Add 111 trajectories (phase 2, remaining runs; batch S26)

phase2/behavior-1k/assembling_gift_baskets/trajectories/behavior-assembling-gift-baskets-i00-privileged--c7dzbs4.json

@@ -0,0 +1,448 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-assembling-gift-baskets-i00-privileged--c7dzbs4",
+ "taskKey": "behavior-1k/assembling_gift_baskets",
+ "dag_sha256": "f73b438e440ce63d6355e3a4ab58c371398e747ffe1fac3b44b09c6c3fb40668",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0625,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 758,
+   "sim_breakdown": 0,
+   "goal": 0,
+   "settle_steps": 150,
+   "goal_first_step": -1,
+   "sim_steps": 908,
+   "fallen": 0,
+   "final_reward": 0.0625,
+   "q_score": 0.0625,
+   "replay_wall_s": 2026.8,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "video_replay_matches": 1,
+   "agent_sessions": 4,
+   "agent_resets": 7,
+   "agent_sim_steps": 0,
+   "agent_records": 15,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-assembling-gift-baskets-i00-privileged--c7dzbs4/replay.mp4",
+  "duration_s": 30.267,
+  "fps": 30.0,
+  "frames": 908,
+  "sha256": "d39c237b5728398c29f0b3b334aa0c4a04d5f2ddffd912ac07c9bb28a5020f01"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 16,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "candles_in_baskets_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": null,
+      "text_zh": "观察：视频 11.0–12.0 s 的桌面画面仍见蜡烛；全片视频 0.0–30.1 s 的夹爪搬运对象只有一块圆形饼干，之后为篮子调整，未见蜡烛离桌并进入藤篮。"
+     },
+     {
+      "t": 30.1,
+      "log_step": null,
+      "text_zh": "推断：本次初始目标配对为零，视频确认的唯一入篮配对是饼干，评分器 q_score=0.0625=1/16 已被这一配对占满；因此第1个蜡烛入篮最终为假。"
+     }
+    ]
+   },
+   "candles_in_baskets_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": null,
+      "text_zh": "观察：视频 11.0–12.0 s 的桌面画面仍见蜡烛；全片视频 0.0–30.1 s 的夹爪搬运对象只有一块圆形饼干，之后为篮子调整，未见蜡烛离桌并进入藤篮。"
+     },
+     {
+      "t": 30.1,
+      "log_step": null,
+      "text_zh": "推断：本次初始目标配对为零，视频确认的唯一入篮配对是饼干，评分器 q_score=0.0625=1/16 已被这一配对占满；因此第2个蜡烛入篮最终为假。"
+     }
+    ]
+   },
+   "candles_in_baskets_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": null,
+      "text_zh": "观察：视频 11.0–12.0 s 的桌面画面仍见蜡烛；全片视频 0.0–30.1 s 的夹爪搬运对象只有一块圆形饼干，之后为篮子调整，未见蜡烛离桌并进入藤篮。"
+     },
+     {
+      "t": 30.1,
+      "log_step": null,
+      "text_zh": "推断：本次初始目标配对为零，视频确认的唯一入篮配对是饼干，评分器 q_score=0.0625=1/16 已被这一配对占满；因此第3个蜡烛入篮最终为假。"
+     }
+    ]
+   },
+   "candles_in_baskets_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": null,
+      "text_zh": "观察：视频 11.0–12.0 s 的桌面画面仍见蜡烛；全片视频 0.0–30.1 s 的夹爪搬运对象只有一块圆形饼干，之后为篮子调整，未见蜡烛离桌并进入藤篮。"
+     },
+     {
+      "t": 30.1,
+      "log_step": null,
+      "text_zh": "推断：本次初始目标配对为零，视频确认的唯一入篮配对是饼干，评分器 q_score=0.0625=1/16 已被这一配对占满；因此第4个蜡烛入篮最终为假。"
+     }
+    ]
+   },
+   "cookies_in_baskets_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      13.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.75,
+      "log_step": null,
+      "text_zh": "观察：视频 2.0–3.75 s 左腕画面显示左夹爪靠近桌上的圆形饼干；视频 4.0–12.75 s 饼干随夹爪离开桌面并运向地上的藤篮。"
+     },
+     {
+      "t": 13.5,
+      "log_step": 281,
+      "text_zh": "观察：视频 13.25–13.75 s 饼干从夹爪前方下落，随后可见其位于藤篮底部；视频 14.0–17.0 s 该饼干仍在���内。以视频 13.5 s 为首个明确入篮时刻，精度约半秒；log step 281 保存 cookie2-to-basket3 的506步前缀，与这一搬运相符。"
+     },
+     {
+      "t": 30.1,
+      "log_step": 290,
+      "text_zh": "推断：视频 18.0–25.0 s 机器人调整姿态并推移篮子，后续没有搬运其他礼物；视频 29.3–30.1 s 保持终态，但篮底部分遮挡。评分器 q_score=0.0625=1/16 且 video_replay_matches=1，结合此前唯一入篮物是饼干，判断这一配对最终仍成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频 3.75–12.75 s 左夹爪两指夹住圆形饼干并搬运，视频 13.25–13.75 s 放开使其落入藤篮。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 6.0–11.75 s 轮式底盘在持有饼干时移动并转向，从桌旁驶向藤篮。"
+     }
+    ]
+   },
+   "cookies_in_baskets_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.1,
+      "log_step": 290,
+      "text_zh": "推断：视频 0.0–30.1 s 仅见一块饼干从桌上被搬入一只藤篮，视频 13.5–17.0 s 可见此单一配对；其后机器人只调整底盘与篮子，没有拾取第二块饼干。评分器 q_score=1/16 也排除至少2个饼干配对，故第2个饼干入篮最终不成立。"
+     }
+    ]
+   },
+   "cookies_in_baskets_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.1,
+      "log_step": 290,
+      "text_zh": "推断：视频 0.0–30.1 s 仅见一块饼干从桌上被搬入一只藤篮，视频 13.5–17.0 s 可见此单一配对；其后机器人只调整底盘与篮子，没有拾取第二块饼干。评分器 q_score=1/16 也排除至少3个饼干配对，故第3个饼干入篮最终不成立。"
+     }
+    ]
+   },
+   "cookies_in_baskets_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.1,
+      "log_step": 290,
+      "text_zh": "推断：视频 0.0–30.1 s 仅见一块饼干从桌上被搬入一只藤篮，视频 13.5–17.0 s 可见此单一配对；其后机器人只调整底盘与篮子，没有拾取第二块饼干。评分器 q_score=1/16 也排除至少4个饼干配对，故第4个饼干入篮最终不成立。"
+     }
+    ]
+   },
+   "cheeses_in_baskets_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": null,
+      "text_zh": "观察：视频 11.0–12.0 s 的桌面画面仍见奶酪；全片视频 0.0–30.1 s 的夹爪搬运对象只有一块圆形饼干，之后为篮子调整，未见奶酪离桌并进入藤篮。"
+     },
+     {
+      "t": 30.1,
+      "log_step": null,
+      "text_zh": "推断：本次初始目标配对为零，视频确认的唯一入篮配对是饼干，评分器 q_score=0.0625=1/16 已被这一配对占满；因此第1个奶酪入篮最终为假。"
+     }
+    ]
+   },
+   "cheeses_in_baskets_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": null,
+      "text_zh": "观察：视频 11.0–12.0 s 的桌面画面仍见奶酪；全片视频 0.0–30.1 s 的夹爪搬运对象只有一块圆形饼干，之后为篮子调整，未见奶酪离桌并进入藤篮。"
+     },
+     {
+      "t": 30.1,
+      "log_step": null,
+      "text_zh": "推断：本次初始目标配对为零，视频确认的唯一入篮配对是饼干，评分器 q_score=0.0625=1/16 已被这一配对占满；因此第2个奶酪入篮最终为假。"
+     }
+    ]
+   },
+   "cheeses_in_baskets_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": null,
+      "text_zh": "观察：视频 11.0–12.0 s 的桌面画面仍见奶酪；全片视频 0.0–30.1 s 的夹爪搬运对象只有一块圆形饼干，之后为篮子调整，未见奶酪离桌并进入藤篮。"
+     },
+     {
+      "t": 30.1,
+      "log_step": null,
+      "text_zh": "推断：本次初始目标配对为零，视频确认的唯一入篮配对是饼干，评分器 q_score=0.0625=1/16 已被这一配对占满；因此第3个奶酪入篮最终为假。"
+     }
+    ]
+   },
+   "cheeses_in_baskets_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": null,
+      "text_zh": "观察：视频 11.0–12.0 s 的桌面画面仍见奶酪；全片视频 0.0–30.1 s 的夹爪搬运对象只有一块圆形饼干，之后为篮子调整，未见奶酪离桌并进入藤篮。"
+     },
+     {
+      "t": 30.1,
+      "log_step": null,
+      "text_zh": "推断：本次初始目标配对为零，视频确认的唯一入篮配对是饼干，评分器 q_score=0.0625=1/16 已被这一配对占满；因此第4个奶���入篮最终为假。"
+     }
+    ]
+   },
+   "bows_in_baskets_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": null,
+      "text_zh": "观察：视频 11.0–12.0 s 的桌面画面仍见蝴蝶结；全片视频 0.0–30.1 s 的夹爪搬运对象只有一块圆形饼干，之后为篮子调整，未见蝴蝶结离桌并进入藤篮。"
+     },
+     {
+      "t": 30.1,
+      "log_step": null,
+      "text_zh": "推断：本次初始目标配对为零，视频确认的唯一入篮配对是饼干，评分器 q_score=0.0625=1/16 已被这一配对占满；因此第1个蝴蝶结入篮最终为假。"
+     }
+    ]
+   },
+   "bows_in_baskets_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": null,
+      "text_zh": "观察：视频 11.0–12.0 s 的桌面画面仍见蝴蝶结；全片视频 0.0–30.1 s 的夹爪搬运对象只有一块圆形饼干，之后为篮子调整，未见蝴蝶结离桌并进入藤篮。"
+     },
+     {
+      "t": 30.1,
+      "log_step": null,
+      "text_zh": "推断：本次初始目标配对为零，视频确认的唯一入篮配对是饼干，评分器 q_score=0.0625=1/16 已被这一配对占满；因此第2个蝴蝶结入篮最终为假。"
+     }
+    ]
+   },
+   "bows_in_baskets_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": null,
+      "text_zh": "观察：视频 11.0–12.0 s 的桌面画面仍见蝴蝶结；全片视频 0.0–30.1 s 的夹爪搬运对象只有一块圆形饼干，之后为篮子调整，未见蝴蝶结离桌并进入藤篮。"
+     },
+     {
+      "t": 30.1,
+      "log_step": null,
+      "text_zh": "推断：本次初始目标配对为零，视频确认的唯一入篮配对是饼干，评分器 q_score=0.0625=1/16 已被这一配对占满；因此第3个蝴蝶结入篮最终为假。"
+     }
+    ]
+   },
+   "bows_in_baskets_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": null,
+      "text_zh": "观察：视频 11.0–12.0 s 的桌面画面仍见蝴蝶结；全片视频 0.0–30.1 s 的夹爪搬运对象只有一块圆形饼干，之后为篮子调整，未见蝴蝶结离桌并进入藤篮。"
+     },
+     {
+      "t": 30.1,
+      "log_step": null,
+      "text_zh": "推断：本次初始目标配对为零，视频确认的唯一入篮配对是饼干，评分器 q_score=0.0625=1/16 已被这一配对占满；因此第4个蝴蝶结入篮最终为假。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0625,
+   "unit": "ratio",
+   "threshold": 1,
+   "direction": "higher_better"
+  },
+  {
+   "name": "goal_held_steps",
+   "value": null,
+   "unit": "control_step",
+   "threshold": 30,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 290,
+   "where": "转场",
+   "evidence_zh": "观察：视频 13.5–17.0 s 已有一块饼干在藤篮内；视频 18.0–25.0 s 机器人调整底盘、机械臂并推移篮子，视频 25.0–30.1 s 没有再取礼物。log step 290 保存 push-basket-cluster，共758步，与评分器 n_actions=758 一致；这份交付止于调整篮子之后。推断：其余15个目标未完成，但视频和最终日志均未指明接下来要搬运哪类礼物，无法唯一指定未修复的入篮步骤。"
+  },
+  "unmet": {
+   "candles_in_baskets_1": false,
+   "candles_in_baskets_2": false,
+   "candles_in_baskets_3": false,
+   "candles_in_baskets_4": false,
+   "cookies_in_baskets_1": true,
+   "cookies_in_baskets_2": false,
+   "cookies_in_baskets_3": false,
+   "cookies_in_baskets_4": false,
+   "cheeses_in_baskets_1": false,
+   "cheeses_in_baskets_2": false,
+   "cheeses_in_baskets_3": false,
+   "cheeses_in_baskets_4": false,
+   "bows_in_baskets_1": false,
+   "bows_in_baskets_2": false,
+   "bows_in_baskets_3": false,
+   "bows_in_baskets_4": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无状态日志，参考成功记录也无视频。视频能确认一次饼干入篮，但后段篮底及推篮接触点受遮挡；其最终保留由视频上下文与评分器1/16总分共同推断。最终交付只到推移篮子，没有可识别的下一件礼物操作或明确失败动作，故断点节点未知、现象与根因留空；不能把日志中已被重置替换的抓取失败、跌倒，或已在 log step 287 解决的 log step 284 逆解报错，移作最终失败的标签。"
+ },
+ "summary_zh": "观察：本次交付轨迹中机器人仅将一块饼干从桌上搬入藤篮，约视频 13.5 s 达成第1个饼干入篮，最终完成1/16个节点，与评分器 q_score=0.0625 一致。观察：随后机器人调整底盘并推移篮子，交付保存于 log step 290，未继续搬运��余礼物。推断：无法将终止前的篮子调整唯一归入某个未完成的入篮节点，也无足够证据说明具体物理失败及根因；缺少状态日志，末段饼干配对的保留结合评分总分判断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点（仅第1个饼干入篮约13.5 s为真，q_score=1/16）与帧一致；交付轨迹止于推篮、无可唯一指定的未完成步骤，断点 unknown 且现象/根因留空并有 gap_zh，符合规则，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": "2026-10-30T21:43:48Z",
+  "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/behavior-assembling-gift-baskets-i00-privileged--c7dzbs4/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-assembling-gift-baskets-i00-privileged--c7dzbs4/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7253ced0adb940e55d7b753a392eaf6e63cc1711fd05e4975ed457059f2e44d5",
+   "video_sha256": "d39c237b5728398c29f0b3b334aa0c4a04d5f2ddffd912ac07c9bb28a5020f01",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/assembling_gift_baskets/trajectories/behavior-assembling-gift-baskets-i00-privileged--htmbvje.json

@@ -0,0 +1,694 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-assembling-gift-baskets-i00-privileged--htmbvje",
+ "taskKey": "behavior-1k/assembling_gift_baskets",
+ "dag_sha256": "f73b438e440ce63d6355e3a4ab58c371398e747ffe1fac3b44b09c6c3fb40668",
+ "outcome": {
+  "success": 0,
+  "reward": 0.875,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 10424,
+   "sim_steps": 10424,
+   "fallen": 0,
+   "final_reward": 0.875,
+   "q_score": 0.875,
+   "replay_wall_s": 4729.7,
+   "replay_timeout_s": 8149.3,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 1,
+   "agent_resets": 6,
+   "agent_sim_steps": 21516,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-assembling-gift-baskets-i00-privileged--htmbvje/replay.mp4",
+  "duration_s": 347.467,
+  "fps": 30.0,
+  "frames": 10424,
+  "sha256": "ab6a508d0e01fc18610921956da65d4f7d01be03145e9cda515ad4f1f889c2dd"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 16,
+  "base": 0,
+  "peak": 14,
+  "final": 14,
+  "nodes": {
+   "candles_in_baskets_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      31.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 31.0,
+      "log_step": null,
+      "text_zh": "观察：视频 11.5–22.5 s，两支蜡烛先后离开桌面并随左右夹爪运动；视频 30.7–31.7 s，左腕画面出现篮内白色柱状蜡烛，左夹爪放开后蜡烛留在篮内，第1对形成（时刻约±0.5 s）。"
+     },
+     {
+      "t": 347.4,
+      "log_step": null,
+      "text_zh": "推断：该配对建立后，后续画面未见物品离开对应藤篮；视频 346.4–347.4 s 的终态检查及评分器 q_score=0.875 与四支蜡烛、四块饼干、四块奶酪和两个蝴蝶结的累计14对相符。同类物品按实际有效配对形成的顺序计数，不固定实例身份。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：左臂二指夹爪夹住第一支蜡烛并运送、降低到藤篮内后张开。同一趟运输中两夹爪各持一支蜡烛，依次放入不同藤篮。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在桌边与目标藤篮之间行驶，承载躯干、机械臂及所持物品。"
+     }
+    ]
+   },
+   "candles_in_baskets_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      44.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 44.0,
+      "log_step": null,
+      "text_zh": "观察：视频 43.2–44.7 s，右夹爪把另一支蜡烛降低到靠沙发侧的另一只藤篮内，右腕画面可见蜡烛圆顶位于篮壁以内；视频 46.2 s 夹爪已撤离，蜡烛仍在篮内，第2对形成。"
+     },
+     {
+      "t": 347.4,
+      "log_step": null,
+      "text_zh": "推断：该配对建立后，后续画面未见物品离开对应藤篮；视频 346.4–347.4 s 的终态检查及评分器 q_score=0.875 与四支蜡烛、四块饼干、四块奶酪和两个蝴蝶结的累计14对相符。同类物品按实际有效配对形成的顺序计数，不固定实例身份。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：右臂二指夹爪夹住第二支蜡烛并运送、降低到藤篮内后张开。同一趟运输中两夹爪各持一支蜡烛，依次放入不同藤篮。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在桌边与目标藤篮之间行驶，承载躯干、机械臂及所持物品。"
+     }
+    ]
+   },
+   "candles_in_baskets_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      202.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 202.0,
+      "log_step": null,
+      "text_zh": "观察：视频 182.5–195.5 s，左右夹爪各从桌上取走一支蜡烛；视频 201.2–202.7 s，左夹爪将其中一支降入近壁炉的空篮并松开，视频 203.2 s 左腕画面显示蜡烛独立留在篮内，第3对形成。"
+     },
+     {
+      "t": 347.4,
+      "log_step": null,
+      "text_zh": "推断：该配对建立后，后续画面未见物品离开对应藤篮；视频 346.4–347.4 s 的终态检查及评分��� q_score=0.875 与四支蜡烛、四块饼干、四块奶酪和两个蝴蝶结的累计14对相符。同类物品按实际有效配对形成的顺序计数，不固定实例身份。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：左臂二指夹爪夹住第三支蜡烛并运送、降低到藤篮内后张开。同一趟运输中两夹爪各持一支蜡烛，依次放入不同藤篮。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在桌边与目标藤篮之间行驶，承载躯干、机械臂及所持物品。"
+     }
+    ]
+   },
+   "candles_in_baskets_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      210.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 210.0,
+      "log_step": null,
+      "text_zh": "观察：视频 209.2–211.7 s，右夹爪将所持蜡烛降入相邻的第四只篮子；视频 211.2–212.2 s 右腕画面显示蜡烛留在篮内，左右两篮各有一支蜡烛，第4对形成（时刻约±0.5 s）。"
+     },
+     {
+      "t": 347.4,
+      "log_step": null,
+      "text_zh": "推断：该配对建立后，后续画面未见物品离开对应藤篮；视频 346.4–347.4 s 的终态检查及评分器 q_score=0.875 与四支蜡烛、四块饼干、四块奶酪和两个蝴蝶结的累计14对相符。同类物品按实际有效配对形成的顺序计数，不固定实例身份。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：右臂二指夹爪夹住第四支蜡烛并运送、降低到藤篮内后张开。同一趟运输中两夹爪各持一支蜡烛，依次放入不同藤篮。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在桌边与目标藤篮之间行驶，承载躯干、机械臂及所持物品。"
+     }
+    ]
+   },
+   "cookies_in_baskets_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      73.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 73.7,
+      "log_step": null,
+      "text_zh": "观察：视频 54.5–56.5 s，左夹爪将圆形黄油饼干从桌面抬起并携带；视频 73.2–74.7 s，饼干从左夹爪落入已有蜡烛的篮内，视频 75.2 s 饼干仍在篮内，第1对形成。"
+     },
+     {
+      "t": 347.4,
+      "log_step": null,
+      "text_zh": "推断：该配对建立后，后续画面未见物品离开对应藤篮；视频 346.4–347.4 s 的终态检查及评分器 q_score=0.875 与四支蜡烛、四块饼干、四块奶酪和两个蝴蝶结的累计14对相符。同类物品按实际有效配对形成的顺序计数，不固定实例身份。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左臂二指夹爪夹住第一块饼干并运送、降低到藤篮内后张开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在桌边与目标藤篮之间行驶，承载躯干、机械臂及所持物品。"
+     }
+    ]
+   },
+   "cookies_in_baskets_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      161.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 161.7,
+      "log_step": null,
+      "text_zh": "观察：视频 141.5–145.5 s，左夹爪取走另一块圆饼干；视频 161.2–162.2 s，左夹爪在另一只已有蜡烛的篮内松开饼干，视频 163.2 s 饼干仍留在篮内，第2对形成。"
+     },
+     {
+      "t": 347.4,
+      "log_step": null,
+      "text_zh": "推断：该配对建立后，后续画面未见物品离开对应藤篮；视频 346.4–347.4 s 的终态检查及评分器 q_score=0.875 与四支蜡烛、四块饼干、四块奶酪和两个蝴蝶结的累计14对相符。同类物品按实际有效配对形成的顺序计数，不固定实例身份。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左臂二指夹爪夹住第二块饼干并运送、降低到藤篮内后张开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在桌边与目标藤篮之间行驶，承载躯干、机械臂及所持物品。"
+     }
+    ]
+   },
+   "cookies_in_baskets_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      284.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 284.5,
+      "log_step": null,
+      "text_zh": "观察：视频 262.5–266.5 s，左夹爪从桌面取走一块饼干；视频 283.7–285.7 s，左腕画面显示饼干降入第三只篮，夹爪张开后饼干落在篮内并留住，第3对形成。"
+     },
+     {
+      "t": 347.4,
+      "log_step": null,
+      "text_zh": "推断：��配对建立后，后续画面未见物品离开对应藤篮；视频 346.4–347.4 s 的终态检查及评分器 q_score=0.875 与四支蜡烛、四块饼干、四块奶酪和两个蝴蝶结的累计14对相符。同类物品按实际有效配对形成的顺序计数，不固定实例身份。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左臂二指夹爪夹住第三块饼干并运送、降低到藤篮内后张开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在桌边与目标藤篮之间行驶，承载躯干、机械臂及所持物品。"
+     }
+    ]
+   },
+   "cookies_in_baskets_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      327.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 327.0,
+      "log_step": null,
+      "text_zh": "观察：视频 307.5–311.5 s，右夹爪取走桌上最后一块圆饼干；视频 326.2–327.7 s，右夹爪在第四只篮内放开饼干，视频 328.2–329.2 s 右腕画面显示饼干与蜡烛、奶酪留在篮内，第4对形成。"
+     },
+     {
+      "t": 347.4,
+      "log_step": null,
+      "text_zh": "推断：该配对建立后，后续画面未见物品离开对应藤篮；视频 346.4–347.4 s 的终态检查及评分器 q_score=0.875 与四支蜡烛、四块饼干、四块奶酪和两个蝴蝶结的累计14对相符。同类物品按实际有效配对形成的顺序计数，不固定实例身份。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右臂二指夹爪夹住第四块饼干并运送、降低到藤篮内后张开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在桌边与目标藤篮之间行驶，承载躯干、机械臂及所持物品。"
+     }
+    ]
+   },
+   "cheeses_in_baskets_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      82.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 82.0,
+      "log_step": null,
+      "text_zh": "观察：视频 62.5–65.5 s，右夹爪夹起三角形黄色奶酪并运走；视频 81.2–82.7 s，奶酪被降入已有第一支蜡烛和饼干的篮内，松手后留在篮内，第1对形成。"
+     },
+     {
+      "t": 347.4,
+      "log_step": null,
+      "text_zh": "推断：该配对建立后，后续画面未见物品离开对应藤篮；视频 346.4–347.4 s 的终态检查及评分器 q_score=0.875 与四支蜡烛、四块饼干、四块奶酪和两个蝴蝶结的累计14对相符。同类物品按实际有效配对形成的顺序计数，不固定实例身份。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右臂二指夹爪夹住第一块奶酪并运送、降低到藤篮内后张开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在桌边与目标藤篮之间行驶，承载躯干、机械臂及所持物品。"
+     }
+    ]
+   },
+   "cheeses_in_baskets_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      170.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 170.0,
+      "log_step": null,
+      "text_zh": "观察：视频 150.5–153.5 s，右夹爪取走另一块奶酪；视频 169.2–170.7 s，奶酪降低到第二只篮内，视频 171.7–172.2 s 夹爪撤离后奶酪仍留在篮内，第2对形成。"
+     },
+     {
+      "t": 347.4,
+      "log_step": null,
+      "text_zh": "推断：该配对建立后，后续画面未见物品离开对应藤篮；视频 346.4–347.4 s 的终态检查及评分器 q_score=0.875 与四支蜡烛、四块饼干、四块奶酪和两个蝴蝶结的累计14对相符。同类物品按实际有效配对形成的顺序计数，不固定实例身份。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右臂二指夹爪夹住第二块奶酪并运送、降低到藤篮内后张开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在桌边与目标藤篮之间行驶，承载躯干、机械臂及所持物品。"
+     }
+    ]
+   },
+   "cheeses_in_baskets_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      292.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 292.5,
+      "log_step": null,
+      "text_zh": "观察：视频 269.5–272.5 s，右夹爪取走奶酪；视频 292.2–293.7 s，右腕画面显示奶酪在已有蜡烛和蝴蝶结的篮内落稳，视频 294.2–295.2 s 仍保持入篮，第3对形成。"
+     },
+     {
+      "t": 347.4,
+      "log_step": null,
+      "text_zh": "推断：该配对建立后，后续画面未见物品离开对应藤篮；视频 346.4–347.4 s 的终态检查及评分器 q_score=0.875 与四支蜡烛、四块饼干、四块奶酪和两个蝴蝶结的累计14对相符。同类物品按实际有效配对形成的顺序计数，不固定实例身份。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右臂二指夹爪夹住第三块奶酪并运送、降低到藤篮内后张开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在桌边与目标藤篮之间行驶，承载躯干、机械臂及所持物品。"
+     }
+    ]
+   },
+   "cheeses_in_baskets_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      319.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 319.0,
+      "log_step": null,
+      "text_zh": "观察：视频 299.5–304.5 s，左夹爪取走桌上最后一块三角奶酪；视频 318.2–319.7 s，奶酪从左夹爪落到第四只篮中，视频 320.7–321.2 s 仍在篮内，第4对形成。"
+     },
+     {
+      "t": 347.4,
+      "log_step": null,
+      "text_zh": "推断：该配对建立后，后续画面未见物品离开对应藤篮；视频 346.4–347.4 s 的终态检查及评分器 q_score=0.875 与四支蜡烛、四块饼干、四块奶酪和两个蝴蝶结的累计14对相符。同类物品按实际有效配对形成的顺序计数，不固定实例身份。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左臂二指夹爪夹住第四块奶酪并运送、降低到藤篮内后张开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在桌边与目标藤篮之间行驶，承载躯干、机械臂及所持物品。"
+     }
+    ]
+   },
+   "bows_in_baskets_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      117.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 117.2,
+      "log_step": null,
+      "text_zh": "观察：视频 91.5–94.5 s，左夹爪夹起红色蝴蝶结并离开原桌面位置；视频 116.7–117.7 s，左夹爪松开，蝴蝶结缩小落入已有蜡烛、饼干、奶酪的篮内，第1对形成。"
+     },
+     {
+      "t": 347.4,
+      "log_step": null,
+      "text_zh": "推断：该配对建立后，后续画面未见物品离开对应藤篮；视频 346.4–347.4 s 的终态检查及评分器 q_score=0.875 与四支蜡烛、四块饼干、四块奶酪和两个蝴蝶结的累计14对相符。同类物品按实际有效配对形成的顺序计数，不固定实例身份。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左臂二指夹爪夹住第一件成功入篮的蝴蝶结并运送、降低到藤篮内后张开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在桌边与目标藤篮之间行驶，承载躯干、机械臂及所持物品。"
+     }
+    ]
+   },
+   "bows_in_baskets_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      254.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 254.0,
+      "log_step": null,
+      "text_zh": "观察：视频 233.5–237.5 s，右夹爪夹起一件蝴蝶结并带离桌面；视频 253.2–254.2 s，右夹爪松开后蝴蝶结落入已有蜡烛的另一只篮内，视频 255.7–257.2 s 仍可见篮内红色蝴蝶结。此前另一件蝴蝶结的右手抓取未成功，故这里才建立第2个有效配对。"
+     },
+     {
+      "t": 347.4,
+      "log_step": null,
+      "text_zh": "推断：该配对建立后，后续画面未见物品离开对应藤篮；视频 346.4–347.4 s 的终态检查及评分器 q_score=0.875 与四支蜡烛、四块饼干、四块奶酪和两个蝴蝶结的累计14对相符。同类物品按实际有效配对形成的顺序计数，不固定实例身份。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右臂二指夹爪夹住第二件成功入篮的蝴蝶结并运送、降低到藤篮内后张开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在桌边与目标藤篮之间行驶，承载躯干、机械臂及所持物品。"
+     }
+    ]
+   },
+   "bows_in_baskets_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 107.0,
+      "log_step": null,
+      "text_zh": "观察：视频 99.2–106.2 s，右夹爪在桌上红色蝴蝶结处合拢、拨动目标；视频 106.7–109.2 s，夹爪抬起后目标仍在桌面，右腕视角也未见随夹爪运输的蝴蝶结。之后右臂到篮边执行空手放置，视频 130.5–133.5 s 的篮内只有��烛；这件留桌蝴蝶结后续未被搬走。推断：同类以有效配对形成顺序计数，视频 117.2 s 和视频 254.0 s 两件成功物品占前两对，这件始终未入篮的物品归入最终缺少的第3对，而非给视频 130 s 的空手放置计分。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：右臂二指夹爪在蝴蝶结处闭合并拨动目标，但目标没有随夹爪离桌，未见成立的包夹抓握。未成功的两件物品归入剩余第3、第4配对，仅为计数分配，不规定实例顺序。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在桌边与目标藤篮之间行驶，承载躯干、机械臂及所持物品。"
+     }
+    ]
+   },
+   "bows_in_baskets_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 224.0,
+      "log_step": null,
+      "text_zh": "观察：视频 218.5–226.5 s，左夹爪在另一件桌上蝴蝶结处下降、合拢，目标翻动但未随夹爪离桌；视频 240.5–246.5 s 左臂到篮边执行空手放置。视频 335.5–340.5 s 左臂再次补抓仍为空手，视频 346.4–347.4 s 目标篮中可见蜡烛、饼干、奶酪而无新增蝴蝶结。推断：四类初态均未入篮，评分器 q_score=0.875 即14/16；蜡烛、饼干、奶酪的12对已由画面确认，蝴蝶结终态仅2对，所以第3、第4计数节点均为假，不从会话的成功或持物声称补记入篮。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：左臂二指夹爪在蝴蝶结处闭合并拨动目标，但目标没有随夹爪离桌，未见成立的包夹抓握。未成功的两件物品归入剩余第3、第4配对，仅为计数分配，不规定实例顺序。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在桌边与目标藤篮之间行驶，承载躯干、机械臂及所持物品。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "bows_in_baskets_3",
+   "t": 107.0,
+   "log_step": 197,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 99.2–107.7 s，机器人右夹爪在桌面蝴蝶结处闭合，随后空手抬起，蝴蝶结仍留在桌面；视频 130.5–133.5 s，右臂在仅有蜡烛的篮中完成空手下降、撤离。此后该留桌物品未被再次搬运；视频 221–226 s 的另一件抓取及视频 335.5–340.5 s 的补抓也未增加入篮数量。推断：按已达成配对排序，两件真正入篮者占第1、2对，最早这件始终未入篮者记入第3对；这是最早未被补救的物品搬运失败，锚点取视频约107 s，不取后续空手放置或结束时刻。log step 197 仅用于指向该批蝴蝶结操作代码，不把会话结果当评分结果。"
+  },
+  "unmet": {
+   "candles_in_baskets_1": true,
+   "candles_in_baskets_2": true,
+   "candles_in_baskets_3": true,
+   "candles_in_baskets_4": true,
+   "cookies_in_baskets_1": true,
+   "cookies_in_baskets_2": true,
+   "cookies_in_baskets_3": true,
+   "cookies_in_baskets_4": true,
+   "cheeses_in_baskets_1": true,
+   "cheeses_in_baskets_2": true,
+   "cheeses_in_baskets_3": true,
+   "cheeses_in_baskets_4": true,
+   "bows_in_baskets_1": true,
+   "bows_in_baskets_2": true,
+   "bows_in_baskets_3": false,
+   "bows_in_baskets_4": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 107.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 99.2–107.7 s，右夹爪对桌上蝴蝶结下降、闭合后，腕部画面显示夹爪抬离而红色目标仍在桌面；视频 108.2–111.7 s，机器人驶离时右夹爪为空。建立搬运所需的包夹抓握未发生，看到蝴蝶结被拨动不等于已抓牢后掉落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频",
+    "evidence_zh": "推断：视频 99.2–107.7 s 机器人已把右夹爪送到目标处并执行闭合，但抬起时没有携带目标；视频 221–226 s 及视频 335.5–340.5 s 左夹爪的相似尝试也没有建立有效持物。失败集中在夹爪接近、闭合到提起的抓取执行环节；没有证据支持目标识别或任务目标选错，现有画面不能再区分接触几何与轨迹跟踪。"
+   },
+   {
+    "cat": "交付",
+    "item": "交付操作出错",
+    "source_zh": "日志 / 评分器字段 / 视频",
+    "evidence_zh": "观察：log step 207 从 ckpt_trip4 恢复仿真状态及录制列表，会话检查称前两篮各4件；log step 209 再恢复状态，执行 hold(1) 后用 s._recording.pop() 删除该控制步，再续录后半程；log step 296 又从 ckpt_trip8 恢复状态、录制列表和动作，续接补抓。log step 300 只核验交付数组形状(10424,25)，评��器记录 agent_replays=0、deterministic=1、q_score=0.875。视频 130.5–133.5 s 第二只篮内只有蜡烛，视频 335.5–340.5 s 补抓仍为空手，与会话所依赖的物品状态不一致。推断：agent 将恢复状态后的控制片段接入录制，且有仿真已推进而录制行被删除的操作，未在新回合重放验收最终文件；交付未保留会话检查所称的配对结果。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 无状态日志，oracle.json 也注明参考成功记录无视频、无状态日志；本次只能用头部与腕部画面，篮内几何边界的形成时刻约±0.5 s。推断：具体接触点、夹力、关节跟踪误差及是哪一次恢复引起哪一次偏差无法定位，因此控制根因不细分。会话 Inside=True 与评分视频不一致时采用视频及最终评分；两件失败蝴蝶结仅分配到最终未达的第3、第4计数节点，不把编号解释为固定实例。log step 305 的供应商过滤发生在 log step 300 已核验交付文件之后，不改变已有物理失败的判定。"
+ },
+ "summary_zh": "观察：评分视频中蜡烛、饼干、奶酪各4件分别进入四只篮，蝴蝶结只建立2个有效配对，终态14/16，与评分器 q_score=0.875 一致。推断：最早未补救的物品失败是视频约107 s 右夹爪未抓起蝴蝶结，按成功配对排序归入第3个蝴蝶结入篮；另一件后续补抓也失败，抓取执行及跨恢复续录后未重放验收共同造成交付未完成。观察：无状态日志和成功参考视频，时间约±0.5 s，会话自检不能替代评分视频。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "抽查视频 96–117 s 与终帧 345 s：右夹爪在蝴蝶结处闭合后空手离开，终态篮内无新增蝴蝶结，与 q_score=0.875（14/16）一致；节点、断点和现象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": "2026-10-30T21:14:39Z",
+  "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/behavior-assembling-gift-baskets-i00-privileged--htmbvje/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-assembling-gift-baskets-i00-privileged--htmbvje/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "75f43c539c86b60678ac2c55f6796c8df5fef2432d1b9bdd007351bf51fd0ef2",
+   "video_sha256": "ab6a508d0e01fc18610921956da65d4f7d01be03145e9cda515ad4f1f889c2dd",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/assembling_gift_baskets/trajectories/behavior-assembling-gift-baskets-i00-privileged--kgl2pkh.json

