -0.00/2.00 圈；log step 65 的脚本在 submit 之前退出，评分器 n_actions=0。该评分片段内没有启动该步骤。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": null, + "log_step": 65, + "source_zh": "日志", + "evidence_zh": "观察：log step 63 的控制脚本在 reset 后构造动作，并在逆解误差 e>0.01 时直接退出，不调用 submit；log step 64、65 分别输出误差0.0641、0.8188及 abort before submit。log step 68 继续搜索手腕与指尖目标的逆解，虽然报告若干低误差候选，却没有把候选组成并提交实际运动；视频 0.0–2.0 s 确认评分片段停留初态。推断：控制动作构造未形成实际执行，导致最后一次重置后的任务未启动；证据不足以进一步区分接触几何设计与逆解、轨迹实现问题。" + } + ], + "gap_zh": "未提供状态日志，评分器reward也未报告DAG所列连续指标，故native_metrics各value为null；画面状态栏仍足以判断本次曲柄未转且控制步为0。会话在log step 68结束，没有最终完成报告或后续动作提交；其低误差候选未经过接触执行验证，无法判定控制问题的具体子类。较早重置前的试验只作为会话背景，不作为本次进度或接触现象。" + }, + "summary_zh": "评分片段全程停在初态，曲柄转满两圈节点未达到，最终0/1；视频 0.0–2.0 s 的全部帧均显示控制步0、曲柄 -0.00/2.00 圈和释放保持0/50。最后一次重置后，控制脚本因逆解误差在提交前退出（log step 65），随后只搜索候选解，故断点为曲柄转满两圈的首步前，现象为没尝试，根因保守归为控制。无状态日志且候选接触动作未验证，不能进一步区分控制子类；成功参考视频 29.0 s 显示的 +2.09/2.00 圈及50/50保持仅用于对照验收外观。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "评分片段（最后一次重置后，n_actions=0、控制步0）全程停在初态，视频首末帧均为 step 0、Crank -0.00/2.00、R0 L0、hold 0/50；crank_turned 未达、断点首步前/没尝试、根因保守归控制（会话内逆解不可达与多次 task_failure 作证据，无子类过度归因），与 FAIL-22 的处理一致，未发现需要改的错误。", + "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": "2026-10-30T05:46:47Z", + "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-grinder-crank-i00-standard--v5ndwnk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-grinder-crank-i00-standard--v5ndwnk/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "9a852855750b01de02b94f279f16fc710f6eeb9fb085b04950f5929120865982", + "video_sha256": "e1949f6e57a2d6d7cfb7379d25a6de784e19bc224918841f1f35ff3cd6cf0da6", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-standard--whkmmwg.json b/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-standard--whkmmwg.json new file mode 100644 index 0000000000000000000000000000000000000000..a32af4580de701248076b53f25d811503059259e --- /dev/null +++ b/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-standard--whkmmwg.json @@ -0,0 +1,248 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-grinder-crank-i00-standard--whkmmwg", + "taskKey": "dexhand/grinder_crank", + "dag_sha256": "70aeb6508b690fe8f013c97c5b13c4633c4dfa3bf5e280aa5f5507c412b2a337", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 98, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 57, + "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": 57, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.425, + "peak_processes": 12, + "peak_disk_gb": 0.987, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-grinder-crank-i00-standard--whkmmwg/replay.mp4", + "duration_s": 3.4, + "fps": 5.0, + "frames": 17, + "sha256": "1f13022555e105ffbd3f26f2a946b537efd6638b06fe67699f93e06e313d2e77" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "crank_turned": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.8, + "log_step": null, + "text_zh": "观察：视频 0.0–0.8 s，机器人左手张开下探至磨豆机身两侧；曲柄旋钮没有绕顶轴完成整圈，顶部显示 Crank +0.00/2.00、released hold 0/50。" + }, + { + "t": 1.2, + "log_step": 130, + "text_zh": "观察：视频 1.0 s 显示机身倾角5.5°，视频 1.2 s 显示 FAIL: grinder_tipped、倾角10.1°、曲柄约0.00/2.00及released hold 0/50；视频 1.4–3.2 s 保持同一失败终态。log step 130记录最后一次reset到episode 18后，approach left即返回True task_failure，随后合拢指令收到EpisodeOver；与视频中仅左手接近、未开始右手转柄一致。" + }, + { + "t": 3.2, + "log_step": 132, + "text_zh": "观察：log step 132仅恢复脚本中的抓取高度、手指比例及腕部偏移参数，log step 133随后提交文字报告，没有再次运行。推断：评分对象仍是log step 130的失败episode 18，不能把恢复后的脚本或更早试验当作本次节点进展。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "推断：视频 0.8–1.2 s，机器人左手张开接近机身上部时将机身碰斜并轻微推移；未见手指与拇指形成稳定对向夹持，右手未参与。按实际碰推记，不能照搬任务的双臂抓握方案。背面接触点被机身遮挡，采样帧的瞬时hand contacts均为R 0 L 0，不能据此否认帧间碰触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "net_clockwise_deg", + "unit": "deg", + "threshold": 720, + "direction": "higher_better", + "value": null + }, + { + "name": "tilt_deg", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "slide_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "lift_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "base_z_m", + "unit": "m", + "threshold": 0.695, + "direction": "higher_better", + "value": null + }, + { + "name": "abs_body_yaw_deg", + "unit": "deg", + "threshold": 45, + "direction": "lower_better", + "value": null + }, + { + "name": "linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "crank_speed_rad_s", + "unit": "rad/s", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "released_hold_steps", + "unit": "control", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "crank_turned", + "t": 1.2, + "log_step": 130, + "where": "操作中", + "evidence_zh": "观察：视频 0.8–1.2 s，机器人左手执行扶持机身的接近动作，机身随之倾斜；视频 1.2 s显示FAIL: grinder_tipped、倾角10.1°，曲柄仍约0圈，之后没有恢复或继续动作。log step 130的episode 18在approach left阶段已被服务判为task_failure，正式合拢请求因episode已结束而报错。推断：失败发生在曲柄旋转步骤的扶持准备动作中。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 1.2, + "log_step": 130, + "evidence_zh": "观察：视频 0.8 s机身仍直立，左手已下降到机身上部旁；视频 1.0–1.2 s左手继续接近时机身被碰斜，顶部倾角从0°升至5.5°再至10.1°，水平滑移从0增至5.3毫米，最终显示grinder_tipped。推断：接近中的左手碰动了目标本体，尚未建立稳定抓握即触发倾倒终止；不是已握住物体后滑脱。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 1.2, + "log_step": 130, + "source_zh": "日志", + "evidence_zh": "推断：机器人左手的接近与接触控制未能安全建立扶持，尚在接近阶段就扰动机身到倾倒阈值。依据为log step 130的approach left True task_failure及视频 0.8–1.2 s张开手下探、机身被碰斜的对应过程。观察：较早会话试验log step 99记录左腕实测位置[0.3803,0.1235,0.7754]米，脚本目标约[0.3959,0.122,0.800]米，显示存在厘米级执行偏差；该试验仅支持控制问题的背景，不能直接证明最终episode 18也是同样的下垂原因。" + } + ], + "gap_zh": "没有逐帧状态日志或接触力记录；视频仅5帧/秒，机身背面遮挡具体接触点，采样帧hand contacts为R 0 L 0，无法确定帧间是哪一手部连杆首先碰触、是否短暂出现对向接触。最终episode 18缺少腕部目标与实测位姿的同步数据，不能在接触几何、轨迹跟踪及反馈子类之间可靠细分；agent在log step 133关于重力下垂的解释未在本次回放中独立验证。run.json的reward未报告DAG所列十项原生数值，native_metrics均留null；视频叠字中的部分读数仅用作视觉证据。", + "unmet": { + "crank_turned": false + } + }, + "summary_zh": "评分回放对应最后实际执行的episode 18：机器人左手接近磨豆机以准备扶持，曲柄始终约0圈，曲柄转满两圈节点未达到（0/1）。视频约1.2 s，左手接近时碰斜机身至10.1°并触发grinder_tipped，断于该旋转步骤的操作中，支持控制问题；log step 132恢复脚本参数后没有重跑。无状态及接触力日志，具体碰触连杆与控制子类无法确定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标注与视频一致：视频 0.8 s 机身直立，1.0 s 倾角5.5°，1.2 s 倾角10.1°并显示 FAIL: grinder_tipped，曲柄全程约0.00/2.00，节点未达成；log step 130 的 approach left 返回 task_failure 与之吻合；断点、接触（推/扫）、被挡/碰撞与控制根因均有证据支持，且已标明为推断。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:31:01Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-grinder-crank-i00-standard--whkmmwg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-grinder-crank-i00-standard--whkmmwg/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "34fd90203f196b417ecd1976226d1fae82260fb62b91d8831c56138160111092", + "video_sha256": "1f13022555e105ffbd3f26f2a946b537efd6638b06fe67699f93e06e313d2e77", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-standard--xnckdfj.json b/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-standard--xnckdfj.json new file mode 100644 index 0000000000000000000000000000000000000000..0a4f25d886446a01293b0c79653c130a3b9ffc2a --- /dev/null +++ b/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-standard--xnckdfj.json @@ -0,0 +1,274 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-grinder-crank-i00-standard--xnckdfj", + "taskKey": "dexhand/grinder_crank", + "dag_sha256": "70aeb6508b690fe8f013c97c5b13c4633c4dfa3bf5e280aa5f5507c412b2a337", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 54, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 578, + "no_verdict": 0, + "replay_success": 0, + "reset_budget": 20, + "resets": 7, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 578, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.367, + "peak_processes": 11, + "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-grinder-crank-i00-standard--xnckdfj/replay.mp4", + "duration_s": 13.8, + "fps": 5.0, + "frames": 69, + "sha256": "73e7bb1c4a4fc5ebc13682c4db7429c9c8d15d2e61f7c04e365b4dfb393d5a37" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "crank_turned": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 磨豆机直立落台，曲柄未转；回放顶部原生状态叠字显示 Crank -0.00/2.00、hand contacts R 0 L 0、released hold 0/50，联合目标尚未成立。" + }, + { + "t": 8.0, + "log_step": null, + "text_zh": "观察：视频 6.0–7.8 s 机器人右手在黑色旋钮周围合指；视频 8.0–11.6 s 右手带动旋钮移动，机身同时转动并滑移。顶部 hand contacts 是两手对磨豆机各部件的原生接触计数，此段 R 出现非零而 L 始终为 0；左手指部与机身的关系受到遮挡，无法直接确认其合指位置与闭合过程。推断：据 log step 88、93 对 WL_grasp 和 L_close 的修改，脚本尝试通过左手定位、合指扶持机身，但脚本参数不能证明实际动作已执行到位。" + }, + { + "t": 11.6, + "log_step": 95, + "text_zh": "观察：视频 11.4 s 曲柄为 +0.03/2.00 圈、机身偏航 -42.0°；视频 11.6 s 显示 FAIL: grinder_spun，机身偏航 -45.1°、滑移 16.2 mm、倾角 0.2°、Crank +0.03/2.00、R 1 L 0、released hold 0/50。视频 12.8–13.6 s 逐帧检查仍为同一失败终态；log step 95 的服务状态也记录最后 episode 8 在 control_steps=578 时 task_failure，reward 的 n_actions=578 且 live_matches_replay=1。" + }, + { + "t": 13.6, + "log_step": null, + "text_zh": "推断：本次视频从未出现两圈净转角或释放保持窗，故该节点全程未达成、终值为假；成功参考视频 28.8 s 则明确显示 PASS、Crank +2.09/2.00、R 0 L 0、released hold 50/50，仅用于对照验收外观。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 8.0–11.6 s 机器人右手拇指与弯曲手指围住黑色曲柄旋钮并带动它运动，原生 R 接触计数出现非零；该段 L 计数始终为 0，未形成实际扶持接触，故不记双手抓握。左手指部与机身的关系受到遮挡，其合指位置与闭合过程不可直接确认。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "net_clockwise_deg", + "unit": "deg", + "threshold": 720, + "direction": "higher_better", + "value": null + }, + { + "name": "tilt_deg", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "slide_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "lift_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "base_z_m", + "unit": "m", + "threshold": 0.695, + "direction": "higher_better", + "value": null + }, + { + "name": "abs_body_yaw_deg", + "unit": "deg", + "threshold": 45, + "direction": "lower_better", + "value": null + }, + { + "name": "linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "crank_speed_rad_s", + "unit": "rad/s", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "released_hold_steps", + "unit": "control", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "crank_turned", + "t": 11.6, + "log_step": 95, + "where": "操作中", + "evidence_zh": "观察：视频 8.0–11.6 s 机器人正在用右手转曲柄，左手没有接触磨豆机；机身偏航随之增大，视频 11.6 s 原生叠字显示 FAIL: grinder_spun、body yaw -45.1°，曲柄仅 +0.03/2.00 圈，尚未进入松手验收。log step 95 服务返回最后回合 control_steps=578、done=True、reason=task_failure，与视频终态一致。" + }, + "unmet": { + "crank_turned": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "带动本体", + "t": 11.6, + "log_step": null, + "evidence_zh": "观察：视频 8.0–11.6 s 机器人右手移动曲柄旋钮时，原本应固定的磨豆机身一起转动并偏移；原生 body yaw 从视频 8.0 s 的约 -2.8°变为视频 11.4 s 的 -42.0°，视频 11.6 s 达 -45.1°并触发 grinder_spun，而曲柄相对机身只累计约 +0.03 圈。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "已验证有", + "source_zh": "视频 / 日志", + "evidence_zh": "推断：视频 6.0–11.6 s 原生 L 接触计数持续为 0，右手接触旋钮后机身随转，说明本次未建立抵抗转矩的左手夹持；左手指部动作受到遮挡，不能把其具体合指位置与闭合过程当作视频观察。log step 88、93 的脚本修改分别外移左手目标、增加指关节闭合量，表明脚本尝试调整左手扶持布局；log step 97 的 agent 自述也将扶持几何不足列为未解决问题，其具体力矩解释不作实测事实。成功参考视频约 8–24 s 显示左手手指与拇指围住机身、另一手转曲柄，参考视频 28.8 s 原生 PASS，验证同任务存在可行替代接触布局，不作为本次已完成的证据。" + } + ], + "gap_zh": "左手指部与机身的关系受到遮挡，实际合指位置与闭合过程无法直接确认；未提供逐帧状态日志或接触力，无法核定左手各指与机身的精确间隙、负载和摩擦力；本次接触与偏航依据已查看的视频和原生叠字判断。run.json 的 reward 未报告 DAG 所列十项原生指标数值，故 native_metrics 的 value 均为 null；视频叠字的近似读数仅列入证据。log step 97 的 agent 自述“约40–160°”是会话概述，本次采用视频终态约0.03圈，不将其他重置回合的进展计入。" + }, + "summary_zh": "本次机器人右手接触并转动旋钮，但左手未建立机身扶持，曲柄相对机身仅转约0.03圈，“曲柄转满两圈”未达成，最终0/1。视频 11.6 s 机身被带转至偏航−45.1°，原生判定 grinder_spun 并结束；根因是扶持手的抓取和接触设计未形成有效夹持。无逐帧状态日志，接触力与精确间隙无法核实，原生指标表因 reward 未报告数值而留空值。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "节点未达成、断点 crank_turned/操作中、接触「带动本体」与时间均与视频和原生叠字一致；唯一问题是把画外的左手动作写成了视频观察。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 8, + "summary_zh": "节点未达成、断点 crank_turned/操作中、接触「带动本体」、根因（抓取和接触设计）与视频叠字（Crank +0.03、R1 L0、yaw -45.1°、FAIL grinder_spun）一致；上轮左手遮挡问题已修正。", + "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": "2026-10-30T05:47:43Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-grinder-crank-i00-standard--xnckdfj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-grinder-crank-i00-standard--xnckdfj/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-grinder-crank-i00-standard--xnckdfj/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-grinder-crank-i00-standard--xnckdfj/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "374e2897a3d3a0467f34ce7b235efa18b7ea035169ad222f190ffaa96d58c17d", + "video_sha256": "73e7bb1c4a4fc5ebc13682c4db7429c9c8d15d2e61f7c04e365b4dfb393d5a37", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-standard--yzughgp.json b/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-standard--yzughgp.json new file mode 100644 index 0000000000000000000000000000000000000000..7175ea75f50697820ad7b53cf27adccbc15b65df --- /dev/null +++ b/phase2/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-standard--yzughgp.json @@ -0,0 +1,237 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-grinder-crank-i00-standard--yzughgp", + "taskKey": "dexhand/grinder_crank", + "dag_sha256": "70aeb6508b690fe8f013c97c5b13c4633c4dfa3bf5e280aa5f5507c412b2a337", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "calls": 117, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 1, + "n_actions": 2766, + "no_verdict": 0, + "replay_success": 1, + "reset_budget": 20, + "resets": 5, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 2766, + "success": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.438, + "peak_processes": 10, + "peak_disk_gb": 0.842, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-grinder-crank-i00-standard--yzughgp/replay.mp4", + "duration_s": 57.6, + "fps": 5.0, + "frames": 288, + "sha256": "7f491fb30c7d63f515a4510b7f288fb8084739fa5f0b686be0ec6d150d5fa645" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "crank_turned": { + "method": "visual", + "intervals": [ + [ + 55.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 磨豆机直立落台，曲柄为 -0.00/2.00 圈，双手尚未接触，released hold 为 0/50；节点尚未满足。" + }, + { + "t": 30.4, + "log_step": null, + "text_zh": "观察：视频 30.4 s 左手拇指与弯曲的其余手指从相对两侧包握机身，右手拇指与手指围住黑色曲柄旋钮；视频 32–50 s 右手带动旋钮绕顶轴转动，左手持续握住机身。" + }, + { + "t": 50.0, + "log_step": null, + "text_zh": "观察：视频 50.0 s 画面顶部的原生评分状态叠字显示 Crank +2.14/2.00 turns clockwise、hand contacts R 2 L 18、released hold 0/50；虽已转够两圈，机器人仍握住磨豆机，尚未完成联合验收。" + }, + { + "t": 55.2, + "log_step": null, + "text_zh": "观察：视频 50–54 s 机器人先松开并抬起右手，再展开左手手指；视频 55.2 s 双手已张开，机身直立落台，原生状态叠字为 Crank +2.14/2.00、hand contacts R 0 L 0、released hold 44/50，仍显示 IN PROGRESS。" + }, + { + "t": 55.4, + "log_step": 92, + "text_zh": "观察：视频 55.4 s 首次显示 PASS，原生状态叠字为 Crank +2.14/2.00、hand contacts R 0 L 0、released hold 50/50、step 2766；机身直立落台。log step 92 的服务返回 done=True、reason=success、control_steps=2766，与画面一致。节点达成时间取实际查看的该帧。" + }, + { + "t": 57.4, + "log_step": null, + "text_zh": "观察：视频 55.6–57.4 s 为 PASS 终态停帧，最后一帧仍显示 +2.14/2.00 圈、R 0 L 0、released hold 50/50，机身没有倒下或离开台面。inputs/run.json 的评分字段 success、live_success、replay_success、live_matches_replay 和 deterministic 均为 1。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 18–50 s 左手以拇指和其余手指对向包握磨豆机身；视频 30.4–50 s 右手以拇指及弯曲手指夹住黑色旋钮，带动金属曲柄绕顶轴转动，左手同时固定机身。视频 50–54 s 两手依次张开释放。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "net_clockwise_deg", + "unit": "deg", + "threshold": 720, + "direction": "higher_better", + "value": null + }, + { + "name": "tilt_deg", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "slide_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "lift_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "base_z_m", + "unit": "m", + "threshold": 0.695, + "direction": "higher_better", + "value": null + }, + { + "name": "abs_body_yaw_deg", + "unit": "deg", + "threshold": 45, + "direction": "lower_better", + "value": null + }, + { + "name": "linear_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "crank_speed_rad_s", + "unit": "rad/s", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "released_hold_steps", + "unit": "control", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": null, + "summary_zh": "观察：本次评分视频中，机器人左手包握机身，右手抓住旋钮带动曲柄转动；视频 50.0 s 已显示 +2.14/2.00 圈，随后两手依次释放，视频 55.4 s 达到 released hold 50/50 并显示 PASS，唯一节点完成，末帧视频 57.4 s 保留成功终态。观察：log step 92 的服务成功返回及评分字段 live_matches_replay=1 与视频一致，会话内此前重置的试验不计入该轨迹。观察：本任务没有逐帧状态日志，速度等严格联合条件由原生保持计数与成功判定确认；inputs/run.json 的评分字段未报告 DAG 所列原生指标数值，因此 native_metrics 的 value 均为 null，画面中取整的转角等读数仅作视觉证据。", + "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，唯一节点 crank_turned 在视频 55.4 s 首次 PASS（released hold 50/50，step 2766），与 log step 92 的 done=True/control_steps=2766 一致；contact_actual 双臂协作+抓握符合画面；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": "2026-10-30T05:32:19Z", + "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-grinder-crank-i00-standard--yzughgp/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-grinder-crank-i00-standard--yzughgp/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "4646b345462e1b386f209b451adf25131a4485a9c5cd5980a3b5ea5328394f6e", + "video_sha256": "7f491fb30c7d63f515a4510b7f288fb8084739fa5f0b686be0ec6d150d5fa645", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-privileged--4xx6ioa.json b/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-privileged--4xx6ioa.json new file mode 100644 index 0000000000000000000000000000000000000000..44d20b111a8d4a3dbec204b7cfe8893a6bf533ad --- /dev/null +++ b/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-privileged--4xx6ioa.json @@ -0,0 +1,272 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-picture-hang-i00-privileged--4xx6ioa", + "taskKey": "dexhand/picture_hang", + "dag_sha256": "aa6a1b7c76b911e4015893803bb156ab69766ab91b47214535622219f48b7b8b", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 623, + "sim_steps": 623, + "stages_completed": 3, + "success": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 2.44, + "peak_processes": 8, + "peak_disk_gb": 0.244, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-picture-hang-i00-privileged--4xx6ioa/replay.mp4", + "duration_s": 9.32, + "fps": 25.0, + "frames": 233, + "sha256": "a86eb9e9e12c7a6c7879f4dcf35ed80a1a59d3cc498e601f9730c21f41055bb0" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "picture_lifted": { + "method": "visual", + "intervals": [ + [ + 1.64, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.6, + "log_step": null, + "text_zh": "观察：视频 1.60 s 顶部仍显示 stage 0/3；视频 1.64 s 变为 stage 1/3。机器人双手分别抵住相框两侧，随后相框底边持续升高，与棕色台面出现明显间隙；视频 2.00–3.00 s 可见相框已离开原先台面位置。" + }, + { + "t": 3.0, + "log_step": null, + "text_zh": "观察：视频 3.00 s 的手部放大画面显示，近侧手的四指伸直朝下，未包围边框，双手由两侧向内夹压并随框上移；顶部 hand contacts 为2，表示手与相框接触计数。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "其他", + "note_zh": "候选接触名：双手对向夹压。视频 1.00–3.00 s，机器人左、右手分别从相框两侧向内夹压边框，共同抬起相框；可见手指伸直而未包围边框，故抓握不适用，也不是从下方托起，按其他记录。" + } + ] + }, + "left_ring_on_hook": { + "method": "visual", + "intervals": [ + [ + 6.88, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.84, + "log_step": null, + "text_zh": "观察：视频 6.84 s 顶部 threaded L=1、R=1，表示左右环已穿过对应墙钩，但 hook load L=0.00、R=0.00 W（W为相框重量的倍数）；机器人仍以双手夹压相框并向下调整，尚不能仅凭穿挂标志计入承重。" + }, + { + "t": 6.88, + "log_step": null, + "text_zh": "观察：视频 6.88 s 顶部 threaded L=1、R=1，hook load L=1.00、R=0.00 W，左钩承重首次明确超过0.20倍相框重量；相框保持离台，左环本体被边框遮挡，本节点依画面中的穿挂及承重读数判定，起点为约数。" + }, + { + "t": 8.32, + "log_step": null, + "text_zh": "观察：视频 7.68–8.32 s 左环穿挂标志保持1，左钩承重约0.54–0.56倍相框重量，hand contacts=0；视频 8.32 s 显示 PASS、stage 3/3、hold 50/50，相框悬挂不动，直到视频 9.28 s 末帧均保留这一成功终态。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "其他", + "note_zh": "候选接触名：双手对向夹压。视频 3.00–7.64 s，机器人左手与右手同时由相框左右侧夹压边框，把整个相框移向墙钩并下放，让左侧被动挂环落到左钩承重座；手指未包围边框，不属于抓握。视频 7.68 s 双手均已脱离相框，左钩继续承重；手未直接抓环。" + } + ] + }, + "right_ring_on_hook": { + "method": "visual", + "intervals": [ + [ + 6.92, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.88, + "log_step": null, + "text_zh": "观察：视频 6.88 s 右环 threaded R=1，但 hook load R=0.00 W，右环虽已对钩穿挂，尚无达到阈值的承重读数。" + }, + { + "t": 6.92, + "log_step": null, + "text_zh": "观察：视频 6.92 s 顶部 threaded L=1、R=1，hook load L=1.02、R=1.48 W，stage 变为2/3；右钩承重超过0.20倍相框重量。机器人双手仍接触并夹压相框，画面中相框已下放至钩处且始终离台；起点为约数。" + }, + { + "t": 8.32, + "log_step": null, + "text_zh": "观察：视频 7.68 s 双手接触计数为0，右钩承重0.51倍相框重量；视频 8.32 s 右环穿挂标志仍为1、右钩承重0.50倍相框重量，hold 达50/50且显示 PASS，之后至视频 9.28 s 保持相同终态。" + }, + { + "t": null, + "log_step": 23, + "text_zh": "观察：log step 20 的生成脚本输出最终 success、控制步623并保存623行动的轨迹；log step 21 重新生成后文件一致，log step 23 对已保存轨迹的两次独立回放均成功且最终状态哈希相同，与视频成功终态及 reward.success=1、stages_completed=3一致。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "其他", + "note_zh": "候选接触名：双手对向夹压。视频 3.00–7.64 s，机器人两手从相框左右侧夹压并共同移框、下放，使右侧被动挂环穿挂右钩并承重；可见伸直手指未合拢包围边框，故不记抓握。视频 7.68 s 双手退出接触，右钩继续承重；手未直接抓环。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "lift_clearance_m", + "unit": "m", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "hook_load_share_l", + "unit": "ratio", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "hook_load_share_r", + "unit": "ratio", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "total_hook_load_share", + "unit": "ratio", + "threshold": 0.85, + "direction": "higher_better", + "value": null + }, + { + "name": "abs_roll_deg", + "unit": "deg", + "threshold": 3, + "direction": "lower_better", + "value": null + }, + { + "name": "tilt_rad", + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better", + "value": null + }, + { + "name": "speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "hold_steps", + "unit": "control_step", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": null, + "summary_zh": "机器人以双手对向夹压相框，约在视频 1.64 s 完成离台，视频 6.88 s 和6.92 s 分别建立左、右环穿挂承重，终态完成3/3节点。视频 7.68 s 双手已无接触，视频 8.32 s 显示 PASS 与保持50/50，双钩承重约为相框重量的0.56和0.50倍，与评分器成功及独立回放结果一致。无状态日志，挂环受边框遮挡，逐环接触与承重依视频顶部读数判定，时间按视频帧取近似值；视频顶部仿真时钟与视频时钟不同，未混用，原生指标因 reward 未单独报告而填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，三个节点的时间与顶部读数（stage、threaded、hook load）一致，双手对向夹压的接触标注合理，未发现需要修改之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:36:14Z", + "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-picture-hang-i00-privileged--4xx6ioa/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-picture-hang-i00-privileged--4xx6ioa/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3663465c30450794d4c4d049e0e1f8c1819004ce815f9963b011123100412860", + "video_sha256": "a86eb9e9e12c7a6c7879f4dcf35ed80a1a59d3cc498e601f9730c21f41055bb0", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-privileged--isgutrs.json b/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-privileged--isgutrs.json new file mode 100644 index 0000000000000000000000000000000000000000..7eba9e1ef08789f3f3d11f49ccb2fa8f649bf98b --- /dev/null +++ b/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-privileged--isgutrs.json @@ -0,0 +1,287 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-picture-hang-i00-privileged--isgutrs", + "taskKey": "dexhand/picture_hang", + "dag_sha256": "aa6a1b7c76b911e4015893803bb156ab69766ab91b47214535622219f48b7b8b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 820, + "sim_steps": 820, + "stages_completed": 2, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 2.908, + "peak_processes": 9, + "peak_disk_gb": 0.843, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-picture-hang-i00-privileged--isgutrs/replay.mp4", + "duration_s": 11.96, + "fps": 25.0, + "frames": 299, + "sha256": "3f3999c30e597a74c792140c99547b91908b2da02f365f4755e2851a0c830582" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "picture_lifted": { + "method": "visual", + "intervals": [ + [ + 4.56, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.56, + "log_step": null, + "text_zh": "观察：视频 4.52 s 顶部仍为 stage 0/3，视频 4.56 s 变为 stage 1/3；双手夹持的相框开始离开台面，视频 5.00 s 后底边与棕色台面间隙清楚，至视频 11.92 s 仍离台。本节点为离台锁存事件。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 4.60、8.00、10.92 s，左、右灵巧手分别以拇指和屈曲手指夹持相框两侧边框，共同抬持并向墙钩搬送；未直接抓取挂环。" + } + ] + }, + "left_ring_on_hook": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.92, + "log_step": null, + "text_zh": "观察：视频 0.00–10.84 s 所检帧的顶部 threaded L=0；视频 10.88 s 起双环 threaded L=1、R=1，stage 2/3，但两钩承重读数均为负。视频 10.96–11.92 s 终态的左钩 hook load 为 −0.12 W（W 表示相框总重，读数为承重比例），低于该节点要求的 0.20 W；hand contacts=2、hold=0/50，相框仍被双手扶住。因此穿挂标志出现，但本节点要求的环钩承重关系未成立。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 4.60、8.00、10.92 s，左、右灵巧手分别以拇指和屈曲手指夹持相框两侧边框，共同抬持并向墙钩搬送；未直接抓取挂环。" + } + ] + }, + "right_ring_on_hook": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.92, + "log_step": null, + "text_zh": "观察：视频 0.00–10.84 s 所检帧的顶部 threaded R=0；视频 10.88 s 起双环 threaded L=1、R=1，stage 2/3，但两钩承重读数均为负。视频 10.96–11.92 s 终态的右钩 hook load 为 −0.04 W（W 表示相框总重，读数为承重比例），低于该节点要求的 0.20 W；hand contacts=2、hold=0/50，相框仍被双手扶住。因此穿挂标志出现，但本节点要求的环钩承重关系未成立。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 4.60、8.00、10.92 s，左、右灵巧手分别以拇指和屈曲手指夹持相框两侧边框，共同抬持并向墙钩搬送；未直接抓取挂环。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "lift_clearance_m", + "value": null, + "unit": "m", + "threshold": 0.02, + "direction": "higher_better" + }, + { + "name": "hook_load_share_l", + "value": null, + "unit": "ratio", + "threshold": 0.2, + "direction": "higher_better" + }, + { + "name": "hook_load_share_r", + "value": null, + "unit": "ratio", + "threshold": 0.2, + "direction": "higher_better" + }, + { + "name": "total_hook_load_share", + "value": null, + "unit": "ratio", + "threshold": 0.85, + "direction": "higher_better" + }, + { + "name": "abs_roll_deg", + "value": null, + "unit": "deg", + "threshold": 3, + "direction": "lower_better" + }, + { + "name": "tilt_rad", + "value": null, + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better" + }, + { + "name": "speed_m_s", + "value": null, + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better" + }, + { + "name": "angular_speed_rad_s", + "value": null, + "unit": "rad/s", + "threshold": 0.15, + "direction": "lower_better" + }, + { + "name": "hold_steps", + "value": null, + "unit": "control_step", + "threshold": 50, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "left_ring_on_hook", + "t": 10.88, + "log_step": 292, + "where": "操作中", + "evidence_zh": "观察：视频 10.88–11.92 s，机器人同时把左右环送到钩处，threaded L=1、R=1，但两钩均没有建立正向承重，双手仍接触相框；以左环挂钩节点定位这次同时发生的双侧承重失败，右环也未完成。log step 292 保存的是已有的非终止轨迹，log step 296 的交付生成器在抬升并向墙搬送后即保存，没有松手段；log step 301 也明确自述交付仍手持相框。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "接触力异常", + "t": 10.88, + "log_step": null, + "evidence_zh": "观察：视频 10.88 s 已显示双环穿挂，但 hook load L=−0.78、R=−0.76 W；视频 10.96–11.92 s 稳定为 L=−0.12、R=−0.04 W，双钩未通过挂环提供所需向上承重，机器人继续用双手持框，hold 始终为 0/50。这是有环钩接合而承重方向不合要求，不是相框脱手后掉落。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "已验证有", + "t": 10.88, + "log_step": 217, + "source_zh": "视频 / 日志 / agent 自述", + "evidence_zh": "推断：视频 10.88–11.92 s 中双环几何穿挂成立而环钩竖直承重仍为负，说明交付采用的末端持框位置及环钩接触布局没有完成从手到挂环的承重转移。log step 217 的 agent 自述已识别钩在顶边框、环尚未承重；log step 296 显示实际交付生成器只抬升再向墙搬送，未加入载荷转移和松手动作，log step 301 承认这一结果。可行替代由成功参考视频验证：参考视频 8.28 s 显示双环穿挂、左右载荷约 0.56/0.50 W、hand contacts=0、hold=48/50；这只证明本任务存在可行承重配置。" + } + ], + "gap_zh": "本次没有状态日志，挂环及钩部被相框遮挡；节点的穿挂和承重采用本次视频顶部评分器读数，无法独立确定具体是哪段环丝与钩座接触，根因的接触布局解释为推断。run.json 的 reward 未报告 DAG 所列各项连续指标，native_metrics 均填 null，未把视频读数冒充 reward 字段；会话中的后续调整与松手试验不属于已交付轨迹。", + "unmet": { + "left_ring_on_hook": false, + "right_ring_on_hook": false + } + }, + "summary_zh": "机器人完成相框离台（约视频 4.56 s），随后双手搬框到墙钩处；视频 10.88 s 起显示双环穿挂，但结尾左右钩承重为 −0.12/−0.04 倍框重，左右挂钩节点均未达到各自 20% 承重条件，最终为 1/3。断点定位左环挂钩，两侧同时存在接触承重异常，交付仍由双手持框且保持计数为 0/50；评分器 stages_completed=2 表示离台及几何接合阶段，不能替代 DAG 的承重验收。挂环接触位置被遮挡且无状态日志，具体接触布局根因为结合视频读数与交付脚本的推断。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "节点值、final、断点和主要根因基本成立；唯一需改的是 picture_lifted 的时间与证据：stage 0→1 实际在视频约 4.56 s，而非 4.36 s。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "离台时间 4.56 s、双环穿挂 10.88 s 但承重为负、断点与根因均有帧上顶栏读数支持，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": "2026-10-30T05:47:02Z", + "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-picture-hang-i00-privileged--isgutrs/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-picture-hang-i00-privileged--isgutrs/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-picture-hang-i00-privileged--isgutrs/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-picture-hang-i00-privileged--isgutrs/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "bbb8575ac22464c421cce5669b373e97aad8ed6811f7facb137606604f882f50", + "video_sha256": "3f3999c30e597a74c792140c99547b91908b2da02f365f4755e2851a0c830582", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-privileged--jmxjzsk.json b/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-privileged--jmxjzsk.json new file mode 100644 index 0000000000000000000000000000000000000000..cac1fbd00513a49690a8e8e2964a1b50a4055e95 --- /dev/null +++ b/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-privileged--jmxjzsk.json @@ -0,0 +1,267 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-picture-hang-i00-privileged--jmxjzsk", + "taskKey": "dexhand/picture_hang", + "dag_sha256": "aa6a1b7c76b911e4015893803bb156ab69766ab91b47214535622219f48b7b8b", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 385, + "sim_steps": 385, + "stages_completed": 3, + "success": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 2.51, + "peak_processes": 10, + "peak_disk_gb": 0.251, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-picture-hang-i00-privileged--jmxjzsk/replay.mp4", + "duration_s": 8.72, + "fps": 25.0, + "frames": 218, + "sha256": "c38b97b9eb948ca29a012cf1c2b25c44d05a741c4dc708a764dd78cf8be5cf0c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "picture_lifted": { + "method": "visual", + "intervals": [ + [ + 1.68, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.68, + "log_step": null, + "text_zh": "观察：视频 1.60、1.64 s 顶部仍为 stage 0/3；视频 1.68 s 变为 stage 1/3。机器人双手夹压相框两侧并向上搬动，底边逐渐离开棕色台面，视频 2.00–2.60 s 原台面上方出现清楚间隙；离台事件以视频 1.68 s 的阶段变化定位。" + }, + { + "t": 2.6, + "log_step": null, + "text_zh": "观察：视频 2.60 s 双手分别压持相框左右侧边，手指沿侧边贴压，相框随双臂共同移动；视频 6.48 s 撤手后相框仍悬在墙面上，离台事件保持已达。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "其他", + "note_zh": "候选接触名：双手对向侧压。视频 1.20–2.60 s，左、右灵巧手分别从相框两侧向内压住侧边框，共同抬起；可见手指沿边框贴压，未见单手包围边框形成对向夹持，故用其他，不标抓握。" + } + ] + }, + "left_ring_on_hook": { + "method": "visual", + "intervals": [ + [ + 6.12, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.12, + "log_step": null, + "text_zh": "观察：视频 5.00–5.96 s 顶部虽显示 threaded L=1，但该侧 hook load 为 0.00 W，尚不能算承重挂好；视频 6.00 s 约为 0.01 W，视频 6.04–6.08 s 又为 0.00 W。视频 6.12 s 机器人双手持框下降后，顶部 threaded L=1，该侧 hook load 为 1.57 W；此处 W 是画面以相框总重为单位显示的承重比例，超过节点要求的 0.20 W。挂环本体被相框遮挡，结合本次画面的穿挂与承重读数判断该侧达到。" + }, + { + "t": 6.4, + "log_step": null, + "text_zh": "观察：逐帧检查视频 6.12–6.56 s，该侧 threaded 在视频 6.36 s 仍为1，视频 6.40、6.44 s 为0，视频 6.48 s 恢复为1；这段期间该侧承重读数仍高于0.20 W。推断：该穿挂读数回落不足0.3 s，按短暂回落不计丢失的规则保留连续区间。" + }, + { + "t": 8.68, + "log_step": 84, + "text_zh": "观察：视频 6.48 s 双手接触数降为0，相框仍离台悬挂；视频 7.68 s 保持计数49/50，视频 7.80 s 已显示 PASS、stage 3/3、threaded L=1 R=1、hook load L=0.45 R=0.55 W、hand contacts 0、hold 50/50。视频 7.80–8.68 s 终帧保持这一结果，该侧终态承重约0.45倍总重；log step 84 的交付后回放输出也为 success=True、stage=3、hold=50，评分器字段 success=1、deterministic=1。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "其他", + "note_zh": "候选接触名：双手对向侧压。视频 2.60–6.48 s，左手压持左边框、右手压持右边框，共同将相框移向墙面并下降，使被动挂环落到匹配墙钩；随后双手向外撤开。可见接触是两手对向夹压承载，未见单手包围边框形成对向夹持，故用其他，不标抓握；手没有直接抓挂环。" + } + ] + }, + "right_ring_on_hook": { + "method": "visual", + "intervals": [ + [ + 6.12, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.12, + "log_step": null, + "text_zh": "观察：视频 5.00–5.96 s 顶部虽显示 threaded R=1，但该侧 hook load 为 0.00 W，尚不能算承重挂好；视频 6.00 s 约为 0.01 W，视频 6.04–6.08 s 又为 0.00 W。视频 6.12 s 机器人双手持框下降后，顶部 threaded R=1，该侧 hook load 为 1.80 W；此处 W 是画面以相框总重为单位显示的承重比例，超过节点要求的 0.20 W。挂环本体被相框遮挡，结合本次画面的穿挂与承重读数判断该侧达到。" + }, + { + "t": 6.4, + "log_step": null, + "text_zh": "观察：逐帧检查视频 6.12–6.56 s，该侧 threaded 在视频 6.36 s 仍为1，视频 6.40、6.44 s 为0，视频 6.48 s 恢复为1；这段期间该侧承重读数仍高于0.20 W。推断：该穿挂读数回落不足0.3 s，按短暂回落不计丢失的规则保留连续区间。" + }, + { + "t": 8.68, + "log_step": 84, + "text_zh": "观察：视频 6.48 s 双手接触数降为0，相框仍离台悬挂；视频 7.68 s 保持计数49/50，视频 7.80 s 已显示 PASS、stage 3/3、threaded L=1 R=1、hook load L=0.45 R=0.55 W、hand contacts 0、hold 50/50。视频 7.80–8.68 s 终帧保持这一结果，该侧终态承重约0.55倍总重；log step 84 的交付后回放输出也为 success=True、stage=3、hold=50，评分器字段 success=1、deterministic=1。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "其他", + "note_zh": "候选接触名：双手对向侧压。视频 2.60–6.48 s，左手压持左边框、右手压持右边框，共同将相框移向墙面并下降，使被动挂环落到匹配墙钩；随后双手向外撤开。可见接触是两手对向夹压承载，未见单手包围边框形成对向夹持，故用其他，不标抓握；手没有直接抓挂环。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "lift_clearance_m", + "unit": "m", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "hook_load_share_l", + "unit": "ratio", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "hook_load_share_r", + "unit": "ratio", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "total_hook_load_share", + "unit": "ratio", + "threshold": 0.85, + "direction": "higher_better", + "value": null + }, + { + "name": "abs_roll_deg", + "unit": "deg", + "threshold": 3, + "direction": "lower_better", + "value": null + }, + { + "name": "tilt_rad", + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better", + "value": null + }, + { + "name": "speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "hold_steps", + "unit": "control_step", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": null, + "summary_zh": "机器人双手从两侧夹压相框，于视频约 1.68 s 完成离台；左右挂环于视频约 6.12 s 同时满足穿挂与承重条件，最终三个节点均达成。视频 6.48 s 双手接触数降为0，视频 7.80 s 已显示 PASS及50/50步保持，直至视频 8.68 s 终帧相框仍由双钩承重。无状态日志且挂环被相框遮挡，逐环判定结合本次视频顶部穿挂、承重读数及评分器成功字段，原生连续指标未由评分器字段单独报告；log step 85 的过滤提示发生在 log step 84 保存并验证成功之后，不改变成功结论。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "成功运行，三个节点时间（离台约1.68 s，左右环约6.12 s）与画面顶部读数一致，接触标注合理，无失败层。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:34:44Z", + "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-picture-hang-i00-privileged--jmxjzsk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-picture-hang-i00-privileged--jmxjzsk/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "47b22d0f1b2aa430e290838ce59e1b8d58f5a937183c43e01267111e7996f30b", + "video_sha256": "c38b97b9eb948ca29a012cf1c2b25c44d05a741c4dc708a764dd78cf8be5cf0c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-privileged--lje3zw2.json b/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-privileged--lje3zw2.json new file mode 100644 index 0000000000000000000000000000000000000000..0bb31bf828889a70eb3a3d9865e83db56ae52f29 --- /dev/null +++ b/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-privileged--lje3zw2.json @@ -0,0 +1,269 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-picture-hang-i00-privileged--lje3zw2", + "taskKey": "dexhand/picture_hang", + "dag_sha256": "aa6a1b7c76b911e4015893803bb156ab69766ab91b47214535622219f48b7b8b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 480, + "sim_steps": 480, + "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": 2.594, + "peak_processes": 11, + "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-picture-hang-i00-privileged--lje3zw2/replay.mp4", + "duration_s": 10.64, + "fps": 25.0, + "frames": 266, + "sha256": "a680648d875ec9a15a5e0cae6bebd0f1b973a861e46921ec21972ce0e64d5d29" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "picture_lifted": { + "method": "visual", + "intervals": [ + [ + 5.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 5.3, + "log_step": null, + "text_zh": "观察：视频 5.2 s附近顶部仍为stage 0/3，视频 5.3 s附近转为1/3，白色相框随双手上移；视频 6.0 s以后底边与棕色台面之间的间隙清楚，视频 9.0 s仍悬空。离台时刻按这些帧取约视频 5.3 s，误差约0.1 s；该节点为锁存事件。" + }, + { + "t": 9.6, + "log_step": 44, + "text_zh": "观察：log step 44输出saved partial 480 rows、stage 1；log step 46重放保存文件的480步，末端仍有19处手框接触；评分器n_actions=480、stages_completed=1、deterministic=1，与视频 9.6 s进入的终帧一致。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "其他", + "note_zh": "观察：视频 3.2 s、6.2 s及9.0 s，左、右灵巧手分别压住相框两侧边框并共同抬持、搬向墙钩；log step 46对交付文件的重放诊断记录左右手分别有9、10处手框接触，横向力方向相反。候选接触名：双手对向夹压；每只手未单独包围夹住边框，依靠两手相向压紧承重，抓握或托/舀均不准确。" + } + ] + }, + "left_ring_on_hook": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.2, + "log_step": 44, + "text_zh": "观察：视频 5.3–9.6 s机器人用双手持框向墙钩方向搬运，左侧穿挂读数始终为0、该侧hook load（墙钩承重占相框重量之比）始终为0.00 W；log step 38定义并在log step 44保存的动作终止于pre-hook搬运段，没有后续穿挂和撤手段。" + }, + { + "t": 10.4, + "log_step": null, + "text_zh": "观察：视频 9.6–10.6 s的终帧保持stage 1/3、threaded L=0 R=0、hook load L=0.00 R=0.00 W、hand contacts=19、hold=0/50，左环未挂上承重。成功参考视频 8.1 s同一视角可显示threaded双侧为1、双钩承重约0.55/0.50 W且双手接触为0；本次节点不成立依据本次视频读数，未用参考替代本次证据。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "其他", + "note_zh": "观察：视频 3.2 s、6.2 s及9.0 s，左、右灵巧手分别压住相框两侧边框并共同抬持、搬向墙钩；log step 46对交付文件的重放诊断记录左右手分别有9、10处手框接触，横向力方向相反。候选接触名：双手对向夹压；每只手未单独包围夹住边框，依靠两手相向压紧承重，抓握或托/舀均不准确。" + } + ] + }, + "right_ring_on_hook": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.2, + "log_step": 44, + "text_zh": "观察：视频 5.3–9.6 s机器人用双手持框向墙钩方向搬运，右侧穿挂读数始终为0、该侧hook load（墙钩承重占相框重量之比）始终为0.00 W；log step 38定义并在log step 44保存的动作终止于pre-hook搬运段，没有后续穿挂和撤手段。" + }, + { + "t": 10.4, + "log_step": null, + "text_zh": "观察：视频 9.6–10.6 s的终帧保持stage 1/3、threaded L=0 R=0、hook load L=0.00 R=0.00 W、hand contacts=19、hold=0/50，右环未挂上承重。成功参考视频 8.1 s同一视角可显示threaded双侧为1、双钩承重约0.55/0.50 W且双手接触为0；本次节点不成立依据本次视频读数，未用参考替代本次证据。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "其他", + "note_zh": "观察：视频 3.2 s、6.2 s及9.0 s，左、右灵巧手分别压住相框两侧边框并共同抬持、搬向墙钩；log step 46对交付文件的重放诊断记录左右手分别有9、10处手框接触，横向力方向相反。候选接触名：双手对向夹压；每只手未单独包围夹住边框，依靠两手相向压紧承重，抓握或托/舀均不准确。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "lift_clearance_m", + "unit": "m", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "hook_load_share_l", + "unit": "ratio", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "hook_load_share_r", + "unit": "ratio", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "total_hook_load_share", + "unit": "ratio", + "threshold": 0.85, + "direction": "higher_better", + "value": null + }, + { + "name": "abs_roll_deg", + "unit": "deg", + "threshold": 3, + "direction": "lower_better", + "value": null + }, + { + "name": "tilt_rad", + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better", + "value": null + }, + { + "name": "speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "hold_steps", + "unit": "control_step", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "left_ring_on_hook", + "t": 9.6, + "log_step": 44, + "where": "操作中", + "evidence_zh": "观察：视频 5.3–9.6 s机器人持框搬向双钩，在视频 9.6 s进入终帧，双环仍未穿挂、承重均为零且双手仍接触。log step 44只保存了480步接近、夹压及搬至预挂位置的部分轨迹，log step 46重放确认同一终态；log step 129目录记录该交付文件仍未更新。推断：本次卡在双环挂钩操作的搬运部分；两侧同步且均未完成，无可分辨的左右先后，取左环节点作为共同断点的导航代表，右环同样未达。" + }, + "unmet": { + "left_ring_on_hook": false, + "right_ring_on_hook": false + }, + "phenomena": [], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：agent未能形成完成双环挂接的控制序列。log step 44保存的部分轨迹仅完成持框搬运；后续会话测试中，log step 130报告下降后双侧threaded为False、承重均为0，随后脚本访问hold字段报KeyError；log step 133的另一测试下降时出现robot_collision；最后log step 138仍报告双环未穿挂并在松手前中止。结合log step 129交付文件未更新及评分器最终仅480步，可将未能补全挂接动作归于控制能力问题，但这些测试不能当成本次视频里的碰撞、滑落或脚本崩溃，亦不足以确定同一控制子类。" + } + ], + "gap_zh": "观察：inputs中提供了完整视频、运行日志及成功参考，没有状态日志；本次两环几何被相框遮挡，节点真假使用本次视频顶部穿挂及承重读数判定。