@@ -0,0 +1,642 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-assembling-gift-baskets-i00-privileged--kgl2pkh",
+ "taskKey": "behavior-1k/assembling_gift_baskets",
+ "dag_sha256": "f73b438e440ce63d6355e3a4ab58c371398e747ffe1fac3b44b09c6c3fb40668",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0625,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 6026,
+   "sim_steps": 6026,
+   "fallen": 0,
+   "final_reward": 0.0625,
+   "q_score": 0.0625,
+   "replay_wall_s": 3826.6,
+   "replay_timeout_s": 4213.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 1,
+   "agent_resets": 5,
+   "agent_sim_steps": 0,
+   "agent_records": 3,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 6.921,
+   "peak_memory_gb": 21.975,
+   "peak_processes": 47,
+   "peak_disk_gb": 0.892,
+   "resource_emergency_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-assembling-gift-baskets-i00-privileged--kgl2pkh/replay.mp4",
+  "duration_s": 200.867,
+  "fps": 30.0,
+  "frames": 6026,
+  "sha256": "ba34148c2cf0f349721a644094cff736ecea5f53506dbc6114a072bbe5bfcda3"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 16,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "candles_in_baskets_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 36,
+      "log_step": null,
+      "text_zh": "观察：视频31–40.8 s，机器人左夹爪夹着米色柱状蜡烛，蜡烛离开桌面并随底盘移向壁炉旁藤篮。"
+     },
+     {
+      "t": 41.5,
+      "log_step": null,
+      "text_zh": "观察：视频40.8–41.3 s，机器人在篮旁松开左夹爪，蜡烛落在篮外；视频41.8–42 s主画面见地面上深色圆柱/圆形端面，旁边另有先前落地的奶酪和饼干，篮内没有蜡烛。"
+     },
+     {
+      "t": 200.8,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0625，即16条目标关系仅1条成立；视频75.7 s入篮的饼干在视频97.5 s、136.5 s、162.5 s仍可见留在篮内，视频200.8 s结束前未见取出。因此其余15个计数节点终态为假；没有用会话试跑的Inside自检值替代评分视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左夹爪在视频31–40.8 s夹住并搬运一支柱状蜡烛，之后在篮外松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘夹持蜡烛从桌边驶向壁炉旁藤篮。"
+     }
+    ]
+   },
+   "candles_in_baskets_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 90,
+      "log_step": null,
+      "text_zh": "观察：视频80–90 s机器人反复向桌上蜡烛伸爪，视频90–91 s蜡烛仍可见于桌面；到视频96–101 s的篮旁动作未带入蜡烛。"
+     },
+     {
+      "t": 200.8,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0625，即16条目标关系仅1条成立；视频75.7 s入篮的饼干在视频97.5 s、136.5 s、162.5 s仍可见留在篮内，视频200.8 s结束前未见取出。因此其余15个计数节点终态为假；没有用会话试跑的Inside自检值替代评分视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频80–90 s机器人夹爪在柱状蜡烛旁反复开合，未见稳定夹住并抬离；实际指面接触被腕部视角遮挡，无法确认。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘在该轮取物前后往返桌边与藤篮旁。"
+     }
+    ]
+   },
+   "candles_in_baskets_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 153,
+      "log_step": null,
+      "text_zh": "观察：视频139–154 s机器人再次伸爪到桌边柱状物附近，随后视频155–162 s空手在篮旁执行动作，未见蜡烛入篮。"
+     },
+     {
+      "t": 200.8,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0625，即16条目标关系仅1条成立；视频75.7 s入篮的饼干在视频97.5 s、136.5 s、162.5 s仍可见留在篮内，视频200.8 s结束前未见取出。因此其余15个计数节点终态为假；没有用会话试跑的Inside自检值替代评分视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频139–154 s夹爪尝试取桌上柱状蜡烛，但未见可靠夹持或可判定的指面���触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频155–162 s机器人底盘向藤篮移动，未见持有蜡烛。"
+     }
+    ]
+   },
+   "candles_in_baskets_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 197,
+      "log_step": null,
+      "text_zh": "观察：视频186–197 s机器人在桌边蜡烛附近反复合爪和抬手；视频197 s柱状蜡烛仍在桌面，视频198–200.8 s手爪伸向篮旁但没有带入蜡烛。"
+     },
+     {
+      "t": 200.8,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0625，即16条目标关系仅1条成立；视频75.7 s入篮的饼干在视频97.5 s、136.5 s、162.5 s仍可见留在篮内，视频200.8 s结束前未见取出。因此其余15个计数节点终态为假；没有用会话试跑的Inside自检值替代评分视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频186–197 s机器人夹爪在桌上柱状蜡烛附近闭合，未见夹稳抬走，接触细节不清楚。"
+     }
+    ]
+   },
+   "cookies_in_baskets_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      75.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频0–12 s的起始巡视中，礼物位于矮桌，藤篮在地面；未见初始入篮关系。"
+     },
+     {
+      "t": 75.7,
+      "log_step": null,
+      "text_zh": "观察：视频48–75.3 s，机器人一侧夹爪夹持圆形饼干搬运；视频75.5–75.8 s松开后，饼干向下进入藤篮，视频76.2 s清楚位于篮底。首次有效入篮时间约为视频75.7 s。"
+     },
+     {
+      "t": 162.5,
+      "log_step": null,
+      "text_zh": "观察：视频97.5 s、136.5 s和162.5 s再次看见同一藤篮内的圆形饼干；之后机器人继续对桌上物品操作，未见将该饼干取出。"
+     },
+     {
+      "t": 200.8,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0625，即16条目标关系仅1条成立；视频75.7 s入篮的饼干在视频97.5 s、136.5 s、162.5 s仍可见留在篮内，视频200.8 s结束前未见取出。因此其余15个计数节点终态为假；没有用会话试跑的Inside自检值替代评分视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人先用右夹爪夹持第一块饼干但在视频25 s左右放到篮外；随后左夹爪在视频48–75.3 s夹持另一块饼干，视频75.7 s将其释放入篮，构成第1个有效配对。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘在桌边与藤篮之间移动，承载夹爪夹持的饼干。"
+     }
+    ]
+   },
+   "cookies_in_baskets_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频24.5–25.3 s，最先搬运的饼干脱离夹爪后出现在壁炉前地面，藤篮在其侧方；这次投放没有增加入篮数。"
+     },
+     {
+      "t": 108,
+      "log_step": null,
+      "text_zh": "观察：视频103–109 s，机器人再次伸爪到桌上圆形饼干附近；视频108–112 s可见饼干仍在桌面，夹爪没有带着它移向藤篮。"
+     },
+     {
+      "t": 200.8,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0625，即16条目标关系仅1条成立；视频75.7 s入篮的饼干在视频97.5 s、136.5 s、162.5 s仍可见留在篮内，视频200.8 s结束前未见取出。因此其余15个计数节点终态为假；没有用会话试跑的Inside自检值替代评分视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频103–109 s，机器人夹爪在另一块桌上饼干附近开合；画面不能确认指面是否实际触及饼干，不能标成已抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频103 s前机器人底盘从藤篮返回桌边，随后又驶向藤篮，但未确认携带新增饼干。"
+     }
+    ]
+   },
+   "cookies_in_baskets_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 170,
+      "log_step": null,
+      "text_zh": "观察：视频165–170 s，机器人夹爪靠近桌边圆形饼干，视频170 s饼干仍在桌面，未见新增入篮。"
+     },
+     {
+      "t": 200.8,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0625，即16条目标关系仅1条成立；视频75.7 s入篮的饼干在视频97.5 s、136.5 s、162.5 s仍可见留在篮内，视频200.8 s结束前未见取出。因此其余15个计数节点终态为假；没有用会话试跑的Inside自检值替代评分视���。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频165–170 s夹爪靠近桌边饼干并开合，饼干没有随手离开桌面，具体触点无法确认。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘移动到桌子另一端继续尝试取饼干。"
+     }
+    ]
+   },
+   "cookies_in_baskets_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 197,
+      "log_step": null,
+      "text_zh": "观察：视频194–197 s，桌上仍能看到圆形饼干；视频197–200.8 s夹爪向藤篮方向伸出时没有携带该饼干，未形成第4个有效配对。"
+     },
+     {
+      "t": 200.8,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0625，即16条目标关系仅1条成立；视频75.7 s入篮的饼干在视频97.5 s、136.5 s、162.5 s仍可见留在篮内，视频200.8 s结束前未见取出。因此其余15个计数节点终态为假；没有用会话试跑的Inside自检值替代评分视频。"
+     }
+    ]
+   },
+   "cheeses_in_baskets_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 20,
+      "log_step": null,
+      "text_zh": "观察：视频18–26.5 s，机器人左夹爪两指夹住三角形奶酪，奶酪随夹爪离开桌面并被搬向藤篮。"
+     },
+     {
+      "t": 27,
+      "log_step": null,
+      "text_zh": "观察：视频26.7–27.2 s，左夹爪打开，奶酪从篮子侧方落下；视频27.5–28 s主视角可见奶酪在壁炉前地面，篮子在旁边。未见奶酪中心进入篮内；后续也未见补救。"
+     },
+     {
+      "t": 200.8,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0625，即16条目标关系仅1条成立；视频75.7 s入篮的饼干在视频97.5 s、136.5 s、162.5 s仍可见留在篮内，视频200.8 s结束前未见取出。因此其余15个计数节点终态为假；没有用会话试跑的Inside自检值替代评分视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左夹爪在视频18–26.5 s夹持三角形奶酪并搬运，视频约27 s在篮外释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载左夹爪所持奶酪，从矮桌驶向壁炉旁的藤篮。"
+     }
+    ]
+   },
+   "cheeses_in_baskets_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 93.5,
+      "log_step": null,
+      "text_zh": "观察：视频91–93 s腕部画面见三角形奶酪位于夹爪前，视频93.5–94 s机器人抬臂转向时奶酪离开夹爪区域；视频96–101 s到篮旁时手爪为空，未见奶酪入篮。"
+     },
+     {
+      "t": 200.8,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0625，即16条目标关系仅1条成立；视频75.7 s入篮的饼干在视频97.5 s、136.5 s、162.5 s仍可见留在篮内，视频200.8 s结束前未见取出。因此其余15个计数节点终态为假；没有用会话试跑的Inside自检值替代评分视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频91–93 s夹爪夹持另一块三角形奶酪，随后在离桌动作中失去该物体；没有完成入篮。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘随后从桌旁向藤篮行驶，抵达时未见奶酪仍在夹爪中。"
+     }
+    ]
+   },
+   "cheeses_in_baskets_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 154,
+      "log_step": null,
+      "text_zh": "观察：视频145–154 s，机器人在有三角形奶酪的桌边伸爪；视频154.5 s奶酪仍在桌面，视频155–162 s机器人空爪移向篮旁，未见新增奶酪入篮。"
+     },
+     {
+      "t": 200.8,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0625，即16条目标关系仅1条成立；视频75.7 s入篮的饼干在视频97.5 s、136.5 s、162.5 s仍可见留在篮内，视频200.8 s结束前未见取出。因此其余15个计数节点终态为假；没有用会话试跑的Inside自检值替代评分视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频145–154 s机器人夹爪在桌边操作，但奶酪仍在桌上，指面与该奶酪是否接触无法从腕部遮挡及主视角确定。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘在桌边和藤篮旁移动，视频155–162 s未确认携带奶酪。"
+     }
+    ]
+   },
+   "cheeses_in_baskets_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 200.8,
+      "log_step": null,
+      "text_zh": "观察：视频185–200.8 s机器人仍在桌边伸爪，桌面三角形奶酪没有随手运入藤篮；结尾夹爪为空。"
+     },
+     {
+      "t": 200.8,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0625，即16条目标关系仅1条成立；视频75.7 s入篮的饼干在视频97.5 s、136.5 s、162.5 s仍可见留在篮内，视频200.8 s结束前未见取出。因此其余15个计数节点终态为假；没有用会话试跑的Inside自检值替代评分视频。"
+     }
+    ]
+   },
+   "bows_in_baskets_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 37,
+      "log_step": null,
+      "text_zh": "观察：视频32–37 s机器人右夹爪伸向红色蝴蝶结，腕部画面见蝴蝶结相对桌边移动；机器人随后持蜡烛离开时，右爪没有带着蝴蝶结。"
+     },
+     {
+      "t": 200.8,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0625，即16条目标关系仅1条成立；视频75.7 s入篮的饼干在视频97.5 s、136.5 s、162.5 s仍可见留在篮内，视频200.8 s结束前未见取出。因此其余15个计数节点终态为假；没有用会话试跑的Inside自检值替代评分视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "视频32–37 s机器人右夹爪拨动桌边红色蝴蝶结，未见两指稳定夹持并搬走。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘随后离开桌边驶向藤篮，该轮右夹爪未携带蝴蝶结。"
+     }
+    ]
+   },
+   "bows_in_baskets_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 70,
+      "log_step": null,
+      "text_zh": "观察：视频52–70 s机器人右夹爪多次接近、闭合后离开红色蝴蝶结，蝴蝶结被拨动但一直留在桌面；视频72–78 s到篮旁时右爪为空。"
+     },
+     {
+      "t": 200.8,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0625，即16条目标关系仅1条成立；视频75.7 s入篮的饼干在视频97.5 s、136.5 s、162.5 s仍可见留在篮内，视频200.8 s结束前未见取出。因此其余15个计数节点终态为假；没有用会话试跑的Inside自检值替代评分视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "视频52–70 s机器人右夹爪反复拨动红色蝴蝶结；虽多次合爪，画面没有显示夹稳并搬离桌面。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘在取物前后移动，驶向藤篮时未见携带蝴蝶结。"
+     }
+    ]
+   },
+   "bows_in_baskets_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 124,
+      "log_step": null,
+      "text_zh": "观察：视频110–124 s机器人伸爪到桌上红色蝴蝶结附近，但视频124–130 s该蝴蝶结仍在桌面；后续篮旁动作未增加蝴蝶结入篮数。"
+     },
+     {
+      "t": 200.8,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0625，即16条目标关系仅1条成立；视频75.7 s入篮的饼干在视频97.5 s、136.5 s、162.5 s仍可见留在篮内，视频200.8 s结束前未见取出。因此其余15个计数节点终态为假；没有用会话试跑的Inside自检值替代评分视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频110–124 s机器人在红色蝴蝶结附近尝试闭合夹爪，主视角及腕部遮挡不能确认实际指面接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘在桌边和篮旁间移动，但没有确认夹持蝴蝶结。"
+     }
+    ]
+   },
+   "bows_in_baskets_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 179,
+      "log_step": null,
+      "text_zh": "观察：视频172–179 s机器人右夹爪多次伸到红色蝴蝶结旁开合，蝴蝶结仍留在桌面；视频180–184 s夹爪向篮子伸出时为空，未见蝴蝶结入篮。"
+     },
+     {
+      "t": 200.8,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0625，即16条目标关系仅1条成立；视频75.7 s入篮的饼干在视频97.5 s、136.5 s、162.5 s仍可见留在篮内，视频200.8 s结束前未见取出。因此其余15个计数节点终态为假；没有用会话试跑的Inside自检值替代评分视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频172–179 s机器人右夹爪在桌上红色蝴蝶结附近开合，未见稳定夹持，具体触点不能确定。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0625,
+   "unit": "ratio",
+   "threshold": 1,
+   "direction": "higher_better"
+  },
+  {
+   "name": "goal_held_steps",
+   "value": null,
+   "unit": "control_step",
+   "threshold": 30,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cheeses_in_baskets_1",
+   "t": 27,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频18–26.5 s机器人左夹爪夹持奶酪搬向藤篮；视频26.7–27.2 s夹爪在篮侧打开，奶酪落到壁炉前地面，视频27.5–28 s可见奶酪在篮外。推断：最先失败的饼干投放虽在视频25 s左右落空，但视频75.7 s另一块饼干入篮修复了第1块饼干计数；奶酪的第1个配对则始终没有修复，因此断点取第1块奶酪入篮。"
+  },
+  "unmet": {
+   "candles_in_baskets_1": false,
+   "candles_in_baskets_2": false,
+   "candles_in_baskets_3": false,
+   "candles_in_baskets_4": false,
+   "cookies_in_baskets_1": true,
+   "cookies_in_baskets_2": false,
+   "cookies_in_baskets_3": false,
+   "cookies_in_baskets_4": false,
+   "cheeses_in_baskets_1": false,
+   "cheeses_in_baskets_2": false,
+   "cheeses_in_baskets_3": false,
+   "cheeses_in_baskets_4": false,
+   "bows_in_baskets_1": false,
+   "bows_in_baskets_2": false,
+   "bows_in_baskets_3": false,
+   "bows_in_baskets_4": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 27,
+    "log_step": null,
+    "evidence_zh": "观察：视频26.7–27.2 s机器人左夹爪释放三角形奶酪时，奶酪在藤篮侧方；视频27.5–28 s奶酪已经在壁炉前地面。它没有先放稳在篮内再滚出，属于释放位置未对准篮内。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：视频20–26.5 s左夹爪能夹持并运送奶酪，失败出现在视频约27 s的投放动作：机器人将手爪移到篮侧后释放，奶酪落地；视频约25 s的饼干和视频约41 s的蜡烛也在同一篮旁落空。这支持实际执行的放置控制未把物品送入容器，缺少关节/接触状态，不能细分为逆解、跟踪或参数问题。",
+    "source_zh": "视频"
+   },
+   {
+    "cat": "交付",
+    "item": "交付操作出错",
+    "evidence_zh": "观察：log step 54的脚本在持久会话内调用s.reset()后录制；log step 5读取的工具说明明确指出进程内reset只近似恢复。log step 69保存第3次试跑的6026行轨迹，log step 70将它复制为交付文件；log step 74明确自述未做新进程replay，评分器也记录agent_replays=0、deterministic=1。该试跑在log step 67/69称首块饼干在篮内并有8件物品入篮，但评分视频约25 s显示首块饼干落地，最终q_score仅1/16。推断：agent交付了未经新进程验收、不能复现其会话自检进度的录制文件；不能将会话成绩当作交付结果，也无证据归咎评分器。",
+    "source_zh": "日志 / 评分器字段 / 视频"
+   }
+  ],
+  "gap_zh": "观察：本任务没有inputs/states.jsonl，所提供oracle.json也明确无成功参考视频；视频只有头部与腕部视角，若干后段取物动作的指面接触被遮挡，故相应contact_actual填未知。推断：节点按同类物品在不同篮中的有效配对数计，未将会话log step 69的8件自检结果计入；未形成有效配对的后段接触按可见的同类取物尝试记录，不绑定实例身份。视频200.8 s末帧没有同时呈现全部篮内，终态其余节点的否定由已观察到的单块饼干留篮和评分器1/16总数共同决定；未见新增入篮的尝试记空区间。缺少逐帧位姿和接触记录，不能进一步确定篮外释放的控制子类，也不能精确定位录制与重放开始产生物理差异的时刻。"
+ },
+ "summary_zh": "评分视频中仅第1块饼干入篮成立，约视频75.7 s达成并保留到终态，最终为1/16，与q_score=0.0625一致。最早未补救的步骤是第1块奶酪入篮：机器人约视频27 s在篮侧释放奶酪使其落地，存在放置控制问题；agent还提交了进程内重置后录制、未经新进程重放检查的第3次试跑文件，会话自检的8件入篮不等于评分视频结果。没有状态日志和成功参考视频，部分后段实际接触不明，终态其余节点由视频和评分总数共同判定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 5,
+    "summary_zh": "抽查视频25.5、29、76.5 s帧，与标注的奶酪落在篮外、断点取第1块奶酪、1/16总数一致；未发现需要改动的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:16:06Z",
+  "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/behavior-assembling-gift-baskets-i00-privileged--kgl2pkh/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-assembling-gift-baskets-i00-privileged--kgl2pkh/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c806de31dc54f513225c21adce8ec62c9e12ab717de433215f65a8fee3fd9800",
+   "video_sha256": "ba34148c2cf0f349721a644094cff736ecea5f53506dbc6114a072bbe5bfcda3",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/assembling_gift_baskets/trajectories/behavior-assembling-gift-baskets-i00-privileged--q8j9bvm.json

@@ -0,0 +1,403 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-assembling-gift-baskets-i00-privileged--q8j9bvm",
+ "taskKey": "behavior-1k/assembling_gift_baskets",
+ "dag_sha256": "f73b438e440ce63d6355e3a4ab58c371398e747ffe1fac3b44b09c6c3fb40668",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 359,
+   "sim_breakdown": 0,
+   "goal": 0,
+   "settle_steps": 0,
+   "goal_first_step": -1,
+   "sim_steps": 359,
+   "fallen": 1,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 2010.1,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "video_replay_matches": 1,
+   "agent_sessions": 1,
+   "agent_resets": 4,
+   "agent_sim_steps": 0,
+   "agent_records": 3,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-assembling-gift-baskets-i00-privileged--q8j9bvm/replay.mp4",
+  "duration_s": 11.967,
+  "fps": 30.0,
+  "frames": 359,
+  "sha256": "b3b734a4c4e1fea397c30de779647399cd116386c13211ebb69962488e1b544d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 16,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "candles_in_baskets_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：逐段检查视频 0.0–11.93 s，机器人早期倾倒，之后只有机械臂伸向桌面及夹爪张合，未见柱状蜡烛从桌面运入藤篮；没有形成至少1个柱状蜡烛与不同藤篮的有效配对。评分器 q_score=0、goal=0，结合本任务初始无入篮目标关系，确定本节点终值为假；未将会话调试中的放置结果计入。"
+     }
+    ]
+   },
+   "candles_in_baskets_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：逐段检查视频 0.0–11.93 s，机器人早期倾倒，之后只有机械臂伸向桌面及夹爪张合，未见柱状蜡烛从桌面运入藤篮；没有形成至少2个柱状蜡烛与不同藤篮的有效配对。评分器 q_score=0、goal=0，结合本任务初始无入篮目标关系，确定本节点终值为假；未将会话调试中的放置结果计入。"
+     }
+    ]
+   },
+   "candles_in_baskets_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：逐段检查视频 0.0–11.93 s，机器人早期倾倒，之后只有机械臂伸向桌面及夹爪张合，未见柱状蜡烛从桌面运入藤篮；没有形成至少3个柱状蜡烛与不同藤篮的有效配对。评分器 q_score=0、goal=0，结合本任务初始无入篮目标关系，确定本节点终值为假；未将会话调试中的放置结果计入。"
+     }
+    ]
+   },
+   "candles_in_baskets_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：逐段检查视频 0.0–11.93 s，机器人早期倾倒，之后只有机械臂伸向桌面及夹爪张合，未见柱状蜡烛从桌面运入藤篮；没有形成至少4个柱状蜡烛与不同藤篮的有效配对。评分器 q_score=0、goal=0，结合本任务初始无入篮目标关系，确定本节点终值为假；未将会话调试中的放置结果计入。"
+     }
+    ]
+   },
+   "cookies_in_baskets_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：逐段检查视频 0.0–11.93 s，机器人早期倾倒，之后只有机械臂伸向桌面及夹爪张合，未见黄油饼干从桌面运入藤篮；没有形成至少1个黄油饼干与不同藤篮的有效配对。评分器 q_score=0、goal=0，结合本任务初始无入篮目标关系，确定本节点终值为假；未将会话调试中的放置结果计入。"
+     },
+     {
+      "t": 8.45,
+      "log_step": null,
+      "text_zh": "观察：视频 7.7–9.6 s 的右腕视角中，二指夹爪在桌沿附近的圆形黄色饼干前方闭合；随后夹爪相对桌面移动，饼干仍留在原桌面位置，未见被提起或送入篮子。"
+     },
+     {
+      "t": null,
+      "log_step": 72,
+      "text_zh": "观察：log step 72 展示最后运行 j07 的日志，脚本先取 butter_cookie.n.01_2，再取 swiss_cheese.n.01_1，并把359行检查点保存为交付文件；同一日志的“pick ... OK”是会话记录，不能替代视频中的实际拾取证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–2.0 s 机器人移动、转动时相机视线快速倾斜，随后侧倒；推断：结合 log step 72 的首个取物目标，将这段空手接近动作归入第一块饼干入篮的工作。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 8.2–9.6 s 右二指夹爪在饼干前方闭合，饼干未离开桌面；腕部视角不能确认指尖是否真正触及饼干，不能确认存在包夹抓握。"
+     }
+    ]
+   },
+   "cookies_in_baskets_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：逐段检查视频 0.0–11.93 s，机器人早期倾倒，之后只有机械臂伸向桌面及夹爪张合，未见黄油饼干从桌面运入藤篮；没有形成至少2个黄油饼干与不同藤篮的有效配对。评分器 q_score=0、goal=0，结合本任务初始无入篮目标关系，确定本节点终值为假；未将会话调试中的放置结果计入。"
+     }
+    ]
+   },
+   "cookies_in_baskets_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：逐段检查视频 0.0–11.93 s，机器人早期倾倒，之后只有机械臂伸向桌面及夹爪张合，未见黄油饼干从桌面运入藤篮；没有形成至少3个黄油饼干与不同藤篮的有效配对。评分器 q_score=0、goal=0，结合本任务初始无入篮目标关系，确定本节点终值为假；未将会话调试中的放置结果计入。"
+     }
+    ]
+   },
+   "cookies_in_baskets_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：逐段检查视频 0.0–11.93 s，机器人早期倾倒，之后只有机械臂伸向桌面及夹爪张合，未见黄油饼干从桌面运入藤篮；没有形成至少4个黄油饼干与不同藤篮的有效配对。评分器 q_score=0、goal=0，结合本任务初始无入篮目标关系，确定本节点终值为假；未将会话调试中的放置结果计入。"
+     }
+    ]
+   },
+   "cheeses_in_baskets_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：逐段检查视频 0.0–11.93 s，机器人早期倾倒，之后只有机械臂伸向桌面及夹爪张合，未见瑞士奶酪从桌面运入藤篮；没有形成至少1个瑞士奶酪与不同藤篮的有效配对。评分器 q_score=0、goal=0，结合本任务初始无入篮目标关系，确定本节点终值为假；未将会话调试中的放置结果计入。"
+     },
+     {
+      "t": 11.93,
+      "log_step": 72,
+      "text_zh": "推断：视频 11.4–11.93 s 上方腕部视角转向桌上的三角形奶酪，未见奶酪离桌；log step 72 的脚本顺序也将奶酪列为饼干之后的取物目标，故记为已开始尝试第一块奶酪，但不记任何成功抓取或入篮。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "推断：结合视频 11.4–11.93 s 上方腕部视角中的三角形奶酪与 log step 72 的下一取物目标，左臂开始接近奶酪；片尾未显示左夹爪与奶酪的可确认接触，实际接触方式未知。"
+     }
+    ]
+   },
+   "cheeses_in_baskets_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：逐段检查视频 0.0–11.93 s，机器人早期倾倒，之后只有机械臂伸向桌面及夹爪张合，未见瑞士奶酪从桌面运入藤篮；没有形成至少2个瑞士奶酪与不同藤篮的有效配对。评分器 q_score=0、goal=0，结合本任务初始无入篮目标关系，确定本节点终值为假；未将会话调试中的放置结果计入。"
+     }
+    ]
+   },
+   "cheeses_in_baskets_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：逐段检查视频 0.0–11.93 s，机器人早期倾倒，之后只有机械臂伸向桌面及夹爪张合，未见瑞士奶酪从桌面运入藤篮；没有形成至少3个瑞士奶酪与不同藤篮的有效配对。评分器 q_score=0、goal=0，结合本任务初始无入篮目标关系，确定本节点终值为假；未将会话调试中的放置结果计入。"
+     }
+    ]
+   },
+   "cheeses_in_baskets_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：逐段检查视频 0.0–11.93 s，机器人早期倾倒，之后只有机械臂伸向桌面及夹爪张合，未见瑞士奶酪从桌面运入藤篮；没有形成至少4个瑞士奶酪与不同藤篮的有效配对。评分器 q_score=0、goal=0，结合本任务初始无入篮目标关系，确定本节点终值为假；未将会话调试中的放置结果计入。"
+     }
+    ]
+   },
+   "bows_in_baskets_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：逐段检查视频 0.0–11.93 s，机器人早期倾倒，之后只有机械臂伸向桌面及夹爪张合，未见蝴蝶结从桌面运入藤篮；没有形成至少1个蝴蝶结与不同藤篮的有效配对。评分器 q_score=0、goal=0，结合本任务初始无入篮目标关系，确定本节点终值为假；未将会话调试中的放置结果计入。"
+     }
+    ]
+   },
+   "bows_in_baskets_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：逐段检查视频 0.0–11.93 s，机器人早期倾倒，之后只有机械臂伸向桌面及夹爪张合，未见蝴蝶结从桌面运入藤篮；没有形成至少2个蝴蝶结与不同藤篮的有效配对。评分器 q_score=0、goal=0，结合本任务初始无入篮目标关系，确定本节点终值为假；未将会话调试中的放置结果计入。"
+     }
+    ]
+   },
+   "bows_in_baskets_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：逐段检查视频 0.0–11.93 s，机器人早期倾倒，之后只有机械臂伸向桌面及夹爪张合，未见蝴蝶结从桌面运入藤篮；没有形成至少3个蝴蝶结与不同藤篮的有效配对。评分器 q_score=0、goal=0，结合本任务初始无入篮目标关系，确定本节点终值为假；未将会话调试中的放置结果计入。"
+     }
+    ]
+   },
+   "bows_in_baskets_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.93,
+      "log_step": null,
+      "text_zh": "推断：逐段检查视频 0.0–11.93 s，机器人早期倾倒，之后只有机械臂伸向桌面及夹爪张合，未见蝴蝶结从桌面运入藤篮；没有形成至少4个蝴蝶结与不同藤篮的有效配对。评分器 q_score=0、goal=0，结合本任务初始无入篮目标关系，确定本节点终值为假；未将会话调试中的放置结果计入。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": 1,
+   "direction": "higher_better"
+  },
+  {
+   "name": "goal_held_steps",
+   "value": null,
+   "unit": "control_step",
+   "threshold": 30,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cookies_in_baskets_1",
+   "t": 1.0,
+   "log_step": 72,
+   "where": "转场",
+   "evidence_zh": "推断：视频 0.5–2.0 s 机器人在空手接近取物位置时明显侧倾，墙壁与地面在多个相机中转至近横躺方向；视频 3.0–10.8 s 持续侧倒，之后的右夹爪动作也未把饼干从桌面取走。结合 log step 72 的最后交付运行首先取饼干，断点归第一块饼干入篮的接近阶段；此步至视频结束未修复。评分器 fallen=1 支持确有跌倒，未把日志内其他测试的进展当成交付结果。"
+  },
+  "unmet": {
+   "candles_in_baskets_1": false,
+   "candles_in_baskets_2": false,
+   "candles_in_baskets_3": false,
+   "candles_in_baskets_4": false,
+   "cookies_in_baskets_1": false,
+   "cookies_in_baskets_2": false,
+   "cookies_in_baskets_3": false,
+   "cookies_in_baskets_4": false,
+   "cheeses_in_baskets_1": false,
+   "cheeses_in_baskets_2": false,
+   "cheeses_in_baskets_3": false,
+   "cheeses_in_baskets_4": false,
+   "bows_in_baskets_1": false,
+   "bows_in_baskets_2": false,
+   "bows_in_baskets_3": false,
+   "bows_in_baskets_4": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 1.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 0.5–2.0 s 房间竖直边缘随机器人相机大幅旋转，随后视频 3.0–10.8 s 主视角持续侧倒；视频 10.8–11.93 s 仍有大幅姿态变化，没有恢复有效取放。评分器 fallen=1、sim_breakdown=0，视频中没有完成任何入篮。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 内有运行日志和完整视频，但没有逐帧状态日志，参考成功运行也无视频。日志中 j07 记有夹住饼干，而视频 8.2–9.6 s 饼干仍在桌面，故仅用日志辨认脚本目标和交付文件；接触是否建立仍有遮挡。log step 71–72 记录 sim_steps=412、实际录制359行，评分器 agent_replays=0；这些信息提示录制起点或初态一致性尚未核验，但日志中关键脚本中段已截断，无法确定未录制部分做了什么，也无法据此认定交付错误。视频能确定失衡，不能区分底盘/躯干控制、接触碰撞或录制起点等具体成因，根因层留空；goal_held_steps 未按同名字段报告，保持 null。"
+ },
+ "summary_zh": "交付视频中没有形成任何礼物入篮关系，16个节点终值均为假，评分器 q_score=0。机器人在前往第一块饼干的过程中于视频约 1.0 s 失衡，随后虽有夹爪闭合和接近奶酪的动作，仍未完成取放。没有状态日志，且会话拾取记录与视频不一致；失衡的具体根因及两次取物尝试的实际接触无法确认。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "视频显示机器人约1 s起失衡侧倒，全程无入篮，16个节点均为假、断点在首块饼干接近阶段、平衡现象均与帧一致；根因层留空并有gap_zh，合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:37:20Z",
+  "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/behavior-assembling-gift-baskets-i00-privileged--q8j9bvm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-assembling-gift-baskets-i00-privileged--q8j9bvm/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b54682bfe4c92d7d002d51deab4201cc641e1c19e11348841259e6f3602a7ab4",
+   "video_sha256": "b3b734a4c4e1fea397c30de779647399cd116386c13211ebb69962488e1b544d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/assembling_gift_baskets/trajectories/behavior-assembling-gift-baskets-i00-privileged--vsrub8q.json

@@ -0,0 +1,470 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-assembling-gift-baskets-i00-privileged--vsrub8q",
+ "taskKey": "behavior-1k/assembling_gift_baskets",
+ "dag_sha256": "f73b438e440ce63d6355e3a4ab58c371398e747ffe1fac3b44b09c6c3fb40668",
+ "outcome": {
+  "success": 0,
+  "reward": 0.125,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 966,
+   "sim_steps": 966,
+   "fallen": 0,
+   "final_reward": 0.125,
+   "q_score": 0.125,
+   "replay_wall_s": 2653.5,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 11,
+   "agent_resets": 5,
+   "agent_sim_steps": 0,
+   "agent_records": 3,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-assembling-gift-baskets-i00-privileged--vsrub8q/replay.mp4",
+  "duration_s": 32.2,
+  "fps": 30.0,
+  "frames": 966,
+  "sha256": "0bb34739f89ef2550973d5017ab81addd0b93a0f51dc0427a737bb388b983941"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 16,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "candles_in_baskets_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 32.17,
+      "log_step": null,
+      "text_zh": "观察：视频 0–32.17 s 仅见机器人搬运一块奶酪和一块饼干，未见机器人抓取或搬运蜡烛；视频 31.8–32.17 s 桌上仍有蜡烛，篮内可见奶酪和饼干。"
+     },
+     {
+      "t": 32.17,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.125 对应终态2/16个目标关系；视频确认的一块奶酪和一块饼干已占满这2个配对，故第1个蜡烛入篮的额外关系不成立。"
+     }
+    ]
+   },
+   "candles_in_baskets_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 32.17,
+      "log_step": null,
+      "text_zh": "观察：视频 0–32.17 s 仅见机器人搬运一块奶酪和一块饼干，未见机器人抓取或搬运蜡烛；视频 31.8–32.17 s 桌上仍有蜡烛，篮内可见奶酪和饼干。"
+     },
+     {
+      "t": 32.17,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.125 对应终态2/16个目标关系；视频确认的一块奶酪和一块饼干已占满这2个配对，故第2个蜡烛入篮的额外关系不成立。"
+     }
+    ]
+   },
+   "candles_in_baskets_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 32.17,
+      "log_step": null,
+      "text_zh": "观察：视频 0–32.17 s 仅见机器人搬运一块奶酪和一块饼干，未见机器人抓取或搬运蜡烛；视频 31.8–32.17 s 桌上仍有蜡烛，篮内可见奶酪和饼干。"
+     },
+     {
+      "t": 32.17,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.125；DAG 初态16个目标关系均未成立，终态总计只允许2个有效配对，少于本节点要求的3个，故终态为假。"
+     }
+    ]
+   },
+   "candles_in_baskets_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 32.17,
+      "log_step": null,
+      "text_zh": "观察：视频 0–32.17 s 仅见机器人搬运一块奶酪和一块饼干，未见机器人抓取或搬运蜡烛；视频 31.8–32.17 s 桌上仍有蜡烛，篮内可见奶酪和饼干。"
+     },
+     {
+      "t": 32.17,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.125；DAG 初态16个目标关系均未成立，终态总计只允许2个有效配对，少于本节点要求的4个，故终态为假。"
+     }
+    ]
+   },
+   "cookies_in_baskets_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      29.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 29.2,
+      "log_step": null,
+      "text_zh": "观察：视频 18.6–20.4 s 左腕画面中圆饼干由桌面靠近后进入左夹爪两指之间，并被提起搬走；视频 28.8 s 饼干仍在夹爪近处，视频 29.2 s 已脱离夹爪落到篮内。 入篮时刻按画面约定，精度约0.3秒。"
+     },
+     {
+      "t": 32.17,
+      "log_step": null,
+      "text_zh": "观察：视频 29.4–32.17 s 左腕画面中圆饼干和先放入的三角奶酪留在篮内，夹爪撤离，没有再提起饼干。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左夹爪两指夹住一块饼干，搬运至藤篮后松开；右夹爪未参与。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在桌边取物与藤篮之间移动、转向，底盘承载机械臂及左夹爪所持饼干。"
+     }
+    ]
+   },
+   "cookies_in_baskets_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 32.17,
+      "log_step": null,
+      "text_zh": "观察：视频 0–32.17 s 仅见机器人搬运一块饼干入篮，未见第二块饼干离桌后入篮。"
+     },
+     {
+      "t": 32.17,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.125 对应终态2/16个目标关系；视频确认的一块奶酪和一块饼干已占满这2个配对，故第2个饼干入篮的额外关系不成立。"
+     }
+    ]
+   },
+   "cookies_in_baskets_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 32.17,
+      "log_step": null,
+      "text_zh": "观察：视频 0–32.17 s 仅见机器人搬运一块饼干入篮，未见形成3个不同篮子的饼干配对。"
+     },
+     {
+      "t": 32.17,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.125；DAG 初态16个目标关系均未成立，终态总计只允许2个有效配对，少于本节点要求的3个，故终态为假。"
+     }
+    ]
+   },
+   "cookies_in_baskets_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 32.17,
+      "log_step": null,
+      "text_zh": "观察：视频 0–32.17 s 仅见机器人搬运一块饼干入篮，未见形成4个不同篮子的饼干配对。"
+     },
+     {
+      "t": 32.17,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.125；DAG 初态16个目标关系均未成立，终态总计只允许2个有效配对，少于本节点要求的4个，故终态为假。"
+     }
+    ]
+   },
+   "cheeses_in_baskets_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      14.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 14.2,
+      "log_step": null,
+      "text_zh": "观察：视频 2.4–4.0 s 左腕画面中三角奶酪由桌面远处进入左夹爪两指之间，视频 4–13.8 s 随左夹爪搬运；视频 14.2 s 奶酪已脱离夹爪并位于藤篮内。 入篮时刻按画面约定，精度约0.3秒。"
+     },
+     {
+      "t": 32.17,
+      "log_step": null,
+      "text_zh": "观察：视频 15.4–16.4 s 左腕画面仍见奶酪留在篮内；视频 29.4–32.17 s 同一篮中可见奶酪和后放入的圆饼干，没有重新提起奶酪。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左夹爪两指夹住一块奶酪，搬运至藤篮后松开；右夹爪未参与。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在桌边取物与藤篮之间移动、转向，底盘承载机械臂及左夹爪所持奶酪。"
+     }
+    ]
+   },
+   "cheeses_in_baskets_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 32.17,
+      "log_step": null,
+      "text_zh": "观察：视频 0–32.17 s 仅见机器人搬运一块奶酪入篮，未见第二块奶酪离桌后入篮。"
+     },
+     {
+      "t": 32.17,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.125 对应终态2/16个目标关系；视频确认的一块奶酪和一块饼干已占满这2个配对，故第2个奶酪入篮的额外关系不成立。"
+     }
+    ]
+   },
+   "cheeses_in_baskets_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 32.17,
+      "log_step": null,
+      "text_zh": "观察：视频 0–32.17 s 仅见机器人搬运一块奶酪入篮，未见形成3个不同篮子的奶酪配对。"
+     },
+     {
+      "t": 32.17,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.125；DAG 初态16个目标关系均未成立，终态总计只允许2个有效配对，少于本节点要求的3个，故终态为假。"
+     }
+    ]
+   },
+   "cheeses_in_baskets_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 32.17,
+      "log_step": null,
+      "text_zh": "观察：视频 0–32.17 s 仅见机器人搬运一块奶酪入篮，未见形成4个不同篮子的奶酪配对。"
+     },
+     {
+      "t": 32.17,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.125；DAG 初态16个目标关系均未成立，终态总计只允许2个有效配对，少于本节点要求的4个，故终态为假。"
+     }
+    ]
+   },
+   "bows_in_baskets_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 32.17,
+      "log_step": null,
+      "text_zh": "观察：视频 0–32.17 s 仅见机器人搬运一块奶酪和一块饼干，未见机器人抓取或搬运蝴蝶结；视频 31.8–32.17 s 桌上仍有蝴蝶结，篮内可见奶酪和饼干。"
+     },
+     {
+      "t": 32.17,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.125 对应终态2/16个目标关系；视频确认的一块奶酪和一块饼干已占满这2个配对，故第1个蝴蝶结入篮的额外关系不成立。"
+     }
+    ]
+   },
+   "bows_in_baskets_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 32.17,
+      "log_step": null,
+      "text_zh": "观察：视频 0–32.17 s 仅见机器人搬运一块奶酪和一块饼干，未见机器人抓取或搬运蝴蝶结；视频 31.8–32.17 s 桌上仍有蝴蝶结，篮内可见奶酪和饼干。"
+     },
+     {
+      "t": 32.17,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.125 对应终态2/16个目标关系；视频确认的一块奶酪和一块饼干已占满这2个配对，故第2个蝴蝶结入篮的额外关系不成立。"
+     }
+    ]
+   },
+   "bows_in_baskets_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 32.17,
+      "log_step": null,
+      "text_zh": "观察：视频 0–32.17 s 仅见机器人搬运一块奶酪和一块饼干，未见机器人抓取或搬运蝴蝶结；视频 31.8–32.17 s 桌上仍有蝴蝶结，篮内可见奶酪和饼干。"
+     },
+     {
+      "t": 32.17,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.125；DAG 初态16个目标关系均未成立，终态总计只允许2个有效配对，少于本节点要求的3个，故终态为假。"
+     }
+    ]
+   },
+   "bows_in_baskets_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 32.17,
+      "log_step": null,
+      "text_zh": "观察：视频 0–32.17 s 仅见机器人搬运一块奶酪和一块饼干，未见机器人抓取或搬运蝴蝶结；视频 31.8–32.17 s 桌上仍有蝴蝶结，篮内可见奶酪和饼干。"
+     },
+     {
+      "t": 32.17,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.125；DAG 初态16个目标关系均未成立，终态总计只允许2个有效配对，少于本节点要求的4个，故终态为假。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.125,
+   "unit": "ratio",
+   "threshold": 1,
+   "direction": "higher_better"
+  },
+  {
+   "name": "goal_held_steps",
+   "value": null,
+   "unit": "control_step",
+   "threshold": 30,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 318,
+   "where": "转场",
+   "evidence_zh": "观察：视频 29.2 s 第二件礼物入篮，视频 31.2–32.17 s 机器人左夹爪空手撤离篮子，未出现下一件物品的抓取；log step 318、320、323 检查交付文件均只有966行动行。推断：评分视频止于两次放入之后的空手转场，未显示哪一个后续节点发生首次未修复失败，无法在其余14个节点中唯一选定断点。"
+  },
+  "unmet": {
+   "candles_in_baskets_1": false,
+   "candles_in_baskets_2": false,
+   "candles_in_baskets_3": false,
+   "candles_in_baskets_4": false,
+   "cookies_in_baskets_1": true,
+   "cookies_in_baskets_2": false,
+   "cookies_in_baskets_3": false,
+   "cookies_in_baskets_4": false,
+   "cheeses_in_baskets_1": true,
+   "cheeses_in_baskets_2": false,
+   "cheeses_in_baskets_3": false,
+   "cheeses_in_baskets_4": false,
+   "bows_in_baskets_1": false,
+   "bows_in_baskets_2": false,
+   "bows_in_baskets_3": false,
+   "bows_in_baskets_4": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 有完整评分视频和会话日志，没有状态日志；inputs/oracle/oracle.json 表明成功参考也无视频、无状态日志。log step 304 加入每件放置后的 partial 保存钩子，log step 318、320、323 确认交付的是966行文件；log step 312、316 的失败输出已到1895、2697控制步，属于交付片段之后的会话尝试，不能当作本视频的现象。推断：视频末尾两次入篮关系仍成立，后续目标操作未出现在交付片段，因而无法定位首次未修复失败节点，现象和根因均留空；不把后续会话中的行驶偏离、逆解失败或 agent 自述的时间消耗归到本段失败。入篮的包围盒内部判据无逐帧状态可精确测量，采用腕部画面与评分总数交叉确认。"
+ },
+ "summary_zh": "观察：评分视频显示机器人左夹爪依次把一块奶酪和一块饼干放入藤篮，约在视频 14.2 s 和29.2 s 达成并保持至视频 32.17 s，终态2/16，与评分器 q_score=0.125 一致。推断：交付文件是两件礼物放好后的部分保存片段，终止于空手转场，尚不能指认其余14步中哪一步首次失败；会话后续的抓取和导航失败不属于这段评分视频。观察：没有状态日志或成功参考视频，未观察到可归因于具体节点的未修复物理失败，因此现象与根因留空。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "两件入篮（奶酪约 14.2 s、饼干约 29.2 s，视频时钟）和终态 2/16 与 q_score=0.125 一致；交付文件为 966 行动的部分快照，log step 318/320/323 可查，其后的失败属会话而非评分视频。断点 unknown、现象与根因留空并附 gap_zh，符合 FAIL-22（agent 自行停止不作现象/根因）。ref 选哪个后续节点确实无法唯一定出，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": "2026-10-30T21:08:45Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-assembling-gift-baskets-i00-privileged--vsrub8q/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-assembling-gift-baskets-i00-privileged--vsrub8q/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "69eaff723e952a43d61b3b11256e423c7fb22d2d93e90cf5739f0f1888914ae0",
+   "video_sha256": "0bb34739f89ef2550973d5017ab81addd0b93a0f51dc0427a737bb388b983941",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/assembling_gift_baskets/trajectories/behavior-assembling-gift-baskets-i00-privileged--zhhk2cy.json

@@ -0,0 +1,695 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-assembling-gift-baskets-i00-privileged--zhhk2cy",
+ "taskKey": "behavior-1k/assembling_gift_baskets",
+ "dag_sha256": "f73b438e440ce63d6355e3a4ab58c371398e747ffe1fac3b44b09c6c3fb40668",
+ "outcome": {
+  "success": 0,
+  "reward": 0.8125,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 7747,
+   "sim_steps": 7747,
+   "final_reward": 0.8125,
+   "q_score": 0.8125,
+   "replay_wall_s": 8530.2,
+   "replay_timeout_s": 5073.5,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 5,
+   "agent_resets": 0,
+   "agent_sim_steps": 10462,
+   "agent_records": 1,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-assembling-gift-baskets-i00-privileged--zhhk2cy/replay.mp4",
+  "duration_s": 258.233,
+  "fps": 30.0,
+  "frames": 7747,
+  "sha256": "8d1ffdd23851d4bf6c603369af8bbcca97bf332e6005fd16bedac322dcbf1161"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 16,
+  "base": 0,
+  "peak": 13,
+  "final": 13,
+  "nodes": {
+   "candles_in_baskets_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      37.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 37.5,
+      "log_step": 77,
+      "text_zh": "观察：视频 30–36.5 s，机器人左夹爪将一支白色柱状蜡烛从桌面运至已有饼干、奶酪的藤篮；视频 37.5–40 s，蜡烛缩小为篮内物体，夹爪抬离，为第1支入篮。"
+     },
+     {
+      "t": 258.2,
+      "log_step": null,
+      "text_zh": "推断：逐件查看视频 0–258.2 s 可跟踪四支蜡烛、四块饼干、三块奶酪和两只蝴蝶结进入不同篮子，未见已放入物品再被取出；评分器 q_score=0.8125=13/16 与这13个配对相符，故其余3个计数节点终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 30–40 s，机器人左臂二指夹爪夹持并搬运第1支蜡烛；随后松爪将其留在篮内。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30–40 s，机器人轮式底盘行驶并转向，在桌边与目标藤篮之间承载机械臂及夹爪所持物品。"
+     }
+    ]
+   },
+   "candles_in_baskets_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      77.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 77.5,
+      "log_step": 77,
+      "text_zh": "观察：视频 66–76.5 s，机器人左夹爪将另一支蜡烛从桌上搬到靠壁炉方向、与第一只装货篮相邻的另一藤篮；视频 77.5–78 s 可见蜡烛落在该篮内部，第2对成立。"
+     },
+     {
+      "t": 258.2,
+      "log_step": null,
+      "text_zh": "推断：逐件查看视频 0–258.2 s 可跟踪四支蜡烛、四块饼干、三块奶酪和两只蝴蝶结进入不同篮子，未见已放入物品再被取出；评分器 q_score=0.8125=13/16 与这13个配对相符，故其余3个计数节点终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 66–78 s，机器人左臂二指夹爪夹持并搬运第2支蜡烛；随后松爪将其留在篮内。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 66–78 s，机器人轮式底盘行驶并转向，在桌边与目标藤篮之间承载机械臂及夹爪所持物品。"
+     }
+    ]
+   },
+   "candles_in_baskets_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      147.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 147.5,
+      "log_step": 77,
+      "text_zh": "观察：视频 137–146.5 s，机器人左夹爪持第三支蜡烛转向壁炉另一侧的独立藤篮，腕部画面大部分被蜡烛遮住；视频 147.5–149 s，夹爪撤回后可见该篮内白色蜡烛。推断：第三只不同篮子中的蜡烛配对约在视频 147 s 成立，取首个清晰帧视频 147.5 s 为锚点，时间约有1秒不确定性。"
+     },
+     {
+      "t": 258.2,
+      "log_step": null,
+      "text_zh": "推断：逐件查看视频 0–258.2 s 可跟踪四支蜡烛、四块饼干、三块奶酪和两只蝴蝶结进入不同篮子，未见已放入物品再被取出；评分器 q_score=0.8125=13/16 与这13个配对相符，故其余3个计数节点终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 137–149 s，机器人左臂二指夹爪夹持并搬运第3支蜡烛；随后松爪将其留在篮内。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 137–149 s，机器人轮式底盘行驶并转向，在桌边与目标藤篮之间承载机械臂及夹爪所持物品。"
+     }
+    ]
+   },
+   "candles_in_baskets_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      246.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 246.0,
+      "log_step": 77,
+      "text_zh": "观察：视频 240–245.5 s，机器人左夹爪夹住最后一支蜡烛并搬至第四只藤篮；视频 246–248 s，蜡烛松开后位于该篮内蝴蝶结旁，各有蜡烛的不同藤篮达到4只。"
+     },
+     {
+      "t": 258.2,
+      "log_step": null,
+      "text_zh": "推断：逐件查看视频 0–258.2 s 可跟踪四支蜡烛、四块饼干、三块奶酪和两只蝴蝶结进入不同篮子，未见已放入物品再被取出；评分器 q_score=0.8125=13/16 与这13个配对相符，故其余3个计数节点终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 240–248 s，机器人左臂二指夹爪夹持并搬运第4支蜡烛；随后松爪将其留在篮内。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 240–248 s，机器人轮式底盘行驶并转向，在桌边与目标藤篮之间承载机械臂及夹爪所持物品。"
+     }
+    ]
+   },
+   "cookies_in_baskets_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 11.0,
+      "log_step": 77,
+      "text_zh": "观察：视频 4–10.5 s，机器人左夹爪夹住圆形饼干，从桌上提离并随底盘移向靠近沙发端的藤篮；视频 11–12 s，饼干已离开夹爪，位于该篮内部。按有效配对的达成顺序计为第1块，后续未见取出。"
+     },
+     {
+      "t": 258.2,
+      "log_step": null,
+      "text_zh": "推断：逐件查看视频 0–258.2 s 可跟踪四支蜡烛、四块饼干、三块奶酪和两只蝴蝶结进入不同篮子，未见已放入物品再被取出；评分器 q_score=0.8125=13/16 与这13个配对相符，故其余3个计数节点终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 4–12 s，机器人左臂二指夹爪夹持并搬运第1块饼干；随后松爪将其留在篮内。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 4–12 s，机器人轮式底盘行驶并转向，在桌边与目标藤篮之间承载机械臂及夹爪所持物品。"
+     }
+    ]
+   },
+   "cookies_in_baskets_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      129.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 129.5,
+      "log_step": 77,
+      "text_zh": "观察：视频 123–129 s，机器人左夹爪提起另一块圆饼干并运到第二只装货藤篮；视频 129.5–132 s，饼干脱离夹爪，留在该篮的奶酪旁边，为第2只不同的饼干入篮。"
+     },
+     {
+      "t": 258.2,
+      "log_step": null,
+      "text_zh": "推断：逐件查看视频 0–258.2 s 可跟踪四支蜡烛、四块饼干、三块奶酪和两只蝴蝶结进入不同篮子，未见已放入物品再被取出；评分器 q_score=0.8125=13/16 与这13个配对相符，故其余3个计数节点终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 123–132 s，机器人左臂二指夹爪夹持并搬运第2块饼干；随后松爪将其留在篮内。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 123–132 s，机器人轮式底盘行驶并转向，在桌边与目标藤篮之间承载机械臂及夹爪所持物品。"
+     }
+    ]
+   },
+   "cookies_in_baskets_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      183.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 183.0,
+      "log_step": 77,
+      "text_zh": "观察：视频 174–182.5 s，机器人左夹爪从桌面夹起饼干并运到第三只装货藤篮；视频 183–185 s，饼干已落在该篮内蜡烛旁边，夹爪抬离，第3对成立。"
+     },
+     {
+      "t": 258.2,
+      "log_step": null,
+      "text_zh": "推断：逐件查看视频 0–258.2 s 可跟踪四支蜡烛、四块饼干、三块奶酪和两只蝴蝶结进入不同篮子，未见已放入物品再被取出；评分器 q_score=0.8125=13/16 与这13个配对相符，故其余3个计数节点终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 174–185 s，机器人左臂二指夹爪夹持并搬运第3块饼干；随后松爪将其留在篮内。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 174–185 s，机器人轮式底盘行驶并转向，在桌边与目标藤篮之间承载机械臂及夹爪所持物品。"
+     }
+    ]
+   },
+   "cookies_in_baskets_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      256.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 256.5,
+      "log_step": 77,
+      "text_zh": "观察：视频 251–256 s，机器人左夹爪从桌上提起最后一块饼干，运至第四只藤篮；视频 256.5–258.2 s，饼干已在篮内，夹爪抬离，第4对成立并保持到末帧。"
+     },
+     {
+      "t": 258.2,
+      "log_step": null,
+      "text_zh": "推断：逐件查看视频 0–258.2 s 可跟踪四支蜡烛、四块饼干、三块奶酪和两只蝴蝶结进入不同篮子，未见已放入物品再被取出；评分器 q_score=0.8125=13/16 与这13个配对相符，故其余3个计数节点终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 251–258.2 s，机器人左臂二指夹爪夹持并搬运第4块饼干；随后松爪将其留在篮内。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 251–258.2 s，机器人轮式底盘行驶并转向，在桌边与目标藤篮之间承载机械臂及夹爪所持物品。"
+     }
+    ]
+   },
+   "cheeses_in_baskets_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      25.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 25.5,
+      "log_step": 77,
+      "text_zh": "观察：视频 16–24.5 s，机器人左夹爪提起并搬运三角形奶酪；视频 25.5–28 s，奶酪落入已有饼干的藤篮，夹爪离开后仍在篮内，为第1对奶酪配对。"
+     },
+     {
+      "t": 258.2,
+      "log_step": null,
+      "text_zh": "推断：逐件查看视频 0–258.2 s 可跟踪四支蜡烛、四块饼干、三块奶酪和两只蝴蝶结进入不同篮子，未见已放入物品再被取出；评分器 q_score=0.8125=13/16 与这13个配对相符，故其余3个计数节点终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 16–28 s，机器人左臂二指夹爪夹持并搬运第1块奶酪；随后松爪将其留在篮内。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 16–28 s，机器人轮式底盘行驶并转向，在桌边与目标藤篮之间承载机械臂及夹爪所持物品。"
+     }
+    ]
+   },
+   "cheeses_in_baskets_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      94.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 94.5,
+      "log_step": 77,
+      "text_zh": "观察：视频 83–94 s，机器人左夹爪夹持另一块三角形奶酪，随底盘转向送到第二只装货藤篮；视频 94.5–96 s，奶酪已在该篮内，之前的奶酪仍留在第一只篮中，第2对成立。"
+     },
+     {
+      "t": 258.2,
+      "log_step": null,
+      "text_zh": "推断：逐件查看视频 0–258.2 s 可跟踪四支蜡烛、四块饼干、三块奶酪和两只蝴蝶结进入不同篮子，未见已放入物品再被取出；评分器 q_score=0.8125=13/16 与这13个配对相符，故其余3个计数节点终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 83–96 s，机器人左臂二指夹爪夹持并搬运第2块奶酪；随后松爪将其留在篮内。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 83–96 s，机器人轮式底盘行驶并转向，在桌边与目标藤篮之间承载机械臂及夹爪所持物品。"
+     }
+    ]
+   },
+   "cheeses_in_baskets_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      204.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 204.0,
+      "log_step": 77,
+      "text_zh": "观察：视频 191–203.5 s，机器人左夹爪夹起并搬运另一块奶酪；视频 204–207 s，该奶酪已在第三只装货藤篮内，与此前两个篮中的奶酪分开配对，达到3对。"
+     },
+     {
+      "t": 258.2,
+      "log_step": null,
+      "text_zh": "推断：逐件查看视频 0–258.2 s 可跟踪四支蜡烛、四块饼干、三块奶酪和两只蝴蝶结进入不同篮子，未见已放入物品再被取出；评分器 q_score=0.8125=13/16 与这13个配对相符，故其余3个计数节点终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 191–207 s，机器人左臂二指夹爪夹持并搬运第3块奶酪；随后松爪将其留在篮内。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 191–207 s，机器人轮式底盘行驶并转向，在桌边与目标藤篮之间承载机械臂及夹爪所持物品。"
+     }
+    ]
+   },
+   "cheeses_in_baskets_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 218.0,
+      "log_step": 80,
+      "text_zh": "观察：视频 211–219 s，机器人左夹爪在桌边最后一块奶酪处闭合重试，奶酪没有随夹爪升起；视频 224–226 s，夹爪在第四只藤篮处为空，该奶酪可见在篮外地面，视频 258.2 s 仍在篮外。log step 80 报告4次 in_hand=None 及 Inside=False。推断：未形成第4对奶酪配对，不能把篮旁地面上的奶酪算入篮。"
+     },
+     {
+      "t": 258.2,
+      "log_step": null,
+      "text_zh": "推断：逐件查看视频 0–258.2 s 可跟踪四支蜡烛、四块饼干、三块奶酪和两只蝴蝶结进入不同篮子，未见已放入物品再被取出；评分器 q_score=0.8125=13/16 与这13个配对相符，故其余3个计数节点终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 211–219 s，机器人左臂二指夹爪在桌边奶酪处闭合并拨动它，未形成提离桌面后的抓握；视频 224–226 s 该奶酪已在目标篮外地面。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 211–226 s，机器人轮式底盘行驶并转向，在桌边与目标藤篮之间承载机械臂；此次去篮子的路段夹爪为空。"
+     }
+    ]
+   },
+   "bows_in_baskets_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      55.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 55.0,
+      "log_step": 77,
+      "text_zh": "观察：视频 44–54 s，红色蝴蝶结被机器人左夹爪夹持并随底盘搬运；视频 54.5 s 夹爪张开，视频 55–57 s 可见蝴蝶结留在第一只装货藤篮内，形成第1对配对。"
+     },
+     {
+      "t": 258.2,
+      "log_step": null,
+      "text_zh": "推断：逐件查看视频 0–258.2 s 可跟踪四支蜡烛、四块饼干、三块奶酪和两只蝴蝶结进入不同篮子，未见已放入物品再被取出；评分器 q_score=0.8125=13/16 与这13个配对相符，故其余3个计数节点终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 44–57 s，机器人左臂二指夹爪夹持并搬运第1个成功搬运的蝴蝶结；随后松爪将其留在篮内。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 44–57 s，机器人轮式底盘行驶并转向，在桌边与目标藤篮之间承载机械臂及夹爪所持物品。"
+     }
+    ]
+   },
+   "bows_in_baskets_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      236.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 236.0,
+      "log_step": 77,
+      "text_zh": "观察：视频 231–235.5 s，机器人左夹爪从桌上提起另一只蝴蝶结，运到桌子另一端的第四只藤篮；视频 236–238 s，蝴蝶结已松开放在篮内。推断：该成功补成第2个有效配对；视频 101–110 s、153–162 s 的两个失败抓取均未把其各自目标送入篮中，因此不计第3或第4对。"
+     },
+     {
+      "t": 258.2,
+      "log_step": null,
+      "text_zh": "推断：逐件查看视频 0–258.2 s 可跟踪四支蜡烛、四块饼干、三块奶酪和两只蝴蝶结进入不同篮子，未见已放入物品再被取出；评分器 q_score=0.8125=13/16 与这13个配对相符，故其余3个计数节点终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 231–238 s，机器人左臂二指夹爪夹持并搬运第2个成功搬运的蝴蝶结；随后松爪将其留在篮内。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 231–238 s，机器人轮式底盘行驶并转向，在桌边与目标藤篮之间承载机械臂及夹爪所持物品。"
+     }
+    ]
+   },
+   "bows_in_baskets_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 108.0,
+      "log_step": 78,
+      "text_zh": "观察：视频 101–108.5 s，机器人左夹爪在桌面蝴蝶结处多次闭合，红色物体受扰但未随夹爪提离；视频 109–110 s 夹爪上抬时它仍留在桌上，视频 114–116.5 s 机器人空手到篮口执行放置。log step 78 同次录制报告4次 in_hand=None 及 Inside=False。推断：后续视频 236 s 的成功只把总数补到2，最早未被补回的这次蝴蝶结搬运归于仍缺失的第3对；并非把第2对的成功取消。"
+     },
+     {
+      "t": 258.2,
+      "log_step": null,
+      "text_zh": "推断：逐件查看视频 0–258.2 s 可跟踪四支蜡烛、四块饼干、三块奶酪和两只蝴蝶结进入不同篮子，未见已放入物品再被取出；评分器 q_score=0.8125=13/16 与这13个配对相符，故其余3个计数节点终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 101–116.5 s，机器人左臂二指夹爪在桌面处闭合、拨动最早未成功搬运的蝴蝶结；未见形成可搬运的对向夹持，随后空爪离开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 101–116.5 s，机器人轮式底盘行驶并转向，在桌边与目标藤篮之间承载机械臂；此次去篮子的路段夹爪为空。"
+     }
+    ]
+   },
+   "bows_in_baskets_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 161.0,
+      "log_step": 79,
+      "text_zh": "观察：视频 153–161 s，机器人左夹爪对另一只桌面蝴蝶结反复闭合并拨动；视频 162 s 夹爪抬起时蝴蝶结仍在桌上，视频 165–168 s 空爪到第三只装货篮上方张开。log step 79 同次录制报告 in_hand=None、Inside=False。推断：该未补回的另一只蝴蝶结对应剩余第4对缺项，视频 258.2 s 末帧桌面仍有两只红色蝴蝶结。"
+     },
+     {
+      "t": 258.2,
+      "log_step": null,
+      "text_zh": "推断：逐件查看视频 0–258.2 s 可跟踪四支蜡烛、四块饼干、三块奶酪和两只蝴蝶结进入不同篮子，未见已放入物品再被取出；评分器 q_score=0.8125=13/16 与这13个配对相符，故其余3个计数节点终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 153–168 s，机器人左臂二指夹爪在桌面处闭合、拨动另一只未成功搬运的蝴蝶结；未见形成可搬运的对向夹持，随后空爪离开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 153–168 s，机器人轮式底盘行驶并转向，在桌边与目标藤篮之间承载机械臂；此次去篮子的路段夹爪为空。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.8125,
+   "unit": "ratio",
+   "threshold": 1,
+   "direction": "higher_better"
+  },
+  {
+   "name": "goal_held_steps",
+   "value": null,
+   "unit": "control_step",
+   "threshold": 30,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bows_in_baskets_3",
+   "t": 108.0,
+   "log_step": 78,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 101–110 s，机器人左夹爪反复在桌面蝴蝶结处闭合，抬起后目标仍在桌上；视频 114–116.5 s 它空手到第二只装货藤篮执行放置，此后未再搬运这只蝴蝶结。log step 78 对应录制报告 in_hand=None 和 Inside=False。推断：这是最早未修复的物品搬运失败；DAG按成功配对计数，视频 236 s 另一只蝴蝶结入篮后第2对成立，最早残留缺项映射到最终仍未达到的第3对。"
+  },
+  "unmet": {
+   "candles_in_baskets_1": true,
+   "candles_in_baskets_2": true,
+   "candles_in_baskets_3": true,
+   "candles_in_baskets_4": true,
+   "cookies_in_baskets_1": true,
+   "cookies_in_baskets_2": true,
+   "cookies_in_baskets_3": true,
+   "cookies_in_baskets_4": true,
+   "cheeses_in_baskets_1": true,
+   "cheeses_in_baskets_2": true,
+   "cheeses_in_baskets_3": true,
+   "cheeses_in_baskets_4": false,
+   "bows_in_baskets_1": true,
+   "bows_in_baskets_2": true,
+   "bows_in_baskets_3": false,
+   "bows_in_baskets_4": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 108.0,
+    "log_step": 78,
+    "evidence_zh": "观察：视频 101–108.5 s，机器人左夹爪虽靠近并扰动蝴蝶结，却未把它从桌面夹起；视频 109–110 s 目标仍留原桌面，夹爪为空，随后到篮口也未带物。log step 78 的四次持物检查均为None。推断：缺失的是搬运所需的有效抓握，而不是已经持住后在途中掉落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频 101–110 s 表明机器人已把左夹爪送到正确的桌面蝴蝶结处并执行闭合，但未形成可搬运的夹持；log step 78 记录在同一平面位置改变抓取高度重试后仍全部 in_hand=None，随后继续空手搬运。这支持抓取执行层面的控制失败；现有证据不足以进一步区分接触几何、逆解或跟踪误差。"
+   }
+  ],
+  "gap_zh": "没有状态日志、接触对、接触力或逐步关节目标，无法把抓取失败细分到某种控制子类；部分放入瞬间被腕部近景中的物品遮挡，节���时间依据放下前后画面估计，通常约有0.5秒误差，第3支蜡烛约有1秒误差。成功参考只有oracle.json而无视频，不能作视觉对照。推断：log step 77 的末项 sim_steps=7747、q_score=0.8125 与评分 n_actions=7747、视频7747帧及逐件顺序相合，所以同次录制的 log step 78–80 仅作视频辅证；后续 log step 85–92 另次生成与测试不用于本次节点。goal_held_steps 未报告，保留null。"
+ },
+ "summary_zh": "机器人完成蜡烛4对、饼干4对、奶酪3对和蝴蝶结2对，共13/16个目标关系，与评分q_score=0.8125一致。最早未补回的是视频约108 s的蝴蝶结抓取：左夹爪未建立有效抓握，随后空手到篮口；按配对计数映射为第3个蝴蝶结入篮缺项，另一次蝴蝶结与最后一块奶酪也未入篮。无状态日志，部分放入时间需由前后帧估计，抓取失败的具体控制子类无法确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点时间与评分 q=13/16 及 log 中 sim_steps 进度（如 8/16 在 sim_steps 4432≈147.7 s）吻合；视频 101–110 s、153–162 s 蝴蝶结抓取失败、211–226 s 奶酪失败均与标签一致；断点取最早未修复失败（蝴蝶结约108 s）、现象“没建立接触”与根因“控制”（未强分子类）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": "2026-10-30T21:11:37Z",
+  "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/behavior-assembling-gift-baskets-i00-privileged--zhhk2cy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-assembling-gift-baskets-i00-privileged--zhhk2cy/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "84d9e8635f622b4a773d90e6c3884d9732cf34f92cd2b2121951ab223128b0ef",
+   "video_sha256": "8d1ffdd23851d4bf6c603369af8bbcca97bf332e6005fd16bedac322dcbf1161",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/assembling_gift_baskets/trajectories/behavior-assembling-gift-baskets-i00-standard--njrysyu.json

@@ -0,0 +1,630 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-assembling-gift-baskets-i00-standard--njrysyu",
+ "taskKey": "behavior-1k/assembling_gift_baskets",
+ "dag_sha256": "f73b438e440ce63d6355e3a4ab58c371398e747ffe1fac3b44b09c6c3fb40668",
+ "outcome": {
+  "success": 0,
+  "reward": 0.75,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 38970,
+   "sim_steps": 38970,
+   "physics_steps": 155880,
+   "steps": 19128,
+   "elapsed_s": 13627.2,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "q_score": 0.75,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-assembling-gift-baskets-i00-standard--njrysyu/replay.mp4",
+  "duration_s": 1299.0,
+  "fps": 30.0,
+  "frames": 38970,
+  "sha256": "c629abec5db56fdb8f90eb66679597e9b18794559f71a7d429c2a3b95af21d5b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 16,
+  "base": 0,
+  "peak": 12,
+  "final": 12,
+  "nodes": {
+   "candles_in_baskets_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      182.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 182.5,
+      "log_step": 307,
+      "text_zh": "观察：视频 175–183 s，机器人右夹爪将茶几上的柱状蜡烛搬至近处已有饼干、奶酪及红蝴蝶结的藤篮，视频 182.5–184 s 松手后白色烛顶留在篮内。视频 264–319 s 的双篮视角仍见此支蜡烛；后续未见其离篮。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人右侧二指夹爪夹住蜡烛并搬运、松开；"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在茶几与礼篮间转向、行驶，承载右臂所持蜡烛。"
+     }
+    ]
+   },
+   "candles_in_baskets_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      264,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 264,
+      "log_step": 365,
+      "text_zh": "观察：视频 251–264 s，机器人右夹爪从茶几搬来另一支蜡烛，放入相邻、已装另一块饼干的藤篮；视频 264–268 s 及视频 319 s 可见两个不同篮内各有一支蜡烛。后续未见这两支被取出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人右侧二指夹爪夹住第二支蜡烛并搬运、松开；"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在茶几与礼篮间转向、行驶，承载右臂所持第二支蜡烛。"
+     }
+    ]
+   },
+   "candles_in_baskets_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 348,
+      "log_step": 408,
+      "text_zh": "观察：视频 347–350 s，第三支蜡烛留在相邻礼篮外的地板上；视频 354–385 s 机器人重新夹起它，却将它运至壁炉旁地面。视频 1204–1206 s 的末次补放中，蜡烛松手前位于电视柜前藤篮近侧篮沿外，后续头部远景不能证明其中心进入内部容积。推断：已确认的两支蜡烛、三块饼干、三块奶酪和四个蝴蝶结共12对，评分器 q_score=0.75=12/16 且 live_matches_replay=1，排除第三支蜡烛最终获接受；不能据脚本文件名中的 success/confirmed 计为入篮。"
+     },
+     {
+      "t": 1205.5,
+      "log_step": 1060,
+      "text_zh": "观察：视频 1204–1206 s 可见右夹爪持蜡烛靠近篮子后松开；log step 1060 的脚本输出先报告导航未收敛（max steps reached without full convergence），随后仍执行 Releasing Candle into Basket 3。此处未出现可确认的第三个有效入篮配对。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人右侧二指夹爪夹住第三支蜡烛并搬运、松开；"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在茶几与礼篮间转向、行驶，承载右臂所持第三支蜡烛。"
+     }
+    ]
+   },
+   "candles_in_baskets_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 775,
+      "log_step": 691,
+      "text_zh": "观察：视频 746–760 s，机器人右夹爪夹起茶几上余下的另一支蜡烛；视频 770–779 s 它已在沙发前地上、邻近地上的奶酪，藤篮在更靠沙发处。视频 1040–1096 s 及视频 1298.3–1298.95 s 仍见该蜡烛在篮外地上；从未见四篮各有蜡烛。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人右侧二指夹爪夹住余下蜡烛并搬运、松开；"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在茶几与礼篮间转向、行驶，承载右臂所持余下蜡烛。"
+     }
+    ]
+   },
+   "cookies_in_baskets_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      52.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 52.5,
+      "log_step": 192,
+      "text_zh": "观察：视频 40–47 s，第一块饼干曾留在篮外地面；视频 48–52.5 s 机器人右夹爪将它重新夹起移入藤篮，视频 53–56 s 饼干留在篮底。视频 153–183 s、视频 319 s 仍见此饼干，后续未见其离篮。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人右侧二指夹爪夹住第一块饼干并搬运、松开；"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在茶几与礼篮间转向、行驶，承载右臂所持第一块饼干。"
+     }
+    ]
+   },
+   "cookies_in_baskets_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      242.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 242.5,
+      "log_step": 357,
+      "text_zh": "观察：视频 228–237 s，机器人右夹爪夹起茶几上另一块饼干并转向相邻空篮；视频 242.5–246 s 松开后饼干留在这个不同的篮内，视频 264–319 s 仍可见。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人右侧二指夹爪夹住第二块饼干并搬运、松开；"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在茶几与礼篮间转向、行驶，承载右臂所持第二块饼干。"
+     }
+    ]
+   },
+   "cookies_in_baskets_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      428.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 428.5,
+      "log_step": 439,
+      "text_zh": "观察：视频 408–427 s，机器人右夹爪夹住第三块饼干，底盘绕茶几前往沙发旁藤篮；视频 428.5–436 s 饼干已离开夹爪并留在该篮底。视频 469–479 s 又见饼干与新放入的红蝴蝶结同处这个篮内。推断：后续该篮虽被移向沙发端，未见饼干出篮，结合最终12对总额保留此关系。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人右侧二指夹爪夹住第三块饼干并搬运、松开；"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在茶几与礼篮间转向、行驶，承载右臂所持第三块饼干。"
+     }
+    ]
+   },
+   "cookies_in_baskets_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1235,
+      "log_step": 1173,
+      "text_zh": "观察：视频 1233–1237 s 右腕视角仍见一块饼干躺在茶几下地面；视频后段机器人多次伸臂到桌下，未见该饼干被夹起并送到任何藤篮。视频 1298.95 s 回合结束时机器人正在沙发旁地面区域，未补成第四对。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：机器人右臂多次向茶几下的地面饼干伸出并闭爪；桌板和夹爪遮挡接触部位，未能确认形成夹持，也不能确定每次是否擦到饼干。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人底盘往返茶几旁，调整伸臂拾取地面饼干的位置。"
+     }
+    ]
+   },
+   "cheeses_in_baskets_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      153.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 153.5,
+      "log_step": 213,
+      "text_zh": "观察：视频 100–102 s 第一块奶酪曾停在篮沿；视频 147–153.5 s 机器人右夹爪重新夹起它、向篮内移并释放，视频 154–159 s 奶酪与第一块饼干均在篮内。视频 319 s 的双篮视角仍见该奶酪。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人右侧二指夹爪夹住第一块奶酪并搬运、松开；"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在茶几与礼篮间转向、行驶，承载右臂所持第一块奶酪。"
+     }
+    ]
+   },
+   "cheeses_in_baskets_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      317.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 317.5,
+      "log_step": 394,
+      "text_zh": "观察：视频 305–317.5 s 机器人右夹爪从茶几搬来另一块奶酪并放进另一只已装蜡烛、饼干和蝴蝶结的藤篮；视频 318–320 s 的双腕及头部画面可见两个不同篮内各有奶酪，后续未见它们被取出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人右侧二指夹爪夹住第二块奶酪并搬运、松开；"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在茶几与礼篮间转向、行驶，承载右臂所持第二块奶酪。"
+     }
+    ]
+   },
+   "cheeses_in_baskets_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      984.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 984.5,
+      "log_step": 813,
+      "text_zh": "观察：视频 663–685.5 s 的一次奶酪运输以奶酪落在沙发前篮外地面告终；视频 938–984.5 s 机器人改取茶几上的另一块奶酪，送到电视柜前的藤篮，视频 984.5–987 s 松开后黄色三角奶酪与红蝴蝶结留在该篮内。视频 1205.5–1212 s 仍可见此三角奶酪，故第三对已由这次操作补成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人右侧二指夹爪夹住第三对所用奶酪并搬运、松开；"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在茶几与礼篮间转向、行驶，承载右臂所持第三对所用奶酪。"
+     }
+    ]
+   },
+   "cheeses_in_baskets_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1298.95,
+      "log_step": 889,
+      "text_zh": "观察：视频 685.5–689 s 有一块奶酪被释放在沙发前地板，视频 1060–1092 s 右夹爪再次在它周围闭合、抬起，却未把它搬离原地送入篮子。视频 1298.3–1298.95 s 右腕画面仍清楚显示黄色三角奶酪在篮外地板；第四对未形成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人右侧二指夹爪夹住剩余奶酪并搬运、松开；"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在茶几与礼篮间转向、行驶，承载右臂所持剩余奶酪。"
+     }
+    ]
+   },
+   "bows_in_baskets_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      163.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 163.5,
+      "log_step": 293,
+      "text_zh": "观察：视频 150–163.5 s，机器人右夹爪夹住茶几上的红蝴蝶结并搬到近处藤篮，视频 163.5–166 s 它与第一块饼干、奶酪留在同一篮内。视频 183 s、视频 319 s 仍见该红蝴蝶结。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人右侧二指夹爪夹住第一个蝴蝶结并搬运、松开；"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在茶几与礼篮间转向、行驶，承载右臂所持第一个蝴蝶结。"
+     }
+    ]
+   },
+   "bows_in_baskets_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      286.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 286.5,
+      "log_step": 371,
+      "text_zh": "观察：视频 274–286.5 s，机器人右夹爪从茶几搬来第二个红蝴蝶结，放入相邻的另一只藤篮；视频 286.5–289 s 及视频 319 s 的双篮视角可见两只篮中各有红蝴蝶结。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人右侧二指夹爪夹住第二个蝴蝶结并搬运、松开；"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在茶几与礼篮间转向、行驶，承载右臂所持第二个蝴蝶结。"
+     }
+    ]
+   },
+   "bows_in_baskets_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      469.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 469.5,
+      "log_step": 446,
+      "text_zh": "观察：视频 451–469.5 s，机器人右夹爪夹住另一个红蝴蝶结，底盘驶向沙发旁已装第三块饼干的藤篮；视频 469.5–479 s 红蝴蝶结已松开并留在篮内。推断：后续未见它脱离该篮，结合评分总额保留这第三对。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人右侧二指夹爪夹住第三个蝴蝶结并搬运、松开；"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在茶几与礼篮间转向、行驶，承载右臂所持第三个蝴蝶结。"
+     }
+    ]
+   },
+   "bows_in_baskets_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      933.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 933.5,
+      "log_step": 807,
+      "text_zh": "观察：视频 910–933.5 s，机器人右夹爪从茶几取最后一个红蝴蝶结、运到电视柜前的第四只藤篮；视频 933.5–937 s 松开后红蝴蝶结留在篮底，视频 984–987 s 及视频 1205–1212 s 仍可辨认。四对按不同礼篮计数，未重复使用近处双篮。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人右侧二指夹爪夹住第四个蝴蝶结并搬运、松开；"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在茶几与礼篮间转向、行驶，承载右臂所持第四个蝴蝶结。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.75,
+   "unit": "ratio",
+   "threshold": 1,
+   "direction": "higher_better"
+  },
+  {
+   "name": "goal_held_steps",
+   "value": null,
+   "unit": "control_step",
+   "threshold": 30,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "candles_in_baskets_3",
+   "t": 348,
+   "log_step": 408,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 347–350 s，机器人操作第三支蜡烛后，蜡烛停在两只已填礼篮外的地板上；log step 408 启动的是将该蜡烛放入下一只篮的脚本。其后视频 354–385 s 的拾回把蜡烛送到壁炉旁；视频 1204–1206 s 再送电视柜前篮仍在近侧篮沿外释放。推断：第三支蜡烛入篮从未被修复；另外十二对关系与最终 q_score=12/16 一致，不能因晚些时候转做其他物品而把断点后移。"
+  },
+  "unmet": {
+   "candles_in_baskets_1": true,
+   "candles_in_baskets_2": true,
+   "candles_in_baskets_3": false,
+   "candles_in_baskets_4": false,
+   "cookies_in_baskets_1": true,
+   "cookies_in_baskets_2": true,
+   "cookies_in_baskets_3": true,
+   "cookies_in_baskets_4": false,
+   "cheeses_in_baskets_1": true,
+   "cheeses_in_baskets_2": true,
+   "cheeses_in_baskets_3": true,
+   "cheeses_in_baskets_4": false,
+   "bows_in_baskets_1": true,
+   "bows_in_baskets_2": true,
+   "bows_in_baskets_3": true,
+   "bows_in_baskets_4": true
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 348,
+    "log_step": 408,
+    "evidence_zh": "观察：视频 347–350 s 白色蜡烛位于近处藤篮外的地板；视频 1204–1206 s，机器人右夹爪持同类蜡烛向电视柜前篮放下时，蜡烛仍在近侧篮沿外，夹爪随后打开。目标位置未到位即释放，后续未建立第三个有效入篮配对。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 508 所读的蜡烛转运脚本将靠近、下降、松手、回抬作为一组 ee_pose 目标提交；视频 354–385 s 的执行把蜡烛留在壁炉旁地面。log step 860 读得另一段蜡烛投放记录末端位置为 [2.835,3.564,1.639]，而 log step 690 的对应脚本回抬目标高度为0.45米；log step 1060 又报告导航未收敛后仍继续开爪投放，视频 1204–1206 s 可见末次投放偏在篮沿外。推断：机器人未可靠执行、核对并修正投放位姿即释放；证据支持控制问题，不能进一步确定是逆解分支、跟踪误差还是接触导致偏差。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志，也没有成功参考视频；腕相机和篮沿遮住部分物品中心，精确 Inside 判据及第三支蜡烛末次落点不能仅由远景量出。第三支蜡烛最终为假由其余十二对的视觉证据与 q_score=0.75 总额共同推断，所有时间均按视频帧估计，约有0.5秒误差；不能将脚本中的 success/confirmed 名称当作评分器逐项接受。根因只能定位到控制，缺少逐控制步目标、实际轨迹及接触记录来细分。"
+ },
+ "summary_zh": "机器人完成了2支蜡烛、3块饼干、3块奶酪及4个蝴蝶结进入不同礼篮，最终12/16，与评分器 q_score=0.75 一致。第三支蜡烛在视频约348 s 留在篮外，后续两处补放仍未补成该配对；机器人多次未将投放位姿执行到位便释放，最后仍有蜡烛、奶酪和饼干未入篮。没有状态日志或成功参考视频，篮沿遮挡使第三支蜡烛的最终判定需结合总分推断，控制根因不能再细分。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "12/16 与 q_score=0.75、live_matches_replay=1 一致；节点计数、断点（第三支蜡烛首次留在篮外）和控制/位姿不准的标注均有证据且已如实标为推断，未发现需改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:41:22Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-assembling-gift-baskets-i00-standard--njrysyu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-assembling-gift-baskets-i00-standard--njrysyu/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7aab139cee6beaa3537dd732158bd97f3ed108abbcd1f859bd833fe2392aa1c9",
+   "video_sha256": "c629abec5db56fdb8f90eb66679597e9b18794559f71a7d429c2a3b95af21d5b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/assembling_gift_baskets/trajectories/behavior-assembling-gift-baskets-i00-standard--v8ddgfj.json

@@ -0,0 +1,511 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-assembling-gift-baskets-i00-standard--v8ddgfj",
+ "taskKey": "behavior-1k/assembling_gift_baskets",
+ "dag_sha256": "f73b438e440ce63d6355e3a4ab58c371398e747ffe1fac3b44b09c6c3fb40668",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "n_actions": 15928,
+   "sim_steps": 15928,
+   "physics_steps": 63712,
+   "steps": 2424,
+   "elapsed_s": 13557.9,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-assembling-gift-baskets-i00-standard--v8ddgfj/replay.mp4",
+  "duration_s": 530.933,
+  "fps": 30.0,
+  "frames": 15928,
+  "sha256": "5c25a70b41d6e415ca99c1a7a4bc0a3f87bb06f192ed35b77f612ca6e61a46a8"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 16,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "candles_in_baskets_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 395,
+      "log_step": 273,
+      "text_zh": "观察：视频 392.7–395.7 s，右夹爪从地面物品区收回，腕部画面可见浅色柱状蜡烛被两指夹住并随手升起；视频 419–420.7 s 蜡烛仍在夹爪处，篮筐在其侧方。抓起本身尚未建立入篮关系。"
+     },
+     {
+      "t": 425.7,
+      "log_step": 276,
+      "text_zh": "观察：视频 421–425.7 s，右爪在篮边伸出、打开后收回；随后头部画面中的浅色柱状物落在篮外、靠倒置蓝椅一侧的地板上。视频 426–443.5 s 的前后视角及视频 475–502 s 的补救动作未显示蜡烛进入篮内。"
+     },
+     {
+      "t": 530.2,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，live_matches_replay=1；这些入篮关系初态均不成立，因此终态不存在任何有效配对，本节点 final=false。此总分只用于终态约束，不据此推定未尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 392.7–395.7 s 右臂二指夹爪夹住浅色柱状蜡烛并提起，视频 419–420.7 s 仍可见持物；后在篮边松手。后续重抓和推拨尝试的局部接触受遮挡，不能逐次确认。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 395–425.7 s 轮式底盘承载持有蜡烛的右臂移向篮子，途中机体翻转并恢复。"
+     }
+    ]
+   },
+   "candles_in_baskets_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 425.7,
+      "log_step": null,
+      "text_zh": "观察：视频 380–443.5 s 仅见机器人搬运一支蜡烛并在篮边释放，浅色柱状物随后在篮外地面；未见第2支蜡烛与另一只篮子建立配对。"
+     },
+     {
+      "t": 530.2,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，live_matches_replay=1；这些入篮关系初态均不成立，因此终态不存在任何有效配对，本节点 final=false。此总分只用于终态约束，不据此推定未尝试。"
+     }
+    ]
+   },
+   "candles_in_baskets_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 425.7,
+      "log_step": null,
+      "text_zh": "观察：视频 380–443.5 s 仅见机器人搬运一支蜡烛并在篮边释放，浅色柱状物随后在篮外地面；未见第3支蜡烛与另一只篮子建立配对。"
+     },
+     {
+      "t": 530.2,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，live_matches_replay=1；这些入篮关系初态均不成立，因此终态不存在任何有效配对，本节点 final=false。此总分只用于终态约束，不据此推定未尝试。"
+     }
+    ]
+   },
+   "candles_in_baskets_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 425.7,
+      "log_step": null,
+      "text_zh": "观察：视频 380–443.5 s 仅见机器人搬运一支蜡烛并在篮边释放，浅色柱状物随后在篮外地面；未见第4支蜡烛与另一只篮子建立配对。"
+     },
+     {
+      "t": 530.2,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，live_matches_replay=1；这些入篮关系初态均不成立，因此终态不存在任何有效配对，本节点 final=false。此总分只用于终态约束，不据此推定未尝试。"
+     }
+    ]
+   },
+   "cookies_in_baskets_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 385,
+      "log_step": null,
+      "text_zh": "观察：视频 315、350、380–390 s 的头部或右腕视角中，圆形黄色饼干仍散落在地板物品区；整段巡视及后续篮边操作未见机器人把饼干搬入篮子，也未见至少1只不同篮子各有一块饼干。"
+     },
+     {
+      "t": 530.2,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，live_matches_replay=1；这些入篮关系初态均不成立，因此终态不存在任何有效配对，本节点 final=false。此总分只用于终态约束，不据此推定未尝试。"
+     }
+    ]
+   },
+   "cookies_in_baskets_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 385,
+      "log_step": null,
+      "text_zh": "观察：视频 315、350、380–390 s 的头部或右腕视角中，圆形黄色饼干仍散落在地板物品区；整段巡视及后续篮边操作未见机器人把饼干搬入篮子，也未见至少2只不同篮子各有一块饼干。"
+     },
+     {
+      "t": 530.2,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，live_matches_replay=1；这些入篮关系初态均不成立，因此终态不存在任何有效配对，本节点 final=false。此总分只用于终态约束，不据此推定未尝试。"
+     }
+    ]
+   },
+   "cookies_in_baskets_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 385,
+      "log_step": null,
+      "text_zh": "观察：视频 315、350、380–390 s 的头部或右腕视角中，圆形黄色饼干仍散落在地板物品区；整段巡视及后续篮边操作未见机器人把饼干搬入篮子，也未见至少3只不同篮子各有一块饼干。"
+     },
+     {
+      "t": 530.2,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，live_matches_replay=1；这些入篮关系初态均不成立，因此终态不存在任何有效配对，本节点 final=false。此总分只用于终态约束，不据此推定未尝试。"
+     }
+    ]
+   },
+   "cookies_in_baskets_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 385,
+      "log_step": null,
+      "text_zh": "观察：视频 315、350、380–390 s 的头部或右腕视角中，圆形黄色饼干仍散落在地板物品区；整段巡视及后续篮边操作未见机器人把饼干搬入篮子，也未见至少4只不同篮子各有一块饼干。"
+     },
+     {
+      "t": 530.2,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，live_matches_replay=1；这些入篮关系初态均不成立，因此终态不存在任何有效配对，本节点 final=false。此总分只用于终态约束，不据此推定未尝试。"
+     }
+    ]
+   },
+   "cheeses_in_baskets_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 214,
+      "log_step": 193,
+      "text_zh": "观察：视频 209–218.3 s，机器人右臂向地板方向伸出并收回，黄色三角奶酪仍可在头部视角地面辨认；视频 219–225.3 s 的再次抓取前后，未见持有奶酪并搬向篮子的过程。log step 193、198 是相应奶酪抓取脚本，不能以夹爪读数代替可见持物。"
+     },
+     {
+      "t": 530.2,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，live_matches_replay=1；这些入篮关系初态均不成立，因此终态不存在任何有效配对，本节点 final=false。此总分只用于终态约束，不据此推定未尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 209–225.3 s 右爪执行了对黄色三角物的抓取尝试，但夹爪相机被黑色腕部壳体遮住接触处；能确认手臂伸出、闭合和收回，不能确认两指夹住奶酪或接触的具体方式。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 214.8–221 s 轮式底盘转向并靠近地面黄色目标，为再次抓取调整站位。"
+     }
+    ]
+   },
+   "cheeses_in_baskets_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 225,
+      "log_step": null,
+      "text_zh": "观察：视频 209–225.3 s 的奶酪取物尝试未形成可见的入篮搬运；后续机器人改为操作蝴蝶结和蜡烛，未见至少2块奶酪分入不同篮子的状态。"
+     },
+     {
+      "t": 530.2,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，live_matches_replay=1；这些入篮关系初态均不成立，因此终态不存在任何有效配对，本节点 final=false。此总分只用于终态约束，不据此推定未尝试���"
+     }
+    ]
+   },
+   "cheeses_in_baskets_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 225,
+      "log_step": null,
+      "text_zh": "观察：视频 209–225.3 s 的奶酪取物尝试未形成可见的入篮搬运；后续机器人改为操作蝴蝶结和蜡烛，未见至少3块奶酪分入不同篮子的状态。"
+     },
+     {
+      "t": 530.2,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，live_matches_replay=1；这些入篮关系初态均不成立，因此终态不存在任何有效配对，本节点 final=false。此总分只用于终态约束，不据此推定未尝试。"
+     }
+    ]
+   },
+   "cheeses_in_baskets_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 225,
+      "log_step": null,
+      "text_zh": "观察：视频 209–225.3 s 的奶酪取物尝试未形成可见的入篮搬运；后续机器人改为操作蝴蝶结和蜡烛，未见至少4块奶酪分入不同篮子的状态。"
+     },
+     {
+      "t": 530.2,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，live_matches_replay=1；这些入篮关系初态均不成立，因此终态不存在任何有效配对，本节点 final=false。此总分只用于终态约束，不据此推定未尝试。"
+     }
+    ]
+   },
+   "bows_in_baskets_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 138.3,
+      "log_step": 153,
+      "text_zh": "观察：视频 138.3–139.6 s，机器人在物品区附近空手移动时翻倒，头部及腕部画面随机体急剧翻转；log step 152–154 的脚本目标是接近蝴蝶结后进行首次抓取。后续恢复站立没有完成蝴蝶结入篮。"
+     },
+     {
+      "t": 310.4,
+      "log_step": 239,
+      "text_zh": "观察：视频 304–310.7 s，右夹爪贴近红色蝴蝶结，物体被碰动，但收爪后蝴蝶结仍在地板上；视频 334–354 s 的再抓取前后也可见红色物留在地面，未随机器人送往篮内。视频 355–375 s 的篮边动作未产生可见的红色入篮物。"
+     },
+     {
+      "t": 530.2,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，live_matches_replay=1；这些入篮关系初态均不成立，因此终态不存在任何有效配对，本节点 final=false。此总分只用于终态约束，不据此推定未尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 306.7–309.6 s，右夹爪靠近地上红色蝴蝶结，夹指触及并拨动其带片；右爪收回后蝴蝶结仍在地板上，未见形成对向夹持。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 137.8–138.3 s 轮式底盘在首次取物接近中前进，后翻倒；视频 300–355 s 又多次转向和调整站位，尝试获取红色蝴蝶结。"
+     }
+    ]
+   },
+   "bows_in_baskets_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 354,
+      "log_step": null,
+      "text_zh": "观察：视频 304–354 s 机器人多次伸右爪操作地面红色蝴蝶结，但物体没有可见的入篮转移；后续篮边操作改为蜡烛，未见至少2个蝴蝶结分入不同篮子的状态。"
+     },
+     {
+      "t": 530.2,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，live_matches_replay=1；这些入篮关系初态均不成立，因此终态不存在任何有效配对，本节点 final=false。此总分只用于终态约束，不据此推定未尝试。"
+     }
+    ]
+   },
+   "bows_in_baskets_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 354,
+      "log_step": null,
+      "text_zh": "观察：视频 304–354 s 机器人多次伸右爪操作地面红色蝴蝶结，但物体没有可见的入篮转移；后续篮边操作改为蜡烛，未见至少3个蝴蝶结分入不同篮子的状态。"
+     },
+     {
+      "t": 530.2,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，live_matches_replay=1；这些入篮关系初态均不成立，因此终态不存在任何有效配对，本节点 final=false。此总分只用于终态约束，不据此推定未尝试。"
+     }
+    ]
+   },
+   "bows_in_baskets_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 354,
+      "log_step": null,
+      "text_zh": "观察：视频 304–354 s 机器人多次伸右爪操作地面红色蝴蝶结，但物体没有可见的入篮转移；后续篮边操作改为蜡烛，未见至少4个蝴蝶结分入不同篮子的状态。"
+     },
+     {
+      "t": 530.2,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，live_matches_replay=1；这些入篮关系初态均不成立，因此终态不存在任何有效配对，本节点 final=false。此总分只用于终态约束，不据此推定未尝试。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": 1,
+   "direction": "higher_better"
+  },
+  {
+   "name": "goal_held_steps",
+   "value": null,
+   "unit": "control_step",
+   "threshold": 30,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bows_in_baskets_1",
+   "t": 138.3,
+   "log_step": 153,
+   "where": "转场",
+   "evidence_zh": "观察：视频 2–3 s 已有侧翻，视频 3–12 s 又反复翻转；log step 47 是靠近地毯物品区的行驶，log step 50 的 base_pose 高度为 0.3472 m、四元数明显倾倒，log step 52 的服务状态仍为 done=false。该早期巡视尚不能对应某一类礼物的入篮工作。视频 137.5–138.1 s 机器人空手接近地板物品区，视频 138.3–139.6 s 翻倒翻滚；log step 152–154 的执行脚本明确为接近蝴蝶结后抓取，服务本体读数随后为 z=0.378 m。这是后续一次翻倒，并非全局首次翻倒。视频 143–147 s 机体恢复，视频 304–354 s 再抓蝴蝶结仍未形成入篮，终态 q_score=0。推断：依 docs/03_trajectory.md Step 3.1，断点按首个尝试后始终未修复的任务步骤取第1个蝴蝶结入篮，视频 138.3 s 只锚定该步骤的失败；起身未完成入篮，不算修复。不能将更早的泛化巡视翻倒任意挂到蜡烛等未开始的节点。"
+  },
+  "unmet": {
+   "candles_in_baskets_1": false,
+   "candles_in_baskets_2": false,
+   "candles_in_baskets_3": false,
+   "candles_in_baskets_4": false,
+   "cookies_in_baskets_1": false,
+   "cookies_in_baskets_2": false,
+   "cookies_in_baskets_3": false,
+   "cookies_in_baskets_4": false,
+   "cheeses_in_baskets_1": false,
+   "cheeses_in_baskets_2": false,
+   "cheeses_in_baskets_3": false,
+   "cheeses_in_baskets_4": false,
+   "bows_in_baskets_1": false,
+   "bows_in_baskets_2": false,
+   "bows_in_baskets_3": false,
+   "bows_in_baskets_4": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 138.3,
+    "log_step": 154,
+    "evidence_zh": "观察：视频 137.8–138.1 s 房间在头部画面中基本直立，视频 138.3 s 起画面急剧朝天、侧转并翻滚，视频 139.5 s 房间接近横置；机器人在空手接近蝴蝶结取物区时失去支撑。log step 154 的服务本体读数为 z=0.378 m，log step 157 执行恢复。这不是单次孤立失稳：视频 2–12 s 已能看到早期侧翻与反复翻转，之后还多次失稳。agent 在 log step 182 自称“fall #6”，log step 229 的脚本输出 z=0.191 m 并报 TIP；精确累计次数及后续每次翻倒的编号未逐次用视频确认，不把 agent 的编号当作观测计数。现象时间仍锚定断点步骤内的视频 138.3 s。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "t": 138.3,
+    "log_step": 73,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：仅就 log step 73 之后的导航及本断点而言，机器人控制脚本把 xyzw 四元数的 1-2*(qy²+qz²) 当作底座向上轴的竖直分量；该量实际随直立时的偏航改变，正确竖直分量应使用 qx、qy。脚本据此调用每步 0.3 rad 的旋转恢复。log step 152 在前进中报告 TIPPED，log step 153 仅将 safe_cmd 改成高度检查，recover_to_upright 中的原判据仍保留；log step 154 输出前进开始 z=0.005 m、随后 z=0.378 m。结合视频 132–139.6 s 的反复转动及翻倒，支持错误反馈与恢复逻辑干扰后期稳定接近，但不能证明它直接触发了该次翻倒。首次行驶翻倒发生于 log step 47–50，早于 log step 73 写入此脚本，因此绝不能由此 bug 解释；log step 47 的底座位移命令及执行后的倾倒读数不足以确定首次失稳的具体受力原因。"
+   }
+  ],
+  "gap_zh": "无仿真状态日志；inputs/oracle/oracle.json 存在，但没有成功参考视频。头部视角及被腕部壳体遮挡的相机不能解析奶酪尝试的实际指物接触，也无法逐次确认篮边补救推拨是否碰到蜡烛；未将这些遮挡下的动作记为成功抓取或入篮。视频 419–426.7 s 可结合释放前后位置判断蜡烛留在篮外，但精确 inside 容积边界无状态记录；16个终态值由与重放一致的 q_score=0 进一步确定。早期巡视时的翻倒无法归属某一具体入篮节点，故没有把它任意挂到DAG首节点；本断点仍按首个尝试后未修复的入篮步骤定位。首次翻倒发生在反馈控制脚本写入之前，原因未知；后期错误姿态反馈的存在可核查，但对视频 138.3 s 翻倒的因果作用仍是推断，具体阻挡物、接触力及累计摔倒次数均未确认。"
+ },
+ "summary_zh": "机器人在视频 2–3 s 已侧翻，随后反复翻转和恢复。断点仍��第1个蝴蝶结入篮的转场（视频约 138.3 s 的后续翻倒）：这是首个尝试后始终未完成的入篮步骤，起身不等于修复；后续奶酪、蝴蝶结尝试未形成入篮，夹起的蜡烛留在篮外，终态为0/16。反馈控制错误仅作为后期稳定接近受干扰的推断，不能解释脚本写入前的首次翻倒；由于早期失稳触发原因及后期代码错误对翻倒的具体作用仍不明，置信度由6降为5。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 8,
+    "summary_zh": "断点与平衡现象的时间错误：视频一开头（约2–6 s）机器人就已翻倒并反复翻滚，对应 log step 47（首次 drive 靠近地毯区即翻倒，control_steps 约81），而不是标注的 138.3 s；138 s 之后的翻倒是后来的第5次摔倒（log step 155 自述 'Another real fall'），其间已有多次摔倒与恢复。根因里引用的 log step 73 控制脚本是在最早几次摔倒之后才写，不能解释最早的翻倒。另外对做过的蝴蝶结/奶酪节点缺 contact_actual。",
+    "n_issues": 4,
+    "n_major": 3
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "第2轮：标注与视频和日志一致。终态 q_score=0，16 个节点均为 false；断点按“首个尝试后始终未修复的步骤”定位在蝴蝶结入篮、视频约 138.3 s 的翻倒，依据 03 Step 3.1。早期翻倒、反馈控制根因的适用范围和 contact_actual 已在上轮后修正。断点选在第 1 个蝴蝶结仍可商榷，但有规则依据，不算错误。",
+    "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": "2026-10-30T21:50:49Z",
+  "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/behavior-assembling-gift-baskets-i00-standard--v8ddgfj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-assembling-gift-baskets-i00-standard--v8ddgfj/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-assembling-gift-baskets-i00-standard--v8ddgfj/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-assembling-gift-baskets-i00-standard--v8ddgfj/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ccef7c75c3518349c79a9129ecc9cc184d2f3f55e4974888feb2d92431389b44",
+   "video_sha256": "5c25a70b41d6e415ca99c1a7a4bc0a3f87bb06f192ed35b77f612ca6e61a46a8",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/assembling_gift_baskets/trajectories/behavior-assembling-gift-baskets-i00-standard--xpygg4t.json