交付仅含预挂位置前的部分搬运，未包含真正穿挂、松手或撤手，不能从后续会话测试移入具体失败现象；依CASES.md FAIL-23现象层留空。后续测试有控制失败证据，但不能确定若继续执行本次持框终态会发生何种接触故障，故根因仅标控制大类。" + }, + "summary_zh": "本次交付为log step 44保存并在log step 46重放的480步部分轨迹：机器人以双手对向夹压相框，约视频 5.3 s完成离台，终态完成1/3节点。机器人持框搬向墙钩后结束，两环穿挂与承重读数始终为零；两侧同步未达，断点以左环挂钩代表，会话后续多次控制测试仍未完成双环挂接，旧交付未被替换。交付没有穿挂和松手段，无法判定该操作的具体失败现象；后续测试只用于控制根因，不计入本次进度或现象。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值、时间和接触与视频一致：视频约5.3 s顶栏由0/3转1/3，相框离台，终帧9.6 s两环threaded=0、承重0；断点取左环、现象留空并附gap_zh，根因只标控制大类，均有交付文件与log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": "2026-10-30T05:37:49Z", + "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-picture-hang-i00-privileged--lje3zw2/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-picture-hang-i00-privileged--lje3zw2/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0a4bd2a89b0fe8a5dddc6b1fb53b324e3e28bde9846793fae5753f0ab91e1022", + "video_sha256": "a680648d875ec9a15a5e0cae6bebd0f1b973a861e46921ec21972ce0e64d5d29", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-privileged--mstwwsk.json b/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-privileged--mstwwsk.json new file mode 100644 index 0000000000000000000000000000000000000000..86494c07636a285138ffa5df39452167feebf63d --- /dev/null +++ b/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-privileged--mstwwsk.json @@ -0,0 +1,267 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-picture-hang-i00-privileged--mstwwsk", + "taskKey": "dexhand/picture_hang", + "dag_sha256": "aa6a1b7c76b911e4015893803bb156ab69766ab91b47214535622219f48b7b8b", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 1977, + "sim_steps": 1977, + "stages_completed": 3, + "success": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 6.243, + "peak_processes": 10, + "peak_disk_gb": 0.836, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-picture-hang-i00-privileged--mstwwsk/replay.mp4", + "duration_s": 12.32, + "fps": 25.0, + "frames": 308, + "sha256": "f19953075c6c451c94a2f7917ff8c397f19070ad5e7b033acfa862e9221315c5" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "picture_lifted": { + "method": "visual", + "intervals": [ + [ + 2.28, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.28, + "log_step": null, + "text_zh": "观察：视频 2.20–2.28 s，机器人双手夹持两侧边框向上抬起；顶部评分器阶段由0/3变为1/3。视频 2.8 s可见白色相框底边与棕色台面分离，随后继续升高；此离台事件按DAG锁存。" + }, + { + "t": 12.28, + "log_step": null, + "text_zh": "观察：视频 12.28 s，相框仍悬在台面上方，顶部显示PASS、stage 3/3；inputs/run.json评分器字段success=1、stages_completed=3。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "其他", + "note_zh": "观察：视频 2.0–10.8 s，机器人左、右手分别贴压相框两侧边框，共同抬持、搬运并下放对钩，随后向两侧撤手。候选接触名：双手对向夹压；手指未见环抱各自边框，承重依赖两手相向夹压，故不标抓握，现有托/舀也不适用。" + } + ] + }, + "left_ring_on_hook": { + "method": "visual", + "intervals": [ + [ + 10.24, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 9.8, + "log_step": null, + "text_zh": "观察：视频 9.8–10.0 s，机器人双手扶持相框下放，视频顶部评分器的threaded（挂环穿挂标志）显示L=1，但hook load（经该挂环传递的竖直承重占总重比例）仍为L=0.00 W；仅穿挂尚不满足左钩承重条件。" + }, + { + "t": 10.24, + "log_step": null, + "text_zh": "观察：视频 10.24 s，顶部显示threaded L=1、hook load L=0.24 W，且stage 2/3，左环已穿挂并由同侧钩承重。视频 10.28–10.36 s该侧承重短暂回落至约0.15–0.20 W，视频 10.40 s回到0.22 W，随后至视频 11.32 s均高于0.20 W；该短暂回落不足视频 0.3 s，按规则不拆分区间。" + }, + { + "t": 11.32, + "log_step": null, + "text_zh": "观察：视频 11.32 s，机器人双手已撤开，相框悬挂且无明显运动；顶部显示PASS、stage 3/3、threaded L=1、该侧hook load为0.53 W、hand contacts（手与相框的接触计数）为0、hold 50/50。视频 11.60、12.00和12.28 s保持同一成功终态。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "其他", + "note_zh": "观察：视频 2.0–10.8 s，机器人左、右手分别贴压相框两侧边框，共同抬持、搬运并下放对钩，随后向两侧撤手。候选接触名：双手对向夹压；手指未见环抱各自边框，承重依赖两手相向夹压，故不标抓握，现有托/舀也不适用。" + } + ] + }, + "right_ring_on_hook": { + "method": "visual", + "intervals": [ + [ + 10.24, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 9.8, + "log_step": null, + "text_zh": "观察：视频 9.8–10.0 s，机器人双手扶持相框下放，视频顶部评分器的threaded（挂环穿挂标志）显示R=1，但hook load（经该挂环传递的竖直承重占总重比例）仍为R=0.00 W；仅穿挂尚不满足右钩承重条件。" + }, + { + "t": 10.24, + "log_step": null, + "text_zh": "观察：视频 10.24 s，顶部显示threaded R=1、hook load R=0.24 W，且stage 2/3，右环已穿挂并由同侧钩承重。视频 10.28–10.36 s该侧承重短暂回落至约0.15–0.20 W，视频 10.40 s回到0.22 W，随后至视频 11.32 s均高于0.20 W；该短暂回落不足视频 0.3 s，按规则不拆分区间。" + }, + { + "t": 11.32, + "log_step": null, + "text_zh": "观察：视频 11.32 s，机器人双手已撤开，相框悬挂且无明显运动；顶部显示PASS、stage 3/3、threaded R=1、该侧hook load为0.53 W、hand contacts（手与相框的接触计数）为0、hold 50/50。视频 11.60、12.00和12.28 s保持同一成功终态。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "其他", + "note_zh": "观察：视频 2.0–10.8 s，机器人左、右手分别贴压相框两侧边框，共同抬持、搬运并下放对钩，随后向两侧撤手。候选接触名：双手对向夹压；手指未见环抱各自边框，承重依赖两手相向夹压，故不标抓握，现有托/舀也不适用。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "lift_clearance_m", + "unit": "m", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "hook_load_share_l", + "unit": "ratio", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "hook_load_share_r", + "unit": "ratio", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "total_hook_load_share", + "unit": "ratio", + "threshold": 0.85, + "direction": "higher_better", + "value": null + }, + { + "name": "abs_roll_deg", + "unit": "deg", + "threshold": 3, + "direction": "lower_better", + "value": null + }, + { + "name": "tilt_rad", + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better", + "value": null + }, + { + "name": "speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "hold_steps", + "unit": "control_step", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": null, + "summary_zh": "机器人以双手对向夹压抬持相框，约视频 2.28 s完成离台，视频 10.24 s左右挂环均穿挂且同侧钩承重达到20%，最终完成3/3节点。视频 11.32 s显示PASS、双手接触为0、两钩各承重约0.53 W、保持50/50，成功终态延续至视频 12.28 s。无状态日志且挂环被相框遮挡，逐环关系与承重依据本次视频顶部评分器读数；原生指标未在run.json的reward字段逐项报告，native_metrics的value均留null。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "成功运行（评分器 success=1，3/3）。相框离台约视频 2.28 s（顶部 stage 0/3→1/3）、左右环于视频 10.24 s 穿挂且承重≥0.20 W（stage 2/3），视频 11.32 s PASS，与帧一致；接触标签双臂协作+其他合理；无失败层，无时钟问题。", + "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": "2026-10-30T05:33:26Z", + "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-picture-hang-i00-privileged--mstwwsk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-picture-hang-i00-privileged--mstwwsk/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "dd07e857a19cf2ea9e3cae8894b953d9ca725f92a0e942323536ef18d1b382ae", + "video_sha256": "f19953075c6c451c94a2f7917ff8c397f19070ad5e7b033acfa862e9221315c5", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-privileged--oahbu3j.json b/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-privileged--oahbu3j.json new file mode 100644 index 0000000000000000000000000000000000000000..41099e515739fb2be21fab07623d2e82a1e33cd8 --- /dev/null +++ b/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-privileged--oahbu3j.json @@ -0,0 +1,285 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-picture-hang-i00-privileged--oahbu3j", + "taskKey": "dexhand/picture_hang", + "dag_sha256": "aa6a1b7c76b911e4015893803bb156ab69766ab91b47214535622219f48b7b8b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 587, + "sim_steps": 587, + "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": 2.412, + "peak_processes": 10, + "peak_disk_gb": 0.983, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-picture-hang-i00-privileged--oahbu3j/replay.mp4", + "duration_s": 12.76, + "fps": 25.0, + "frames": 319, + "sha256": "584499d1d5074554bad28893eeaba47f643ed4d804c452efba248faf895ce77c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "picture_lifted": { + "method": "visual", + "intervals": [ + [ + 4.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.68, + "log_step": null, + "text_zh": "观察：视频 4.60 s 相框仍立在台面上、顶部 stage 为0/3；视频 4.68 s stage 已为1/3，视频 4.72–5.00 s 双手抬起白框，底边与棕色台面出现明确间隙。离台时刻记为约视频 4.7 s；该节点是锁存事件，后续姿态偏转不撤销。" + }, + { + "t": 12.72, + "log_step": 125, + "text_zh": "观察：视频 12.72 s 的冻结终帧仍显示 stage 1/3；log step 123 保存587行轨迹后回放失败、stage 1，log step 125 对同一交付文件再次回放得到相同结果；评分器字段 stages_completed=1、deterministic=1。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "其他", + "note_zh": "观察：视频 4.4–6.8 s，机器人左、右手分别从相框两侧以拇指一侧向内抵压边框，共同抬持；视频 6.8–11.7 s 拇指进一步弯曲并继续搬框，未见单手以拇指与其余手指对夹边框。候选接触名：双手对向夹压；两手之间夹住整框，不按单手包围式抓握标注。" + } + ] + }, + "left_ring_on_hook": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 9.0, + "log_step": null, + "text_zh": "观察：视频 0–12.72 s 已按约0.5秒间隔检查全程，视频 8.4–11.76 s 加密检查；机器人双手把相框抬向墙钩，但相框逐渐滑转。顶部 threaded L=0、hook load L=0.00 W，一直未出现左环穿挂并承重的读数。顶部 threaded 表示评分器检测的挂环穿钩状态，hook load 表示同侧墙钩经挂环承担的竖直力相对画框重量的比例。" + }, + { + "t": 12.72, + "log_step": 125, + "text_zh": "观察：视频 11.76–12.72 s 为碰撞失败后的冻结画面，仍为 threaded L=0、hook load L=0.00 W、hold 0/50；左环未达到挂钩验收。成功参考视频 7.20 s 对应视角可清楚读到 threaded L=1、R=1 且两钩承重非零，参考视频 8.00 s 撤手后仍保持；此参考仅用于辨认可见判据。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "其他", + "note_zh": "观察：视频 4.4–6.8 s，机器人左、右手分别从相框两侧以拇指一侧向内抵压边框，共同抬持；视频 6.8–11.7 s 拇指进一步弯曲并继续搬框，未见单手以拇指与其余手指对夹边框。候选接触名：双手对向夹压；两手之间夹住整框，不按单手包围式抓握标注。 双手操纵整框同时尝试对准两侧挂环，本节点记录对左环挂钩的共同搬框接触，并非手直接抓挂环。" + } + ] + }, + "right_ring_on_hook": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 9.0, + "log_step": null, + "text_zh": "观察：视频 0–12.72 s 已按约0.5秒间隔检查全程，视频 8.4–11.76 s 加密检查；机器人双手把相框抬向墙钩，但相框逐渐滑转。顶部 threaded R=0、hook load R=0.00 W，一直未出现右环穿挂并承重的读数。顶部 threaded 表示评分器检测的挂环穿钩状态，hook load 表示同侧墙钩经挂环承担的竖直力相对画框重量的比例。" + }, + { + "t": 12.72, + "log_step": 125, + "text_zh": "观察：视频 11.76–12.72 s 为碰撞失败后的冻结画面，仍为 threaded R=0、hook load R=0.00 W、hold 0/50；右环未达到挂钩验收。成功参考视频 7.20 s 对应视角可清楚读到 threaded L=1、R=1 且两钩承重非零，参考视频 8.00 s 撤手后仍保持；此参考仅用于辨认可见判据。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "其他", + "note_zh": "观察：视频 4.4–6.8 s，机器人左、右手分别从相框两侧以拇指一侧向内抵压边框，共同抬持；视频 6.8–11.7 s 拇指进一步弯曲并继续搬框，未见单手以拇指与其余手指对夹边框。候选接触名：双手对向夹压；两手之间夹住整框，不按单手包围式抓握标注。 双手操纵整框同时尝试对准两侧挂环，本节点记录对右环挂钩的共同搬框接触，并非手直接抓挂环。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "lift_clearance_m", + "unit": "m", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "hook_load_share_l", + "unit": "ratio", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "hook_load_share_r", + "unit": "ratio", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "total_hook_load_share", + "unit": "ratio", + "threshold": 0.85, + "direction": "higher_better", + "value": null + }, + { + "name": "abs_roll_deg", + "unit": "deg", + "threshold": 3, + "direction": "lower_better", + "value": null + }, + { + "name": "tilt_rad", + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better", + "value": null + }, + { + "name": "speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "hold_steps", + "unit": "control_step", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "left_ring_on_hook", + "t": 9.0, + "log_step": 121, + "where": "操作中", + "evidence_zh": "观察：视频 8.0–11.7 s，机器人双手持框朝墙钩移动，相框在手间逐渐侧移、滑转，未完成任何一侧穿挂，视频 11.76 s 顶部转为 FAIL: robot_collision。log step 121 生成的脚本以左挂环位置为反馈目标、双手同步平移；log step 123、125 确认最终交付为该587行轨迹。推断：失败发生在两环同时挂钩的操作中，以脚本跟踪的左环节点作断点代表；右环同样未达成，并非存在先左后右的操作顺序。视频约9.0 s 为持续滑转加重的导航锚点，此后未修复。" + }, + "unmet": { + "left_ring_on_hook": false, + "right_ring_on_hook": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 9.0, + "log_step": 121, + "evidence_zh": "观察：视频 6.8–8.0 s 相框尚接近直立，由双手抵住边框承载；视频 9.0–11.5 s 相框相对手部滑转，顶边持续倾斜，顶部 roll 从视频 8.0 s 的约3.66度增至视频 10.0 s 的约18.85度，视频 11.0 s 附近约29度，双钩穿挂始终为零。推断：双手已抬住相框，但搬运中未保持其姿态，属于持物滑转；并未发生计划内松手。" + }, + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 11.76, + "log_step": 125, + "evidence_zh": "观察：视频 11.70 s 机器人仍在持框向墙侧移动；视频 11.76 s 画面停止并显示 FAIL: robot_collision，此后至视频 12.72 s 均冻结在同一姿态。log step 123、125 对最终交付轨迹的回放均报告 robot_collision、stage 1、steps 587。该运行时判负表示机器人非手部连杆发生不允许的接触；总览不能辨清具体接触体对。" + } + ], + "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": "观察：视频 4.4–8.0 s 双手主要靠两侧拇指一侧抵压边框抬持，视频 9.0–11.5 s 整框在两手之间明显滑转。log step 121 的交付生成脚本先双手挤压、抬升，再仅弯曲拇指并依左环位置平移双手；其输出从 lift 的 tilt=0.026 到 fwd 的 tilt=0.519，最后 push 阶段碰撞。会话诊断 log step 89 的同类夹压/弯拇指动作记录主要为拇指各节接触；log step 119 的独立固定手目标试验也记录持续侧移与倾斜，后者仅作根因旁证，未当作本次轨迹进度。推断：该接触布局能承重抬起，却不足以约束整框的滑移与转动，使挂环无法稳定对准；具体替代接触布局在本次运行中未验证。" + } + ], + "gap_zh": "本目录没有状态日志；挂环和手框接触部分被遮挡，依视频顶部评分器读数判断穿挂与承重未达成，不能逐物理步还原接触力，也不能确定终止碰撞的具体连杆和对象。两侧挂钩为同一次双手操作，断点以左侧代表。评分器 reward 未报告 DAG 所列九项原生指标的数值，native_metrics 均留 null；未将会话试验数值冒充最终评分指标。" + }, + "summary_zh": "机器人在视频约4.7 s 双手夹压抬框离台，完成1/3节点；向墙钩搬运时相框在手间滑转，左右挂环均未穿挂或承重，视频约11.76 s 因非手部碰撞终止。接触布局对相框转动的约束不足是有视频和日志支持的控制根因；无状态日志且总览遮挡，具体碰撞体对和精确接触力无法确定。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点（离台约4.7 s、两环未挂）、断点（左环、操作中）、现象（没保持住、被挡/碰撞）与根因均有视频顶部读数支持，未发现需修改处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:38:02Z", + "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-picture-hang-i00-privileged--oahbu3j/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-picture-hang-i00-privileged--oahbu3j/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1b10c68087db87ad133d5dfb8d9112984991f2056d07125082cef181cbafdf5b", + "video_sha256": "584499d1d5074554bad28893eeaba47f643ed4d804c452efba248faf895ce77c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-standard--64ffl6b.json b/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-standard--64ffl6b.json new file mode 100644 index 0000000000000000000000000000000000000000..a4f922b3f3ca293365621d29bf40875f48ce1755 --- /dev/null +++ b/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-standard--64ffl6b.json @@ -0,0 +1,278 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-picture-hang-i00-standard--64ffl6b", + "taskKey": "dexhand/picture_hang", + "dag_sha256": "aa6a1b7c76b911e4015893803bb156ab69766ab91b47214535622219f48b7b8b", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "calls": 112, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 1, + "n_actions": 2106, + "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": 2106, + "success": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.604, + "peak_processes": 10, + "peak_disk_gb": 1.082, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-picture-hang-i00-standard--64ffl6b/replay.mp4", + "duration_s": 43.2, + "fps": 5.0, + "frames": 216, + "sha256": "fcb320745022a9e1bb251dec4ceccae548e4d703ada070c29d6da04f06a6a94c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "picture_lifted": { + "method": "visual", + "intervals": [ + [ + 7.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.8, + "log_step": null, + "text_zh": "观察：视频 7.6 s 顶部仍为 stage 0/3；视频 7.8 s 变为 stage 1/3，机器人双手夹持的白色相框开始离开棕色台面。视频 8.8 s、视频 12.0 s 底边与台面之间的间隙继续扩大，确认相框已被抬起；离台事件按首次可见阶段变化记在视频 7.8 s，精度约 0.2 s。" + }, + { + "t": 20.0, + "log_step": 75, + "text_zh": "观察：视频 9.0 s、视频 20.0 s，机器人两只手的弯曲手指分别包住同侧边框，双臂共同持框，原先台面上的相框已随双手升高并移向墙钩；log step 75 的服务端输出对应 episode 5 的 grip5、lift5，而此前重置试验不计入本段进度。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 7.8 s、视频 9.0 s、视频 20.0 s，左、右手各以合拢的弯曲手指夹住同侧竖边框，共同承重抬起相框；两手各包住一侧边框。" + } + ] + }, + "left_ring_on_hook": { + "method": "visual", + "intervals": [ + [ + 39.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 36.4, + "log_step": null, + "text_zh": "观察：视频 16.0–视频 33.4 s 顶部 threaded L=0；视频 36.4 s 两环均显示 threaded=1，但视频 36.4–视频 38.4 s 的 hook load L=0.00 W，尚未满足左钩至少承担总重 20% 的节点判据。机器人双手持续持框调整位置，不能仅凭穿钩标志提前计入本节点。" + }, + { + "t": 39.2, + "log_step": null, + "text_zh": "观察：视频 39.0 s 的左钩承重显示仍低于 0.20 W；视频 39.2 s 顶部 threaded L=1、hook load L=0.23 W，此后逐帧至视频 43.0 s 未见该侧低于 0.20 W 或脱钩。这里的 W 是顶部读数以相框总重量为单位的承重比例，0.23 W 即占总重 23%；机器人此时仍可持框，本节点首次满足时间记为视频 39.2 s，精度约 0.2 s。" + }, + { + "t": 43.0, + "log_step": 108, + "text_zh": "观察：视频 41.2 s 双手接触数已为 0，左右 threaded 均为 1，hook load 均为 0.53 W；视频 42.2 s 至视频 43.0 s 的终帧显示 PASS、stage 3/3、hold 50/50，相框离台悬挂且保持水平。log step 108 的机器人服务端返回 episode=5、control_steps=2106、done=true、reason=success，run.json 的 live_success 与 replay_success 也均为 1，支持左环终态成立。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 20.0 s、视频 36.0 s 两手分别合拢夹持相框两侧竖边框，共同调节相框的高度与深度来引导左侧挂环；视频 39.2 s 后逐渐张开手指，视频 41.2 s 双手均已解除相框接触。手操纵相框，挂环随框被动挂入同侧墙钩。" + } + ] + }, + "right_ring_on_hook": { + "method": "visual", + "intervals": [ + [ + 39.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 36.4, + "log_step": null, + "text_zh": "观察：视频 16.0–视频 33.4 s 顶部 threaded R=0；视频 36.4 s 两环均显示 threaded=1，但视频 36.4–视频 38.4 s 的 hook load R=0.00 W，尚未满足右钩至少承担总重 20% 的节点判据。机器人双手持续持框调整位置，不能仅凭穿钩标志提前计入本节点。" + }, + { + "t": 39.2, + "log_step": null, + "text_zh": "观察：视频 39.0 s 的右钩承重显示仍低于 0.20 W；视频 39.2 s 顶部 threaded R=1、hook load R=0.21 W，此后逐帧至视频 43.0 s 未见该侧低于 0.20 W 或脱钩。这里的 W 是顶部读数以相框总重量为单位的承重比例，0.21 W 即占总重 21%；机器人此时仍可持框，本节点首次满足时间记为视频 39.2 s，精度约 0.2 s。" + }, + { + "t": 43.0, + "log_step": 108, + "text_zh": "观察：视频 41.2 s 双手接触数已为 0，左右 threaded 均为 1，hook load 均为 0.53 W；视频 42.2 s 至视频 43.0 s 的终帧显示 PASS、stage 3/3、hold 50/50，相框离台悬挂且保持水平。log step 108 的机器人服务端返回 episode=5、control_steps=2106、done=true、reason=success，run.json 的 live_success 与 replay_success 也均为 1，支持右环终态成立。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 20.0 s、视频 36.0 s 两手分别合拢夹持相框两侧竖边框，共同调节相框的高度与深度来引导右侧挂环；视频 39.2 s 后逐渐张开手指，视频 41.2 s 双手均已解除相框接触。手操纵相框，挂环随框被动挂入同侧墙钩。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "lift_clearance_m", + "unit": "m", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "hook_load_share_l", + "unit": "ratio", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "hook_load_share_r", + "unit": "ratio", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "total_hook_load_share", + "unit": "ratio", + "threshold": 0.85, + "direction": "higher_better", + "value": null + }, + { + "name": "abs_roll_deg", + "unit": "deg", + "threshold": 3, + "direction": "lower_better", + "value": null + }, + { + "name": "tilt_rad", + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better", + "value": null + }, + { + "name": "speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "hold_steps", + "unit": "control_step", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": null, + "summary_zh": "评分轨迹完成全部 3/3 节点：相框约在视频 7.8 s 离台，两环虽在视频 36.4 s 均显示穿钩，但直到视频 39.2 s 才分别达到至少 20% 承重，随后保持成立。机器人双手各抓住同侧边框共同调位，再撤手；视频 42.2–视频 43.0 s 显示 PASS、双钩各承重 0.53 W、手接触数 0、hold 50/50，与 log step 108 服务端成功结果及实时/回放一致字段相符。无状态日志且背后环钩受遮挡，逐环穿挂与承重主要依据视频顶部基准读数；run.json 未报告 DAG 所列九项原生指标的独立数值，native_metrics 因而均留 null。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "成功轨迹，三个节点的时间（视频 7.8 s 离台、视频 39.2 s 双环承重≥0.2 W）与顶部读数帧一致，接触标注合理，无失败层。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:34:51Z", + "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-picture-hang-i00-standard--64ffl6b/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-picture-hang-i00-standard--64ffl6b/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a3b95293e85914eba1f3799e839035e899cf518bbd50cd5ad6992ba630c6b0bb", + "video_sha256": "fcb320745022a9e1bb251dec4ceccae548e4d703ada070c29d6da04f06a6a94c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-standard--amnkfuf.json b/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-standard--amnkfuf.json new file mode 100644 index 0000000000000000000000000000000000000000..a55dbce9007c4b381bc6a3291f5dc9da9c84a0ed --- /dev/null +++ b/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-standard--amnkfuf.json @@ -0,0 +1,306 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-picture-hang-i00-standard--amnkfuf", + "taskKey": "dexhand/picture_hang", + "dag_sha256": "aa6a1b7c76b911e4015893803bb156ab69766ab91b47214535622219f48b7b8b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 25, + "control_steps_total": 3693, + "elapsed_s": 3236.253, + "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": 1724, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 1, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 1724, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.312, + "peak_processes": 9, + "peak_disk_gb": 0.296, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-picture-hang-i00-standard--amnkfuf/replay.mp4", + "duration_s": 35.6, + "fps": 5.0, + "frames": 178, + "sha256": "9a812de43f8996800ff678030cee18a028e98ddb807bd8bfa839992f75e18c25" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "picture_lifted": { + "method": "visual", + "intervals": [ + [ + 4.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.8, + "log_step": null, + "text_zh": "观察：视频 4.6 s 顶部仍为 stage 0/3；视频 4.8 s 变为 stage 1/3，机器人双手持框，底边抬离棕色台面；视频 5.2–7.0 s 间隙继续扩大。离台时刻取首个确认帧，精度约 0.2 s。" + }, + { + "t": 35.4, + "log_step": null, + "text_zh": "观察：视频 35.4 s 的终止画面仍显示 stage 1/3；相框仍高于台面。该节点为锁存事件，末段丢失手部支承不撤销已完成的离台。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 4.0–7.0 s 及 14.0 s，机器人两只灵巧手分别以弯曲手指包住相框两侧边框，共同抬持；视频 14.0–34.4 s 继续持框升降、向墙钩就位。接触由双手经相框传至被动挂环，未见手直接操作挂环。" + } + ] + }, + "left_ring_on_hook": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.0, + "log_step": null, + "text_zh": "观察：视频 12.0–26.8 s，机器人双手将相框移向墙面并下降，随后视频 27.0–34.4 s 再次升降就位。逐帧检查的顶部评分器读数始终为 threaded L=0，且该侧 hook load=0.00 W（以相框总重为单位的墙钩承重读数）；未出现左环穿挂并承重的状态。" + }, + { + "t": 34.6, + "log_step": 45, + "text_zh": "观察：视频 34.6 s 首个终止画面及视频 35.4 s 末帧显示 threaded L=0、该侧 hook load=0.00 W、stage 1/3 和 FAIL: picture_unsupported。log step 45 的最后一次重置后运行在 settle 阶段返回 task_failure；未执行后续半开手验载或最终释放。" + }, + { + "t": null, + "log_step": null, + "text_zh": "观察：参考成功录像 inputs/oracle/replay.mp4 的视频 7.0 s 中，两侧 threaded 均为 1 且有非零承重；参考视频 9.0 s 显示 PASS、双钩承重和 hand contacts=0。此对照只说明相同视图可显示左环验收信号，不作为本次运行进展的证据。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 4.0–7.0 s 及 14.0 s，机器人两只灵巧手分别以弯曲手指包住相框两侧边框，共同抬持；视频 14.0–34.4 s 继续持框升降、向墙钩就位。接触由双手经相框传至被动挂环，未见手直接操作挂环。" + } + ] + }, + "right_ring_on_hook": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.0, + "log_step": null, + "text_zh": "观察：视频 12.0–26.8 s，机器人双手将相框移向墙面并下降，随后视频 27.0–34.4 s 再次升降就位。逐帧检查的顶部评分器读数始终为 threaded R=0，且该侧 hook load=0.00 W（以相框总重为单位的墙钩承重读数）；未出现右环穿挂并承重的状态。" + }, + { + "t": 34.6, + "log_step": 45, + "text_zh": "观察：视频 34.6 s 首个终止画面及视频 35.4 s 末帧显示 threaded R=0、该侧 hook load=0.00 W、stage 1/3 和 FAIL: picture_unsupported。log step 45 的最后一次重置后运行在 settle 阶段返回 task_failure；未执行后续半开手验载或最终释放。" + }, + { + "t": null, + "log_step": null, + "text_zh": "观察：参考成功录像 inputs/oracle/replay.mp4 的视频 7.0 s 中，两侧 threaded 均为 1 且有非零承重；参考视频 9.0 s 显示 PASS、双钩承重和 hand contacts=0。此对照只说明相同视图可显示右环验收信号，不作为本次运行进展的证据。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 4.0–7.0 s 及 14.0 s，机器人两只灵巧手分别以弯曲手指包住相框两侧边框，共同抬持；视频 14.0–34.4 s 继续持框升降、向墙钩就位。接触由双手经相框传至被动挂环，未见手直接操作挂环。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "lift_clearance_m", + "value": null, + "unit": "m", + "threshold": 0.02, + "direction": "higher_better" + }, + { + "name": "hook_load_share_l", + "value": null, + "unit": "ratio", + "threshold": 0.2, + "direction": "higher_better" + }, + { + "name": "hook_load_share_r", + "value": null, + "unit": "ratio", + "threshold": 0.2, + "direction": "higher_better" + }, + { + "name": "total_hook_load_share", + "value": null, + "unit": "ratio", + "threshold": 0.85, + "direction": "higher_better" + }, + { + "name": "abs_roll_deg", + "value": null, + "unit": "deg", + "threshold": 3, + "direction": "lower_better" + }, + { + "name": "tilt_rad", + "value": null, + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better" + }, + { + "name": "speed_m_s", + "value": null, + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better" + }, + { + "name": "angular_speed_rad_s", + "value": null, + "unit": "rad/s", + "threshold": 0.15, + "direction": "lower_better" + }, + { + "name": "hold_steps", + "value": null, + "unit": "control_step", + "threshold": 50, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "left_ring_on_hook", + "t": 34.4, + "log_step": 45, + "where": "操作中", + "evidence_zh": "观察：视频 27.0–34.4 s，机器人仍以双手持框向双钩升降就位，两侧 threaded 和 hook load 始终为 0；视频 34.4 s 手部接触数降到 1，视频 34.6 s 降到 0 并显示 FAIL: picture_unsupported，随后画面冻结。log step 44 的脚本在保持 GRIP 指令时追加向下 0.008 m 的就位动作；log step 45 返回 settle done True task_failure，后续半开手验载调用才收到 EpisodeOver，故失败发生在计划释放之前。推断：左右穿挂同步尝试且均未修复，以 DAG 中左环节点作为该共同挂钩失败的导航索引，不据此认定左侧先失败。" + }, + "unmet": { + "left_ring_on_hook": false, + "right_ring_on_hook": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 34.4, + "log_step": 45, + "evidence_zh": "观察：视频 30.0–34.2 s，机器人手部接触读数为 4–6，相框由双手抬持；视频 34.4 s 接触降至 1，视频 34.6 s 终止帧为 0，相框向一侧偏转，顶部显示 picture_unsupported，双钩承重均为 0。log step 44–45 表明这时仍执行保持闭合手指的 settle 动作，预定张手释放尚未开始。推断：机器人在挂环尚未承重时丢失原有抓持，属于没保持住；录像在无支承判负后冻结，未展示完整坠落。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 34.4, + "log_step": 45, + "source_zh": "日志", + "evidence_zh": "观察：log step 44 的最后一次运行脚本在双手保持 GRIP 时令两腕再下降 0.008 m，之后才安排半开手比较关节力矩；log step 45 明确记录 settle 阶段已 task_failure，验载未运行。视频 27.0–34.6 s 同时显示未穿挂、逐渐偏转及最终失去手部接触。推断：实际就位控制既未建立墙钩承重，也未在下降过程中保持住相框，归为控制失败；证据不足以进一步区分抓取接触设计、逆解跟踪或力反馈问题。" + } + ], + "gap_zh": "本目录无状态日志；总览中挂环被相框遮挡，虽顶部逐侧 threaded=0 与 hook load=0.00 W 足以判定两环节点未达成，但无法核实 agent 在 log step 46、48 所称“环搭在钩唇上”的具体几何，也无法确定失去抓持的力学细因。agent 在 log step 46 自述“倾倒”，log step 48 概述“释放阶段失败”；本次视频明确显示实际判负为 picture_unsupported，且 log step 45 的失败发生在 settle 阶段，标签据此记录。左右环为同步尝试，无法区分哪侧先发生不可恢复偏差；断点采用左环代表共同失败。原生指标未在 run.json 的评分字段中逐项报告，native_metrics 的 value 均为 null。" + }, + "summary_zh": "评分采用 log step 45 重置后的最后一次实时 episode：机器人在视频约 4.8 s 完成相框离台，最终保留 1/3 节点；左右环在全段均未达到穿挂承重条件。双手反复升降就位后，在计划释放之前失去抓持，视频 34.6 s 首个终止帧显示 picture_unsupported，断点以左环挂钩代表同时失败的两侧挂钩操作，根因保留为控制。无状态日志且挂环被遮挡，具体钩唇接触和抓持失效机制不能确定；不能将 agent 的“倾倒”自述替代视频判负信息。", + "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（相框离台约视频 4.8 s，左右环未达成）、断点（左环挂钩，操作中）与现象「没保持住」均与视频一致；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": "2026-10-30T05:48:37Z", + "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-picture-hang-i00-standard--amnkfuf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-picture-hang-i00-standard--amnkfuf/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c737b164f7b455247cb8c8e96694c8a3e6c37211c62cb1b239d44166001bf035", + "video_sha256": "9a812de43f8996800ff678030cee18a028e98ddb807bd8bfa839992f75e18c25", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-standard--hawsckm.json b/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-standard--hawsckm.json new file mode 100644 index 0000000000000000000000000000000000000000..34e38b71c7fdfff2f652ca9234c0c2e5fbc02799 --- /dev/null +++ b/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-standard--hawsckm.json @@ -0,0 +1,266 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-picture-hang-i00-standard--hawsckm", + "taskKey": "dexhand/picture_hang", + "dag_sha256": "aa6a1b7c76b911e4015893803bb156ab69766ab91b47214535622219f48b7b8b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 221, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 61, + "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": 61, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.422, + "peak_processes": 13, + "peak_disk_gb": 1.02, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-picture-hang-i00-standard--hawsckm/replay.mp4", + "duration_s": 2.4, + "fps": 5.0, + "frames": 12, + "sha256": "d6bd3ae3f67a837df86c571858482d845c1e3ed9042b22951687ca7ac2f34e9d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "picture_lifted": { + "method": "visual", + "intervals": [ + [ + 1.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.0, + "log_step": null, + "text_zh": "观察：视频 0.8 s 相框仍贴近台面，视频 1.0 s 白色底边已上移并与棕色台面出现间隙，顶部阶段从0/3变为1/3；这是评分器锁存的离台阶段。首次达成定位在视频 0.8–1.0 s 之间，取视频 1.0 s。" + }, + { + "t": 1.4, + "log_step": 185, + "text_zh": "观察：视频 1.4–2.2 s 为终止后的静止画面，仍显示stage 1/3；log step 185 的服务状态为episode 21、control_steps=61、done=true、reason=task_failure，评分记录live_matches_replay=1。离台节点为event，之后失去手接触不撤销已达成事件。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "压/擦", + "note_zh": "观察：视频 0.8–1.2 s 机器人两手在相框左右上部边框附近以伸展手指接触、擦压并带动相框上移，未见单手包围夹住边框；顶部hand contacts先为2、再为3、再降至1，视频 1.4 s 为0。该数字是手与框的接触计数，不能据此当成手的数量；具体手指与接触力未记录。" + } + ] + }, + "left_ring_on_hook": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.4, + "log_step": null, + "text_zh": "观察：已逐帧检查视频 0.0–2.2 s；相框只在台面上方小幅移动，未运到墙钩处，顶部threaded L=0、同侧hook load=0.00 W始终不变，终止画面亦如此。左环未形成穿钩承重关系；挂环虽被框遮挡，评分器的逐侧穿挂及承重显示足以判定未达成。" + } + ] + }, + "right_ring_on_hook": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.4, + "log_step": null, + "text_zh": "观察：已逐帧检查视频 0.0–2.2 s；相框只在台面上方小幅移动，未运到墙钩处，顶部threaded R=0、同侧hook load=0.00 W始终不变，终止画面亦如此。右环未形成穿钩承重关系；挂环虽被框遮挡，评分器的逐侧穿挂及承重显示足以判定未达成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "lift_clearance_m", + "unit": "m", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "hook_load_share_l", + "unit": "ratio", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "hook_load_share_r", + "unit": "ratio", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "total_hook_load_share", + "unit": "ratio", + "threshold": 0.85, + "direction": "higher_better", + "value": null + }, + { + "name": "abs_roll_deg", + "unit": "deg", + "threshold": 3, + "direction": "lower_better", + "value": null + }, + { + "name": "tilt_rad", + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better", + "value": null + }, + { + "name": "speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "hold_steps", + "unit": "control_step", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "picture_lifted", + "t": 1.4, + "log_step": 181, + "where": "操作中", + "evidence_zh": "观察：视频 1.0 s 相框已离台且hand contacts=3，视频 1.2 s 接触计数降至1，视频 1.4 s 首次显示FAIL: picture_unsupported及hand contacts=0，双钩仍均未穿挂、无承重。log step 179 启动最后一次控制脚本，log step 181 的回溯显示在初始shiftx动作中由服务返回task_failure，尚未进入后续夹压、搬运和穿挂；因此失败发生在初始取框抬持接触阶段，断点归本节点，已锁存的离台事件仍保留。视频 1.4 s 的顶部仿真时钟冻结在仿真 1.22 s，二者未混用。" + }, + "unmet": { + "left_ring_on_hook": false, + "right_ring_on_hook": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 1.4, + "log_step": 181, + "evidence_zh": "观察：视频 0.8–1.0 s 机器人手部接触并带起相框；视频 1.2 s 只余1处手接触，视频 1.4 s 接触归零且评分器报告picture_unsupported，相框此时没有双钩承重。这是建立过接触后失去支承，未见到达墙钩后的计划松手。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 1.4, + "log_step": 181, + "source_zh": "视频 / 日志", + "evidence_zh": "推断：视频 0.8–1.4 s 中机器人在取框接近动作里短暂带起相框，却未维持承载接触；log step 181 显示受评的最后一次脚本在shiftx动作期间终止，尚未执行后续press夹压循环，与视频中的早期失持一致。因此归为初始取框的控制问题；没有接触对、接触力或实际关节跟踪记录，不能进一步确认是接触几何设计还是运动跟踪问题。" + } + ], + "gap_zh": "观察：inputs/中没有状态日志；录像只有总览、5 fps，手与边框的具体接触点有遮挡，无法分辨滑脱的具体手指、法向力及关节跟踪误差，因此控制根因不细分。所有原生指标在run.json评分字段中均未报告，value均保留null；未把视频顶部读数充作这些评分字段。log step 183 的再次reset被拒绝，log step 191–197 的后续脚本改写及语法验证没有产生新episode；这些改写和agent在log step 198的可达性自述均不当作本次受评动作或不可达证据。" + }, + "summary_zh": "本次受评episode在视频约 1.0 s 达成相框离台，锁存进度为1/3；左右挂环始终未穿挂，承重显示均为零。机器人仍在初始取框阶段就失去全部手部接触，视频 1.4 s 显示picture_unsupported并终止，现象为没保持住、根因为控制；后续脚本改写未形成新的受评episode。缺少状态、接触力和关节跟踪记录，无法细分控制原因，不能把agent的可达性自述当成本次失败原因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频帧与顶部读数一致：视频 1.0 s stage 0/3→1/3（接触数3），1.2 s 接触数1，1.4 s FAIL: picture_unsupported；左右环 threaded=0、hook load=0 全程不变。断点归 picture_lifted、现象没保持住、根因控制（标为推断）均有证据支持，未发现需改动之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:31:06Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-picture-hang-i00-standard--hawsckm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-picture-hang-i00-standard--hawsckm/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a4fe21bc5b3198af08397b101de9a5ed6c233bff0654eb9627cc25f0def7c06a", + "video_sha256": "d6bd3ae3f67a837df86c571858482d845c1e3ed9042b22951687ca7ac2f34e9d", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-standard--prtet6q.json b/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-standard--prtet6q.json new file mode 100644 index 0000000000000000000000000000000000000000..7cbe2b679cff27f07992b1fcd320de5b5eb171ba --- /dev/null +++ b/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-standard--prtet6q.json @@ -0,0 +1,288 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-picture-hang-i00-standard--prtet6q", + "taskKey": "dexhand/picture_hang", + "dag_sha256": "aa6a1b7c76b911e4015893803bb156ab69766ab91b47214535622219f48b7b8b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 418, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 1418, + "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": 1418, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.402, + "peak_processes": 13, + "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-picture-hang-i00-standard--prtet6q/replay.mp4", + "duration_s": 29.4, + "fps": 5.0, + "frames": 147, + "sha256": "54e72fac9e7e71c3cf51dcbc99ae6ea75ecd91db3cc304b6b1ad25ee6dc51480" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "picture_lifted": { + "method": "visual", + "intervals": [ + [ + 6.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.0, + "log_step": 146, + "text_zh": "观察：视频 5.8 s 相框仍靠近台面且顶部 stage=0/3；视频 6.0 s 双手抬起相框，底边与棕色台面出现间隙，stage 首次显示 1/3。视频 8.4–28.4 s 相框持续悬离台面；本节点为离台事件，后续穿挂失败不撤销。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 5.4–25.0 s，机器人左右手分别闭合在相框两侧边框，弯曲手指绕至框后，共同抬持、搬向墙钩并调整倾角；视频 25.0–28.4 s 双手向两侧移开并逐渐张指。此处各手以弯指包住侧框，区别于成功参考中的双手对向平压。" + } + ] + }, + "left_ring_on_hook": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 21.8, + "log_step": 146, + "text_zh": "观察：视频 12.0–25.0 s 机器人双手持框靠墙、倾斜、下放并回正；逐帧检查顶部读数，左侧 threaded L 始终为 0，虽然视频 21.8 s 同侧 hook load 约为 3.10 W。负载读数非零不等于挂环已穿过钩座。" + }, + { + "t": 28.4, + "log_step": 147, + "text_zh": "观察：视频 28.2 s 左侧 threaded L=0；视频 28.4–29.2 s 终止静帧仍为 0，hand contacts=0，显示 FAIL: picture_unsupported，未曾达到该侧穿挂条件。总览遮住环钩细节，但顶部逐侧穿挂标志可判定；成功参考录像的视频 8.0 s 显示 threaded L=1 R=1、双钩承重且 hand contacts=0，可对照该通道含义。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 5.4–25.0 s，机器人左右手分别闭合在相框两侧边框，弯曲手指绕至框后，共同抬持、搬向墙钩并调整倾角；视频 25.0–28.4 s 双手向两侧移开并逐渐张指。此处各手以弯指包住侧框，区别于成功参考中的双手对向平压。" + } + ] + }, + "right_ring_on_hook": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 21.8, + "log_step": 146, + "text_zh": "观察：视频 12.0–25.0 s 机器人双手持框靠墙、倾斜、下放并回正；逐帧检查顶部读数，右侧 threaded R 始终为 0，虽然视频 21.8 s 同侧 hook load 约为 3.08 W。负载读数非零不等于挂环已穿过钩座。" + }, + { + "t": 28.4, + "log_step": 147, + "text_zh": "观察：视频 28.2 s 右侧 threaded R=0；视频 28.4–29.2 s 终止静帧仍为 0，hand contacts=0，显示 FAIL: picture_unsupported，未曾达到该侧穿挂条件。总览遮住环钩细节，但顶部逐侧穿挂标志可判定；成功参考录像的视频 8.0 s 显示 threaded L=1 R=1、双钩承重且 hand contacts=0，可对照该通道含义。" + }, + { + "t": 28.4, + "log_step": 151, + "text_zh": "观察：agent 在 log step 151 自述右环已穿挂；评分录像视频 0.0–29.2 s 的 threaded R 始终为 0，故不采用该自述给右环计进度。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 5.4–25.0 s，机器人左右手分别闭合在相框两侧边框，弯曲手指绕至框后，共同抬持、搬向墙钩并调整倾角；视频 25.0–28.4 s 双手向两侧移开并逐渐张指。此处各手以弯指包住侧框，区别于成功参考中的双手对向平压。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "lift_clearance_m", + "unit": "m", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "hook_load_share_l", + "unit": "ratio", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "hook_load_share_r", + "unit": "ratio", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "total_hook_load_share", + "unit": "ratio", + "threshold": 0.85, + "direction": "higher_better", + "value": null + }, + { + "name": "abs_roll_deg", + "unit": "deg", + "threshold": 3, + "direction": "lower_better", + "value": null + }, + { + "name": "tilt_rad", + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better", + "value": null + }, + { + "name": "speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "hold_steps", + "unit": "control_step", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "left_ring_on_hook", + "t": 28.4, + "log_step": 147, + "where": "操作中", + "evidence_zh": "观察：机器人在视频 12.0–28.2 s 同时尝试左右环穿挂，但两侧 threaded 始终为 0；视频 28.4 s 张指后 hand contacts 从 6 变为 0，评分画面报 picture_unsupported 并冻结，未完成穿挂。两侧同步操作且同时未达，断点以左环节点代表这次未修复的挂钩失败，右环也未达。log step 147 服务返回 open True task_failure 1418，log step 149 确认这是 episode 21、已无重置额度；后写的控制器不是另一条成功评分轨迹。" + }, + "unmet": { + "left_ring_on_hook": false, + "right_ring_on_hook": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 28.4, + "log_step": 147, + "evidence_zh": "观察：视频 17.2–25.0 s 双钩已有负载读数，但左右 threaded 一直为 0；视频 28.2 s 相框仍由手接触，视频 28.4 s 机器人张指撤去接触时两环仍未穿到匹配钩座，画面立即显示 picture_unsupported。松手前穿挂位置就未达成，不能视作挂好后的失稳或脱钩。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频 / 日志", + "evidence_zh": "推断：log step 146 的脚本给双腕下发靠墙、倾斜、下降及回正的连续目标，视频 12.0–25.0 s 可见对应持框运动；两侧 hook load 随动作明显变化，却始终未形成 threaded=1 的环钩相对位姿，log step 147 随后的张指动作在视频 28.4 s 撤掉最后手部支承并失败。证据支持穿挂对位与支承转移的控制未奏效；尚不足区分抓取几何、轨迹跟踪或参数问题，根因停留在控制。" + } + ], + "gap_zh": "相框背后的环钩几何被遮挡，且 inputs 中无状态日志，无法辨明挂环停在钩唇何处、手指是否阻挡靠墙及具体控制子类；不把 agent 在 log step 151 对左环未挂上的猜测当作几何事实。顶部逐侧 threaded 和终止原因足以判定两个节点均未达。run.json 的 reward 未报告 DAG 所列原生指标数值，因此 native_metrics 的 value 均为 null；视频顶部瞬时读数只作为节点证据。" + }, + "summary_zh": "评分 episode 21 在视频约 6.0 s 完成相框离台，最终进度为 1/3；双手持框靠墙、倾斜下放并回正，但左右挂环在所有已检查帧的 threaded 标志始终为 0。视频 28.4 s 张指后手部接触归零，评分画面以 picture_unsupported 终止；断点记左环挂钩，右环也未达，现象为穿挂位姿不准，根因仅归到控制。agent 在 log step 151 称右环已挂上与评分视频不符；环钩细节遮挡及无状态日志限制了更细的控制归因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "离台约视频6.0 s、两侧threaded全程为0、28.4 s张指后接触归零并报picture_unsupported，均与帧一致；断点、现象与根因（控制）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": "2026-10-30T05:34:45Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-picture-hang-i00-standard--prtet6q/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-picture-hang-i00-standard--prtet6q/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "424a70c203b876c8ba4da33f1b26a3c6259cbff9a93fe248a9e44751a11ee0b6", + "video_sha256": "54e72fac9e7e71c3cf51dcbc99ae6ea75ecd91db3cc304b6b1ad25ee6dc51480", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-standard--psemhvj.json b/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-standard--psemhvj.json new file mode 100644 index 0000000000000000000000000000000000000000..745a7e5516ae3efe10217f7931e88ee42e2dc6eb --- /dev/null +++ b/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-standard--psemhvj.json @@ -0,0 +1,278 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-picture-hang-i00-standard--psemhvj", + "taskKey": "dexhand/picture_hang", + "dag_sha256": "aa6a1b7c76b911e4015893803bb156ab69766ab91b47214535622219f48b7b8b", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "calls": 48, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 1, + "n_actions": 331, + "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": 331, + "success": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.432, + "peak_processes": 9, + "peak_disk_gb": 0.302, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-picture-hang-i00-standard--psemhvj/replay.mp4", + "duration_s": 7.8, + "fps": 5.0, + "frames": 39, + "sha256": "b97cce5f8434f9e0dbe20358cb0fc805e8d41d823881d21f91f5401763a26af4" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "picture_lifted": { + "method": "visual", + "intervals": [ + [ + 1.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.8, + "log_step": 100, + "text_zh": "观察：视频1.6 s顶部stage仍为0/3；视频1.8 s变为1/3，机器人双手夹持的白色相框底边已与棕色台面分开。随后视频2.4–3.4 s相框明显抬高并移向墙钩；视频时间直接取帧，未用agent工作时间换算。" + }, + { + "t": 7.6, + "log_step": 115, + "text_zh": "观察：视频6.8–7.6 s相框悬在台面上方，顶部stage为3/3且显示PASS；log step 115服务返回done=True、reason=success、control_steps=331，reward记录live_success=1、replay_success=1、live_matches_replay=1。此前其他重置局的失败不属于本视频。