@@ -0,0 +1,566 @@
+{
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+ "taxonomy": "v2",
+ "runId": "behavior-assembling-gift-baskets-i00-standard--xpygg4t",
+ "taskKey": "behavior-1k/assembling_gift_baskets",
+ "dag_sha256": "f73b438e440ce63d6355e3a4ab58c371398e747ffe1fac3b44b09c6c3fb40668",
+ "outcome": {
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+  "source": "catalog",
+  "raw": {
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+   "sim_crashed_on_call": 0,
+   "q_score": 0.3125,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-assembling-gift-baskets-i00-standard--xpygg4t/replay.mp4",
+  "duration_s": 309.1,
+  "fps": 10.0,
+  "frames": 3091,
+  "sha256": "110406dacdcb11fca3baca11d35e943d48c5220d65ac772aad5a8ce76e34942f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 16,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "candles_in_baskets_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      219.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 219.0,
+      "log_step": 682,
+      "text_zh": "观察：视频 207–214.5 s，右夹爪围住柱状蜡烛并将其从桌面搬离，原位置空出；视频 215–218.5 s 蜡烛近距离遮住腕部画面，视频 219.0–220.5 s 退爪后可见它与奶酪、饼干同在篮内。"
+     },
+     {
+      "t": 294.0,
+      "log_step": null,
+      "text_zh": "推断：视频 219–220.5 s 已见一支蜡烛入篮，此后机器人未再取出篮内物品；视频289–294 s可见该篮仍含柱状物，结合评分器5/16支持保持至结束。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右二指夹爪从两侧围住柱状蜡烛；蜡烛随手从桌面移到篮口，释放后留在篮内，左臂未协作。"
+     }
+    ]
+   },
+   "candles_in_baskets_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 243.0,
+      "log_step": 741,
+      "text_zh": "观察：log step 741 发出名为 candle2_pre 的预抓取动作；视频 242–244 s 右腕画面主要是空处，未见第二支蜡烛被夹起，机器人随后转去试抓地上饼干。"
+     },
+     {
+      "t": 308.7,
+      "log_step": null,
+      "text_zh": "推断：视频中只有视频219 s左右的一次蜡烛入篮；已确认的一对蜡烛、两对奶酪和两对饼干占满评分器5/16，第二对蜡烛终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "机器人曾向日志命名为第二支蜡烛的预抓取位置探臂，但视频242–244 s未显示蜡烛与夹爪的接触，不能确认实际接触方式。"
+     }
+    ]
+   },
+   "candles_in_baskets_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 308.7,
+      "log_step": null,
+      "text_zh": "推断：视频0–308.7 s仅见一支蜡烛被搬入篮子，后段没有更多蜡烛搬运；已确认的一对蜡烛、两对奶酪和两对饼干占满评分器q_score=5/16，第3对蜡烛终态为假。"
+     }
+    ]
+   },
+   "candles_in_baskets_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 308.7,
+      "log_step": null,
+      "text_zh": "推断：视频0–308.7 s仅见一支蜡烛被搬入篮子，后段没有更多蜡烛搬运；已确认的一对蜡烛、两对奶酪和两对饼干占满评分器q_score=5/16，第4对蜡烛终态为假。"
+     }
+    ]
+   },
+   "cookies_in_baskets_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      108.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 108.5,
+      "log_step": 376,
+      "text_zh": "观察：视频 102.5–105.0 s，右夹爪夹起圆形带孔饼干，旧桌面位置随之空出；视频 108.0–109.5 s 张爪后，饼干留在含奶酪的篮底。log step 376 虽称其为奶酪，本节点按实物形态计为第1块饼干。"
+     },
+     {
+      "t": 219.5,
+      "log_step": null,
+      "text_zh": "观察：视频 198.5–201.5 s 和219–220 s 仍能辨认该篮内的圆饼干；后续未见机器人取走篮中饼干。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右二指夹爪夹住圆形饼干并从桌面提起，搬到藤篮后张爪释放；agent 当时将其称作奶酪。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 99.5–100.0 s 底盘转回桌前取得该件，随后机械臂完成移送。"
+     }
+    ]
+   },
+   "cookies_in_baskets_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      197.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 197.5,
+      "log_step": 614,
+      "text_zh": "观察：视频 124–191.5 s，机器人多次闭爪时饼干仍在桌上或被推动；视频 192–194 s 右爪终于将一块圆饼干提离桌面，视频 197.0–198.5 s 释放并留在另一只含两块奶酪的篮子内。"
+     },
+     {
+      "t": 201.0,
+      "log_step": 620,
+      "text_zh": "观察：视频 198.5–201.5 s 的腕部俯视同时显示两只不同篮子各有一块饼干。log step 620 称其为“Cookie 1”，本文件按实际达成顺序计第2块；视频 219–220 s、289–294 s 可见篮内饼干保持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右二指夹爪成功夹持第二块实际入篮的饼干并释放；此前同一计数步骤多次闭爪未提起饼干，指尖也曾推动饼干。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 193.5–194.0 s，底盘承载右夹爪中的饼干转向篮子。"
+     }
+    ]
+   },
+   "cookies_in_baskets_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 239.0,
+      "log_step": 732,
+      "text_zh": "观察：视频 221–240 s，右夹爪对地上饼干反复下降、闭合和抬起，饼干仍留在地面，没有运往第三只篮子。"
+     },
+     {
+      "t": 308.7,
+      "log_step": 876,
+      "text_zh": "观察：视频 247–303.5 s 机器人换臂、换位并多次试夹地上饼干；视频 303.5–308.7 s 夹爪闭合但圆饼干仍在原地，未完成提起或入篮。"
+     },
+     {
+      "t": 308.7,
+      "log_step": null,
+      "text_zh": "推断：两对饼干连同两对奶酪、一对蜡烛已占满评分器 q_score=5/16；结合视频后段无新增放置，第三对饼干终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "右爪和左爪先后尝试夹地上饼干，指尖闭合时推动或拨动饼干，未见饼干被稳定夹持并提起。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 246.5–247.0 s、274.5–275.0 s 底盘调整取地上饼干的工作位置。"
+     }
+    ]
+   },
+   "cookies_in_baskets_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 308.7,
+      "log_step": null,
+      "text_zh": "推断：视频仅在108.5 s及197.5 s左右出现两次有效饼干入篮；之后直到视频308.7 s都在试抓地上饼干，没有第三或第四只篮子的饼干配对。评分器5/16也已由两对饼干、两对奶酪、一对蜡烛解释，第四对终态为假。"
+     }
+    ]
+   },
+   "cheeses_in_baskets_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      79.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 79.5,
+      "log_step": 276,
+      "text_zh": "观察：视频 72.5–79.3 s，右夹爪夹住三角奶酪并从桌面提走，送至近处藤篮后张开；奶酪落入篮内的瞬间被篮壁遮挡。"
+     },
+     {
+      "t": 109.5,
+      "log_step": null,
+      "text_zh": "观察：视频 108.5–110.5 s 的腕部俯视显示两只篮子各有三角奶酪；第一块对应较早放置的另一只篮子，之后未见被取出。"
+     },
+     {
+      "t": 308.7,
+      "log_step": null,
+      "text_zh": "推断：视频 219–220 s、289–294 s 的篮内物品与后续无取出动作，以及评分器 q_score=0.3125（5/16），共同支持本关系保持至视频 308.7 s；首次成立约为视频 79.5 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频 早段左夹爪多次试夹奶酪未成功，随后右二指夹爪夹持奶酪、提起并送入藤篮；两臂未共同搬运。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在视频 1–3 s、55.0–55.5 s、66–67.5 s 调整取物工作位置，承载机械臂。"
+     }
+    ]
+   },
+   "cheeses_in_baskets_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      97.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 97.5,
+      "log_step": 356,
+      "text_zh": "观察：视频 91–94 s，右夹爪夹起另一块三角奶酪并携物转向；视频 97.0–98.5 s 张开夹爪，奶酪留在另一只篮底。"
+     },
+     {
+      "t": 199.0,
+      "log_step": null,
+      "text_zh": "观察：视频 198.5–201.5 s，两只相邻藤篮分别有奶酪，其中一篮有两块奶酪；按不同篮子最大匹配只计两对。视频 289–294 s 仍可见篮内奶酪，此后机器人只试抓地上饼干。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右二指夹爪夹住第二块奶酪，提离桌面后送入另一只藤篮。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 93.5–94.0 s，轮式底盘承载右爪所持奶酪转向篮子。"
+     }
+    ]
+   },
+   "cheeses_in_baskets_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 108.5,
+      "log_step": 376,
+      "text_zh": "观察：log step 376 将这次搬运称为“第三块奶酪”，但视频 102.5–108.5 s 显示右爪夹起并放入的是圆形饼干；这次没有增加奶酪配对。"
+     },
+     {
+      "t": 120.0,
+      "log_step": 399,
+      "text_zh": "观察：视频 118.0–119.5 s，右爪持下一块三角奶酪靠近已有奶酪的篮子；视频 120.0–121.5 s 松手后两块奶酪同处一篮，另一篮仍有一块，未出现第三只装奶酪的篮子。"
+     },
+     {
+      "t": 294.0,
+      "log_step": null,
+      "text_zh": "推断：视频 198.5–201.5 s、219–220 s 和289–294 s 的篮内分布仅支持两对奶酪，之后没有奶酪搬运；已确认的两对奶酪、两对饼干和一对蜡烛占满评分器的5个满足字面量，故第三对终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频 113.5–120.0 s，右夹爪夹持第三块实际搬运的奶酪并释放到已有奶酪的篮子；没有形成第三对。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 116.0–116.5 s，底盘承载夹爪中的奶酪转向篮子。"
+     }
+    ]
+   },
+   "cheeses_in_baskets_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 124.0,
+      "log_step": 415,
+      "text_zh": "观察：agent 在 log step 415 自述“四块奶酪已进四只不同篮子”；视频 100–108.5 s 的一件实际为饼干，视频 120–121.5 s 的奶酪又落入已有奶酪的篮子，画面不支持此自述。"
+     },
+     {
+      "t": 308.7,
+      "log_step": null,
+      "text_zh": "推断：视频 0–308.7 s 未见第四块奶酪进入第四只篮子，视频 289–294 s 地上仍可见三角奶酪；两对奶酪、两对饼干、一对蜡烛已解释评分器的5/16，第四对奶酪终态为假。"
+     }
+    ]
+   },
+   "bows_in_baskets_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 242.0,
+      "log_step": 736,
+      "text_zh": "观察：log step 736 发出名为 bow1_pre 的预抓取动作；视频240–242.5 s右手移向另一处，腕部画面未见夹到红色蝴蝶结，之后也没有蝴蝶结随爪移入篮子的画面。"
+     },
+     {
+      "t": 308.7,
+      "log_step": null,
+      "text_zh": "推断：视频全程无可确认的蝴蝶结入篮；已确认两对奶酪、两对饼干及一对蜡烛恰为评分器5/16，任何新增蝴蝶结配对都会超过该总数，故第1对终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "机器人朝日志命名为蝴蝶结的预抓取位置探臂；视频240–242.5 s没有展示蝴蝶结接触或被夹持，实际接触方式无法确认。"
+     }
+    ]
+   },
+   "bows_in_baskets_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 308.7,
+      "log_step": null,
+      "text_zh": "推断：视频0–308.7 s未见蝴蝶结被搬入任何篮子，视频后段仍有红色物品在桌面或地面；两对奶酪、两对饼干和一对蜡烛已解释评分器5/16，第2对蝴蝶结终态为假。"
+     }
+    ]
+   },
+   "bows_in_baskets_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 308.7,
+      "log_step": null,
+      "text_zh": "推断：视频0–308.7 s未见蝴蝶结被搬入任何篮子，视频后段仍有红色物品在桌面或地面；两对奶酪、两对饼干和一对蜡烛已解释评分器5/16，第3对蝴蝶结终态为假。"
+     }
+    ]
+   },
+   "bows_in_baskets_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 308.7,
+      "log_step": null,
+      "text_zh": "推断：视频0–308.7 s未见蝴蝶结被搬入任何篮子，视频后段仍有红色物品在桌面或地面；两对奶酪、两对饼干和一对蜡烛已解释评分器5/16，第4对蝴蝶结终态为假。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.3125,
+   "unit": "ratio",
+   "threshold": 1,
+   "direction": "higher_better"
+  },
+  {
+   "name": "goal_held_steps",
+   "value": null,
+   "unit": "control_step",
+   "threshold": 30,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cheeses_in_baskets_3",
+   "t": 120.0,
+   "log_step": 399,
+   "where": "操作中",
+   "evidence_zh": "观察：视频102.5–108.5 s所谓“第三块奶酪”实际是饼干；接着视频118–121.5 s，右爪把下一块真正的奶酪释放进已有奶酪的篮子，两块同篮，第三对奶酪仍未形成，此后没有再分配奶酪。log step 395、397、399 指向 agent 估计的C篮坐标并释放；log step 415却自述已放入四只不同篮子。"
+  },
+  "unmet": {
+   "candles_in_baskets_1": true,
+   "candles_in_baskets_2": false,
+   "candles_in_baskets_3": false,
+   "candles_in_baskets_4": false,
+   "cookies_in_baskets_1": true,
+   "cookies_in_baskets_2": true,
+   "cookies_in_baskets_3": false,
+   "cookies_in_baskets_4": false,
+   "cheeses_in_baskets_1": true,
+   "cheeses_in_baskets_2": true,
+   "cheeses_in_baskets_3": false,
+   "cheeses_in_baskets_4": false,
+   "bows_in_baskets_1": false,
+   "bows_in_baskets_2": false,
+   "bows_in_baskets_3": false,
+   "bows_in_baskets_4": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 120.0,
+    "log_step": 399,
+    "evidence_zh": "观察：视频118–119.5 s右爪持奶酪对着已有一块奶酪的篮子下降，视频120–121.5 s张爪后两块奶酪留在同一篮内，未到第三只不同的篮子；视频198.5–201.5 s仍显示一篮两块奶酪、另一篮一块。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "t": 120.0,
+    "log_step": 395,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：agent 对篮子位置或实例的区分有误。log step 352、354 以A点(4.819,5.258)放奶酪，log step 395、397又以被当作不同篮子的C点(4.897,5.499)放奶酪；服务在log step 398报告末端已到(4.896,5.498,0.300)，而视频97.5–99 s及120–121.5 s显示这两次落入同一物理篮子。log step 330称四个估计目标都可达，log step 415又称“四只不同篮子”，支持错误场景区分导致重复投放，未见必须归于轨迹跟踪的证据。"
+   }
+  ],
+  "gap_zh": "无状态日志，且参考成功运行没有视频；首次奶酪落入近篮的瞬间被篮壁遮挡，其约视频79.5 s的成立时间结合后续篮内奶酪分布推定。其余放入时刻按已查看的半秒帧取近似值，精确包围盒中心和内部容积不可直接读出；后段局部遮挡通过视频219–220.5 s、289–294 s及评分器5/16总量补证。日志属于单个现场回合（resumes=0），控制步9272/30≈309.07与视频309.1 s一致，log step 400的3617/30≈视频120.57 s已在奶酪释放处核对，仅用于定位日志动作；没有将agent工作时间换算成视频时间。"
+ },
+ "summary_zh": "本次现场回合最终形成2对奶酪、2对饼干和1对蜡烛，共5/16个节点，与评分器q_score=0.3125一致。视频约120 s机器人把下一块奶酪放进已有奶酪的篮子，第三对奶酪未达且未修复；日志对不同篮子的估计与实物落点不符，之后也持续未能提起地上饼干。无状态日志和成功参考视频，首块奶酪的入篮时刻及少数末态关系依赖前后画面与评分总量推断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点数5/16与评分器q_score一致，奶酪第3对为断点、约视频120 s奶酪再次放入同一篮子的观察与帧相符，未发现需改动的错误。腕部视角有限，奶酪与饼干的区分只能大致核对。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:45:37Z",
+  "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/behavior-assembling-gift-baskets-i00-standard--xpygg4t/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-assembling-gift-baskets-i00-standard--xpygg4t/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d44df304b5a7eee8bbcac2b04727cd84d8a0279f08c83aa81f51c2e3e07390b1",
+   "video_sha256": "110406dacdcb11fca3baca11d35e943d48c5220d65ac772aad5a8ce76e34942f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/bringing_in_wood/trajectories/behavior-bringing-in-wood-i00-privileged--kagsxgr.json

@@ -0,0 +1,266 @@
+{
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+ "taxonomy": "v2",
+ "runId": "behavior-bringing-in-wood-i00-privileged--kagsxgr",
+ "taskKey": "behavior-1k/bringing_in_wood",
+ "dag_sha256": "54359bd2d9d51967b98ef078e09c231542698021d39d112e7af391cea06ee0e7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 586,
+   "sim_breakdown": 0,
+   "goal": 0,
+   "settle_steps": 150,
+   "goal_first_step": -1,
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+   "q_score": 0.0,
+   "replay_wall_s": 803.9,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "video_replay_matches": 1,
+   "agent_sessions": 24,
+   "agent_resets": 0,
+   "agent_sim_steps": 11126,
+   "agent_records": 6,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-bringing-in-wood-i00-privileged--kagsxgr/replay.mp4",
+  "duration_s": 24.533,
+  "fps": 30.0,
+  "frames": 736,
+  "sha256": "356bb0b94ad61d350c6b81764002fe709bf36fb29e884c2d3ab22ac77091bd31"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "corridor_door_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–4.5 s可见室外灰色铺砖、木质门板及其旁的玻璃入口，未出现门扇转开形成通路的画面。"
+     },
+     {
+      "t": 19.5,
+      "log_step": 409,
+      "text_zh": "观察：视频15.0–24.5 s机器人携板靠近入口，门板仍在原处，未见开门动作或敞开的走廊通路；参考成功视频10–20 s可见玻璃门扇转离门框及浅色木纹走廊，这一完成标志未在本次录像出现。log step 409的最终脚本采用门下送板，没有开门段；更早会话中的开门试验不属于交付录像。"
+     }
+    ]
+   },
+   "plywoods_on_corridor_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.8,
+      "log_step": null,
+      "text_zh": "观察：视频3.5–5.3 s棕色长条板在室外灰色铺砖上；视频5.6–6.0 s该板离开原支承位置，出现在左腕视图的两侧黑色夹指之间，随后随机器人移动，至视频15.0 s仍在夹爪近前。取板、携板已经开始，但尚非走廊放置。"
+     },
+     {
+      "t": 19.5,
+      "log_step": 426,
+      "text_zh": "观察：视频19.5–24.5 s腕部视图中的板始终靠近夹爪，主视图仍是室外灰色铺砖与入口边的木板；没有板释放后由走廊浅色木纹地板承托的画面。log step 426记录最终脚本在左臂move_ee无逆解后保存586行error检查点，评分器n_actions=586、sim_steps=736、q_score=0。"
+     },
+     {
+      "t": 24.5,
+      "log_step": null,
+      "text_zh": "推断：视频末帧仍显示持板未送入的结果；评分器q_score=0且三块板初始均不在走廊，因此终态没有任何板满足走廊承托关系，第1块计数节点为false。该结论结合画面与评分总数，不以零分反推未尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.8 s起，机器人左侧平行夹爪的两侧夹指夹住棕色胶合板，板离开地面并随夹爪携行；视频24.5 s仍在腕部近景中。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约6.0–19.5 s机器人底盘支承机体并携第一块板沿室外灰色铺砖移动至入口附近。"
+     }
+    ]
+   },
+   "plywoods_on_corridor_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 409,
+      "text_zh": "观察：视频0.0–24.5 s只见机器人取走并携行一块板，另有棕色板仍在室外灰色铺砖上，未见继续取放其余板；log step 409的最终脚本先完成第一块再取其余板，而log step 426在第一块释放前已报错保存。"
+     },
+     {
+      "t": 24.5,
+      "log_step": null,
+      "text_zh": "推断：评分器q_score=0对应三块新增走廊目标关系均不成立，且视频未显示任何走廊放板结果，所以至少2块板入走廊的终态为false，录像内也无达成区间。"
+     }
+    ]
+   },
+   "plywoods_on_corridor_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 409,
+      "text_zh": "观察：视频0.0–24.5 s只见机器人取走并携行一块板，另有棕色板仍在室外灰色铺砖上，未见继续取放其余板；log step 409的最终脚本先完成第一块再取其余板，而log step 426在第一块释放前已报错保存。"
+     },
+     {
+      "t": 24.5,
+      "log_step": null,
+      "text_zh": "推断：评分器q_score=0对应三块新增走廊目标关系均不成立，且视频未显示任何走廊放板结果，所以至少3块板入走廊的终态为false，录像内也无达成区间。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "plywoods_on_corridor_1",
+   "t": 19.5,
+   "log_step": 426,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约5.8 s机器人夹起第一块板，随后持板向入口移动；视频约19.5–24.5 s停在室外，未释放到走廊。log step 409的最终脚本没有开门段，place_under选择从门下送板；log step 426记录该阶段move_ee无IK解并保存586行error检查点。推断：失败发生在已启动的第1块板入走廊步骤，位置为操作中；开门是被跳过的前置步骤，其未达事实保留在corridor_door_opened节点。"
+  },
+  "unmet": {
+   "plywoods_on_corridor_1": false,
+   "plywoods_on_corridor_2": false,
+   "plywoods_on_corridor_3": false
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "t": 19.5,
+    "log_step": 409,
+    "alt_feasible": "已验证有",
+    "source_zh": "日志 / 视频 / 参考成功视频",
+    "evidence_zh": "观察：log step 409的最终脚本先抓板，再以place_under从关闭的门下送板，没有开门动作；该函数将板中心目标高度设为0.013米，按板与末端的相对偏移生成末端目标。log step 426记录左臂目标[-0.504, -0.872, 0.005]无IK解，随后保存586行error检查点；评分器n_actions=586，视频约19.5–24.5 s机器人持板停滞。参考成功视频约10–20 s门扇转开，约35–55 s机器人携板进入并将板留在走廊木纹地板上。推断：所选跨阶段策略绕过开门，把送板动作安排在贴地的门下路径，生成的末端目标未能执行；先开门再携板进入是参考成功轨迹验证的可行替代。这里将IK报错作为该计划失败的执行证据，不另列同一事件为控制根因。脚本注释声称板厚16毫米、门下间隙21毫米，未有本次状态日志核实，不据此断言真实间隙或物理不可达。"
+   }
+  ],
+  "gap_zh": "本任务没有状态日志；腕部画面被近处板面遮挡，无法精确测定板的世界高度、夹爪附着与接触力，也不能由无IK解判定物理不可达或求解器失败。观察：视频约19.5–24.5 s只见持板停滞；log step 426显示目标末端请求失败后即保存，交付录像没有实际执行到走廊落点的送板与释放。依docs/03_trajectory.md Step 3.2及CASES.md FAIL-23，现象留空，不将未生成的动作标为位姿不准或够不着，也不声称门板碰撞。断点选择说明：开门节点必需且未达，最终脚本也完全跳过它；但docs/03_trajectory.md:230-235按评分录像中出错时正在执行且未修复的步骤定位，不按DAG中最早未达节点定位，视频约5.8 s后的取板、携板已属于放置步骤，故仍选第1块板入走廊／操作中。CASES.md STEP-3规定前置节点的保留，不将它自动指定为断点。log step 393及427的高处越门自述与log step 409的最终门下方案不同，不据自述标注本次动作。"
+ },
+ "summary_zh": "机器人夹起并携带第一块板到入口附近，未打开门，也未在走廊释放放妥任何板，最终进度0/4，q_score=0。断点保留为第1块板入走廊／操作中：最终脚本跳过开门，选择门下贴地送板，目标末端请求无IK解后保存失败检查点；根因为推理/规划，参考成功视频验证了先开门再携板通过的替代。交付动作未包含失败请求对应的送板与释放，现象留空；对于跳过前置步骤的断点归属存在审查分歧，且无状态日志核实门下几何，置信度由8降为7。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值与时间基本可信：视频0–24.5 s全程只见持板未放入走廊，门未开（0/4）。问题在WHERE/WHY：最终脚本整体绕开了必需的开门步骤，断点与根因应反映这一计划选择，而不只是末端IK报错。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频全程可见机器人夹起第1块板携行、门始终关闭、未在走廊放板，0/4与q_score=0一致；log step 409脚本无开门段、step 426在move_ee无IK解后保存586行checkpoint，均与标签相符。断点（第1块板入走廊/操作中）依S14按正在执行的步骤选择，标签已在gap_zh说明；根因推理/规划、现象留空符合FAIL-23。未发现需改动内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
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+  "engine": "codex",
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+  "effort": "high",
+  "created": "2026-10-30T21:45:02Z",
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+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
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+  "calls": [
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+    "space": "work/runs/behavior-bringing-in-wood-i00-privileged--kagsxgr/03_label"
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+    "space": "work/runs/behavior-bringing-in-wood-i00-privileged--kagsxgr/04_review_r1"
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+   },
+   {
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+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-in-wood-i00-privileged--kagsxgr/04_review_r2"
+   }
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+   "video_choice": "HF replay.mp4"
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+}

phase2/behavior-1k/bringing_in_wood/trajectories/behavior-bringing-in-wood-i00-privileged--tulpxdl.json

@@ -0,0 +1,298 @@
+{
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+ "taxonomy": "v2",
+ "runId": "behavior-bringing-in-wood-i00-privileged--tulpxdl",
+ "taskKey": "behavior-1k/bringing_in_wood",
+ "dag_sha256": "54359bd2d9d51967b98ef078e09c231542698021d39d112e7af391cea06ee0e7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 1767,
+   "sim_steps": 1767,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1019.7,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 52,
+   "agent_resets": 5,
+   "agent_sim_steps": 33610,
+   "agent_records": 5,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 9.81,
+   "peak_memory_gb": 10.248,
+   "peak_processes": 26,
+   "peak_disk_gb": 30.151,
+   "over_disk_gb": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-bringing-in-wood-i00-privileged--tulpxdl/replay.mp4",
+  "duration_s": 58.9,
+  "fps": 30.0,
+  "frames": 1767,
+  "sha256": "1bd73225b883d2dec22819739716aca17a19c3e5ebaedb6e92564c48e8e24fd9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "corridor_door_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      17.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 17.0,
+      "log_step": null,
+      "text_zh": "观察：视频 14.0–18.0 s，机器人左夹爪夹住横向门把手，随底盘后退牵引门扇；视频约 17.0 s 门扇已向外转开，门后浅色木纹走廊及通行开口清楚可见，视频 24.0 s 仍保持敞开。到达时刻按画面估计，误差约0.5秒。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 14.0–17.5 s，机器人左二指夹爪闭合包住门把手并牵引门扇，随后松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 15.0–18.0 s，轮式底盘支承机器人并沿门外移动，配合左夹爪拉门。"
+     }
+    ]
+   },
+   "plywoods_on_corridor_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：视频 18.0–24.5 s，机器人在门外移动，门前棕色长条木板仍躺在室外灰色铺砖上；夹爪没有携板，走廊木纹地板上未出现木板。"
+     },
+     {
+      "t": 54.5,
+      "log_step": null,
+      "text_zh": "观察：视频 50.0–54.5 s，机器人再次朝敞开的入口前进，木板仍在门槛外灰色铺砖上，没有随机器人越过门槛；视频 57.8–58.8 s 机体遮住门口下方，未见后续搬运完成。"
+     },
+     {
+      "t": 58.8,
+      "log_step": 936,
+      "text_zh": "推断：log step 936 记录该脚本保存了1767个动作，与评分视频1767帧、58.9秒吻合；其末态三块板的 ontop(floor2) 均为 False，评分器 q_score=0。结合视频中门外木板与没有入室放板的过程，最终连1块板也未入走廊；该判断不只依据零分。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "推/扫",
+      "note_zh": "推断：视频 20.0–24.5 s 与 50.0–54.5 s，机器人接近门前木板，双臂收起且未夹板，板在室外改变位置；结合 log step 924 的底盘推送脚本，实际由底盘接触推移门前板，没有建立夹爪抓握。直接接触点被机体遮住。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–29.0 s、49.0–55.0 s，轮式底盘支承机器人，在门外调整位置并向入口推进。"
+     }
+    ]
+   },
+   "plywoods_on_corridor_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 37.0,
+      "log_step": 924,
+      "text_zh": "推断：log step 924 的已录制脚本在推门前板后，用底盘往返花园，试图聚拢并推送另外两块板；视频 29.0–48.0 s 对应室外往返，视频 36.5–37.0 s 可见室外灰砖上的板，但没有夹爪持板或将板放在走廊木纹地板上的过程。三步按满足关系的块数计数，不固定实例。"
+     },
+     {
+      "t": 58.8,
+      "log_step": 936,
+      "text_zh": "推断：评分器 q_score=0，且三块板的目标关系初始均不成立；因此最终满足关系的板为0块，至少2块入走廊为假。log step 936 的已保存1767动作脚本末态也报告三块板 ontop(floor2) 全为 False，与视频 50.0–54.5 s 门前板仍在室外及全程未见入室放板相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 29.0–48.0 s，轮式底盘支承机器人沿花园铺砖往返；结合 log step 924，该段用于聚拢并推送其余两块木板，是增加入走廊板数的共同尝试。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 29.0–48.0 s，机体与腕部遮挡了底盘附近大部分地面；其余两块板与机器人直接接触的部位和方式无法从画面逐一确认，不把脚本注释中的推板方案直接当作接触事实。"
+     }
+    ]
+   },
+   "plywoods_on_corridor_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 37.0,
+      "log_step": 924,
+      "text_zh": "推断：log step 924 的已录制脚本在推门前板后，用底盘往返花园，试图聚拢并推送另外两块板；视频 29.0–48.0 s 对应室外往返，视频 36.5–37.0 s 可见室外灰砖上的板，但没有夹爪持板或将板放在走廊木纹地板上的过程。三步按满足关系的块数计数，不固定实例。"
+     },
+     {
+      "t": 58.8,
+      "log_step": 936,
+      "text_zh": "推断：评分器 q_score=0，且三块板的目标关系初始均不成立；因此最终满足关系的板为0块，至少3块入走廊为假。log step 936 的已保存1767动作脚本末态也报告三块板 ontop(floor2) 全为 False，与视频 50.0–54.5 s 门前板仍在室外及全程未见入室放板相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 29.0–48.0 s，轮式底盘支承机器人沿花园铺砖往返；结合 log step 924，该段用于聚拢并推送其余两块木板，是增加入走廊板数的共同尝试。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 29.0–48.0 s，机体与腕部遮挡了底盘附近大部分地面；其余两块板与机器人直接接触的部位和方式无法从画面逐一确认，不把脚本注释中的推板方案直接当作接触事实。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "plywoods_on_corridor_1",
+   "t": 54.5,
+   "log_step": 936,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 50.0–54.5 s，机器人执行最后一次向走廊的推进，门前木板仍留在室外灰砖上，未到木纹地板；视频 55.5–58.85 s 头相机仰向天空及外墙。log step 936 的已保存脚本末态记录底盘 z=0.333米、三块板目标关系全为 False，move_base 提示连续60步无进展、距目标仍差1.12米，最后保存1767个动作。推断：机器人最后推进时在门口受阻并抬升，此前没有任何板完成入走廊，故断在第1块板的放置步骤。"
+  },
+  "unmet": {
+   "plywoods_on_corridor_1": false,
+   "plywoods_on_corridor_2": false,
+   "plywoods_on_corridor_3": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 55.5,
+    "log_step": 936,
+    "evidence_zh": "观察：视频 54.0–55.5 s，机器人最后一次向敞开的走廊入口推进，门前板仍在室外灰砖上，随后头相机由走廊地板转向天空及外墙；视频 58.85 s 仍明显仰起。log step 936 的输出第709行报告 move_base 连续60步无进展、距目标仍差1.12米，第712–718行记录推进后及末态底盘 z=0.333米、P3 z=0.029米，相比此前底盘约0.005米、P3约0.013米均升高，三块板 ontop(floor2) 全为 False；第724–727行记录1767动作、58.9秒及保存轨迹，与评分视频一致。推断：最后推进时机器人在门口受到接触阻挡并抬升、倾斜，可能爬上门槛或门前板；直接接触点被机体遮挡，无法从画面区分门槛与板本身。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 924 的交付脚本用底盘前后保险杠聚拢和推送薄板，开门后双臂收起；log step 936 记录最后的 move_base 连续60步无进展、距离指令目标还差1.12米，三块板仍未在目标地板上。视频 50.0–54.5 s 也显示机器人前进却未把板送过门槛，支持推板操作执行失败的控制归因；现有证据不足以进一步区分接触几何和运动跟踪。"
+   }
+  ],
+  "gap_zh": "没有状态日志；底盘与薄板及门槛的直接接触多被机体遮挡。log step 936 的底盘高度和无进展读数结合视频支持门口受阻、机体抬升的判断，但不能从画面区分阻挡物是门槛还是板本身，接触力及控制子类仍不能确定，其余两块板的直接接触方式记未知。log step 936 的保存动作数及末态与评分视频吻合��但该日志中段已有截断，不能据此补造逐动作视频时间；所有视频锚点均取自所检查帧。"
+ },
+ "summary_zh": "评分轨迹完成了打开走廊门，最终节点为1/4，三块板均未放到走廊地板上。机器人采用底盘推板，最后向门口推进时受阻并抬升、倾斜，板未送入走廊，断在第1块板入走廊；log step 936 的无进展提示、底盘 z=0.333米及已保存1767动作的末态与58.9秒评分视频相符，支持控制层面的执行失败。无状态日志且直接接触被遮挡，不能从画面区分阻挡物是门槛还是板本身，也不能确定接触力或控制子类。",
+ "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（门开约 17 s、三块板未入走廊、断点在第1块板）与视频、log step 924/936 相符；但末段机器人在门口被挡并爬起（底盘 z=0.333、头相机仰向天空/外墙），该物理现象被漏掉，现有 位姿不准 只复述了“板没到位”。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "门约17 s打开、三块板均未入走廊、断点在第1块板的判断与视频帧和log step 924/936相符；被挡/碰撞现象已在上一轮补入，未发现新的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:45:34Z",
+  "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/behavior-bringing-in-wood-i00-privileged--tulpxdl/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-in-wood-i00-privileged--tulpxdl/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-in-wood-i00-privileged--tulpxdl/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-in-wood-i00-privileged--tulpxdl/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "92074a5ba1b6c7f942638aadf00379f5aea65066caafcda519ee1575b6165b83",
+   "video_sha256": "1bd73225b883d2dec22819739716aca17a19c3e5ebaedb6e92564c48e8e24fd9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/bringing_in_wood/trajectories/behavior-bringing-in-wood-i00-privileged--xrxfmwc.json

@@ -0,0 +1,270 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-bringing-in-wood-i00-privileged--xrxfmwc",
+ "taskKey": "behavior-1k/bringing_in_wood",
+ "dag_sha256": "54359bd2d9d51967b98ef078e09c231542698021d39d112e7af391cea06ee0e7",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 4675,
+   "sim_steps": 4675,
+   "final_reward": 1.0,
+   "q_score": 1.0,
+   "replay_wall_s": 3398.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 4,
+   "agent_resets": 3,
+   "agent_sim_steps": 14025,
+   "agent_records": 1,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-bringing-in-wood-i00-privileged--xrxfmwc/replay.mp4",
+  "duration_s": 155.833,
+  "fps": 30.0,
+  "frames": 4675,
+  "sha256": "474d0406e384d9e48c748482294ff215ad37295b99e3ab41f822936c7fdd5039"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "corridor_door_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      15.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.5,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–10.0 s 的右腕视图显示机器人右夹爪合拢夹住横向门把手；视频 10.5–15.5 s 右臂牵引门扇，底盘后退配合，门向室外转开。"
+     },
+     {
+      "t": 15.5,
+      "log_step": null,
+      "text_zh": "观察：视频 15.5–17.0 s 门扇已大幅转离门框，露出入口及内侧木纹地板；视频 36.0–40.0 s 机器人随后携板通过该开口。开门达到可通行程度的时间取视频约 15.5 s，误差约 0.5 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人右二指夹爪夹住花园至走廊木门的横向把手；双指从两侧合拢，物体随后随该夹爪移动。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：轮式底盘支承机器人，在视频 13.0–17.0 s 随拉门动作后退。"
+     }
+    ]
+   },
+   "plywoods_on_corridor_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      47.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 33.5,
+      "log_step": null,
+      "text_zh": "观察：视频 31.0–34.0 s 机器人左夹爪夹住第一块板并将其抬离室外铺砖，原放置处露出；视频 36.0–44.0 s 该板随左臂通过门口进入走廊。"
+     },
+     {
+      "t": 47.8,
+      "log_step": 198,
+      "text_zh": "观察：视频 45.5–47.5 s 机器人将板降低到走廊木纹地面，视频 48.0–51.0 s 左夹爪撤离后板仍留在地上；视频 54.0–61.0 s 及后续两次返回的画面中仍可见这块板留在走廊内，没有被重新提起。"
+     },
+     {
+      "t": 47.8,
+      "log_step": 198,
+      "text_zh": "推断：log step 198 直接检查已交付文件的动作，左夹爪开启索引为 1432；任务记录的控制频率为 30 Hz，4675 个动作对应视频 155.833 s，因此该索引约为视频 47.73 s，与视频 47.5–48.0 s 的放板画面吻合。取视频 47.8 s 为首次放置锚点，精度约 0.5 s；本次旧验收规则只要求地板承托关系。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左二指夹爪夹住第一块搬运的棕色胶合板；双指从两侧合拢，物体随后随该夹爪移动。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：轮式底盘支承机器人，在视频 34.0–44.0 s 携板由花园驶入走廊。"
+     }
+    ]
+   },
+   "plywoods_on_corridor_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      101.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 77.5,
+      "log_step": null,
+      "text_zh": "观察：视频 69.0–75.0 s 机器人接近室外剩余的两块板；视频 75.0–78.0 s 左夹爪夹住其中一块并抬起，视频 81.0–96.0 s 该板随左臂移至走廊内，第一块板仍可见于更深处地板。"
+     },
+     {
+      "t": 101.6,
+      "log_step": 198,
+      "text_zh": "观察：视频 99.0–103.5 s 机器人降低第二块板并撤开左夹爪，板留在走廊木纹地板；视频 108.0–111.0 s 两块板分开留在走廊内，视频 153.0–155.8 s 再次返回时仍可见它们。"
+     },
+     {
+      "t": 101.6,
+      "log_step": 198,
+      "text_zh": "推断：log step 198 给出的已交付文件左夹爪第二次开启索引为 3048，按同一 30 Hz 动作与视频对应关系为视频 101.6 s，已用视频 101.5–102.0 s 的放板画面核对。取视频 101.6 s 为至少两块板由走廊地板承托的锚点，误差约 0.5 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左二指夹爪夹住第二块搬运的棕色胶合板；双指从两侧合拢，物体随后随该夹爪移动。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：轮式底盘支承机器人，在视频 78.0–98.0 s 携板从花园沿铺砖返回并通过入口。"
+     }
+    ]
+   },
+   "plywoods_on_corridor_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      155.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 132.5,
+      "log_step": null,
+      "text_zh": "观察：视频 123.0–129.0 s 室外只剩最后一块板；视频 130.0–133.0 s 机器人左夹爪夹住并抬起该板，原位置随抬升露出铺砖；视频 135.0–153.0 s 机器人携板返回走廊。"
+     },
+     {
+      "t": 155.8,
+      "log_step": null,
+      "text_zh": "观察：已按约 0.1 s 间隔密集检查视频 154.7–155.8 s，并检查最后一帧（视频 155.8 s）；机器人将最后一块板降低到入口内侧木纹地面，前两块板仍分开放在更深处。左夹爪仍紧邻最后一块板，视频没有展示释放后的完整静置窗口。"
+     },
+     {
+      "t": 155.8,
+      "log_step": 234,
+      "text_zh": "观察：inputs/run.json 的 reward.success、all_success、deterministic 均为 1，q_score 为 1.0；log step 153 记录已保存的 4675 步轨迹成功，log step 225 和 log step 234 记录新进程重放成功且终态哈希一致。任务原文规定三块板的 ontop 关系同时成立即结束。"
+     },
+     {
+      "t": 155.8,
+      "log_step": 234,
+      "text_zh": "推断：结合视频最后的降板画面与交付重放的成功结果，按本次执行时的旧规则，第三块板于视频约 155.8 s 达到目标，三块计数目标最终均为真。当前 DAG 新增的释放、速度阈值和共同连续 30 控制步窗口未在本次评分中采用，不能将它们追溯为本次节点未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左二指夹爪夹住第三块搬运的棕色胶合板；双指从两侧合拢，物体随后随该夹爪移动。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：轮式底盘支承机器人，在视频 133.0–153.0 s 携板从花园返回走廊入口内侧。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 1.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人用右夹爪拉开走廊门，再用左夹爪分三趟搬板，约在视频 47.8 s、101.6 s 和 155.8 s 完成三个计数放置节点，最终四个节点均达成，评分及两次新进程重放均成功。验收版本差异：本次运行按三块板同时由走廊地板承托即通过，当前 DAG 新增的全部释放、速度不大于 0.05 米/秒及共同连续 30 控制步要求不追溯适用。没有状态日志，部分接触瞬间被手臂遮挡，放置时刻结合前后画面与交付动作索引估计，视频末尾不能证明新增的完整静置窗口。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "四个节点均达成与评分成功（q_score 1.0）一致，抽查帧（15.5、47.8、101.6、155.8 s）与标注相符；时间由动作索引按 30 Hz 换算并在视频放板画面核对，已声明映射。无失败层，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": "2026-10-30T21:09:05Z",
+  "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/behavior-bringing-in-wood-i00-privileged--xrxfmwc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-in-wood-i00-privileged--xrxfmwc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3ebc7e4ec6fc10a89565856da49ea2fc435ecb9b296d144a431b041550474126",
+   "video_sha256": "474d0406e384d9e48c748482294ff215ad37295b99e3ab41f822936c7fdd5039",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/bringing_in_wood/trajectories/behavior-bringing-in-wood-i00-privileged--zsezdlm.json

@@ -0,0 +1,226 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-bringing-in-wood-i00-privileged--zsezdlm",
+ "taskKey": "behavior-1k/bringing_in_wood",
+ "dag_sha256": "54359bd2d9d51967b98ef078e09c231542698021d39d112e7af391cea06ee0e7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 0,
+   "n_actions": 1806,
+   "sim_steps": 1806,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1283.6,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 2,
+   "agent_resets": 44,
+   "agent_sim_steps": 15006,
+   "agent_records": 1,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-bringing-in-wood-i00-privileged--zsezdlm/replay.mp4",
+  "duration_s": 60.2,
+  "fps": 30.0,
+  "frames": 1806,
+  "sha256": "beb07d26c239a963ecc032171919487d5e31fec824dfae9b8f5a2054d814126b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "corridor_door_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 18.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–60.17 s 机器人始终在室外门前活动；视频 18.0 s 左腕视图可见空夹爪在竖向木框附近开合，视频 35.0 s 和 59.97 s 仍隔着玻璃看见走廊，门扇没有转离门框形成通行开口。成功示例可见门扇转开后露出的无玻璃阻隔入口，本次未出现该状态。"
+     },
+     {
+      "t": null,
+      "log_step": 259,
+      "text_zh": "观察：log step 255 的交付脚本先重置、开始录制并尝试左夹爪抓门框，未抓住便中止；log step 257 输出多次 in_hand: None、dang 0.0，log step 259 输出 NO GRASP 并保存 1806 行动作，与本次视频动作数及未开门画面一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–4 s 机器人底盘支承机体并转向、移动到门前，以配合开门尝试。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 10–59.97 s 左夹爪反复改变朝向并开合，未见夹住门框；腕部及机体遮挡部分接触区域，无法确认是否曾擦碰门框或玻璃，故不将空夹动作记作已发生的抓握。"
+     }
+    ]
+   },
+   "plywoods_on_corridor_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 59.97,
+      "log_step": null,
+      "text_zh": "观察：视频 0–60.17 s 仅见机器人在室外门前尝试开门，未见夹爪携带木板、木板越过入口或在走廊木纹地板上放下；视频 59.97 s 门仍挡住入口。"
+     },
+     {
+      "t": null,
+      "log_step": 259,
+      "text_zh": "推断：评分器 q_score=0.0，三块板初始均在花园，故最终满足走廊地板目标关系的木板数为零，“至少1块”必为 false；log step 259 的交付录制结束输出也列出三块板 ontop_f2 均为 False，且脚本在开门失败处分支退出。全片未出现搬板过程，因此没有达成区间。"
+     }
+    ]
+   },
+   "plywoods_on_corridor_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 59.97,
+      "log_step": null,
+      "text_zh": "观察：视频 0–60.17 s 仅见机器人在室外门前尝试开门，未见夹爪携带木板、木板越过入口或在走廊木纹地板上放下；视频 59.97 s 门仍挡住入口。"
+     },
+     {
+      "t": null,
+      "log_step": 259,
+      "text_zh": "推断：评分器 q_score=0.0，三块板初始均在花园，故最终满足走廊地板目标关系的木板数为零，“至少2块”必为 false；log step 259 的交付录制结束输出也列出三块板 ontop_f2 均为 False，且脚本在开门失败处分支退出。全片未出现搬板过程，因此没有达成区间。"
+     }
+    ]
+   },
+   "plywoods_on_corridor_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 59.97,
+      "log_step": null,
+      "text_zh": "观察：视频 0–60.17 s 仅见机器人在室外门前尝试开门，未见夹爪携带木板、木板越过入口或在走廊木纹地板上放下；视频 59.97 s 门仍挡住入口。"
+     },
+     {
+      "t": null,
+      "log_step": 259,
+      "text_zh": "推断：评分器 q_score=0.0，三块板初始均在花园，故最终满足走廊地板目标关系的木板数为零，“至少3块”必为 false；log step 259 的交付录制结束输出也列出三块板 ontop_f2 均为 False，且脚本在开门失败处分支退出。全片未出���搬板过程，因此没有达成区间。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "corridor_door_opened",
+   "t": 12.0,
+   "log_step": 257,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 10–13 s 左夹爪在门外空处闭合后又张开，随后继续多次换朝向重试；视频 18.0 s、35.0 s 至 59.97 s 均未见夹爪牵引门扇转开。log step 257 的该次录制输出 in_hand: None、dang 0.0，log step 259 确认未抓住门而中止并保存轨迹；开门步骤此后没有完成。视频 12.0 s 仅作首次明显空夹的粗略定位，不由 agent 工作时间换算。"
+  },
+  "unmet": {
+   "plywoods_on_corridor_1": false,
+   "plywoods_on_corridor_2": false,
+   "plywoods_on_corridor_3": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 12.0,
+    "log_step": 257,
+    "evidence_zh": "观察：视频约 10–13 s 左腕视图中两指在空处合拢，视频约 17–19 s 又在门框前开合，但没有夹住并带动门扇；视频 59.97 s 入口仍关闭。log step 257 的最终录制反馈连续为 in_hand: None，log step 259 以 NO GRASP 结束；这里指未建立开门所需的抓握，不排除短暂表面擦碰。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：最终录制脚本在 log step 255 对同一门框目标循环改变左夹爪朝向；log step 250 的原语说明 move_ee 返回末端最终位置误差，log step 257 对该次录制报告误差 2.175、1.916、2.064 米且均未附着目标。结合视频 10–59.97 s 夹爪在门外反复空夹、门扇不随动，支持末端运动和抓握执行失败；现有记录不足以区分接触几何、逆解与跟踪问题，故停在控制大类。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "无状态日志；头部及双腕视图受机体遮挡，不能确定左夹爪是否短暂擦碰门体，也不能精确还原末端大误差的控制子类型。三块木板未始终同屏，最终计数由评分器 q_score=0.0 结合初态及全片未搬板判定。agent 在 log step 261 自述门无法受力打开属于会话判断，未排除所有合法开门方式，不能据此归因为任务或环境问题。"
+ },
+ "summary_zh": "本次评分轨迹仅执行了门前定位和左夹爪多次抓门尝试，走廊门未打开，三块板均未搬入，节点最终为 0/4。断点为打开走廊门：夹爪未建立牵引门扇的抓握，最终录制日志的末端大误差与空夹画面支持控制失败。无状态日志且部分接触区域被遮挡，具体控制子类型及短暂擦碰无法确定；木板最终为零由 q_score=0.0 约束。",
+ "conf": 8,
+ "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：门始终未开，三块板均未搬动，q_score=0 约束了木板节点；断点、没建立接触和控制类根因有视频及log step 257/259 支持。视频头部/腕部视角被遮挡，无法进一步细分，我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": "2026-10-30T21:08:46Z",
+  "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/behavior-bringing-in-wood-i00-privileged--zsezdlm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-in-wood-i00-privileged--zsezdlm/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4ea5d539ec02a888f2714744af1cd5ee45cdf8ca5a82e8c8ae9b61da81231134",
+   "video_sha256": "beb07d26c239a963ecc032171919487d5e31fec824dfae9b8f5a2054d814126b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/bringing_in_wood/trajectories/behavior-bringing-in-wood-i00-standard--3nacyzz.json

@@ -0,0 +1,241 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-bringing-in-wood-i00-standard--3nacyzz",
+ "taskKey": "behavior-1k/bringing_in_wood",
+ "dag_sha256": "54359bd2d9d51967b98ef078e09c231542698021d39d112e7af391cea06ee0e7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 2275,
+   "sim_steps": 2275,
+   "physics_steps": 9100,
+   "steps": 653,
+   "elapsed_s": 1461.9,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 0,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.0,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-bringing-in-wood-i00-standard--3nacyzz/replay.mp4",
+  "duration_s": 75.9,
+  "fps": 10.0,
+  "frames": 759,
+  "sha256": "dcfefba677cdd0dcfd433fcf6bfb63e750f94f11a73d75fe9f8c32e74b9dcee7"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "corridor_door_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.0,
+      "log_step": null,
+      "text_zh": "观察：视频 4.2–5.8 s 两个腕部视图可见带玻璃窗的木门仍位于门框内，未形成通向浅色木纹走廊地板的开口；完整视频的逐秒检查未见门扇转开或机器人操作门把手。参考成功视频 10–20 s 则能清楚看见门扇向外转开及敞开的入口，仅用于外观对照。"
+     }
+    ]
+   },
+   "plywoods_on_corridor_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": 106,
+      "text_zh": "观察：视频 34–45 s，棕色长条木板仍散放在室外灰色铺砖上，先在右侧视图前方出现，随后从左侧腕部视图旁经过；机器人没有夹起或携带木板，也没有把板移到室内木纹地板。log step 106 中 agent 自述把棕色物体判断为不像完整胶合板的痕迹，log step 120 的脚本动作说明为从左边绕过地面杂物。"
+     },
+     {
+      "t": 75.8,
+      "log_step": 196,
+      "text_zh": "推断：视频 65.9–75.8 s 机器人持续侧倒，未出现搬板入室；评分器 reward.q_score=0.0，三块板的走廊目标初始均不成立，因此终态连第1块板的目标关系也未成立。log step 196 实时服务返回 done=true、reason=\"failure: the robot fell over\"，与视频侧翻一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–65.8 s 机器人通过轮式底盘在室外铺砖、围栏及花坛附近移动和转向，搜索第一块板及路线；视频 65.9 s 开始侧翻。未见夹爪抓握或推移木板，故不记木板抓握接触。"
+     }
+    ]
+   },
+   "plywoods_on_corridor_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 44.0,
+      "log_step": null,
+      "text_zh": "观察：视频 34–45 s 的棕色长条板留在室外灰色铺砖上，机器人从板旁驶过；逐秒检查视频全程未见任何木板被搬入木纹走廊，视频 74.8–75.8 s 机器人仍侧倒在室外。"
+     },
+     {
+      "t": 75.8,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，结合木板初始都在花园、视频没有搬板入室，终态满足走廊目标的板数为0，故至少2块板入走廊为假；此总分仅用于限定终态，不单凭零分判断是否尝试。"
+     }
+    ]
+   },
+   "plywoods_on_corridor_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 44.0,
+      "log_step": null,
+      "text_zh": "观察：视频 34–45 s 的棕色长条板留在室外灰色铺砖上，机器人从板旁驶过；逐秒检查视频全程未见任何木板被搬入木纹走廊，视频 74.8–75.8 s 机器人仍侧倒在室外。"
+     },
+     {
+      "t": 75.8,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，结合木板初始都在花园、视频没有搬��入室，终态满足走廊目标的板数为0，故至少3块板入走廊为假；此总分仅用于限定终态，不单凭零分判断是否尝试。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "plywoods_on_corridor_1",
+   "t": 65.9,
+   "log_step": 170,
+   "where": "探索",
+   "evidence_zh": "观察：视频 0–65.8 s 机器人空手沿房屋外侧、围栏和花坛搜索，未开始抓板或开门；视频 65.9–66.2 s 在花坛旁转向时视图急剧侧转，直到视频 75.8 s 未恢复直立。log step 170 的脚本正在绕花坛转向，log step 142 的 agent 自述仍在寻找木板，log step 196 的实时服务以机器人跌倒结束；失败发生于第1块板搬运前的场景探索。"
+  },
+  "unmet": {
+   "plywoods_on_corridor_1": false,
+   "plywoods_on_corridor_2": false,
+   "plywoods_on_corridor_3": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 65.9,
+    "log_step": 172,
+    "evidence_zh": "观察：视频 65.8 s 视野仍近直立，视频 65.9–66.2 s 机器人及相机明显翻向侧面；视频 66.2–75.8 s 多次移动仍呈侧倒姿态，最后一秒也未恢复。log step 172 的实时服务本体读数显示底座高度从 log step 169 的约0.005 m 变为约0.380 m，log step 195–196 服务明确返回 failure: the robot fell over。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "t": 34.0,
+    "log_step": 106,
+    "evidence_zh": "推断：视频 34–45 s 的棕色长条物体与参考成功视频 25–30 s、70–75 s 中被机器人夹起的木板外观一致；但 log step 106 中 agent 自述这些是小棕色痕迹、不像完整胶合板，log step 120 的脚本随后绕过所谓地面杂物，log step 142 仍称未找到木板。机器人因此驶过目标、继续到花坛外搜索并在视频 65.9 s 侧翻，支持目标识别错误导致探索偏离，而非成功找到木板后的抓取失败。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志；头部及腕部视图常被机体遮挡，无法核实侧翻瞬间底盘与路沿、花坛的精确接触位置及失稳的具体力学原因，因此不进一步指定控制根因。另一入口初态未被完整展示，但全程未见参考成功视频那样的门扇转开或通行开口；本次未操作入口门，开门事件按未达到标注。木板识别错误由外观对照和 agent 的识别陈述推断。"
+ },
+ "summary_zh": "机器人未完成开门或任一木板入走廊，最终节点为0/4，评分器 q_score=0.0。视频 34–45 s 可见机器人驶过室外木板，结合 log step 106 的错误识别陈述，推断 agent 未认出目标而继续搜索；随后在视频 65.9 s 左右侧翻，至视频 75.8 s 仍未恢复，实时服务以跌倒判负。无状态日志，侧翻的精确接触及力学原因无法确定。",
+ "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：全程无开门、无搬板；34–45 s 视频所见橙棕色长条与参考视频 26–28 s、72 s 的木板外观一致，感知根因有支持；65.9 s 起侧翻、平衡现象成立。断点放在 plywoods_on_corridor_1（探索）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": "2026-10-30T21:13:12Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-in-wood-i00-standard--3nacyzz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-in-wood-i00-standard--3nacyzz/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "715fba7e1d657e562b6613a6873cb317b06821302e4b021973e66d180cfb322d",
+   "video_sha256": "dcfefba677cdd0dcfd433fcf6bfb63e750f94f11a73d75fe9f8c32e74b9dcee7",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/bringing_in_wood/trajectories/behavior-bringing-in-wood-i00-standard--8y6ujmp.json

@@ -0,0 +1,232 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-bringing-in-wood-i00-standard--8y6ujmp",
+ "taskKey": "behavior-1k/bringing_in_wood",
+ "dag_sha256": "54359bd2d9d51967b98ef078e09c231542698021d39d112e7af391cea06ee0e7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 388,
+   "sim_steps": 388,
+   "physics_steps": 1552,
+   "steps": 388,
+   "elapsed_s": 556.3,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.335,
+   "peak_processes": 15,
+   "peak_disk_gb": 1.001,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-bringing-in-wood-i00-standard--8y6ujmp/replay.mp4",
+  "duration_s": 12.933,
+  "fps": 30.0,
+  "frames": 388,
+  "sha256": "879aa12a3d7d76ed87a1dd2cb8f418301d07f78ef3175ea542949f3af2664c0a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "corridor_door_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.7,
+      "log_step": 46,
+      "text_zh": "观察：视频0.0–2.7 s机器人在室外铺砖通道旋转观察，夹爪空着，没有对门把手或门板执行定向开门动作；可见木门仍挡住入口。"
+     },
+     {
+      "t": 12.2,
+      "log_step": null,
+      "text_zh": "观察：视频9.6–12.4 s再次看到带玻璃窗的走廊门，门扇仍在门框处；没有出现参考成功视频约21–22 s那样门扇转离门框、露出可通过门洞的画面。视频12.6–12.9 s机器人镜头贴近室外地面，未通过入口。"
+     }
+    ]
+   },
+   "plywoods_on_corridor_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.4,
+      "log_step": 46,
+      "text_zh": "观察：视频0.0–2.8 s机器人只旋转观察室外环境，视频2.4–2.6 s可见棕色长条木板仍在室外灰色铺砖上；双腕视图未见夹爪夹持木板。随后视频2.9–12.9 s机体翻转、镜头反复朝向墙面或地面，未见取板、携板越过门槛或在走廊放板，因此未观察到至少1块板入走廊的时段。"
+     },
+     {
+      "t": 12.9,
+      "log_step": 57,
+      "text_zh": "推断：评分字段q_score=0.0且live_matches_replay=1；结合开局木板在花园、视频未发生取板与室内放板，终态满足走廊地板关系的木板数为0，故至少1块板的节点final=false。log step 57服务返回control_steps=388、done=true及failure: the robot fell over；后续mock测试中的抓放不是本次episode。"
+     }
+    ]
+   },
+   "plywoods_on_corridor_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.4,
+      "log_step": 46,
+      "text_zh": "观察：视频0.0–2.8 s机器人只旋转观察室外环境，视频2.4–2.6 s可见棕色长条木板仍在室外灰色铺砖上；双腕视图未见夹爪夹持木板。随后视频2.9–12.9 s机体翻转、镜头反复朝向墙面或地面，未见取板、携板越过门槛或在走廊放板，因此未观察到至少2块板入走廊的时段。"
+     },
+     {
+      "t": 12.9,
+      "log_step": 57,
+      "text_zh": "推断：评分字段q_score=0.0且live_matches_replay=1；结合开局木板在花园、视频未发生取板与室内放板，终态满足走廊地板关系的木板数为0，故至少2块板的节点final=false。log step 57服务返回control_steps=388、done=true及failure: the robot fell over；后续mock测试中的抓放不是本次episode。"
+     }
+    ]
+   },
+   "plywoods_on_corridor_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.4,
+      "log_step": 46,
+      "text_zh": "观察：视频0.0–2.8 s机器人只旋转观察室外环境，视频2.4–2.6 s可见棕色长条木板仍在室外灰色铺砖上；双腕视图未见夹爪夹持木板。随后视频2.9–12.9 s机体翻转、镜头反复朝向墙面或地面，未见取板、携板越过门槛或在走廊放板，因此未观察到至少3块板入走廊的时段。"
+     },
+     {
+      "t": 12.9,
+      "log_step": 57,
+      "text_zh": "推断：评分字段q_score=0.0且live_matches_replay=1；结合开局木板在花园、视频未发生取板与室内放板，终态满足走廊地板关系的木板数为0，故至少3块板的节点final=false。log step 57服务返回control_steps=388、done=true及failure: the robot fell over；后续mock测试中的抓放不是本次episode。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": 2.9,
+   "log_step": 46,
+   "where": "探索",
+   "evidence_zh": "观察：视频2.7–3.5 s机器人空手在花园铺砖通道旋转、前进，视野随即持续侧倾并转向墙面和天空；直到视频12.9 s结束都未恢复稳定。log step 46执行的是四向观察加向前探行的tour循环，没有开门、抓板或搬板动作。推断：这是尚未选定具体操作对象的场景探索失败，无法唯一归到打开走廊门或第1块板入走廊，故ref为unknown；不能仅因开门位于DAG首位就归给开门。"
+  },
+  "unmet": {
+   "plywoods_on_corridor_1": false,
+   "plywoods_on_corridor_2": false,
+   "plywoods_on_corridor_3": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 2.9,
+    "log_step": 53,
+    "evidence_zh": "观察：视频约2.9–3.5 s环境的竖直边缘快速倾斜，随后视频3.5–12.9 s镜头持续侧翻，末帧头部相机贴近室外碎石地面。log step 53列出的探行第1段结束姿态上轴z分量为0.149（倾斜约81度），此后各采样姿态均严重侧倾；log step 57服务明确返回failure: the robot fell over。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "evidence_zh": "推断：log step 46的真实episode探行脚本在每轮四次观察/旋转之后直接执行B._chunk(0.15,0,0,27)，其log step 41定义将27行同一底盘增量连续提交，没有在这段运动内依据姿态或地形停止；log step 19给定控制率30 Hz，指令相当于每控制步前进0.15米、即4.5米/秒。log step 53显示第一段前进后已倾斜约81度，探行循环仍继续提交后续转向与前进；视频约2.9 s后持续翻转与之吻合。缺少运动中的姿态反馈和停止处理，使失衡没有及时制止；log step 55的恢复动作也未使episode恢复直立。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "没有状态日志，三路相机均未直接拍到底盘与路沿或其他障碍的接触点，故不把agent在log step 169所述“撞路沿”当作已观察到的碰撞，也不细定初始失衡的接触机制。机器人在失败前只做一般场景探行，视频和log step 46不能确定它已针对门或某块木板开始工作，因此断点ref保留unknown，各具体节点不虚填contact_actual；可见的底盘移动无法可靠归属某一节点。"
+ },
+ "summary_zh": "观察：本次评分episode未完成开门或任一木板入走廊，终态0/4，q_score=0.0；机器人约在视频2.9 s探行时失衡，直到视频12.9 s结束仍未恢复，服务以跌倒判负。推断：连续高速底盘指令缺少运动中的姿态反馈与停止处理，使失衡持续；因尚未针对门或木板进行明确操作，断点只能定位到探索阶段，不能唯一指定节点，且镜头未拍到底盘碰撞点。log step 86以后的自建mock测试发生在真实episode结束后，不计入进度。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "四个节点均为未达成（视频0–12.9 s未见开门、取板或走廊放板，q_score=0.0），与画面和评分字段一致；约2.9 s探行中失衡、服务返回'robot fell over'，断点ref=unknown/探索、现象平衡、根因反馈控制均有log step 46/53/57及画面支持，且已标注为推断。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": "2026-10-30T21:09:43Z",
+  "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/behavior-bringing-in-wood-i00-standard--8y6ujmp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-in-wood-i00-standard--8y6ujmp/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "343d92a7bde5d910d9aebbdb37100612d33f709a81730f64414fa4a12743765f",
+   "video_sha256": "879aa12a3d7d76ed87a1dd2cb8f418301d07f78ef3175ea542949f3af2664c0a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/bringing_in_wood/trajectories/behavior-bringing-in-wood-i00-standard--izm6ufd.json

@@ -0,0 +1,274 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-bringing-in-wood-i00-standard--izm6ufd",
+ "taskKey": "behavior-1k/bringing_in_wood",
+ "dag_sha256": "54359bd2d9d51967b98ef078e09c231542698021d39d112e7af391cea06ee0e7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "n_actions": 9111,
+   "sim_steps": 9111,
+   "physics_steps": 36444,
+   "steps": 3037,
+   "elapsed_s": 2102.7,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-bringing-in-wood-i00-standard--izm6ufd/replay.mp4",
+  "duration_s": 303.7,
+  "fps": 30.0,
+  "frames": 9111,
+  "sha256": "55689e22f94be85bf98d1a02c485eb28e3834d8a409e72a6df099e69e38ff642"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "corridor_door_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      39,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 39,
+      "log_step": null,
+      "text_zh": "观察：视频36–38 s入口玻璃木门扇开始转动，视频39–43 s门扇已转离门框，入口露出走廊浅色木纹地板并形成通行开口；并非只隔着玻璃看见室内。"
+     },
+     {
+      "t": 250,
+      "log_step": null,
+      "text_zh": "观察：视频50 s、65 s、80 s、190 s及250 s门扇仍转开，走廊入口可见；视频58–69 s和78–85 s的夹爪动作发生在门已打开之后，不能据未夹住把手否定此前的开门事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频36–43 s机器人轮式底盘前进并支承机体，头相机视点接近入口。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频36–43 s门扇转开时，两腕画面未显示夹爪抓握或推动门扇的接触；无法看清实际使门转开的接触部位，不据底盘前进推定底盘推门，也不记抓把手。"
+     }
+    ]
+   },
+   "plywoods_on_corridor_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 96.5,
+      "log_step": 175,
+      "text_zh": "观察：视频90–97 s，机器人右爪下探后抬回，橙棕色长板仍在门外灰砖上，夹爪没有带板抬起；视频103–110 s另一只爪下探、收回后，板仍在室外原处。"
+     },
+     {
+      "t": 183,
+      "log_step": 251,
+      "text_zh": "观察：视频150–169 s双臂放低并移动，随后视频175–188 s双爪朝门槛方向前伸；腕相机仍能看到橙棕色板位于室外灰砖，走廊木纹地板上未出现板。视频255–272 s再次尝试推板，板仍可见于室外腕相机画面边缘。"
+     },
+     {
+      "t": 303.66,
+      "log_step": 306,
+      "text_zh": "推断：视频293–303.66 s机器人在花坛旁翻倒，没有携板进入走廊；log step 306的实时服务状态为failure: the robot fell over，control_steps=9111、resumes=0。评分字段q_score=0、live_matches_replay=1，结合初态三板均在室外和画面中未见放入，最终满足走廊目标关系的板数为0，故本节点final=false；不是仅凭零分判定未尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "机器人先后用右、左夹爪尝试抓板，并将双臂放低尝试推板；视频90–110 s及150–188 s未见板被夹住，部分指尖被手腕和门框遮挡，无法确认实际触板方式，故不记实际抓握或双臂推板。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人围绕门外第一块板多次驶动、倒退和重新对准（视频121–169 s、221–255 s、278–293 s），轮式底盘支承机体；最后接近花坛时翻倒。"
+     }
+    ]
+   },
+   "plywoods_on_corridor_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10,
+      "log_step": null,
+      "text_zh": "观察：视频10–15 s沿花园灰砖路可见其余长板；机器人随后始终在房门及近门第一块板附近操作，全程没有将第2块不同的板搬到走廊木纹地板上的画面。"
+     },
+     {
+      "t": 303.66,
+      "log_step": 306,
+      "text_zh": "推断：视频末段293–303.66 s机器人翻倒，之前多次尝试也没有出现第一块板入走廊；评分字段q_score=0且live_matches_replay=1，初态目标关系均未满足，因此最终不可能有至少2块板满足走廊放置关系，final=false。"
+     }
+    ]
+   },
+   "plywoods_on_corridor_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10,
+      "log_step": null,
+      "text_zh": "观察：视频10–15 s沿花园灰砖路可见其余长板；机器人随后始终在房门及近门第一块板附近操作，全程没有将第3块不同的板搬到走廊木纹地板上的画面。"
+     },
+     {
+      "t": 303.66,
+      "log_step": 306,
+      "text_zh": "推断：视频末段293–303.66 s机器人翻倒，之前多次尝试也没有出现第一块板入走廊；评分字段q_score=0且live_matches_replay=1，初态目标关系均未满足，因此最终不可能有至少3块板满足走廊放置关系，final=false。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "plywoods_on_corridor_1",
+   "t": 93,
+   "log_step": 175,
+   "where": "操作中",
+   "evidence_zh": "观察：门在视频约39–43 s已打开；视频90–97 s机器人右爪下探、闭合并抬回后，橙棕色长板仍在门外灰砖上，未被带入走廊。视频103–110 s左爪再次下探、收回后板仍留在室外，视频150–188 s及262 s的后续尝试也未完成该步，故这是最早未修复的失败步骤；视频约293–303.66 s机体在花坛旁翻倒，log step 306服务报告failure: the robot fell over，是后续终止事件。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 93,
+    "log_step": 175,
+    "evidence_zh": "观察：视频90 s右腕画面仍能看到板平放在灰砖上；视频93–96 s右爪闭合后抬回，指间没有木板，视频97–98 s板仍在室外原处。视频103–107 s左爪下探、抬回时指间同样无板，视频108–110 s板仍平放在门外。两次抓取均未建立能夹住并带起木板的接触；这不排除遮挡期间短暂碰到板面。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "没有状态日志，视频90–110 s部分指尖及板边接触位置受遮挡，虽能确认抓取后空爪、板未抬起，但不能确定是否短暂触板、接触力或实际末端跟踪误差；视频36–43 s也不能看清使门转开的接触部位，开门接触记未知。原先开门控制归因不成立；现有抓板画面及log step 173–175的逆解测试、动作脚本不足以区分接触几何、定位或轨迹执行问题，根因留空，不把视频130–180 s头相机朝向变化单独当作根因。log step 344之后才编写的最终脚本是在已终止的服务上运行（log step 345），并未产生新评分动作，不能把该脚本描述的完整搬运路线记为本次进展。",
+  "unmet": {
+   "plywoods_on_corridor_1": false,
+   "plywoods_on_corridor_2": false,
+   "plywoods_on_corridor_3": false
+  }
+ },
+ "summary_zh": "机器人在视频约39–43 s打开走廊门，之后多次抓取或尝试推动近门第一块板，但未见任何板进入走廊，最终进度1/4、q_score=0。最早未修复的失败是视频约93 s抓板后空爪返回、板仍留在室外，现象为没建立所需夹持接触；视频约293 s机体在花坛旁翻倒并终止。无状态日志且局部接触受遮挡，开门实际接触部位和抓板失败根因不能确定，根因层留空。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 8,
+    "summary_zh": "关键错误：走廊门在视频约36–43 s已被打开（玻璃木门扇转开，露出走廊木地板），此后各帧门均敞开，标签“门扇始终没有转开”与画面矛盾。corridor_door_opened应为reached，断点不应落在开门步骤，而应落在第1块板（抓取/搬运）上；根因“开门控制”也随之不成立。",
+    "n_issues": 5,
+    "n_major": 4
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "第2轮标签已按上轮意见修正：门在视频约39–43 s打开，断点落在第1块板（操作中），现象为没建立接触，根因留空并有gap_zh；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": "2026-10-30T21:47:19Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-in-wood-i00-standard--izm6ufd/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-in-wood-i00-standard--izm6ufd/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-in-wood-i00-standard--izm6ufd/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-in-wood-i00-standard--izm6ufd/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b9dc775a68593425e6ec675ea778e78d26560a11ad271ae1239fb4dc9faad621",
+   "video_sha256": "55689e22f94be85bf98d1a02c485eb28e3834d8a409e72a6df099e69e38ff642",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/bringing_in_wood/trajectories/behavior-bringing-in-wood-i00-standard--mnwb6p5.json

@@ -0,0 +1,312 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-bringing-in-wood-i00-standard--mnwb6p5",
+ "taskKey": "behavior-1k/bringing_in_wood",
+ "dag_sha256": "54359bd2d9d51967b98ef078e09c231542698021d39d112e7af391cea06ee0e7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.6666666666666666,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "n_actions": 22444,
+   "sim_steps": 22444,
+   "physics_steps": 89776,
+   "steps": 22249,
+   "elapsed_s": 13902.4,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "q_score": 0.6666666666666666,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-bringing-in-wood-i00-standard--mnwb6p5/replay.mp4",
+  "duration_s": 748.133,
+  "fps": 30.0,
+  "frames": 22444,
+  "sha256": "6f6366d33f71b6a60338af31823cb4ff8dcb1b074dbce88bb5fd2d56593b5f95"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "corridor_door_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      145.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 145.0,
+      "log_step": 142,
+      "text_zh": "观察：视频 128–139 s 门扇附近的左夹爪接近并操作横向把手；视频 140–151 s 左腕视图可见门扇转离门框、露出走廊地面与通道。视频 194–198 s 右夹爪所持木板实际穿过该开口，视频 275 s 可清楚看见门扇向室外敞开。"
+     },
+     {
+      "t": 145.0,
+      "log_step": null,
+      "text_zh": "推断：将首次足以通过木板的开门事件记在视频约 145 s；头部相机此时朝向室外，首次可通板的准确时刻约有数秒不确定性，后续实际通过验证开口确实形成。开门是锁存事件，后续门回摆不取消完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人先以左二指夹爪夹住入口门把手向外牵引，放下第一块板后又以右二指夹爪握把手继续拉开门；两只夹爪先后操作。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人开门时轮式底盘后退和调整位置，配合夹爪沿门扇转动方向牵引。"
+     }
+    ]
+   },
+   "plywoods_on_corridor_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      206.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 105.0,
+      "log_step": 110,
+      "text_zh": "观察：视频 90–105 s 右夹爪将一块棕色板从室外铺砖上提起；板随右夹爪升高并在之后的携行中保持在右腕相机前，原地不再有该板。"
+     },
+     {
+      "t": 206.5,
+      "log_step": 174,
+      "text_zh": "观察：视频 194–198 s 机器人右夹爪将第一块板送过门口；视频 205.0 s 板仍遮挡右腕视图，视频 205.5 s 板向下脱离，视频 206.0–209.0 s 右腕视图已露出地面。视频 215.5–218 s 可见该板平放在门槛内侧浅色木纹地板上，夹爪已离开，板未随手臂移动。"
+     },
+     {
+      "t": 206.5,
+      "log_step": null,
+      "text_zh": "推断：结合视频 205.5 s 的下落、视频 206.0 s 后的空夹爪及视频 215.5–218 s 的稳定落点，将第一块板落稳近似记为视频 206.5 s（约有1秒不确定性）。后续视频 275 s、315–320 s 仍可见此板留在走廊内，没有观察到再次拿起。"
+     },
+     {
+      "t": 748.1,
+      "log_step": null,
+      "text_zh": "推断：视频 315–320 s 的两块板落点及此后未再搬板的过程，与评分器 q_score=2/3、live_matches_replay=1 一致，支持第一块入走廊在终态仍成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右二指夹爪夹住第一块胶合板边缘，将其提起、送过门口并张开释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：轮式底盘支承机器人，携带右夹爪中的第一块板沿室外道路驶到走廊入口。"
+     }
+    ]
+   },
+   "plywoods_on_corridor_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      311.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 290.0,
+      "log_step": 226,
+      "text_zh": "观察：视频 280–285 s 第二块板仍在门口外灰色铺砖上，右夹爪下降并夹住其两侧；视频 290–300 s 板离开原位置、随夹爪抬起并移向走廊。第一块板同时仍在门内木纹地���上。"
+     },
+     {
+      "t": 311.0,
+      "log_step": 235,
+      "text_zh": "观察：视频 305–310 s 机器人将第二块板降低到走廊地面；视频 311.0–311.5 s 右夹爪张开并向上离开，板留在地面。视频 314.5–320 s 两块板分别平放在走廊木纹地板上，彼此没有叠放，夹爪均已离开。释放和落稳时间近似取视频 311.0 s。"
+     },
+     {
+      "t": 748.1,
+      "log_step": null,
+      "text_zh": "推断：视频 410–420 s 又可见两块板仍在门内，之后机器人一直在门边解困，未再抓取木板；评分器最终 q_score=2/3 且实时与重放一致，支持至少两块板在终态仍满足目标关系。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右二指夹爪夹住门外第二块板的两侧，提起、送入走廊并在木纹地板上张开释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：轮式底盘支承机器人，在右夹爪携带第二块板时向入口前移。"
+     }
+    ]
+   },
+   "plywoods_on_corridor_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 325.0,
+      "log_step": 239,
+      "text_zh": "观察：视频 320–323 s 两块板已留在门内，机器人空手后退、转向并开始沿室外道路返回；视频 324–327 s 门扇与机器人右臂纠缠，机体随之向侧面倾倒。log step 239 的实际控制脚本在转向后驱动底盘返回取板位置，log step 244 记录 agent 自述返程碰门并侧翻。"
+     },
+     {
+      "t": 748.1,
+      "log_step": null,
+      "text_zh": "观察：视频 390–460 s 机器人逐步恢复直立，但右臂仍留在门边；视频 465–748.1 s 机器人反复调整底盘、手臂和门扇，最后一秒的右腕视图仍显示右夹爪抵在把手/门竖框附近。此段未见第三块板被拿起或运入走廊。"
+     },
+     {
+      "t": 748.1,
+      "log_step": null,
+      "text_zh": "推断：评分器最终 q_score=2/3，三块板初始均在花园，且没有初始已满足的走廊目标；所以终态最多两块板满足原生目标。第三块板入走廊必为 false，这不是仅凭失败分数推断未尝试：视频明确显示返程启动后被门边故障阻断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人空手驾底盘返回取第三块板，受阻后又多次短距离前后移动和转向尝试解困，未到达第三块板。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：返程时右侧张开夹爪/腕部与门把手及门竖框相抵，随后反复推移门扇、尝试撤出右手；此节点未发生对第三块木板的抓握。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 700–720 s 解困时左夹爪夹持门竖框以固定门扇，右夹爪在把手附近尝试退出；抓握指左夹爪固定门，右手主要为受阻接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.6666666666666666,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "plywoods_on_corridor_3",
+   "t": 325.0,
+   "log_step": 239,
+   "where": "转场",
+   "evidence_zh": "观察：视频 320–323 s 机器人在两块板放稳后空手退出入口、转向返回取最后一块板；视频 324–327 s 右臂与打开的门发生阻挡，机体侧翻。视频 390–460 s 虽逐步恢复直立，右臂仍未脱困，至视频 748.1 s 也未继续搬板。推断：最先未被后续完成所修复的是第三块板搬入走廊的返程故障，恢复直立并未完成该步。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 325.0,
+    "log_step": 244,
+    "evidence_zh": "观察：视频 324–327 s 机器人向室外道路移动时门扇被右臂带动，右腕/夹爪没有随底盘一同离开门边；视频 390–460 s 及视频 700–748.1 s，机器人多次改变姿态而右夹爪仍抵在门竖框和把手附近，无法撤出。log step 506、542 的 agent 自述分别称手指卡在把手环内、接触在把手杆下方；具体几何以视频可见的持续阻挡为准。"
+   },
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 327.0,
+    "log_step": 243,
+    "evidence_zh": "观察：视频 323 s 头部视图仍近于直立，视频 325–328 s 视野快速侧旋，视频 330–380 s 长时间侧倾、头部相机主要朝天。log step 243 的服务本体读数给出底座 rx 约 -1.06 rad，支持机体确已侧翻；视频 390–460 s 才逐渐回正。此处记录实际失衡，不另判跌倒约束。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 239 的控制脚本保留手臂姿态，先给底盘转角命令，再连续驱动底盘向两个返程位置移动；视频 324–327 s 右臂扫到门边、门扇随之转动并牵制机器人。log step 242 的该批动作执行完后，服务仍返回 done=False，机器人已明显倾斜；后续视频直至 748.1 s 仍未解除接触。动作没有为右臂提供足够的门边清障空间，且解困控制未能修复，是有证据的控制失败；现有记录不足以细分为特定逆解、反馈或参数问题。"
+   }
+  ],
+  "gap_zh": "没有状态日志或接触/力记录；手指究竟被把手环还是门竖框的哪一处卡住，不能逐帧精确确定。开门首次足以通板的时刻有数秒不确定性；第一块板在视频 205.5–215.5 s 的落地末段部分离开视野，落稳时刻为上下文推断，且无法直接量测0.05米/秒阈值。终态两块板目标关系结合可见落点、后续未再搬板和评分器2/3总数判定，未把 agent 的完成自述当作放置证据。",
+  "unmet": {
+   "plywoods_on_corridor_1": true,
+   "plywoods_on_corridor_2": true,
+   "plywoods_on_corridor_3": false
+  }
+ },
+ "summary_zh": "机器人打开走廊入口，并先后在视频约 206.5 s、311.0 s 将两块板释放到走廊木纹地板上，终态完成3/4个节点，原生目标为2/3。视频约 325 s 空手返回取第三块板时右臂与门纠缠，随后侧翻；虽恢复直立，持续受阻直到视频结束，控制动作未能清障并完成最后一次搬运。无状态日志，首次可通板的开门时刻、第一块板落稳时刻及接触的精确几何存在不确定性。",
+ "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、终态 3/4、断点（第3块板返程转场中右臂与门纠缠后侧翻）与帧和 log step 239–244 一致；现象（被挡/碰撞、平衡）和根因（控制，未细分）有证据支持，未发现需要修改内容的错误。",
+    "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": "2026-10-30T21:19:40Z",
+  "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/behavior-bringing-in-wood-i00-standard--mnwb6p5/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-in-wood-i00-standard--mnwb6p5/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9c7f407822e63946014e2cd5c7364d59c5b579623334e4390171a5b7410681c0",
+   "video_sha256": "6f6366d33f71b6a60338af31823cb4ff8dcb1b074dbce88bb5fd2d56593b5f95",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/bringing_in_wood/trajectories/behavior-bringing-in-wood-i00-standard--myaibvy.json

@@ -0,0 +1,299 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-bringing-in-wood-i00-standard--myaibvy",
+ "taskKey": "behavior-1k/bringing_in_wood",
+ "dag_sha256": "54359bd2d9d51967b98ef078e09c231542698021d39d112e7af391cea06ee0e7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 3057,
+   "sim_steps": 3057,
+   "physics_steps": 12228,
+   "steps": 2469,
+   "elapsed_s": 938.1,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.226,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.266,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-bringing-in-wood-i00-standard--myaibvy/replay.mp4",
+  "duration_s": 101.9,
+  "fps": 30.0,
+  "frames": 3057,
+  "sha256": "7f4958210ffa8623b3998c28588c6253ac96cbc9ca8c68cc2271542d7c03f244"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "corridor_door_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 机器人位于室外灰色铺砖步道，身旁入口的木质门扇仍在门框内。"
+     },
+     {
+      "t": 88,
+      "log_step": 49,
+      "text_zh": "观察：视频 84–91.5 s 机器人携两块板面对入口并后退，带玻璃窗的门扇始终挡住入口；视频 92–101.87 s 机器人倒地，门仍未转开。参考成功视频 20 s 可见门扇转开后露出的浅色木纹走廊地面，本次未出现该通行开口。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 84–91.5 s 轮式底盘移动以调整门前观察位置；两爪仍各持一块板，未见夹爪握住门把手或推动门扇。"
+     }
+    ]
+   },
+   "plywoods_on_corridor_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.5,
+      "log_step": 30,
+      "text_zh": "观察：视频 24 s 首块板仍在室外铺砖上；视频 26.5–27.5 s 右爪夹住并抬起该板，板离开原来的铺砖位置。此后机器人携板行进，未把它放到走廊地板上。"
+     },
+     {
+      "t": 88,
+      "log_step": 46,
+      "text_zh": "观察：视频 39.5 s 和 88 s 两爪各夹一块板，机器人始终在室外；视频 91.7–101.87 s 倾倒及恢复尝试期间，两腕视图仍显示夹持的板，未出现入走廊后放板。"
+     },
+     {
+      "t": 101.87,
+      "log_step": 57,
+      "text_zh": "推断：评分器 reward.q_score=0.0，且 live_matches_replay=1；初始木板在花园，本次视频没有板进入走廊的过程。零个目标关系的总分与画面一致，故至少一块板在走廊的终值为 false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 26.5–27.5 s 先由右二指夹爪夹起首块板；视频 39.5–91.5 s 左右爪各夹一块板并共同搬运，两只爪各自闭合夹持自己的板。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 28–91.5 s 轮式底盘携首块板沿室外步道行进、巡视并返回入口，随后退行倾倒。"
+     }
+    ]
+   },
+   "plywoods_on_corridor_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 39.5,
+      "log_step": 34,
+      "text_zh": "观察：视频 34–35.5 s 左爪接近并夹住第二块板，视频 39.5 s 第二块板已随左爪抬离原来的室外铺砖位置；右爪同时保有首块板。两块板此后均随机器人在室外搬运，没有走廊地面的放置过程。"
+     },
+     {
+      "t": 101.87,
+      "log_step": 57,
+      "text_zh": "推断：视频 88–101.87 s 机器人在关闭的入口外携两板退行、倒地，没有把两板送入走廊；评分器 reward.q_score=0.0、live_matches_replay=1，初始板均不在走廊，故至少两块板在走廊的终值为 false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 35.5–39.5 s 左二指夹爪夹起第二块板，右爪同时保持首块板；视频 39.5–91.5 s 两臂各持一板共同搬运。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 40–91.5 s 轮式底盘携两板在室外巡视并驶回入口，未越过入口。"
+     }
+    ]
+   },
+   "plywoods_on_corridor_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 64,
+      "log_step": 42,
+      "text_zh": "观察：视频 52–64 s 机器人仍只携左右爪中的两块板在花园步道巡视；log step 42 的脚本沿步道向西行进并采集全景寻找其余木板。之后视频中没有第三块板被夹起或移入走廊的过程。"
+     },
+     {
+      "t": 101.87,
+      "log_step": 57,
+      "text_zh": "推断：视频 84–101.87 s 入口未打开，机器人携两板倒在室外；评分器 reward.q_score=0.0、live_matches_replay=1，且初始板均在花园，故三块板均在走廊的终值为 false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 52–64 s 机器人在室外步道移动和转向巡视；log step 42 的脚本用这些移动寻找其余木板。未见第三块板与夹爪建立接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "corridor_door_opened",
+   "t": 92.0,
+   "log_step": 49,
+   "where": "探索",
+   "evidence_zh": "观察：视频 84–91.5 s 机器人在入口外，两爪各持一板，带玻璃窗的门扇仍挡住入口，未见夹爪握门把手或推动门扇；log step 46 的代码移动至门前并采集观察，log step 48 读取门前深度，log step 49 的调用“Back up to view the door”执行 goto(-0.8,-3.3,np.pi/2, speed=0.4)。视频约 92 s 携板退行时头部视图急剧翻转，机器人倒下；视频 101.87 s 仍未恢复直立或打开门，log step 57 的机器人服务状态确认 done=True、reason=\"failure: the robot fell over\"。推断：倒地中断的是开门前对入口的观察和位置调整，尚未开始握把或推门等开门操作，故断点归于 corridor_door_opened 的探索阶段。"
+  },
+  "unmet": {
+   "plywoods_on_corridor_1": false,
+   "plywoods_on_corridor_2": false,
+   "plywoods_on_corridor_3": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 92.0,
+    "log_step": 49,
+    "evidence_zh": "观察：视频 91.7–93.2 s 机器人退行时视图从正常门前视角翻向屋檐和天空，视频 93.2–101.87 s 持续大幅倾斜。log step 50 的实时服务读数为 control_steps=2797、底座上轴分量约 -0.095；log step 56 恢复动作结束时上轴分量仅约 0.61，服务判定跌倒失败。推断：服务为 30 Hz，2797/30≈视频 93.23 s，与视频 93.17–93.33 s 的倒地画面吻合；最终 3057/30=101.9 s 也与视频时长一致。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "t": 92.0,
+    "log_step": 49,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 8 的 base_move 预生成整段平移、转向指令，执行中只检查服务 done；log step 12 的 goto 仅根据平面位置及航向误差继续移动，没有倾斜反馈停机条件。log step 49 以 speed=0.4 执行门前向后及侧向的移动，结束才打印 up=-0.095；视频 91.7–93.2 s 对应这段移动中的倾倒。log step 52–56 的躯干、双臂及底盘恢复控制也未恢复直立。搬运底盘控制未及时用姿态反馈制止失稳，是可由代码、读数和画面共同支持的原因。"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志，无法核实车轮与路缘接触的具体位置和力；agent 在 log step 60 自述“撞上路缘后翻倒”，但轮地接触区域不在相机视野内，该具体触发机制仍待核实。第三块板的位置未由本次画面定位。门的另一替代入口初态也未核实，但本次未见任何开门动作或木板进入走廊；最终目标关系为零同时受评分器总分约束。"
+ },
+ "summary_zh": "机器人在室外依次用右爪、左爪夹起两块板并携行，但走廊门未打开，没有木板放到走廊地面，节点最终完成 0/4，q_score=0。约视频 92 s，机器人在开门前的门口观察过程中携板退行倾倒，开门探索中断且此后未完成开门；底盘脚本缺少倾斜反馈停止条件，后续恢复也未成功。缺少状态日志和轮地接触视野，无法核实 agent 所称路缘碰撞的具体机制。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点值、时钟与倒地现象��本可信，但断点 ref 错：DAG 中 corridor_door_opened 是第一个未达成且为其余三块板 after 前置的步骤，机器人从未对门做任何操作，倒地发生在去门前观察位姿的移动中，断点应落在开门步骤而不是首块板入走廊。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点均为未达成且与视频、q_score=0 一致；断点已按第1轮改为 corridor_door_opened·探索，倒地时间（视频约 92–93 s）、全身·平衡现象与控制步到视频时间的换算均有画面和服务读数支持，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": "2026-10-30T21:44:46Z",
+  "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/behavior-bringing-in-wood-i00-standard--myaibvy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-in-wood-i00-standard--myaibvy/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-in-wood-i00-standard--myaibvy/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-in-wood-i00-standard--myaibvy/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "2b18a6612eeefc407d8b10839bf534d816952c9a7258a62397edcfb2960050db",
+   "video_sha256": "7f4958210ffa8623b3998c28588c6253ac96cbc9ca8c68cc2271542d7c03f244",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/bringing_in_wood/trajectories/behavior-bringing-in-wood-i00-standard--yf9votj.json