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "其他", + "note_zh": "推断：候选接触名为“双手对向夹压”。视频1.6–5.4 s机器人左右手同时贴压相框两侧外缘并抬持、送向墙钩，手指未包围各自边框；log step 100的对称向内夹压指令与此一致。承重来自双手相向夹压，抓握及从下方托起均不贴切，按D12使用其他；视频5.8 s双手已撤开。" + } + ] + }, + "left_ring_on_hook": { + "method": "visual", + "intervals": [ + [ + 5.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 5.0, + "log_step": 110, + "text_zh": "观察：视频4.8 s顶部虽已显示threaded L=1，但该侧hook load为0.00 W，尚不计达成；视频5.0 s机器人下放相框后，threaded L=1、左钩hook load=0.42 W，超过0.20 W承重阈值，stage进入2/3。这里W表示相框总重的倍数，数值来自视频顶部的基准评分器显示；挂环本身在总览中被相框遮挡。" + }, + { + "t": 5.8, + "log_step": 115, + "text_zh": "观察：视频5.0–5.6 s机器人逐渐减小夹持并撤手，左侧穿挂标志维持1，承重读数始终大于0.20 W；视频5.8 s手接触数为0，左右钩承重分别为0.54 W和0.52 W，保持计数9/50，相框仍悬空。" + }, + { + "t": 7.6, + "log_step": 115, + "text_zh": "观察：视频6.0–6.6 s相框保持悬挂，计数递增至49/50；视频6.8–7.6 s顶部显示PASS、stage 3/3、threaded L=1、左钩承重0.53 W、hand contacts 0、roll约0度及hold 50/50。log step 115服务返回success，reward亦确认实时及回放成功；与成功参考视频的松手承重显示一致。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "其他", + "note_zh": "推断：候选接触名为“双手对向夹压”。视频1.6–5.4 s机器人左右手同时贴压相框两侧外缘并抬持、送向墙钩，手指未包围各自边框；log step 100的对称向内夹压指令与此一致。承重来自双手相向夹压，抓握及从下方托起均不贴切，按D12使用其他；视频5.8 s双手已撤开。" + } + ] + }, + "right_ring_on_hook": { + "method": "visual", + "intervals": [ + [ + 5.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 5.0, + "log_step": 110, + "text_zh": "观察：视频4.8 s顶部虽已显示threaded R=1，但该侧hook load为0.00 W，尚不计达成；视频5.0 s机器人下放相框后，threaded R=1、右钩hook load=0.36 W，超过0.20 W承重阈值，stage进入2/3。这里W表示相框总重的倍数，数值来自视频顶部的基准评分器显示；挂环本身在总览中被相框遮挡。" + }, + { + "t": 5.8, + "log_step": 115, + "text_zh": "观察：视频5.0–5.6 s机器人逐渐减小夹持并撤手，右侧穿挂标志维持1，承重读数始终大于0.20 W；视频5.8 s手接触数为0，左右钩承重分别为0.54 W和0.52 W，保持计数9/50，相框仍悬空。" + }, + { + "t": 7.6, + "log_step": 115, + "text_zh": "观察：视频6.0–6.6 s相框保持悬挂，计数递增至49/50；视频6.8–7.6 s顶部显示PASS、stage 3/3、threaded R=1、右钩承重0.53 W、hand contacts 0、roll约0度及hold 50/50。log step 115服务返回success，reward亦确认实时及回放成功；与成功参考视频的松手承重显示一致。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "其他", + "note_zh": "推断：候选接触名为“双手对向夹压”。视频1.6–5.4 s机器人左右手同时贴压相框两侧外缘并抬持、送向墙钩，手指未包围各自边框；log step 100的对称向内夹压指令与此一致。承重来自双手相向夹压，抓握及从下方托起均不贴切，按D12使用其他；视频5.8 s双手已撤开。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "lift_clearance_m", + "unit": "m", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "hook_load_share_l", + "unit": "ratio", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "hook_load_share_r", + "unit": "ratio", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "total_hook_load_share", + "unit": "ratio", + "threshold": 0.85, + "direction": "higher_better", + "value": null + }, + { + "name": "abs_roll_deg", + "unit": "deg", + "threshold": 3, + "direction": "lower_better", + "value": null + }, + { + "name": "tilt_rad", + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better", + "value": null + }, + { + "name": "speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "hold_steps", + "unit": "control_step", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": null, + "summary_zh": "机器人以双手对向夹压抬持相框，视频约1.8 s完成离台，约5.0 s左右挂环同时穿挂并各自承重，三个节点均保持到结束。视频5.8 s双手接触归零，视频6.8 s已显示PASS及50/50保持，评分器确认实时与回放均成功，无失败断点。无状态日志且挂环受相框遮挡，逐环验收依视频顶部穿挂、承重读数及成功判定；reward未逐项报告DAG原生指标，故指标值留null。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "成功局，三个节点时间（1.8 s离台、5.0 s双环承重、保持到结束）与视频顶部HUD读数一致，双臂协作+其他的接触标注合理，无失败断点，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:32:42Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-picture-hang-i00-standard--psemhvj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-picture-hang-i00-standard--psemhvj/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a3c81260b407867f42abe7f91b1a3192b9400d3a478d838b9cee3a43aeeceaf8", + "video_sha256": "b97cce5f8434f9e0dbe20358cb0fc805e8d41d823881d21f91f5401763a26af4", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-standard--udgjqcn.json b/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-standard--udgjqcn.json new file mode 100644 index 0000000000000000000000000000000000000000..50a09a977ccc0fa5d3f0c92946d0ff473ebf63d0 --- /dev/null +++ b/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-standard--udgjqcn.json @@ -0,0 +1,288 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-picture-hang-i00-standard--udgjqcn", + "taskKey": "dexhand/picture_hang", + "dag_sha256": "aa6a1b7c76b911e4015893803bb156ab69766ab91b47214535622219f48b7b8b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 449, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 1021, + "no_verdict": 0, + "replay_success": 0, + "reset_budget": 20, + "resets": 13, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 1021, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.247, + "peak_processes": 10, + "peak_disk_gb": 0.903, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-picture-hang-i00-standard--udgjqcn/replay.mp4", + "duration_s": 21.6, + "fps": 5.0, + "frames": 108, + "sha256": "dc32a41091cffe628a89d73125df343db99a6818ef0e7dd94ecc6cf26c37d397" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "picture_lifted": { + "method": "visual", + "intervals": [ + [ + 1.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.0, + "log_step": null, + "text_zh": "观察：视频 0.8 s 相框仍靠近台面、顶部 stage 0/3；视频 1.0 s 底边升高并与棕色台面分离，顶部变为 stage 1/3，视频 1.2–1.6 s 间隙更清楚。首次离台取视频约 1.0 s（采样精度 0.2 s）。" + }, + { + "t": 8.0, + "log_step": null, + "text_zh": "观察：视频 8.0–16.0 s 机器人双手继续抬高并将相框送向墙钩，原台面上已无相框；视频 21.4 s 末帧仍显示 stage 1/3。本节点为锁存事件。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：机器人双手分别作用于相框左右上部边框；视频 0.6–3.0 s 先以较伸直的手指贴压，视频 8.0 s、16.0 s 可见手指卷曲在边框附近、拇指与其相对夹持，双手共同抬持并运送相框；视频 19.2–20.6 s 逐渐张手撤离。" + } + ] + }, + "left_ring_on_hook": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 16.0, + "log_step": null, + "text_zh": "观察：视频 0.0–18.8 s 全段逐帧检查中，机器人将相框抬向墙面并调整高度；视频 16.0 s 相框在钩前由双手夹持，顶部 左侧 threaded L=0、hook load L=0.00 W，未显示穿挂承重。" + }, + { + "t": 20.6, + "log_step": 285, + "text_zh": "观察：视频 19.0–21.4 s 逐帧可见机器人张手，左侧 threaded L 始终为 0、hook load L 始终为 0.00 W；视频 20.6 s 起显示 FAIL: picture_unsupported、hand contacts 0，末帧仍同。log step 285 服务端返回 episode 14、control_steps 1021、task_failure；这里只作最终 episode 身份与结果佐证，不用 agent 时间定位视频。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：机器人双手分别作用于相框左右上部边框；视频 0.6–3.0 s 先以较伸直的手指贴压，视频 8.0 s、16.0 s 可见手指卷曲在边框附近、拇指与其相对夹持，双手共同抬持并运送相框；视频 19.2–20.6 s 逐渐张手撤离。" + } + ] + }, + "right_ring_on_hook": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 16.0, + "log_step": null, + "text_zh": "观察：视频 0.0–18.8 s 全段逐帧检查中，机器人将相框抬向墙面并调整高度；视频 16.0 s 相框在钩前由双手夹持，顶部 右侧 threaded R=0、hook load R=0.00 W，未显示穿挂承重。" + }, + { + "t": 20.6, + "log_step": 285, + "text_zh": "观察：视频 19.0–21.4 s 逐帧可见机器人张手，右侧 threaded R 始终为 0、hook load R 始终为 0.00 W；视频 20.6 s 起显示 FAIL: picture_unsupported、hand contacts 0，末帧仍同。log step 285 服务端返回 episode 14、control_steps 1021、task_failure；这里只作最终 episode 身份与结果佐证，不用 agent 时间定位视频。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：机器人双手分别作用于相框左右上部边框；视频 0.6–3.0 s 先以较伸直的手指贴压，视频 8.0 s、16.0 s 可见手指卷曲在边框附近、拇指与其相对夹持，双手共同抬持并运送相框；视频 19.2–20.6 s 逐渐张手撤离。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "lift_clearance_m", + "unit": "m", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "hook_load_share_l", + "unit": "ratio", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "hook_load_share_r", + "unit": "ratio", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "total_hook_load_share", + "unit": "ratio", + "threshold": 0.85, + "direction": "higher_better", + "value": null + }, + { + "name": "abs_roll_deg", + "unit": "deg", + "threshold": 3, + "direction": "lower_better", + "value": null + }, + { + "name": "tilt_rad", + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better", + "value": null + }, + { + "name": "speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "hold_steps", + "unit": "control_step", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "left_ring_on_hook", + "t": 20.2, + "log_step": 283, + "where": "操作中", + "evidence_zh": "观察：视频 16.0–20.4 s 机器人双手在墙钩前下放相框并张手，但 threaded L=0、R=0，双钩承重均为 0.00 W；视频 20.6 s 首次显示无支承判负。左右穿挂同时尝试、均未修复；断点按 DAG 顺序取左环挂上钩，右环也未完成。" + }, + "unmet": { + "left_ring_on_hook": false, + "right_ring_on_hook": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 20.2, + "log_step": 283, + "evidence_zh": "观察：视频 19.0–20.4 s 机器人在相框尚未穿挂双钩时打开手指，顶部 threaded L=0、R=0，hook load L=0.00、R=0.00 W；视频 20.6 s 手接触归零并出现 picture_unsupported。相框在计划撤手前未落入双环穿钩承重的位置。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "感知", + "source_zh": "agent 自述 / 日志 / 视频", + "evidence_zh": "推断：agent 对环钩空间关系的视觉判断错误促成了提前撤手。log step 281 的自编颜色连通域测量只输出一个合并区域，log step 283 却自述“两侧挂环与承重座等高且深度对齐，特写显示环钩重叠”，随后把双手手指目标设为零并计划检查承重；log step 285 又命令张开的双手抬离。视频 19.0–20.6 s 的实际穿挂和承重读数均为零，证明该视觉重叠判断没有对应到真实穿挂；这不是由失败分数反推的定位错误。" + } + ], + "gap_zh": "无状态日志；录像只有总览，背部挂环被相框和双手遮挡，无法确定穿挂失败的具体深度、高度或挂环转角偏差，也不能独立复核指间全部接触对。节点真假依据可读的顶部 threaded、hook load、stage 与末端判负信息；认知根因由 log step 283 的明确空间判断及后续撤手行为推断。原生指标未在 run.json 的 reward 字段报告，均置 null，未把视频读数填作评分器字段。" + }, + "summary_zh": "本次评分为最后的第 14 个 episode：相框在视频约 1.0 s 离台，此后双手抬框靠近墙钩，但左右环始终未穿挂承重，最终节点为 1/3。机器人在视频约 20.2 s 撤手时仍未挂好，视频 20.6 s 起显示 picture_unsupported；log step 283 表明 agent 将环钩视觉重叠判断为已对准，进而撤手。挂环受遮挡且无状态日志，具体几何偏差不明；成功参考的 threaded 双侧为 1、承重非零的显示仅用于辨认达标线索。", + "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（离台约视频 1.0 s）、左右环未挂、断点 left_ring_on_hook、位姿不准与感知（标为推断，依据 log step 283 自述 + 视频读数）均与视频/日志一致，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": "2026-10-30T05:36:23Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-picture-hang-i00-standard--udgjqcn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-picture-hang-i00-standard--udgjqcn/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a53c9226fe697dbd2c99bbb7e7e04b24a89ecb1926139a71542b6368bb7037c9", + "video_sha256": "dc32a41091cffe628a89d73125df343db99a6818ef0e7dd94ecc6cf26c37d397", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-standard--uyardg7.json b/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-standard--uyardg7.json new file mode 100644 index 0000000000000000000000000000000000000000..244d36ae594fb8819944058e66d44ccba5b2f963 --- /dev/null +++ b/phase2/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-standard--uyardg7.json @@ -0,0 +1,250 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-picture-hang-i00-standard--uyardg7", + "taskKey": "dexhand/picture_hang", + "dag_sha256": "aa6a1b7c76b911e4015893803bb156ab69766ab91b47214535622219f48b7b8b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 369, + "control_steps_total": 6451, + "elapsed_s": 3649.905, + "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": 30, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 16, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 30, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.674, + "peak_processes": 9, + "peak_disk_gb": 0.275, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-picture-hang-i00-standard--uyardg7/replay.mp4", + "duration_s": 1.8, + "fps": 5.0, + "frames": 9, + "sha256": "09235814cb3ba10d26afaa403ee129282707538826461459eed23f98067be0ad" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "picture_lifted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0、0.2、0.4、0.6 s 及视频 0.8–1.6 s 的末尾静帧中，相框底边一直留在棕色台面上，未出现离台间隙；机器人双手张开，仅小幅接近相框。顶部评分器叠字始终为 stage 0/3、hand contacts 0。" + }, + { + "t": 0.6, + "log_step": 655, + "text_zh": "推断：log step 655 的最后一轮脚本先重置，再以双手张开的 approach_1 阶段接近相框，该阶段设为 0.6 秒；log step 656 启动该脚本后没有返回结果。评分字段 n_actions=30、sim_steps=30，与该脚本 dt=0.02 下首段 30 行及视频顶部仿真终点 0.60 s 相符，故本次评分片段仅包含首段接近，不能计入前面多轮会话中的抬框试验。" + } + ], + "contact_actual": [ + { + "who": "无接触", + "how": "不适用", + "note_zh": "观察：视频 0.0–0.6 s，机器人两只张开的手仅向相框两侧接近，未执行闭指夹持或承重，顶部 hand contacts 始终为 0；记录的是夹持前接近阶段，无实际目标接触，并非一次已执行而落空的抓握。" + } + ] + }, + "left_ring_on_hook": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.6, + "log_step": null, + "text_zh": "观察：视频 0.0–1.6 s 的全部 9 帧中，相框均未离台，也未被移到墙钩处；顶部评分器叠字始终为 threaded L=0、同侧 hook load=0.00 W，左环未穿挂或承重。成功参考视频约 7.0–8.5 s 可见相框悬空并显示双环 threaded=1 和正承重；本次没有出现这些判据，左环挂钩步骤也未开始。" + } + ] + }, + "right_ring_on_hook": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.6, + "log_step": null, + "text_zh": "观察：视频 0.0–1.6 s 的全部 9 帧中，相框均未离台，也未被移到墙钩处；顶部评分器叠字始终为 threaded R=0、同侧 hook load=0.00 W，右环未穿挂或承重。成功参考视频约 7.0–8.5 s 可见相框悬空并显示双环 threaded=1 和正承重；本次没有出现这些判据，右环挂钩步骤也未开始。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "lift_clearance_m", + "unit": "m", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "hook_load_share_l", + "unit": "ratio", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "hook_load_share_r", + "unit": "ratio", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "total_hook_load_share", + "unit": "ratio", + "threshold": 0.85, + "direction": "higher_better", + "value": null + }, + { + "name": "abs_roll_deg", + "unit": "deg", + "threshold": 3, + "direction": "lower_better", + "value": null + }, + { + "name": "tilt_rad", + "unit": "rad", + "threshold": 0.1, + "direction": "lower_better", + "value": null + }, + { + "name": "speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "hold_steps", + "unit": "control_step", + "threshold": 50, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "picture_lifted", + "t": null, + "log_step": 656, + "where": "操作中", + "evidence_zh": "观察：视频 0.0–0.6 s 机器人双手仅作初始接近，相框始终由台面支承，末尾视频 0.8–1.6 s 重复仿真 0.60 s 的终帧；log step 655–656 创建并启动重置后的第17轮脚本，评分字段只记录30个动作。推断：最早未完成且未修复的步骤是相框离台；接近已启动，但没有可定位的接触失误、滑落或碰撞时刻，故断点时间留空。" + }, + "unmet": { + "left_ring_on_hook": false, + "right_ring_on_hook": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 有本次视频和完整会话日志，无 states.jsonl；最后的 log step 656 输出为空，没有该次控制器的返回状态或终止原因，也没有最终完成报告（最后一条 say 是 log step 518 等待此前第15轮的观察结果）。视频仅展示双手张开的初始接近及其静帧，没有执行闭指、抬升或挂环就位，无法据此判为抓握落空、没保持住或位姿不准；因此现象层留空。推断：此前多轮会话的抓取、逆解及挂钩调试不能证明本次首段结束的具体能力根因；单凭会话预算耗尽或动作较少也不能归因，故根因层留空。视频时间与顶部仿真时间分别记录，未把 agent 时间换算为视频时间；各原生指标在 run.json 的评分字段中未报告，均填 null。" + }, + "summary_zh": "本次评分片段中，机器人只以张开的双手向相框接近，相框未离台，左右挂环也未挂钩，三个节点终态均为 false（0/3）。断点为相框离台的操作中；视频在仿真 0.60 s 后静止，末轮日志未返回结果，无法判定具体接触失败现象或控制根因，故两层均留空。此前重置前各轮的进展未计入本次。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频仅 9 帧（0–0.6 s 仿真，之后静帧），相框始终在台面、阶段 0/3、hand contacts 0，三个节点 false、peak 0 均成立；最后一轮重置后的脚本被 3600 s 时限截断，未交付任何可评动作，现象/根因留空并写 gap_zh 符合规则，断点 picture_lifted/操作中可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:33:33Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-picture-hang-i00-standard--uyardg7/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-picture-hang-i00-standard--uyardg7/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "09431c4b5611f5d6782c48610adebc8ef0b7b74a98dd8125366775edaaa965cc", + "video_sha256": "09235814cb3ba10d26afaa403ee129282707538826461459eed23f98067be0ad", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-privileged--dtfcmpn.json b/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-privileged--dtfcmpn.json new file mode 100644 index 0000000000000000000000000000000000000000..9c9222b172d20b48a6a7362fd0637f9fcaf15fe0 --- /dev/null +++ b/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-privileged--dtfcmpn.json @@ -0,0 +1,345 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-remote-battery-swap-i00-privileged--dtfcmpn", + "taskKey": "dexhand/remote_battery_swap", + "dag_sha256": "448d38d5df99705f24cec0642f2338ce7100127136b831930f8d1fee7f80f537", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 503, + "sim_steps": 503, + "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": 3.808, + "peak_processes": 15, + "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-remote-battery-swap-i00-privileged--dtfcmpn/replay.mp4", + "duration_s": 12.1, + "fps": 10.0, + "frames": 121, + "sha256": "3c7b5a8cae249e663832cd47368c8aca0f8031b874dca329ad93660125c4c095" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "battery_cover_opened": { + "method": "visual", + "intervals": [ + [ + 8.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8.4, + "log_step": null, + "text_zh": "观察：视频 8.3 s 叠字仍为 Stages 0/4、door 59 mm，视频 8.4 s 变为 Stages 1/4、door 62 mm；右手食指将黑色滑盖向尾端推开，灰色电池露出。视频 9.2–12.0 s 滑盖保持伸出，叠字 door 85 mm。" + }, + { + "t": null, + "log_step": 26, + "text_zh": "观察：评分器 reward.stages_completed=1；log step 26 保存的脚本只执行开盖控制段，输出 final status 1，与视频相符。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频约 1.8–6.2 s，右手食指指腹下压滑盖锁片并沿尾端方向擦动；视频约 6.5–9.3 s 调整手腕后用同一食指抵着锁片前面推开滑盖，随后抬指撤离；没有夹持滑盖。" + } + ] + }, + "old_cell_in_tray": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.0, + "log_step": null, + "text_zh": "观察：视频 8.4–12.0 s 开盖后灰色旧电池仍卧在遥控器仓内，右侧白色托盘始终为空；右手食指从滑盖端撤开，没有转向旧电池或进行捏取。" + }, + { + "t": null, + "log_step": 26, + "text_zh": "观察：log step 26 的最终生成脚本没有加入取旧电池控制段；log step 21–25 的捏取和碰撞属于另行测试，未被保存进这次交付轨迹。" + } + ] + }, + "new_cell_seated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.0, + "log_step": null, + "text_zh": "观察：视频 0.0–12.0 s 绿色新电池一直留在遥控器前方桌面原处；末帧仓内仍是灰色旧电池，右手未接近绿色电池。" + } + ] + }, + "battery_cover_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 1.9 + ] + ], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 黑色滑盖完全覆盖电池仓，滑盖没有伸出，叠字 door 0 mm；开始时关盖条件成立。" + }, + { + "t": 1.9, + "log_step": null, + "text_zh": "推断：视频 1.7–2.2 s 右手食指下降压入锁片，视频 2.1–2.8 s 盖仍接近闭合但锁片处于按压状态，约视频 1.9 s 起失去锁片回弹条件；毫米级阈值不可从总览精确读出，此边界约有 0.3 s 不确定性。之后视频 3.0 s 盖已有明显开缝，视频 3.5–12.0 s 持续打开且从未推回。" + }, + { + "t": 12.0, + "log_step": null, + "text_zh": "观察：视频 12.0 s 滑盖伸出遥控器尾部、灰色电池仍露出，叠字 door 85 mm；本次没有执行最终关盖动作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "cover_slide_m_open", + "value": null, + "unit": "m", + "threshold": 0.06, + "direction": "higher_better" + }, + { + "name": "cover_slide_m_closed", + "value": null, + "unit": "m", + "threshold": 0.002, + "direction": "lower_better" + }, + { + "name": "tab_depth_m_closed", + "value": null, + "unit": "m", + "threshold": 0.0015, + "direction": "lower_better" + }, + { + "name": "old_cell_tray_local_x_abs", + "value": null, + "unit": "m", + "threshold": 0.037, + "direction": "lower_better" + }, + { + "name": "old_cell_tray_local_y_abs", + "value": null, + "unit": "m", + "threshold": 0.032, + "direction": "lower_better" + }, + { + "name": "old_cell_tray_local_z", + "value": null, + "unit": "m", + "threshold": 0.014, + "direction": "lower_better" + }, + { + "name": "new_cell_slot_error_x_abs", + "value": null, + "unit": "m", + "threshold": 0.005, + "direction": "lower_better" + }, + { + "name": "new_cell_slot_error_y_abs", + "value": null, + "unit": "m", + "threshold": 0.003, + "direction": "lower_better" + }, + { + "name": "new_cell_slot_error_z_abs", + "value": null, + "unit": "m", + "threshold": 0.002, + "direction": "lower_better" + }, + { + "name": "new_cell_axis_angle_deg", + "value": null, + "unit": "deg", + "threshold": 10, + "direction": "lower_better" + }, + { + "name": "max_speed_m_s", + "value": null, + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better" + }, + { + "name": "max_spin_rad_s", + "value": null, + "unit": "rad/s", + "threshold": 0.5, + "direction": "lower_better" + }, + { + "name": "remote_displacement_m", + "value": null, + "unit": "m", + "threshold": 0.03, + "direction": "lower_better" + }, + { + "name": "remote_tilt_deg", + "value": null, + "unit": "deg", + "threshold": 15, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "old_cell_in_tray", + "t": 9.8, + "log_step": 26, + "where": "首步前", + "evidence_zh": "观察：视频 9.4–10.0 s 右手从已打开的滑盖旁抬离，视频 10.1–12.0 s 只展示同一终态，灰色电池留在仓内、托盘为空，取旧电池的动作没有开始；log step 26 最终保存的脚本仅包含开盖段及保持动作。" + }, + "unmet": { + "battery_cover_opened": true, + "old_cell_in_tray": false, + "new_cell_seated": false, + "battery_cover_closed": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 9.8, + "log_step": 26, + "evidence_zh": "观察：视频 8.4 s 开盖达成后，右手只继续推开滑盖再撤离；直到视频 12.0 s，机器人没有对仓内灰色旧电池合指、提起或转移。log step 26 的交付脚本明确只生成开盖动作。" + } + ], + "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：会话中的捏取接触几何未能形成可提起旧电池的夹持，是最终交付停在取旧电池之前的能力瓶颈。log step 22 的测试在合指后 old_cell 接触数仍为 0，所谓 lifted 后旧电池中心高度仍约 0.3176 m；log step 23 的接触诊断显示右拇指近节碰到遥控器侧壁，两个指尖高于旧电池；log step 24 虽出现旧电池接触，提起后电池高度仍约 0.3176 m，随后拖动遥控器导致测试失败。agent 在 log step 27 自述该捏法未能持住旧电池，log step 26 因而仅保存开盖段；上述测试仅用于根因，不作为交付视频中的接触或运动现象。尚未验证该控制器的可行替代握法。" + } + ], + "gap_zh": "没有状态日志，关盖节点中锁片按深超过 1.5 mm 的确切时刻只能由视频按压过程估计，约视频 1.9 s，误差约 0.3 s；其余节点的未达成有清晰物体位置证据。根因使用 log step 22–24 的会话测试证据解释为何没有交付取电池动作，这些测试不在评分视频中，不能标成评分尝试的抓取失败。原生毫米级特征与速度未在 reward 中报告，native_metrics 对应值均为 null。" + }, + "summary_zh": "评分轨迹在视频 8.4 s 打开电池盖，最终只满足开盖节点（1/4）；初始关盖状态在按压开盖时失去，灰色旧电池始终留在仓内，绿色新电池仍在桌上。断点为旧电池入托盘的首步前：交付文件没有启动取电池动作，会话诊断支持捏取接触设计未能提起旧电池这一瓶颈。无状态日志，锁片按深阈值的跨越时刻仅能估计；会话捏取测试未计入本次轨迹进度与实际接触。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "WHERE 标签（开盖 8.4 s、关盖 1.9 s 失去、断点 old_cell_in_tray 首步前、没尝试）与视频一致；但根因“抓取和接触设计”完全建立在 agent 会话内的捏取测试（log step 21–25）上，这些不属于评分轨迹，且 agent 自述停止原因是时间用尽，证据不足以支持该根因。", + "n_issues": 1, + "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：开盖 8.4 s（叠字 Stages 1/4、door 62 mm）、关盖 1.9 s 失去、旧电池/新电池未达成、断点 old_cell_in_tray 首步前·没尝试。根因（控制·抓取和接触设计，推断，alt_feasible 未知）依据 log step 22–24 的会话诊断，符合 03 与 FAIL-22 允许的会话证据追溯，且未被当作评分现象；第一轮异议已有证据驳回，无新证据，不再重复。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:45:03Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-remote-battery-swap-i00-privileged--dtfcmpn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-remote-battery-swap-i00-privileged--dtfcmpn/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-remote-battery-swap-i00-privileged--dtfcmpn/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-remote-battery-swap-i00-privileged--dtfcmpn/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b06c2defc3f8d8b1e8dc589f1868aaf74faaf98cd7037803c89d8a8f57d4e138", + "video_sha256": "3c7b5a8cae249e663832cd47368c8aca0f8031b874dca329ad93660125c4c095", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-privileged--ugozkgl.json b/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-privileged--ugozkgl.json new file mode 100644 index 0000000000000000000000000000000000000000..82ac6c739f1cf8a2d5e54737dd5582d58aa705b8 --- /dev/null +++ b/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-privileged--ugozkgl.json @@ -0,0 +1,325 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-remote-battery-swap-i00-privileged--ugozkgl", + "taskKey": "dexhand/remote_battery_swap", + "dag_sha256": "448d38d5df99705f24cec0642f2338ce7100127136b831930f8d1fee7f80f537", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 1471, + "sim_steps": 1471, + "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": 3.705, + "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-remote-battery-swap-i00-privileged--ugozkgl/replay.mp4", + "duration_s": 31.5, + "fps": 10.0, + "frames": 315, + "sha256": "43c1555c7f9bb5a804d1cb56ca487864f804832298eaec2ff88a40be1e7f90e9" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "battery_cover_opened": { + "method": "visual", + "intervals": [ + [ + 6.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.5, + "log_step": null, + "text_zh": "观察：视频 6.0 s 滑盖开度叠字为 57 mm，视频 6.5 s 为 64 mm，灰色旧电池与仓口露出，滑盖向尾端伸出；视频 8.0 s 开度约 85 mm，视频 31.4 s 仍为 84 mm。故开盖事件在视频约 6.5 s 达成并保留。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "右手伸直的手指下压滑盖锁片，再贴着盖面向遥控器尾端擦推滑盖；未见夹住盖边的对向握持。" + } + ] + }, + "old_cell_in_tray": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 16.5, + "log_step": null, + "text_zh": "观察：视频 16.5–19.5 s 右手弯曲手指压入电池仓附近；视频 20.0–21.0 s 右手抬离时，旧电池仍在仓内，未跟随右手升起。" + }, + { + "t": 31.4, + "log_step": 135, + "text_zh": "观察：视频 24.0–29.0 s 右手移向白色托盘并展开，托盘内始终没有灰色电池；视频 30.4–31.4 s 托盘仍空，旧电池留在遥控器内。评分器 reward.stages_completed=1，与仅开盖的画面一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "右手弯曲手指压触灰色旧电池和仓口，未形成对向夹持；最后一次生成日志 log step 133 显示旧电池仅接触右无名指近节和中节，收指后旧电池的手接触变为零。随后右手空移至白色托盘并展开。" + } + ] + }, + "new_cell_seated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 31.4, + "log_step": null, + "text_zh": "观察：视频 0.0 s、16.5 s、21.0 s 及 30.4–31.4 s，绿色新电池一直卧在遥控器前方桌面；右手未去取它，绿色电池从未进入电池槽。" + } + ] + }, + "battery_cover_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 3.0 + ] + ], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 黑色滑盖覆盖电池仓，叠字开度为 0 mm，初始闭合状态成立。" + }, + { + "t": 3.0, + "log_step": null, + "text_zh": "推断：视频约 2.6–3.2 s 右手指端下压锁片，随后视频 4.2 s 滑盖开度已为 6 mm；以视频约 3.0 s 作为闭锁状态失去的估计时刻，锁片被手指遮挡，无法直接测量其按深。" + }, + { + "t": 31.4, + "log_step": null, + "text_zh": "观察：视频 8.0–31.4 s 滑盖持续伸向尾端、仓口敞开；视频 31.4 s 开度叠字 84 mm，右手没有返回关盖。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "cover_slide_m_open", + "unit": "m", + "threshold": 0.06, + "direction": "higher_better", + "value": null + }, + { + "name": "cover_slide_m_closed", + "unit": "m", + "threshold": 0.002, + "direction": "lower_better", + "value": null + }, + { + "name": "tab_depth_m_closed", + "unit": "m", + "threshold": 0.0015, + "direction": "lower_better", + "value": null + }, + { + "name": "old_cell_tray_local_x_abs", + "unit": "m", + "threshold": 0.037, + "direction": "lower_better", + "value": null + }, + { + "name": "old_cell_tray_local_y_abs", + "unit": "m", + "threshold": 0.032, + "direction": "lower_better", + "value": null + }, + { + "name": "old_cell_tray_local_z", + "unit": "m", + "threshold": 0.014, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_slot_error_x_abs", + "unit": "m", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_slot_error_y_abs", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_slot_error_z_abs", + "unit": "m", + "threshold": 0.002, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_axis_angle_deg", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "max_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_spin_rad_s", + "unit": "rad/s", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "remote_displacement_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "remote_tilt_deg", + "unit": "deg", + "threshold": 15, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "old_cell_in_tray", + "t": 20.0, + "log_step": 133, + "where": "操作中", + "evidence_zh": "观察：视频 16.5–19.5 s 机器人右手在旧电池处收指，视频约 20.0 s 起手掌上升但旧电池没有离开仓内；视频 21.0–31.4 s 右手空移到托盘，灰色电池始终未入盘。log step 129 修改最后生成脚本增加收指，log step 135 保存的轨迹为 1,471 个动作，与评分器 n_actions=1471 一致；这次交付没有包含此前会话中倾翻遥控器的推电池测试。" + }, + "unmet": { + "battery_cover_opened": true, + "old_cell_in_tray": false, + "new_cell_seated": false, + "battery_cover_closed": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 20.0, + "log_step": 133, + "evidence_zh": "观察：视频 16.5–19.5 s 右手接近并收指，视频 20.0–21.0 s 手上升时旧电池留在仓内，未见电池被夹起或随手搬运；视频 31.4 s 托盘仍为空。推断：所需的承载夹持从未建立，指节压触不等于成功抓握。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "evidence_zh": "推断：最后生成的接触布局未形成夹住电池的对向接触。log step 133 的接触对仅列出右无名指近节、中节与旧电池接触，同时中指指节接触仓底及支承肋、若干手指彼此接触；执行新增收指后 old_cell 手接触由 2 变为 0。视频 20.0–21.0 s 对应的抬手画面显示电池仍在仓内，支持该握形不能承载这次提取；现有证据不足以验证具体替代握形。", + "source_zh": "日志" + } + ], + "gap_zh": "没有逐帧状态日志；开盖前锁片按深被右手遮挡，关盖节点初始区间的结束时刻为视频约 3.0 s 的估计。log step 133 的接触对用于解释最后生成轨迹的握形，不据其 agent 时间换算视频时间。评分器 reward 未报告 DAG 所列连续指标，native_metrics.value 均留空。" + }, + "summary_zh": "机器人在视频约 6.5 s 打开电池盖，最终仅保留开盖事件，节点终值为 1/4；关盖节点从初态成立，解锁开盖后失去。视频约 20.0 s 的取旧电池动作未建立承载夹持，右手随后空移至托盘，旧电池仍在遥控器内，新电池留在桌上，后续装入和关盖均未进行。最后生成日志支持抓取接触布局不合适，主要证据缺口是初期开锁时锁片按深不可见且无状态日志。", + "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、时间、断点（旧电池入托盘，操作中）、现象（没建立接触）和根因（抓取和接触设计）与视频一致：视频 6–7 s 滑盖开度越过 60 mm 且叠字变 1/4，旧电池始终未入托盘，新电池留在桌上；手指只压触、未收拢夹持。", + "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": "2026-10-30T05:23:09Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-remote-battery-swap-i00-privileged--ugozkgl/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-remote-battery-swap-i00-privileged--ugozkgl/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e9132e88d8532f6fa5621d0fec71837d9d997e51baa0651ee731571831f282d3", + "video_sha256": "43c1555c7f9bb5a804d1cb56ca487864f804832298eaec2ff88a40be1e7f90e9", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-privileged--xx7adss.json b/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-privileged--xx7adss.json new file mode 100644 index 0000000000000000000000000000000000000000..f0211d2e2c6c2a0dbcd90c912c3d8bb8c75cd2c8 --- /dev/null +++ b/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-privileged--xx7adss.json @@ -0,0 +1,327 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-remote-battery-swap-i00-privileged--xx7adss", + "taskKey": "dexhand/remote_battery_swap", + "dag_sha256": "448d38d5df99705f24cec0642f2338ce7100127136b831930f8d1fee7f80f537", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 690, + "sim_steps": 690, + "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": 2.451, + "peak_processes": 10, + "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-remote-battery-swap-i00-privileged--xx7adss/replay.mp4", + "duration_s": 15.9, + "fps": 10.0, + "frames": 159, + "sha256": "a560a69e2d0f782d6ae66a7ed458d715a10b596ee4afb41000964a2ba96451cf" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "battery_cover_opened": { + "method": "visual", + "intervals": [ + [ + 12.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 12.0, + "log_step": null, + "text_zh": "观察：视频 11.9 s 叠字为 Stages 0/4、door 59 mm，视频 12.0 s 变为 Stages 1/4、door 60 mm；右手食指压着锁片向尾端擦拉，滑盖伸出并露出灰色旧电池。视频 13.9–15.8 s 盖保持打开，叠字为 door 78 mm。" + }, + { + "t": 15.8, + "log_step": 191, + "text_zh": "观察：log step 189 重新生成并保存 690 行交付文件，log step 191 在新 Session 回放该文件得到 stage 1、steps 690、cover 0.078；这与视频末态一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频约 2.5–13.3 s，右手伸出的食指指腹按住滑盖锁片，沿盖的滑动方向擦拉开盖，随后抬指离开；未见合手夹持滑盖。" + } + ] + }, + "old_cell_in_tray": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.8, + "log_step": 189, + "text_zh": "观察：视频 0–13.8 s 右手只进行按锁片、滑开盖和抬指，未伸入电池仓捏取灰色旧电池；视频 13.9–15.8 s 灰色旧电池清楚留在仓内，右侧白色托盘始终为空。log step 189 保存的 build 只包含开盖与抬指动作，未包含会话里的 phase2 抓取测试。" + } + ] + }, + "new_cell_seated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 15.8, + "log_step": null, + "text_zh": "观察：视频 0–15.8 s 绿色新电池始终卧在遥控器前方桌面，右手没有前往抓取；末帧开着的仓内仍是灰色旧电池，未出现绿色电池入槽。" + } + ] + }, + "battery_cover_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 2.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 黑色滑盖覆盖仓口且没有向尾端伸出，叠字 door 0 mm；这是开局已成立的关盖状态。" + }, + { + "t": 2.5, + "log_step": null, + "text_zh": "推断：视频 2.2–2.8 s 右手食指下降到锁片并开始按压，视频 2.9 s 盖已滑开至叠字 3 mm；将关盖且锁片释放条件的失去时刻估为视频 2.5 s，约有 0.3 s 不确定性，画面没有锁片按深数值。此后滑盖持续伸出，视频 15.8 s 仍为 78 mm，未进行关盖操作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "cover_slide_m_open", + "unit": "m", + "threshold": 0.06, + "direction": "higher_better", + "value": null + }, + { + "name": "cover_slide_m_closed", + "unit": "m", + "threshold": 0.002, + "direction": "lower_better", + "value": null + }, + { + "name": "tab_depth_m_closed", + "unit": "m", + "threshold": 0.0015, + "direction": "lower_better", + "value": null + }, + { + "name": "old_cell_tray_local_x_abs", + "unit": "m", + "threshold": 0.037, + "direction": "lower_better", + "value": null + }, + { + "name": "old_cell_tray_local_y_abs", + "unit": "m", + "threshold": 0.032, + "direction": "lower_better", + "value": null + }, + { + "name": "old_cell_tray_local_z", + "unit": "m", + "threshold": 0.014, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_slot_error_x_abs", + "unit": "m", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_slot_error_y_abs", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_slot_error_z_abs", + "unit": "m", + "threshold": 0.002, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_axis_angle_deg", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "max_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_spin_rad_s", + "unit": "rad/s", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "remote_displacement_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "remote_tilt_deg", + "unit": "deg", + "threshold": 15, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "old_cell_in_tray", + "t": 13.8, + "log_step": 189, + "where": "首步前", + "evidence_zh": "观察：视频 13.3–13.8 s 右手从已打开的滑盖上抬起，随后视频 13.9–15.8 s 定格，旧电池仍在仓内、托盘为空；整段交付没有开始旧电池抓取或转移。log step 189 保存的是仅完成开盖的 690 行文件，log step 191 回放仍为 stage 1，log step 192 也明确说明只解决第一阶段。" + }, + "unmet": { + "battery_cover_opened": true, + "old_cell_in_tray": false, + "new_cell_seated": false, + "battery_cover_closed": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 13.8, + "log_step": 189, + "evidence_zh": "观察：视频 0–15.8 s 机器人右手只按压和拖开滑盖后抬起，既没有夹住旧电池，也没有向托盘搬运；视频 15.8 s 灰色旧电池仍在遥控器仓内。log step 189 的最终生成脚本止于开盖后的抬指。" + } + ], + "root_causes": [], + "gap_zh": "没有状态日志，锁片按深超过阈值的精确时刻只能由视频接触和后续滑动估计；关盖初始区间结束约有 0.3 s 不确定性。评分轨迹只含开盖与抬指，旧电池入托盘步骤没有被尝试；视频、评分结果字段及交付回放只能确认交付止于开盖，无法确定为何没有交付旧电池转移动作。log step 153、173、175 是会话测试，其夹持和抬升读数可供根因分析参考，但不足以确定本次未交付该步骤由抓取和接触设计导致；log step 192 的 agent 总结不能独立确立这一因果关系，故根因留空，不将测试中的滑脱、碰壁或遥控器倾斜标为本次评分轨迹的现象。log step 177 的剩余预算读数也不能作为根因。run.json 的 reward 未报告 DAG 中各连续原生指标，故其 value 均留 null。" + }, + "summary_zh": "评分轨迹在视频 12.0 s 完成开盖，最后仅打开电池盖节点为真（1/4）；关盖状态开局成立，按压滑开后失去。机器人抬指后没有开始旧电池入托盘，灰色旧电池仍在仓内、绿色新电池仍在桌面。无状态日志，关盖状态失去时刻为近似值；为何只交付开盖部分的证据不足，根因留空。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "WHERE 标签（开盖 12.0 s、关盖开局成立并在约 2.5–2.9 s 失去、其余节点未达、首步前断点、没尝试）与视频和叠字一致。唯一问题：根因“抓取和接触设计 / 已验证有”完全建立在会话里的夹持测试和 agent 的最终报告上，不是评分轨迹中的证据；这些来源按规则不算数。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "开盖 12.0 s、关盖开局成立并在约 2.5 s 失去、其余节点未达、首步前断点与没尝试均与视频叠字一致；根因已按上轮清空并有 gap_zh。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:46:34Z", + "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-remote-battery-swap-i00-privileged--xx7adss/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-remote-battery-swap-i00-privileged--xx7adss/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-remote-battery-swap-i00-privileged--xx7adss/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-remote-battery-swap-i00-privileged--xx7adss/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "9ff6bf31dba2a81e8ad0035eda18fa2b72fa13aca5e769f715d5aa547ad0c50f", + "video_sha256": "a560a69e2d0f782d6ae66a7ed458d715a10b596ee4afb41000964a2ba96451cf", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-privileged--yiacwsc.json b/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-privileged--yiacwsc.json new file mode 100644 index 0000000000000000000000000000000000000000..de2beb49169a0d89bb621d74460963220d6225fa --- /dev/null +++ b/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-privileged--yiacwsc.json @@ -0,0 +1,354 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-remote-battery-swap-i00-privileged--yiacwsc", + "taskKey": "dexhand/remote_battery_swap", + "dag_sha256": "448d38d5df99705f24cec0642f2338ce7100127136b831930f8d1fee7f80f537", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 4515, + "sim_steps": 4515, + "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": 6.195, + "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-remote-battery-swap-i00-privileged--yiacwsc/replay.mp4", + "duration_s": 30.4, + "fps": 10.0, + "frames": 304, + "sha256": "4a46c7f7fe76390429c66c64e946cd9c4c6bd98083f346055608d42c9434d98c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 1, + "peak": 4, + "final": 4, + "nodes": { + "battery_cover_opened": { + "method": "visual", + "intervals": [ + [ + 4.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.4, + "log_step": null, + "text_zh": "观察：视频 4.4 s 右手食指指腹仍压住滑盖锁片并向遥控器尾端擦拉，画面原生叠字显示 door 57 mm、Stages 0/4；视频 4.6 s 显示 door 68 mm、Stages 1/4，灰色旧电池及仓口已经露出。首次达到开度阈值约为视频 4.5 s，之后按事件节点保留。" + }, + { + "t": 30.3, + "log_step": null, + "text_zh": "观察：视频 30.3 s 原生结果叠字仍为 PASS、Stages 4/4；inputs/run.json 的 reward.stages_completed=4、success=1。关盖后开盖事件没有撤销。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "机器人右手食指指腹下压滑盖弹性锁片，同时沿滑轨向遥控器尾端擦拉滑盖；没有夹住盖边缘。" + } + ] + }, + "old_cell_in_tray": { + "method": "visual", + "intervals": [ + [ + 15.5, + 15.6 + ], + [ + 16.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 12.4, + "log_step": null, + "text_zh": "观察：视频 11.0–12.4 s 机器人右手食指和中指从两侧夹持灰色旧电池，旧电池离开仓口并随手移到右侧白色托盘；视频 13.2–14.4 s 手离开后，旧电池一端仍斜搭盘沿，不能按落底离手计完成。" + }, + { + "t": 15.5, + "log_step": null, + "text_zh": "观察：视频 15.3–15.6 s 机器人右食指将灰色旧电池向托盘内拨，电池从斜搭变为平卧，原生阶段叠字由 1/4 升到 2/4；视频 15.7–16.2 s 放大画面仍可见右食指贴住旧电池左端附近，视频 16.3 s 起指尖抬离，电池留在盘底。" + }, + { + "t": 16.1, + "log_step": 81, + "text_zh": "推断：log step 81 的服务特征在 control step 2580 报 old_cell_in_tray=False、old_cell 手接触数为 3，但阶段已锁存且首次通过为 control step 2472；log step 82–83 的上抬动作后该条件恢复为 True。这段动作属于最终保存轨迹，log step 95、102 的作者终态与两次交付回放哈希相同；按任务 50 Hz 控制与视频原生 3.2 倍速叠字，2472/(50×3.2)=视频约 15.45 s、2580/(50×3.2)=视频约 16.13 s，已由视频 4.4–4.6 s 的首次开盖和视频 28.3 s 的 PASS 核对映射。因此记录先短暂达成、再接触失去、最后恢复的两个区间，接触边界约有 0.2 s 误差。" + }, + { + "t": 30.3, + "log_step": null, + "text_zh": "观察：视频 16.3–17.4 s 右食指上抬并经过托盘上方，灰色旧电池持续平卧在盘底，没有被提起；之后直到视频 30.3 s 它一直留在托盘内，末帧 PASS、released hold 50/50，评分器 reward.success=1。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人右手食指和中指从相对两侧夹持灰色旧电池，搬离遥控器仓并在白色托盘处放开；随后改用右食指以推/扫方式将斜搭盘沿的旧电池拨向盘内，指尖最终抬离。" + } + ] + }, + "new_cell_seated": { + "method": "visual", + "intervals": [ + [ + 22.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 21.4, + "log_step": null, + "text_zh": "观察：视频 18.4–21.2 s 机器人右手食指和中指夹住桌上的绿色新电池并抬起，绿色电池离开原桌面位置；视频 21.4–22.0 s 它随手到达已空出的遥控器仓并被放低，长轴与遥控器大致一致。" + }, + { + "t": 22.2, + "log_step": null, + "text_zh": "观察：视频 22.0 s 原生阶段仍为 2/4，视频 22.2 s 已为 3/4，右手两指逐渐张开；视频 23.4–24.2 s 右手抬离后，绿色电池明确留在仓内，金色端朝向右侧金色触点。视频 27.0–27.5 s 滑盖覆盖仓口，之后无法直接看见电池。" + }, + { + "t": 30.3, + "log_step": null, + "text_zh": "推断：视频 28.3–30.3 s 的 PASS、Stages 4/4 和 released hold 50/50 与评分器 reward.success=1、deterministic=1 相符，支持新电池在最终关盖后仍满足入槽、极性和离手条件。毫米级误差及双肋接触不能从总览精确量测，依成功判据和关盖前后连续画面判定，未将作者会话中的试验当作独立完成证据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人右手食指与中指夹住绿色新电池两侧，从桌面提起并在搬运中调整朝向，随后降低到遥控器槽内，张开两指释放并上抬离开。" + } + ] + }, + "battery_cover_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 1.7 + ], + [ + 27.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": 13, + "text_zh": "观察：视频 0.0 s 黑色滑盖覆盖电池仓，原生叠字 door 0 mm；初态服务特征在 log step 13 报 cover_closed=True、cover_slide_m=0、tab_depth_m=0。此状态节点独立于前置事件计分，开局即成立。" + }, + { + "t": 1.8, + "log_step": 19, + "text_zh": "推断：视频 1.6–2.0 s 机器人右食指下压锁片，虽然滑盖尚未明显伸出，闭盖判据已因锁片按深而失去；log step 19 在 control step 310 报 cover_closed=False、tab_depth_m=0.00249，超过 0.0015 m。按已核对的 50 Hz、3.2 倍速映射，310/(50×3.2)=视频约 1.94 s，与这段按压画面一致；首次失去约记视频 1.7 s，误差约 0.2 s。" + }, + { + "t": 27.9, + "log_step": null, + "text_zh": "观察：视频 25.4–27.5 s 机器人右食指按着锁片擦推滑盖回仓口；视频 27.5–27.8 s 虽然 door 已约为 0 mm，阶段仍为 3/4，不能提前记锁住；视频 27.9 s 手指开始上抬，叠字变为 Stages 4/4，视频 28.0–28.3 s released hold 从 15/50 增到 50/50 并显示 PASS。" + }, + { + "t": 30.3, + "log_step": 102, + "text_zh": "观察：视频 29.4–30.3 s 每 0.1 s 的末段画面均显示右手悬在遥控器上方、盖已合拢，灰色旧电池仍在托盘，原生叠字保持 PASS、Stages 4/4、released hold 50/50；log step 102 两次独立交付回放也均报告 success=True、stage=4、hold_steps=50 且终态哈希相同。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "机器人右手食指指腹下压滑盖弹性锁片，并沿滑轨将滑盖擦推回遥控器仓口；随后向上撤指，让锁片释放回弹并脱离遥控器。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "cover_slide_m_open", + "unit": "m", + "threshold": 0.06, + "direction": "higher_better", + "value": null + }, + { + "name": "cover_slide_m_closed", + "unit": "m", + "threshold": 0.002, + "direction": "lower_better", + "value": null + }, + { + "name": "tab_depth_m_closed", + "unit": "m", + "threshold": 0.0015, + "direction": "lower_better", + "value": null + }, + { + "name": "old_cell_tray_local_x_abs", + "unit": "m", + "threshold": 0.037, + "direction": "lower_better", + "value": null + }, + { + "name": "old_cell_tray_local_y_abs", + "unit": "m", + "threshold": 0.032, + "direction": "lower_better", + "value": null + }, + { + "name": "old_cell_tray_local_z", + "unit": "m", + "threshold": 0.014, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_slot_error_x_abs", + "unit": "m", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_slot_error_y_abs", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_slot_error_z_abs", + "unit": "m", + "threshold": 0.002, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_axis_angle_deg", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "max_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_spin_rad_s", + "unit": "rad/s", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "remote_displacement_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "remote_tilt_deg", + "unit": "deg", + "threshold": 15, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "观察：评分轨迹由机器人右手完成开盖、灰色旧电池入托盘、绿色新电池入槽和关盖扣锁，四节点最终均成立；视频约 28.3 s 出现 PASS、Stages 4/4、released hold 50/50，并持续到视频 30.3 s，评分器 success=1、deterministic=1。观察：旧电池曾斜搭盘沿，右食指拨入后阶段虽已锁存，仍有再次接触，至视频约 16.3 s 才持续离手；这是已修复的中间状态，无失败断点。推断：无逐帧状态日志，短暂离手边界和最初锁片按下时刻约有 0.2 s 不确定性，毫米级公差及双肋接触依据成功验收结合视频判断；DAG 的十四项原生量值未见于 reward 字段，故均填 null，未使用独立参考视频。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "成功运行，无失败断点。四个节点的时间与视频原生叠字（Stages 1/4 约视频 4.5 s、2/4 约视频 15.5 s、3/4 约视频 22.2 s、4/4/PASS 约视频 28.0 s）吻合，接触标签与画面一致，控制步到视频时间的换算有核对说明。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:25:57Z", + "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-remote-battery-swap-i00-privileged--yiacwsc/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-remote-battery-swap-i00-privileged--yiacwsc/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "01b5c74f799acdd8aaf1088260807aa7fe10f8567a15f3c2e808eadd7f4f69eb", + "video_sha256": "4a46c7f7fe76390429c66c64e946cd9c4c6bd98083f346055608d42c9434d98c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-privileged--yrtjkch.json b/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-privileged--yrtjkch.json new file mode 100644 index 0000000000000000000000000000000000000000..87fad8e8a51f442eb999b924fad9f7b1e7a26e4a --- /dev/null +++ b/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-privileged--yrtjkch.json @@ -0,0 +1,303 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-remote-battery-swap-i00-privileged--yrtjkch", + "taskKey": "dexhand/remote_battery_swap", + "dag_sha256": "448d38d5df99705f24cec0642f2338ce7100127136b831930f8d1fee7f80f537", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 60, + "sim_steps": 60, + "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": 3.074, + "peak_processes": 11, + "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-remote-battery-swap-i00-privileged--yrtjkch/replay.mp4", + "duration_s": 3.3, + "fps": 10.0, + "frames": 33, + "sha256": "ba9d24ee24e1dd751e5136541e2c8962c3b42bf963e05aa6725a29b73b8f5470" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "battery_cover_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0–3.2 s 全部 33 帧中，机器人右手保持张开姿态，仅有初始沉降，没有按锁片并滑开盖的动作；黑盖没有向尾端伸出，画面原生叠字始终为 door 0 mm（部分帧为 -0 mm）、Stages 0/4。" + }, + { + "t": 3.2, + "log_step": 32, + "text_zh": "观察：log step 32 的交付脚本只循环 60 次 hold_action 并保存动作；同一交付生成后的模拟器状态报告 cover_open=False、stage=0，log step 33 对保存文件的新进程回放仍为 success=False，评分器字段 stages_completed=0，与视频 3.2 s 一致。" + } + ] + }, + "old_cell_in_tray": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.2, + "log_step": null, + "text_zh": "观察：视频 0.0–3.2 s 的白色托盘始终为空，机器人没有从遥控器取出电池或向托盘搬运动作；末秒视频 2.3–3.2 s 逐帧仍为空盘。旧电池未进入托盘。" + }, + { + "t": 3.2, + "log_step": 32, + "text_zh": "观察：log step 32 生成本次交付后，模拟器报告 old_cell_in_tray=False；这与视频 3.2 s 的空盘一致。" + } + ] + }, + "new_cell_seated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.2, + "log_step": 32, + "text_zh": "观察：视频 0.0–3.2 s 中绿色新电池一直单独躺在遥控器前方桌面，原位置从未空出，机器人未抓起或搬运它；log step 32 的交付终态报告 new_cell_on_table=True、new_cell_seated=False，与视频 3.2 s 一致。" + } + ] + }, + "battery_cover_closed": { + "method": "visual", + "intervals": [ + [ + 0.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 初态叠字 door 0 mm，黑色盖未向尾端伸出；视频 0.0–3.2 s 没有开盖动作，始终无敞开的仓口。" + }, + { + "t": 3.2, + "log_step": 32, + "text_zh": "观察：视频 3.2 s 仍显示 door -0 mm；log step 32 对本次交付生成后的模拟器读数为 cover_slide_m≈0、tab_depth_m≈0.000245、conditions.cover_closed=True，均符合关盖阈值。" + }, + { + "t": 0.0, + "log_step": null, + "text_zh": "推断：结合视频 0.0–3.2 s 未开盖的过程、任务初态为关闭且锁住，以及 log step 32 的同一交付终态读数，关盖状态从视频 0.0 s 持续成立；它按 state 条件计分，不受前序节点门控，也不代表四阶段顺序已完成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "cover_slide_m_open", + "unit": "m", + "threshold": 0.06, + "direction": "higher_better", + "value": null + }, + { + "name": "cover_slide_m_closed", + "unit": "m", + "threshold": 0.002, + "direction": "lower_better", + "value": null + }, + { + "name": "tab_depth_m_closed", + "unit": "m", + "threshold": 0.0015, + "direction": "lower_better", + "value": null + }, + { + "name": "old_cell_tray_local_x_abs", + "unit": "m", + "threshold": 0.037, + "direction": "lower_better", + "value": null + }, + { + "name": "old_cell_tray_local_y_abs", + "unit": "m", + "threshold": 0.032, + "direction": "lower_better", + "value": null + }, + { + "name": "old_cell_tray_local_z", + "unit": "m", + "threshold": 0.014, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_slot_error_x_abs", + "unit": "m", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_slot_error_y_abs", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_slot_error_z_abs", + "unit": "m", + "threshold": 0.002, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_axis_angle_deg", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "max_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_spin_rad_s", + "unit": "rad/s", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "remote_displacement_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "remote_tilt_deg", + "unit": "deg", + "threshold": 15, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "battery_cover_opened", + "t": 0.0, + "log_step": 32, + "where": "首步前", + "evidence_zh": "观察：视频 0.0–3.2 s 右手仅在初始张开姿态附近沉降，未启动按锁片或滑盖动作，盖开度叠字始终约 0 mm；log step 32 保存的是 60 步 hold_action 轨迹，log step 33 回放所保存文件仍未成功，log step 34 的 agent 最终自述确认保留了该停放基线。因此首个要求的打开电池盖步骤没有启动。" + }, + "unmet": { + "battery_cover_opened": false, + "old_cell_in_tray": false, + "new_cell_seated": false, + "battery_cover_closed": true + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 0.0, + "log_step": 32, + "evidence_zh": "观察：视频 0.0–3.2 s 全部帧中没有机器人压锁片、拉滑盖或为开盖改变手型的动作；视频 3.2 s 仍为 Stages 0/4、door -0 mm。log step 32 的交付脚本只保存保持当前关节目标的 60 行动作，说明本次评分轨迹未尝试首步开盖。" + } + ], + "root_causes": [], + "gap_zh": "观察：本目录没有状态日志，手掌遮住部分盖和仓口；托盘、新电池原位置和开度叠字清楚可见，交付生成后的模拟器读数支持节点终值。log step 16、18 的离线捏取搜索均返回 0 good sols，log step 22–24 记录求解工具调试错误，log step 31 记录后台优化进程被终止；但这些会话调试没有形成已执行的开盖控制，无法据此确定本次首步未启动究竟源于何种接触设计、逆解、控制或任务规划缺陷，故根因留空。agent 在 log step 34 对预算和停止的解释仅作会话记录，不作为根因。原生指标的评分器 reward 字段均未报告，value 留 null。" + }, + "summary_zh": "评分轨迹视频 0.0–3.2 s 中机器人仅保持初始姿态附近，未打开电池盖或搬运电池；只有初态已成立的关盖状态持续保留，节点终值为 1/4，原生顺序阶段仍为 0/4。断点为打开电池盖的首步前，现象为没尝试；log step 32–34 确认交付并保留的是 60 步停放基线。缺少状态日志，离线求解调试记录不足以确定未启动开盖的具体能力根因，故根因留空。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "标注与视频和 log 一致：视频 0–3.2 s 右手保持张开姿态，门 0 mm，托盘为空，新电池留在桌面；仅关盖状态自 0 s 起成立（final=1/4），断点为首步前、没尝试，log step 32 交付的只是 60 步 hold_action 基线，根因留空有 gap_zh 说明。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:25:17Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-remote-battery-swap-i00-privileged--yrtjkch/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-remote-battery-swap-i00-privileged--yrtjkch/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b2e94a905f4ef7ac00edc1e006aec01ae691620e4b94f9276c209704781450a8", + "video_sha256": "ba9d24ee24e1dd751e5136541e2c8962c3b42bf963e05aa6725a29b73b8f5470", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-standard--prtuqnq.json b/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-standard--prtuqnq.json new file mode 100644 index 0000000000000000000000000000000000000000..2abadaf95baa035f836860741b79f01b48abd854 --- /dev/null +++ b/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-standard--prtuqnq.json @@ -0,0 +1,377 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-remote-battery-swap-i00-standard--prtuqnq", + "taskKey": "dexhand/remote_battery_swap", + "dag_sha256": "448d38d5df99705f24cec0642f2338ce7100127136b831930f8d1fee7f80f537", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 505, + "control_steps_total": 3599, + "elapsed_s": 1689.122, + "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": 1384, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 1, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 1384, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.401, + "peak_processes": 9, + "peak_disk_gb": 0.258, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-remote-battery-swap-i00-standard--prtuqnq/replay.mp4", + "duration_s": 30.0, + "fps": 5.0, + "frames": 150, + "sha256": "2b5135c3e2ce3e6c4828df2f9872adc83627fa6978df5cf2356c3262f2289643" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 1, + "peak": 1, + "final": 0, + "nodes": { + "battery_cover_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.0, + "log_step": null, + "text_zh": "观察：视频 6.0–23.2 s，机器人右手食指下降至滑盖尾部并向尾端擦拖；滑盖未伸出，仓口及灰色旧电池始终没有露出，叠字开度仅约 -2 至 0 mm。" + }, + { + "t": 27.8, + "log_step": 91, + "text_zh": "观察：视频 24.4–27.8 s，右手再次压拖滑盖，遥控器本体随手倾起，视频 27.8 s 叠字变为 FAIL: remote_tipped，阶段仍为 0/4；视频 29.8 s 末帧仍未开盖。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "机器人右手食指指腹压在黑色滑盖及锁片区域并向尾端擦拖；末段其他右手手指也压到盖面，带动遥控器倾起，未形成对向夹持。" + } + ] + }, + "old_cell_in_tray": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.0, + "log_step": null, + "text_zh": "观察：视频 0–29.8 s 白色托盘始终为空；视频 23.2–24.2 s 右手抬起时仍能清楚看到盖面封闭，机器人没有取出或搬运灰色电池。" + }, + { + "t": 29.8, + "log_step": null, + "text_zh": "推断：视频末帧托盘为空且全程没有电池转移，旧电池入托盘条件未成立；此结论不由 reward=0 单独推出。" + } + ] + }, + "new_cell_seated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0 s 绿色新电池躺在遥控器前侧桌面。" + }, + { + "t": 29.8, + "log_step": null, + "text_zh": "观察：视频 0–29.8 s，绿色新电池一直留在原桌面位置，机器人未夹起或搬入电池槽；末帧仍完整可见。" + } + ] + }, + "battery_cover_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 14.8 + ], + [ + 23.2, + 24.4 + ] + ], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0 s 滑盖覆盖电池仓，初态叠字开度 0 mm；视频 6–14.4 s 右手逐渐接近锁片，尚无明显持续压下。" + }, + { + "t": 14.8, + "log_step": 89, + "text_zh": "推断：视频约 14.8–23.0 s，右手食指压低锁片区域并拖动，锁片被手遮住；结合 log step 89 的向下压入命令、指尖模型高度 0.3354 m（该脚本以 0.339 m 为锁片初始表面）及关节目标与实测差增大，按持续压下锁片判定关闭且锁住状态丢失。约 14.8 s 的起点为视觉估计，非毫米级测量。" + }, + { + "t": 23.2, + "log_step": null, + "text_zh": "观察：视频 23.2–24.2 s 右手离开盖面，滑盖仍贴合仓口，锁片小凸起重新可见，开度叠字约 0 mm。" + }, + { + "t": 24.4, + "log_step": 91, + "text_zh": "推断：视频约 24.4 s 右手再次落下压住盖与锁片区域，视频 27.6–29.8 s 手指持续接触且带起遥控器；结合 log step 91 再次深压后拖动、受阻中止的记录，末态按锁片仍受压、未恢复锁片释放条件判 false。滑盖几何上仍覆盖仓口；本节点的丢失不是把遥控器倾斜条件加入关盖判据。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "cover_slide_m_open", + "unit": "m", + "threshold": 0.06, + "direction": "higher_better", + "value": null + }, + { + "name": "cover_slide_m_closed", + "unit": "m", + "threshold": 0.002, + "direction": "lower_better", + "value": null + }, + { + "name": "tab_depth_m_closed", + "unit": "m", + "threshold": 0.0015, + "direction": "lower_better", + "value": null + }, + { + "name": "old_cell_tray_local_x_abs", + "unit": "m", + "threshold": 0.037, + "direction": "lower_better", + "value": null + }, + { + "name": "old_cell_tray_local_y_abs", + "unit": "m", + "threshold": 0.032, + "direction": "lower_better", + "value": null + }, + { + "name": "old_cell_tray_local_z", + "unit": "m", + "threshold": 0.014, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_slot_error_x_abs", + "unit": "m", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_slot_error_y_abs", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_slot_error_z_abs", + "unit": "m", + "threshold": 0.002, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_axis_angle_deg", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "max_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_spin_rad_s", + "unit": "rad/s", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "remote_displacement_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "remote_tilt_deg", + "unit": "deg", + "threshold": 15, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "battery_cover_opened", + "t": 27.8, + "log_step": 91, + "where": "操作中", + "evidence_zh": "观察：视频 24.4–27.8 s 机器人右手继续压拖滑盖，盖没有相对仓体打开，遥控器整体倾起；视频 27.8 s 出现 FAIL: remote_tipped，视频 29.8 s 仍为相同失败终态。log step 91 的控制脚本在深压、拖动受阻后输出 EPISODE OVER: task_failure。" + }, + "unmet": { + "battery_cover_opened": false, + "old_cell_in_tray": false, + "new_cell_seated": false, + "battery_cover_closed": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "带动本体", + "t": 27.8, + "log_step": 91, + "evidence_zh": "观察：视频 27.6–27.8 s，右手手指操作电池盖时把整个黑色遥控器带起倾斜，盖面仍覆盖电池仓；原生视频叠字报告 remote_tipped，未达到开盖阶段。" + }, + { + "cat": "接触", + "item": "接触力异常", + "t": 23.0, + "log_step": 89, + "evidence_zh": "观察：视频 6–23 s，机器人右手食指逐渐落向滑盖锁片区域并压拖盖面；视频 14 s、20 s 指尖接触盖面，原生视频叠字 door 分别为 -1 mm、0 mm，滑盖仍覆盖仓口，遥控器尚未倾起。视频约 23 s 右手抬离时滑盖仍未打开。log step 89 的脚本在向下按压后沿滑轨拖动，输出的指关节目标与实测差范数由按压后的 0.076 rad 增至拖动中的 0.445–0.546 rad。推断：已有接触下的压拖未产生所需开盖运动，按门没开到位归接触力异常；现有证据不能确定实际接触力大小或锁片的精确按深。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 89、91 的脚本先用固定手指屈曲姿态向下压，再用腕部平移拖盖；log step 91 记录指关节目标与实测差范数约 0.32–0.36 rad，随后受阻中止。视频 24.4–27.8 s 显示多个右手手指压在盖面，所施运动带动本体而未形成所需的解锁后相对滑动，因此归控制；现有证据不能区分接触点布局、实际按压力或跟踪误差各自的贡献。" + } + ], + "gap_zh": "观察：inputs/ 没有状态日志，视频总览未报告锁片按深，且手指接触期间遮挡锁片；关盖节点两次受压丢失及末态未释放为结合动作、邻近帧和日志的推断，切换时间约有 0.5 s 不确定性，不能精确复算 1.5 mm 阈值。log step 78 重置到第二回合，评分器 raw.resets=1、n_actions=1384；本标签使用该最终回合的视频，未把第一次调试回合计入进度。agent 在 log step 94 自述“遥控器位移超过 0.03 m 导致失败”，但视频 27.8–29.8 s 明确报告 remote_tipped，故采用视频而不采信该终止原因；没有将 agent 工作时间换算为视频时间。" + }, + "summary_zh": "观察：评分视频中机器人只尝试打开电池盖，滑盖从未露出电池仓，托盘始终为空，绿色新电池始终留在桌面；关盖初态成立，按压锁片时丢失，末态未见释放恢复。推断：开盖控制未建立解锁后的相对滑动，反而在视频约 27.8 s 带起遥控器，画面以 remote_tipped 结束；锁片按深及关盖状态切换受遮挡影响，采用动作与邻近帧推断。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "WHERE 标签（节点值、断点 battery_cover_opened、时间、托盘/新电池未动）与视频一致，关盖节点的丢失属已披露的推断，予以接受。唯一需要改的是现象层：开盖从未成功的主要失败（视频 6–23 s 压拖盖面，开度始终 0/-1 mm）没有对应现象，只记录了末段 remote_tipped。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值、断点（开盖，操作中）、现象与根因均与视频一致：开盖始终未成，托盘空、新电池未动，末段遥控器倾起；关盖丢失为已披露的推断，可接受。第一轮的现象补充已落实。", + "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": "2026-10-30T05:45:35Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-remote-battery-swap-i00-standard--prtuqnq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-remote-battery-swap-i00-standard--prtuqnq/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-remote-battery-swap-i00-standard--prtuqnq/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-remote-battery-swap-i00-standard--prtuqnq/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "480fa6839d1707242807fcda8a78f7794b282c7509bf18624b609f91c7f2c932", + "video_sha256": "2b5135c3e2ce3e6c4828df2f9872adc83627fa6978df5cf2356c3262f2289643", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-standard--qxh8rth.json b/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-standard--qxh8rth.json new file mode 100644 index 0000000000000000000000000000000000000000..3fdfc1aa48148ef463412809a2b7c355ed37e892 --- /dev/null +++ b/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-standard--qxh8rth.json @@ -0,0 +1,373 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-remote-battery-swap-i00-standard--qxh8rth", + "taskKey": "dexhand/remote_battery_swap", + "dag_sha256": "448d38d5df99705f24cec0642f2338ce7100127136b831930f8d1fee7f80f537", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 308, + "control_steps_total": 3731, + "elapsed_s": 3605.596, + "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": 493, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 8, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 493, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.596, + "peak_processes": 9, + "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-remote-battery-swap-i00-standard--qxh8rth/replay.mp4", + "duration_s": 12.0, + "fps": 5.0, + "frames": 60, + "sha256": "bb8c6f3e332419a5d908b228baed77a6a9cb5de675e5e370416083e77e712d8c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 1, + "peak": 1, + "final": 0, + "nodes": { + "battery_cover_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.2, + "log_step": null, + "text_zh": "观察：视频 4.8–5.4 s，机器人右手沿黑色滑盖表面擦拉，仓口只露出一小段，画面原生叠字（基准渲染的阶段数和门开度）由 door 21 mm 变到 28 mm，Stages 仍为 0/4。" + }, + { + "t": 11.8, + "log_step": null, + "text_zh": "观察：视频 9.6 s 为 door 47 mm，视频 9.8 s 为 55 mm，视频 10.0–11.8 s 的 final state 均为 56 mm、Stages 0/4；未达到 DAG 要求的 60 mm。成功参照中可见更长的滑盖伸出和完整灰色电池，且叠字达到 Stages 1/4；参照只用于辨认开盖线索。" + }, + { + "t": null, + "log_step": 206, + "text_zh": "观察：log step 205 是最后一次 reset；log step 206 的脚本执行按锁片、小幅滑动、抬手再拉盖，随后转向灰色电池。log step 219、222 自述盖已打开，但本次视频的开度和阶段叠字不支持此完成判断，按视频判定未达。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 1.8–5.4 s，右手伸展手指压在黑色滑盖/锁片区域并沿盖面擦拉，使滑盖部分滑开；未见手掌或相向手指夹住盖。" + } + ] + }, + "old_cell_in_tray": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.8, + "log_step": null, + "text_zh": "观察：视频 6.4–9.8 s，右手再次下探仓口并弯曲手指，但灰色旧电池没有随手离仓，右侧白色托盘始终为空。" + }, + { + "t": 11.8, + "log_step": null, + "text_zh": "观察：视频 10.0–11.8 s，右手停在遥控器仓口，灰色电池仍在原仓内，白色托盘为空；没有发生取出并移入托盘。" + }, + { + "t": null, + "log_step": 219, + "text_zh": "观察：log step 208–217 的脚本下探、屈曲食指和中指并试提旧电池；log step 219 自述未抓牢，log step 222 承认旧电池仍在遥控器中，与本次视频一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 6.4–9.8 s，右手食指/中指下探仓口，在滑盖及仓口区域按压擦动，同时滑盖先被推回再向外移；未见对灰色电池形成有效对向夹持。手指遮住局部，是否直接触及电池不能精确分辨。" + } + ] + }, + "new_cell_seated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.8, + "log_step": null, + "text_zh": "观察：视频 0.0–11.8 s，绿色新电池始终单独卧在遥控器前方桌面，机器人未去拾取或插入；末帧它仍在原处，旧电池仍未腾出仓位。" + } + ] + }, + "battery_cover_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 3.6 + ] + ], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 黑色盖覆盖电池仓，原生叠字 door 0 mm，为任务规定的关闭锁定初态；该 state 节点不受前置节点门控。" + }, + { + "t": 3.6, + "log_step": null, + "text_zh": "观察：视频 1.8 s 原生叠字 door 为 -2 mm，视频 2.0–3.4 s 为 -5 至 -6 mm，视频 3.6 s 为 -0 mm；视频 3.8 s 才变为正 3 mm，视频 4.0 s 为 13 mm，此后至视频 11.8 s 未恢复关闭。推断：以最后一个开度仍满足 <=2 mm 的视频帧为近似边界，将关闭区间末端定在视频 3.6 s，开度越阈发生在视频 3.6–3.8 s 之间；锁片被右手遮挡，叠字未提供 tab_depth，无法核实锁片按深是否更早超过 1.5 mm，因此该区间是结合初态与盖覆盖情况的视觉估计。" + }, + { + "t": 11.8, + "log_step": null, + "text_zh": "观察：视频 10.0–11.8 s 盖向尾端伸出，叠字 door 56 mm，明显超过关闭阈值 2 mm；没有完成更换后的关盖动作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "cover_slide_m_open", + "unit": "m", + "threshold": 0.06, + "direction": "higher_better", + "value": null + }, + { + "name": "cover_slide_m_closed", + "unit": "m", + "threshold": 0.002, + "direction": "lower_better", + "value": null + }, + { + "name": "tab_depth_m_closed", + "unit": "m", + "threshold": 0.0015, + "direction": "lower_better", + "value": null + }, + { + "name": "old_cell_tray_local_x_abs", + "unit": "m", + "threshold": 0.037, + "direction": "lower_better", + "value": null + }, + { + "name": "old_cell_tray_local_y_abs", + "unit": "m", + "threshold": 0.032, + "direction": "lower_better", + "value": null + }, + { + "name": "old_cell_tray_local_z", + "unit": "m", + "threshold": 0.014, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_slot_error_x_abs", + "unit": "m", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_slot_error_y_abs", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_slot_error_z_abs", + "unit": "m", + "threshold": 0.002, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_axis_angle_deg", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "max_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_spin_rad_s", + "unit": "rad/s", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "remote_displacement_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "remote_tilt_deg", + "unit": "deg", + "threshold": 15, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "battery_cover_opened", + "t": 5.2, + "log_step": 206, + "where": "操作中", + "evidence_zh": "观察：视频 4.8–5.4 s，右手拉动滑盖后开度仅到 28 mm，随后转向仓口；视频 10.0–11.8 s 最终也仅 56 mm，Stages 始终 0/4，首步要求的 60 mm 从未达到。log step 206 的脚本在开盖动作之后转而尝试旧电池，log step 219 自述盖已打开，但未修复这个首步缺口。" + }, + "unmet": { + "battery_cover_opened": false, + "old_cell_in_tray": false, + "new_cell_seated": false, + "battery_cover_closed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 5.2, + "log_step": 206, + "evidence_zh": "观察：视频 4.8–5.4 s，机器人右手伸展的手指沿黑色滑盖擦拉后抬离，盖仍只向尾端伸出一小段，灰色旧电池大部仍被遮住，叠字 door 最高为 28 mm；视频 6.4 s 起右手回落向仓口，盖随之后退，视频 9.0 s 为 11 mm。视频 10.0–11.8 s 盖停在 56 mm，仍未到开盖位置。这里记录擦拉后盖的位置未到位及后续回缩；未见可确认的夹持后滑脱、阻挡或异常受力证据。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频 / 日志", + "evidence_zh": "推断：视频 4.8–5.4 s 右手沿盖面擦拉后抬离，盖仍遮住灰色电池的大部；视频 6.4–9.0 s 右手回落后盖向内回缩，视频 10.0–11.8 s 最终仍未达到 60 mm。结合 log step 206 的脚本先小移、抬手拉盖、随后转向取电池，开盖的实际位移不足未被修正，可归因于本次机构操作控制未奏效。现有证据不足以区分接触几何、摩擦载荷或运动跟踪的具体责任，也没有力读数或可见异常受力，不能将盖未到位直接解释为接触力异常。" + } + ], + "gap_zh": "观察：inputs/ 提供运行日志和视频，但无状态日志；多次动作调用的返回文本为空，评分器 reward 只报告整体失败及计数，没有 DAG 原生几何、速度和接触指标，因此 native_metrics 全部留 null。右手遮挡锁片和旧电池局部，叠字未提供 tab_depth，无法核实锁片按深是否在视频 3.6 s 之前已超过 1.5 mm；关闭区间按初态、盖覆盖情况与 door 开度估计，视频 3.6–3.8 s 的开度越阈清楚可见。无法精确确定锁片解除时刻及电池接触对，也无法把控制根因细分为接触设计或反馈跟踪；无力读数或可见异常受力证据。开盖未达由视频开度与 Stages 0/4 直接支持。" + }, + "summary_zh": "观察：本次最终回合仅把滑盖部分拉开，视频 10.0–11.8 s 最终开度为 56 mm、Stages 0/4；旧电池仍在仓内，绿色新电池留在桌面，初态成立的关盖状态也已失去，终态为 0/4。推断：首个未修复断点是打开电池盖，右手按擦拉盖后抬离，盖位置未到位，后续回落时盖又回缩，取电池尝试亦未形成有效抓持；log step 219、222 对开盖完成的自述不作为节点完成依据。观察：视频 1.8–3.4 s 的 door 是负数，视频 3.6 s 为 -0 mm，视频 3.8 s 才到正 3 mm，关闭区间末端据此近似为视频 3.6 s。无状态日志且锁片局部受遮挡，tab_depth 是否更早越阈不可核实，具体控制子因及精确接触对无法确认。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "battery_cover_opened 未达、其余节点未达、断点在开盖均与视频一致；但 battery_cover_closed 的关闭区间末端错：叠字 door 在视频 1.8–3.4 s 为负值（-2 到 -6 mm，盖被按入），并非 2/5 mm，直到约 3.8 s 才升到 3 mm，关闭区间应延到约 3.6 s。另 '接触力异常' 缺少力的证据。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "逐帧核查：开度最终 56 mm 未达 60 mm、Stages 0/4，旧电池仍在仓内、托盘空、新电池未动，关闭区间 [0,3.6] 与 door 读数（-7 至 -0 mm，3.8 s 起为正）一致，断点在开盖、位姿不准及控制根因均有视频支持，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": "2026-10-30T05:46:08Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-remote-battery-swap-i00-standard--qxh8rth/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-remote-battery-swap-i00-standard--qxh8rth/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-remote-battery-swap-i00-standard--qxh8rth/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-remote-battery-swap-i00-standard--qxh8rth/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7c942d40de83f99b03928b46581ebc1b617528c38610699faa99e03486048e41", + "video_sha256": "bb8c6f3e332419a5d908b228baed77a6a9cb5de675e5e370416083e77e712d8c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-standard--rj7ar3z.json b/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-standard--rj7ar3z.json new file mode 100644 index 0000000000000000000000000000000000000000..17f91c4c66fb9282c1eb422715622abbc037df88 --- /dev/null +++ b/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-standard--rj7ar3z.json @@ -0,0 +1,412 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-remote-battery-swap-i00-standard--rj7ar3z", + "taskKey": "dexhand/remote_battery_swap", + "dag_sha256": "448d38d5df99705f24cec0642f2338ce7100127136b831930f8d1fee7f80f537", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 782, + "control_steps_total": 34101, + "elapsed_s": 3634.196, + "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": 5955, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 7, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 5955, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.636, + "peak_processes": 12, + "peak_disk_gb": 0.891, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-remote-battery-swap-i00-standard--rj7ar3z/replay.mp4", + "duration_s": 61.6, + "fps": 5.0, + "frames": 308, + "sha256": "cf0224f5068ab5da3104fdc7396ad51aa010697b3ad20f449343c6eed5109aba" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 1, + "peak": 3, + "final": 3, + "nodes": { + "battery_cover_opened": { + "method": "visual", + "intervals": [ + [ + 9.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 9.8, + "log_step": null, + "text_zh": "观察：视频 9.6 s 滑盖向尾端伸出，叠字开度约 60 mm 但仍为 Stages 0/4；视频 9.8 s 灰色电池及仓口已露出，叠字开度 66 mm、Stages 1/4，确认达到开盖阈值。Stages 是视频顶部按原生评分器顺序锁存的阶段计数。" + }, + { + "t": 61.4, + "log_step": null, + "text_zh": "观察：视频 61.4 s 滑盖虽已部分推回，开盖阶段仍锁存为已通过；本节点为 event，不因随后关盖而撤销。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频约 4.6–10.8 s，机器人右手食指压住滑盖锁片并沿盖面向尾端擦拉，使滑盖伸出；没有合手夹持滑盖。" + } + ] + }, + "old_cell_in_tray": { + "method": "visual", + "intervals": [ + [ + 27.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 22.0, + "log_step": null, + "text_zh": "观察：视频 20.0–24.0 s，右手拇指与食指夹住灰色旧电池将其抬离电池仓并搬向右侧白色托盘；原来的仓内位置随之空出。" + }, + { + "t": 27.2, + "log_step": null, + "text_zh": "观察：视频 26.8–27.2 s，灰色电池留在白色托盘底部，右手逐步张开，视频 27.2 s 顶部阶段计数由 1/4 变为 2/4；视频 28.8–29.6 s 手已抬离，电池仍卧在盘内。" + }, + { + "t": 61.4, + "log_step": null, + "text_zh": "观察：视频 30.0–32.0 s 右手从托盘上方转向桌上的绿色电池，未把灰色电池带走；此后至视频 61.4 s 灰色电池一直留在盘底，终帧机器人右手远离托盘。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 16.0–27.2 s，机器人右手拇指与食指从两侧捏住灰色旧电池，抬出仓口、搬到白色托盘内后张开释放。" + } + ] + }, + "new_cell_seated": { + "method": "visual", + "intervals": [ + [ + 55.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 44.4, + "log_step": null, + "text_zh": "观察：视频 34.0–40.0 s 右手夹住桌上的绿色电池并抬起，视频 42.0–44.4 s 将其放到仓口，但电池一端仍翘在金色触点附近，阶段计数保持 2/4，尚未确认入槽。" + }, + { + "t": 55.4, + "log_step": null, + "text_zh": "观察：视频 46.4–51.6 s 右食指推压绿色电池，随后视频 52.8–55.4 s 右手再次捏取并校正其角度；视频 55.4 s 电池沿仓内长轴落平，顶部阶段计数由 2/4 变为 3/4，视频 55.6 s 手指已清楚离开电池。" + }, + { + "t": 61.4, + "log_step": null, + "text_zh": "推断：视频 55.6–57.0 s 绿色电池保持沿槽卧放、金色正端朝金色触点；视频 57.0–58.4 s 右食指操作的是滑盖，未见电池再被接触或移出。视频 58.6–61.4 s 手撤离，绿色电池仍部分可见且位置未变，因此维持入槽状态；毫米级位置和双肋接触主要由视频 55.4 s 的原生第三阶段通过提示佐证。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 34.0–44.0 s，机器人右手拇指与食指对夹绿色新电池并搬至电池仓；随后用右食指推压其正端修正，视频 52.8–55.4 s 再次对夹摆正后松开。" + } + ] + }, + "battery_cover_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 5.6 + ] + ], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 黑色滑盖覆盖电池仓，顶部开度为 0 mm；右手随后先抬离。初态关盖条件成立，本 state 节点不受 after 门控。" + }, + { + "t": 5.6, + "log_step": null, + "text_zh": "推断：视频 4.6–6.8 s 右食指逐渐向下压住锁片，随后视频 7.2 s 滑盖已移开约 6 mm；关闭并锁住的条件在下压过程中先失去。以视频约 5.6 s 估计区间终点，锁片越过 1.5 mm 阈值的时刻无法由总览精确读出，误差约半秒。" + }, + { + "t": 57.6, + "log_step": null, + "text_zh": "观察：视频 56.8–57.6 s 机器人右食指压擦滑盖，开度从 76 mm 降至 22 mm；视频 57.6–58.4 s 指腹仍在盖面附近，但开度不再减小。" + }, + { + "t": 61.4, + "log_step": 198, + "text_zh": "观察：视频 58.6–61.4 s 右手撤到遥控器上方，滑盖始终留有仓口，绿色电池仍露出；顶部仍为 door 22 mm、Stages 3/4、released hold 0/50，未恢复关盖条件。log step 198 的服务最终状态为 episode 8、control_steps 5955、done False，log step 199 的 agent 最终报告也承认盖仍部分打开。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频约 56.8–58.4 s，机器人右手食指压在黑色滑盖上，沿滑轨向仓口方向擦推；盖只推回一部分，随后食指抬离。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "cover_slide_m_open", + "unit": "m", + "threshold": 0.06, + "direction": "higher_better", + "value": null + }, + { + "name": "cover_slide_m_closed", + "unit": "m", + "threshold": 0.002, + "direction": "lower_better", + "value": null + }, + { + "name": "tab_depth_m_closed", + "unit": "m", + "threshold": 0.0015, + "direction": "lower_better", + "value": null + }, + { + "name": "old_cell_tray_local_x_abs", + "unit": "m", + "threshold": 0.037, + "direction": "lower_better", + "value": null + }, + { + "name": "old_cell_tray_local_y_abs", + "unit": "m", + "threshold": 0.032, + "direction": "lower_better", + "value": null + }, + { + "name": "old_cell_tray_local_z", + "unit": "m", + "threshold": 0.014, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_slot_error_x_abs", + "unit": "m", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_slot_error_y_abs", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_slot_error_z_abs", + "unit": "m", + "threshold": 0.002, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_axis_angle_deg", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "max_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_spin_rad_s", + "unit": "rad/s", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "remote_displacement_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "remote_tilt_deg", + "unit": "deg", + "threshold": 15, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "battery_cover_closed", + "t": 57.6, + "log_step": 196, + "where": "操作中", + "evidence_zh": "观察：视频 55.4 s 第三阶段已通过，右手随后改用食指推回滑盖；视频 57.6 s 开度降到 22 mm 后停止减小，视频 58.6 s 右手抬离，直到视频 61.4 s 仍有明显开口。log step 196 是最终关盖脚本，log step 198 服务仍未成功，故未修复的失败步骤是关上电池盖。" + }, + "unmet": { + "battery_cover_opened": true, + "old_cell_in_tray": true, + "new_cell_seated": true, + "battery_cover_closed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 57.6, + "log_step": 196, + "evidence_zh": "观察：视频 57.0–57.6 s 机器人右食指推回黑色滑盖，顶部开度由 65 mm 经 49 mm、34 mm 降至 22 mm；视频 57.6–58.4 s 食指仍在滑盖尾端附近，但盖的位置不再前进。视频 58.6 s 右手抬离，视频 61.4 s 滑盖仍偏离闭合位置、开度为 22 mm，绿色电池露在仓口；这里标记撤手前滑盖未推到闭合位置这一可见位姿偏差，不据此认定异常受力或接触滑脱。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 196 的关盖脚本依次执行 (x,z)=(-0.135,0.39)、(-0.135,0.337)、(-0.058,0.337)、(-0.058,0.45) m 的固定位姿序列，再等待并读取状态；视频 57.0–58.6 s 可见右食指推盖后抬离，滑盖最终仍有 22 mm 开度，log step 198 的服务状态为 episode 8、control_steps 5955、done False。只能将这次单次关盖脚本未实现所需盖位移暂归为宽泛的控制层推断；没有证据证明脚本终点足够完成全行程，也不能由 log step 197–198 的非零 qerr 证明跟踪误差致因，接触布局、行程设计、摩擦与施力之间无法区分。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有状态日志；总览不能逐帧复算锁片按深、电池毫米级位置、极性角及真实接触对，故电池验收结合可见转移、离手后位置和原生阶段锁存提示判断。关盖初态区间在视频约 5.6 s 结束是锁片下压的视觉估计，约有半秒误差；新电池入槽后未见再次移位，终值含连续性推断。视频 57.6–58.4 s 可确认滑盖停在 22 mm，但缺少接触力、指腹相对滑移和实际末端轨迹记录，不能区分接触丢失、推压位置或行程不足与摩擦卡位，也不能确定控制／轨迹子类；因此仅标可见的位姿未到位，宽泛控制根因为低置信推断，不将 qerr 当作因果证明。log step 198 的 time_left_s=0 仅说明停止背景，不作为现象或根因；run.json 的 reward 未报告 DAG 所列连续指标，native_metrics 的值均留 null。日志中的其他重置回合只作为会话背景，不计入本次视频进度。" + }, + "summary_zh": "评分视频对应最后的第 8 回合：机器人右手先滑开电池盖，约在视频 27.2 s 将灰色旧电池离手放入托盘，再经推压和重新捏取调整，于视频 55.4 s 完成绿色新电池入槽，终态为 3/4 节点。关盖时右食指仅将开度从约 76 mm 推至 22 mm，视频 57.6 s 后滑盖停止前进，撤手后直到视频 61.4 s 仍未闭合，断点为关盖操作中的位姿不准，根因仅暂归宽泛的控制推断。无状态日志，毫米级条件借助原生阶段提示及可见连续性判断；缺少力、滑移及实际末端轨迹，无法区分接触布局、行程与执行问题，也未证明 qerr 致因，因此 conf 从 8 降为 6。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值、时间、断点（关盖，操作中）经帧核对均成立（最终 3/4，door 22 mm）。问题在于关盖失败的现象/根因：没有力或阻挡的证据却标“接触力异常”，根因“控制”的机制（脚本终点、跟踪误差）只是推断，未被证据区分。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值、时间、断点（关盖，操作中，视频 57.6 s）与现象/根因均与帧和 HUD 一致：终帧 Stages 3/4、door 22 mm；第一轮问题已按证据修正，无新增错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:46:32Z", + "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-remote-battery-swap-i00-standard--rj7ar3z/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-remote-battery-swap-i00-standard--rj7ar3z/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-remote-battery-swap-i00-standard--rj7ar3z/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-remote-battery-swap-i00-standard--rj7ar3z/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "4ccb0948b8cb660c870369b9b44445cf1c2b9b7bf00c679309cd8de92e6305d0", + "video_sha256": "cf0224f5068ab5da3104fdc7396ad51aa010697b3ad20f449343c6eed5109aba", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-standard--xeev5cp.json b/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-standard--xeev5cp.json new file mode 100644 index 0000000000000000000000000000000000000000..fb450b8aff4a9e7c388144fa209e3285e540954c --- /dev/null +++ b/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-standard--xeev5cp.json @@ -0,0 +1,353 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-remote-battery-swap-i00-standard--xeev5cp", + "taskKey": "dexhand/remote_battery_swap", + "dag_sha256": "448d38d5df99705f24cec0642f2338ce7100127136b831930f8d1fee7f80f537", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 47, + "control_steps_total": 1336, + "elapsed_s": 2869.485, + "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": 1336, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 0, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 1336, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.426, + "peak_processes": 9, + "peak_disk_gb": 0.29, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-remote-battery-swap-i00-standard--xeev5cp/replay.mp4", + "duration_s": 28.8, + "fps": 5.0, + "frames": 144, + "sha256": "17388ed1efe773e84203b889c4179551e7df289883d6c26c8fcddfc2f8d9b649" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 1, + "peak": 3, + "final": 3, + "nodes": { + "battery_cover_opened": { + "method": "visual", + "intervals": [ + [ + 7.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.2, + "log_step": 36, + "text_zh": "观察：视频 7.0 s 滑盖开度叠字为 56 mm、Stages 0/4；视频 7.2 s 右手食指将滑盖向尾端擦拉，灰色旧电池和仓口露出，开度为 65 mm、Stages 1/4，达到至少 60 mm 的开盖阈值。Stages 是基准原生的依序阶段锁存计数；视频 28.6 s 仍显示开度 69 mm。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "视频约 5.2–7.4 s，右手食指指腹按压滑盖锁片，并靠指腹摩擦向遥控器尾端拉开滑盖；没有夹住盖的对向抓握。" + } + ] + }, + "old_cell_in_tray": { + "method": "visual", + "intervals": [ + [ + 16.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 14.4, + "log_step": 73, + "text_zh": "观察：视频约 13.8–14.4 s，右手拇指和食指夹住灰色旧电池并提离电池仓，原来的仓内位置露空；随后机器人将电池搬向右侧白色托盘。" + }, + { + "t": 16.8, + "log_step": 75, + "text_zh": "观察：视频 16.6 s 手指仍在托盘内，Stages 1/4；视频 16.8 s 变为 Stages 2/4，视频 17.0–17.4 s 手指张开并上抬，可见灰色电池留在盘底内侧。至视频 28.6 s 灰色电池仍在托盘内，右手未再碰它。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右手拇指和食指对向夹住灰色旧电池，提离仓内、搬到白色托盘并张指释放；视频约 13.8–17.4 s。" + } + ] + }, + "new_cell_seated": { + "method": "visual", + "intervals": [ + [ + 26.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 21.4, + "log_step": 81, + "text_zh": "观察：视频约 20.8–21.4 s，右手拇指和食指夹起绿色新电池，绿色电池随手离开桌面原位，随后搬到遥控器仓口上方并校正朝向。" + }, + { + "t": 26.6, + "log_step": 91, + "text_zh": "观察：视频 25.0–26.2 s 右手将绿色电池沿遥控器长轴下放并张指；视频 26.4 s 手指已上抬，视频 26.6 s 原生叠字从 Stages 2/4 变为 3/4。视频 26.6–28.6 s 绿色电池留在原灰色电池的槽内，金色正极朝右侧金色触点，手指与电池分离。" + }, + { + "t": 28.6, + "log_step": null, + "text_zh": "推断：视频 26.6 s 的第三阶段锁存与视频 28.6 s 清晰的入槽离手状态共同支持新电池入槽成立；毫米级误差、极性角和双肋接触由原生阶段验收提供支持，不能从总览像素独立精确复算。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右手拇指与食指对向捏持绿色新电池，从桌面提起、搬到仓口并调整朝向，下放入槽后张指离开；视频约 20.0–26.6 s。" + } + ] + }, + "battery_cover_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 5.8 + ] + ], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 黑色滑盖完整覆盖电池仓，原生叠字 door -0 mm；绿色新电池在桌面、托盘为空。该状态在开局成立，不能因阶段锁存计数为零而删去。" + }, + { + "t": 5.8, + "log_step": 32, + "text_zh": "推断：视频 5.2–6.0 s 右手食指逐渐下压锁片，随后开始滑盖；将关盖锁住状态的失效时刻约记为视频 5.8 s，锁片被手指遮挡，超过 1.5 mm 压深的精确时刻不明，约有半秒误差。视频 6.4 s 开度已达 15 mm，此后始终未复闭。" + }, + { + "t": 28.6, + "log_step": 94, + "text_zh": "观察：视频 26.6–28.6 s 绿色电池持续露在仓内、滑盖向尾端伸出，叠字 door 69 mm、Stages 3/4、released hold 0/50；右手停在仓口上方，未执行关盖。log step 94 仅离线计算关盖用的食指姿态，没有向机器人提交关盖轨迹。成功参考视频 29.4 s 则可见盖完整覆盖仓口且叠字 PASS、Stages 4/4，显示本次缺少该关盖状态。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "cover_slide_m_open", + "unit": "m", + "threshold": 0.06, + "direction": "higher_better", + "value": null + }, + { + "name": "cover_slide_m_closed", + "unit": "m", + "threshold": 0.002, + "direction": "lower_better", + "value": null + }, + { + "name": "tab_depth_m_closed", + "unit": "m", + "threshold": 0.0015, + "direction": "lower_better", + "value": null + }, + { + "name": "old_cell_tray_local_x_abs", + "unit": "m", + "threshold": 0.037, + "direction": "lower_better", + "value": null + }, + { + "name": "old_cell_tray_local_y_abs", + "unit": "m", + "threshold": 0.032, + "direction": "lower_better", + "value": null + }, + { + "name": "old_cell_tray_local_z", + "unit": "m", + "threshold": 0.014, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_slot_error_x_abs", + "unit": "m", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_slot_error_y_abs", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_slot_error_z_abs", + "unit": "m", + "threshold": 0.002, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_axis_angle_deg", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "max_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_spin_rad_s", + "unit": "rad/s", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "remote_displacement_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "remote_tilt_deg", + "unit": "deg", + "threshold": 15, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 95, + "where": "转场", + "evidence_zh": "观察：视频 26.6–28.6 s 新电池已入槽离手，滑盖仍开 69 mm，机器人没有开始关盖；log step 91 的服务返回 Done: False、Reason: None，log step 94 仅计算关盖姿态，log step 95 记录“This request was blocked by Gemini's filters”。推断：现场回合尚可继续时被模型提供方过滤切断，处于装电池完成到关盖之间，未发现此前未修复的物理失败，故不指定一个机器人失败步骤，视频时刻也无法给外部拦截定位。" + }, + "unmet": { + "battery_cover_opened": true, + "old_cell_in_tray": true, + "new_cell_seated": true, + "battery_cover_closed": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：log step 95 明确记录模型提供方过滤拦截；此前 log step 91 服务仍返回 Done: False、Reason: None，后续只有观测及离线关盖姿态计算，没有完成验收或主动结束的记录。推断：这是结果尚未确定前的外部中断，按外因规则不归为机器人失败，现象与根因均留空；保留目录给定 success=0 和视频中已完成的三个节点。inputs/ 中有完整视频及运行记录，但没有状态日志；锁片压深阈值的失效时刻约记为视频 5.8 s，存在约半秒误差，毫米级装配公差与真实接触不能独立复算，采用可见结果及原生阶段叠字辅助判断。" + }, + "summary_zh": "机器人依次完成开盖、旧电池入托盘和新电池入槽离手，视频 26.6–28.6 s 显示 Stages 3/4，滑盖仍开约 69 mm。log step 95 记录提供方过滤拦截，此前服务仍未结束、agent 仅计算关盖姿态，因此记为关盖前的外部中断，不填机器人失败现象或根因。没有状态日志，锁片解除关锁的时刻只能约估，装配精度以画面及原生阶段验收辅助判定。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "三个节点的时间与画面叠字（Stages 1/4、2/4、3/4，滑盖 69 mm）一致；log step 95 确为模型提供方过滤拦截，此前 step 94 只做离线关盖姿态计算，按外因规则留空现象与根因合理。