@@ -0,0 +1,241 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-bringing-in-wood-i00-standard--yf9votj",
+ "taskKey": "behavior-1k/bringing_in_wood",
+ "dag_sha256": "54359bd2d9d51967b98ef078e09c231542698021d39d112e7af391cea06ee0e7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "n_actions": 24075,
+   "sim_steps": 24075,
+   "physics_steps": 96300,
+   "steps": 9139,
+   "elapsed_s": 12150.5,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-bringing-in-wood-i00-standard--yf9votj/replay.mp4",
+  "duration_s": 802.5,
+  "fps": 30.0,
+  "frames": 24075,
+  "sha256": "9c81cb26b7fcd7258f23cf4be60473857a36c7e8fea0ea4889b51fa3062b22f3"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "corridor_door_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–13.0 s 机器人旋转查看室外铺砖路、房屋墙面和地上的棕色木板，未见门扇转开形成入口；视频 15–795 s 的全段粗采样显示机器人持续在室外低位翻转、移动，未见进入走廊或操作门把手。"
+     },
+     {
+      "t": 802.46,
+      "log_step": null,
+      "text_zh": "观察：视频 801.5–802.46 s 仍是天空及侧转的室外灰色铺砖路，没有开门形成的木纹地板通路。对照参考成功视频 20 s，入口门已明显转离门框；该参考只用于辨认完成外观，不作本次运行的事实。"
+     }
+    ]
+   },
+   "plywoods_on_corridor_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 13.5,
+      "log_step": 47,
+      "text_zh": "观察：视频 12.8–13.4 s 机器人空手向室外地上可见的棕色木板驶近，视频 13.5–14.4 s 视野急剧倾倒、转向天空和屋檐；log step 47 是这次接近木板的底盘运动，随后 log step 48 的本体位姿也显示机体已明显倾斜。没有出现夹爪携板或板进入室内的画面。"
+     },
+     {
+      "t": 423.0,
+      "log_step": null,
+      "text_zh": "观察：视频 417–426 s 机器人继续在倾斜视野中移动，棕色木板仍在室外灰色铺砖上；未见木板抵达参考成功视频 40–50 s 所示的走廊浅色木纹地板。"
+     },
+     {
+      "t": 778.0,
+      "log_step": 302,
+      "text_zh": "观察：log step 302–308 中 agent 的脚本尝试右夹爪接近、闭合和拖动目标；视频 765–782 s 仅见手臂运动、天空与室外铺砖，视频 776–782 s 仍可见地上的棕色物体，未见木板随夹爪抬起或被送入走廊。不能将该脚本的抓取指令当作成功抓握。"
+     },
+     {
+      "t": 802.46,
+      "log_step": null,
+      "text_zh": "推断：本次初始木板在室外，已检查的全段画面未见任何一次入走廊放板；评分器 reward.q_score=0.0 且 live_matches_replay=1，三块板中连1块满足走廊地板关系都不允许，因此本节点终态为 false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.5 s 底盘支承机器人空手驶向室外木板，后续为继续接近和推移木板而移动、翻滚；未见携板行驶。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 765–782 s 的抓取尝试中，夹爪与目标接触区域未被三路画面完整显示；无法确认右夹爪是否碰到或夹住木板，也不能确认先前机体移动是否推到木板。"
+     }
+    ]
+   },
+   "plywoods_on_corridor_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 13.0,
+      "log_step": null,
+      "text_zh": "观察：视频 4.0–13.0 s 可见棕色木板留在室外铺砖地面；后续全段粗采样及视频 405–438 s、765–782 s 的加密检查均未见机器人把木板搬入走廊，更未见至少2块板同时由走廊木纹地板承托。没有可辨认的第2块板独立搬运尝试。"
+     },
+     {
+      "t": 802.46,
+      "log_step": null,
+      "text_zh": "推断：视频 801.5–802.46 s 机器人仍滞留室外；评分器 reward.q_score=0.0、live_matches_replay=1，初态也没有板在走廊，因此至少2块板在走廊的终态为 false；该判断并非仅由 success=0 得出。"
+     }
+    ]
+   },
+   "plywoods_on_corridor_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 13.0,
+      "log_step": null,
+      "text_zh": "观察：视频 4.0–13.0 s 可见棕色木板留在室外铺砖地面；后续全段粗采样及视频 405–438 s、765–782 s 的加密检查均未见机器人把木板搬入走廊，更未见至少3块板同时由走廊木纹地板承托。没有可辨认的第3块板独立搬运尝试。"
+     },
+     {
+      "t": 802.46,
+      "log_step": null,
+      "text_zh": "推断：视频 801.5–802.46 s 机器人仍滞留室外；评分器 reward.q_score=0.0、live_matches_replay=1，初态也没有板在走廊，因此至少3块板在走廊的终态为 false；该判断并非仅由 success=0 得出。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "plywoods_on_corridor_1",
+   "t": 13.5,
+   "log_step": 47,
+   "where": "转场",
+   "evidence_zh": "观察：视频 12.8–13.4 s 机器人空手驶向室外木板，视频 13.5–14.4 s 机体翻倒，视野转向天空和屋檐；log step 45–47 明确记录转向并接近该木板。此后视频全段未见木板运入走廊，视频 801.5–802.46 s 机器人仍以侧转视野滞留室外。推断：首次未修复的失败属于第1块板的搬运步骤，在空手取板的转场中失衡，而非后来才出现的右夹爪尝试或未尝试的开门节点。"
+  },
+  "unmet": {
+   "plywoods_on_corridor_1": false,
+   "plywoods_on_corridor_2": false,
+   "plywoods_on_corridor_3": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 13.5,
+    "log_step": 47,
+    "evidence_zh": "观察：视频 13.3–14.4 s 机器人视野从沿铺砖路前望急剧变为倾倒后仰、朝向天空，视频 15–30 s 继续翻转并降至地面高度；后续视频 300–438 s、660–802.46 s 又多次出现侧翻或倒置视野，未恢复有效取板搬运。log step 48 的底座四元数及 log step 52 由其计算的约73.5度倾角与首次翻倒相符。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 13.5,
+    "log_step": 47,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：接近木板的底盘控制没有维持机体稳定。log step 47 的脚本连续12个控制步命令底盘每步前进0.1米，保持躯干目标[0,0,-0.6,0]后再停下；视频 13.3–14.4 s 随即出现明显翻倒，log step 48 返回的倾斜底座位姿与之相符。log step 55–58 的倒车和双臂撑地恢复未使机体复位，视频后续仍持续翻滚或滞留。没有足够证据区分具体控制子类，也未证明某个参数单独导致失衡。"
+   }
+  ],
+  "gap_zh": "没有状态日志；头部和腕部视野在翻倒后长时间只显示天空、近地面或机体，不能精确重建所有支承碰撞，也不能确认末尾右夹爪是否与木板建立接触。开门与放板的完成外观已与成功参考视频对照，本次未出现；木板终态 false 还受到评分器 q_score=0.0 的约束。控制根因可定位到失衡的接近与恢复动作，但缺少力、加速度及控制器内部记录，无法细分其机制。"
+ },
+ "summary_zh": "本次未完成开门或任何一块板入走廊，节点终态为0/4，评分器 q_score=0.0。机器人在视频约13.5 s 空手驶向第1块板时翻倒，此后持续尝试脱困和接近木板，但未修复该搬运步骤；失败现象为全身失衡，根因保守标为控制。无状态日志，翻倒后的相机遮挡使末端接触及具体失稳机制无法确认。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点全 false、断点在第1块板接近时翻倒（视频约13.5 s），平衡现象与控制根因均有帧和 log step 47/48/52 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": "2026-10-30T21:18:14Z",
+  "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/behavior-bringing-in-wood-i00-standard--yf9votj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-bringing-in-wood-i00-standard--yf9votj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1f07fe138ecdf77b056c29504afea95ce9d62c216aa3b0b2bacfe72ab467336b",
+   "video_sha256": "9c81cb26b7fcd7258f23cf4be60473857a36c7e8fea0ea4889b51fa3062b22f3",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-privileged--7mxawud.json

@@ -0,0 +1,234 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-boxing-gloves-i00-privileged--7mxawud",
+ "taskKey": "behavior-1k/clean_boxing_gloves",
+ "dag_sha256": "0a7a032b99d0bef48c3134269b0a5ae0f98a9e91d3fdbb86bdb6a8a9ff493d59",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 3644,
+   "sim_breakdown": 0,
+   "goal": 0,
+   "settle_steps": 150,
+   "goal_first_step": -1,
+   "sim_steps": 3794,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1393.6,
+   "replay_timeout_s": 3629.3,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "video_replay_matches": 1,
+   "agent_sessions": 3,
+   "agent_resets": 0,
+   "agent_sim_steps": 3644,
+   "agent_records": 1,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-clean-boxing-gloves-i00-privileged--7mxawud/replay.mp4",
+  "duration_s": 126.467,
+  "fps": 30.0,
+  "frames": 3794,
+  "sha256": "ef396ffd4051ba7b77e8999105d8cb38e9d41cd5f554315b3570409870a5bc03"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "gloves_clean_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.5,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–7.5 s，机器人左夹爪接近台面上的第一只红色手套，手套被拨动翻转；夹爪随后收拢并抬离，手套仍在台面，未随夹爪带走。视频12.0 s仍能看到两只手套留在台面。"
+     },
+     {
+      "t": 84.0,
+      "log_step": null,
+      "text_zh": "观察：视频81.0–90.5 s机器人返回台面尝试另一只手套；视频84.0、88.0 s腕部近景仍显示灰黑颗粒，头部画面中两只手套均留在台面。全片检查未见手套进入洗衣机或去尘。"
+     },
+     {
+      "t": 126.4,
+      "log_step": 113,
+      "text_zh": "推断：视频125.5、126.4 s末帧只显示洗衣机前的空夹爪和红色开关标记，无法直接检查手套表面；但本次评分q_score=0、goal=0、video_replay_matches=1，两项无尘目标初始均不成立，故终态干净数量为0，至少一只干净也为假。log step 113记录交付的3644行动录制保存，末态两只Covered均为True，与画面所见未搬走手套一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频6.0–7.0 s左夹爪拨动第一只手套，使其在台面翻转；未见夹住并提起。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频24.0–32.0、46.0–52.0 s左夹爪反复贴压洗衣机门附近；视频113.0–126.4 s夹爪抵近开关区域的红色标记，标记保持红色，门没有打开。此为清洁方案的设备准备接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0–5.0 s机器人驶向手套台面，视频14.0–18.0 s驶向洗衣机；底盘承担移动支撑，未携带手套。"
+     }
+    ]
+   },
+   "gloves_clean_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 84.0,
+      "log_step": 104,
+      "text_zh": "观察：视频82.0–90.5 s机器人右夹爪从上方接近另一只手套，指端贴压红色表面，近景可见多处灰黑颗粒；视频90.5 s右夹爪离开时，两只手套仍在台面，均未被运入洗衣机。log step 104的右手取物脚本修改说明该段是在尝试第二只手套。"
+     },
+     {
+      "t": 126.4,
+      "log_step": 113,
+      "text_zh": "推断：视频末段洗衣机前的视角遮住手套，但全片未见装入或去尘，评分q_score=0不允许两只无尘目标成立；两只初始均有尘，故第2只干净终态为假。log step 113中交付录制末态两只Covered均为True、ToggledOn重试为False，支持这一终态判断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频83.0–90.0 s右夹爪指端从上方压住第二次取物所针对的红色手套表面，未见形成包夹并提起；视频113.0–126.4 s左夹爪在洗衣机开关处操作，作为两只手套共同清洁方案的后续准备。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频77.0–82.0 s机器人由洗衣机驶回手套台面，视频90.5–94.0 s空手返回洗衣机，底盘提供移动支撑。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "gloves_clean_1",
+   "t": 7.5,
+   "log_step": 111,
+   "where": "操作中",
+   "evidence_zh": "观察：视频6.0–7.5 s左夹爪取第一只手套时只将其拨动翻转，抬手后手套仍在台面；视频12.0 s仍见两只手套，随后机器人空手前往洗衣机，之后没有修复第一只手套的搬取与清洁。log step 111中交付录制过程打印glove1 in hand: None；log step 113保存3644行动轨迹并报告两只仍有尘。"
+  },
+  "unmet": {
+   "gloves_clean_1": false,
+   "gloves_clean_2": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 7.5,
+    "log_step": 111,
+    "evidence_zh": "观察：视频5.0–7.5 s机器人左夹爪靠近并拨动手套后空夹抬起，手套未被带离台面；视频12.0 s仍留在原台面。这里未建立的是搬取所需的有效包夹接触，并非指端完全没有碰到手套；log step 111的glove1 in hand: None与画面相符。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 7.5,
+    "log_step": 103,
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频6.0–7.5 s可见左夹爪的接近与闭合只使厚手套在台面翻转，没有形成可携带的包夹；视频83.0–90.5 s右夹爪也只压住手套上表面，撤离时未带走。log step 103–104将交付脚本改为从上方以相同平面坐标、两个下降高度闭爪，失败后继续抬手和搬运路径；log step 111确认第一只未在手中。这支持本次取物接触几何未建立有效抓握，未将agent在log step 116自述的射线平面偏差数值当作已核实原因。"
+   }
+  ],
+  "gap_zh": "无状态日志；第一只手套接触点有局部遮挡，不能独立核实辅助抓握射线、双指接触或关节受力的精确数值。视频末段不再看到手套，两个节点的终态结合本次评分q_score=0与交付录制日志判定；无尘结果从未出现的判断同时依据可见残尘、手套始终留在台面及设备操作未成功，未仅凭零分倒推。"
+ },
+ "summary_zh": "机器人先后尝试抓取两只积尘手套，但均未从台面带走；随后尝试操作洗衣机，门未打开、开关仍为红色，两项清洁节点全程未达成，终态0/2。最早未修复断点为第1只手套干净：取物时只拨动手套，没有建立有效抓握，证据支持抓取和接触设计不足。末段手套被视角遮挡且无状态日志，终态由评分q_score=0与交付录制末态日志共同确定，具体辅助抓握失效机理不能独立核实。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标注与视频和日志一致：视频5–12 s手套被拨动后仍留在台面，log step 111 显示 glove1 in hand: None，log step 113 显示 STATUS success False 且 q_score=0。断点、没建立接触和抓取与接触设计均有证据支持，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": "2026-10-30T21:17:45Z",
+  "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/behavior-clean-boxing-gloves-i00-privileged--7mxawud/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-boxing-gloves-i00-privileged--7mxawud/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7027143386ae4eaeb7c85929a416676023a48be6da74385cb86c08388d1f833e",
+   "video_sha256": "ef396ffd4051ba7b77e8999105d8cb38e9d41cd5f554315b3570409870a5bc03",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-privileged--cqpg2mo.json

@@ -0,0 +1,226 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-boxing-gloves-i00-privileged--cqpg2mo",
+ "taskKey": "behavior-1k/clean_boxing_gloves",
+ "dag_sha256": "0a7a032b99d0bef48c3134269b0a5ae0f98a9e91d3fdbb86bdb6a8a9ff493d59",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 3601,
+   "sim_steps": 3601,
+   "fallen": 0,
+   "final_reward": 1.0,
+   "q_score": 1.0,
+   "replay_wall_s": 1513.1,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 7,
+   "agent_resets": 3,
+   "agent_sim_steps": 10787,
+   "agent_records": 3,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 12.337,
+   "peak_memory_gb": 20.905,
+   "peak_processes": 42,
+   "peak_disk_gb": 3.204,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-clean-boxing-gloves-i00-privileged--cqpg2mo/replay.mp4",
+  "duration_s": 120.033,
+  "fps": 30.0,
+  "frames": 3601,
+  "sha256": "b930c32913575c04988dcdcfda491fe4152816c8918c1c1808db3c15e6986ebe"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "gloves_clean_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      120.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 63.0,
+      "log_step": null,
+      "text_zh": "观察：视频63.0 s两只手套均已离开台面、分别夹在左右夹爪内，两个腕部视图都可见红色表面上的灰黑颗粒；此时两个无尘计数条件均未满足。"
+     },
+     {
+      "t": 98.0,
+      "log_step": null,
+      "text_zh": "观察：视频79.0–84.0 s机器人将左爪手套送入滚筒并抽出空爪；视频92.0–98.0 s将右爪手套送入滚筒并抽出空爪。视频98.0 s腕部画面可见两只红色手套留在打开的滚筒内，不能据此认定已经无尘。"
+     },
+     {
+      "t": 120.0,
+      "log_step": 125,
+      "text_zh": "观察：视频114.0 s滚筒门已关闭，视频119.0–120.0 s左夹爪指尖抵住红色开关，视频120.0 s末帧手套受滚筒门遮挡；log step 123将log step 122生成的3601步轨迹选为最终交付，log step 125的评分器重放结果为success=true、q_score=1.0、deterministic=true，与本次reward一致。"
+     },
+     {
+      "t": 120.0,
+      "log_step": 125,
+      "text_zh": "推断：视频末段按下开关后回合结束，且本次评分器确认两个无尘目标全部满足，因此至少一只手套无尘在末尾成立；把视频120.0 s作为到达锚点，精度约0.5 s。去尘发生于遮挡的滚筒内，没有状态日志，不能直接逐粒观察消失时刻，也没有证据支持更早单独清洁一只。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频54.0 s左夹爪已夹起一只手套，视频63.0–71.0 s两夹爪各夹住一只手套共同搬运；视频79.0–84.0 s左爪先将一只送入滚筒并松开，视频92.0–98.0 s右爪再装入另一只并松开。这是两个计数节点共用的装载操作。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频64.0–71.0 s机器人底盘在双手持手套期间转向并驶回洗衣机前，承载机器人和两只手套。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频119.0–120.0 s机器人左夹爪指尖抵压白色洗衣机面板的红色开关；右夹爪空置，手套均已留在滚筒内。清洁由设备完成，此项记录机器人启动设备的实际接触。"
+     }
+    ]
+   },
+   "gloves_clean_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      120.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 63.0,
+      "log_step": null,
+      "text_zh": "观察：视频63.0 s两只手套均已离开台面、分别夹在左右夹爪内，两个腕部视图都可见红色表面上的灰黑颗粒；此时两个无尘计数条件均未满足。"
+     },
+     {
+      "t": 98.0,
+      "log_step": null,
+      "text_zh": "观察：视频79.0–84.0 s机器人将左爪手套送入滚筒并抽出空爪；视频92.0–98.0 s将右爪手套送入滚筒并抽出空爪。视频98.0 s腕部画面可见两只红色手套留在打开的滚筒内，不能据此认定已经无尘。"
+     },
+     {
+      "t": 120.0,
+      "log_step": 125,
+      "text_zh": "观察：视频114.0 s滚��门已关闭，视频119.0–120.0 s左夹爪指尖抵住红色开关，视频120.0 s末帧手套受滚筒门遮挡；log step 123将log step 122生成的3601步轨迹选为最终交付，log step 125的评分器重放结果为success=true、q_score=1.0、deterministic=true，与本次reward一致。"
+     },
+     {
+      "t": 120.0,
+      "log_step": 125,
+      "text_zh": "推断：视频末段按下开关后回合结束，且本次评分器确认两个无尘目标全部满足，因此两只手套无尘在末尾成立；把视频120.0 s作为到达锚点，精度约0.5 s。去尘发生于遮挡的滚筒内，没有状态日志，不能直接逐粒观察消失时刻，也没有证据支持更早单独清洁一只。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频54.0 s左夹爪已夹起一只手套，视频63.0–71.0 s两夹爪各夹住一只手套共同搬运；视频79.0–84.0 s左爪先将一只送入滚筒并松开，视频92.0–98.0 s右爪再装入另一只并松开。这是两个计数节点共用的装载操作。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频64.0–71.0 s机器人底盘在双手持手套期间转向并驶回洗衣机前，承载机器人和两只手套。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频119.0–120.0 s机器人左夹爪指尖抵压白色洗衣机面板的红色开关；右夹爪空置，手套均已留在滚筒内。清洁由设备完成，此项记录机器人启动设备的实际接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 1.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人双手抓取两只积尘手套，搬至洗衣机后逐只放入滚筒并松开，关门、按压开关后本次评分成功，两个清洁节点均在视频末尾约120.0 s达成，最终2/2。滚筒遮挡去尘过程且无状态日志，到达时刻结合末段画面与评分器success=1、q_score=1推断，无法确认更早的单只去尘时刻。规则版本差异：本次run.json的task_text采用两只无尘即结束的旧规则，按执行时规则计达成；DAG所述新版松手、速度及连续30控制步的联合窗口未由本次评分单独核实（P19）。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行（q_score=1），两个清洁节点在视频末尾约120 s到达，由评分器结果加遮挡画面推断，标注为推断而非观察，合理；接触标签与帧一致；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": "2026-10-30T21:11:26Z",
+  "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/behavior-clean-boxing-gloves-i00-privileged--cqpg2mo/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-boxing-gloves-i00-privileged--cqpg2mo/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e57f32f16fdadce8a46ae9bfc869f4065e4671960a89275dc058fd2bc7695309",
+   "video_sha256": "b930c32913575c04988dcdcfda491fe4152816c8918c1c1808db3c15e6986ebe",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-privileged--m6ec52r.json

@@ -0,0 +1,305 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-boxing-gloves-i00-privileged--m6ec52r",
+ "taskKey": "behavior-1k/clean_boxing_gloves",
+ "dag_sha256": "0a7a032b99d0bef48c3134269b0a5ae0f98a9e91d3fdbb86bdb6a8a9ff493d59",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 2688,
+   "sim_steps": 2688,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1239.4,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 1,
+   "agent_resets": 8,
+   "agent_sim_steps": 0,
+   "agent_records": 1,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 6.836,
+   "peak_memory_gb": 13.612,
+   "peak_processes": 74,
+   "peak_disk_gb": 0.621,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-clean-boxing-gloves-i00-privileged--m6ec52r/replay.mp4",
+  "duration_s": 89.6,
+  "fps": 30.0,
+  "frames": 2688,
+  "sha256": "80b21641c966e8eda27c43543c88769254d44ea888ac3881e6043dfd852ef122"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "gloves_clean_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29,
+      "log_step": null,
+      "text_zh": "观察：视频 29.0 s，头部画面显示两只红色手套均在白色台面上，表面可见灰黑颗粒。"
+     },
+     {
+      "t": 33,
+      "log_step": null,
+      "text_zh": "观察：视频 30.5–32.75 s，机器人左夹爪靠近其中一只手套并合拢；视频 33.0–35.0 s 左爪抬离后为空，两只手套仍在原台面；视频 35.5–48.0 s 机器人空手返回洗衣机并做装载方向的动作。"
+     },
+     {
+      "t": 55,
+      "log_step": null,
+      "text_zh": "观察：视频 55.0 s 再次接近台面时，两只手套仍可见；视频 57.0–58.0 s，另一次抓取中的手套近景仍有灰黑颗粒。全程未观察到手套颗粒全部消失的画面。"
+     },
+     {
+      "t": 89.57,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0、success=0；DAG 的两个无尘目标初态均为假，因而最终没有一只手套满足无尘目标，gloves_clean_1 final=false。视频 88.6–89.57 s 已检查，但末段头部画面主要朝向上方，腕部也未提供手套表面全貌；末值由评分总数约束，不能把洗衣机前的动作视为已清洁。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.0–18.0 s，机器人左夹爪夹住洗衣机门的把手部位并向外拉，门随之打开；这是首次清洁尝试的设备准备接触。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "未知",
+      "note_zh": "观察：视频 31.5–32.75 s，左爪合拢的指尖抵近手套红色外表面，随后空爪抬离，手套留在台面。腕部视角不能核实接触面和受力方式；未观察到两指包夹或手套被带走，不标为抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–6.0 s、24.0–30.0 s 及 35.5–40.0 s，机器人以轮式底盘驶近洗衣机、台面并空手返回洗衣机，底盘支承整机。"
+     }
+    ]
+   },
+   "gloves_clean_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.5,
+      "log_step": null,
+      "text_zh": "观察：视频 29.0–34.5 s 两只手套均留在台面，首次抓取没有带走目标；视频 55.0 s 两只手套仍在台面。"
+     },
+     {
+      "t": 58,
+      "log_step": null,
+      "text_zh": "观察：视频 57.0–58.0 s，机器人左夹爪对另一只手套合爪，手套表面仍有灰黑颗粒；视频 59.0–72.0 s 红色手套持续随左腕移动，机器人已离开台面驶向洗衣机，确认这次实际拿走了手套。"
+     },
+     {
+      "t": 77,
+      "log_step": null,
+      "text_zh": "观察：视频 74.0–76.0 s 左腕近景仍被所持红色手套遮住，机器人将其送向洗衣机口；视频 77.0 s 左腕不再持有该手套，视频 80.0 s 左腕画面可见红色手套躺在机器人旁地面，未见其进入滚筒。画面没有显示两只手套均已去尽颗粒。"
+     },
+     {
+      "t": 89.57,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，两个初态为假的无尘目标在最终均不成立，故 gloves_clean_2 final=false。视频 88.6–89.57 s 的末段视野不能直接检查滚筒内手套的表面，未据此声称设备已清洁。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 57.0–76.0 s，机器人左夹爪合拢夹持另一只手套，手套离开台面并持续随腕部搬运至洗衣机口；视频 77.0 s 已脱离左爪。这里按第二次装载尝试记录接触，不表示第二个无尘计数已达到。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 50.0–56.0 s 机器人驾底盘驶向台面；视频 64.0–72.0 s 底盘在左爪持手套时返回洗衣机，支承整机并参与搬运。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "gloves_clean_1",
+   "t": 33.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 30.5–32.75 s，机器人左夹爪接近台面上的第一只操作对象并合爪；视频 33.0–35.0 s 抬爪后两只手套仍在台面，左爪为空。推断：这次装载所需的抓持未建立，机器人随后空手去洗衣机，视频 55.0 s 两只手套仍在台面；后续只搬运另一只，未修复这次失败，故断点为首个无尘计数节点。"
+  },
+  "unmet": {
+   "gloves_clean_1": false,
+   "gloves_clean_2": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 33.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 31.5–32.75 s 左夹爪合拢在红色手套外表面附近；视频 33.0–34.5 s 爪已离开而手套仍躺在原台面，视频 35.5–40.0 s 左腕为空。推断：未建立搬运所需的包夹抓持，未见先被持起再滑落的过程。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 33.0,
+    "log_step": null,
+    "source_zh": "视频",
+    "evidence_zh": "推断：视频 30.5–34.5 s 机器人已将左夹爪送到正确的红色手套旁并执行合爪、抬手，但目标没有随爪离开台面，说明这次抓取的接触执行没有成功。视频支持将故障归于抓取控制；缺少本次重放的关节、夹持力和接触记录，无法进一步区分接触几何、逆解误差或跟踪问题。"
+   },
+   {
+    "cat": "交付",
+    "item": "交付操作出错",
+    "t": 33.0,
+    "log_step": 351,
+    "source_zh": "日志",
+    "evidence_zh": "观察：inputs/run.json 的 reward.agent_replays=0、agent_records=1、agent_sim_steps=0，deterministic=1、instance_ok=1、infra_error=0；log step 300、308 启动会话内生成录制，log step 351 的脚本在 s.reset() 后调用 record_start()，末尾计划 record_stop() 和 save_trajectory()，工具仅返回后台任务已启动；log step 353 中 agent 自述仍在等待录制保存，之后没有完成或回放校验返回，会话 wall_s=7203、time_limit_s=7200。推断：已有评分重放视频，但 agent 在交付前没有回放验收交付动作文件，未发现并修复视频 33.0–35.0 s 已空爪抬离、手套仍留台面的抓取失败；依据 DECISIONS.md N10 记为交付操作出错。视频时间仅锚定物理失败，log step 351 是会话录制操作依据，二者不作时钟换算。"
+   }
+  ],
+  "gap_zh": "本次没有状态日志；腕部画面不能辨明首次合爪时的完整接触面及力，故该手套的具体接触方式记为未知，控制根因不细分。末段视频 88.6–89.57 s 没有展示两只手套的完整表面，两个最终无尘值由评分器 q_score=0.0 推定；视频中未见去尘结果，因此不建立达到区间。log step 351 仅返回最后一次完整录制任务已启动，log step 353 中 agent 自述仍在等待保存；缺少该任务完成返回，不能确认评分使用的动作文件来自哪一次录制，也不能断言最终文件跨快照拼接。reward.agent_replays=0 支持交付前未回放验收，按 N10 记录交付根因；此前重置或恢复快照后的调试结果不作为本次进度。"
+ },
+ "summary_zh": "本次交付视频未达到任何无尘节点，最终为 0/2，评分器 q_score=0.0；机器人首次抓取未建立抓持便空手离开，断点约在视频 33.0 s，之后虽搬走另一只手套至洗衣机口，但该手套随后脱手落地（视频 80.0 s 可见），仍未获得无尘结果。根因保留控制，并依据 log step 300、308、351–353 的录制保存操作及 reward.agent_replays=0 补记交付操作出错：交付前未回放验收，首次抓取失败未被修复。缺少状态日志、接触力记录和最后录制任务的完成返回，末段手套表面也不可完整检查，最终值及部分根因依赖推断，故置信度由 7 降为 6。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点与断点基本与视频一致（两节点未达、首次取手套未带走、第二只被带到洗衣机口），但根因漏了交付：run.json 显示 agent_replays=0、agent_sim_steps=0，agent 多次在会话内用重置/检查点录制端到端轨迹（log 301、309、351），最后一次录制（log 351–353）至 wall 7203 s 超出 7200 s 上限时仍未见保存返回，交付文件从未回放验证。N10 规定这种情况根因记 交付·交付操作出错；现有标签只写“控制”并在 gap_zh 里明说“不据此断言存在交付操作错误”，与 N10 相悖。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点、断点、两根因与前轮一致，视频支持首次合爪空手、第二只被拿走；仅第二只手套 77 s 后的去向描述不完整（视频 80 s 可见它落在机器人旁地面，而非洗衣机内），应补充。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "I1 的修改已完整应用:证据与 summary_zh 均补充了手套脱手落地、未见入滚筒,与视频 80 s 帧一致,断点与根因未变。",
+    "n_issues": 0,
+    "n_checks": 1
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "I1 的修改已完整应用:证据与 summary_zh 均补充了手套脱手落地、未见入滚筒,与视频 80 s 帧一致,断点与根因未变。",
+   "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": "2026-10-30T21:49:08Z",
+  "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/behavior-clean-boxing-gloves-i00-privileged--m6ec52r/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-boxing-gloves-i00-privileged--m6ec52r/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-boxing-gloves-i00-privileged--m6ec52r/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-clean-boxing-gloves-i00-privileged--m6ec52r/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-clean-boxing-gloves-i00-privileged--m6ec52r/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/behavior-clean-boxing-gloves-i00-privileged--m6ec52r/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": "1f7dc1fa7f9cfb5113c1213c39b7811cd9a4b6bd332edc46015d18b99e804916",
+   "video_sha256": "80b21641c966e8eda27c43543c88769254d44ea888ac3881e6043dfd852ef122",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-privileged--rpbdydb.json

@@ -0,0 +1,218 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-boxing-gloves-i00-privileged--rpbdydb",
+ "taskKey": "behavior-1k/clean_boxing_gloves",
+ "dag_sha256": "0a7a032b99d0bef48c3134269b0a5ae0f98a9e91d3fdbb86bdb6a8a9ff493d59",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 2531,
+   "sim_steps": 2531,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 3190.9,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 14,
+   "agent_resets": 2,
+   "agent_sim_steps": 8408,
+   "agent_records": 6,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-clean-boxing-gloves-i00-privileged--rpbdydb/replay.mp4",
+  "duration_s": 84.367,
+  "fps": 30.0,
+  "frames": 2531,
+  "sha256": "064496b9275d1475c6b408ba51c9b67ab2eccf6dec58e5b27b6df5d02c387c7a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "gloves_clean_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：视频 24.0–43.0 s，左腕画面近距离显示机器人左夹爪所持红色手套上仍有多簇灰黑颗粒；视频 27.5–30.0 s，该手套离开台面并随机器人搬运，视频 38.0–44.0 s 被送到仍关闭的洗衣机门前，未进入滚筒。"
+     },
+     {
+      "t": 45.0,
+      "log_step": null,
+      "text_zh": "观察：视频 44.5–46.0 s，该手套已脱离夹爪、留在洗衣机前地面；视频 52.0–63.0 s 可同时看见两只红色手套分处地面，之后没有把它们重新装入滚筒。"
+     },
+     {
+      "t": 83.5,
+      "log_step": 234,
+      "text_zh": "推断：评分器 reward.q_score=0.0；DAG 的两个目标文字均为初始不成立的手套无尘条件，因此末态连一只无尘也未达到。视频 75.0–84.3 s 机器人停在洗衣机开关前，未出现取回手套或去尘动作；不是仅凭零分推断未尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 24.0–44.0 s，机器人左侧二指夹爪夹住一只红色手套，随后将它从台面提起并搬到洗衣机门前；未见右爪同时持物协作。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 74.5–75.5 s，机器人左夹爪抵向白色洗衣机前面板的绿色开关区域；这是真实的设备操作接触，不代表已清洁手套。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–2.0 s 机器人驶近洗衣机，视频 19.5–23.0 s 驶向台面，视频 28.0–32.0 s 持手套驶回洗衣机；移动底盘承载机器人与手套。"
+     }
+    ]
+   },
+   "gloves_clean_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": null,
+      "text_zh": "观察：视频 24.0–27.5 s，一只红色手套被左爪夹住，另一只仍在台面靠玻璃门的一侧；视频 47.0–63.0 s，另一只手套已出现在玻璃门旁的地面，机器人夹爪随后在台面附近开合，未将该手套从地面拿起或送入洗衣机。"
+     },
+     {
+      "t": 83.5,
+      "log_step": null,
+      "text_zh": "推断：视频全程未见两只手套装入滚筒或表面灰黑颗粒全部消失；末段视频 75.0–84.3 s 机器人仅停留在设备开关前。评分器 reward.q_score=0.0，且两项无尘目标初始均为假，因此两只均干净的末态必为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 48.0–67.5 s，机器人左夹爪在台面原手套位置附近多次开合，手套已在玻璃门旁地面，未见成功夹握；局部画面不能确定此次取第二只手套时是否实际碰到目标或接触方式。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 74.5–75.5 s，机器人左夹爪抵向洗衣机绿色开关；这是为两只手套清洁方案执行的共同设备操作，未见第二只手套进入设备。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 46.5–49.0 s，机器人空爪从洗衣机前驶回台面，视频 69.0–73.0 s 再驶向洗衣机；底盘移动承载机器人。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "gloves_clean_1",
+   "t": 12.0,
+   "log_step": 226,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 3.0–16.5 s，机器人左夹爪反复接近白色洗衣机门上缘并开合，门没有随夹爪拉开；视频 18.5 s 可见圆形门仍贴在机身上。log step 226 的最终生成回合记录两次 rim pinch 均 hand=None，随后报告 open=False；视频 38.0–44.0 s 机器人仍向闭门搬送积尘手套，视频 44.5–46.0 s 手套留在机外地面，后续没有修复。推断：最早未修复的失败属于第1只手套清洁方案中的开门操作，因此断点归入 gloves_clean_1，不能另造开门节点。"
+  },
+  "unmet": {
+   "gloves_clean_1": false,
+   "gloves_clean_2": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 12.0,
+    "log_step": 226,
+    "evidence_zh": "观察：视频 11.0–16.5 s，机器人左夹爪在洗衣机门上方反复开合、撤回，没有夹住门并带动门外摆；视频 18.5 s 门仍关闭。log step 226 的最终生成回合也记录两次夹持后 hand=None。推断：未建立拉开门所需的有效夹持接触，属于从未夹住门，不是夹住后滑脱；这里不否认夹爪可能曾擦碰面板。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 211 的最终脚本以左爪倾斜下探、夹住门上缘后沿铰链圆弧拉动为目标；log steps 225–226 的最终生成回合记录多次预接近失败，两次实际夹持调用的末端误差为 0.097 m、0.104 m，均未附着门。视频 3.0–16.5 s 与之相符：机械臂在目标设备附近反复调整，门始终未被拉开。推断：证据将问题定位于开门运动与有效夹持的执行，支持控制类；缺少逐帧关节及接触数据，不能进一步确定为接触几何、逆解或跟踪中的哪一项。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 中有本次完整视频与运行日志、成功参考视频，但没有本次状态日志；视频开门时头部视角部分被台面遮挡，腕部画面不能完整显示门缘与两指的接触。推断：可以判定门未被有效夹住并打开，但不能确定具体碰撞、接触力或控制子类；第二只手套掉落的接触瞬间也未核实。成功参考视频约 25–40 s 可见门扇外摆，说明打开后的几何线索可见；它仅用于比较，不能证明本次接触事实，亦不支持 agent 在 log step 238 所称“此门无法打开”的环境归因。本次 task_text 为两只无尘即成功的规则，未要求新版联合静置窗口；无尘目标本身未达成，规则差异不改变结论。"
+ },
+ "summary_zh": "评分轨迹中机器人夹起并搬运过一只仍积尘的手套，但洗衣机门未打开，手套留在机器前地面；另一只也未装入，两个清洁节点均未达成，评分器 q_score=0。最早未修复的问题是左夹爪未建立拉开门的有效夹持接触，断点归入第1只手套清洁，根因支持控制类。无状态日志且门缘接触局部遮挡，具体控制子类与第二只手套掉落时的接触机制不能确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "两节点未达成、final=false 与 q_score=0 一致；视频 3–17 s 夹爪在洗衣机门附近无果、门始终关闭（45.6 s 腕部画面门仍闭合），手套被搬到门前后落地，两只手套 56 s 后均在地面，与标签一致；log step 225/226 的 rim pinch 失败读数与断点和根因“控制”（未细分）相符。未发现须改的错误。",
+    "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": "2026-10-30T21:15:30Z",
+  "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/behavior-clean-boxing-gloves-i00-privileged--rpbdydb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-boxing-gloves-i00-privileged--rpbdydb/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "124021f76de511b55d67f248362486346e0b36c6034e1d2568a5883b1322c3f3",
+   "video_sha256": "064496b9275d1475c6b408ba51c9b67ab2eccf6dec58e5b27b6df5d02c387c7a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-standard--57aecvq.json

@@ -0,0 +1,310 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-boxing-gloves-i00-standard--57aecvq",
+ "taskKey": "behavior-1k/clean_boxing_gloves",
+ "dag_sha256": "0a7a032b99d0bef48c3134269b0a5ae0f98a9e91d3fdbb86bdb6a8a9ff493d59",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 37717,
+   "sim_steps": 37717,
+   "physics_steps": 150868,
+   "steps": 8372,
+   "elapsed_s": 13856.7,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-clean-boxing-gloves-i00-standard--57aecvq/replay.mp4",
+  "duration_s": 1257.233,
+  "fps": 30.0,
+  "frames": 37717,
+  "sha256": "7565b2da34d156ba4c7e05beeb98db31b33f83287b16d5563b1b523443606f84"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "gloves_clean_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 130,
+      "log_step": null,
+      "text_zh": "观察：视频130 s两只红色手套均在原台面，表面可见多簇灰黑颗粒；视频440—450 s及670 s仍能在腕部近景看见颗粒，反复接近、夹合没有出现无尘结果。"
+     },
+     {
+      "t": 734,
+      "log_step": null,
+      "text_zh": "观察：视频734—740 s两只手套终于随机器人双臂离开原台面；视频748—776 s机器人持物靠近洗衣设备，手套仍在设备外，未见成功装入后完成清洁的结果。"
+     },
+     {
+      "t": 828,
+      "log_step": 1023,
+      "text_zh": "观察：视频810—834 s两只手套位于水槽区域，机器人右夹爪操作龙头控制件，视频828 s控制件变绿；视频890 s腕部近景中的手套仍带颗粒。log step 1023记录agent提交操作龙头的轨迹，不能把该动作等同于清洁完成。"
+     },
+     {
+      "t": 918,
+      "log_step": 1235,
+      "text_zh": "观察：视频917.5—918.5 s机器人张开夹爪时，画面左侧手套位于台面前缘外侧并向下掉落；视频924 s可见一只手套在地面、另一只在台面。log step 1235的脚本是双手暂放台面并按预定轨迹开爪，视频940—1000 s还在重新抓取和尝试装载。"
+     },
+     {
+      "t": 1210,
+      "log_step": null,
+      "text_zh": "观察：视频1190—1232 s的腕部画面反复可见手套上的灰黑颗粒，视频1210 s两个腕部视图中的两只手套均仍有颗粒；没有观察到任一只手套全部去尘的时段。"
+     },
+     {
+      "t": 1257.2,
+      "log_step": 2015,
+      "text_zh": "观察：视频1256.3、1256.8及1257.2 s中，机体和手臂遮住头部与腕部视图中的主要操作区，无法直接看清最后的滚筒内物体与控制件。log step 2015提交按洗衣机按钮的轨迹，log step 2016自述已执行；评分器最终记录q_score=0、success=0、live_matches_replay=1。"
+     },
+     {
+      "t": 1257.2,
+      "log_step": null,
+      "text_zh": "推断：两只手套的无尘文字在初态均为假；最终q_score=0对应0/2个新满足的无尘目标，排除了“至少一只干净”的最终状态。此前可见表面始终有颗粒、没有观察到完成去尘，故不标任何已达区间；最终false并非仅由success=0推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频734—740 s，两只二指夹爪分别夹住一只红色手套，两只手套随双臂离开原台面；视频748 s双臂仍各持一只，随后分别向设备和水槽搬运。两爪各自包夹手套，不是两臂从两侧挤压同一物体。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：除双臂各持一只的阶段外，视频980—988 s机器人右夹爪单独合拢在台面手套的腕口处并搬动它；该阶段左夹爪没有共同抓该只手套。两计数节点不固定左右实例，记录共同清洁尝试中的实际单爪操作。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频824—828 s机器人右夹爪的指端接触并按动水槽龙头旁的红色控制件，随后该控制件变绿；这是清洁尝试中的设备操作接触，不能据此认定手套已去尘。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频738—748 s机器人轮式底盘在双臂各持手套时驶向洗衣设备；视频776—800 s又持物转向并驶向水槽，视频900—914 s持物返回洗衣设备区域。"
+     }
+    ]
+   },
+   "gloves_clean_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 130,
+      "log_step": null,
+      "text_zh": "观察：视频130 s两只红色手套均在原台面，表面可见多簇灰黑颗粒；视频440—450 s及670 s仍能在腕部近景看见颗粒，反复接近、夹合没有出现无尘结果。"
+     },
+     {
+      "t": 734,
+      "log_step": null,
+      "text_zh": "观察：视频734—740 s两只手套终于随机器人双臂离开原台面；视频748—776 s机器人持物靠近洗衣设备，手套仍在设备外，未见成功装入后完成清洁的结果。"
+     },
+     {
+      "t": 828,
+      "log_step": 1023,
+      "text_zh": "观察：视频810—834 s两只手套位于水槽区域，机器人右夹爪操作龙头控制件，视频828 s控制件变绿；视频890 s腕部近景中的手套仍带颗粒。log step 1023记录agent提交操作龙头的轨迹，不能把该动作等同于清洁完成。"
+     },
+     {
+      "t": 918,
+      "log_step": 1235,
+      "text_zh": "观察：视频917.5—918.5 s机器人张开夹爪时，画面左侧手套位于台面前缘外侧并向下掉落；视频924 s可见一只手套在地面、另一只在台面。log step 1235的脚本是双手暂放台面并按预定轨迹开爪，视频940—1000 s还在重新抓取和尝试装载。"
+     },
+     {
+      "t": 1210,
+      "log_step": null,
+      "text_zh": "观察：视频1190—1232 s的腕部画面反复可见手套上的灰黑颗粒，视频1210 s两个腕部视图中的两只手套均仍有颗粒；没有观察到任一只手套全部去尘的时段。"
+     },
+     {
+      "t": 1257.2,
+      "log_step": 2015,
+      "text_zh": "观察：视频1256.3、1256.8及1257.2 s中，机体和手臂遮住头部与腕部视图中的主要操作区，无法直接看清最后的滚筒内物体与控制件。log step 2015提交按洗衣机按钮的轨迹，log step 2016自述已执行；评分器最终记录q_score=0、success=0、live_matches_replay=1。"
+     },
+     {
+      "t": 1257.2,
+      "log_step": null,
+      "text_zh": "推断：最终q_score=0且初态两个无尘文字均不成立，故最终不可能两只均干净；视频1210 s两只仍积尘也支持此结论。按第k只计数而不固定实例，第二清洁节点没有已观察到的成立区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频734—740 s，两只二指夹爪分别夹住一只红色手套，两只手套随双臂离开原台面；视频748 s双臂仍各持一只，随后分别向设备和水槽搬运。两爪各自包夹手套，不是两臂从两侧挤压同一物体。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：除双臂各持一只的阶段外，视频980—988 s机器人右夹爪单独合拢在台面手套的腕口处并搬动它；该阶段左夹爪没有共同抓该只手套。两计数节点不固定左右实例，记录共同清洁尝试中的实际单爪操作。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频824—828 s机器人右夹爪的指端接触并按动水槽龙头旁的红色控制件，随后该控制件变绿；这是清洁尝试中的设备操作接触，不能据此认定手套已去尘。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频738—748 s机器人轮式底盘在双臂各持手套时驶向洗衣设备；视频776—800 s又持物转向并驶向水槽，视频900—914 s持物返回洗衣设备区域。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "gloves_clean_1",
+   "t": 772.0,
+   "log_step": 849,
+   "where": "操作中",
+   "evidence_zh": "观察：视频764—776 s机器人持手套在洗衣设备前尝试装载，但手套仍在设备外、台面高度附近；视频772 s近景可见手套上仍有灰黑颗粒。log step 845提交把左末端移至滚筒目标[22.20,0.35,0.45]米的轨迹，log step 847/849读回实际左末端为[22.157,0.498,1.008]米，未下降至所请求位置；随后视频780—800 s机器人持物转往水槽。推断：第1只手套清洁尝试在装载准备中已出现位姿未到位，此后水槽操作、视频918 s暂放掉落及装载重试均未使该清洁节点达成，故断点锚定此前的失败，ref仍为gloves_clean_1，where仍为操作中；不另建装载节点。"
+  },
+  "unmet": {
+   "gloves_clean_1": false,
+   "gloves_clean_2": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 772.0,
+    "log_step": 849,
+    "evidence_zh": "观察：视频764—776 s手套仍在洗衣设备外、台面高度附近，未见随装载动作进入滚筒；log step 845请求左末端到[22.20,0.35,0.45]米，log step 847/849实际读回[22.157,0.498,1.008]米，z仍约1.0米。推断：这次装载运动没有到达所请求的滚筒位姿，标运动·位姿不准；没有足够接触或关节限位证据另判碰撞或够不着。后续视频917.5—918.5 s又在手套未被台面承托时开爪，视频924 s可见一只手套落地，是后续暂放失准的补充证据。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "观察：log step 845的脚本为撤回、下降、进入滚筒各路径点求解关节姿态，按dt=0.1秒提交23行轨迹；solve_step虽计算末端误差，调用处未检查该误差，执行中也没有逐段核对实际到位情况。其滚筒目标为[22.20,0.35,0.45]米，log step 847/849执行后读回却为[22.157,0.498,1.008]米，log step 850的正向运动学核对给出相同左末端位置；视频764—776 s可见手套仍在设备外，之后机器人转向水槽。后续log step 1235也按固定行数插值，下降段后即开爪，视频917.5—918.5 s显示手套在台面外被释放。推断：请求位姿与实际运动不符，装载控制未能实现所需末端位置，后续固定时序释放再次暴露到位控制问题，支持控制层根因；这些证据仍不足以唯一细分为逆解、跟踪或接触设计问题。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐步无尘文字读数；视频1234 s以后主要操作区被机器人机体与手臂遮挡，虽检查至视频1257.2 s最后一帧，仍不能直接确认末次释放位置、门是否扣合或按钮是否真正触发，最终两个false由评分器q_score=0结合初态及可见余尘确定。完整视频每10秒粗采样，并加密检查搬运、暂放掉落、设备操作与末段；未观察到任何清洁达成，但无法精确数出每一粒灰尘或排除采样间极短暂的局部去尘变化。日志能支持实际未到位与固定时序开爪，不能唯一确定控制子类；不将agent的装载自述当作成功装载证据。"
+ },
+ "summary_zh": "机器人反复抓取后把两只积尘手套带到洗衣设备和水槽，并操作龙头、重试装载，但两项无尘节点均未观察到达成，最终q_score=0支持0/2。断在第1只手套清洁的操作过程中：视频约772 s装载时手套仍在设备外，log step 845/849的目标与实际末端位置明显不符；之后改去水槽、视频918 s暂放掉落及装载重试均未完成清洁。日志与画面支持控制层失败；没有状态日志，末段机体遮挡装载及开关结果，最终节点值结合评分器判断。",
+ "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（两个无尘均为假、无已达区间）与contact_actual基本可接受；但断点选在视频918 s暂放掉落，晚于首次失败的步骤：视频764-776 s手套停在设备外台面高度、未装入滚筒（log 845请求滚筒位置、849读回仍在外），其后水槽、暂放、重试都是该失败之后的改道，断点应前移。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "两只无尘节点均为假（q_score=0，视频未见去尘）、断点前移到约772 s装载未到位后与log 845/847/849读回一致；位姿不准+控制根因有日志支持，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": "2026-10-30T21:48:39Z",
+  "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/behavior-clean-boxing-gloves-i00-standard--57aecvq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-boxing-gloves-i00-standard--57aecvq/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-boxing-gloves-i00-standard--57aecvq/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-clean-boxing-gloves-i00-standard--57aecvq/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ca8c608d5c18ac106461314cc22365045f4b5dc59987b7b3e72726b4e9f4a1a7",
+   "video_sha256": "7565b2da34d156ba4c7e05beeb98db31b33f83287b16d5563b1b523443606f84",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-standard--6zn8joq.json