未发现需要修改之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:27:46Z", + "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-remote-battery-swap-i00-standard--xeev5cp/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-remote-battery-swap-i00-standard--xeev5cp/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e055a930af72193250cb8b7973023f3f2f7633c9605539e9c28f80c9cfd43d99", + "video_sha256": "17388ed1efe773e84203b889c4179551e7df289883d6c26c8fcddfc2f8d9b649", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-standard--xthbufd.json b/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-standard--xthbufd.json new file mode 100644 index 0000000000000000000000000000000000000000..c57cebbfb3e4182a823f42c43a2a3035e4d6f7db --- /dev/null +++ b/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-standard--xthbufd.json @@ -0,0 +1,343 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-remote-battery-swap-i00-standard--xthbufd", + "taskKey": "dexhand/remote_battery_swap", + "dag_sha256": "448d38d5df99705f24cec0642f2338ce7100127136b831930f8d1fee7f80f537", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 346, + "control_steps_total": 11896, + "elapsed_s": 3564.209, + "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": 530, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 19, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 530, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.701, + "peak_processes": 9, + "peak_disk_gb": 0.317, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-remote-battery-swap-i00-standard--xthbufd/replay.mp4", + "duration_s": 12.8, + "fps": 5.0, + "frames": 64, + "sha256": "87bbb3f6cf46494710096197bf2ff9e25dc69f1ce9a434d086a80bff3bb6956d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "battery_cover_opened": { + "method": "visual", + "intervals": [ + [ + 9.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 5.8, + "log_step": null, + "text_zh": "观察：视频 5.8–9.2 s，机器人右手首次按压并向尾端擦拉后离开，黑色滑盖已伸出，但画面原生叠字 door 54 mm、Stages 0/4，尚未达到 60 mm。" + }, + { + "t": 9.8, + "log_step": null, + "text_zh": "观察：视频 9.6 s 叠字 door 58 mm、Stages 0/4；视频 9.8 s 右手下探时滑盖继续向尾端移动，叠字 door 61 mm、Stages 1/4，灰色电池和仓口露出。视频 10.6–12.6 s 仍为 Stages 1/4，故开盖事件保持。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频约 2.4–5.8 s，机器人右手食指指腹按压滑盖锁片并向遥控器尾端擦拉；视频 9.4–10.4 s，右手双指下探时再次压擦盖边，使盖进一步滑开。未见包围夹持盖子的抓握。" + } + ] + }, + "old_cell_in_tray": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 9.4, + "log_step": 527, + "text_zh": "观察：视频 9.0–10.4 s，机器人右手食指和中指伸直下探灰色电池后端附近，先压到滑盖及仓口边缘；灰色电池持续留在仓内，没有随手离仓，右侧白色托盘始终为空。log step 527 中 agent 自述正在执行侧向双指夹取控制器，仅用于确认本段意图。" + }, + { + "t": 10.6, + "log_step": 529, + "text_zh": "观察：视频 10.6 s，机器人右手仍压在仓口后部，遥控器倾斜，叠字 FAIL: remote_tipped；视频 11.6–12.6 s 末段定格仍见灰色电池在遥控器内，白色托盘为空。log step 529 的机器人服务状态为 episode 20、control_steps 530、done True、reason task_failure，与最终评分记录 n_actions 530 一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 9.4–10.6 s，机器人右手食指、中指朝旧电池下探，实际压擦黑色滑盖与电池仓后侧边缘并使遥控器倾斜；未见两指在灰色电池两侧建立夹持，不能将计划中的夹取记为抓握。" + } + ] + }, + "new_cell_seated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.6, + "log_step": null, + "text_zh": "观察：逐帧检查视频 0.0–12.6 s，绿色新电池始终躺在遥控器前方桌面原处，机器人没有到它的位置取物；末帧仓内仍为灰色旧电池。未发生绿色电池离桌或进入槽内的动作。" + } + ] + }, + "battery_cover_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 2.6 + ] + ], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，黑色滑盖完整覆盖电池仓，锁片露出且无按压，原生叠字 door 0 mm；视频 2.2 s 指尖尚未持续压住锁片。此初态符合关盖状态，按 state 节点规则从起点计入。" + }, + { + "t": 2.6, + "log_step": null, + "text_zh": "推断：视频约 2.4–2.8 s，机器人右手食指落在锁片并持续下压，随后擦拉开盖；将锁片脱离回弹状态的时刻近似记为视频 2.6 s，误差约 0.4 s。视频未显示锁片按深数值，无法精确确定超过 1.5 mm 的帧；视频 4.4 s 已清楚露仓，叠字 door 22 mm，至视频 12.6 s 始终未再关闭（末态 door 67 mm）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "cover_slide_m_open", + "unit": "m", + "threshold": 0.06, + "direction": "higher_better", + "value": null + }, + { + "name": "cover_slide_m_closed", + "unit": "m", + "threshold": 0.002, + "direction": "lower_better", + "value": null + }, + { + "name": "tab_depth_m_closed", + "unit": "m", + "threshold": 0.0015, + "direction": "lower_better", + "value": null + }, + { + "name": "old_cell_tray_local_x_abs", + "unit": "m", + "threshold": 0.037, + "direction": "lower_better", + "value": null + }, + { + "name": "old_cell_tray_local_y_abs", + "unit": "m", + "threshold": 0.032, + "direction": "lower_better", + "value": null + }, + { + "name": "old_cell_tray_local_z", + "unit": "m", + "threshold": 0.014, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_slot_error_x_abs", + "unit": "m", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_slot_error_y_abs", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_slot_error_z_abs", + "unit": "m", + "threshold": 0.002, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_axis_angle_deg", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "max_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_spin_rad_s", + "unit": "rad/s", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "remote_displacement_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "remote_tilt_deg", + "unit": "deg", + "threshold": 15, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "old_cell_in_tray", + "t": 10.6, + "log_step": 529, + "where": "操作中", + "evidence_zh": "观察：视频 9.0–10.4 s，机器人右手双指下探旧电池，滑盖继续打开并在视频 9.8 s 锁存开盖阶段；灰色电池始终未离仓。视频 10.6 s，手指接触仓口后部时遥控器被顶倾，原生叠字 FAIL: remote_tipped，后续只剩最终定格；log step 529 的服务状态确认最终第 20 局于 530 个控制步以 task_failure 结束。失败发生在已启动而未完成的旧电池转移步骤，早先开盖不足已在本段修复。" + }, + "unmet": { + "battery_cover_opened": true, + "old_cell_in_tray": false, + "new_cell_seated": false, + "battery_cover_closed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 10.6, + "log_step": null, + "evidence_zh": "观察：视频 9.4–10.4 s，机器人右手双指下探时触到旧电池后方的黑色滑盖及仓口边缘，盖被继续推开而电池没有被取出；视频 10.6 s，手指仍接触该部位，遥控器明显倾斜并出现 FAIL: remote_tipped。该非目标边缘接触破坏了遥控器稳定性，阻止了旧电池转移。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 10.6, + "log_step": 524, + "source_zh": "视频 / 日志", + "evidence_zh": "推断：log step 524 的最终控制器设置食指和中指侧向夹取姿态，log step 527 中 agent 自述本段旨在夹取旧电池；但视频 9.4–10.6 s，实际下探接触落在滑盖和仓口后缘，未建立可带走电池的夹持，反而顶倾遥控器。目标是取出旧电池，实际精细接触执行未实现该目标，因此归为控制；缺少接触对、力及同步目标/实测关节序列，不细分抓取几何、逆解或跟踪原因。" + } + ], + "gap_zh": "无状态日志；原生画面可确认开盖阶段和 remote_tipped 判负，但不能分辨末段每根手指的全部接触对、接触力及倾角数值。关盖初态丢失时刻按视频锁片持续受压近似为视频 2.6 s（约 ±0.4 s），未记录锁片按深以核对精确阈值。inputs/run.json 的最终评分字段未报告 DAG 的各项原生数值指标，故 native_metrics.value 均为 null；日志所存最终脚本中段也被截略，无法进一步验证控制子类。" + }, + "summary_zh": "评分第 20 局在视频 9.8 s 达到开盖事件；关盖初态在按压开盖时失去，最终仅开盖节点为真（1/4），灰色旧电池未离仓，绿色新电池未被操作。机器人在取旧电池的下探动作中压到滑盖及仓口边缘，于视频约 10.6 s 顶倾遥控器并被判 remote_tipped，断点为旧电池入托盘，根因归为控制。无状态及接触力日志，锁片按深越阈的时刻和控制子类仍有不确定性。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值与时间（开盖事件视频 9.8 s、关盖初态 0–2.6 s 后失去、旧电池/新电池未达成、final 1/4）与原生叠字及帧一致；断点 old_cell_in_tray、被挡/碰撞现象与控制根因有帧和 remote_tipped 叠字支持，且已标为推断，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:27:13Z", + "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-remote-battery-swap-i00-standard--xthbufd/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-remote-battery-swap-i00-standard--xthbufd/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "946fe3e47d1229534f9269f1f6b939b02e9fdf409fa7d20e9e7f9965cda57d72", + "video_sha256": "87bbb3f6cf46494710096197bf2ff9e25dc69f1ce9a434d086a80bff3bb6956d", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-standard--xx5tjja.json b/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-standard--xx5tjja.json new file mode 100644 index 0000000000000000000000000000000000000000..bad13404ea067b3f0038f2201c5347833c292fb6 --- /dev/null +++ b/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-standard--xx5tjja.json @@ -0,0 +1,394 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-remote-battery-swap-i00-standard--xx5tjja", + "taskKey": "dexhand/remote_battery_swap", + "dag_sha256": "448d38d5df99705f24cec0642f2338ce7100127136b831930f8d1fee7f80f537", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 773, + "control_steps_total": 46685, + "elapsed_s": 2994.68, + "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": 3695, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 13, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 3695, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.348, + "peak_processes": 8, + "peak_disk_gb": 0.278, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-remote-battery-swap-i00-standard--xx5tjja/replay.mp4", + "duration_s": 59.0, + "fps": 5.0, + "frames": 295, + "sha256": "598cd41f45bd5c903685a8afc538df97ab0b8bb60ef4741ac50dc3cfbdfaea02" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 1, + "peak": 3, + "final": 3, + "nodes": { + "battery_cover_opened": { + "method": "visual", + "intervals": [ + [ + 10.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 10.4, + "log_step": null, + "text_zh": "观察：视频 3.6–10.4 s，机器人右食指按压、擦拉滑盖后又抵推盖边；视频 10.2 s 原生叠字显示 door 60 mm 但 Stages 0/4，视频 10.4 s 显示 door 65 mm、Stages 1/4，灰色电池完整露出。以视频 10.4 s 为首次明确过阈值的帧。" + }, + { + "t": 58.8, + "log_step": null, + "text_zh": "观察：视频 58.8 s 滑盖已合上；开盖为锁存事件，后续关盖不撤销已完成的开盖步骤。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 3.4–11.4 s，右食指指腹向下压锁片并沿滑盖擦拉，随后食指抵推滑盖边缘使其继续滑开；没有夹住盖子的对向抓握。" + } + ] + }, + "old_cell_in_tray": { + "method": "visual", + "intervals": [ + [ + 20.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 16.6, + "log_step": null, + "text_zh": "观察：视频 14.2–18.6 s，右手拇指与食指夹取灰色旧电池；电池离开原仓口，随右手抬起并移到白色托盘上方。" + }, + { + "t": 20.6, + "log_step": null, + "text_zh": "观察：视频 20.2–21.0 s，右手张开并抬离，灰色电池留在白色托盘底部；视频 20.6 s 原生叠字已为 Stages 2/4，确认按序通过旧电池落底离手验收。" + }, + { + "t": 58.8, + "log_step": null, + "text_zh": "观察：视频 21.0–58.8 s 的后续画面中，灰色电池一直留在托盘内，机器人右手未再操作它，末帧仍见电池在盘中。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 14.2–20.6 s，右手拇指和食指对向夹住灰色旧电池，提离遥控器并搬到托盘内，随后张开放开。" + } + ] + }, + "new_cell_seated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 28.6, + "log_step": null, + "text_zh": "观察：视频 24.0–30.6 s，机器人右手拇指与食指捏起桌面上的绿色电池并带至仓口；绿色电池确实离开原桌面位置。" + }, + { + "t": 34.8, + "log_step": 108, + "text_zh": "观察：视频 33.6–34.8 s 右手松开并离开绿色电池，电池横斜在仓口中，轴线与遥控器长轴不一致；原生叠字仍为 Stages 2/4，没有通过新电池入槽阶段。" + }, + { + "t": 45.2, + "log_step": 109, + "text_zh": "观察：视频 36.2–45.2 s，右手重新夹取绿色电池、抬起、转向后下放并松开；视频 45.2–47.6 s 可见电池大部分绿色侧面被仓口近侧边遮住，仅露一条偏在边缘的绿色带，叠字仍为 Stages 2/4。" + }, + { + "t": 58.8, + "log_step": 109, + "text_zh": "推断：结合视频 34.8 s 的斜放、视频 45.2–47.6 s 的偏侧落位，以及其后直到视频 58.8 s 始终未增加的原生阶段读数，绿色电池两次释放均未满足入槽验收。log step 109 的 agent 自编点云分析输出末次绿色点集均值约 [-0.0187,-0.0103,0.3232]、轴向约 [0.995,-0.096,-0.002]，支持偏侧落位，但它不是评分器测量，不能作为精确公差值。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 24.0–33.6 s，右手拇指与食指对向捏取、搬运绿色电池并释放；视频 36.2–45.2 s 再次对向夹取、抬起、转向及下放后放开。" + } + ] + }, + "battery_cover_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 3.4 + ], + [ + 55.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 滑盖覆盖整个电池仓，原生叠字为 door -0 mm，锁片处于未按下初态；按 state 节点规则，从开局计为成立。" + }, + { + "t": 3.6, + "log_step": null, + "text_zh": "观察：视频 3.2–4.2 s 右食指下压锁片并开始擦拉，视频 3.6 s 已有 door 2 mm 的叠字，视频 4.2 s 为 door 7 mm；将解锁后失去关盖状态的边界约定在视频 3.4 s，误差约 0.4 s。" + }, + { + "t": 55.0, + "log_step": 109, + "text_zh": "观察：视频 48.2–54.6 s 右食指向回擦推滑盖并按锁片推进，视频 55.0–55.4 s 指尖抬离，盖覆盖整个仓口、锁片回弹，door 约为 0 mm；视频 55.8–58.8 s 右手完全离开且盖保持闭合。恢复时间取视频 55.0 s，误差约 0.4 s。" + }, + { + "t": 58.8, + "log_step": null, + "text_zh": "推断：视频 58.8 s 虽仍显示 Stages 2/4、INCOMPLETE，但关盖是按当前几何条件独立判定的 state 节点；新电池阶段未锁存不能否认画面中盖已关上。关盖计真不代表最终四阶段联合验收通过。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 48.2–55.0 s，右食指压住滑盖上表面并擦推回仓口，再下压锁片推进，随后抬指让锁片回弹；没有对向夹持滑盖。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "cover_slide_m_open", + "unit": "m", + "threshold": 0.06, + "direction": "higher_better", + "value": null + }, + { + "name": "cover_slide_m_closed", + "unit": "m", + "threshold": 0.002, + "direction": "lower_better", + "value": null + }, + { + "name": "tab_depth_m_closed", + "unit": "m", + "threshold": 0.0015, + "direction": "lower_better", + "value": null + }, + { + "name": "old_cell_tray_local_x_abs", + "unit": "m", + "threshold": 0.037, + "direction": "lower_better", + "value": null + }, + { + "name": "old_cell_tray_local_y_abs", + "unit": "m", + "threshold": 0.032, + "direction": "lower_better", + "value": null + }, + { + "name": "old_cell_tray_local_z", + "unit": "m", + "threshold": 0.014, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_slot_error_x_abs", + "unit": "m", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_slot_error_y_abs", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_slot_error_z_abs", + "unit": "m", + "threshold": 0.002, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_axis_angle_deg", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "max_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_spin_rad_s", + "unit": "rad/s", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "remote_displacement_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "remote_tilt_deg", + "unit": "deg", + "threshold": 15, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "new_cell_seated", + "t": 33.6, + "log_step": 108, + "where": "操作中", + "evidence_zh": "观察：视频 33.6–34.8 s，机器人右手首次释放绿色电池后，电池横斜在仓口，原生叠字仍为 Stages 2/4；视频 36.2–45.2 s 再抓取转向重放后仍偏在仓口近侧，后续关盖及视频 58.8 s 末帧均没有通过第三阶段。这是最早未被修复的步骤。log step 108 重置后续接 lower.py、rel3.py，log step 109 执行重放和关盖，与本视频动作顺序一致。" + }, + "unmet": { + "battery_cover_opened": true, + "old_cell_in_tray": true, + "new_cell_seated": false, + "battery_cover_closed": true + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 33.6, + "log_step": 108, + "evidence_zh": "观察：视频 33.6–34.8 s，右手松开时绿色电池轴线斜于遥控器长轴；视频 44.6–47.6 s 第二次放开后，绿色电池虽转得更顺长轴，却偏在仓口近侧边缘，没有获得与成功参考视频 24.0 s 那样居中的落位；本次原生阶段始终停在 2/4。偏差在放下时就存在，没有看到一次合格落位后再失稳。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 69 的 lower.py 通过固定夹点偏移将电池下放；本回合 log step 108 沿用该下放轨迹，再执行 rel3.py 松指。log step 109 的 fix3.py 使用给定夹点、固定手指姿态与 -22 度腕部转向重放，随后仍按既定轨迹松指和撤手；视频 33.6–34.8 s 与视频 44.6–47.6 s 均显示下放释放后电池未到合格位姿。目标和任务顺序正确，但夹持到释放的精细位姿控制未把电池稳定送入公差范围，支持控制根因；没有足够传感证据继续区分接触设计、跟踪误差或参数问题。" + } + ], + "gap_zh": "无状态日志；原生叠字可确定开盖和旧电池阶段通过、新电池阶段未通过，但没有逐帧支承肋接触、锁片按深和电池中心真值，毫米级误差及控制子类型不能精确复算。log step 109 的点云数值是 agent 自编分析，log step 112 对横向偏差约 10 mm 的说法是 agent 自述，均不当作评分器原生指标。视频最后关盖遮住绿色电池，依据关盖前画面及未增长的阶段读数判断未入槽；所有时间均直接取视频，没有换算 agent 时间。" + }, + "summary_zh": "本次评分采用最后一个现场回合（graded_by_live=1、sim_steps=3695）；视频确认开盖、旧电池入托盘完成，关盖状态由初始成立到开盖后失去，再于视频约 55.0 s 恢复，最终节点为 3/4。断点是新电池入槽：视频约 33.6 s 首次释放时斜放，重新夹取转向后仍偏侧，精细下放释放控制未完成入槽，原生阶段最终停在 2/4。无状态日志，细公差和接触真值不可复算；日志中的其他重置试验及交付脚本注释不计入本回合进度。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值、时间与断点（新电池入槽，视频约 33.6 s）与视频原生叠字一致：开盖 10.4 s（Stages 1/4）、旧电池 20.6 s（2/4）、末帧 2/4 且关盖 door -0 mm；现象位姿不准与根因控制有视频支持，未发现需改动之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:22:26Z", + "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-remote-battery-swap-i00-standard--xx5tjja/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-remote-battery-swap-i00-standard--xx5tjja/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0e9bb02c9b2f26608a9f428b1fe6e4c9324b8b3e8d969d0005c9349147ef98d9", + "video_sha256": "598cd41f45bd5c903685a8afc538df97ab0b8bb60ef4741ac50dc3cfbdfaea02", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-standard--xy82bxh.json b/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-standard--xy82bxh.json new file mode 100644 index 0000000000000000000000000000000000000000..a6affe032f0982331952b328a0288df96af4ded1 --- /dev/null +++ b/phase2/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-standard--xy82bxh.json @@ -0,0 +1,337 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-remote-battery-swap-i00-standard--xy82bxh", + "taskKey": "dexhand/remote_battery_swap", + "dag_sha256": "448d38d5df99705f24cec0642f2338ce7100127136b831930f8d1fee7f80f537", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 836, + "control_steps_total": 3121, + "elapsed_s": 2648.886, + "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": 511, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 8, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 511, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.381, + "peak_processes": 11, + "peak_disk_gb": 1.004, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-remote-battery-swap-i00-standard--xy82bxh/replay.mp4", + "duration_s": 12.4, + "fps": 5.0, + "frames": 62, + "sha256": "84ad915c2e6c6cfb248577de2b0be02ae0dbc5f6bfbd38ed580a78c877573e1a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "battery_cover_opened": { + "method": "visual", + "intervals": [ + [ + 8.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.8, + "log_step": null, + "text_zh": "观察：视频 7.8 s 黑色滑盖已向尾端伸出、灰色旧电池露出，但基准渲染叠字的 door 读数为 59 mm，Stages 为 0/4，尚未达到 0.060 m。" + }, + { + "t": 8.0, + "log_step": null, + "text_zh": "观察：视频 8.0 s 滑盖继续伸出，灰色电池及仓口清晰可见；基准渲染叠字（原生开度及阶段显示）变为 door 62 mm、Stages 1/4。视频 10.0–12.2 s 滑盖保持伸出，叠字为 door 89 mm、Stages 1/4，开盖事件已达成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 1.6–3.6 s 及视频约 4.4–10.0 s，右手食指指腹向下按住滑盖尾端锁片并沿遥控器长轴向尾端擦拉；拇指和其余手指没有夹住滑盖。" + } + ] + }, + "old_cell_in_tray": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.0, + "log_step": null, + "text_zh": "观察：视频 8.0–10.0 s 开盖后，灰色旧电池仍卧在遥控器仓内，右手食指继续作用于伸出的滑盖，没有转向灰色电池或白色托盘。" + }, + { + "t": 12.2, + "log_step": 208, + "text_zh": "观察：视频 10.4–12.2 s（包括最后一秒逐帧）灰色旧电池仍在原仓内，右侧白色托盘始终为空，右手停在盖尾。log step 208 中 agent 也自述后续电池转移未完成；节点未达成依据为本次画面中的原位电池和空托盘。" + } + ] + }, + "new_cell_seated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 绿色新电池位于遥控器前方桌面，白色托盘为空。" + }, + { + "t": 12.2, + "log_step": null, + "text_zh": "观察：视频全程的总览及视频 11.2–12.2 s 逐帧均显示绿色新电池留在桌面同一位置；开盖后槽内仍是灰色旧电池，右手没有抓取或移动绿色新电池。" + } + ] + }, + "battery_cover_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 1.8 + ] + ], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0–1.4 s 黑色盖覆盖仓口、未向尾端伸出，基准渲染叠字 door 为 0 mm；这是本次重置后的初始关盖状态，按 state 节点从视频起点计入。" + }, + { + "t": 1.8, + "log_step": 192, + "text_zh": "推断：视频 1.6–1.8 s 右手食指下降并压住尾端锁片；log step 192 的最后一次重置后脚本也先执行锁片下压再擦拉，故将关盖且锁片释放的状态失去估在视频 1.8 s，约有 0.5 s 不确定性。锁片被指尖遮挡，不能直接量出 0.0015 m 按深阈值；视频 3.6 s 的原生 door 读数已为 6 mm，明确不再满足关盖条件。" + }, + { + "t": 12.2, + "log_step": null, + "text_zh": "观察：视频 3.6–12.2 s 滑盖持续伸出且仓口逐渐露出；视频 12.2 s 仍为 door 89 mm，机器人没有执行关盖恢复，最终关盖状态为假。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "cover_slide_m_open", + "unit": "m", + "threshold": 0.06, + "direction": "higher_better", + "value": null + }, + { + "name": "cover_slide_m_closed", + "unit": "m", + "threshold": 0.002, + "direction": "lower_better", + "value": null + }, + { + "name": "tab_depth_m_closed", + "unit": "m", + "threshold": 0.0015, + "direction": "lower_better", + "value": null + }, + { + "name": "old_cell_tray_local_x_abs", + "unit": "m", + "threshold": 0.037, + "direction": "lower_better", + "value": null + }, + { + "name": "old_cell_tray_local_y_abs", + "unit": "m", + "threshold": 0.032, + "direction": "lower_better", + "value": null + }, + { + "name": "old_cell_tray_local_z", + "unit": "m", + "threshold": 0.014, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_slot_error_x_abs", + "unit": "m", + "threshold": 0.005, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_slot_error_y_abs", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_slot_error_z_abs", + "unit": "m", + "threshold": 0.002, + "direction": "lower_better", + "value": null + }, + { + "name": "new_cell_axis_angle_deg", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "max_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "max_spin_rad_s", + "unit": "rad/s", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "remote_displacement_m", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "remote_tilt_deg", + "unit": "deg", + "threshold": 15, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "old_cell_in_tray", + "t": 10.0, + "log_step": 208, + "where": "首步前", + "evidence_zh": "观察：视频约 8.0 s 已完成开盖；机器人随后仍拉动滑盖，视频约 10.0 s 起停止，视频 10.4–12.2 s 灰色旧电池始终留在仓内且托盘为空，未启动旧电池取出及转移动作。log step 197 是最后一次现场动作（继续拉盖）；log step 199、201、204–207 是几何计算、编写辅助代码及语法检查，log step 208 最终报告承认电池转移未完成。断点取第一项未启动的后续步骤，视频 10.0 s 为开盖动作停止的导航锚点。" + }, + "unmet": { + "battery_cover_opened": true, + "old_cell_in_tray": false, + "new_cell_seated": false, + "battery_cover_closed": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 10.0, + "log_step": 208, + "evidence_zh": "观察：视频 8.0–12.2 s 灰色旧电池已露出但从未离开仓内；机器人右手一直在尾端滑盖处，既未向电池靠近夹取，也未向托盘转移。视频约 10.0 s 后动作停止，最终托盘仍为空；log step 208 中 agent 明确自述后续阶段仅写入控制器而未验证。" + } + ], + "root_causes": [], + "gap_zh": "观察：inputs/ 有本次与成功示例视频及完整运行日志，但没有本次状态日志。锁片被右食指遮挡，关盖状态失去的具体时刻依据按压动作推断，不能复算毫米级按深；各 native_metrics 未由 reward 报告，均留 null。log step 199、201、204–208 证明 agent 在最后现场开盖后计算抓取几何、编写代码并结束，但没有执行旧电池转移；这些记录不足以确认未启动该步源于何种错误计划、感知或控制缺陷，故根因留空，不把停止或 agent 自述预算耗尽当作根因。早先重置前的接触失败不作为本次断点的现象。" + }, + "summary_zh": "本次评分回合在视频约 8.0 s 将滑盖打开到原生读数 62 mm，最终保持开盖事件达成，节点终值为 1/4；初始关盖状态随按压开盖失去。机器人开盖后没有启动灰色旧电池入托盘，绿色新电池也始终在桌上，断点为旧电池入托盘／首步前，现象为没尝试。缺少状态日志使锁片阈值跨越时刻只能估计；日志中的后续控制器代码没有在本次现场执行，未启动转移的具体根因证据不足。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标注与视频一致：开盖事件在视频约 8.0 s（叠字 Stages 0/4→1/4，door 约 62 mm）达成，旧电池始终在仓内、托盘为空、新电池留在桌上，断点 old_cell_in_tray/首步前/没尝试及空根因（附 gap_zh）均有依据；关盖状态 1.8 s 失去为已标注的推断。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": "2026-10-30T05:27:48Z", + "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-remote-battery-swap-i00-standard--xy82bxh/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-remote-battery-swap-i00-standard--xy82bxh/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "fd92c9022ad2f3a3932f521d6e56e0290c89721b700c2e45773869b5982fc24b", + "video_sha256": "84ad915c2e6c6cfb248577de2b0be02ae0dbc5f6bfbd38ed580a78c877573e1a", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-privileged--47zislq.json b/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-privileged--47zislq.json new file mode 100644 index 0000000000000000000000000000000000000000..46bb50cd972d779bf2a1d0263a592631d2b9e833 --- /dev/null +++ b/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-privileged--47zislq.json @@ -0,0 +1,265 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-usb-plug-insert-i00-privileged--47zislq", + "taskKey": "dexhand/usb_plug_insert", + "dag_sha256": "d32765c73fc52a9bb5b04aeb88d832c51d085f5f2812dfc0a2c4c200487979bf", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 1870, + "sim_steps": 1870, + "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": 6.109, + "peak_processes": 13, + "peak_disk_gb": 0.851, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-usb-plug-insert-i00-privileged--47zislq/replay.mp4", + "duration_s": 28.8, + "fps": 10.0, + "frames": 288, + "sha256": "312bb41b18ef55093e876667bb861ed4c9b4336d60ad6d8a34af24de99230e73" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "plug_lifted": { + "method": "visual", + "intervals": [ + [ + 7.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.3, + "log_step": null, + "text_zh": "观察：视频7.2 s叠字仍为Stage 0/3，视频7.3 s变为Stage 1/3；右手拇指与食指夹持黑色插头，随后视频7.6–9.0 s可见插头随手升高、离开原桌面位置。首次达标时间按叠字约取视频7.3 s。" + }, + { + "t": 9.0, + "log_step": 92, + "text_zh": "观察：log step 92的lift15输出为stage=1、fingers_on_plug=[index,thumb]、plug_touch=[hand]；log step 100–101沿此轨迹继续至mouth18，log step 187最终导出其acm18动作序列，log step 193两次新回放仍为stage=1。视频9.0 s右手持插头离桌，与该交付路径一致；未将日志工作时间换算为视频时间。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频3.0–9.0 s右手拇指与食指从插头两侧合拢夹持其刚性外壳，再随右臂抬起；不是仅拉住电缆。" + } + ] + }, + "plug_seated_port4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.0, + "log_step": null, + "text_zh": "观察：视频10.0–24.0 s右手持续夹持插头，翻正后移向集线器最右侧端口；视频24.0–26.7 s插头向口部靠近，但叠字深度从约−29.13 mm仅增至−2.73 mm，始终Stage 1/3。" + }, + { + "t": 26.7, + "log_step": 101, + "text_zh": "观察：视频26.7 s插头仍在第四口外，由右手拇指与食指夹持；叠字port-4 depth −2.73/12.00 mm、axis error 1.3 deg、released hold 0/50。log step 101的mouth18读数同为target_depth_m=−0.002732676、seated_port=None、plug_touch=[hand]、released_hold_controls=0；该记录的1870控制步序列在log step 187被选作最终交付，log step 193新回放确认success=false、stage=1。" + }, + { + "t": 28.7, + "log_step": null, + "text_zh": "观察：已逐帧检查视频27.7–28.7 s，终态持续保持插头在手、金属壳未插入且释放计数0/50，没有随后就位或松手。成功参考inputs/oracle/replay.mp4的视频28.0 s则可见插头嵌入第四口、右手离开，叠字Stage 3/3及released hold 50/50；参考仅用于辨认可见成功形态。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频10.0–26.7 s右手拇指与食指夹住USB-A插头外壳，随腕部翻正、运至第四口前并靠近端口；直到视频28.7 s仍夹持，未观察到改用单指推入或释放。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "plug_tip_z_at_lift", + "unit": "m", + "threshold": 0.73, + "direction": "higher_better", + "value": null + }, + { + "name": "target_depth_fraction", + "unit": "", + "threshold": 0.9, + "direction": "higher_better", + "value": null + }, + { + "name": "abs_target_lateral_m", + "unit": "m", + "threshold": 0.0006, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_target_vertical_m", + "unit": "m", + "threshold": 0.0005, + "direction": "lower_better", + "value": null + }, + { + "name": "axis_error_deg", + "unit": "deg", + "threshold": 5, + "direction": "lower_better", + "value": null + }, + { + "name": "polarity_error_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + }, + { + "name": "plug_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "released_hold_controls", + "unit": "control", + "threshold": 50, + "direction": "higher_better", + "value": null + }, + { + "name": "hub_displacement_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "hub_tilt_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "plug_seated_port4", + "t": 26.0, + "log_step": 101, + "where": "操作中", + "evidence_zh": "观察：视频25.8–26.7 s右手持插头靠近第四口后停在口外，最终深度−2.73 mm，仍未松手；视频27.7–28.7 s终态没有恢复。log step 100–101显示交付片段止于mouth18口前接近动作，log step 187导出该1870步片段，log step 193回放仅达stage=1且failure=null。因此断在插入第四口的操作过程中，非会话后续测试的掉落。" + }, + "unmet": { + "plug_lifted": true, + "plug_seated_port4": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 26.0, + "log_step": 101, + "evidence_zh": "观察：视频25.8–26.7 s机器人将插头送向第四口，但金属壳尖端停在口外；视频26.7 s深度叠字为−2.73 mm而所需为至少10.8 mm，右手仍夹持外壳，直到视频28.7 s没有进入端口。log step 101的交付终点mouth18也报告seated_port=None。这是插入位置未到位，未观察到评分轨迹中掉落或放后失稳。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：末段精细操控未能形成可交付的插入动作。log step 100–101的交付片段只把插头送到口前；在同一捏持姿态上继续校正的会话诊断中，log step 104读取到右拇指基部与桌面接触，法向力约15.73 N，log step 108的目标就位姿态几何检查又报告拇指指节与桌面相交；后续调整试验log step 186仍在接近口部时失去手指接触并触发plug_dropped，最终log step 187退回口前片段，log step 193验证仅达stage=1。以上测试用于解释控制困难，不作为评分视频中发生碰撞或掉落的证据；无法从现有资料将根因唯一细分为抓取布局或轨迹跟踪。" + } + ], + "gap_zh": "本次没有状态日志。评分视频可判明抬起及未插入，但不能独立量测全部亚毫米偏差和接触力；会话诊断的桌面接触与后续掉落不是交付片段的逐帧状态，故根因仅推断到控制大类，不把它们标为评分轨迹的现象。reward未报告DAG所列10项原生连续指标，native_metrics均填null；视频叠字和交付终点日志仅在节点证据中引用。" + }, + "summary_zh": "评分轨迹在视频约7.3 s完成拿起插头，随后右手夹持翻正并运到第四口前，最终完成1/2个节点。视频26.7–28.7 s插头仍在口外、深度−2.73 mm且释放计数0/50，断点为插入第四口，现象为位姿不准；会话诊断支持末段控制困难，最终交付回退到该口前片段。没有状态日志，具体接触与控制子类只能有限推断；会话后续掉落未发生于评分视频。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "拿起节点（视频约7.3 s叠字Stage 1/3）、未插入第四口（视频26.7–28.5 s深度−2.73 mm、Stage 1/3、释放0/50）、断点、位姿不准现象与控制大类根因均与视频及日志一致；log_step取steps[].id，均存在。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": "2026-10-30T05:37:20Z", + "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-usb-plug-insert-i00-privileged--47zislq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-usb-plug-insert-i00-privileged--47zislq/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8fbdeecd3f405dab635e09ec2432c50536fca4e5f6fc9a5aface36884c4398ff", + "video_sha256": "312bb41b18ef55093e876667bb861ed4c9b4336d60ad6d8a34af24de99230e73", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-privileged--jei6knh.json b/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-privileged--jei6knh.json new file mode 100644 index 0000000000000000000000000000000000000000..8230f62af183700ac7f9a44c8ef1dfd540226eeb --- /dev/null +++ b/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-privileged--jei6knh.json @@ -0,0 +1,251 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-usb-plug-insert-i00-privileged--jei6knh", + "taskKey": "dexhand/usb_plug_insert", + "dag_sha256": "d32765c73fc52a9bb5b04aeb88d832c51d085f5f2812dfc0a2c4c200487979bf", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 385, + "sim_steps": 94, + "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": 2.424, + "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-usb-plug-insert-i00-privileged--jei6knh/replay.mp4", + "duration_s": 3.9, + "fps": 10.0, + "frames": 39, + "sha256": "66ae849f8c208832823c45141e803acd67aecf3c82f76c2ad12d0097329abf87" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "plug_lifted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.5, + "log_step": null, + "text_zh": "观察：视频 0.0–1.8 s，右手从插头上方向下接近并收拢手指；视频 1.2–1.8 s 放大帧中，黑色插头仍贴近桌面、位于弯曲手指下方，未见拇指与另一手指夹住插头并抬离桌面，叠字始终为 Stage 0/3。" + }, + { + "t": 1.9, + "log_step": 32, + "text_zh": "观察：视频 1.9 s 出现 FAIL: robot_collision，Stage 0/3；视频 2.0–3.8 s 保持同一失败终态。log step 32 中 agent 运行最终生成器并保存交付文件，回放输出 robot_collision、stage 0、steps 94；评分器字段 stages_completed=0、sim_steps=94 与视频一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 1.2–1.8 s，右手弯曲手指压碰桌面上的黑色USB-A插头，插头在手指下方有小幅姿态变化；未见包围夹紧或离桌搬起，不记为抓握。拇指与插头的精确接触被部分遮挡。" + } + ] + }, + "plug_seated_port4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.9, + "log_step": 32, + "text_zh": "观察：视频 0.0–1.8 s 右手始终在集线器右后方的插头初始区域活动，未将插头带至四口集线器；视频 1.9–3.8 s 为 Stage 0/3、released hold 0/50 的失败终态，最右端口没有插入插头。log step 32 的最终文件回放止于 stage 0；未执行插入动作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "plug_tip_z_at_lift", + "unit": "m", + "threshold": 0.73, + "direction": "higher_better", + "value": null + }, + { + "name": "target_depth_fraction", + "unit": "", + "threshold": 0.9, + "direction": "higher_better", + "value": null + }, + { + "name": "abs_target_lateral_m", + "unit": "m", + "threshold": 0.0006, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_target_vertical_m", + "unit": "m", + "threshold": 0.0005, + "direction": "lower_better", + "value": null + }, + { + "name": "axis_error_deg", + "unit": "deg", + "threshold": 5, + "direction": "lower_better", + "value": null + }, + { + "name": "polarity_error_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + }, + { + "name": "plug_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "released_hold_controls", + "unit": "control", + "threshold": 50, + "direction": "higher_better", + "value": null + }, + { + "name": "hub_displacement_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "hub_tilt_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "plug_lifted", + "t": 1.9, + "log_step": 32, + "where": "操作中", + "evidence_zh": "观察：视频 1.2–1.8 s 机器人正在桌面插头处收指，插头未被夹起；视频 1.9 s 首次显示 FAIL: robot_collision、Stage 0/3，之后至视频 3.8 s 均为冻结终态。log step 32 记录最终交付文件回放在第94个控制步因 robot_collision 终止。推断：失败发生在拿起插头的操作中，该步此后没有修复。" + }, + "unmet": { + "plug_lifted": false, + "plug_seated_port4": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 1.5, + "log_step": null, + "evidence_zh": "观察：视频 1.2–1.8 s 放大帧中，右手其他手指在插头处弯曲，拇指从侧上方靠近，插头仍在桌面附近，没有随手被夹起，叠字保持 Stage 0/3。推断：建立了局部压碰，但拿起所需的拇指与另一手指对向夹持接触未建立；没有先拿住再丢失的过程。" + }, + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 1.9, + "log_step": 32, + "evidence_zh": "观察：视频 1.8 s 右手仍处于低位收指姿态，视频 1.9 s 基准回放叠字变为 FAIL: robot_collision；log step 32 的最终文件回放也报告 robot_collision、stage 0、steps 94。推断：拿起过程中发生了被检查器禁止的机器人碰撞并使动作终止；具体碰撞连杆及其对端没有接触对日志，不能仅凭画面确定。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "source_zh": "视频 / 日志", + "evidence_zh": "推断：所选低位收指姿态没有让拇指与另一手指在插头刚体两侧形成对捏，手指已靠近桌面仍未建立夹持，随后即碰撞终止（视频 1.2–1.9 s）。log step 31 的交付生成脚本沿固定腕朝向 R0 下降、插值合指，随后直接执行上提，未以抓取接触反馈确认夹持成立；会话试验 log step 30 的三个相似端部捏取也均只有 middle 接触、stage 0，并在上提时报告 robot_collision，这些仅用于支持接触设计归因，不计作本次节点进展。" + } + ], + "gap_zh": "没有状态日志，视频中插头部分被手指遮挡，无法逐一核实所有手指接触对或精确高度；未把会话试验中的单指接触数值套用于受评轨迹。robot_collision 由受评视频叠字及交付回放确认，但具体碰撞接触对未记录；agent 在 log step 34 自述腕/前臂碰桌，未将其当作已直接证实的接触对。评分器没有报告 DAG 所列原生连续指标，故其 value 均为 null。" + }, + "summary_zh": "受评轨迹只进行了拿起插头的接近和收指尝试，插头未被夹持抬离桌面，最终完成 0/2 个节点。视频约 1.9 s 在拿起操作中因 robot_collision 终止，之前未形成所需对捏；接触设计不适配得到画面及会话试验支持。没有状态日志，具体碰撞连杆和接触对无法确定。", + "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 plug_lifted / plug_seated_port4 均未达成，与视频叠字 Stage 0/3、视频 1.9 s 起 FAIL: robot_collision 及评分器 stages_completed=0 一致；断点、现象、根因均有证据支持，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": "2026-10-30T05:44:33Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-usb-plug-insert-i00-privileged--jei6knh/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-usb-plug-insert-i00-privileged--jei6knh/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e7dc2d1eaac0dc098713566641a68b8e91640b839106c2f6e68520b396970c2b", + "video_sha256": "66ae849f8c208832823c45141e803acd67aecf3c82f76c2ad12d0097329abf87", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-privileged--njhrdsa.json b/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-privileged--njhrdsa.json new file mode 100644 index 0000000000000000000000000000000000000000..43482f8183cfd38558009f7ee129849df47fc6ea --- /dev/null +++ b/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-privileged--njhrdsa.json @@ -0,0 +1,256 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-usb-plug-insert-i00-privileged--njhrdsa", + "taskKey": "dexhand/usb_plug_insert", + "dag_sha256": "d32765c73fc52a9bb5b04aeb88d832c51d085f5f2812dfc0a2c4c200487979bf", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 454, + "sim_steps": 454, + "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": 2.479, + "peak_processes": 10, + "peak_disk_gb": 0.984, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-usb-plug-insert-i00-privileged--njhrdsa/replay.mp4", + "duration_s": 11.1, + "fps": 10.0, + "frames": 111, + "sha256": "9e419813af1eeba1f819f126db079c27331128d7f1bd6e4a090ccb746c98f7e1" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "plug_lifted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.8, + "log_step": null, + "text_zh": "观察：视频 2.8–5.4 s，机器人右手拇指和食指在桌面插头两侧闭合；视频 5.6–6.2 s，插头随指尖短暂上移、转动，但视频 6.5–6.8 s 又滑回桌面，没有维持到合格抬起状态。" + }, + { + "t": 9.0, + "log_step": 131, + "text_zh": "观察：视频 7.8–9.0 s 右手再次上抬，黑色插头留在下方桌面；视频 10.0–11.0 s 的末尾静帧仍是空手悬在插头上方，叠字始终为 Stage 0/3。log step 131 保存并回放 454 行交付动作，输出阶段 0；评分器字段 stages_completed=0，与画面一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 3.0–5.4 s，右手拇指先抵压USB-A插头刚性壳体，插头仍由桌面支撑；随后才出现短暂双指夹持。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 5.6–6.2 s，右手拇指与食指从两侧短暂夹住插头壳体并带动其上移；夹持随后滑脱，未达到拿起节点的高度及接触验收。" + } + ] + }, + "plug_seated_port4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 黑色USB-A插头侧躺在右手下方桌面，与前方四口集线器分离，初态没有插入关系。" + }, + { + "t": 11.0, + "log_step": null, + "text_zh": "观察：视频 0.0–9.0 s 机器人只在插头原处尝试夹取，没有把插头运到集线器；视频 10.0–11.0 s 插头仍躺在桌面，集线器各端口没有接入该插头，叠字为 Stage 0/3、released hold 0/50。成功参考视频 27.0 s 的插头连接第4口、手指离开及 PASS 线索在本次均未出现。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "plug_tip_z_at_lift", + "unit": "m", + "threshold": 0.73, + "direction": "higher_better", + "value": null + }, + { + "name": "target_depth_fraction", + "unit": "", + "threshold": 0.9, + "direction": "higher_better", + "value": null + }, + { + "name": "abs_target_lateral_m", + "unit": "m", + "threshold": 0.0006, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_target_vertical_m", + "unit": "m", + "threshold": 0.0005, + "direction": "lower_better", + "value": null + }, + { + "name": "axis_error_deg", + "unit": "deg", + "threshold": 5, + "direction": "lower_better", + "value": null + }, + { + "name": "polarity_error_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + }, + { + "name": "plug_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "released_hold_controls", + "unit": "control", + "threshold": 50, + "direction": "higher_better", + "value": null + }, + { + "name": "hub_displacement_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "hub_tilt_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "plug_lifted", + "t": 6.5, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 5.6–6.2 s 机器人右手双指短暂夹动插头，视频约 6.5–6.8 s 插头从指尖滑回桌面；随后再接近并上抬仍未拿起，视频 9.0–11.0 s 插头与悬空右手明显分离，直到结束仍为 Stage 0/3。失败发生在拿起插头的夹持与抬升过程中，尚未启动插入动作。" + }, + "unmet": { + "plug_lifted": false, + "plug_seated_port4": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 6.5, + "log_step": null, + "evidence_zh": "观察：视频 5.6–6.2 s 插头壳体被右手拇指和食指夹住并随指尖上移，视频 6.5–6.8 s 壳体转滑到指尖下方、回落桌面；视频 7.8–9.0 s 右手抬升时插头没有跟随，末尾视频 11.0 s 仍留在桌面。短暂夹持已经发生，问题是未保持到合格抬起，而非完全没有接触。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "已验证有", + "t": 6.5, + "log_step": 127, + "evidence_zh": "推断：视频 5.6–6.8 s，机器人以指尖捏住插头边部，抬升时插头在两指间转滑，说明本次夹持接触未形成稳定承载。log step 127 的 final4 测试记录也显示短暂 thumb、index 接触后接触消失、插头高度回到桌面；log step 129 重跑该脚本捕获动作，log step 131 保存并回放为阶段 0，与本次画面一致。成功参考视频 6.0 s 使用同类 Sharpa 手夹持并离桌、阶段变为1，证明任务存在可行替代抓法；参考视频仅用于判断替代方案存在。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "本次无逐帧状态日志或接触力记录，局部夹持被手指遮挡；滑脱时刻约为视频 6.5 s，无法进一步量化接触力或证实 agent 在 log step 136 自述的指关节受载偏移数值。评分器未报告DAG所列原生指标的数值，native_metrics均保留null。log step 125 的阶段1后掉落和 log step 133 的插头低于桌面属于其他会话测试，均不是本次交付的现象。" + }, + "summary_zh": "本次交付只尝试了拿起插头：右手短暂夹动插头后滑脱，视频末尾空手上抬而插头留在桌面，两个节点均未达成。断点为拿起插头，现象是没保持住，证据指向指尖夹持布局未能稳定承载；log step 131 的交付回放与评分器均确认阶段0。无逐帧状态与接触力记录，无法细分夹持力和关节受载偏差的作用；其他会话测试的阶段1或碰撞结果未计入本次进展。", + "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、断点为拿起插头、现象没保持住与根因抓取和接触设计，均与视频一致；末帧插头留在桌面，叠字始终 Stage 0/3，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": "2026-10-30T05:40:13Z", + "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-usb-plug-insert-i00-privileged--njhrdsa/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-usb-plug-insert-i00-privileged--njhrdsa/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ca0ba6a1d67e20bb3594923d5a1d7c2d4595aaee819e7ecbbef1febfcf6b58aa", + "video_sha256": "9e419813af1eeba1f819f126db079c27331128d7f1bd6e4a090ccb746c98f7e1", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-standard--5kgndfr.json b/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-standard--5kgndfr.json new file mode 100644 index 0000000000000000000000000000000000000000..2c45277723091c183d0133aa3304fc99aeea87d5 --- /dev/null +++ b/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-standard--5kgndfr.json @@ -0,0 +1,251 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-usb-plug-insert-i00-standard--5kgndfr", + "taskKey": "dexhand/usb_plug_insert", + "dag_sha256": "d32765c73fc52a9bb5b04aeb88d832c51d085f5f2812dfc0a2c4c200487979bf", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 2, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 0, + "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": 0, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.382, + "peak_processes": 9, + "peak_disk_gb": 0.194, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-usb-plug-insert-i00-standard--5kgndfr/replay.mp4", + "duration_s": 2.2, + "fps": 5.0, + "frames": 11, + "sha256": "83ab0e6397935247b01147f9a4ad88fe1e1733a356b2e73053b707be993bfeec" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "plug_lifted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 5, + "text_zh": "观察：视频 0.0 s 的右手张开停在桌面插头上方，黑色USB-A插头仍侧躺桌面；log step 5 中机器人服务返回 control_steps=0、done=False。" + }, + { + "t": 2.0, + "log_step": null, + "text_zh": "观察：逐帧检查视频 0.0–2.0 s 的全部11帧，机器人与插头均未移动，未出现夹持抬离桌面的状态，叠字始终为 Stage 0/3。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "提供方过滤器中断前没有提交动作；视频为初态静帧，无交付的操作轨迹。" + } + ] + }, + "plug_seated_port4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.0, + "log_step": null, + "text_zh": "观察：视频 0.0–2.0 s 的全部11帧中，USB-A插头始终在右手下方桌面原处，与桌前方黑色四口集线器分离；末帧仍为 Stage 0/3、released hold 0/50，没有进入第4口。" + }, + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段 n_actions=0、sim_steps=0、resets=0、live_matches_replay=1，与初态视频一致；没有插入或释放动作。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "提供方过滤器中断前没有提交动作；视频为初态静帧，无交付的操作轨迹。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "plug_tip_z_at_lift", + "unit": "m", + "threshold": 0.73, + "direction": "higher_better", + "value": null + }, + { + "name": "target_depth_fraction", + "unit": "", + "threshold": 0.9, + "direction": "higher_better", + "value": null + }, + { + "name": "abs_target_lateral_m", + "unit": "m", + "threshold": 0.0006, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_target_vertical_m", + "unit": "m", + "threshold": 0.0005, + "direction": "lower_better", + "value": null + }, + { + "name": "axis_error_deg", + "unit": "deg", + "threshold": 5, + "direction": "lower_better", + "value": null + }, + { + "name": "polarity_error_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + }, + { + "name": "plug_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "released_hold_controls", + "unit": "control", + "threshold": 50, + "direction": "higher_better", + "value": null + }, + { + "name": "hub_displacement_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "hub_tilt_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 58, + "where": "首步前", + "evidence_zh": "观察：log step 58 的最终消息为“This request was blocked by Gemini's filters”；此前日志只记录场景观测、运动学计算和离线抓握/逆解搜索，没有动作提交。评分器 n_actions=0、sim_steps=0，视频 0.0–2.0 s 全部11帧停在初态；没有可定位的物理失败步骤，也不能将该日志中断时刻换算为视频时刻。" + }, + "unmet": { + "plug_lifted": false, + "plug_seated_port4": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：log step 58 记录模型提供方过滤器中断；inputs/run.json 的 sim_total.submit=0、评分器 n_actions=0、sim_steps=0，视频只显示初态静帧。本目录没有状态日志，但本次未提交动作已有日志与完整视频相互印证。推断：中断发生在任何操作轨迹交付及结果验证之前，依 CASES.md FAIL-5 作为外部中断，现象和根因留空，不据零进度推定机器人能力失败；原生几何和速度指标未由评分器报告，均留 null。" + }, + "summary_zh": "视频 0.0–2.0 s 全部11帧均为初态：右手未移动，插头仍侧躺桌面且远离集线器，拿起与插入第4口均未达成，最终为0/2。log step 58 记录提供方过滤器中断，评分器动作数和仿真步数均为0；按外部中断规则将断点记为 unknown／首步前，现象与根因留空，目录 success=0 保持原值。没有交付的操作轨迹或状态日志，无法评估实际抓取和插入能力。", + "conf": 10, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "标注与证据一致：视频0.0–2.0 s全程为初态（Stage 0/3），评分器 n_actions=0、sim_steps=0，log step 58 为提供方过滤器中断，按 FAIL-5 记 unknown/首步前、现象与根因留空并有 gap_zh，两个节点 false，符合规则。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:38:44Z", + "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-usb-plug-insert-i00-standard--5kgndfr/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-usb-plug-insert-i00-standard--5kgndfr/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8a8e35461b27c22536fb62e8f9ba1b11dcbe4b94908babed6049c8c9e995136a", + "video_sha256": "83ab0e6397935247b01147f9a4ad88fe1e1733a356b2e73053b707be993bfeec", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-standard--73wdwzr.json b/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-standard--73wdwzr.json new file mode 100644 index 0000000000000000000000000000000000000000..7c7be9b210cf275d9153c904e76581b0d6f2f1a8 --- /dev/null +++ b/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-standard--73wdwzr.json @@ -0,0 +1,265 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-usb-plug-insert-i00-standard--73wdwzr", + "taskKey": "dexhand/usb_plug_insert", + "dag_sha256": "d32765c73fc52a9bb5b04aeb88d832c51d085f5f2812dfc0a2c4c200487979bf", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 925, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 611, + "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": 611, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.454, + "peak_processes": 11, + "peak_disk_gb": 0.286, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-usb-plug-insert-i00-standard--73wdwzr/replay.mp4", + "duration_s": 14.4, + "fps": 5.0, + "frames": 72, + "sha256": "4822134e13cf5583aebf5324a002817ec14b00f9c08c09887bbe19ecf2a948d3" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "plug_lifted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.4, + "log_step": null, + "text_zh": "观察：视频 1.8–3.0 s，机器人右手向桌上的USB-A插头合指，指尖在金属端附近下压，拇指仍处于插头左侧较远处，没有与其他手指对向夹住插头壳体。" + }, + { + "t": 8.0, + "log_step": null, + "text_zh": "观察：视频 3.2–7.6 s，右手改变指形并尝试抬手，插头未随手离桌；视频 7.8–8.6 s，手腕转动、空手离开，黑色插头及其金属端仍清楚留在原来的桌面位置。全片Stage保持0/3，包括视频 14.2 s末帧。" + }, + { + "t": null, + "log_step": 118, + "text_zh": "观察：agent在log step 118最终报告中承认抬手始终为空手、随后重定向和插入动作也为空手执行；该自述与本次视频中插头留在原处相符，不用于替代视频判定。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 1.8–3.0 s，右手指尖在USB-A插头金属端及紧邻桌面处抵压、合指；拇指未在插头另一侧形成对向夹持，未观察到抓握或托起。" + } + ] + }, + "plug_seated_port4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.0, + "log_step": null, + "text_zh": "观察：视频 7.8–9.2 s，机器人右手空手转动并离开画面，USB-A插头仍侧躺于集线器右后方的原桌面位置，未被送到任何端口。" + }, + { + "t": 14.2, + "log_step": null, + "text_zh": "观察：视频 12.4–14.2 s，插头仍在桌面而第4口没有插头；末帧叠字为FAIL: robot_collision、Stage 0/3、axis error 90.0 deg、released hold 0/50。没有出现插入后松手就位的状态。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "plug_tip_z_at_lift", + "unit": "m", + "threshold": 0.73, + "direction": "higher_better", + "value": null + }, + { + "name": "target_depth_fraction", + "unit": "", + "threshold": 0.9, + "direction": "higher_better", + "value": null + }, + { + "name": "abs_target_lateral_m", + "unit": "m", + "threshold": 0.0006, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_target_vertical_m", + "unit": "m", + "threshold": 0.0005, + "direction": "lower_better", + "value": null + }, + { + "name": "axis_error_deg", + "unit": "deg", + "threshold": 5, + "direction": "lower_better", + "value": null + }, + { + "name": "polarity_error_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + }, + { + "name": "plug_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "released_hold_controls", + "unit": "control", + "threshold": 50, + "direction": "higher_better", + "value": null + }, + { + "name": "hub_displacement_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "hub_tilt_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "plug_lifted", + "t": 4.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 1.8–3.0 s机器人右手合指靠压插头后，视频 3.2–7.6 s尝试抬手但插头没有离开桌面；视频 7.8–8.6 s明确为空手转腕，之后未返回修复拿起步骤。视频 12.4 s首次显示FAIL: robot_collision，但此前未修复的失败步骤仍为拿起插头。" + }, + "unmet": { + "plug_lifted": false, + "plug_seated_port4": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 4.0, + "log_step": null, + "evidence_zh": "观察：视频 1.8–7.6 s右手指尖在插头金属端附近合拢，拇指没有夹在插头另一侧；视频 7.8–8.6 s右手转动离开时，插头原地侧躺桌面，未出现被夹持抬起后再滑落的过程。推断：拿起所需的有效对向夹持从未建立。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "已验证有", + "evidence_zh": "观察：本次视频 1.8、2.4、4.0、7.0 s，右手数根指尖位于插头金属端同侧，拇指偏在左侧，没有包住或夹紧插头刚性部分；视频 8.0 s手已离开而插头未动。log step 106所写控制器采用指尖压前面、拇指在后方支撑的trap方案，log step 118中agent自述实际未夹住。推断：此接触布局没有实现计划中的对向承载，致使抬手为空手。观察：成功参考视频 6.0 s可见右手对向夹持插头并抬离桌面，证明此任务存在可行替代握法；参考仅用于判断替代方案可行，不作为本次已拿起的证据。", + "source_zh": "视频 / 日志 / agent 自述" + } + ], + "gap_zh": "未提供状态日志或逐步接触/力数据，指尖接触点在总览中分辨率有限，无法进一步确定接触压力及各指的精确接触顺序；有效夹持未建立和插头未离桌则由前后帧直接支持。视频 12.4 s出现robot_collision判负时机械臂主要已在画面外，无法确定发生碰撞的具体连杆与对象；不据此另推碰撞根因。评分器reward未报告DAG所列原生几何、速度和释放计数指标，native_metrics均置null。" + }, + "summary_zh": "本次受评轨迹未完成拿起插头或插入第四口，最终进度为0/2；视频 7.8–8.6 s右手已空手转动，插头仍留在桌面，阶段叠字全程为0/3。首次未修复的失败是右手未建立拿起所需的对向夹持，接触布局不适配使抬手落空；视频 12.4 s另显示robot_collision终止。缺少状态与接触力日志，末尾碰撞部位在画面外，无法进一步定位。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "节点均未达成、断点plug_lifted、没建立接触与抓取和接触设计的归因均与视频一致；时间和叠字（Stage 0/3全程、12.4 s起FAIL robot_collision）核对无误。", + "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": "2026-10-30T05:42:04Z", + "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-usb-plug-insert-i00-standard--73wdwzr/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-usb-plug-insert-i00-standard--73wdwzr/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0dc3636d0a7e089ec823bcb0eb3246a99fbecd5ca40b56c97e96efeb1fa4783e", + "video_sha256": "4822134e13cf5583aebf5324a002817ec14b00f9c08c09887bbe19ecf2a948d3", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-standard--gufxkcn.json b/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-standard--gufxkcn.json new file mode 100644 index 0000000000000000000000000000000000000000..bdc36d7f0822a044ff30d56b91dab620a5a160ca --- /dev/null +++ b/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-standard--gufxkcn.json @@ -0,0 +1,288 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-usb-plug-insert-i00-standard--gufxkcn", + "taskKey": "dexhand/usb_plug_insert", + "dag_sha256": "d32765c73fc52a9bb5b04aeb88d832c51d085f5f2812dfc0a2c4c200487979bf", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 78, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 86, + "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": 86, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.347, + "peak_processes": 8, + "peak_disk_gb": 0.255, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-usb-plug-insert-i00-standard--gufxkcn/replay.mp4", + "duration_s": 3.8, + "fps": 5.0, + "frames": 19, + "sha256": "0a8550a868035126de74334391cac0a6bd37ce6dd5dd476817a7c4cd6ca18e53" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "plug_lifted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 27, + "text_zh": "观察：视频 0.0 s 插头侧躺桌面，右手悬在上方；log step 27 的脚本重置后直接向插入预备位姿运动，没有执行拿起动作。" + }, + { + "t": 3.6, + "log_step": null, + "text_zh": "观察：逐帧检查视频 0.0–3.6 s，右手空手移向桌边集线器，USB-A插头始终在手后方的原桌面位置；视频末尾仍显示 Stage 0/3，没有夹持抬离桌面的成果。" + } + ] + }, + "plug_seated_port4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.6, + "log_step": 27, + "text_zh": "观察：视频 1.2–1.8 s 右手下伸指尖接近并碰推集线器右端，插头仍侧躺在其后方桌面，没有随手进入端口；log step 27 执行的是重置后的空手插入预备位姿测试。" + }, + { + "t": 3.6, + "log_step": null, + "text_zh": "观察：视频 1.8 s 起显示 FAIL: hub_displaced，视频 2.8–3.6 s 终态不变，Stage 0/3、released hold 0/50；插头和第4口仍明显分离，未完成插入及释放验收。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "plug_tip_z_at_lift", + "unit": "m", + "threshold": 0.73, + "direction": "higher_better", + "value": null + }, + { + "name": "target_depth_fraction", + "unit": "", + "threshold": 0.9, + "direction": "higher_better", + "value": null + }, + { + "name": "abs_target_lateral_m", + "unit": "m", + "threshold": 0.0006, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_target_vertical_m", + "unit": "m", + "threshold": 0.0005, + "direction": "lower_better", + "value": null + }, + { + "name": "axis_error_deg", + "unit": "deg", + "threshold": 5, + "direction": "lower_better", + "value": null + }, + { + "name": "polarity_error_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + }, + { + "name": "plug_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "released_hold_controls", + "unit": "control", + "threshold": 50, + "direction": "higher_better", + "value": null + }, + { + "name": "hub_displacement_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "hub_tilt_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "plug_lifted", + "t": 0.0, + "log_step": 27, + "where": "首步前", + "evidence_zh": "推断：视频 0.0–3.6 s 插头始终侧躺在原桌面位置，右手空手越过插头向桌边集线器下探，全程 Stage 0/3，拿起步骤未启动。log step 27 在最后一次重置后仅执行 go(fing(qp,0.45),3.0,comp=0)，跳过 log step 23 完整流程中的接近插头、闭指和抬起动作；按 docs/03_trajectory.md Step 3.1 及 CASES.md FAIL-13，断点为首步 plug_lifted、位置首步前，不把会话诊断称为插入步骤的探索。视频约 1.6–1.8 s 右手指尖碰推集线器，随后显示 FAIL: hub_displaced；该判负事件未使拿起步骤得到修复。" + }, + "unmet": { + "plug_lifted": false, + "plug_seated_port4": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 1.6, + "log_step": 27, + "evidence_zh": "观察：视频 1.2–1.8 s 右手下伸指尖与集线器右端相接，集线器随之沿桌面向画面左侧移动；视频 1.8 s 由 IN PROGRESS 变为 FAIL: hub_displaced，并持续至视频 3.6 s。发生的是手指碰动集线器，不是已抓住插头后滑落。" + }, + { + "cat": "没尝试", + "item": "没尝试", + "t": 0.0, + "log_step": 27, + "evidence_zh": "观察：视频 0.0–3.6 s 右手未夹住或抬起USB-A插头，插头一直侧躺在手后方桌面，阶段保持 Stage 0/3。log step 27 重置后直接执行空手插入预备位姿诊断，没有执行拿起动作；此现象针对首个必做步骤，不把受此前置阻挡的插入步骤另算一次没尝试。" + } + ], + "root_causes": [ + { + "cat": "交付", + "item": "交付操作出错", + "source_zh": "日志 / 评分器字段 / 视频", + "evidence_zh": "推断：log step 23 的脚本主流程含接近插头、闭指、抬起及向集线器移动，log step 26 继续测试该流程；log step 27 却再次重置，仅导入函数定义，直接空手走插入预备位姿并以 task_failure 结束，之后 log step 28 只作总结，没有重跑完整流程。run.json 的 reward.n_actions=86、resets=3、deterministic=1、live_matches_replay=1，与 log step 27 的 episode=4、control_steps=86 及视频中的空手动作一致，表明最终受评的是该诊断回合。将跳过拿起的诊断留作最终受评结果属于交付选择错误；不能仅从没尝试推定 agent 不懂任务顺序。" + }, + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "alt_feasible": "未知", + "evidence_zh": "推断：log step 23 定义 go 为关节目标线性插值；log step 27 实际执行 go(fing(qp,0.45),3.0,comp=0)，目标腕位为 [0.766,-0.193,0.701] m，随后三次测得腕位均为 [0.766,-0.044,0.850] m，y、z 各偏约0.149 m，J1 测得角度 -2.58 rad 对目标 -3.11 rad，joint_effort 首项均为 -101.6 N·m（观察：这些数值来自该步 out.text）。视频 1.2–1.8 s 可见右手下伸指尖碰推集线器并触发 hub_displaced，说明此空手运动执行没有维持必要间隙，且终止后留下明显目标偏差，故对碰撞保留控制根因。读数来自终止后的重复观测，不能单凭其不变证明运动中已饱和或停滞；108 N·m 上限只在 log step 28 的 agent 自述中出现，未独立核实。没有该段逐控制步跟踪和接触数据，无法判定轨迹几何、跟踪误差或接触阻挡各自贡献，也未验证可行替代，alt_feasible 为未知。" + } + ], + "gap_zh": "没有状态日志或逐帧接触对，无法确定碰到集线器的是右手哪根手指，也无法独立量测集线器位移；碰推及 hub_displaced 判负由视频直接可见。log step 27 提供目标与终止后实测关节/腕位及力矩，但没有运动中的连续读数，不能确定几何路径、跟踪误差、接触阻挡的因果先后；108 N·m 上限和饱和解释仅见 log step 28 agent 自述，未独立核实。log step 23 的约7 mm可达性不足同样是 agent 对自算逆解的解释，不能据此认定所有合法方案不可行。log step 28 自述的拿起成果来自此前重置回合，未计入本次进度；其机械臂碰撞猜测未代替视频 hub_displaced 判负。原生数值指标未在 run.json 的评分字段中报告，均填 null。" + }, + "summary_zh": "最后一次重置后的受评轨迹只含空手插入预备位姿诊断，拿起和插入均未达到，最终进度为0/2；断点为 plug_lifted、首步前，现象为没尝试及视频约 1.6–1.8 s 手指碰推集线器后的 hub_displaced。根因记录将诊断回合留作最终受评结果的交付错误，并以日志目标/实测偏差和视频碰撞支持控制问题。没有连续跟踪和接触数据，无法细分控制原因，也不能将 agent 自述的力矩饱和视为已证实。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "节点值（两节点均未达成）与视频一致，但断点 ref 取错：整段视频从未拿起插头，第一个失败步骤是 plug_lifted，不是 plug_seated_port4；where 也不应是“探索”。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "两节点均未达成、断点 plug_lifted/首步前、碰撞与没尝试现象、交付与控制根因均与视频（全程 Stage 0/3，1.8 s 起 hub_displaced，插头始终在原位）一致；证据已区分观察与推断。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:48:59Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-usb-plug-insert-i00-standard--gufxkcn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-usb-plug-insert-i00-standard--gufxkcn/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-usb-plug-insert-i00-standard--gufxkcn/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-usb-plug-insert-i00-standard--gufxkcn/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b8ba4666f6c4dfffce91ef905fc7be5765d653850e8d56241554a542b9696a3b", + "video_sha256": "0a8550a868035126de74334391cac0a6bd37ce6dd5dd476817a7c4cd6ca18e53", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-standard--jlpkq7h.json b/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-standard--jlpkq7h.json new file mode 100644 index 0000000000000000000000000000000000000000..edb95f19003f0406fd68a7cdd0c7ef51dc1908c9 --- /dev/null +++ b/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-standard--jlpkq7h.json @@ -0,0 +1,254 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-usb-plug-insert-i00-standard--jlpkq7h", + "taskKey": "dexhand/usb_plug_insert", + "dag_sha256": "d32765c73fc52a9bb5b04aeb88d832c51d085f5f2812dfc0a2c4c200487979bf", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 213, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 1575, + "no_verdict": 0, + "replay_success": 0, + "reset_budget": 20, + "resets": 2, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 1575, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.155, + "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-usb-plug-insert-i00-standard--jlpkq7h/replay.mp4", + "duration_s": 33.6, + "fps": 5.0, + "frames": 168, + "sha256": "dbc1be2f3fe02cc41900d192f6a4681033206273e34d7ed8862e5cb4bf1cd4e1" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "plug_lifted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.2, + "log_step": 295, + "text_zh": "观察：视频 9.6–11.0 s，右手指腹靠近并拨动桌上的黑色插头；视频 11.2–13.0 s，右手上提，插头仍侧躺桌面，没有跟随手离桌。log step 295 的脚本提交了上抬腕部的动作，这与画面动作一致，但脚本名称中的“grasped”不代表抓取已成立。" + }, + { + "t": 33.4, + "log_step": null, + "text_zh": "观察：逐帧检查视频 0.0–33.4 s，后续右手多次下探、上提，插头沿桌面滑动并转向，未见被拇指与另一指夹持抬离桌面；视频 33.4 s 插头仍在桌上，叠字为 Stage 0/3。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 9.6–11.2 s、15.2–18.6 s 及 27.0–28.4 s，工作右手指腹碰拨黑色插头壳体，插头在桌面滑移或转向；右手也碰动相连电缆，未见对向夹紧后持物上抬。" + } + ] + }, + "plug_seated_port4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 33.4, + "log_step": null, + "text_zh": "观察：视频 0.0–33.4 s，右手一直在桌面右侧的插头附近尝试拿取，没有将插头移向前方黑色四口集线器；视频 33.4 s 插头与集线器仍明显分离，Stage 0/3、released hold 0/50，第四口插入与释放验收未达成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "plug_tip_z_at_lift", + "unit": "m", + "threshold": 0.73, + "direction": "higher_better", + "value": null + }, + { + "name": "target_depth_fraction", + "unit": "", + "threshold": 0.9, + "direction": "higher_better", + "value": null + }, + { + "name": "abs_target_lateral_m", + "unit": "m", + "threshold": 0.0006, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_target_vertical_m", + "unit": "m", + "threshold": 0.0005, + "direction": "lower_better", + "value": null + }, + { + "name": "axis_error_deg", + "unit": "deg", + "threshold": 5, + "direction": "lower_better", + "value": null + }, + { + "name": "polarity_error_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + }, + { + "name": "plug_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "released_hold_controls", + "unit": "control", + "threshold": 50, + "direction": "higher_better", + "value": null + }, + { + "name": "hub_displacement_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "hub_tilt_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "plug_lifted", + "t": 11.2, + "log_step": 295, + "where": "操作中", + "evidence_zh": "观察：视频 11.2 s 右手从插头上方抬起，插头没有随手上升而留在桌面；视频 18.6–19.0 s 及 28.2–31.4 s 的后续上提也未将插头拿起，至视频 33.4 s 仍为 Stage 0/3。机器人持续工作的步骤是拿起插头，始终没有修复该失败。" + }, + "unmet": { + "plug_lifted": false, + "plug_seated_port4": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 11.2, + "log_step": 295, + "evidence_zh": "观察：视频 9.6–11.2 s 右手虽碰拨插头，却没有形成能携带插头的夹持，右手抬起时黑色壳体和金属端仍留在桌面；视频 18.6–19.0 s 和 28.2–31.4 s 重试后同样留在桌上。这里缺失的是拿起所需的对向抓握接触，画面没有显示先持有再脱落。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频 / 日志", + "evidence_zh": "推断：右手未能把下探、合指和上提转化为有效夹持。log step 291 的脚本求解拇指和食指指腹目标并提交关节位置；log step 293 中脚本计算的执行后指腹位置仍比其目标高约 8–10 mm，log step 295、319 又分别提交上抬动作。视频 11.2–13.0 s、18.6–19.0 s 显示手上升而插头留桌，支持精细接触执行失败；现有证据不足以把控制问题进一步唯一归于抓取几何、轨迹跟踪或反馈策略。" + } + ], + "gap_zh": "观察：inputs/ 中没有状态日志，评分器 reward 未报告各项原生几何、速度和释放计数指标，故 native_metrics 的 value 均为 null。视频能判定未拿起、未插入及指腹碰拨，但局部接触被手指遮挡，缺少接触对与力数据，无法进一步确定控制根因的子类。log step 255 重置为 episode 3；此前两个回合只作为会话背景，不计入本次视频进度。" + }, + "summary_zh": "受评视频对应第二次重置后的第三回合：右手反复靠近、碰拨插头并上提，但插头始终留在桌面，两个节点均未完成，最终进度为 0/2。断点为拿起插头，所需夹持未建立；日志中的指腹执行偏差及视频中的空手上提支持控制问题。缺少状态接触和力数据，无法进一步区分抓取几何与跟踪、反馈方面的原因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频叠字全程 Stage 0/3，右手只碰拨插头、未夹起，两节点均未达成，断点 plug_lifted 与「没建立接触」判断与帧一致；log step 291/293/295/319 的引用与日志核对相符（goal pad z 0.714 vs 实测 0.722–0.724）。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": "2026-10-30T05:40:35Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-usb-plug-insert-i00-standard--jlpkq7h/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-usb-plug-insert-i00-standard--jlpkq7h/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "30382c19ce3becf61123d18611b144cc25ddfda441d4f64e59ded845a7b05e10", + "video_sha256": "dbc1be2f3fe02cc41900d192f6a4681033206273e34d7ed8862e5cb4bf1cd4e1", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-standard--q8jmd9h.json b/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-standard--q8jmd9h.json new file mode 100644 index 0000000000000000000000000000000000000000..2fc8ebdd7d31a39d6de9961bad952305bc4ed232 --- /dev/null +++ b/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-standard--q8jmd9h.json @@ -0,0 +1,260 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-usb-plug-insert-i00-standard--q8jmd9h", + "taskKey": "dexhand/usb_plug_insert", + "dag_sha256": "d32765c73fc52a9bb5b04aeb88d832c51d085f5f2812dfc0a2c4c200487979bf", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 308, + "control_steps_total": 9479, + "elapsed_s": 3622.062, + "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": 0, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 5, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 0, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.448, + "peak_processes": 9, + "peak_disk_gb": 0.252, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-usb-plug-insert-i00-standard--q8jmd9h/replay.mp4", + "duration_s": 2.2, + "fps": 5.0, + "frames": 11, + "sha256": "83ab0e6397935247b01147f9a4ad88fe1e1733a356b2e73053b707be993bfeec" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "plug_lifted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：逐帧检查视频 0.0–2.0 s 的全部11帧，右手保持初始张开姿态，黑色USB-A插头始终侧躺在右手前下方桌面，没有被夹住或抬离桌面，画面叠字始终为Stage 0/3。" + }, + { + "t": 2.0, + "log_step": 95, + "text_zh": "推断：log step 95 的服务重置返回episode=6、resets_left=15，随后agent自己的控制脚本在stageB(q, corr)处因q未定义而退出；评分器记录resets=5，与视频仅有初始/最终静止画面相符，受评的是最后重置后未启动动作的回合，先前回合的调试动作不计入。" + } + ] + }, + "plug_seated_port4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.0, + "log_step": null, + "text_zh": "观察：视频 0.0–2.0 s 的全部帧中，USB-A插头留在桌面上，和集线器最右第4口明显分离，右手未搬运或推入插头；视频 2.0 s 末帧仍为Stage 0/3、released hold 0/50，没有形成插入和松手静置结果。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "plug_tip_z_at_lift", + "unit": "m", + "threshold": 0.73, + "direction": "higher_better", + "value": null + }, + { + "name": "target_depth_fraction", + "unit": "", + "threshold": 0.9, + "direction": "higher_better", + "value": null + }, + { + "name": "abs_target_lateral_m", + "unit": "m", + "threshold": 0.0006, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_target_vertical_m", + "unit": "m", + "threshold": 0.0005, + "direction": "lower_better", + "value": null + }, + { + "name": "axis_error_deg", + "unit": "deg", + "threshold": 5, + "direction": "lower_better", + "value": null + }, + { + "name": "polarity_error_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + }, + { + "name": "plug_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "released_hold_controls", + "unit": "control", + "threshold": 50, + "direction": "higher_better", + "value": null + }, + { + "name": "hub_displacement_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "hub_tilt_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "plug_lifted", + "t": 0.0, + "log_step": 95, + "where": "首步前", + "evidence_zh": "观察：视频 0.0–2.0 s 右手与桌面插头均未移动，机器人没有启动拿起插头的动作；log step 95 中agent重置到episode=6后启动完整流程，但自己的脚本在stageB(q, corr)调用处抛出NameError，q未定义，随即EXIT 1。" + }, + "unmet": { + "plug_lifted": false, + "plug_seated_port4": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/run.json 的 reward.n_actions=0、sim_steps=0，受评视频 0.0–2.0 s 的全部11帧中右手和桌面插头均保持初态，叠字始终为Stage 0/3；未交付任何动作轨迹。log step 95 记录重置到episode=6、resets_left=15，随后agent自己的脚本在stageB(q, corr)处因q未定义而NameError退出；此前log step 91–94属于先前回合的会话调试，不是受评动作。依DECISIONS.md D23及CASES.md OPEN-16的当前处理，现象和根因均留空；脚本异常只作背景说明，不据此填写受评控制根因。D38处理已执行的受评回合内控制器崩溃，本例没有执行动作，按D23处理；两项开放规则在动作提交前崩溃这一边界上的归属分歧留待团队裁定。观察：inputs/没有状态日志，评分器reward未报告DAG所列原生几何、速度和释放计数指标，故native_metrics数值均为null；视频叠字仅作为进度佐证。推断：最后重置回合与视频的对应依据log step 95、重置总数及初态画面，日志没有异常后的进一步服务状态或最终汇报。" + }, + "summary_zh": "观察：受评视频全程保持初态，插头仍侧躺桌面，拿起插头和插入第四口均未达成，最终进度为0/2，断点为plug_lifted／首步前。观察：reward.n_actions=0、sim_steps=0，未交付动作轨迹；依D23将现象和根因留空，log step 95的脚本NameError仅作为会话背景。观察：没有状态日志及原生指标数值，先前调试回合不计入本次进度或实际接触。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "WHERE 标签（0/2、断点 plug_lifted、时钟）与视频一致；问题在 why 层：这是 D23 所述“无交付、agent 自身失败”的运行（n_actions=0，受评视频只是初态/末态静止回放），现行规则是现象/根因留空并写 gap_zh，文件却用 没尝试 + 控制 填充。", + "n_issues": 2, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 8, + "summary_zh": "进度 0/2、断点 plug_lifted／首步前与视频一致（首末帧均 Stage 0/3，右手与插头未动）；n_actions=0 无交付，按 D23 现象/根因留空并写 gap_zh，符合现行规则。", + "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": "2026-10-30T05:47:25Z", + "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-usb-plug-insert-i00-standard--q8jmd9h/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-usb-plug-insert-i00-standard--q8jmd9h/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-usb-plug-insert-i00-standard--q8jmd9h/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-usb-plug-insert-i00-standard--q8jmd9h/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a996205088f3a1d79ef3e281df37a45fa16d686c6c91ee7983c383b42c2a9528", + "video_sha256": "83ab0e6397935247b01147f9a4ad88fe1e1733a356b2e73053b707be993bfeec", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-standard--tqejqoj.json b/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-standard--tqejqoj.json new file mode 100644 index 0000000000000000000000000000000000000000..f3e519187b412798fc036973e445c65fa3d0d872 --- /dev/null +++ b/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-standard--tqejqoj.json @@ -0,0 +1,272 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-usb-plug-insert-i00-standard--tqejqoj", + "taskKey": "dexhand/usb_plug_insert", + "dag_sha256": "d32765c73fc52a9bb5b04aeb88d832c51d085f5f2812dfc0a2c4c200487979bf", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 379, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 964, + "no_verdict": 0, + "replay_success": 0, + "reset_budget": 20, + "resets": 9, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 964, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.488, + "peak_processes": 11, + "peak_disk_gb": 1.032, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-usb-plug-insert-i00-standard--tqejqoj/replay.mp4", + "duration_s": 21.4, + "fps": 5.0, + "frames": 107, + "sha256": "d19edb71127209abd2ffcf27b8615a7aa8b5115dce08a95b8cb795141b245526" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "plug_lifted": { + "method": "visual", + "intervals": [ + [ + 12.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 12.0, + "log_step": null, + "text_zh": "观察：视频11.8 s叠字仍为Stage 0/3，视频12.0 s变为Stage 1/3；右手拇指与另一手指夹住黑色插头，插头随右手向上离开原桌面位置，视频12.4–13.0 s可见插头悬在指间、线缆近端随之抬起。首次达成时间约为视频12.0 s，采样分辨率0.2 s。" + }, + { + "t": 19.4, + "log_step": null, + "text_zh": "观察：视频19.4 s至21.2 s终态仍显示Stage 1/3，虽随后发生plug_dropped，拿起为已完成即锁存的event节点。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约9.0–12.4 s，机器人右手拇指与另一手指合拢夹住USB-A插头刚性壳体并抬起。" + } + ] + }, + "plug_seated_port4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 18.0, + "log_step": null, + "text_zh": "观察：视频16.0–19.2 s机器人右手持插头转腕并向集线器靠近，插头仍在集线器右后上方，与第四口分离，没有导入端口或松手就位。" + }, + { + "t": 19.4, + "log_step": 203, + "text_zh": "观察：视频19.4 s叠字为FAIL: plug_dropped、Stage 1/3、port-4 depth -23.47/12.00 mm、released hold 0/50；逐帧检查视频20.2–21.2 s，均为这一失败终态且插头与集线器分离。log step 203服务状态为episode 10、control_steps 964、done True、reason task_failure，与reward的n_actions 964及live_matches_replay 1一致，确认受评的是最后回合。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约12.4–19.2 s机器人右手继续夹持插头并转腕、向集线器方向搬运，过程中调整手指；未看到插头或手指接触第四口。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "plug_tip_z_at_lift", + "unit": "m", + "threshold": 0.73, + "direction": "higher_better", + "value": null + }, + { + "name": "target_depth_fraction", + "unit": "", + "threshold": 0.9, + "direction": "higher_better", + "value": null + }, + { + "name": "abs_target_lateral_m", + "unit": "m", + "threshold": 0.0006, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_target_vertical_m", + "unit": "m", + "threshold": 0.0005, + "direction": "lower_better", + "value": null + }, + { + "name": "axis_error_deg", + "unit": "deg", + "threshold": 5, + "direction": "lower_better", + "value": null + }, + { + "name": "polarity_error_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + }, + { + "name": "plug_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "released_hold_controls", + "unit": "control", + "threshold": 50, + "direction": "higher_better", + "value": null + }, + { + "name": "hub_displacement_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "hub_tilt_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "plug_seated_port4", + "t": 19.4, + "log_step": 202, + "where": "操作中", + "evidence_zh": "观察：视频12.0 s已完成拿起，视频16.0–19.2 s机器人正持物转向并靠近集线器；视频19.4 s首次显示FAIL: plug_dropped，插头仍与第四口分离，之后画面冻结，未修复。log step 202记录最后回合在control step 960仍done False、到964变为done True；log step 203服务确认task_failure。因此断在插入第四口的持物搬运过程中。" + }, + "unmet": { + "plug_lifted": true, + "plug_seated_port4": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 19.4, + "log_step": 202, + "evidence_zh": "观察：视频12.0–18.0 s插头已经由右手夹起并随手移动；视频18.0–19.2 s右手持续转腕，黑色插头在指尖下方悬着，尚未接合任何端口；视频19.4 s检查器叠字明确判定plug_dropped。推断：已建立的握持在转腕搬运时失去有效接触，属于没保持住；画面在判负时冻结，未展示后续完整下落。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 190, + "source_zh": "日志 / 视频", + "evidence_zh": "观察：log step 190启动最后回合，执行夹紧后调用objmove进行转腕搬运；该函数在log step 173给出的代码中保持手指关节目标cmd[36:]=t[36:]，搬运后继续servo位置补偿，并无主动放开插头的指令。log step 202显示该搬运在control step 960尚未结束回合，随后补偿阶段到964失败；视频19.2–19.4 s对应的是插头未入端口即plug_dropped。推断：机器人在预定保持夹持的转腕运动中未能维持有效握持，根因归控制；缺少接触力和逐关节接触记录，不细分控制子类。" + } + ], + "gap_zh": "未提供状态日志，失败瞬间指间接触有遮挡且视频随判负冻结；plug_dropped由受评视频的检查器叠字确认，无法进一步区分握持几何、夹紧力不足或转腕跟踪偏差。DAG列出的十项原生指标均未在run.json评分字段中报告，value均为null。log step 199的后续对准指令在log step 201被服务以EpisodeOver: task_failure拒绝，不作为受评运动证据。" + }, + "summary_zh": "受评的最后回合完成了拿起插头：视频约12.0 s达到Stage 1/3，event节点保留完成，最终进度1/2。机器人随后持物转腕靠近集线器，在视频19.2–19.4 s间未入第四口便触发plug_dropped，断点为插入第四口，现象为没保持住、根因归控制。没有逐步状态及接触力日志，无法细分握持失效机制；视频末尾为失败后冻结画面。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "拿起插头约视频12.0 s（叠字Stage 0/3→1/3）与帧一致；视频19.4 s叠字FAIL: plug_dropped，插头未入第4口，断点plug_seated_port4、现象没保持住与帧、DAG中plug_dropped判据相容。根因'控制'为推断且已标注，无明确矛盾证据。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:45:07Z", + "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-usb-plug-insert-i00-standard--tqejqoj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-usb-plug-insert-i00-standard--tqejqoj/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "70bf472fcd4576cede474da19af61ea5d7b4d547f9639ddf4b78e03c4ca18404", + "video_sha256": "d19edb71127209abd2ffcf27b8615a7aa8b5115dce08a95b8cb795141b245526", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-standard--uryuyj9.json b/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-standard--uryuyj9.json new file mode 100644 index 0000000000000000000000000000000000000000..cfb1db5c1161111859f834068b95b9f2499cbb87 --- /dev/null +++ b/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-standard--uryuyj9.json @@ -0,0 +1,257 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-usb-plug-insert-i00-standard--uryuyj9", + "taskKey": "dexhand/usb_plug_insert", + "dag_sha256": "d32765c73fc52a9bb5b04aeb88d832c51d085f5f2812dfc0a2c4c200487979bf", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 661, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 545, + "no_verdict": 0, + "replay_success": 0, + "reset_budget": 20, + "resets": 14, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 545, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.577, + "peak_processes": 12, + "peak_disk_gb": 1.038, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-usb-plug-insert-i00-standard--uryuyj9/replay.mp4", + "duration_s": 13.0, + "fps": 5.0, + "frames": 65, + "sha256": "2164d4e2aa4260dd6ceaf86d176ea3ec69ec372b04ddd6d7aaf14a02d7d6c78b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "plug_lifted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.8, + "log_step": 251, + "text_zh": "观察：视频 4.8 s 右手非拇指的相邻手指夹着黑色USB-A插头并抬离桌面，拇指在上方张开，未触及插头；叠字仍为Stage 0/3。视频 6.2–7.8 s 翻腕时拇指仍与插头分离，未出现首步要求的拇指与另一手指共同接触。" + }, + { + "t": 8.0, + "log_step": 251, + "text_zh": "观察：视频 7.8 s 黑色插头尚在右手指端，视频 8.0 s 已与手分离并回落集线器附近桌面；视频 12.0–12.8 s 手在上方、插头留在桌面，Stage 0/3未变。日志 log step 251 的最后一次重置及夹持后翻腕动作，与视频顺序相符；该回合和评分器均记录545个控制步，log step 255 确认最终仍为episode 15。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 4.8–7.8 s 右手相邻非拇指手指夹住USB-A插头刚性部分并带起、翻转，拇指张开悬离；视频约8.0 s 夹持失去，插头回落桌面。此处确有夹持，但不满足节点要求的拇指接触。" + } + ] + }, + "plug_seated_port4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.8, + "log_step": null, + "text_zh": "观察：视频 0.0–8.0 s 右手只在原插头位置夹持、抬起和翻腕，没有把插头送向第4口；脱手后视频 8.0–12.8 s 黑色插头留在集线器附近桌面，未进入端口，右手撤离。视频 12.8 s 叠字为Stage 0/3、axis error 107.3 deg、released hold 0/50；与成功参考视频 28.8 s 插头进入最右口并显示Stage 3/3、PASS的外观不同。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "plug_tip_z_at_lift", + "unit": "m", + "threshold": 0.73, + "direction": "higher_better", + "value": null + }, + { + "name": "target_depth_fraction", + "unit": "", + "threshold": 0.9, + "direction": "higher_better", + "value": null + }, + { + "name": "abs_target_lateral_m", + "unit": "m", + "threshold": 0.0006, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_target_vertical_m", + "unit": "m", + "threshold": 0.0005, + "direction": "lower_better", + "value": null + }, + { + "name": "axis_error_deg", + "unit": "deg", + "threshold": 5, + "direction": "lower_better", + "value": null + }, + { + "name": "polarity_error_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + }, + { + "name": "plug_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "released_hold_controls", + "unit": "control", + "threshold": 50, + "direction": "higher_better", + "value": null + }, + { + "name": "hub_displacement_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "hub_tilt_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "plug_lifted", + "t": 8.0, + "log_step": 251, + "where": "操作中", + "evidence_zh": "观察：视频 4.8–7.8 s 机器人右手用相邻非拇指手指夹持抬起插头，拇指悬离，Stage一直为0/3；视频约8.0 s 翻腕过程中插头脱手回落桌面，之后直到视频 12.8 s 都未重新抓取。log step 251 的最终回合执行夹持、抬升及翻腕，log step 255 确认该回合停在545个控制步，与评分器n_actions=545、live_matches_replay=1一致。" + }, + "unmet": { + "plug_lifted": false, + "plug_seated_port4": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 8.0, + "log_step": 251, + "evidence_zh": "观察：视频 7.4–7.8 s 黑色USB-A插头仍被右手指端夹住并随手翻转，视频 8.0 s 右手继续抬离，插头已脱离指端回落桌面；视频 8.2–12.8 s 未重新拿起。这是已建立夹持后丢失，发生在插入前，也没有目标处的计划松手。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "已验证有", + "t": 4.8, + "log_step": 251, + "source_zh": "视频", + "evidence_zh": "推断：视频 4.8–7.8 s 插头夹在非拇指的相邻指端，拇指始终张开悬离，既未形成首步指定的拇指对指接触，也未在翻腕中保持承载，视频约8.0 s 脱手。log step 251 的脚本只收拢中指、无名指等后抬升，再翻腕试图让插头滑入掌内；log step 250 明示此意图。问题落在这套夹持与换握接触布局。成功参考同为Sharpa Wave手，参考视频 6.0 s 可见拇指对指捏持抬起且Stage 1/3，说明存在已验证的替代抓法；参考只用于证明可行性，不用于计入本次进度。" + } + ], + "gap_zh": "没有状态日志或逐接触力记录，无法精确量测本次插头尖端高度、指端接触力及脱手的力学细节；节点未达由可见拇指分离、脱手和Stage 0/3共同支持。评分器未报告DAG所列原生指标数值，native_metrics均置null。日志包含14次重置，早期回合的抬起自测不计入本次节点；受评回合取最终episode 15，未执行已编写文件中设想的插入流程。" + }, + "summary_zh": "本次最终受评回合中，右手用非拇指的相邻手指夹持并抬起USB-A插头，但拇指未接触，Stage始终为0/3，两个节点均未达成。视频约8.0 s 翻腕时插头脱手回落桌面，之后没有重新抓取或尝试插入，断点为“拿起插头”，根因指向未形成并维持所需夹持的接触设计。无状态与接触力日志，精确高度和脱手力学机制无法确认；不将早期重置回合的自测成果计入本次。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "逐帧复查：视频 7.0–7.8 s 黑色插头确被右手三指（非拇指）夹起，拇指悬离，8.0 s 脱手，Stage 全程 0/3，与标签一致；断点 plug_lifted、现象没保持住、根因抓取和接触设计均有帧与 log step 251 支持，未发现需改动之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:40:54Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-usb-plug-insert-i00-standard--uryuyj9/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-usb-plug-insert-i00-standard--uryuyj9/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "405629a3520428255ffe01befb96450a680983101ba20ff39dcb7da55855410f", + "video_sha256": "2164d4e2aa4260dd6ceaf86d176ea3ec69ec372b04ddd6d7aaf14a02d7d6c78b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-standard--vncnhqy.json b/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-standard--vncnhqy.json new file mode 100644 index 0000000000000000000000000000000000000000..c4e846f2e335bb73c6ef2a0c06635188eecd6b4e --- /dev/null +++ b/phase2/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-standard--vncnhqy.json @@ -0,0 +1,270 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-usb-plug-insert-i00-standard--vncnhqy", + "taskKey": "dexhand/usb_plug_insert", + "dag_sha256": "d32765c73fc52a9bb5b04aeb88d832c51d085f5f2812dfc0a2c4c200487979bf", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 114, + "control_steps_total": 2265, + "elapsed_s": 3626.601, + "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": 160, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 16, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 160, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.504, + "peak_processes": 13, + "peak_disk_gb": 0.259, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-usb-plug-insert-i00-standard--vncnhqy/replay.mp4", + "duration_s": 5.4, + "fps": 5.0, + "frames": 27, + "sha256": "47dccc51ee09d0da1d972ce1f0afeeed6def8b0ce2e8f28b508da04272b7f585" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "plug_lifted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，USB-A插头的银色金属壳和黑色外壳侧躺在右手下方的桌面上，机器人右手张开，叠字为Stage 0/3。" + }, + { + "t": 2.2, + "log_step": null, + "text_zh": "观察：视频 1.0–2.4 s，机器人右手下降、弯指并闭合，指尖碰拨桌面处的插头；视频 2.6–3.2 s右手上移，黑色插头及银色金属壳仍留在桌面，未随手抬起，叠字仍为Stage 0/3。" + }, + { + "t": 5.2, + "log_step": null, + "text_zh": "观察：视频 3.4–5.2 s末尾画面保持不动，右手悬在桌面插头上方，插头仍与桌面接触，叠字始终为Stage 0/3；未出现拿起节点所需的夹持离桌状态。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 1.6–2.6 s，机器人右手指尖在桌面处碰拨USB-A插头，插头小幅移位；视频 2.8–3.2 s抬手后插头仍在桌面，未见对插头刚性部分建立对向夹持。" + } + ] + }, + "plug_seated_port4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.2, + "log_step": null, + "text_zh": "观察：视频 0.0–5.2 s，机器人右手只在插头初始位置下降、闭合并上移，没有将插头送到桌边集线器；视频 3.2 s插头仍在集线器后方的桌面上。" + }, + { + "t": 5.2, + "log_step": null, + "text_zh": "观察：视频 5.2 s末帧，USB-A插头与集线器分离，叠字为Stage 0/3、released hold 0/50，第四口未插入。成功参考视频 27.0 s显示插头就位且Stage 3/3、PASS，仅用于确认完成时的可见线索。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "plug_tip_z_at_lift", + "unit": "m", + "threshold": 0.73, + "direction": "higher_better", + "value": null + }, + { + "name": "target_depth_fraction", + "unit": "", + "threshold": 0.9, + "direction": "higher_better", + "value": null + }, + { + "name": "abs_target_lateral_m", + "unit": "m", + "threshold": 0.0006, + "direction": "lower_better", + "value": null + }, + { + "name": "abs_target_vertical_m", + "unit": "m", + "threshold": 0.0005, + "direction": "lower_better", + "value": null + }, + { + "name": "axis_error_deg", + "unit": "deg", + "threshold": 5, + "direction": "lower_better", + "value": null + }, + { + "name": "polarity_error_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + }, + { + "name": "plug_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "released_hold_controls", + "unit": "control", + "threshold": 50, + "direction": "higher_better", + "value": null + }, + { + "name": "hub_displacement_m", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "hub_tilt_deg", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "plug_lifted", + "t": 2.6, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 2.2–2.6 s机器人右手完成弯指闭合后开始上移，视频 2.8–3.2 s可见手指上抬而USB-A插头仍躺在桌面；至视频 5.2 s仍为Stage 0/3，此次拿起失败未修复。" + }, + "unmet": { + "plug_lifted": false, + "plug_seated_port4": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 2.6, + "log_step": null, + "evidence_zh": "观察：视频 1.6–2.6 s右手虽碰拨了插头，但视频 2.8–3.2 s抬手时插头没有随手离桌，闭合的指间未夹住插头刚性部分；视频 5.2 s插头仍在桌面。