@@ -0,0 +1,254 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-boxing-gloves-i00-standard--6zn8joq",
+ "taskKey": "behavior-1k/clean_boxing_gloves",
+ "dag_sha256": "0a7a032b99d0bef48c3134269b0a5ae0f98a9e91d3fdbb86bdb6a8a9ff493d59",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 11715,
+   "sim_steps": 11715,
+   "physics_steps": 46860,
+   "steps": 3768,
+   "elapsed_s": 6411.2,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-clean-boxing-gloves-i00-standard--6zn8joq/replay.mp4",
+  "duration_s": 390.5,
+  "fps": 30.0,
+  "frames": 11715,
+  "sha256": "0f7e9bd06e922f04f3650613238562f0826c632855c9e08cf06b5a5478ffbfaf"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "gloves_clean_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 18.5,
+      "log_step": null,
+      "text_zh": "观察：视频14.0 s可见两只红色手套在远端台面；视频18.5 s、30.1 s的左腕近景可见第一只手套红面和黑色袖口上的灰黑颗粒。"
+     },
+     {
+      "t": 160.0,
+      "log_step": 176,
+      "text_zh": "观察：视频42.3 s后机器人左爪带着第一只手套离开原台面，视频95.5 s水槽控制标记变绿；视频114.0–116.0 s、145.0 s、158.0–173.0 s反复下放、转动手套时，左腕画面仍可见袖口上的多团颗粒，视频160.0 s水嘴与手套袖口/夹爪区域相抵。log step 176记录了机器人持物转腕、下放并等待的指令。"
+     },
+     {
+      "t": 347.0,
+      "log_step": 317,
+      "text_zh": "观察：视频200–345 s机器人在洗衣机前操作门并反复移动第一只手套；视频347.0 s机器人仍持该手套，随后返回水槽，视频361.0–364.0 s手套离开夹爪并停在水槽边。log step 317中agent自述“washer door is still blocking insertion”，并发出返回水槽的底盘指令；未见手套完成装入、关门并洗净的过程。"
+     },
+     {
+      "t": 390.46,
+      "log_step": null,
+      "text_zh": "推断：视频389.5 s、389.8 s、390.1 s及390.46 s显示两只手套位于水槽及其边缘，部分表面不可见；inputs/run.json评分器报告q_score=0、live_matches_replay=1。DAG的两个目标均为初始不成立的无尘条件，故评分总数决定末态没有一只完全无尘；结合过程中持续可见的余尘与未完成的洗衣机装载，未标记达到区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频40.3–42.3 s及185.0 s机器人左侧二指夹爪夹住第一只手套袖口并提起、携带；视频295–305 s又从洗衣机前地面取回手套，视频347–360 s仍持物返回水槽。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频305.3–308.3 s左爪夹持第一只手套，右爪合拢于洗衣机门边并拉动门，双臂共同进行装载准备。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "压/擦",
+      "note_zh": "观察：视频64–95.5 s左爪持续持第一只手套，右爪反复压触水槽的球形控制标记，标记随后由红转绿；这是开水准备的接触，未将其当作去尘完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频42.3–52.0 s机器人持第一只手套驶向水槽，视频185–200 s驶向洗衣机，视频347–357 s又持物驶回水槽；轮式底盘在这些搬运过程中移动并承重。"
+     }
+    ]
+   },
+   "gloves_clean_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 370.0,
+      "log_step": 325,
+      "text_zh": "观察：视频14.0 s两只手套均在台面；机器人取走第一只后，另一只在视频42.3 s、125.0 s、185.0 s及370.0 s仍位于原台面。视频370.0 s左腕近景清楚显示这另一只手套红面及袖口上的灰黑颗粒；log step 325开始发出取第二只手套的指令。"
+     },
+     {
+      "t": 385.0,
+      "log_step": 333,
+      "text_zh": "观察：视频375.7 s第一次抬手时第二只手套仍在原台面；视频378.0–380.5 s机器人再次用左爪夹取，视频385.0 s可见手套随爪运到水槽上方，左腕近景仍显示红面上有大团颗粒。log step 333记录持物移动、移到水槽并张爪的动作指令；未把该步的“securely held”自述当作第一次抓取成功的依据。"
+     },
+     {
+      "t": 390.46,
+      "log_step": null,
+      "text_zh": "推断：视频389.5–390.46 s两只手套已在水槽附近，但看不到其全部表面；评分器q_score=0使“两只均无尘”的末值必为false，且视频所检过程未出现两只均已去除所有颗粒的状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频378.0–380.5 s机器人左侧二指夹爪重新夹住第二只手套袖口并提起，视频385.0 s持其到水槽上方，随后张爪放下。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频364–370 s底盘驶回第二只手套所在台面，视频381–385 s又在左爪持手套时转向、平移到水槽，轮式底盘支承搬运。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "gloves_clean_1",
+   "t": 116.0,
+   "log_step": 153,
+   "where": "操作中",
+   "evidence_zh": "观察：视频114.0–116.0 s机器人左爪把第一只手套下放到水嘴旁，水嘴贴抵袖口/夹爪区域；视频121.0–173.0 s反复调整后袖口仍积尘。随后机器人改试洗衣机，视频347.0 s仍持着手套离开机器，末段返回水槽；这第一项清洁始终未完成，故断点为gloves_clean_1。log step 153是该次下放并等待的指令，log step 187记录agent转试洗衣机的计划。"
+  },
+  "unmet": {
+   "gloves_clean_1": false,
+   "gloves_clean_2": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "清洁不彻底",
+    "t": 134.0,
+    "log_step": 165,
+    "evidence_zh": "观察：视频95.5 s水槽控制标记已绿，视频114–134 s机器人持第一只手套反复下放、等待，视频134.0 s、145.0 s及173.0 s的左腕近景仍有多团灰黑颗粒附着袖口；另一只手套仍在原台面。log step 165中agent也自述袖口仍有灰尘。",
+    "note_zh": "候选名称：清洁不彻底。机器人已经实施清洁尝试，但颗粒未清除；现有接触、运动及全身条目均不能单独表达此材料结果，按DECISIONS.md D25(a)暂用其他。"
+   },
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 160.0,
+    "log_step": 176,
+    "evidence_zh": "观察：视频158.0 s、160.0 s、165.0 s的左腕画面中，金属水嘴直接抵在机器人左爪所夹手套的袖口区域，手套无法按下放方向越过水嘴；后续视频176.0–185.0 s机器人将手套提出并离开。log step 176记录转腕后下放、保持的指令，阻挡接触由视频直接确认。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：机器人已抓稳手套并到达水槽，水槽控制也在视频95.5 s变绿，但视频114–116 s及158–165 s显示持物姿态与水嘴发生阻挡接触，连续改姿仍未把积尘袖口送到无阻挡的清洁位置；log steps 153、159、168、176、180、183记录多次下放、转腕与停留，而视频185.0 s仍见余尘。机器人之后在洗衣机前反复操作仍未完成装载，视频347.0 s持物撤回，log step 317也记录撤回指令。可支持清洁操作中的接触/运动执行存在问题，证据不足以进一步区分抓取设计、逆解或反馈控制。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "无状态日志；洗衣机前及末段的手臂遮挡了部分接触和手套表面，不能逐粒追踪灰尘或定量判定阻挡力。末态两个节点由q_score=0与视频共同确定，未凭agent关于入水槽或抓稳的自述给予完成；控制根因保留大类，不能据此确认水洗机制、具体逆解或控制参数。清洁不彻底按DECISIONS.md D25(a)使用其他候选。"
+ },
+ "summary_zh": "机器人实际抓取并搬运了两只手套，第一只在水槽前反复冲洗、改姿，后又尝试洗衣机装载，最终将两只移到水槽附近，但两个无尘节点均未达到，末态0/2与q_score=0一致。断点为第一只手套清洁，视频可见袖口持续有灰尘及水嘴阻挡，支持控制层面的失败；无状态日志且部分接触被遮挡，无法进一步确定控制子类。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "两个节点均未达到（q_score=0，视频中袖口持续有颗粒）与证据一致；断点取第一只手套清洁、现象（清洁不彻底、水嘴被挡）和控制大类根因均有视频/日志支持，未发现需要修改的内容。抽查帧有限，未逐段核对。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:21:09Z",
+  "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/behavior-clean-boxing-gloves-i00-standard--6zn8joq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-boxing-gloves-i00-standard--6zn8joq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "2637340bd8cfc1c673bfaa2d271cd5d62afb91beeabaff61b9af0b2881679788",
+   "video_sha256": "0f7e9bd06e922f04f3650613238562f0826c632855c9e08cf06b5a5478ffbfaf",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-standard--dtdcjb2.json

@@ -0,0 +1,254 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-boxing-gloves-i00-standard--dtdcjb2",
+ "taskKey": "behavior-1k/clean_boxing_gloves",
+ "dag_sha256": "0a7a032b99d0bef48c3134269b0a5ae0f98a9e91d3fdbb86bdb6a8a9ff493d59",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 10040,
+   "sim_steps": 10190,
+   "physics_steps": 40760,
+   "steps": 298,
+   "elapsed_s": 6626.3,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 150,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.0,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-clean-boxing-gloves-i00-standard--dtdcjb2/replay.mp4",
+  "duration_s": 339.7,
+  "fps": 10.0,
+  "frames": 3397,
+  "sha256": "fb1e15dc220f50db40739f9033fd756ba7901db23c07b85706e343358d97d378"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "gloves_clean_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 20.0,
+      "log_step": null,
+      "text_zh": "观察：视频20.0–30.0 s的头部及腕部画面显示两只红色手套均在台面上，表面附有灰黑颗粒；初始无干净手套。"
+     },
+     {
+      "t": 70.0,
+      "log_step": 257,
+      "text_zh": "观察：视频63.0–70.0 s，一只手套离开原台面并随机器人右夹爪移动；视频70.0–118.5 s的右腕近景仍显示该手套的灰黑颗粒。"
+     },
+     {
+      "t": 180.0,
+      "log_step": 411,
+      "text_zh": "观察：视频119.0–119.5 s该手套从右腕近景消失；视频180.0 s右腕画面清楚显示一只手套在设备前的木地板上，同时左腕画面中的另一只手套仍被持握且带有灰黑颗粒。log step 411中agent自述首只手套已在洗衣机内，与后续录像不符。"
+     },
+     {
+      "t": 339.6,
+      "log_step": null,
+      "text_zh": "推断：可见阶段手套始终带尘，装载后未观察到关门开机清洁过程；视频338.7–339.6 s末段为设备旁的遮挡视野。评分器reward.q_score=0、goal_first_step=0、settled_success=0，且初始两个无尘目标均为假，因此最终连至少一只无尘也不成立；未将装载动作本身计为清洁。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频63.0–118.5 s右夹爪夹持并搬运首只手套；视频94.0–104.0 s右手继续持物，左夹爪同时在设备圆门边缘操作。早先的取物由右夹爪单独完成。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "压/擦",
+      "note_zh": "观察：视频94.0–104.0 s左夹爪的指部抵在设备圆门及门圈表面，右夹爪同时持手套；未观察到左夹爪稳定夹住并拉开门。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频10.0–20.0 s及视频70.0–90.0 s等阶段，机器人底盘移动定位并在持首只手套时驶向设备。"
+     }
+    ]
+   },
+   "gloves_clean_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频20.0–30.0 s两只手套表面均可见灰黑颗粒，没有两只同时无尘的初态。"
+     },
+     {
+      "t": 168.0,
+      "log_step": 497,
+      "text_zh": "观察：视频148.0–168.0 s左夹爪经过反复接近与闭合后，将另一只手套带离台面；视频168.0–302.0 s该手套随左腕视角和机器人移动，红色表面仍有多簇灰黑颗粒。"
+     },
+     {
+      "t": 305.5,
+      "log_step": 683,
+      "text_zh": "观察：视频302.5–305.5 s左手所持的带尘手套转动并离开腕部近景，随后夹爪空置；视频320.0–334.0 s右夹爪在设备前地板上的手套旁反复接近、闭合，没有看到它被带入滚筒。"
+     },
+     {
+      "t": 339.6,
+      "log_step": null,
+      "text_zh": "推断：全片未见两只手套表面灰黑颗粒全部消失的时段；视频338.7–339.6 s两只手套未被完整展示，最终q_score=0直接排除两只同时无尘。两个节点按干净数量计数，操作先后仅用于描述接触，不把两次抓取当作清洁进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频148.0–168.0 s左夹爪反复闭合并最终夹持另一只手套，随后搬运到设备旁，视频302.5–305.5 s释放；视频320.0–334.0 s右夹爪又在地板手套旁尝试闭合，但未见成功提起。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频164.0–180.0 s及视频210.0–240.0 s等阶段，机器人底盘在左手持手套时驶向设备并多次调整工作位置。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "gloves_clean_1",
+   "t": 119.0,
+   "log_step": 393,
+   "where": "操作中",
+   "evidence_zh": "推断：首只手套在视频119.0–119.5 s从右夹爪释放，随后机器人离开设备去取另一只；视频180.0 s首只手套在设备前地板上，而另一只仍由左夹爪持握且带尘。首次装载未形成清洁所需的有效安置，此后两项清洁目标均未补成，故断在gloves_clean_1；视频119.0 s是释放动作的粗略导航锚点。"
+  },
+  "unmet": {
+   "gloves_clean_1": false,
+   "gloves_clean_2": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "其他",
+    "t": 119.0,
+    "log_step": 393,
+    "evidence_zh": "推断：视频118.5 s右手仍持带尘手套，视频119.5 s右夹爪已空；视频180.0 s一只手套留在设备前的地板上，另一只在左手中，首只的装载结果未保持在设备内。释放处被手套和机体遮挡，无法区分松手前尚未入位或松手后从边缘落出，故不强判位姿不准或放后不稳。",
+    "note_zh": "候选：装载未成功。现有接触现象需要明确抓持丢失或目标处释放后的稳定性，现有画面不能确定这两个边界；仅记录可确认的设备外落点。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "t": 119.0,
+    "log_step": 411,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent在log step 393将手套判断为已越过设备前平面并据此开爪，log step 411又明确自述“首只手套已释放在洗衣机内”，随后实际回到台面取另一只；但视频180.0 s显示首只手套在设备前的地板上。对装载空间关系的错误判断使机器人转去处理另一只，未及时修复首只装载；这不是由零分单独推得的原因。"
+   }
+  ],
+  "gap_zh": "本任务没有状态日志；腕部近景常被所持手套填满，首次释放瞬间的手套与滚筒入口相对位置以及释放后的完整下落路径不可见，因而无法区分装载偏位与边缘落出，也不细分机械控制根因。末秒视野遮挡手套，最终两个无尘目标为假由q_score=0约束；过程中未观察到去尘成立。参考成功录像仅用于辨认设备装载、关门和开机的可见形态，不作为本次进度证据。"
+ },
+ "summary_zh": "机器人先后抓起并搬运两只积尘手套，但没有达到任何一个清洁计数节点，最终为0/2，q_score=0。首只手套在视频约119.0 s释放后的装载未成功，视频180.0 s可见它在设备前地板上；agent却曾判断已装入并转去取另一只，之后也未完成清洁。释放处遮挡使具体落出机制无法确定，末态无尘结果结合评分器总分判定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "抽查视频118-120 s、180 s及100-339 s多帧，首只手套在119 s前后离开右夹爪、180 s位于设备前地板，全程手套带尘，节点均未达成，q_score=0；断点、现象与根因均有证据支持且标注为推断，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": "2026-10-30T21:24:45Z",
+  "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/behavior-clean-boxing-gloves-i00-standard--dtdcjb2/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-boxing-gloves-i00-standard--dtdcjb2/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f4df05bdd366d0b656efea2bde6eab9cebdc160723fd7768562ebdff6e9dd4f1",
+   "video_sha256": "fb1e15dc220f50db40739f9033fd756ba7901db23c07b85706e343358d97d378",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-standard--fzm6bns.json

@@ -0,0 +1,231 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-boxing-gloves-i00-standard--fzm6bns",
+ "taskKey": "behavior-1k/clean_boxing_gloves",
+ "dag_sha256": "0a7a032b99d0bef48c3134269b0a5ae0f98a9e91d3fdbb86bdb6a8a9ff493d59",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "n_actions": 16293,
+   "sim_steps": 16293,
+   "physics_steps": 65172,
+   "steps": 7554,
+   "elapsed_s": 13427.5,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-clean-boxing-gloves-i00-standard--fzm6bns/replay.mp4",
+  "duration_s": 543.1,
+  "fps": 30.0,
+  "frames": 16293,
+  "sha256": "935b08c2083f91a0c74ed69029bea7f3459303d3ed817d2a07ff71e2cf854329"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "gloves_clean_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 94.0,
+      "log_step": null,
+      "text_zh": "观察：视频 94 s、110 s 的右腕画面中，台面上的红色手套仍有明显灰黑颗粒；视频 300 s 两只手套仍在台面，视频 304–314 s 的近景再次显示被操作手套上的颗粒。"
+     },
+     {
+      "t": 417.6,
+      "log_step": 307,
+      "text_zh": "观察：视频 413–416.8 s 机器人右夹爪将手套送向白色洗衣机，但手套主体仍在筒口外；视频 417–418 s 松手后手套落到机器前地板。log step 307 返回夹爪打开，log step 308 的“inside the drum”是 agent 自述，不能据此认定装入或清洁。"
+     },
+     {
+      "t": 466.0,
+      "log_step": 350,
+      "text_zh": "观察：视频 448–470 s 的重新夹取、推送后，红黑色手套仍在机器前地板；log step 350 的“in the drum”随后也被 agent 在 log step 366 撤回。视频 526–541 s 仍能看到机器外的手套，视频 543.07 s 末帧夹爪为空，未出现可确认的去尘结果。"
+     },
+     {
+      "t": 543.07,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器字段 q_score=0、live_matches_replay=1；本任务两个目标文字均为初始不成立的无尘条件，因此最终没有一只无尘手套。结合全片未见完成清洁、近景仍见灰尘及装载失败，将全程记为未达到；这不是仅由零分推断机器人没有尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人右夹爪先后夹持水龙头旋钮、洗衣机门缘并操作；视频 322–416 s 可见右夹爪夹住一只手套袖口并携带至洗衣机前。左臂没有同时夹持另一只手套，不标双臂协作。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "视频 448–466 s 机器人用右夹爪拨推机器前地板上的手套，未见手套留在滚筒内。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "视频 160–170 s 机器人右夹爪向下按压水龙头的球形旋钮，属于此前探索清洁设备时的实际接触，未见用它擦拭手套。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘在房间中转向、驶向台面和洗衣机；视频 360–402 s 携带夹住的手套行驶。"
+     }
+    ]
+   },
+   "gloves_clean_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 300.0,
+      "log_step": null,
+      "text_zh": "观察：视频 300 s 两只手套仍在台面；视频 304–314 s 被夹取的一只仍有灰黑颗粒，另一只留在台面。此后只见一只被运至洗衣机，未见两只都无尘的画面。"
+     },
+     {
+      "t": 480.0,
+      "log_step": 351,
+      "text_zh": "观察：log step 351 的脚本开始返回台面寻找另一只手套；视频 478–482 s 机器人转向并伸出空的右夹爪，视频 520–522 s 视线扫过台面一侧，没有显示另一只手套随夹爪提起。log step 376 只报告 agent 自行计算的少量地面红色像素，不能当作抓取证据。"
+     },
+     {
+      "t": 543.07,
+      "log_step": null,
+      "text_zh": "推断：视频末段另一只手套没有持续进入可检查的近景，但评分器 q_score=0 且 live_matches_replay=1，两个初始积尘目标均未满足，故至少两只无尘的最终值确定为 false；结合前段积尘画面和后续装载失败，全程未见该状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人在寻找另一只手套期间空手转向、移动，视频 478–482 s、520–522 s 可见视角随底盘改变；日志的寻找目标见 log step 351、366、368。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "寻找另一只手套时目标没有进入可确认接触的视野，无法确认右夹爪是否触到它；视频 478–482 s 只见空夹爪伸出，不把日志计划的袖口抓取记为实际抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "gloves_clean_1",
+   "t": 417.0,
+   "log_step": 307,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 416.6–417.6 s，机器人在将第一只待洗手套装入洗衣机时打开右夹爪，手套仍在筒口外，随后落在机器前地板；log step 307 记录了主动打开夹爪。此后视频 448–470 s 重新抓取、推送仍未把手套留在滚筒内，视频 526–541 s 仍可见机器外手套，第一只清洁结果始终未修复。"
+  },
+  "unmet": {
+   "gloves_clean_1": false,
+   "gloves_clean_2": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 417.0,
+    "log_step": 307,
+    "evidence_zh": "观察：视频 413–416.8 s 手套主体位于白色洗衣机的筒口外侧，视频 417–417.6 s 机器人松开右夹爪后手套直接落到外部地板，未见它先落稳在滚筒内；log step 307 明确执行打开夹爪。这是装载尚未到位便释放。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：装入洗衣机这一目标可行，但机器人没有把所持手套的整体位置控制到可安全释放的筒内。log step 307 依据末端位姿推进到 x=22.191 后便打开夹爪；视频 416.6–417.6 s 则显示手套主体仍在筒口外并落地，随后视频 448–470 s 的重新抓取、推送也未恢复装载。因此归为控制；没有足够证据将其进一步归为接触几何、轨迹跟踪或感知估计中的某一项。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有仿真状态日志、手套刚体位姿或接触力记录，不能细分装载控制失败的具体机制；后段另一只手套多在视野外，其是否被碰触无法确认。最终两项无尘条件由评分器总分确定，未借用成功参考的结果；成功参考仅用于对照筒口、手套积尘和装载的视觉外观。"
+ },
+ "summary_zh": "机器人尝试抓取手套、操作水龙头，并打开洗衣机后把一只积尘手套运到筒口，但在手套主体仍在筒外时释放，后续抓取和推送未修复装载，两个清洁节点均未达到，最终为0/2（q_score=0）。断点为第1只手套清洁的装载操作，现象为位姿不准，根因归为控制；后段另一只手套多在视野外，且无状态日志，不能进一步确定接触和控制机制。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "两个清洁节点均为 false 与 q_score=0 一致；断点在装载手套入洗衣机（视频约 417 s 松手后手套落地），现象位姿不准、根因控制均有视频与 log step 307 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": "2026-10-30T21:23:59Z",
+  "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/behavior-clean-boxing-gloves-i00-standard--fzm6bns/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-boxing-gloves-i00-standard--fzm6bns/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "023c1411e48c5863b3b513485df37fb1d3c8fe00e3839992c5e7abe868a8bbb0",
+   "video_sha256": "935b08c2083f91a0c74ed69029bea7f3459303d3ed817d2a07ff71e2cf854329",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-standard--wsw7lp2.json

@@ -0,0 +1,290 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-boxing-gloves-i00-standard--wsw7lp2",
+ "taskKey": "behavior-1k/clean_boxing_gloves",
+ "dag_sha256": "0a7a032b99d0bef48c3134269b0a5ae0f98a9e91d3fdbb86bdb6a8a9ff493d59",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 22458,
+   "sim_steps": 22458,
+   "physics_steps": 89832,
+   "steps": 7763,
+   "elapsed_s": 5740.0,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-clean-boxing-gloves-i00-standard--wsw7lp2/replay.mp4",
+  "duration_s": 748.6,
+  "fps": 30.0,
+  "frames": 22458,
+  "sha256": "83826125489d9f3c73918f88ebb29cfa204103b583bc34b61ff3ab9c50f1110c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "gloves_clean_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 165,
+      "log_step": null,
+      "text_zh": "观察：视频 165 s，两只红色手套仍在台面上；视频 270 s 与 350 s 的腕部近景可见手套表面的灰黑颗粒，抓起、搬运后仍积尘。"
+     },
+     {
+      "t": 502,
+      "log_step": 184,
+      "text_zh": "观察：视频约 502 s，机器人左夹爪松开并退离滚筒口；视频 509–517 s，红色手套及腕口仍突出入口。视频 533–538 s，一只手套落在设备前的地板，另一只红色手套可见于滚筒内部，未观察到任一只手套的颗粒全部消失。log step 184 的脚本确实发出左夹爪张开和后退指令。"
+     },
+     {
+      "t": 748.567,
+      "log_step": 242,
+      "text_zh": "观察：视频 721.2 s 手套再次落地，视频 748.567 s 末帧仍见设备前的落地手套与敞开的门；log step 242 的在线机器人服务返回 done=False、control_steps=22458、resumes=0，评分器 reward 记录 success=0、q_score=0、live_matches_replay=1。"
+     },
+     {
+      "t": 748.567,
+      "log_step": null,
+      "text_zh": "推断：本任务两个无尘目标初始均不成立，任意一只最终无尘都至少需要 q_score=0.5；本次评分器 q_score=0 将“至少一只干净”的末值限定为 false。全程所见为抓取、装载和拾回，装载开始后设备门持续开启，未见运行或完整去尘结果，因此无可确认的达成区间；不是仅凭零分判断机器人没有尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 350–400 s，机器人左右二指夹爪各夹持一只手套的腕口，两只手套同时随双臂和底盘移动。两个清洁计数节点共享这次双手装载准备，不按左右手固定实例。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人此前用右夹爪夹住灰色滚筒设备的门沿拉门（视频约 60–150 s）；视频约 610–650 s，左夹爪单独拾起落地手套并再次送向设备。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 459–469 s，机器人右夹爪向滚筒内推送已松开的手套；视频 521–533 s，右夹爪又接触、推送另一只突出入口的手套。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 350–370 s，轮式底盘承载机器人及双手中的两只手套，从台面前驶向滚筒设备；后续为拾取和重新装载落地手套再次移动。"
+     }
+    ]
+   },
+   "gloves_clean_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 350,
+      "log_step": 143,
+      "text_zh": "观察：视频 350 s，两只手套都已离开原台面并分别夹在机器人双手中，腕部近景仍见灰黑颗粒；视频 350–370 s，机器人携两只手套驶向灰色滚筒设备，实际对两只手套均开展了装载准备。log step 143 发出右夹爪闭合与提升指令。"
+     },
+     {
+      "t": 533,
+      "log_step": 194,
+      "text_zh": "观察：视频 533–538 s，一只手套在地板上，另一只在敞开的滚筒内；视频 667–720 s，机器人重新把拾回的手套送至入口反复调整，视频 721.2 s 它再次掉落，至视频 748.567 s 仍在地板。两只手套没有出现共同完成去尘的可见结果。"
+     },
+     {
+      "t": 748.567,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward 的 q_score=0、success=0，结合两只初始均积尘，排除了最终两只无尘（该结果应满足两个目标文字、q_score=1）；故第二计数末值为 false。滚筒内有遮挡，不能把装入设备当作清洁达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 350–400 s，机器人左右二指夹爪各夹持一只手套的腕口，两只手套同时随双臂和底盘移动。两个清洁计数节点共享这次双手装载准备，不按左右手固定实例。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人此前用右夹爪夹住灰色滚筒设备的门沿拉门（视频约 60–150 s）；视频约 610–650 s，左夹爪单独拾起落地手套并再次送向设备。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 459–469 s，机器人右夹爪向滚筒内推送已松开的手套；视频 521–533 s，右夹爪又接触、推送另一只突出入口的手套。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 350–370 s，轮式底盘承载机器人及双手中的两只手套，从台面前驶向滚筒设备；后续为拾取和重新装载落地手套再次移动。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "gloves_clean_1",
+   "t": 502,
+   "log_step": 184,
+   "where": "操作中",
+   "evidence_zh": "观察：机器人为清洁装载手套时，视频约 502 s 左夹爪松开退回，视频 509–517 s 手套仍突出滚筒口；随后右夹爪接触推送，视频 533 s 手套落到设备前的地板。机器人后续拾回重试，但视频 721.2 s 再次掉落，视频 748.567 s 末帧仍落地、门仍开着；没有任何一只完成无尘目标，因此最早未修复的语义步骤是“第1只手套干净”。"
+  },
+  "unmet": {
+   "gloves_clean_1": false,
+   "gloves_clean_2": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 502,
+    "log_step": 184,
+    "evidence_zh": "观察：视频约 502 s，机器人左夹爪张开并退离时，手套尚未完整送入滚筒，视频 509–517 s 红色拳部和腕口仍挂在入口外侧；视频 521–533 s 后续推送也未使它留在内部，而是落到地上。视频 721.2 s 的再次装载同样掉落，最终没有修复。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 502,
+    "log_step": 184,
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：机器人采用在入口处张开夹爪、再用另一夹爪推入的装载方式，松手时手套尚未获得滚筒内部的稳定承托。依据是视频 509–517 s 夹爪已退开而手套仍明显突出入口，以及视频 533 s 和 721.2 s 两次落地；log step 183 的末端目标 x=22.28 m，服务实际末端 x≈22.342 m，随后 log step 184 仍直接张开左夹爪并后退。接触与释放布局未能把手套留在设备内；未验证该只手套的替代握法、支承姿态及释放深度，替代方案可行性记未知。"
+   },
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "alt_feasible": "未知",
+    "t": 533,
+    "log_step": 238,
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：机器人在装载反复失败后仍把两只手套全部装入作为关门、启动之前的工作，未切换到对已入筒手套的清洁尝试或设备功能验证，使另一只的装载困难持续阻断整个清洁阶段。视频 533–538 s，一只手套已在敞开的滚筒内，另一只落地；视频 610–650 s 机器人拾回落地手套，视频 667–721.2 s 再次装载并掉落，至视频 748.567 s 门仍敞开。核查 log steps 196–242 的实际指令，后续动作集中在拾取、重装和退离，没有关门或按设备按钮的指令；log step 238 写下的方案也把关门、按开关列为装载之后尚未执行的计划。这与松手深度不当的接触设计证据独立。先处理已入筒手套是候选替代策略，但成功参考视频 100–120 s 使用旁边白色设备，未验证本次灰色设备关门开机即可去尘，也未验证此时的关门及按钮可达性，因此替代可行性为未知；不以 agent 自述时间用完作为根因。"
+   }
+  ],
+  "gap_zh": "本次没有状态日志；滚筒内部及手套部分表面受遮挡，不能直接逐粒验证余尘，两个节点的末值由初始双积尘和评分器 q_score=0 共同限定，时间区间依据视频判断。成功参考视频使用旁边的白色滚筒设备，本次操作灰色设备；现有材料未确认二者功能，不能据此断言机器人认错设备。接触力和精确支承关系没有传感日志，接触设计根因为有画面与指令支持的推断。 规划根因是由实际动作顺序及 log step 238 的方案记录作出的推断；先关门、启动以清洁已入筒手套的替代策略在本次设备和姿态下未验证，不能写为已验证可行。"
+ },
+ "summary_zh": "机器人打开灰色滚筒设备并搬运两只积尘手套，一只留在滚筒内，另一只装载、拾回重试后仍落地，两个清洁节点最终均未完成（0/2，q_score=0）。断点仍为第1只手套干净的操作中：视频约 502 s 未完整入筒即松手，接触与释放布局不当；视频 533 s 以后继续围绕另一只的拾取和重装，始终未转入关门、启动或设备功能验证，补记认知·推理/规划的推断。滚筒遮挡且无状态日志，末值由评分器总分补充限定；规划归因及候选替代策略的可行性仍有不确定性，置信度由7降为6。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "时钟、节点末值（两节点均 false，q_score=0）、断点 ref 与“位姿不准”均与画面和日志一致。缺口：视频约 533 s 起一只手套已在敞开的滚筒内，此后约 200 s 机器人转去重取另一只落地手套，未关门、未按开关（748 s 末帧门仍开），而 gloves_clean_1 只需一只手套被洗净；这一规划层原因没有标注。另 gap_zh 称“不能确认设备功能”，但视频与 log 表明被操作的就是洗衣机，该句可删。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两节点末值 false（q_score=0）、断点 gloves_clean_1 操作中、位姿不准、抓取和接触设计及推理/规划（alt_feasible 未知）与画面和日志一致，时钟合规，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": "2026-10-30T21:47:08Z",
+  "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/behavior-clean-boxing-gloves-i00-standard--wsw7lp2/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-boxing-gloves-i00-standard--wsw7lp2/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-boxing-gloves-i00-standard--wsw7lp2/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-clean-boxing-gloves-i00-standard--wsw7lp2/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "2b5a4de2066c27d8f398caeb0c29649ad3a03b95b7e320bbb89f639af5385ef3",
+   "video_sha256": "83826125489d9f3c73918f88ebb29cfa204103b583bc34b61ff3ab9c50f1110c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-standard--zpcvajv.json

@@ -0,0 +1,205 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-boxing-gloves-i00-standard--zpcvajv",
+ "taskKey": "behavior-1k/clean_boxing_gloves",
+ "dag_sha256": "0a7a032b99d0bef48c3134269b0a5ae0f98a9e91d3fdbb86bdb6a8a9ff493d59",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 932,
+   "sim_steps": 932,
+   "physics_steps": 3728,
+   "steps": 805,
+   "elapsed_s": 580.8,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-clean-boxing-gloves-i00-standard--zpcvajv/replay.mp4",
+  "duration_s": 31.067,
+  "fps": 30.0,
+  "frames": 932,
+  "sha256": "3ea9f29000b06eaa4383ded1ff8a689d0b000125a4f4d18e3a594ce1738aa6db"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "gloves_clean_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 18.2,
+      "log_step": 41,
+      "text_zh": "观察：视频 7.0–9.0 s、17.2–18.2 s 可见两只红色手套仍在远端柜台上，腕部画面中的夹爪空置；视频 0–31.03 s 的巡视、接近及倒地恢复过程中未见手套被拿起、移入设备或接受清洁。"
+     },
+     {
+      "t": 31.03,
+      "log_step": 65,
+      "text_zh": "推断：本次 reward.q_score=0.0、live_matches_replay=1，两个无尘目标初始均不成立，因此末态没有任何一只达到完全无尘；结合视频中没有清洁过程，第一计数节点全程未达成。log step 65 的在线服务状态确认回合因机器人倒地结束。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 17.6–21.4 s，机器人空手驶向放有两只手套的柜台，底盘在地面上移动，随后失衡侧倒；此为首只手套清洁前的取物接近，未见夹爪接触手套。"
+     }
+    ]
+   },
+   "gloves_clean_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 18.2,
+      "log_step": 43,
+      "text_zh": "观察：视频 17.2–18.2 s 两只手套仍在柜台上，随后视频 18.4–31.03 s 机器人倾斜、侧倒并尝试恢复，未见搬运第二只手套或清洁两只手套的动作。"
+     },
+     {
+      "t": 31.03,
+      "log_step": null,
+      "text_zh": "推断：reward.q_score=0.0 且 live_matches_replay=1；两个目标均为初始积尘手套变为无尘，零个目标文字成立排除了两只均干净的末态，故第二计数节点 final=false。全程录像也没有显示无尘状态曾经达成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "gloves_clean_1",
+   "t": 18.6,
+   "log_step": 43,
+   "where": "转场",
+   "evidence_zh": "观察：视频 18.2 s 机器人仍空手面向柜台上的两只手套；视频约 18.4–18.8 s 视野明显倾斜并抬向墙面，视频 20.0–21.4 s 进一步翻转，之后至视频 31.03 s 都未恢复正常直立视野，也未取得手套。log step 43 是驶向手套的底盘指令，log step 46 的在线本体读数给出底座高度 0.149 m、竖直方向余弦约 0.796；log step 65 确认因倒地结束。失败发生在第一个清洁节点取物前的空手接近阶段。"
+  },
+  "unmet": {
+   "gloves_clean_1": false,
+   "gloves_clean_2": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 20.8,
+    "log_step": 48,
+    "evidence_zh": "观察：视频 20.0–21.4 s 头部画面大幅翻转至侧向，随后视频 21.4–30.0 s 翻滚或贴近地面，视频 30.0–31.03 s 房间仍横置。log step 48 的服务本体反馈中竖直方向余弦由约 0.796 短暂回升到约 0.949，随后降至负值；log step 65 的终止原因是 failure: the robot fell over。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 48,
+    "evidence_zh": "推断：底盘接近及退避控制没有维持或恢复机器人姿态稳定。log step 39 的导航代码只按平面位置误差驱动底盘，log step 43 实际以每控制步最多 0.08 m 的位置增量接近；log step 46 已读到明显倾斜，log step 48 随后仍每批六步施加 -0.06 m 的后退增量，服务反馈显示最终侧倒，视频 18.4–21.4 s 与这一失稳过程相符。后续 log step 53、55 的底盘恢复运动及 log step 63 的双手下压也未恢复直立。证据支持底盘运动控制失败，但不足以确认具体碰撞力或细分为参数调试。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "本目录没有状态日志；本次手套一直较远且倒地后离开视野，不能逐粒数清余尘，末态依据评分总量与录像中未发生清洁共同判断。底盘与柜体的接触位置被机体和相机视角遮挡，agent 在 log step 92 自述的“冲上柜子”不能独立核实，因此不另标被挡/碰撞，也不认定具体力学原因。"
+ },
+ "summary_zh": "两只手套均未达到无尘目标，最终进度为 0/2，q_score=0.0。机器人在空手驶向手套的转场阶段约视频 18.6 s 开始明显失衡，随后侧倒且恢复失败，断点为 gloves_clean_1，现象为全身·平衡，日志与录像支持底盘控制失败。无状态日志且具体底盘碰撞被遮挡；本次 task_text 使用目标成立即结束的旧验收规则，与 DAG 的新版松手静置窗口有差异，但本次两个无尘目标均未成立，不影响节点判断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "标注与录像、日志一致：两只手套全程未被拿起或清洁，进度 0/2；视频约 18–21 s 空手接近手套时底盘失衡侧倒，断点 gloves_clean_1/转场、现象 全身·平衡、根因 控制均有证据支持，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": "2026-10-30T21:21:18Z",
+  "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/behavior-clean-boxing-gloves-i00-standard--zpcvajv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-boxing-gloves-i00-standard--zpcvajv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "05b82a452eb2109a7c58eabc1ccaca5dfb1d7e932c9120a02de752d8a0ddae00",
+   "video_sha256": "3ea9f29000b06eaa4383ded1ff8a689d0b000125a4f4d18e3a594ce1738aa6db",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-privileged--3gqbrav.json

@@ -0,0 +1,411 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-collecting-childrens-toys-i00-privileged--3gqbrav",
+ "taskKey": "behavior-1k/collecting_childrens_toys",
+ "dag_sha256": "c236dc50d1c43f8f6eaf6d7c859842df16d2f5e4870176f1f7cb433b6ed11266",
+ "outcome": {
+  "success": 0,
+  "reward": 0.7142857142857143,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 3791,
+   "sim_steps": 3791,
+   "fallen": 0,
+   "final_reward": 0.7142857142857143,
+   "q_score": 0.7142857142857143,
+   "replay_wall_s": 1522.1,
+   "replay_timeout_s": 3727.3,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 1,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-collecting-childrens-toys-i00-privileged--3gqbrav/replay.mp4",
+  "duration_s": 126.367,
+  "fps": 30.0,
+  "frames": 3791,
+  "sha256": "8926c13082b5b81ff64a219431de0993b06bd3ce96872127733aa468178d0c72"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "dice_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      23.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 13.0,
+      "log_step": null,
+      "text_zh": "观察：视频6.0 s右夹爪夹住黑骰子；视频13.0 s左腕画面出现被两指夹住的白骰子，机器人随后同时携带两枚骰子。"
+     },
+     {
+      "t": 23.0,
+      "log_step": null,
+      "text_zh": "观察：视频22.0 s白骰子仍在左夹爪处，视频22.5–24.0 s左夹爪离开，白骰子留在左侧书柜上层搁板；将视频23.0 s作为放稳的近似时刻。"
+     },
+     {
+      "t": 126.333,
+      "log_step": null,
+      "text_zh": "观察：视频29.5–30.5 s、84.5–89.5 s及125.4–126.333 s仍可见白骰子留在该层左侧，未见再次搬出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "视频13.0–22.0 s机器人左夹爪夹住白骰子、右夹爪夹住黑骰子并同时携带，随后依次单臂释放到同一书柜。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约16.5–20.0 s轮式底盘移动，支撑双臂将两枚骰子由床边搬到书柜前。"
+     }
+    ]
+   },
+   "dice_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      28.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 28.0,
+      "log_step": null,
+      "text_zh": "观察：视频26.5–27.0 s右夹爪把黑骰子送到白骰子所在书柜的同层右侧；视频27.5 s右腕可见黑骰子已在搁板上，视频28.0–30.5 s机器人撤手后两枚骰子均留在柜内。"
+     },
+     {
+      "t": 126.333,
+      "log_step": null,
+      "text_zh": "观察：视频125.4–126.333 s黑骰子仍在上层右侧，白骰子在同层左侧；两枚骰子均未被后续搬出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "视频13.0–22.0 s机器人左夹爪夹住白骰子、右夹爪夹住黑骰子并同时携带，随后依次单臂释放到同一书柜。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约16.5–20.0 s轮式底盘移动，支撑双臂将两枚骰子由床边搬到书柜前。"
+     }
+    ]
+   },
+   "teddies_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      84.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 76.0,
+      "log_step": null,
+      "text_zh": "观察：视频58.0 s左夹爪已夹起一只熊；视频73.0–76.0 s右夹爪也夹起另一只熊，视频79.0 s两只熊均随双臂悬空搬运。"
+     },
+     {
+      "t": 84.5,
+      "log_step": null,
+      "text_zh": "观察：视频80.0–83.5 s机器人左夹爪送熊进入骰子所在书柜上层，视频84.0–84.5 s左夹爪撤离，熊躺在该层并保持不动。"
+     },
+     {
+      "t": 126.333,
+      "log_step": null,
+      "text_zh": "观察：视频88.0–89.5 s、104.0–110.0 s及125.4–126.333 s第一只熊仍躺在上层。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "视频约73.0–80.0 s左、右二指夹爪各夹持一只熊并同时携带到书柜，之后左臂放上层，右臂放下一层。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约76.0–79.5 s底盘沿地面移动，同时支撑两臂携带两只熊回到书柜。"
+     }
+    ]
+   },
+   "teddies_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      88.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 88.5,
+      "log_step": null,
+      "text_zh": "观察：视频85.0–87.5 s机器人右夹爪将第二只熊送至同柜下一层；视频88.0–89.5 s右夹爪撤离，第二只熊留在该层右侧。"
+     },
+     {
+      "t": 126.333,
+      "log_step": null,
+      "text_zh": "观察：视频104.0–110.0 s第二只熊留在搁板上；视频125.4–126.333 s火车被放到其前方，熊仍在柜内，没有被带出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "视频约73.0–80.0 s左、右二指夹爪各夹持一只熊并同时携带到书柜，之后左臂放上层，右臂放下一层。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约76.0–79.5 s底盘沿地面移动，同时支撑两臂携带两只熊回到书柜。"
+     }
+    ]
+   },
+   "board_games_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 42.0,
+      "log_step": null,
+      "text_zh": "观察：视频35.0–39.5 s机器人左夹爪在床上夹桌游盒的角，视频40.0–43.5 s盒子离开床面并随左夹爪升起、搬向书柜。"
+     },
+     {
+      "t": 46.2,
+      "log_step": null,
+      "text_zh": "观察：视频45.5 s桌游盒仍在左夹爪处、位于搁板前方；视频46.0–46.2 s夹爪张开，盒子未被搁板托住，视频46.4–47.0 s从柜前下落到地面，视频48.0 s仍在柜外地面。"
+     },
+     {
+      "t": 126.333,
+      "log_step": null,
+      "text_zh": "观察：视频84.0–89.5 s及124.8–126.333 s可见这盒桌游仍在柜前地面；另一盒桌游在视频98.5–99.5 s及视频113.0 s的书桌视角中仍在桌面。推断：两盒都未入柜，因此至少1盒的计数阈值从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频约39.5–46.0 s机器人左二指夹爪夹住床上桌游盒的一角，提起并搬至书柜，随后在柜前张开释放；盒子落到柜外地面。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约41.0–43.5 s轮式底盘移动，携带左夹爪中的桌游盒从床边到书柜前。"
+     }
+    ]
+   },
+   "board_games_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 98.5,
+      "log_step": null,
+      "text_zh": "观察：视频93.5–98.0 s右腕视角中机器人右夹爪闭合夹向书桌桌游盒的角，盒子在桌面转动；视频98.5–99.5 s夹爪离开，桌游盒仍躺在书桌上，没有随手升起。"
+     },
+     {
+      "t": 110.0,
+      "log_step": 214,
+      "text_zh": "观察：视频104.0–110.0 s机器人右臂到书柜执行放置姿态，但手中没有桌游盒，柜内也没有新增桌游；视频113.0 s机器人回到书桌时桌游盒仍在桌面。推断：两盒入柜的计数阈值从未成立，不能采用交互测试的入柜报告作为本次重放的进度。"
+     },
+     {
+      "t": 126.333,
+      "log_step": null,
+      "text_zh": "观察：评分器q_score=5/7；视频中两枚骰子、两只熊以及末尾的火车位于同柜，床上桌游仍在柜前地面，书桌桌游未被搬走。推断：评分总量与两盒桌游均未入柜一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "视频93.5–98.0 s机器人右夹爪在桌游盒角闭合时使盒子在桌面移动、转动；视频98.5–99.5 s盒仍留在桌上，未观察到可搬运的稳定抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约90.0–93.5 s底盘驶向书桌，视频约100.0–103.5 s右夹爪空手驶回书柜并执行放置动作。"
+     }
+    ]
+   },
+   "train_in_bookcase": {
+    "method": "visual",
+    "intervals": [
+     [
+      125.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 116.0,
+      "log_step": null,
+      "text_zh": "观察：视频113.0–115.5 s机器人右夹爪在书桌上抓取火车；视频116.0–123.8 s彩色火车已离开书桌，随右夹爪悬空搬向书柜。"
+     },
+     {
+      "t": 126.333,
+      "log_step": null,
+      "text_zh": "观察：视频124.8–125.4 s机器人将火车转为近水平送到两只熊所在书柜的下层，视频125.6–126.333 s火车留在该层前��，位置基本不变，右夹爪停在旁边。推断：结合两盒桌游均未入柜、其余四件已入柜和评分器q_score=5/7，火车的柜内关系终态成立；夹爪张开与放稳时刻近似记为视频125.5 s，具体辅助抓取解除及速度阈值无状态日志核对。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频约115.5–125.5 s机器人右二指夹爪夹持火车并搬到书柜，末尾将其降到搁板。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约118.0–123.8 s底盘移动，支撑右臂将火车由书桌搬至书柜前。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.7142857142857143,
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "board_games_in_bookcase_1",
+   "t": 46.0,
+   "log_step": 142,
+   "where": "操作中",
+   "evidence_zh": "观察：视频45.5–46.2 s机器人左夹爪在书柜搁板前方张开，所搬桌游盒随后落至柜外地面，视频84.0–89.5 s和124.8–126.333 s仍可见，始终没有重新捡回入柜；这是第一个发生且后来未修复的步骤失败。另一盒桌游在视频98.5–99.5 s未离开书桌，因此也没有使第1盒入柜的计数阈值成立。log step 142是对应放置脚本，不能以其交互测试结果代替视频。"
+  },
+  "unmet": {
+   "dice_in_bookcase_1": true,
+   "dice_in_bookcase_2": true,
+   "teddies_in_bookcase_1": true,
+   "teddies_in_bookcase_2": true,
+   "board_games_in_bookcase_1": false,
+   "board_games_in_bookcase_2": false,
+   "train_in_bookcase": true
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 46.0,
+    "log_step": 142,
+    "evidence_zh": "观察：视频45.5 s左夹爪夹持的桌游盒位于书柜层板前，视频46.0–46.2 s张爪时盒子没有落在柜内支承面上，视频46.4–47.0 s直接落向柜外地板。推断：放置释放位置没有进入能承接盒子的柜内容积，属于松手前未到位。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "交付",
+    "item": "交付操作出错",
+    "source_zh": "日志 / 视频 / 评分器字段",
+    "evidence_zh": "观察：log step 54中agent自行实现save_ckpt/load_ckpt，恢复模拟器快照并回填动作录制列表；log step 140、141、142分别恢复持有桌游的bg2_held或bg2_at_bc1快照后继续执行，log step 149据交互测试自述该盒已入柜。log step 213–220又经恢复快照得到交互q_score=1.0，log step 221直接保存3791行录制动作；评分器字段agent_replays=0、deterministic=1，正式重放q_score仅5/7，视频46.4–47.0 s桌游落在柜外、视频98.5–99.5 s另一桌游留在桌面，均未复现交互完成报告。推断：agent把依赖快照恢复的交互执行结果作为动作文件验收，没有从初态重放核验所交付文件，导致正式轨迹中的失败未被发现；不据此断言模拟器或评分器故障。"
+   }
+  ],
+  "gap_zh": "观察：inputs/提供完整视频和日志，但没有状态日志或成功参考视频。推断：无法精确核对辅助抓取解除、物体包围盒中心和0.05米/秒阈值；火车末尾由腕部近景部分遮挡释放过程，终态关系结合视频及5/7总分判定，放稳时刻为约数。桌游交互测试与正式重放不一致的具体物理或控制器内部状态差异没有记录，交付归因限于恢复快照后未做文件重放验收。log step 222的模型过滤发生在log step 221已保存交付之后，且视频已有此前的物理失败，不作为本次失败的外因。"
+ },
+ "summary_zh": "观察：正式重放最终两枚骰子、两只熊和火车位于同一书柜，按视频及q_score=5/7判为完成5/7；两盒桌游分别留在柜前地面和书桌。观察：最早未修复的失败是视频约46.0 s第1盒桌游在柜前未到位即松手；推断：agent多次恢复快照后保存动作而未重放验收，交互测试的完成结果没有被交付轨迹复现。观察：无状态日志，火车末尾释放和精确静止阈值无法直接核对，相关时刻按画面及评分总量近似判定。",
+ "conf": 7,
+ "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45–48 s帧：桌游盒在柜前张爪后落地，未入柜；98 s书桌桌游仍在桌上；125.8 s火车在柜内。节点值、5/7、断点（第1盒桌游放置未到位）、位姿不准及交付操作出错根因均有证据支持，未发现需改动之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:10:07Z",
+  "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/behavior-collecting-childrens-toys-i00-privileged--3gqbrav/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-childrens-toys-i00-privileged--3gqbrav/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "fd85d73f957c5865dc3c9a9662ea12e52d79d35ee8548b377b9f8740f01d56d9",
+   "video_sha256": "8926c13082b5b81ff64a219431de0993b06bd3ce96872127733aa468178d0c72",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-privileged--6ysxuwq.json

@@ -0,0 +1,297 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-collecting-childrens-toys-i00-privileged--6ysxuwq",
+ "taskKey": "behavior-1k/collecting_childrens_toys",
+ "dag_sha256": "c236dc50d1c43f8f6eaf6d7c859842df16d2f5e4870176f1f7cb433b6ed11266",
+ "outcome": {
+  "success": 0,
+  "reward": 0.14285714285714285,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 1008,
+   "sim_steps": 1008,
+   "fallen": 0,
+   "final_reward": 0.14285714285714285,
+   "q_score": 0.14285714285714285,
+   "replay_wall_s": 1100.6,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 4,
+   "agent_resets": 13,
+   "agent_sim_steps": 2132,
+   "agent_records": 2,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 9.895,
+   "peak_memory_gb": 14.179,
+   "peak_processes": 46,
+   "peak_disk_gb": 2.309,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-collecting-childrens-toys-i00-privileged--6ysxuwq/replay.mp4",
+  "duration_s": 33.6,
+  "fps": 30.0,
+  "frames": 1008,
+  "sha256": "f13760d71afeb7602fa54a6b3cb8be415de5224ae12ca778a8ac1cf4b410e19f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "dice_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      31.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.5,
+      "log_step": null,
+      "text_zh": "观察：视频 10.5–13.5 s 的右腕画面显示右二指夹爪从两侧合拢包住黑色骰子，骰子随后随夹爪抬离床面；头部画面中另一枚浅色骰子仍在床上。"
+     },
+     {
+      "t": 31.7,
+      "log_step": null,
+      "text_zh": "观察：视频 30.2 s 骰子仍在右夹爪两指之间，视频 30.8 s 两指已张开且骰子与夹爪分离；视频约 31.7 s 骰子落在书柜内部层板上，视频 32.0–33.5 s 仍在原处，右夹爪撤开。放稳时刻按画面估计，误差约0.5秒。"
+     },
+     {
+      "t": 33.5,
+      "log_step": 83,
+      "text_zh": "观察：视频 33.5 s 柜内有一枚已松手的黑骰子。log step 79 的新进程生成结果报告只有 die.n.01_2 的 inside 为真；log step 83 对交付的1008动作文件重放得到 q_score=1/7、deterministic=true，与画面一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 10.5–13.5 s 右二指夹爪合拢夹住床上黑色骰子，随后持续持骰搬到书柜；视频约 30.5 s 张开释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–5 s 机器人移动到底床边，视频 15–19 s 机器人持骰转向并驶近书柜，底盘支撑搬运。"
+     }
+    ]
+   },
+   "dice_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 33.5,
+      "log_step": 71,
+      "text_zh": "观察：视频 0–33.5 s 只见机器人操作床上一枚黑骰子并送进书柜，没有搬运第二枚骰子入柜的动作；视频 33.5 s 柜内可见释放的黑骰子。log step 71 的交付生成脚本只安排 die.n.01_2 的抓取和放入，随后保持并保存；log step 78 修正初始化后，log step 79 新进程生成1008动作文件。"
+     },
+     {
+      "t": 33.5,
+      "log_step": 83,
+      "text_zh": "推断：评分器 q_score=1/7，初态七个玩具入柜关系均不成立，而视频已证实一枚骰子入柜，因此其余六个节点的终值均为假；这里没有仅凭零分推断未尝试。"
+     }
+    ]
+   },
+   "teddies_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 33.5,
+      "log_step": 71,
+      "text_zh": "观察：视频 0–33.5 s 只见机器人操作床上一枚黑骰子并送进书柜，没有搬运第一只熊入柜的动作；视频 33.5 s 柜内可见释放的黑骰子。log step 71 的交付生成脚本只安排 die.n.01_2 的抓取和放入，随后保持并保存；log step 78 修正初始化后，log step 79 新进程生成1008动作文件。"
+     },
+     {
+      "t": 33.5,
+      "log_step": 83,
+      "text_zh": "推断：评分器 q_score=1/7，初态七个玩具入柜关系均不成立，而视频已证实一枚骰子入柜，因此其余六个节点的终值均为假；这里没有仅凭零分推断未尝试。"
+     }
+    ]
+   },
+   "teddies_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 33.5,
+      "log_step": 71,
+      "text_zh": "观察：视频 0–33.5 s 只见机器人操作床上一枚黑骰子并送进书柜，没有搬运第二只熊入柜的动作；视频 33.5 s 柜内可见释放的黑骰子。log step 71 的交付生成脚本只安排 die.n.01_2 的抓取和放入，随后保持并保存；log step 78 修正初始化后，log step 79 新进程生成1008动作文件。"
+     },
+     {
+      "t": 33.5,
+      "log_step": 83,
+      "text_zh": "推断：评分器 q_score=1/7，初态七个玩具入柜关系均不成立，而视频已证实一枚骰子入柜，因此其余六个节点的终值均为假；这里没有仅凭零分推断未尝试。"
+     }
+    ]
+   },
+   "board_games_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 33.5,
+      "log_step": 71,
+      "text_zh": "观察：视频 0–33.5 s 只见机器人操作床上一枚黑骰子并送进书柜，没有搬运第一盒桌游入柜的动作；视频 33.5 s 柜内可见释放的黑骰子。log step 71 的交付生成脚本只安排 die.n.01_2 的抓取和放入，随后保持并保存；log step 78 修正初始化后，log step 79 新进程生成1008动作文件。"
+     },
+     {
+      "t": 33.5,
+      "log_step": 83,
+      "text_zh": "推断：评分器 q_score=1/7，初态七个玩具入柜关系均不成立，而视频已证实一枚骰子入柜，因此其余六个节点的终值均为假；这里没有仅凭零分推断未尝试。"
+     }
+    ]
+   },
+   "board_games_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 33.5,
+      "log_step": 71,
+      "text_zh": "观察：视频 0–33.5 s 只见机器人操作床上一枚黑骰子并送进书柜，没有搬运第二盒桌游入柜的动作；视频 33.5 s 柜内可见释放的黑骰子。log step 71 的交付生成脚本只安排 die.n.01_2 的抓取和放入，随后保持并保存；log step 78 修正初始化后，log step 79 新进程生成1008动作文件。"
+     },
+     {
+      "t": 33.5,
+      "log_step": 83,
+      "text_zh": "推断：评分器 q_score=1/7，初态七个玩具入柜关系均不成立，而视频已证实一枚骰子入柜，因此其余六个节点的终值均为假；这里没有仅凭零分推断未尝试。"
+     }
+    ]
+   },
+   "train_in_bookcase": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 33.5,
+      "log_step": 71,
+      "text_zh": "观察：视频 0–33.5 s 只见机器人操作床上一枚黑骰子并送进书柜，没有搬运火车玩具入柜的动作；视频 33.5 s 柜内可见释放的黑骰子。log step 71 的交付生成脚本只安排 die.n.01_2 的抓取和放入，随后保持并保存；log step 78 修正初始化后，log step 79 新进程生成1008动作文件。"
+     },
+     {
+      "t": 33.5,
+      "log_step": 83,
+      "text_zh": "推断：评分器 q_score=1/7，初态七个玩具入柜关系均不成立，而视频已证实一枚骰子入柜，因此其余六个节点的终值均为假；这里没有仅凭零分推断未尝试。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 71,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0–33.5 s 的评分轨迹完成一枚骰子入柜后即停在柜前，没有开始任何其他玩具的收纳；log step 71 的生成脚本只录制这一枚骰子，log step 79、83 确认交付及重放都是1008动作、q_score=1/7。推断：失败在剩余收纳步骤启动之前；六个未启动节点之间没有可由视频确定的下一步顺序，不能唯一指定某一节点。"
+  },
+  "unmet": {
+   "dice_in_bookcase_1": true,
+   "dice_in_bookcase_2": false,
+   "teddies_in_bookcase_1": false,
+   "teddies_in_bookcase_2": false,
+   "board_games_in_bookcase_1": false,
+   "board_games_in_bookcase_2": false,
+   "train_in_bookcase": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": null,
+    "log_step": 71,
+    "evidence_zh": "观察：视频 0–33.5 s 机器人只抓取、运输和释放一枚骰子，完成后未再取下一件玩具；log step 71 生成脚本只调用这一枚骰子的抓放，之后hold并保存，log step 79 的新进程结果及 log step 83 的重放与此一致。其余六项收纳在评分轨迹里均未启动。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 67,
+    "evidence_zh": "推断：会话中的控制能力问题促使 agent 只交付一枚骰子的局部方案。log step 62、64 的熊抓取测试反复报告逆解或末端误差且 inhand=None；log step 67 在重置后再试，报告末端误差0.221–0.392米、仍未抓到熊，log step 69 亦失败。agent 在 log step 84 自述熊抓取反复受机器人本体阻挡、桌游和火车的角部夹取尚未测试；log step 71 因而只编入已工作的骰子流程。这些是会话层根因证据，熊受阻不是本次评分视频的失败现象；具体控制子类无法确定。",
+    "source_zh": "日志 / agent 自述"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功示范，精确速度阈值和骰子放稳时刻只能由视频近似判断。其余玩具在末段不都入镜，终值由可见的一枚骰子与评分器1/7总分共同限定。评分轨迹未开始剩余六步，无法唯一定位其中的断点节点或失败时刻，故ref=unknown、t=null；控制归因来自会话诊断和agent说明，不能据此把会话中的熊抓取失败计入评分轨迹，也不能证明所有未做物品都有同一控制障碍。"
+ },
+ "summary_zh": "评分轨迹只完成第1枚骰子入柜：右夹爪从床上夹起黑骰子，视频约 31.7 s 松手放稳，末帧保持，最终1/7。其余六步在交付中均未启动，无法从视频确定唯一的下一步断点；会话日志显示熊抓取控制反复失败，agent最终只保留了可工作的骰子流程。没有状态日志，放稳时间为视觉估计，控制归因仅有会话证据。",
+ "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（仅第1枚骰子入柜，约31.7 s 松手放稳）、1/7 终值、接触、没尝试/首步前及会话层控制根因均有帧、log step 79/83 和评分器字段支持；未发现需改动内容的错误。ref=unknown 有分歧空间（可取 dice_in_bookcase_2），但标注者给出了理由，不算错误。",
+    "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": "2026-10-30T21:08:45Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-childrens-toys-i00-privileged--6ysxuwq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-childrens-toys-i00-privileged--6ysxuwq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f41439580c7a22d1e3dbf28d60a841e19a2d490ac9bf0268ceb0683f263944b2",
+   "video_sha256": "f13760d71afeb7602fa54a6b3cb8be415de5224ae12ca778a8ac1cf4b410e19f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-privileged--dws2vfc.json

@@ -0,0 +1,433 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-collecting-childrens-toys-i00-privileged--dws2vfc",
+ "taskKey": "behavior-1k/collecting_childrens_toys",
+ "dag_sha256": "c236dc50d1c43f8f6eaf6d7c859842df16d2f5e4870176f1f7cb433b6ed11266",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 1,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 8185,
+   "sim_steps": 8185,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 1.0,
+   "replay_wall_s": 2502.0,
+   "replay_timeout_s": 5292.5,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 3,
+   "agent_resets": 0,
+   "agent_sim_steps": 24555,
+   "agent_records": 1,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "regrade_0154": {
+    "tag": "behavior-254-0154",
+    "old": 1,
+    "new": 0,
+    "why": "stricter rule",
+    "at": "2026-10-18 02:08:20"
+   }
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-collecting-childrens-toys-i00-privileged--dws2vfc/replay.mp4",
+  "duration_s": 272.833,
+  "fps": 30.0,
+  "frames": 8185,
+  "sha256": "f146cca67df8bc68a217ba96b117d986da4b43d4039084774f29e4d4b40bcb98"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 6,
+  "final": 6,
+  "nodes": {
+   "dice_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      67.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10,
+      "log_step": null,
+      "text_zh": "观察：视频 10–20 s，黑色骰子被左夹爪夹持，从床移向书柜；视频 24–56 s 的腕部视角又显示它在柜前地板上，因此早先的搬运未完成入柜。"
+     },
+     {
+      "t": 67.5,
+      "log_step": null,
+      "text_zh": "观察：视频 56–66.75 s，机器人从地板重新夹起黑色骰子并移入左侧书柜；视频 67.25–70 s，左夹爪张开撤离，骰子留在柜内中层搁板上，位置稳定。达到时间约为视频 67.5 s，精度约半秒。"
+     },
+     {
+      "t": 245,
+      "log_step": null,
+      "text_zh": "观察：视频 85.5–115 s、视频 170–217 s 和视频 245 s 的柜内视角仍可见黑色骰子；后续操作没有把它取出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 10–22 s 及视频 56–67 s，机器人左侧二指夹爪夹住黑色骰子并搬运；右夹爪未参与。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：搬运黑色骰子时，机器人轮式底盘在取物处与书柜之间行驶、转向，支撑持物机械臂。"
+     }
+    ]
+   },
+   "dice_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      85.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 75,
+      "log_step": null,
+      "text_zh": "观察：视频 75 s，另一枚白色骰子在床上；视频 77–84.75 s，左夹爪夹持它离开床并运至已有黑色骰子的同一书柜。"
+     },
+     {
+      "t": 85.5,
+      "log_step": null,
+      "text_zh": "观察：视频 85.25–86.5 s，白色骰子脱离张开的左夹爪，落在黑色骰子旁的中层搁板上；视频 87–88 s 两枚均留在柜内。达到时间约为视频 85.5 s。"
+     },
+     {
+      "t": 245,
+      "log_step": null,
+      "text_zh": "观察：视频 112.5–115 s、视频 170–217 s 和视频 245 s 仍可见两枚骰子；没有再取出骰子的动作。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 77–85.5 s，机器人左侧二指夹爪夹住白色骰子并搬运；右夹爪未参与。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：搬运白色骰子时，机器人轮式底盘在取物处与书柜之间行驶、转向，支撑持物机械臂。"
+     }
+    ]
+   },
+   "teddies_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      168.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 125,
+      "log_step": null,
+      "text_zh": "观察：视频 120 s 地板上有两只熊；视频 125–134 s，第一只熊被左夹爪夹住头部，离开地板送至书柜。视频 135–150 s 机器人又把它带回柜外，再次运回。"
+     },
+     {
+      "t": 159,
+      "log_step": null,
+      "text_zh": "观察：视频 151.5–160 s，第一只熊多次靠近上层搁板，仍贴随左夹爪；视频 155–160 s 机器人转动和撤回夹爪时熊也随之移动，没有独立留在柜内。未把这些夹持或指部承托的暂时入柜计为完成。"
+     },
+     {
+      "t": 168.5,
+      "log_step": null,
+      "text_zh": "观察：视频 165.5–166.5 s，机器人把熊放低至上层搁板；视频 167–169 s 夹爪张开并逐渐撤离，熊横躺留在柜内，视频 170–175 s 仍在同一位置。按离开夹爪并放稳的可见边界，约视频 168.5 s 达到，误差约半秒。"
+     },
+     {
+      "t": 272.8,
+      "log_step": null,
+      "text_zh": "观察：视频 217–245 s 和视频 272.8 s，第一只熊仍横躺在该书柜上层；之后机器人只增加第二只熊及其他玩具。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 125–168.5 s 的反复搬放，机器人左侧二指夹爪夹住第一只泰迪熊的头部并搬运；右夹爪未参与。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：搬运第一只泰迪熊的头部时，机器人轮式底盘在取物处与书柜之间行驶、转向，支撑持物机械臂。"
+     }
+    ]
+   },
+   "teddies_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      213,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 198,
+      "log_step": null,
+      "text_zh": "观察：视频 175–195 s，机器人在第二只熊附近反复下探；视频 198–206 s，左夹爪夹着第二只熊离开地板并搬回书柜，第一只熊仍留在上层。"
+     },
+     {
+      "t": 213,
+      "log_step": null,
+      "text_zh": "观察：视频 210–212 s，机器人将第二只熊横放在第一只旁边；视频 212–214 s 左夹爪张开并后撤，两只熊都留在柜内搁板上，视频 215–217 s 位置保持稳定。达到时间约为视频 213 s，误差约半秒。"
+     },
+     {
+      "t": 272.8,
+      "log_step": null,
+      "text_zh": "观察：视频 235–245 s 以及视频 272.8 s 头部视角仍显示两只熊并排横躺在同一书柜上层，后续未被搬离。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 198–213 s，机器人左侧二指夹爪夹住第二只泰迪熊的头部并搬运；右夹爪未参与。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：搬运第二只泰迪熊的头部时，机器人轮式底盘在取物处与书柜之间行驶、转向，支撑持物机械臂。"
+     }
+    ]
+   },
+   "board_games_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      112.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 104,
+      "log_step": null,
+      "text_zh": "观察：视频 94–101 s，机器人在床上调整第一盒桌游的夹取；视频 104–110 s，盒子已离开床，夹在左夹爪中并移向书柜。"
+     },
+     {
+      "t": 112.5,
+      "log_step": null,
+      "text_zh": "观察：视频 111.5–112 s，左夹爪把桌游盒送到两枚骰子所在的搁板；视频 112.25–115 s，夹爪张开并撤离，盒子留在柜内搁板右侧且不再移动。达到时间约为视频 112.5 s。"
+     },
+     {
+      "t": 272.8,
+      "log_step": null,
+      "text_zh": "观察：视频 170–245 s 的书柜视角和视频 272.8 s 末帧，第一盒桌游仍放在熊下方的中层柜格内；末帧机器人夹持的是从书桌取来的另一盒。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 102–112 s，机器人左侧二指夹爪夹住床上的第一盒桌游并搬运；右夹爪未参与。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：搬运床上的第一盒桌游时，机器人轮式底盘在取物处与书柜之间行驶、转向，支撑持物机械臂。"
+     }
+    ]
+   },
+   "board_games_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 250,
+      "log_step": null,
+      "text_zh": "观察：视频 250 s，第二盒桌游还在白色书桌上；视频 255–260 s，它已离开书桌并被左夹爪夹持。视频 265–269 s，机器人持盒在柜前低处尝试插入，随后抬高至上层。"
+     },
+     {
+      "t": 272.8,
+      "log_step": null,
+      "text_zh": "观察：已检查视频 271、271.5、272、272.3、272.5、272.67、272.8 s；左腕视角始终被所夹桌游盒近距离占据，头部视角可见左夹爪一直夹着盒角向上层柜格伸入，直到最后一帧仍未张开、撤离。没有出现第二盒桌游离开夹爪并在柜内放稳的画面。"
+     },
+     {
+      "t": null,
+      "log_step": 172,
+      "text_zh": "观察：run.json 的最终 reward.success=0、q_score=1.0，且 regrade_0154 记录 old=1、new=0、why=\"stricter rule\"；log step 172 的最终控制输出仍为 hand board_game.n.01_1，随后保存 8185 行轨迹。"
+     },
+     {
+      "t": 272.8,
+      "log_step": null,
+      "text_zh": "推断：q_score 满值支持七件玩具的原始 inside 关系成立，但不能证明释放与静止验收；视频末帧直接显示第二盒仍被夹持，故本节点最终为 false，区间为空。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 255–272.8 s，机器人左侧二指夹爪夹住书桌上的第二盒桌游并搬运；右夹爪未参与。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：搬运书桌上的第二盒桌游时，机器人轮式底盘在取物处与书柜之间行驶、转向，支撑持物机械臂。"
+     }
+    ]
+   },
+   "train_in_bookcase": {
+    "method": "visual",
+    "intervals": [
+     [
+      241.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 224,
+      "log_step": null,
+      "text_zh": "观察：视频 224 s，长条彩色火车玩具在白色书桌上；视频 226–230 s，左夹爪夹住火车一端并抬离桌面，视频 232–238 s 将其搬至已有两枚骰子、一盒桌游和两只熊的书柜前。"
+     },
+     {
+      "t": 241.5,
+      "log_step": null,
+      "text_zh": "观察：视频 239–240.5 s，火车被送入较低的柜格；视频 241–241.5 s，左夹爪张开撤出，火车留在柜内搁板上；视频 242–245 s 仍稳定留在原处。达到时间约为视频 241.5 s。"
+     },
+     {
+      "t": 269,
+      "log_step": null,
+      "text_zh": "观察：视频 266–269 s 的近距离柜格视角，火车仍横放在骰子与第一盒桌游下方的柜格内，没有被最终桌游的低位插入尝试带出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 226–241 s，机器人左侧二指夹爪夹住火车玩具一端并搬运；右夹爪未参与。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：搬运火车玩具一端时，机器人轮式底盘在取物处与书柜之间行驶、转向，支撑持物机械臂。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 1.0,
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "board_games_in_bookcase_2",
+   "t": 272.5,
+   "log_step": 172,
+   "where": "终态验收",
+   "evidence_zh": "观察：视频 271–272.8 s，最后一盒桌游被左夹爪送进已有两只熊的上层柜格，直到末帧仍夹在手中；此前两枚骰子、第一盒桌游、两只熊及火车已分别释放在同一书柜。log step 170 的最终控制块只插入、查询状态和保存，没有松手动作；log step 172 在 hand board_game.n.01_1 时返回原始 success=True。run.json 最终 success=0，重评字段明确写 old=1、new=0、why=\"stricter rule\"；按本次最终评分要求，第二盒的释放与联合静止验收没有完成。"
+  },
+  "unmet": {
+   "dice_in_bookcase_1": true,
+   "dice_in_bookcase_2": true,
+   "teddies_in_bookcase_1": true,
+   "teddies_in_bookcase_2": true,
+   "board_games_in_bookcase_1": true,
+   "board_games_in_bookcase_2": false,
+   "train_in_bookcase": true
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "任务设计问题：inputs/run.json 的 task_text 明确说七件 inside 同一书柜即自动结束，未要求松手或连续静止；log step 172 与 log step 248 的两次独立重放均按该规则返回 success=True，最终 reward.regrade_0154 却因 stricter rule 从 1 改为 0。视频 272–272.8 s 可直接判明最后一盒仍被夹持，但原服务已在这一状态通过；没有独立证据表明这是夹爪执行了释放却失效，或 agent 违背已告知的验收条件。按 S9／CASES.md FAIL-6，不为这一规则差异附加机器人失败现象或根因，两层留空。inputs/ 无状态日志，也无成功示范；搁板内玩具的精确速度及30步联合计数不可直接测定，各次放稳时间据邻近视频帧估计，未用 agent 工作时间换算视频时间。"
+ },
+ "summary_zh": "机器人把两枚骰子、第一盒桌游、两只熊及火车释放在同一书柜中，最终按当前释放判据为6/7；最后一盒桌游在视频 272.8 s 结束时仍由左夹爪夹持，断点为第2盒桌游入柜的终态验收。任务设计问题：原任务文本与两次重放均以七件 inside 即通过，最终评分却记录因 stricter rule 从成功改为失败，故保留最终失败结论，不为规则差异臆造机器人现象或根因。没有状态日志，具体速度阈值和联合静止���数无法核验，节点时间来自视频中的释放、撤手和留置画面。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点时间与视频帧一致（骰子、桌游、熊、火车放入柜内的时刻均吻合），末帧第二盒桌游仍被夹持，断点与 6/7 合理；任务设计问题（文本只要求 inside，重评 stricter rule）的处理符合 S9，现象与根因留空并有 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": "2026-10-30T21:12:55Z",
+  "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/behavior-collecting-childrens-toys-i00-privileged--dws2vfc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-childrens-toys-i00-privileged--dws2vfc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "da7ad89a71bbf00ddcb694cf54105820aca451ca3482859bff901e6aab2bb9db",
+   "video_sha256": "f146cca67df8bc68a217ba96b117d986da4b43d4039084774f29e4d4b40bcb98",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-standard--dibo9w3.json

@@ -0,0 +1,287 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-collecting-childrens-toys-i00-standard--dibo9w3",
+ "taskKey": "behavior-1k/collecting_childrens_toys",
+ "dag_sha256": "c236dc50d1c43f8f6eaf6d7c859842df16d2f5e4870176f1f7cb433b6ed11266",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 332,
+   "sim_steps": 332,
+   "physics_steps": 1328,
+   "steps": 332,
+   "elapsed_s": 406.5,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.417,
+   "peak_processes": 11,
+   "peak_disk_gb": 1.008,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-collecting-childrens-toys-i00-standard--dibo9w3/replay.mp4",
+  "duration_s": 11.067,
+  "fps": 30.0,
+  "frames": 332,
+  "sha256": "182996d3cc6b9c74433215b563e0668820f8aec1643c1af859d1e03018a9b5b7"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "dice_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.1,
+      "log_step": 43,
+      "text_zh": "观察：视频 0.0–1.5 s 中机器人快速转身环视儿童房，头部画面逐渐侧倾；两腕视角没有显示夹爪抓起、搬运或释放玩具。log step 43 的实际执行脚本仅进行底盘转向和相机采样，没有收纳动作。"
+     },
+     {
+      "t": 11.033,
+      "log_step": 63,
+      "text_zh": "推断：视频 1.5–11.03 s 中机器人持续侧倒，虽有机体和夹爪运动，却无玩具移入书柜的过程；末秒仍未恢复直立。结合 DAG 所述玩具初始均在柜外、评分器 q_score=0.0 且 live_matches_replay=1，第1枚骰子入柜终值为假；不是仅凭零分推断未尝试。log step 63 的服务状态为 done=true、原因 failure: the robot fell over。"
+     }
+    ]
+   },
+   "dice_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.1,
+      "log_step": 43,
+      "text_zh": "观察：视频 0.0–1.5 s 中机器人快速转身环视儿童房，头部画面逐渐侧倾；两腕视角没有显示夹爪抓起、搬运或释放玩具。log step 43 的实际执行脚本仅进行底盘转向和相机采样，没有收纳动作。"
+     },
+     {
+      "t": 11.033,
+      "log_step": 63,
+      "text_zh": "推断：视频 1.5–11.03 s 中机器人持续侧倒，虽有机体和夹爪运动，却无玩具移入书柜的过程；末秒仍未恢复直立。结合 DAG 所述玩具初始均在柜外、评分器 q_score=0.0 且 live_matches_replay=1，第2枚骰子入柜终值为假；不是仅凭零分推断未尝试。log step 63 的服务状态为 done=true、原因 failure: the robot fell over。"
+     }
+    ]
+   },
+   "teddies_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.1,
+      "log_step": 43,
+      "text_zh": "观察：视频 0.0–1.5 s 中机器人快速转身环视儿童房，头部画面逐渐侧倾；两腕视角没有显示夹爪抓起、搬运或释放玩具。log step 43 的实际执行脚本仅进行底盘转向和相机采样，没有收纳动作。"
+     },
+     {
+      "t": 11.033,
+      "log_step": 63,
+      "text_zh": "推断：视频 1.5–11.03 s 中机器人持续侧倒，虽有机体和夹爪运动，却无玩具移入书柜的过程；末秒仍未恢复直立。结合 DAG 所述玩具初始均在柜外、评分器 q_score=0.0 且 live_matches_replay=1，第1只熊入柜终值为假；不是仅凭零分推断未尝试。log step 63 的服务状态为 done=true、原因 failure: the robot fell over。"
+     }
+    ]
+   },
+   "teddies_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.1,
+      "log_step": 43,
+      "text_zh": "观察：视频 0.0–1.5 s 中机器人快速转身环视儿童房，头部画面逐渐侧倾；两腕视角没有显示夹爪抓起、搬运或释放玩具。log step 43 的实际执行脚本仅进行底盘转向和相机采样，没有收纳动作。"
+     },
+     {
+      "t": 11.033,
+      "log_step": 63,
+      "text_zh": "推断：视频 1.5–11.03 s 中机器人持续侧倒，虽有机体和夹爪运动，却无玩具移入书柜的过程；末秒仍未恢复直立。结合 DAG 所述玩具初始均在柜外、评分器 q_score=0.0 且 live_matches_replay=1，第2只熊入柜终值为假；不是仅凭零分推断未尝试。log step 63 的服务状态为 done=true、原因 failure: the robot fell over。"
+     }
+    ]
+   },
+   "board_games_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.1,
+      "log_step": 43,
+      "text_zh": "观察：视频 0.0–1.5 s 中机器人快速转身环视儿童房，头部画面逐渐侧倾；两腕视角没有显示夹爪抓起、搬运或释放玩具。log step 43 的实际执行脚本仅进行底盘转向和相机采样，没有收纳动作。"
+     },
+     {
+      "t": 11.033,
+      "log_step": 63,
+      "text_zh": "推断：视频 1.5–11.03 s 中机器人持续侧倒，虽有机体和夹爪运动，却无玩具移入书柜的过程；末秒仍未恢复直立。结合 DAG 所述玩具初始均在柜外、评分器 q_score=0.0 且 live_matches_replay=1，第1盒桌游入柜终值为假；不是仅凭零分推断未尝试。log step 63 的服务状态为 done=true、原因 failure: the robot fell over。"
+     }
+    ]
+   },
+   "board_games_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.1,
+      "log_step": 43,
+      "text_zh": "观察：视频 0.0–1.5 s 中机器人快速转身环视儿童房，头部画面逐渐侧倾；两腕视角没有显示夹爪抓起、搬运或释放玩具。log step 43 的实际执行脚本仅进行底盘转向和相机采样，没有收纳动作。"
+     },
+     {
+      "t": 11.033,
+      "log_step": 63,
+      "text_zh": "推断：视频 1.5–11.03 s 中机器人持续侧倒，虽有机体和夹爪运动，却无玩具移入书柜的过程；末秒仍未恢复直立。结合 DAG 所述玩具初始均在柜外、评分器 q_score=0.0 且 live_matches_replay=1，第2盒桌游入柜终值为假；不是仅凭零分推断未尝试。log step 63 的服务状态为 done=true、原因 failure: the robot fell over。"
+     }
+    ]
+   },
+   "train_in_bookcase": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.1,
+      "log_step": 43,
+      "text_zh": "观察：视频 0.0–1.5 s 中机器人快速转身环视儿童房，头部画面逐渐侧倾；两腕视角没有显示夹爪抓起、搬运或释放玩具。log step 43 的实际执行脚本仅进行底盘转向和相机采样，没有收纳动作。"
+     },
+     {
+      "t": 11.033,
+      "log_step": 63,
+      "text_zh": "推断：视频 1.5–11.03 s 中机器人持续侧倒，虽有机体和夹爪运动，却无玩具移入书柜的过程；末秒仍未恢复直立。结合 DAG 所述玩具初始均在柜外、评分器 q_score=0.0 且 live_matches_replay=1，火车玩具入柜终值为假；不是仅凭零分推断未尝试。log step 63 的服务状态为 done=true、原因 failure: the robot fell over。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": 1.1,
+   "log_step": 43,
+   "where": "探索",
+   "evidence_zh": "观察：视频 0.0–1.5 s 中机器人原地快速转身，房间竖直边缘逐渐转斜，约视频 1.1 s 明显失衡，随后侧倒；视频 1.5–11.03 s 没有恢复直立或搬运玩具。log step 32、43 的实时脚本是整周环视与 RGB-D 采样，尚未选定要收纳的玩具；故无法把本次失衡唯一归到七个入柜节点之一，断点步骤填 unknown。"
+  },
+  "unmet": {
+   "dice_in_bookcase_1": false,
+   "dice_in_bookcase_2": false,
+   "teddies_in_bookcase_1": false,
+   "teddies_in_bookcase_2": false,
+   "board_games_in_bookcase_1": false,
+   "board_games_in_bookcase_2": false,
+   "train_in_bookcase": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 1.1,
+    "log_step": 43,
+    "evidence_zh": "观察：视频约 0.7–1.5 s，机器人相机视野在转向时不断侧翻，之后长时间横斜朝向地板；视频 10.07–11.03 s 仍侧倒。log step 43 的本体姿态读数显示底盘滚转由约 -0.20 rad 增至约 1.37 rad，log step 59 服务返回 control_steps=332、done=true、failure: the robot fell over；本体晃动恢复尝试未能修复失衡。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "参数调试",
+    "evidence_zh": "推断：环视动作采用过大的连续底盘转向增量，造成机体失稳。log step 17 的服务规格说明底盘命令按每个控制步累加，控制频率为30 Hz；log step 32 实际连续发送0.3 rad/步共21步（9 rad/s），log step 43 又连续发送约0.262 rad/步共24步（约7.85 rad/s），其本体读数随环视显示侧倾迅速增长，视频约 0.7–1.5 s 同步出现明显侧翻。该归因依据实际指令、服务姿态反馈与视频，不采用后来未执行的 gen.py 改进结果；agent 在 log step 68、72 也自述快速旋转导致跌倒。",
+    "source_zh": "日志 / 视频 / agent 自述"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 中有完整视频与 run.json，但没有状态日志或成功参考视频；三相机均为机载视角，未直接展示完整底盘及全部玩具。推断：可以确认失衡及零收纳进度，但倒下前只进行全场环视，不能唯一确定正在为哪件玩具的入柜步骤探索，因此 breakpoint.ref 为 unknown；七个具体入柜节点均未启动，不把环视时的底盘支撑接触任意分配给某个节点。"
+ },
+ "summary_zh": "机器人仅完成儿童房环视，没有抓起并放入书柜的玩具，七个节点终态均为假，进度为0/7。连续的大幅底盘转向指令使机器人约在视频 1.1 s 明显失衡，之后恢复尝试未奏效，服务最终以跌倒结束本局；本局结束后编写和模拟测试的收纳脚本不属于评分轨迹。没有状态日志，且倒下前尚未选定具体玩具，故断点步骤无法唯一确定，位置记为探索。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "七个入柜节点终态为假、进度0/7，与视频（约1.1 s起相机侧翻、此后一直倒地）、q_score=0和服务 done=true「robot fell over」(control_steps=332) 一致；breakpoint unknown/探索、现象全身·平衡、根因控制·参数调试均有 log step 30/43 的实际连续转向指令和本体滚转读数支持，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": "2026-10-30T21:14:53Z",
+  "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/behavior-collecting-childrens-toys-i00-standard--dibo9w3/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-childrens-toys-i00-standard--dibo9w3/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "78935ad4af95bfbff970257bacdfa11b247c26d6996a928934d4102905822b2a",
+   "video_sha256": "182996d3cc6b9c74433215b563e0668820f8aec1643c1af859d1e03018a9b5b7",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-standard--havvdul.json

@@ -0,0 +1,364 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-collecting-childrens-toys-i00-standard--havvdul",
+ "taskKey": "behavior-1k/collecting_childrens_toys",
+ "dag_sha256": "c236dc50d1c43f8f6eaf6d7c859842df16d2f5e4870176f1f7cb433b6ed11266",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 15554,
+   "sim_steps": 15554,
+   "physics_steps": 62216,
+   "steps": 1884,
+   "elapsed_s": 3524.3,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 4.107,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.257,
+   "resource_emergency_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-collecting-childrens-toys-i00-standard--havvdul/replay.mp4",
+  "duration_s": 518.467,
+  "fps": 30.0,
+  "frames": 15554,
+  "sha256": "ad4e8ca92e8d682974724f38656ff10439635ad00cf3a02c81d2bc5b6f64ad94"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "dice_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–24.0 s，两枚骰子位于蓝绿色床垫上，两座书柜未见骰子。"
+     },
+     {
+      "t": 254.4,
+      "log_step": 160,
+      "text_zh": "观察：视频 218.0–254.3 s，黑骰子被左二指夹爪夹住并随底盘移向书柜；视频 254.4 s 夹爪张开，视频 254.6–255.2 s 骰子已在柜前木地板上，未进入层板内部。机器人之后空爪伸向柜内，没有捡回黑骰子。"
+     },
+     {
+      "t": 444,
+      "log_step": 184,
+      "text_zh": "观察：视频 439.0–442.0 s，白骰子也从左夹爪处落到柜前地板；视频 444.0 s 可见柜前地面上的骰子，后续机器人转去床边处理桌游，未补成至少一枚骰子入柜。"
+     },
+     {
+      "t": 518.4,
+      "log_step": null,
+      "text_zh": "推断：run.json 的评分器 q_score=0，live_matches_replay=1；七个入柜目标初始均不成立，因此终态不允许任何入柜计数成立，结合视频判为 false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 218.0–254.3 s，左二指夹爪夹住黑骰子搬运，视频 254.4 s 在柜外张开；后来又用左夹爪抓白骰子。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 228.0–248.0 s，轮式底盘支撑持黑骰子的机械臂，从床边驶向书柜。"
+     }
+    ]
+   },
+   "dice_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 432,
+      "log_step": 184,
+      "text_zh": "观察：视频 430.0–433.0 s，白骰子从床上离开并被左二指夹爪夹住；视频 435.0–439.0 s 随底盘移到书柜前，视频 440.0–442.0 s 已落到柜外地面。此前黑骰子也落在柜外，未形成同柜两枚。"
+     },
+     {
+      "t": 518.4,
+      "log_step": null,
+      "text_zh": "推断：run.json 的评分器 q_score=0，live_matches_replay=1；七个入柜目标初始均不成立，因此终态不允许任何入柜计数成立，结合视频判为 false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 431.0–439.0 s，左二指夹爪夹住白骰子并搬运到书柜前；该次搬运作为第二枚骰子的尝试记录，不表示已达到两枚入柜。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 434.0–438.0 s，轮式底盘承载持白骰子的左臂，从床边驶向书柜。"
+     }
+    ]
+   },
+   "teddies_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 484.5,
+      "log_step": 198,
+      "text_zh": "观察：视频 482.5–486.5 s，左腕画面近距离显示第一只粉色熊，机器人左臂向下接近；头部画面中熊始终在地板上，视频 487.0 s 左腕退开后熊仍在原地。机器人随后驶向柜子并空手执行伸臂、回撤，视频 505.0–506.0 s 仍见该熊在桌前地面。"
+     },
+     {
+      "t": 518.4,
+      "log_step": null,
+      "text_zh": "推断：run.json 的评分器 q_score=0，live_matches_replay=1；七个入柜目标初始均不成立，因此终态不允许任何入柜计数成立，结合视频判为 false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 482.5–486.5 s，第一只熊占据左腕视野并遮住指尖，头部视野下沿也遮住接触处；可确定左臂在尝试抓熊，但无法分清是否夹住