缺失的是拿起所需的有效夹持接触。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频", + "evidence_zh": "推断：视频 1.6–3.2 s机器人右手已到插头处执行闭合与抬手，却没有将刚性插头夹进指间并带离桌面，失败位于抓取执行及接触建立环节。现有画面不足以进一步区分接触布局、实际轨迹偏差或夹持力，只标控制。" + } + ], + "gap_zh": "未提供状态日志；受评视频在抓取时只有总览，部分接触区域被手指遮挡，无法确定具体接触指节、接触力及实际关节跟踪误差，控制根因不细分。日志包含多次重置，最后的log step 256提交抓取抬升脚本，log step 257仅称等待结果，未记录其最终返回；因此节点和断点均以受评视频为准，未把此前测试的结果当成本次进度。run.json评分字段未报告DAG所列原生指标，数值均留空。" + }, + "summary_zh": "受评视频中，机器人右手下降并闭合后上抬，USB-A插头仍留在桌面，拿起与插入第四口均未达成，最终为0/2。断点在拿起插头：未建立有效夹持接触，根因保守归为控制；缺少逐帧接触及实际关节状态，无法细分。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "两个节点均未达成、断点在拿起插头、控制根因保守标注，与视频一致；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": "2026-10-30T05:43:00Z", + "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-usb-plug-insert-i00-standard--vncnhqy/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-usb-plug-insert-i00-standard--vncnhqy/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2ceff2bec1e26f00b5de1aa83a545544434f42c458c36b744c5a35bdcb933ee2", + "video_sha256": "47dccc51ee09d0da1d972ce1f0afeeed6def8b0ce2e8f28b508da04272b7f585", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-privileged--b3aamgr.json b/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-privileged--b3aamgr.json new file mode 100644 index 0000000000000000000000000000000000000000..1d47d1f8c8dba8e16e22eb2d0577e4d5b400295e --- /dev/null +++ b/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-privileged--b3aamgr.json @@ -0,0 +1,285 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-vacuum-bin-reseat-i00-privileged--b3aamgr", + "taskKey": "dexhand/vacuum_bin_reseat", + "dag_sha256": "15c4955d218cbde3435640ca56411c046502a6b10e591ca10f0fb095fc0f90df", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 1584, + "sim_steps": 1584, + "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": 0.938, + "peak_processes": 9, + "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-vacuum-bin-reseat-i00-privileged--b3aamgr/replay.mp4", + "duration_s": 11.6, + "fps": 25.0, + "frames": 290, + "sha256": "0d897dd53994117dfc984f920d619a18474f6a4c82d4007e777820cf7ff0e162" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "bin_removed": { + "method": "visual", + "intervals": [ + [ + 7.24, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.68, + "log_step": null, + "text_zh": "观察：视频 0.60 s 右手指端到达红色释放按钮上方，视频 0.64 s 按钮行程叠字为4.6毫米；视频 0.68 s 行程为5.9毫米，尘盒顶部向外倾开。" + }, + { + "t": 7.24, + "log_step": null, + "text_zh": "观察：视频 7.20 s 尘盒已明显外倾，叠字仍为latched、就位误差29.8毫米；视频 7.24 s 左手指端继续向外带动尘盒，叠字首次变为bin removed、就位误差30.0毫米（显示值有舍入）。此后直到视频 11.56 s 仍为bin removed；评分器reward.stages_completed=1与拆下阶段一致。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "压/擦", + "note_zh": "观察：视频 0.64–0.72 s 右手指腹下压绿色机身顶部的红色释放按钮；视频 4.5–7.24 s 右手保持压在按钮附近，左手弯曲指端压贴尘盒前部边沿并向外拖动尘盒。两手同时参与，未见任一手以拇指和其余手指对向夹紧尘盒。" + } + ] + }, + "bin_reseated": { + "method": "visual", + "intervals": [ + [ + 0, + 0.64 + ] + ], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.00–0.60 s 尘盒与绿色机身贴合，叠字为latched、就位误差0.0毫米/0.000弧度、按钮行程0.1毫米，故初始装配关系成立。视频 0.64 s 按钮已下压4.6毫米，超过回弹条件；视频 0.68 s 尘盒外倾、误差16.0毫米/0.274弧度，此关系失去。" + }, + { + "t": 8.8, + "log_step": null, + "text_zh": "观察：视频 8.00–8.60 s 左手将外倾尘盒向机身推回并逐渐调平；视频 8.80 s 位置及朝向误差已降至2.3毫米/0.033弧度，但按钮仍下压4.1毫米，叠字仍为bin removed。视频 8.96–9.16 s 虽接近就位，按钮仍未满足回弹条件，没有成立的装回区间。" + }, + { + "t": 9.2, + "log_step": null, + "text_zh": "观察：视频 9.16 s 按钮仍下压4.1毫米、就位误差2.8毫米/0.048弧度；视频 9.20 s 右手开始离开按钮，按钮回至0.1毫米，尘盒却再次外倾，误差变为8.6毫米/0.150弧度。视频 9.28 s 误差为11.2毫米/0.184弧度，随后两手撤离，没有再次装合。" + }, + { + "t": 11.56, + "log_step": null, + "text_zh": "观察：视频 10.56–11.56 s 末段画面保持不变，尘盒仍与机身错位，叠字为bin removed、就位误差10.8毫米/0.180弧度、按钮0.1毫米、hold 0/50。成功参考在其视频 12.88 s 显示PASS、released + held和hold 50/50；该参考只用于辨认锁合后的可见状态。" + }, + { + "t": null, + "log_step": 142, + "text_zh": "观察：log step 142 的会话测试输出曾报告stage 2，但该测试有1457行动，后续还有多次覆盖交付文件的测试；本次评分器报告1584行动、stages_completed=1。交付视频结束于control 1584且始终停在bin removed，因此不能把该会话测试的装回结果计入本次轨迹。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "推/扫", + "note_zh": "观察：视频 8.00–9.16 s 左手以弯曲手指接触尘盒前部，向绿色机身方向推回并使尘盒调平；拇指张开，未见合手包握。右手同时留在机身顶部按钮处。" + }, + { + "who": "双臂协作", + "how": "压/擦", + "note_zh": "观察：视频 8.60–9.16 s 左手推回尘盒时，右手指腹仍压在红色按钮处，叠字显示按钮下压2.8–5.2毫米；视频 9.20 s 起右手卸压，按钮回弹，随后双手撤离。此条记录右手对按钮的按压，与左手推尘盒为不同接触链路。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "seat_distance_m", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_angle_rad", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "button_travel_m_relatched", + "unit": "m", + "threshold": 0.0015, + "direction": "lower_better", + "value": null + }, + { + "name": "catch_behind_tooth_m", + "unit": "m", + "threshold": -0.0005, + "direction": "higher_better", + "value": null + }, + { + "name": "bin_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "bin_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.1, + "direction": "lower_better", + "value": null + }, + { + "name": "body_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "body_displacement_m", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "body_tilt_rad", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "bin_vacuum_penetration_m", + "unit": "m", + "threshold": 0.004, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "bin_reseated", + "t": 9.2, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 9.16–9.28 s 左手将尘盒推至接近机身后，右手卸去按钮压力；按钮回弹时尘盒从2.8毫米/0.048弧度退至11.2毫米/0.184弧度，未锁合。两手随后撤开，视频 11.56 s 仍为bin removed、hold 0/50；装回步骤始终未修复。" + }, + "unmet": { + "bin_removed": true, + "bin_reseated": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "接触力异常", + "t": 9.2, + "log_step": null, + "evidence_zh": "观察：视频 8.80–9.16 s 左手指端将尘盒压推至约2–3毫米位置误差，但红色按钮仍被压下，阶段叠字未变为bin reseated；视频 9.20–9.28 s 按钮回弹的同时尘盒向外退开，最终保持10.8毫米/0.180弧度错位（视频 11.56 s）。推断：这次推压没有使卡扣有效扣合，属于装配接触未奏效；未曾装好后再计划松手，不能标为放后不稳。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：视频 8.60–9.28 s 双手已在尘盒和按钮上建立接触，尘盒可被推近平齐，但按钮卸压时仍外倾退开；视频 9.28–10.56 s 双手继续撤离，没有补推或重新锁合。log step 84 的生成脚本以推进阶段结束后依次抬右手、撤左手、静置来收尾，log step 153 仍在修改推进步长及距离/停滞退出阈值；这些日志仅为会话控制实现证据。结合交付视频，装回末段的推进与卸载控制没有完成锁合；证据不足以进一步归为特定握法、力参数或逆解问题，停留在控制类。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "无状态日志；总览中卡扣齿面和手指内侧接触被遮挡，不能恢复卡齿间隙、接触力及其具体失配原因，故根因不细分。log step 142–152 涉及不同会话测试，不能将其中stage 2或机身移位终止等结果套用到交付视频；log step 154 没有返回最后一次后台测试输出。节点时间均按本次视频帧读取，未用agent工作时间或控制频率换算视频时间；原生指标在评分器reward中均未报告，保留null。" + }, + "summary_zh": "本次轨迹在视频 7.24 s 完成取下尘盒；装回关系初始成立，视频 0.64 s 解锁时失去，之后未恢复，最终节点为1/2。视频 9.20 s 左手推回尘盒后，右手卸去按钮压力时尘盒再次外倾，卡扣未锁合；末帧误差10.8毫米/0.180弧度、hold 0/50，断在装回操作中。无状态日志且卡扣局部遮挡，能确认装配接触未奏效，但控制根因无法细分；会话中其他测试的stage 2不计入本次进展。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "叠字读数与文件一致：0.64–0.68 s 解锁失去装回关系，7.24 s 变为bin removed，9.16 s 误差2.8毫米/0.048弧度但按钮4.1毫米，9.20–9.28 s 卸压后外倾至11.2毫米，末帧10.8毫米、hold 0/50。进度1/2、断点bin_reseated、接触力异常与控制根因均有帧支持，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": "2026-10-30T05:41:17Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-vacuum-bin-reseat-i00-privileged--b3aamgr/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-vacuum-bin-reseat-i00-privileged--b3aamgr/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "62297bbe66ffef0b6f02be6863c7213b5860353040aac42cbf45da943387a9a9", + "video_sha256": "0d897dd53994117dfc984f920d619a18474f6a4c82d4007e777820cf7ff0e162", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-privileged--bxewzgw.json b/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-privileged--bxewzgw.json new file mode 100644 index 0000000000000000000000000000000000000000..364b74412430852426100de9d626c348942e6330 --- /dev/null +++ b/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-privileged--bxewzgw.json @@ -0,0 +1,269 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-vacuum-bin-reseat-i00-privileged--bxewzgw", + "taskKey": "dexhand/vacuum_bin_reseat", + "dag_sha256": "15c4955d218cbde3435640ca56411c046502a6b10e591ca10f0fb095fc0f90df", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 1200, + "sim_steps": 476, + "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": 0.61, + "peak_processes": 9, + "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-vacuum-bin-reseat-i00-privileged--bxewzgw/replay.mp4", + "duration_s": 5.8, + "fps": 25.0, + "frames": 145, + "sha256": "8000bd450db0ea4adce09aaaef6e5ac852916a6b2f140230903ee6677d63cbd5" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 1, + "peak": 1, + "final": 0, + "nodes": { + "bin_removed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.8, + "log_step": null, + "text_zh": "观察：视频 0.0–1.76 s 尘盒贴合机身；视频 1.80–1.96 s 右手合拢，尘盒和绿色机身一起偏移，叠字就位误差从视频 1.76 s 的1.9毫米增至视频 1.92 s 的6.9毫米，仍显示latched，没有拆离。" + }, + { + "t": 4.76, + "log_step": null, + "text_zh": "观察：视频 2.4–4.68 s 左手在红色按钮区域按压，按钮行程叠字最高约1.1毫米，未达5.8毫米；视频 4.76 s 显示FAIL: vacuum_body_disturbed、control 476、stage: latched，就位误差5.9毫米。视频 5.76 s 仍是同一终态，没有出现成功参考中的bin removed阶段。" + }, + { + "t": null, + "log_step": 45, + "text_zh": "观察：log step 45 在修改最终下降路径后测试并保存1200行执行器动作；测试终止于steps=476、stage=0、failure=vacuum_body_disturbed，与本次视频终止叠字及评分器sim_steps=476一致。此前会话试验不作为本次节点进度。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 1.4–1.88 s 右手拇指与其余手指在尘盒前段两侧合拢夹持，夹合时带动尘盒与机身；视频 2.4–4.76 s 右手继续在吸嘴前端保持合拢姿态，左手同时操作顶部按钮区域。此处不表示尘盒已被成功取下或始终握稳。" + }, + { + "who": "双臂协作", + "how": "压/擦", + "note_zh": "观察：视频 2.4–4.76 s 左手指腹接触红色按钮及其邻近机身顶部作下压，按钮仅少量下沉；右手位于尘盒和吸嘴前端，配合拆卸尝试。" + } + ] + }, + "bin_reseated": { + "method": "visual", + "intervals": [ + [ + 0, + 1.8 + ] + ], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 尘盒与机身贴合，红色按钮回弹，叠字stage: latched、button 0.1 mm、seat error 0.0 mm / 0.000 rad。按DAG的state规则，初始就位关系计入，不受取下尘盒的after门控。" + }, + { + "t": 1.8, + "log_step": null, + "text_zh": "观察：视频 1.76 s 就位误差1.9毫米/0.049弧度，视频 1.80 s 为2.2毫米/0.053弧度，视频 1.84 s 为5.5毫米/0.040弧度；从视频约1.8 s 起连续失去就位关系。视频 1.88–4.76 s 距离误差一直约6–7毫米，超过3毫米，视频 5.76 s 仍为5.9毫米，故没有恢复。" + }, + { + "t": 4.76, + "log_step": null, + "text_zh": "观察：视频 0.0–5.76 s 没有取下后重新合入的动作，结束时双手仍在物体附近，hold一直为0/50。本节点仅保留初始就位区间；未把共同离手静置终验另作节点。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "seat_distance_m", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_angle_rad", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "button_travel_m_relatched", + "unit": "m", + "threshold": 0.0015, + "direction": "lower_better", + "value": null + }, + { + "name": "catch_behind_tooth_m", + "unit": "m", + "threshold": -0.0005, + "direction": "higher_better", + "value": null + }, + { + "name": "bin_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "bin_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.1, + "direction": "lower_better", + "value": null + }, + { + "name": "body_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "body_displacement_m", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "body_tilt_rad", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "bin_vacuum_penetration_m", + "unit": "m", + "threshold": 0.004, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "bin_removed", + "t": 4.76, + "log_step": 45, + "where": "操作中", + "evidence_zh": "观察：视频 1.80–1.96 s 机器人右手夹合尘盒时，绿色机身被一起带动；视频 2.4–4.68 s 左手继续尝试按按钮，尘盒未拆离。视频 4.76 s 机身再次移动倾斜，出现FAIL: vacuum_body_disturbed，取下步骤未完成且未修复。log step 45 的最终保存前测试同样以stage=0、steps=476结束。" + }, + "unmet": { + "bin_removed": false, + "bin_reseated": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "带动本体", + "t": 4.76, + "log_step": 45, + "evidence_zh": "观察：视频 1.80–1.96 s 右手在尘盒前部合拢时，尘盒与原应稳定的绿色机身一同移动，未形成取下所需的相对拆离；视频 4.68–4.76 s 机身又明显移动倾斜，叠字由IN PROGRESS变为FAIL: vacuum_body_disturbed。视频 4.76–5.76 s 一直停在该失败状态。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "evidence_zh": "推断：视频 1.68–1.96 s 右手闭合时机身随尘盒移动，此时左手尚在空中，未提供机身反向稳持；视频 2.4–4.68 s 左手转为按按钮，右手从前端操作而机身仍未被独立固定，最终再次被带动。log step 44–45 的最终脚本安排先合拢右手再下压左手；log step 45 的保存前测试也报告夹合后机身偏移约23毫米，并最终以机身位移0.05026455米终止。接触布局未能在操作尘盒时隔离机身受力；尚无本次运行中验证过的修正握法。", + "source_zh": "视频" + } + ], + "gap_zh": "观察：inputs/没有状态日志，视频只有总览；手指背侧的接触及各指受力不能逐一确认，无法确定最终位移由哪一根手指贡献。节点判断使用本次视频叠字和前后帧，未将会话旧测试中的按钮解锁或拆离计入；原生指标未在评分器reward字段报告，全部留空。" + }, + "summary_zh": "初始尘盒已就位，装回关系从视频 0.0 s 保持到约1.8 s，随后失去且未恢复；整段视频没有完成取下尘盒，最终节点为0/2。右手夹合与后续双手操作带动了机身，视频 4.76 s 因机身移位失败，根因指向缺乏机身稳持的抓取和接触布局。无状态日志，精细接触及受力仍有遮挡缺口。", + "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、时间（装回区间0–1.8 s，视频叠字seat error在1.84 s起超3毫米）、断点bin_removed、现象与根因均与视频叠字和帧一致，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:43:26Z", + "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-vacuum-bin-reseat-i00-privileged--bxewzgw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-vacuum-bin-reseat-i00-privileged--bxewzgw/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7a346c2c6393a9e8941359a67bf288d81b32f124c777e79d5c3e80eb0513bbc0", + "video_sha256": "8000bd450db0ea4adce09aaaef6e5ac852916a6b2f140230903ee6677d63cbd5", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-privileged--ggqkbmf.json b/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-privileged--ggqkbmf.json new file mode 100644 index 0000000000000000000000000000000000000000..75a515e35033c9d77be0ade6852c5085657895e0 --- /dev/null +++ b/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-privileged--ggqkbmf.json @@ -0,0 +1,269 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-vacuum-bin-reseat-i00-privileged--ggqkbmf", + "taskKey": "dexhand/vacuum_bin_reseat", + "dag_sha256": "15c4955d218cbde3435640ca56411c046502a6b10e591ca10f0fb095fc0f90df", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 2383, + "sim_steps": 2383, + "stages_completed": 3, + "success": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 2.208, + "peak_processes": 12, + "peak_disk_gb": 0.84, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-vacuum-bin-reseat-i00-privileged--ggqkbmf/replay.mp4", + "duration_s": 12.92, + "fps": 25.0, + "frames": 323, + "sha256": "ee33d0a7fe724221a1036b1329868271574e9d03c05d149b9636abc89a8bb1e1" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 1, + "peak": 2, + "final": 2, + "nodes": { + "bin_removed": { + "method": "visual", + "intervals": [ + [ + 5.92, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.8, + "log_step": null, + "text_zh": "观察：视频 2.80 s，机器人左手食指下压顶部红色释放按钮；录像叠字显示按钮行程5.8毫米、就位误差0.1毫米，尘盒此时仍在位；随后尘盒顶部向外倾。" + }, + { + "t": 5.92, + "log_step": null, + "text_zh": "观察：视频 5.88 s，机器人右手包握尘盒前部，尘盒相对绿色机身向外分离，叠字仍为latched、就位误差29.7毫米；视频 5.92 s，误差33.9毫米，叠字变为bin removed，首次确认拆下；该事件此后保留。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 4.80–6.20 s，机器人右手拇指与其余弯曲手指从两侧包夹尘盒前部及吸嘴根部并向外带出，同时左手食指保持按住释放按钮。" + }, + { + "who": "双臂协作", + "how": "压/擦", + "note_zh": "观察：机器人左手伸直食指指腹下压机身顶部红色释放按钮；视频 4.80–5.92 s与右手握持、拆离尘盒同时进行，未见左手包握机身。" + } + ] + }, + "bin_reseated": { + "method": "visual", + "intervals": [ + [ + 0, + 1.32 + ], + [ + 10.44, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.00 s，尘盒与绿色机身贴合，叠字显示latched、按钮行程0.1毫米、就位误差0.0毫米及0.000弧度；依state节点规则，初始装配关系成立。" + }, + { + "t": 1.32, + "log_step": null, + "text_zh": "观察：视频 1.28 s，机器人左手正在压按钮，叠字按钮行程1.3毫米；视频 1.32 s增至1.6毫米，已超过装回判据的1.5毫米。虽尘盒尚未外移，装回条件此时失去；视频 1.40–10.40 s逐段检查中按钮持续超限，且拆卸后尘盒一直外倾或偏离就位位置。" + }, + { + "t": 6.8, + "log_step": null, + "text_zh": "观察：视频 6.80 s，机器人右手仍包握尘盒前部并将其送回机身前方，左手食指继续压住红色按钮；叠字就位误差13.2毫米、角度0.196弧度，装回尚未成立。" + }, + { + "t": 10.44, + "log_step": null, + "text_zh": "观察：视频 9.44–10.00 s，机器人右手改用伸直食指压推尘盒上部，使其贴回绿色机身；视频 10.40 s按钮仍为1.6毫米，视频 10.44 s左手开始抬离、按钮回弹至0.8毫米，叠字首次显示bin reseated，就位误差1.6毫米、0.008弧度。" + }, + { + "t": 11.92, + "log_step": null, + "text_zh": "观察：视频 11.68–11.92 s，机器人两手离开目标，尘盒保持与机身贴合，录像的连续静置计数由hold 3/50增至50/50；视频 11.92 s显示PASS、released + held、control 2383，按钮0.1毫米、就位误差0.8毫米及0.000弧度。逐帧检查视频 12.00–12.88 s，成功终态保持。" + }, + { + "t": null, + "log_step": 173, + "text_zh": "观察：评分器reward字段success=1、stages_completed=3、deterministic=1；log step 173的交付检查输出success_replays True True、same_final_state True、exact_actions True，确认最终交付动作在两次新进程重放中成功。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 6.20–7.00 s，机器人右手拇指与其余手指包夹尘盒前部，带回并调整其相对机身的位置；左手食指同时持续压住释放按钮。" + }, + { + "who": "双臂协作", + "how": "压/擦", + "note_zh": "观察：机器人左手食指压住红色按钮；右手松开前部包握后换到尘盒上方，视频 9.44–10.44 s用伸直食指压推尘盒上部，使顶部合入机身；随后左手抬起释放按钮，右手再撤开。未将这种食指压推记为抓握。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "seat_distance_m", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_angle_rad", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "button_travel_m_relatched", + "unit": "m", + "threshold": 0.0015, + "direction": "lower_better", + "value": null + }, + { + "name": "catch_behind_tooth_m", + "unit": "m", + "threshold": -0.0005, + "direction": "higher_better", + "value": null + }, + { + "name": "bin_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "bin_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.1, + "direction": "lower_better", + "value": null + }, + { + "name": "body_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "body_displacement_m", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "body_tilt_rad", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "bin_vacuum_penetration_m", + "unit": "m", + "threshold": 0.004, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "观察：机器人左手按释放按钮、右手包握尘盒并在视频 5.92 s完成拆下，随后送回并用食指压合，视频 10.44 s恢复装配关系，两节点终态均成立。观察：视频 11.92 s显示PASS及hold 50/50，双手离开且尘盒保持就位，与评分器success=1及交付重放检查一致；初始装配关系计入进度，但因按钮下压超限在视频 1.32 s失去。无状态日志，毫米级接合和无接触静置条件依录像叠字及成功验收确认；reward未报告DAG列出的原生连续指标，故其value均为null，本次录像自身也是指定oracle，无独立参考录像。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "两节点的时间、终值与接触均与录像叠字和画面一致：按钮行程在视频 1.32 s 超过 1.5 mm（装回条件失去），视频 5.92 s 叠字变为 bin removed，视频 10.44 s 变为 bin reseated，hold 50/50 通过；成功无失败标签，无需修改。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:44:27Z", + "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-vacuum-bin-reseat-i00-privileged--ggqkbmf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-vacuum-bin-reseat-i00-privileged--ggqkbmf/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "96ae95549732636a22e1e8401e6b52984a4a68225db8f083fb95b04b86c39f85", + "video_sha256": "ee33d0a7fe724221a1036b1329868271574e9d03c05d149b9636abc89a8bb1e1", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-privileged--kdspiqu.json b/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-privileged--kdspiqu.json new file mode 100644 index 0000000000000000000000000000000000000000..df0882c46365b33bbe5f34b55b65e816d46cf3ed --- /dev/null +++ b/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-privileged--kdspiqu.json @@ -0,0 +1,264 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-vacuum-bin-reseat-i00-privileged--kdspiqu", + "taskKey": "dexhand/vacuum_bin_reseat", + "dag_sha256": "15c4955d218cbde3435640ca56411c046502a6b10e591ca10f0fb095fc0f90df", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 358, + "sim_steps": 358, + "stages_completed": 3, + "success": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.909, + "peak_processes": 7, + "peak_disk_gb": 0.258, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-vacuum-bin-reseat-i00-privileged--kdspiqu/replay.mp4", + "duration_s": 8.2, + "fps": 25.0, + "frames": 205, + "sha256": "6e199b2abc94c1094e658c1b3725c1c70fedf8cf3300652493e23e07bf5030f8" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 1, + "peak": 2, + "final": 2, + "nodes": { + "bin_removed": { + "method": "visual", + "intervals": [ + [ + 4.92, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.04, + "log_step": null, + "text_zh": "观察：视频3.04 s机器人左手食指压住机身顶部红色释放按钮，录像叠字button 5.9 mm、seat error 0.2 mm，显示尘盒仍在位时已达到解锁行程；视频3.08—3.12 s尘盒顶部随后向外倾开。" + }, + { + "t": 4.92, + "log_step": null, + "text_zh": "观察：视频3.72—4.96 s机器人右手从吸嘴下方以掌心和弯曲手指托举尘盒，尘盒相对绿色机身向外分离；视频4.88 s叠字仍为latched、seat error 30.0 mm，视频4.92 s变为bin removed、30.2 mm，首次确认越过30毫米拆离阈值。该事件在装回后保留。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "压/擦", + "note_zh": "观察：视频3.04—4.96 s机器人左手伸出的食指持续下压红色释放按钮，与右手托举尘盒配合。" + }, + { + "who": "双臂协作", + "how": "托/舀", + "note_zh": "观察：视频3.72—4.96 s机器人右手掌心朝上，从黑色吸嘴及灰色尘盒前下方承托，手指弯曲将尘盒托起外倾并拆离；未见拇指与其余手指形成对向夹持。" + } + ] + }, + "bin_reseated": { + "method": "visual", + "intervals": [ + [ + 0, + 2.96 + ], + [ + 5.72, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频0.00 s灰色尘盒及黑色吸嘴已与绿色机身贴合，红色按钮回弹；叠字latched、button 0.1 mm、seat error 0.0 mm / 0.000 rad。该state关系从初始成立，不受拆下事件的after边门控。" + }, + { + "t": 2.96, + "log_step": null, + "text_zh": "观察：视频2.92 s按钮行程仍为0.1 mm，视频2.96 s机器人左手食指已把按钮压至3.0 mm，超过装回关系的1.5毫米上限，故关系失去；视频3.08—5.44 s尘盒外倾或偏离，视频5.52—5.68 s虽已被右手推回贴合，按钮仍下压5.5—5.9 mm，关系尚未恢复。" + }, + { + "t": 5.72, + "log_step": null, + "text_zh": "观察：视频5.04—5.68 s机器人右手伸展手指并上移，将尘盒推回绿色机身，左手随后抬起释放按钮；视频5.68 s叠字为bin removed、button 5.5 mm，视频5.72 s变为bin reseated、button 1.3 mm、seat error 2.5 mm / 0.010 rad，装回关系恢复。" + }, + { + "t": 7.24, + "log_step": null, + "text_zh": "观察：视频6.24—7.12 s左手已抬离按钮，右手仍靠近尘盒但姿态静止，叠字bin reseated且hold由4/50增至48/50；视频7.24—8.16 s显示PASS、released + held、hold 50/50，尘盒保持贴合，末帧位置/角度误差为2.3 mm / 0.002 rad、按钮0.1 mm。" + }, + { + "t": null, + "log_step": 237, + "text_zh": "观察：log step 232的生成脚本保存358个动作且服务状态success=True、stage=3、hold_steps=50；log step 237记录交付文件两次独立重放均成功且末态哈希相同，评分记录另报success=1、stages_completed=3、deterministic=1，与视频结尾通过叠字一致。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "推/扫", + "note_zh": "观察：视频5.04—5.68 s机器人右手在尘盒前下方伸展手指并向机身方向推送，使尘盒回到就位姿态；随后视频6.0—6.24 s微调手腕和手指以解除接触。" + }, + { + "who": "双臂协作", + "how": "压/擦", + "note_zh": "观察：视频5.04—5.68 s机器人左手食指保持按压释放按钮，与右手推回尘盒配合；视频5.72 s起左手上抬，按钮回弹。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "seat_distance_m", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_angle_rad", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "button_travel_m_relatched", + "unit": "m", + "threshold": 0.0015, + "direction": "lower_better", + "value": null + }, + { + "name": "catch_behind_tooth_m", + "unit": "m", + "threshold": -0.0005, + "direction": "higher_better", + "value": null + }, + { + "name": "bin_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "bin_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.1, + "direction": "lower_better", + "value": null + }, + { + "name": "body_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "body_displacement_m", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "body_tilt_rad", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "bin_vacuum_penetration_m", + "unit": "m", + "threshold": 0.004, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "机器人以左手食指按压释放按钮、右手托举尘盒完成拆离（视频4.92 s），再推回尘盒并释放按钮（视频5.72 s），最终两个节点均成立；装回关系从视频0.00 s成立，在视频2.96 s因按钮下压而失去。视频结尾显示PASS、released + held及hold 50/50，且交付文件两次独立重放成功。无状态日志，细微接触间隙和毫米级卡扣条件由录像叠字及评分成功辅助确认；评分器reward未报告DAG所列连续指标的数值，native_metrics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": "成功运行，节点时间、叠字读数与帧一致，bin_removed 4.92 s、bin_reseated 初始成立/2.96 s 失去/5.72 s 恢复均有帧支持，无失败层，无需修改。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:44:28Z", + "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-vacuum-bin-reseat-i00-privileged--kdspiqu/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-vacuum-bin-reseat-i00-privileged--kdspiqu/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "9fa05a3cfe08d7959222a863f23f394c002e16340e5010d1e2ff68025d938257", + "video_sha256": "6e199b2abc94c1094e658c1b3725c1c70fedf8cf3300652493e23e07bf5030f8", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-privileged--yc2nkdx.json b/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-privileged--yc2nkdx.json new file mode 100644 index 0000000000000000000000000000000000000000..b85dad756f00b052a43fad55a05b76c6833088b1 --- /dev/null +++ b/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-privileged--yc2nkdx.json @@ -0,0 +1,280 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-vacuum-bin-reseat-i00-privileged--yc2nkdx", + "taskKey": "dexhand/vacuum_bin_reseat", + "dag_sha256": "15c4955d218cbde3435640ca56411c046502a6b10e591ca10f0fb095fc0f90df", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 1460, + "sim_steps": 1460, + "stages_completed": 1, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.679, + "peak_processes": 9, + "peak_disk_gb": 0.843, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-vacuum-bin-reseat-i00-privileged--yc2nkdx/replay.mp4", + "duration_s": 12.72, + "fps": 25.0, + "frames": 318, + "sha256": "be8a4f4174578f423aaa2373b98e5331a44faaf1403d0e899e4a4be3d338d9d3" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "bin_removed": { + "method": "visual", + "intervals": [ + [ + 6.88, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.72, + "log_step": null, + "text_zh": "观察：视频 1.64 s 尘盒仍贴合机身；视频 1.72 s 机器人右手指腹压下红色按钮，叠字为按钮5.9毫米、就位误差1.6毫米，随后尘盒顶部外倾。" + }, + { + "t": 6.88, + "log_step": null, + "text_zh": "观察：视频 6.84 s 尘盒向外偏离，叠字就位误差26.9毫米；视频 6.88 s 灰色尘盒及黑色吸嘴相对绿色机身进一步分离，叠字变为bin removed、就位误差38.0毫米。评分器reward.stages_completed=1与拆下结果一致；此事件保留至视频结束。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "压/擦", + "note_zh": "观察：视频 1.68–5.2 s，机器人右手指腹按压顶部释放按钮及尘盒上缘，左手指腹抵住尘盒侧壁配合拆离。" + }, + { + "who": "双臂协作", + "how": "推/扫", + "note_zh": "观察：视频 6.72–7.28 s，机器人右手转至尘盒前部，以手指接触并拨动尘盒/吸嘴，左手仍抵住侧壁；尘盒随接触向外移动。" + } + ] + }, + "bin_reseated": { + "method": "visual", + "intervals": [ + [ + 0, + 1.68 + ] + ], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0–1.64 s 灰色尘盒与绿色机身贴合，叠字latched、按钮0.1毫米、就位误差0.0毫米/0.000弧度，初始装配关系成立。视频 1.68 s 按钮行程增至2.4毫米，超过回弹阈值；视频 1.80 s 尘盒外倾且就位误差7.8毫米/0.133弧度，装配关系持续失去。" + }, + { + "t": 8.8, + "log_step": null, + "text_zh": "观察：视频 7.6–8.8 s 机器人右手将尘盒推向机身，误差缩小，但视频 8.8 s 仍为15.5毫米/0.138弧度、阶段bin removed；视频 10.4–11.6 s 左手从上方按压按钮，右手继续接触尘盒，未出现bin reseated。" + }, + { + "t": 12.68, + "log_step": null, + "text_zh": "观察：视频 11.8、12.0、12.2、12.4、12.6及12.68 s 尘盒停在手指接触下，叠字持续bin removed、按钮5.0毫米、就位误差12.7毫米/0.044弧度、hold 0/50，装配关系未恢复。成功参考录像末段可见bin reseated及随后released + held，本次没有相应变化。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "推/扫", + "note_zh": "观察：视频 7.6–8.8 s，机器人右手指部接触尘盒前部，将尘盒向绿色机身推回，左手在侧面配合；随后左手撤开再绕至上方。" + }, + { + "who": "双臂协作", + "how": "压/擦", + "note_zh": "观察：视频 10.4–11.6 s，机器人左手指腹从上方下压红色按钮及卡扣附近，右手指腹贴压尘盒前部和上缘配合对合；末帧双手仍在接触位置。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "seat_distance_m", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_angle_rad", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "button_travel_m_relatched", + "unit": "m", + "threshold": 0.0015, + "direction": "lower_better", + "value": null + }, + { + "name": "catch_behind_tooth_m", + "unit": "m", + "threshold": -0.0005, + "direction": "higher_better", + "value": null + }, + { + "name": "bin_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "bin_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.1, + "direction": "lower_better", + "value": null + }, + { + "name": "body_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "body_displacement_m", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "body_tilt_rad", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "bin_vacuum_penetration_m", + "unit": "m", + "threshold": 0.004, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "bin_reseated", + "t": 8.8, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 8.8 s 机器人已把拆下的尘盒推近机身，但尘盒仍外倾错位，叠字误差15.5毫米/0.138弧度。机器人随后继续回装和按压按钮，至视频 12.68 s 仍为bin removed、误差12.7毫米、按钮5.0毫米，始终未恢复装配关系。" + }, + "unmet": { + "bin_removed": true, + "bin_reseated": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 8.8, + "log_step": null, + "evidence_zh": "观察：视频 8.4–11.6 s 机器人右手持续把尘盒推向机身，左手撤开后再从上方配合按压；尘盒顶部仍未完全对合。视频 12.68 s 尘盒保持偏移，叠字就位误差12.7毫米（要求不超过3毫米），按钮仍下压5.0毫米，未进入bin reseated。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频 / 日志", + "evidence_zh": "推断：log step 115、233记录机器人脚本通过腕台目标插值和手指目标调整尘盒回装姿态，log step 322明确将candidate26序列录制为交付文件。对应视频 8.4–11.6 s 的推回和上方按压虽缩小误差，却未实现最终平移对准和按钮回弹；log step 331的agent自述也承认保存结果仍差12.7毫米。证据支持精细回装控制未完成，不能进一步区分接触布局、轨迹或反馈控制问题。" + } + ], + "gap_zh": "无状态日志；卡扣齿面和手指背侧接触部分遮挡，无法精确还原接触力及每根手指的接触对，控制根因仅标至大类。评分器reward未报告DAG列出的各项原生连续指标，native_metrics值均保留null；节点误差证据采用已查看的视频叠字。日志含多次恢复快照的会话测试，不将这些测试的节点状态作为本次交付轨迹的进度。" + }, + "summary_zh": "本次轨迹在视频约6.9 s拆下尘盒，完成取下事件；初始成立的装配关系在视频约1.7 s失去，之后未恢复，最终节点为1/2。机器人回装时持续推压调整，但视频12.68 s仍显示12.7毫米就位误差、按钮下压5.0毫米，断在装回尘盒，归为位姿不准及控制问题。无状态日志和接触力记录，不能细分控制根因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点时间（bin_removed 约6.88 s、bin_reseated 0–1.68 s）、断点和叠字读数与帧一致；位姿不准与控制根因有证据支持，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": "2026-10-30T05:45:52Z", + "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-vacuum-bin-reseat-i00-privileged--yc2nkdx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-vacuum-bin-reseat-i00-privileged--yc2nkdx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d2789472b262d28a8a43f31bef2eab9e0666c2dfea1ae512fbf5d29cbc9a07b1", + "video_sha256": "be8a4f4174578f423aaa2373b98e5331a44faaf1403d0e899e4a4be3d338d9d3", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-privileged--ygmfkrn.json b/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-privileged--ygmfkrn.json new file mode 100644 index 0000000000000000000000000000000000000000..ce585b621698e415c577bb8bd84c46e97d3ce08e --- /dev/null +++ b/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-privileged--ygmfkrn.json @@ -0,0 +1,280 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-vacuum-bin-reseat-i00-privileged--ygmfkrn", + "taskKey": "dexhand/vacuum_bin_reseat", + "dag_sha256": "15c4955d218cbde3435640ca56411c046502a6b10e591ca10f0fb095fc0f90df", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 3000, + "sim_steps": 3000, + "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": 0.895, + "peak_processes": 12, + "peak_disk_gb": 0.984, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-vacuum-bin-reseat-i00-privileged--ygmfkrn/replay.mp4", + "duration_s": 13.04, + "fps": 25.0, + "frames": 326, + "sha256": "747a61692a9a89a5d4884d158ccbeb46e711add3e6be6938f9a846583d2ad20e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "bin_removed": { + "method": "visual", + "intervals": [ + [ + 3.76, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.48, + "log_step": null, + "text_zh": "观察：视频 3.44–3.52 s，机器人右手食指压住顶部红色按钮，左手掌从下方托住尘盒；叠字按钮行程由4.9毫米增至5.9毫米，随后尘盒向外倾移。" + }, + { + "t": 3.76, + "log_step": null, + "text_zh": "观察：视频 3.72 s 尘盒已向外移但叠字仍为latched、位置误差27.4毫米；视频 3.76 s 灰色尘盒及黑色吸嘴进一步离开绿色机身，叠字变为bin removed、位置误差38.4毫米。该事件随后一直保留，视频 13.00 s 仍显示bin removed；评分器reward.stages_completed=1与此一致。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "托/舀", + "note_zh": "视频约 1.8–3.8 s，左手张开的手掌从尘盒及吸嘴下方承托并随腕台向外移动，右手配合操纵按钮；未见合手夹握。" + }, + { + "who": "双臂协作", + "how": "压/擦", + "note_zh": "视频约 3.2–3.8 s，右手食指指腹下压机身顶部红色释放按钮，同时左手掌托住尘盒。" + } + ] + }, + "bin_reseated": { + "method": "visual", + "intervals": [ + [ + 0, + 2.0 + ] + ], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.00 s 尘盒与绿色机身贴合，叠字latched、按钮0.1毫米、就位误差0.0毫米/0.000弧度；初始装配关系成立。视频 1.96 s 为0.8毫米/0.039弧度，视频 2.00 s 朝向误差增至0.053弧度，超过0.05弧度，随后尘盒持续外倾，初始关系在视频约 2.0 s 失去。" + }, + { + "t": 4.0, + "log_step": null, + "text_zh": "观察：视频 3.80–4.04 s，机器人左手将已拆离的尘盒托回机身前方，位置误差从39.8毫米减至约12.6毫米后停滞，尘盒仍外倾且未贴合锁住；视频 4.8–11.6 s 的连续抽帧均显示该错位关系未恢复。" + }, + { + "t": 13.0, + "log_step": 166, + "text_zh": "观察：视频 12.0–13.00 s 末段保持同一姿态，两手仍在尘盒下方和按钮处；末帧叠字为FAIL: episode_budget、bin removed、按钮5.9毫米、就位误差17.9毫米/0.113弧度、hold 0/50。log step 161保存最终3000行动文件，log step 166对该交付文件两次重放均结束于episode_budget、stage 1且哈希一致；没有装回后的离手静置终验。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "托/舀", + "note_zh": "视频 3.8–12.0 s，左手张掌承托尘盒及吸嘴下部，随腕台向机身方向回送并调整，右手配合操作按钮；没有可见的包握。" + }, + { + "who": "双臂协作", + "how": "压/擦", + "note_zh": "视频 3.8–12.0 s，右手食指持续在红色释放按钮处按压，左手同时托送尘盒；结束时两手均未撤开。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "seat_distance_m", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_angle_rad", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "button_travel_m_relatched", + "unit": "m", + "threshold": 0.0015, + "direction": "lower_better", + "value": null + }, + { + "name": "catch_behind_tooth_m", + "unit": "m", + "threshold": -0.0005, + "direction": "higher_better", + "value": null + }, + { + "name": "bin_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "bin_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.1, + "direction": "lower_better", + "value": null + }, + { + "name": "body_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "body_displacement_m", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "body_tilt_rad", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "bin_vacuum_penetration_m", + "unit": "m", + "threshold": 0.004, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "bin_reseated", + "t": 4.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 3.76 s 已完成拆离，视频 3.80–4.04 s 机器人左手托送尘盒回到机身前方，但尘盒停在外倾、未卡合的位置，叠字位置误差降至约12.6毫米后不再接近就位；视频 13.00 s 仍为bin removed、17.9毫米/0.113弧度，回装失败一直未修复。" + }, + "unmet": { + "bin_removed": true, + "bin_reseated": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "接触力异常", + "t": 4.0, + "log_step": null, + "evidence_zh": "观察：视频 3.88–4.4 s，机器人左手掌托推尘盒向绿色机身回装，右手仍压按钮，尘盒贴近机身却停在外倾错位状态，叠字位置误差约12.6–12.8毫米；视频 4.8–13.00 s 持续接触操作仍未使尘盒卡合，末帧误差17.9毫米，按钮仍下压5.9毫米。推断：回装接触未产生所需的卡接运动；具体受阻零件不能由总览确定。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：回装接触运动控制未能使尘盒重新对合。log step 153、157中的回装脚本以托掌前移、升降及seat_angle_rad反馈调整尘盒，log step 161恢复该配置并保存最终文件，log step 166两次重放均只到stage 1；与视频 4.0–13.00 s 尘盒持续错位、未卡合的结果相符。现有证据不足以进一步区分承托接触设计、运动路径和反馈调整中的主要责任。", + "source_zh": "日志" + } + ], + "gap_zh": "没有状态日志或本次回装处的卡扣特写，无法确定阻挡发生在哪一对零件，也无法定量判断接触力或进一步细分控制根因。agent 自述卡桥高出约0.7毫米并被固定唇缘挡住（log step 167）尚不能由本次总览验证；不据此标具体碰撞对。评分器reward未报告DAG列出的十项原生连续指标，native_metrics均填null；视频叠字的就位误差仅用作节点和失败证据。会话测试中的误差读数不代替最终交付录像。" + }, + "summary_zh": "机器人在视频约 3.76 s 按按钮并托移尘盒，完成取下；装回关系初始成立，在视频约 2.0 s 失去，最终仅取下节点为真（1/2）。视频约 4.0 s 回装时尘盒托推不到位，此后一直未卡合，末帧就位误差17.9毫米/0.113弧度、按钮仍下压且两手未撤开，根因保守归为控制。无状态日志与卡扣特写，不能确认具体阻挡几何或控制子类。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点取值与时间（bin_removed 视频 3.76 s、bin_reseated 区间 0–2.0 s，final 1/2）、断点、接触标注和单一根因均与叠字及帧一致；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": "2026-10-30T05:42:46Z", + "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-vacuum-bin-reseat-i00-privileged--ygmfkrn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-vacuum-bin-reseat-i00-privileged--ygmfkrn/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a2a944a81ba4be07424e1f317402b70c942f5a3d298baedab740a1317c32c036", + "video_sha256": "747a61692a9a89a5d4884d158ccbeb46e711add3e6be6938f9a846583d2ad20e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-standard--a79d3i8.json b/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-standard--a79d3i8.json new file mode 100644 index 0000000000000000000000000000000000000000..6d7263bd5f1d658e7c22863b12723b1677c028f7 --- /dev/null +++ b/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-standard--a79d3i8.json @@ -0,0 +1,309 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-vacuum-bin-reseat-i00-standard--a79d3i8", + "taskKey": "dexhand/vacuum_bin_reseat", + "dag_sha256": "15c4955d218cbde3435640ca56411c046502a6b10e591ca10f0fb095fc0f90df", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 649, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 1461, + "no_verdict": 0, + "replay_success": 0, + "reset_budget": 20, + "resets": 9, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 1461, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.369, + "peak_processes": 10, + "peak_disk_gb": 0.246, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dexhand-vacuum-bin-reseat-i00-standard--a79d3i8/replay.mp4", + "duration_s": 30.3, + "fps": 10.0, + "frames": 303, + "sha256": "653aa98af609bbf9ce704225b2bf990c31bd9af81b00d299b2ba79cb474b2f73" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "bin_removed": { + "method": "visual", + "intervals": [ + [ + 12.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 11.4, + "log_step": 79, + "text_zh": "观察：本次视频 11.4 s，机器人右手已包握黑色吸嘴，左手指尖正下压顶部红色按钮，尘盒仍与机身贴合；叠字显示位置误差0.3 mm、按钮行程5.0 mm。" + }, + { + "t": 12.0, + "log_step": 79, + "text_zh": "观察：本次视频 11.8 s 尘盒随右手向外移动，叠字位置误差23.8 mm；视频 12.0 s 尘盒与绿色机身明显分离，叠字变为bin removed、位置误差33.3 mm，视频 13.0 s 达75.4 mm。取下事件随后保留至视频 30.2 s。log step 79 的输出确认脚本已重置到第10回合；此前回合不计入。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频约 6.0–13.4 s，右手从下方合指包握尘盒的黑色吸嘴，拇指与其余手指形成对向夹持，带动尘盒外移；左手同时操作按钮。" + }, + { + "who": "双臂协作", + "how": "压/擦", + "note_zh": "观察：视频约 9.9–13.4 s，左手向下的指尖按住机身顶部红色释放按钮，配合右手握吸嘴拆离尘盒。" + } + ] + }, + "bin_reseated": { + "method": "visual", + "intervals": [ + [ + 0, + 10.0 + ] + ], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：本次视频 0.0 s 尘盒与机身完整贴合，顶部按钮回弹；叠字stage: latched、button 0.1 mm、seat error 0.0 mm / 0.000 rad。此state按条件计入初态。" + }, + { + "t": 10.0, + "log_step": null, + "text_zh": "观察：本次视频 9.9 s，按钮行程仍为0.5 mm、位置误差1.0 mm / 0.024 rad；视频 10.0 s 左手下压后按钮行程达2.3 mm，超过1.5 mm回弹要求，装回关系自此失去；区间端点取约视频 10.0 s。" + }, + { + "t": 14.8, + "log_step": 79, + "text_zh": "观察：本次视频 13.8–14.8 s，右手把尘盒推回机身，但尘盒未完全贴合；视频 14.8 s 叠字仍为bin removed，位置误差24.6 mm、按钮5.9 mm。视频 15.0–25.4 s 继续推移、转腕和重新按按钮，尘盒持续偏离，未见装回阶段。" + }, + { + "t": 26.9, + "log_step": 89, + "text_zh": "观察：本次视频 25.7–26.9 s，左手抬离按钮、右手逐渐张开，尘盒前端向下偏移，视频 26.9 s 就位误差23.8 mm / 0.073 rad。视频 29.3–30.2 s 终帧保持bin removed，button 0.1 mm、seat error 23.1 mm / 0.060 rad、hold 0/50；按钮已回弹，尘盒仍未就位。" + }, + { + "t": 30.2, + "log_step": 91, + "text_zh": "推断：成功参考视频约 10–12 s 可见尘盒恢复贴合并最终出现PASS及hold 50/50；本次视频同一视角的末态仍明显偏置且叠字误差超限，故装回为false，而非因缺少状态日志而判未知。run.json评分器字段success=0、live_matches_replay=1与此相符；log step 91 的agent最终报告也承认第10回合未成功。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频约 13.8–25.7 s，右手继续合指握住黑色吸嘴，推移并转动尘盒尝试对合；左手同时按按钮。视频约 26.0–26.9 s 右手张开，随后下撤。" + }, + { + "who": "双臂协作", + "how": "压/擦", + "note_zh": "观察：视频约 13.8–25.7 s，左手指尖保持或重新下压顶部红色按钮，右手握持吸嘴尝试装回；视频约 25.7–27.8 s 左手撤离。未见左手包握或稳住绿色机身。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "seat_distance_m", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_angle_rad", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "button_travel_m_relatched", + "unit": "m", + "threshold": 0.0015, + "direction": "lower_better", + "value": null + }, + { + "name": "catch_behind_tooth_m", + "unit": "m", + "threshold": -0.0005, + "direction": "higher_better", + "value": null + }, + { + "name": "bin_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "bin_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.1, + "direction": "lower_better", + "value": null + }, + { + "name": "body_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "body_displacement_m", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "body_tilt_rad", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "bin_vacuum_penetration_m", + "unit": "m", + "threshold": 0.004, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "bin_reseated", + "t": 14.8, + "log_step": 79, + "where": "操作中", + "evidence_zh": "观察：本次视频 13.8–14.8 s，机器人开始把已拆下的尘盒推回机身，尘盒在入口附近停住，视频 14.8 s 就位误差仍24.6 mm；此后不断修正至视频 25.4 s，始终未恢复装回关系。视频 26.9 s 张手后尘盒进一步下偏，视频 30.2 s 仍为bin removed、23.1 mm / 0.060 rad。log step 79 起为最后第10回合，log step 89 最终服务状态control_steps=1461、done=False；评分器success=0，未把早先试验的动作作为本回合进度。" + }, + "unmet": { + "bin_removed": true, + "bin_reseated": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "接触力异常", + "t": 14.8, + "log_step": 79, + "evidence_zh": "观察：本次视频 14.6–17.8 s，机器人右手持续向机身方向推压尘盒并上下调整，尘盒与机身之间的对合缺口未闭合，叠字位置误差约23–27 mm；视频 18.9–25.4 s 继续修正后仍约13–15 mm，阶段一直为bin removed。视频 25.7–26.9 s 松按钮、张手后也未锁住。推断：这是装配接触未能使尘盒卡入的表现，未把未测得的力大小当成事实。" + }, + { + "cat": "接触", + "item": "带动本体", + "t": 15.8, + "log_step": 80, + "evidence_zh": "观察：本次视频 14.6–17.8 s，机器人右手通过吸嘴向里推尘盒时，绿色机身相对桌面也发生平移和转向，左手只压按钮；尘盒仍未对合。log step 80 的脚本连续向内移右腕，同时其自算ICP估计机身位移增加、尘盒相对机身误差未明显消除；这些数值是agent估计，不作为状态真值。推断：推尘盒同时带动了本应稳住的机身，妨碍相对装配。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "source_zh": "视频 / 日志 / agent 自述", + "evidence_zh": "推断：本次视频 13.8–25.4 s 的接触布局是右手仅包握细长吸嘴，左手指尖按按钮，没有手包握稳住机身；推入和转腕时机身跟随移动而尘盒仍留缝，说明该承载与反力布局未能稳定尘盒相对机身的对合。log step 78 的脚本及log step 80、83、85–88 的修正沿用此握法；agent在log step 91自述吸嘴握持会滑动、尘盒会滚转且推压会移动机身，与录像中的机身被带动一致。具体滑移量及可行替代握法在本回合均未验证。" + } + ], + "gap_zh": "无状态日志，本次录像仅提供总览，卡齿接触面及手指局部接触部分被遮挡，不能确定具体哪个卡耳受阻，也不能精确分离握持滑移、摩擦与腕部跟踪误差。节点时间依据已检查的视频及其评分叠字，约有0.2 s不确定性；log step 79、80、86–89 的ICP结果是agent自算估计，个别近就位估计不能替代录像叠字，原生指标因run.json评分器字段未报告而全部填null。" + }, + "summary_zh": "观察：评分对应最后第10回合；尘盒初始已装好，视频约 10.0 s 按下按钮后失去装回关系，视频约 12.0 s 完成拆离，随后尝试装回始终未卡接，最终节点为1/2。推断：断在装回尘盒，握持吸嘴、另一手仅压按钮的接触布局未稳住机身，推入时机身被带动而尘盒仍留缝；视频 30.2 s 叠字仍为bin removed、23.1 mm / 0.060 rad、hold 0/50。无状态日志或本次近景，无法确认具体卡耳阻挡及滑移细节。", + "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（视频 12.0 s 拆下、约 10.0 s 失去装回）、终态 1/2、断点 bin_reseated 与叠字（30.2 s bin removed, 23.1 mm/0.060 rad）一致；机身在 14–26 s 逐渐平移转向，带动本体有帧支持。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": "2026-10-30T05:42:09Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-vacuum-bin-reseat-i00-standard--a79d3i8/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-vacuum-bin-reseat-i00-standard--a79d3i8/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d6fd77f962f1bf5266b59bd7e3039cf088b27e39f78c6833520ee2e5b95ec926", + "video_sha256": "653aa98af609bbf9ce704225b2bf990c31bd9af81b00d299b2ba79cb474b2f73", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-standard--ajpewtq.json b/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-standard--ajpewtq.json new file mode 100644 index 0000000000000000000000000000000000000000..c5c6be3bf520f5dfa2dda7659635eb48dea4edfa --- /dev/null +++ b/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-standard--ajpewtq.json @@ -0,0 +1,287 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-vacuum-bin-reseat-i00-standard--ajpewtq", + "taskKey": "dexhand/vacuum_bin_reseat", + "dag_sha256": "15c4955d218cbde3435640ca56411c046502a6b10e591ca10f0fb095fc0f90df", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 37, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 360, + "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": 360, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.611, + "peak_processes": 10, + "peak_disk_gb": 0.224, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-vacuum-bin-reseat-i00-standard--ajpewtq/replay.mp4", + "duration_s": 8.3, + "fps": 10.0, + "frames": 83, + "sha256": "702f0fc705c07872a0f669e51a62560785fa575ed9210f3bcb25996222780ad3" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 1, + "peak": 1, + "final": 0, + "nodes": { + "bin_removed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.6, + "log_step": 105, + "text_zh": "观察：视频 0.0–8.2 s 中，右手反复降到尘盒上方并合指，左手在红色释放按钮上按压；视频 3.4–3.8 s 尘盒仅短暂外倾，视频 3.6 s 叠字就位误差为14.7毫米、0.251弧度，随后又贴回机身。逐帧检查的阶段叠字始终为 latched，没有 bin removed，尘盒未完成超过30毫米的拆离。" + }, + { + "t": 7.2, + "log_step": 119, + "text_zh": "观察：视频 7.2–8.2 s 两手仍停在尘盒和按钮附近，物体没有后续拆离；视频 7.2 s 的 control 360 与 log step 119 服务返回的本回合 control_steps=360 一致。log step 95 因导入测试脚本而重置并运行到 episode 4、control_steps=120，log step 105 明确继续该回合，先前回合的拆卸测试不计入本视频。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "压/擦", + "note_zh": "观察：视频 1.0–2.4 s、3.2–4.7 s，左手指腹按压顶部红色释放按钮，右手手指同时压推尘盒外壁和上缘；右手曾先以较平的手指压过按钮附近，再反复抬起和下压。" + }, + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 6.8–7.2 s，右手四指弯曲贴住尘盒近侧、拇指从另一侧内收形成包夹，左手同时留在释放按钮处配合；包夹未带来尘盒拆离，不能据此认定已拿出。" + } + ] + }, + "bin_reseated": { + "method": "visual", + "intervals": [ + [ + 0, + 0.5 + ], + [ + 2.6, + 3.2 + ], + [ + 5.7, + 6.9 + ] + ], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0–0.4 s 尘盒与机身贴合，叠字 latched、按钮行程0.1毫米、就位误差0.0毫米及0.000弧度，初始装配关系成立。视频 0.5 s 右手压到上缘后按钮行程升至5.1毫米，超过装回关系允许的1.5毫米；视频 0.5–2.5 s 按钮行程或朝向误差持续不合格。" + }, + { + "t": 2.6, + "log_step": null, + "text_zh": "观察：视频 2.6–3.1 s 尘盒重新贴合，按钮行程恢复至0.1毫米，就位朝向误差不超过0.016弧度；视频 3.2 s 左手重新下压使按钮行程达到2.7毫米，此后视频 3.3–5.6 s 按钮持续压下或尘盒偏转，装配关系再次失去。" + }, + { + "t": 5.7, + "log_step": null, + "text_zh": "观察：视频 5.7–6.8 s 按钮行程约0.5–1.5毫米、就位位置误差约0.4–1.0毫米、朝向误差约0.012–0.025弧度，尘盒贴合机身，装配关系恢复。视频 6.9 s 合指扰动后就位误差3.4毫米、0.092弧度；视频 7.2–8.2 s 最终为2.6毫米、0.060弧度，朝向误差仍超过0.05弧度，故终值为假；区间边界按相邻视频帧定位，约有0.1秒误差。" + }, + { + "t": 8.2, + "log_step": null, + "text_zh": "推断：以上恢复是拆卸尝试中的贴回和回弹，不是拆下后的重装；本回合未开始独立的装回操作，因此此节点不另记操作接触。state 节点依装配关系判定，初始及中途恢复不受 bin_removed 前置门控；两手仍接触、hold 0/50，整体松手静置终验也未通过。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "seat_distance_m", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_angle_rad", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "button_travel_m_relatched", + "unit": "m", + "threshold": 0.0015, + "direction": "lower_better", + "value": null + }, + { + "name": "catch_behind_tooth_m", + "unit": "m", + "threshold": -0.0005, + "direction": "higher_better", + "value": null + }, + { + "name": "bin_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "bin_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.1, + "direction": "lower_better", + "value": null + }, + { + "name": "body_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "body_displacement_m", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "body_tilt_rad", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "bin_vacuum_penetration_m", + "unit": "m", + "threshold": 0.004, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "bin_removed", + "t": 3.4, + "log_step": 105, + "where": "操作中", + "evidence_zh": "观察：视频 3.3–3.8 s 左手按按钮、右手下压并合指时，尘盒顶部被带向外倾，最大可读就位偏移仅14.7毫米，随后回到机身旁；至视频 8.2 s 仍为 latched，未拆离。log step 105 是 episode 4 的抓取和按钮按压动作，log step 118–119 再次调整右手并尝试合指，仍未修复取下尘盒这一步。" + }, + "unmet": { + "bin_removed": false, + "bin_reseated": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "接触力异常", + "t": 3.4, + "log_step": 105, + "evidence_zh": "观察：视频 3.4–4.7 s，机器人右手在尘盒上方持续压合，尘盒外倾后又贴回，始终没有拆开；视频 4.6 s 按钮虽被左手压到5.9毫米，尘盒朝向仍偏离约0.098弧度。视频 5.7–7.2 s 左手指尖仍留在按钮处，但行程回到约0.5–1.5毫米，最后为1.3毫米，未持续保持拆卸所需的至少5.8毫米解锁行程。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：双手抓取与按压的执行未能同时建立并维持拆卸所需状态。log step 105 中右腕z目标0.0100米、实测0.0315米，拇指CMC_FE目标1.5500弧度、实测0.6805弧度且执行器力矩为3.3000；log step 118 抬到空中预成形时该拇指实测1.5263弧度、力矩0.1298，说明此前贴物动作存在明显执行偏差。log step 119 左腕仍以z=0.0210米按压、实测0.0283米，与视频 7.2 s 按钮仅1.3毫米、尘盒仍未拆离相符；证据支持接触操作的控制问题，但不足以细分接触设计、轨迹或反馈控制。" + } + ], + "gap_zh": "本次没有状态日志，录像仅提供总览；卡扣背面的接触、卡耳受力及毫米级有符号间隙不能直接核实，装配区间据可见贴合及录像叠字的按钮、位置、朝向值判断。无法确定抓取受阻的具体接触对，根因保留在控制大类；原生指标的数值在 reward 中均未报告，故 native_metrics 均为 null，未用 agent 自算深度值代填。" + }, + "summary_zh": "受评的是 log step 95 重置后的 episode 4：双手反复按压按钮并尝试抓住尘盒，只造成短暂外倾，取下尘盒始终未完成。装回关系初始成立、期间两次恢复，最终朝向误差0.060弧度使其失去，终态为0/2；断点为取下尘盒，证据支持接触操作的控制问题。没有状态日志，隐蔽卡扣接触及更细的控制根因无法确认。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频帧（叠字 latched、control 360 时按钮1.3毫米、就位误差2.6毫米/0.060弧度）与标注一致：bin_removed 未达成，bin_reseated 终值为假，断点与现象/根因有证据支持。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:42:27Z", + "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-vacuum-bin-reseat-i00-standard--ajpewtq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-vacuum-bin-reseat-i00-standard--ajpewtq/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1c197fad07922d2c246545bf594e0be2a8fbf0d1722b5142b0da22dcaae081fe", + "video_sha256": "702f0fc705c07872a0f669e51a62560785fa575ed9210f3bcb25996222780ad3", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-standard--hevh65n.json b/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-standard--hevh65n.json new file mode 100644 index 0000000000000000000000000000000000000000..3b38eb56d3f3850f9362c6de5865265934c2ccf0 --- /dev/null +++ b/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-standard--hevh65n.json @@ -0,0 +1,278 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-vacuum-bin-reseat-i00-standard--hevh65n", + "taskKey": "dexhand/vacuum_bin_reseat", + "dag_sha256": "15c4955d218cbde3435640ca56411c046502a6b10e591ca10f0fb095fc0f90df", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 925, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 365, + "no_verdict": 0, + "replay_success": 0, + "reset_budget": 20, + "resets": 11, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 365, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.372, + "peak_processes": 12, + "peak_disk_gb": 0.283, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-vacuum-bin-reseat-i00-standard--hevh65n/replay.mp4", + "duration_s": 8.4, + "fps": 10.0, + "frames": 84, + "sha256": "ed657d652b5f9d9886022d0821a8f9db613ede18b88ed5ff38ab13b725a8c1f5" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 1, + "peak": 1, + "final": 0, + "nodes": { + "bin_removed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.6, + "log_step": null, + "text_zh": "观察：视频 2.4 s 尘盒仍贴合绿色机身；视频 2.5–2.7 s 右手由下压转为屈指，尘盒顶部外倾，叠字就位位置误差依次为7.1、22.5、15.2毫米，均未超过30毫米，阶段仍为latched。" + }, + { + "t": 7.3, + "log_step": 103, + "text_zh": "观察：视频 0–8.3 s 的阶段叠字始终为latched，未出现bin removed；视频 7.3 s 显示FAIL: vacuum_body_disturbed、control 365，尘盒仍连在机身前方。log step 103 的服务状态为episode 12、control_steps=365、done=true、reason=task_failure，与末帧一致；此前重置回合不计入本次进度。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "压/擦", + "note_zh": "观察：视频 1.0–2.5 s，左灵巧手指腹抵压机身上部，右灵巧手伸直手指下压红色释放按钮；视频 2.6–4.8 s，右手屈指抵压机身顶部及尘盒与机身交界处，左手仍抵住机身。视频 6.9–7.3 s 右手再次下压机身顶部；未见手掌包握尘盒前部或形成夹持尘盒的对向接触。" + } + ] + }, + "bin_reseated": { + "method": "visual", + "intervals": [ + [ + 0, + 2.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0–2.4 s 尘盒与机身贴合，叠字阶段为latched、位置误差0.0毫米，朝向误差0.000–0.001弧度、按钮行程0.1–1.1毫米；按DAG的state规则，初始装配关系计入，不以取下历史门控。" + }, + { + "t": 2.5, + "log_step": null, + "text_zh": "观察：视频 2.5 s 尘盒开始外倾，叠字位置误差7.1毫米、朝向误差0.120弧度、按钮行程4.9毫米，装配关系丢失；视频 2.6–7.2 s 逐帧叠字位置误差约15–23毫米，未恢复就位，右手后续屈指推压也未使尘盒贴合。" + }, + { + "t": 8.3, + "log_step": null, + "text_zh": "观察：视频 7.3–8.3 s 终止画面的就位位置误差虽降至2.8毫米，但朝向误差0.054弧度大于0.05弧度，按钮行程5.4毫米大于1.5毫米，右手仍抵住机身，hold为0/50；因此最终装配关系不成立，未将接近就位误记为恢复。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "压/擦", + "note_zh": "观察：视频 3.8–4.8 s，右灵巧手继续屈指并抵压机身与尘盒接合处，左手同时抵住机身上部；结合log step 99 中先屈指拖动、再反向推回的脚本，这是未成功拆离后的装回尝试，未见抓握尘盒并搬回。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "seat_distance_m", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_angle_rad", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "button_travel_m_relatched", + "unit": "m", + "threshold": 0.0015, + "direction": "lower_better", + "value": null + }, + { + "name": "catch_behind_tooth_m", + "unit": "m", + "threshold": -0.0005, + "direction": "higher_better", + "value": null + }, + { + "name": "bin_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "bin_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.1, + "direction": "lower_better", + "value": null + }, + { + "name": "body_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "body_displacement_m", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "body_tilt_rad", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "bin_vacuum_penetration_m", + "unit": "m", + "threshold": 0.004, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "bin_removed", + "t": 2.6, + "log_step": 99, + "where": "操作中", + "evidence_zh": "观察：视频 2.5–2.7 s 右手按压后屈指，尘盒只外倾而未拆离；视频 2.7–7.2 s 右手反复在绿色机身及接合处动作，取下步骤始终未完成。视频 7.3 s 右手下压时机身明显倾转，叠字FAIL: vacuum_body_disturbed结束回合。推断：首次未修复的失败步骤是取下尘盒，后续推回和再次接近均未完成该步骤，断点锚定首次失败的拆离动作。" + }, + "unmet": { + "bin_removed": false, + "bin_reseated": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "带动本体", + "t": 7.3, + "log_step": 103, + "evidence_zh": "观察：视频 6.9–7.2 s 右手手指抵在绿色机身顶部并向下动作；视频 7.3 s 机身随接触明显倾转，尘盒与机身一起改变姿态，画面显示FAIL: vacuum_body_disturbed。log step 103 服务状态control_steps=365、done=true、reason=task_failure与画面相符；被带动的是应保持稳定的吸尘器机身。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 2.7, + "log_step": 99, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：控制脚本的腕部目标换算和接触执行未把右手指送到预定尘盒边缘，屈指与下压作用在机身附近，导致拆离失败并最终带动机身；不细分控制子类。依据：log step 99 脚本将右手中指末节目标设为[0.512,-0.020,0.780]米，log step 100 输出的实测关节经FK换算位置却为x=0.610–0.616米；log step 101 再次修正目标x=0.512米，log step 103 输出修正后x=0.660米，接着下压即返回task_failure。视频 2.7–4.8 s 与6.9–7.3 s 右手确实停留在绿色机身上方及侧面，未握住尘盒前部，最后使机身倾转。" + } + ], + "gap_zh": "无状态日志或逐链接接触记录，单一总览无法核实每根手指的接触点与法向力；机身实际位移和倾角数值也未报告，依据视频失败叠字及可见倾转判断带动本体。log step 100 的按钮5.8毫米是agent脚本基于红色像素深度的估算，不能替代本次视频叠字，未据此认定在位解锁已完成；控制根因保留粗类，腕部换算与接触跟踪误差各自的贡献无法进一步确定。" + }, + "summary_zh": "本次评分是最后一次实时回合：尘盒从未进入bin removed阶段；初始装配关系计1/2，视频约2.5 s 外倾后丢失，最终0/2。首次未修复的失败发生在取下尘盒，右手目标与实际末节位置不符，持续抵压机身附近，视频7.3 s 带动机身倾转并触发vacuum_body_disturbed。无状态日志，细分接触与力无法核实；节点结论依据视频外观和阶段、误差叠字，未用agent自估按钮行程替代评分读数。", + "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、时间、断点（取下尘盒，操作中）、带动本体现象与控制根因均与视频叠字和服务状态一致，未发现需修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:41:45Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-vacuum-bin-reseat-i00-standard--hevh65n/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-vacuum-bin-reseat-i00-standard--hevh65n/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "addfc2725333efb75cf4c1abeb9d66ba5312e900542d536c3f250db8e1e4ea36", + "video_sha256": "ed657d652b5f9d9886022d0821a8f9db613ede18b88ed5ff38ab13b725a8c1f5", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-standard--pie7vvx.json b/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-standard--pie7vvx.json new file mode 100644 index 0000000000000000000000000000000000000000..4ff11c66eb466fe2c358bb82b6108ca401ae0193 --- /dev/null +++ b/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-standard--pie7vvx.json @@ -0,0 +1,270 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-vacuum-bin-reseat-i00-standard--pie7vvx", + "taskKey": "dexhand/vacuum_bin_reseat", + "dag_sha256": "15c4955d218cbde3435640ca56411c046502a6b10e591ca10f0fb095fc0f90df", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 362, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 1451, + "no_verdict": 0, + "replay_success": 0, + "reset_budget": 20, + "resets": 2, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 1451, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.597, + "peak_processes": 9, + "peak_disk_gb": 0.871, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-vacuum-bin-reseat-i00-standard--pie7vvx/replay.mp4", + "duration_s": 30.1, + "fps": 10.0, + "frames": 301, + "sha256": "ce41448a353ff6d830c21672483da79d9356f87fe2eb1b0bdbfd36f8b37e6c67" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 1, + "peak": 1, + "final": 0, + "nodes": { + "bin_removed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.1, + "log_step": 241, + "text_zh": "观察：视频 7.0 s 叠字显示按钮下压5.9毫米、就位位置误差0.7毫米；视频 7.1 s 尘盒开始外倾，误差15.3毫米、角度0.264弧度，但仍连在机身前方，stage仍为latched。机器人随后反复用右手接近尘盒上缘及黑色吸嘴，未见尘盒被握住带离机身。" + }, + { + "t": 29.1, + "log_step": 365, + "text_zh": "观察：已检查全片粗采样、视频 6.0–7.4 s 的逐帧叠字、视频 9–29 s 的加密动作帧及视频 28.0–30.0 s 的逐帧末段；stage始终为latched，视频 29.1–30.0 s 显示位置误差19.9毫米、角度0.312弧度、hold 0/50，尘盒仍外倾贴在机身前方，未达到拆下。log step 365 服务记录最后回合episode=3、control_steps=1451、done=False；评分器live_matches_replay=1、success=0。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "压/擦", + "note_zh": "视频约5.4 s起左手食指接触并下压红色释放按钮，随后持续贴压按钮附近及机身顶部；右手同时在尘盒处操作。" + }, + { + "who": "双臂协作", + "how": "推/扫", + "note_zh": "视频约7.1 s起右手手指在尘盒外壁、顶部边缘及黑色吸嘴处推拨、滑擦并反复卷指尝试牵出；左手留在按钮和机身顶部。未见右手形成包围或对向夹紧的有效抓握，故不标抓握。" + } + ] + }, + "bin_reseated": { + "method": "visual", + "intervals": [ + [ + 0, + 6.4 + ] + ], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": 232, + "text_zh": "观察：视频 0.0 s 尘盒与绿色机身贴合，红色按钮回弹；叠字button 0.1 mm、seat error 0.0 mm / 0.000 rad。装回关系从初态成立；log step 232 是最后一次reset，开启被评分的episode=3。" + }, + { + "t": 6.4, + "log_step": 241, + "text_zh": "观察：视频 6.3 s 按钮行程1.2毫米，视频 6.4 s 为1.7毫米，已超过装回关系的1.5毫米上限，故此处结束初始成立区间（时间精度约0.1秒）。视频 7.1 s 后尘盒明显外倾，位置及角度误差持续超标；视频 29.1–30.0 s 仍为19.9毫米和0.312弧度，未恢复装回关系。机器人始终尝试拆卸，未开始拆下后的装回操作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "seat_distance_m", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_angle_rad", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "button_travel_m_relatched", + "unit": "m", + "threshold": 0.0015, + "direction": "lower_better", + "value": null + }, + { + "name": "catch_behind_tooth_m", + "unit": "m", + "threshold": -0.0005, + "direction": "higher_better", + "value": null + }, + { + "name": "bin_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "bin_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.1, + "direction": "lower_better", + "value": null + }, + { + "name": "body_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "body_displacement_m", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "body_tilt_rad", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "bin_vacuum_penetration_m", + "unit": "m", + "threshold": 0.004, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "bin_removed", + "t": 7.4, + "log_step": 241, + "where": "操作中", + "evidence_zh": "观察：视频约7.1–8.4 s 机器人左手按按钮、右手下降贴到尘盒并移开，尘盒只外倾约15–17毫米，仍未拆离；此后右手换到侧壁、吸嘴及顶部反复尝试，视频 29.1–30.0 s 仍为latched。log step 232之后没有再次reset，log step 366 agent最终自述未完成；该拆下步骤直到末尾未修复。" + }, + "unmet": { + "bin_removed": false, + "bin_reseated": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 9.5, + "log_step": 252, + "evidence_zh": "观察：视频约9–15 s 右手卷曲手指在尘盒外侧移动，拇指与其余手指没有形成夹住尘盒的对向接触；右手向外移时尘盒未随手离开，仍以约15毫米位置误差挂在机身前。视频约15–19 s 换至吸嘴、视频约20–27 s 从顶部再试以及视频 28.0–29.1 s 最后牵拉也未建立能带走尘盒的抓握；这里指所需抓握未建立，并非双手从未触碰物体。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "evidence_zh": "推断：视频约9–15 s 的卷指集中在尘盒同侧表面，视频约20–27 s 的竖直卷指也未把顶部结构夹在拇指与其余手指之间；手腕撤移而尘盒留在机身，说明当前接触布局未形成有效牵引。log step 250、255、331、344 的脚本反复加大卷指、移动手腕以抓取或勾住，但未先建立被视频确认的夹持；log step 252 agent自述尚无firm grip，log step 298、323又自述接触未带动尘盒、只擦到吸嘴。归因为接触几何不适配，未把预算耗尽当原因。", + "source_zh": "视频 / 日志 / agent 自述" + } + ], + "gap_zh": "无状态日志，视频只有总览，局部指腹接触及卡扣受力有遮挡，不能确定是否存在瞬时勾接、具体接触力或某个控制参数错误；有效抓握未建立及接触布局不适配由前后动作和物体未随动推断。评分器未报告DAG中的十项原生度量，native_metrics均置null；节点依据视频叠字判断，不以成功分数反推。" + }, + "summary_zh": "评分回合为log step 232最后一次reset后的episode=3，初始装回关系成立，到视频约6.4 s因按钮下压失去，之后尘盒持续外倾；取下事件始终未达，最终节点为0/2。断点在取下尘盒：双手有实际压推接触，但右手反复卷指、牵拉未形成能带走尘盒的有效抓握，末段仍显示latched和19.9毫米位置误差。无状态日志且指腹局部受遮挡，接触设计归因是结合动作与未随动结果的推断。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频叠字与标注一致：初始装回成立至约6.4 s（按钮1.7 mm超限），取下始终未达，末段latched、误差19.9 mm，断点与现象合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:46:00Z", + "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-vacuum-bin-reseat-i00-standard--pie7vvx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-vacuum-bin-reseat-i00-standard--pie7vvx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d4afd832e6121c3760ba2002935b6ed197186416e9ed42f2bc9c107deab918b9", + "video_sha256": "ce41448a353ff6d830c21672483da79d9356f87fe2eb1b0bdbfd36f8b37e6c67", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-standard--xvynbxt.json b/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-standard--xvynbxt.json new file mode 100644 index 0000000000000000000000000000000000000000..036ffb9078afb231f807861abe8727754a7fff11 --- /dev/null +++ b/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-standard--xvynbxt.json @@ -0,0 +1,317 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-vacuum-bin-reseat-i00-standard--xvynbxt", + "taskKey": "dexhand/vacuum_bin_reseat", + "dag_sha256": "15c4955d218cbde3435640ca56411c046502a6b10e591ca10f0fb095fc0f90df", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 261, + "control_steps_total": 10042, + "elapsed_s": 3684.794, + "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": 1652, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 5, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 1652, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.671, + "peak_processes": 9, + "peak_disk_gb": 0.91, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-vacuum-bin-reseat-i00-standard--xvynbxt/replay.mp4", + "duration_s": 28.6, + "fps": 10.0, + "frames": 286, + "sha256": "2015889f24825b43a53230534894a3733b89e9e84cf9f41bdb0217ff61dc9130" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "bin_removed": { + "method": "visual", + "intervals": [ + [ + 13.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.9, + "log_step": null, + "text_zh": "观察：视频 7.9 s，左手指腹压住顶部红色释放按钮，叠字显示按钮行程5.9 mm、就位位置误差3.0 mm；尘盒仍贴在机身前方，满足在位按压的可见读数。" + }, + { + "t": 13.7, + "log_step": 136, + "text_zh": "观察：视频 13.6 s 尘盒相对就位位置误差29.8 mm；视频 13.7 s 右手握着黑色吸嘴将灰色尘盒向外带离绿色机身，叠字首次变为bin removed，位置误差约37 mm。视频 14.4 s 误差70.3 mm、机身前面的滤网露出，确认尘盒确实拆离；log step 136 是最后一回合的拆离及回送脚本，未用其agent时间换算视频时间。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频约 5.4–15.0 s，右手拇指与弯曲的其余手指从相对两侧包夹黑色吸嘴，以此带动尘盒拆离；左手同时操作释放按钮。" + }, + { + "who": "双臂协作", + "how": "压/擦", + "note_zh": "观察：视频约 7.5–15.0 s，左手伸出的手指指腹向下压红色释放按钮，右手同时握持并外移尘盒。" + } + ] + }, + "bin_reseated": { + "method": "visual", + "intervals": [ + [ + 0, + 3.0 + ], + [ + 4.8, + 5.0 + ], + [ + 5.7, + 7.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 尘盒已贴合绿色机身，叠字latched，位置/朝向误差0.0 mm/0.000 rad、按钮行程0.1 mm；初始就位关系成立，按state规则从视频 0.0 s 计入。" + }, + { + "t": 3.0, + "log_step": null, + "text_zh": "观察：逐帧检查视频 2.9–5.7 s，视频 3.0 s 按钮行程增至2.6 mm，超过1.5 mm，装回关系失去；视频 4.8–4.9 s 按钮短暂回到1.4–1.3 mm、位置误差不超过0.4 mm、朝向误差不超过0.013 rad，尘盒仍贴合机身；视频 5.0 s 按钮再次到1.8 mm，视频 5.7 s 回弹到0.1 mm。推断：结合未拆离的贴合外形和小位姿误差，就位关系在视频 4.8–5.0 s 及视频 5.7 s 起恢复；卡扣面间隙未单独显示。" + }, + { + "t": 7.5, + "log_step": null, + "text_zh": "观察：视频 5.7–7.4 s 按钮约0.1–0.5 mm、位置误差0.5 mm、朝向误差0.008 rad；视频 7.5 s 再次按按钮至3.1 mm，就位关系失去，随后尘盒被取下。" + }, + { + "t": 19.0, + "log_step": 138, + "text_zh": "观察：视频 16.4–19.4 s 右手向机身方向回送尘盒，但尘盒仍外偏且侧转；视频 18.4 s 叠字位置/朝向误差75.1 mm/0.441 rad。log step 138 的服务输出记录最后一回合episode 6完成回送，未将此前调试回合的就位自述计入本录像。" + }, + { + "t": 25.4, + "log_step": 142, + "text_zh": "观察：视频 24.6–25.7 s 左手已松开按钮、右手尚握吸嘴，叠字保持bin removed、位置/朝向误差约23.5 mm/0.271 rad、按钮0.1 mm、hold 0/50，明显超出3 mm及0.05 rad，未装回；视频 26.6–27.6 s 右手张开过程中尘盒向下翻落，视频 27.6–28.5 s 显示FAIL: bin_below_counter。log step 142 的服务结果为episode 6、control_steps 1652、task_failure，与视频末帧control 1652相符。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频约 15.0–25.7 s，右手继续包握尘盒黑色吸嘴，带尘盒回送、转向并靠近绿色机身；左手在顶部同时操作按钮；视频约 25.8–27.5 s 右手逐步张开。" + }, + { + "who": "双臂协作", + "how": "压/擦", + "note_zh": "观察：视频约 15.0–24.5 s，左手指腹持续下压红色释放按钮，配合右手持尘盒尝试装回；视频约 24.6 s 后按钮回弹、左手抬离。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "seat_distance_m", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_angle_rad", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "button_travel_m_relatched", + "unit": "m", + "threshold": 0.0015, + "direction": "lower_better", + "value": null + }, + { + "name": "catch_behind_tooth_m", + "unit": "m", + "threshold": -0.0005, + "direction": "higher_better", + "value": null + }, + { + "name": "bin_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "bin_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.1, + "direction": "lower_better", + "value": null + }, + { + "name": "body_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "body_displacement_m", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "body_tilt_rad", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "bin_vacuum_penetration_m", + "unit": "m", + "threshold": 0.004, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "bin_reseated", + "t": 19.0, + "log_step": 138, + "where": "操作中", + "evidence_zh": "观察：视频约 16.4–19.4 s 机器人把已拆下的尘盒向机身回送，但尘盒仍明显外偏、侧转，未与绿色机身对合；视频 18.4 s 就位误差75.1 mm/0.441 rad。后续转向和推进亦未修复：视频 25.4 s 松手前仍为23.5 mm/0.271 rad，视频 26.6–27.6 s 张手后尘盒翻落，叠字最终FAIL: bin_below_counter。log step 138、142分别记录最后一回合的回送结束与task_failure；失败的是装回尘盒步骤。" + }, + "unmet": { + "bin_removed": true, + "bin_reseated": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 19.0, + "log_step": 138, + "evidence_zh": "观察：视频约 17.4–19.4 s 回送后的尘盒仍斜在机身外侧；视频 25.4 s 按钮已回弹至0.1 mm，尘盒位置/朝向误差仍为23.5 mm/0.271 rad，超出3 mm/0.05 rad，未出现bin reseated。视频 26.6–27.6 s 机器人按计划张开右手后，未就位的尘盒向下翻落。推断：松手前就未装到目标位置，归位姿不准。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 25.4, + "log_step": 141, + "source_zh": "日志", + "evidence_zh": "观察：log step 136 的脚本先外移右腕，再回到保存的tilted6及strong6腕指目标；log step 139 另加右腕平移和转角；log step 141 用固定平移、旋转完成最后推进，随后抬起按按钮的左手并把右手手指目标置零。视频 19.4–25.4 s 显示这些动作后尘盒仍外偏、角度不对，视频 25.4 s 就位误差仍为23.5 mm/0.271 rad；log step 142 记录张手过程中服务判task_failure。推断：对尘盒位姿与卡接的实际控制未完成对准锁合，松手前未消除残余误差；证据支持控制层级，不能可靠细分为抓取设计、轨迹跟踪或参数问题。" + } + ], + "gap_zh": "无仿真状态日志，录像总览未直接显示卡扣有符号间隙、每根手指的接触力及尘盒在手内的相对位姿，故初始恢复区间结合按钮/位姿叠字和贴合外形推断，边界约有0.1 s不确定性；控制根因无法再细分。run.json评分字段未报告DAG列出的十项物理原生指标，native_metrics均置null；录像叠字仅用于相应视频时刻的节点证据。" + }, + "summary_zh": "观察：最后受评回合完成了在位解锁并于视频约 13.7 s 取下尘盒；装回关系在初始及拆卸前短暂成立，取下后未恢复，最终节点为1/2。观察：回送与校正后尘盒仍明显错位，视频 25.4 s 松手前误差23.5 mm/0.271 rad，随后翻落并于视频约 27.6 s 因低于台面判负；推断：断点为装回尘盒，现象位姿不准，根因停在控制层级。缺少状态与接触力记录，不能确定具体控制子类。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值、时间、断点（装回尘盒，操作中）、现象位姿不准与控制根因均与视频叠字及帧一致，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": "2026-10-30T05:43:57Z", + "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-vacuum-bin-reseat-i00-standard--xvynbxt/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-vacuum-bin-reseat-i00-standard--xvynbxt/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d473bf784b2ef12accee49c643c0a0bf8812e57677be9b1249afad55f68ae698", + "video_sha256": "2015889f24825b43a53230534894a3733b89e9e84cf9f41bdb0217ff61dc9130", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-standard--yrjwncm.json b/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-standard--yrjwncm.json new file mode 100644 index 0000000000000000000000000000000000000000..4583d564e83b2747a12601d67e3d680f3ca85a1f --- /dev/null +++ b/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-standard--yrjwncm.json @@ -0,0 +1,329 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-vacuum-bin-reseat-i00-standard--yrjwncm", + "taskKey": "dexhand/vacuum_bin_reseat", + "dag_sha256": "15c4955d218cbde3435640ca56411c046502a6b10e591ca10f0fb095fc0f90df", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 172, + "control_steps_total": 2203, + "elapsed_s": 1414.824, + "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": 733, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 4, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 733, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.361, + "peak_processes": 9, + "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-vacuum-bin-reseat-i00-standard--yrjwncm/replay.mp4", + "duration_s": 15.7, + "fps": 10.0, + "frames": 157, + "sha256": "47964de40d509460c18b0fec40b68c221fe105a14dc827b2c8e76f95f2b15178" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 1, + "peak": 1, + "final": 0, + "nodes": { + "bin_removed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.9, + "log_step": null, + "text_zh": "观察：视频 4.6–5.4 s，机器人左手拇指压到红色释放按钮，叠字按钮行程由约0.1毫米增至2.5毫米；全片逐帧叠字的最大行程约3.0毫米（视频 11.0 s），没有达到在位解锁所需的5.8毫米。" + }, + { + "t": 9.9, + "log_step": null, + "text_zh": "观察：视频 7.2–9.9 s，机器人右手从尘盒前侧靠近、蜷指并向外运动，但灰色尘盒及黑色吸嘴仍贴着绿色机身，没有随手离开；叠字一直为latched，位置误差远小于拆下所需的30毫米。" + }, + { + "t": 15.6, + "log_step": 39, + "text_zh": "观察：视频 14.7–15.6 s 的终止画面显示FAIL: vacuum_body_disturbed、stage: latched，尘盒位置误差3.5毫米、角度误差0.011弧度；尘盒仍与机身连接，未出现bin removed。log step 39 是最后一次重置后的实时回合，输出在Lret阶段task_failure；较早回合的试验不计入本片进度。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "压/擦", + "note_zh": "观察：视频 4.6–11.7 s，机器人左手拇指实际按压红色释放按钮，指掌同时抵压黑色手柄和机身顶部；右手同时在尘盒前侧操作。" + }, + { + "who": "双臂协作", + "how": "推/扫", + "note_zh": "观察：视频 8.1–9.3 s，机器人右手蜷曲手指及掌侧抵推灰色尘盒外壁，左手仍压在按钮/手柄处；未见右手形成能夹住并带走尘盒的包围接触。" + } + ] + }, + "bin_reseated": { + "method": "visual", + "intervals": [ + [ + 0, + 4.9 + ], + [ + 8.5, + 9.6 + ], + [ + 11.1, + 11.8 + ], + [ + 14.3, + 14.4 + ] + ], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0–4.8 s，灰色尘盒与绿色机身贴合，叠字seat error为0.0毫米/0.000弧度，按钮约0.1毫米；视频 4.9 s 按钮增至1.9毫米，超过装回关系要求的1.5毫米。初始装配关系按state节点计入，不受取下事件门控。" + }, + { + "t": 8.7, + "log_step": null, + "text_zh": "推断：视频 8.5–9.5 s 尘盒仍贴合机身，叠字按钮约1.4–1.5毫米、位置误差约0.1–0.5毫米、角度误差约0.001–0.007弧度，装配关系短暂恢复；视频 9.6–11.0 s 按钮持续超过1.5毫米而再次失去。按钮叠字经过舍入，区间端点约有0.2秒视觉误差。" + }, + { + "t": 11.8, + "log_step": null, + "text_zh": "观察：视频 11.1–11.7 s，按钮降至0.9毫米以下，尘盒位置和角度误差仍低于3毫米/0.05弧度；视频 11.8 s 起角度误差为0.051–0.060弧度，随后至视频 14.2 s 始终大于0.05弧度。推断：保持贴合的尘盒在前一段恢复装配关系，随后因外倾失去。" + }, + { + "t": 14.3, + "log_step": null, + "text_zh": "推断：视频 14.3 s 仅一帧显示位置误差2.6毫米、角度误差0.048弧度、按钮0.1毫米，尘盒仍贴合机身，按无保持时长的装配关系计入一次极短恢复；视频 14.4 s 位置误差即增至3.7毫米。卡扣背面不可见，此短区间依据贴合外观及叠字推断。" + }, + { + "t": 15.6, + "log_step": 39, + "text_zh": "观察：视频 14.7–15.6 s 末态位置误差3.5毫米、按钮2.4毫米，均超过装回关系阈值；左手仍在机身/按钮区域，叠字hold 0/50。log step 39虽输出PHASE_A_DONE及reseat等脚本标签，视频并未显示实际拆下和重新卡接，不能将脚本阶段名当作完成证据。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "推/扫", + "note_zh": "观察：视频 10.8–11.8 s，机器人右手回到灰色尘盒前壁抵推，使尘盒及机身姿态改变；左手仍接触顶部手柄/按钮区域。该回返操作属于实际装回尝试，但此前尘盒没有被取走。" + }, + { + "who": "双臂协作", + "how": "压/擦", + "note_zh": "观察：视频 10.8–11.7 s，机器人左手拇指仍压在红色按钮处，与右手前壁操作同时发生；视频 14.3–14.7 s 左手撤离时仍抵住机身顶部并带动整机。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "seat_distance_m", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_angle_rad", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "button_travel_m_relatched", + "unit": "m", + "threshold": 0.0015, + "direction": "lower_better", + "value": null + }, + { + "name": "catch_behind_tooth_m", + "unit": "m", + "threshold": -0.0005, + "direction": "higher_better", + "value": null + }, + { + "name": "bin_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "bin_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.1, + "direction": "lower_better", + "value": null + }, + { + "name": "body_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "body_displacement_m", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "body_tilt_rad", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "bin_vacuum_penetration_m", + "unit": "m", + "threshold": 0.004, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "bin_removed", + "t": 4.9, + "log_step": 39, + "where": "操作中", + "evidence_zh": "观察：视频 4.6–5.4 s 机器人左手已经按到红色按钮，但行程仅约1.1–2.5毫米；视频 7.2–9.9 s 右手尝试扣取并外移，尘盒一直留在机身上。推断：取下步骤的在位解锁及拆离未完成，此后没有修复；视频 14.7 s 机身被手带动，叠字以vacuum_body_disturbed判负，不能将最后撤手动作误判为已经完成两步后的终态验收。log step 39的最后实时回合与这一动作顺序及task_failure结尾一致。" + }, + "unmet": { + "bin_removed": false, + "bin_reseated": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "接触力异常", + "t": 4.9, + "log_step": 39, + "evidence_zh": "观察：视频 4.6–5.4 s 左手拇指实际接触并压下红色按钮，但行程仅约1.1–2.5毫米；视频 11.0 s 全片最大可见行程也只有3.0毫米，低于5.8毫米，stage始终latched。推断：接触已建立，却未有效压到解锁行程，尘盒卡扣没有释放。" + }, + { + "cat": "接触", + "item": "带动本体", + "t": 14.3, + "log_step": 39, + "evidence_zh": "观察：视频 14.2–14.7 s 机器人左手改变姿态并撤离时，黑色手柄和绿色机身连同尘盒一起向前移转，而不是尘盒相对机身拆离；视频 14.7 s 叠字FAIL: vacuum_body_disturbed。log step 39在左手撤离Lret时收到task_failure，与画面相符。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "已验证有", + "t": 4.9, + "log_step": 39, + "source_zh": "视频 / 日志", + "evidence_zh": "推断：本次双手接触布局未形成有效的按钮按压、机身反向固定及尘盒夹持配合。视频 4.6–5.4 s 左手拇指虽压中按钮，指掌也抵在手柄/顶部，按钮行程不足；视频 8.1–9.9 s 右手在尘盒外壁蜷指推挤后空手外移，视频 14.3–14.7 s 左手又带动整机。log step 39显示最终策略采用左手盖握并沿按钮法向开环递进、右手前侧wrap grasp；它运行到撤手却没有在画面中产生有效拆离。可行替代仅由成功参考验证：oracle视频约3–7 s可见按钮压到约5.9毫米并将尘盒相对机身移开，随后约10.5–12 s装回并PASS；参考不用于证明本次完成。" + } + ], + "gap_zh": "观察：inputs/提供本次及成功参考视频、完整运行记录，但没有状态日志。按钮和位姿数值取自本片评分叠字；卡扣齿面及部分指背接触被遮挡，没有接触对或力记录，故不能确定每个手指的受力，也不把蜷指外推称为已抓住尘盒。推断：装配关系的短时恢复依据持续贴合及按钮/位姿读数，尤其视频 14.3–14.4 s 仅有一帧支持；未直接测得卡扣有符号间隙。原生指标未在run.json评分字段中报告，native_metrics均保留null。" + }, + "summary_zh": "评分回合未完成取下尘盒；装回关系从初态成立并短暂恢复数次，但末态两节点均不成立。双手的按压与承载接触布局未能有效解锁、夹持和固定机身，最终在视频 14.7 s 因带动机身而判负。无状态日志，卡扣背面及精确受力不可见，短时装配区间依据本片叠字和贴合外观推断。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "逐帧核对后，两个节点、断点（取下尘盒，按钮行程不足、尘盒始终未离开机身）和现象/根因均有视频叠字支持；未发现需要改动的错误。无状态日志，已在 gap_zh 说明。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:51:21Z", + "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-vacuum-bin-reseat-i00-standard--yrjwncm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-vacuum-bin-reseat-i00-standard--yrjwncm/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b13ca76f5aa49121938569cfe182667811db1f0d3aea7642ef297628e71407ec", + "video_sha256": "47964de40d509460c18b0fec40b68c221fe105a14dc827b2c8e76f95f2b15178", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-standard--zlheiwz.json b/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-standard--zlheiwz.json new file mode 100644 index 0000000000000000000000000000000000000000..b121c582f9cdf5ff8661d2d30bd783ca233782e3 --- /dev/null +++ b/phase2/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-standard--zlheiwz.json @@ -0,0 +1,282 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-vacuum-bin-reseat-i00-standard--zlheiwz", + "taskKey": "dexhand/vacuum_bin_reseat", + "dag_sha256": "15c4955d218cbde3435640ca56411c046502a6b10e591ca10f0fb095fc0f90df", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 115, + "deterministic": 1, + "finalized": 1, + "hand_wuji": 0, + "infra_error": 0, + "live_matches_replay": 1, + "live_success": 0, + "n_actions": 390, + "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": 390, + "success": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.478, + "peak_processes": 10, + "peak_disk_gb": 1.037, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-vacuum-bin-reseat-i00-standard--zlheiwz/replay.mp4", + "duration_s": 8.9, + "fps": 10.0, + "frames": 89, + "sha256": "6fd3de26a6b0dc9afb8c3d0a266541e4e4f4444ace6d6bf60a4540a4016fa20c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 1, + "peak": 1, + "final": 0, + "nodes": { + "bin_removed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.9, + "log_step": null, + "text_zh": "观察：视频 3.8–4.7 s，左手指端持续按红色释放按钮，尘盒顶部向外倾但没有完全拆离；视频 3.9 s 叠字为 stage: latched、button 5.9 mm、seat error 14.9 mm / 0.254 rad。" + }, + { + "t": 7.8, + "log_step": null, + "text_zh": "观察：视频 4.8–7.8 s，右手移到尘盒上方，以张开的手掌及手指压推其外壁，未见包握后带离；视频 7.8–8.8 s 末段叠字始终为 latched、位置误差 17.0 mm、朝向误差 0.270 rad、hold 0/50，未出现 bin removed。" + }, + { + "t": null, + "log_step": 148, + "text_zh": "观察：log step 148 的脚本重置到 episode 2，执行按按钮及右手推移；log step 149 返回 reset 2、resets_left 19，log step 151 在同一回合继续右手靠近并推移。上述两段分别提交230和160控制步，合计390，与评分器 n_actions=390 及视频末端 control 390 一致；本标注依据这次最后实时回合，未把更早试验或 log step 155 仅写入而未执行的控制器文件当成视频动作。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "压/擦", + "note_zh": "观察：视频 2.7–7.8 s 左手指端向下按压红色按钮；视频 5.6–7.8 s 右手掌面及伸展手指压在尘盒外壁上，与左手同时作用，未形成包握。" + }, + { + "who": "双臂协作", + "how": "推/扫", + "note_zh": "观察：视频 5.8–7.8 s 左手继续按按钮，右手沿尘盒上表面向吸嘴方向推移，尘盒仍只外倾而未拆离。" + } + ] + }, + "bin_reseated": { + "method": "visual", + "intervals": [ + [ + 0, + 2.7 + ] + ], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 尘盒贴合绿色机身，红色按钮回弹；叠字为 latched、button 0.1 mm、seat error 0.0 mm / 0.000 rad。此 state 节点按初始装配关系从视频起点计入，不受拆下事件的 after 边门控。" + }, + { + "t": 2.7, + "log_step": null, + "text_zh": "观察：视频 2.6 s 叠字 button 1.5 mm，视频 2.7 s 增为 3.3 mm，已超过装回关系要求的1.5毫米上限；其后按钮持续被左手压下。区间边界取视频 2.7 s，精度约0.1秒。" + }, + { + "t": 8.8, + "log_step": null, + "text_zh": "观察：视频 3.9–8.8 s 尘盒持续外倾，视频 8.8 s 叠字 button 5.9 mm、seat error 17.0 mm / 0.270 rad，均不满足装回条件。机器人没有完成拆离后的装回动作；这里只记录初态关系的成立和失去，不将拆卸期间对尘盒的压推重复计为装回尝试。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "seat_distance_m", + "unit": "m", + "threshold": 0.003, + "direction": "lower_better", + "value": null + }, + { + "name": "seat_angle_rad", + "unit": "rad", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "button_travel_m_relatched", + "unit": "m", + "threshold": 0.0015, + "direction": "lower_better", + "value": null + }, + { + "name": "catch_behind_tooth_m", + "unit": "m", + "threshold": -0.0005, + "direction": "higher_better", + "value": null + }, + { + "name": "bin_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "bin_angular_speed_rad_s", + "unit": "rad/s", + "threshold": 0.1, + "direction": "lower_better", + "value": null + }, + { + "name": "body_speed_m_s", + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "body_displacement_m", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "body_tilt_rad", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "bin_vacuum_penetration_m", + "unit": "m", + "threshold": 0.004, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "bin_removed", + "t": 5.8, + "log_step": 151, + "where": "操作中", + "evidence_zh": "观察：视频 5.6–7.8 s，左手持续压住释放按钮，右手张开贴压并向前推尘盒，始终没有夹住并带离尘盒；视频末段 7.8–8.8 s 仍为 latched，尘盒位置误差17.0毫米，未越过拆离所需30毫米。log step 148 重置后和 log step 151 的推移构成最后390控制步实时回合；此取下步骤至结束一直未修复。" + }, + "unmet": { + "bin_removed": false, + "bin_reseated": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 5.8, + "log_step": 151, + "evidence_zh": "观察：视频 5.6–7.8 s，右手掌面朝尘盒，四指伸展，拇指张在侧面，没有看到拇指与其余手指相向夹住尘盒或吸嘴；右手贴面推移后尘盒仍留在机身前方且 stage 始终 latched。推断：表面压推接触已经发生，但拆离需要的有效抓持接触未建立，不能把它标成曾握住后滑落。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "已验证有", + "t": 5.8, + "log_step": 151, + "source_zh": "视频 / 日志 / agent 自述", + "evidence_zh": "推断：本次右手采用掌面压推而未包握尘盒，缺少能带动尘盒脱离的相向夹持，是拆卸停在外倾状态的直接原因。依据为视频 5.6–7.8 s 的张手贴压动作，以及 log step 148、151 的脚本只改变右腕位姿、未安排手指闭合；agent 在 log step 156 自述掌面接触滑过塑料且真正的夹持未可靠建立，该自述仅作补充。观察：成功参照 inputs/oracle/replay.mp4 的视频 5.6–6.0 s，操作尘盒的手从侧面包住前部，视频 6.0 s 显示 bin removed、seat error 35.4 mm；参照视频 12.0 s 显示 PASS、released + held、hold 50/50，证明存在可行替代接触方案；参照不用于本次节点计时。" + } + ], + "gap_zh": "本次没有状态日志，只有总览视频；手掌遮挡部分尘盒表面，无法还原全部指端接触对、接触力及卡扣间隙。按钮行程和就位误差采用已检查视频叠字，原生指标栏因评分器 reward 未报告对应数值均保留 null。agent 在 log step 156 自述“尘盒从未移动”，但本次视频 3.9–8.8 s 明确显示尘盒外倾且位置误差约15–17毫米，节点判断以视频为准；未将其自述的力值当作测得事实。" + }, + "summary_zh": "本次先按压释放按钮，使初始已就位的装配关系在视频约 2.7 s 失去；尘盒随后外倾，右手压推至视频 7.8 s 仍未取下，末态两个节点均不成立。失败停在取下尘盒：右手没有形成有效包握，掌面压推未使尘盒脱离，末段叠字仅17.0毫米位置误差且始终为 latched。无状态日志，精细接触与卡扣间隙存在观测缺口；装回节点只计初态关系，不表示机器人完成过拆下再装回。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "逐项核对：bin_reseated 初态成立、约2.7 s 因按钮行程超限而失去，bin_removed 全程未达成（叠字始终 latched，位置误差最大17.0 mm＜30 mm），断点定在取下尘盒、右手张手压推未包握，现象与根因均有视频支持，未发现需要改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T05:45:24Z", + "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-vacuum-bin-reseat-i00-standard--zlheiwz/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-vacuum-bin-reseat-i00-standard--zlheiwz/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "651ddae39ca9dd4815f33a0cba423dfe1de50757b5522ff0e55174e3e72f7a73", + "video_sha256": "6fd3de26a6b0dc9afb8c3d0a266541e4e4f4444ace6d6bf60a4540a4016fa20c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +}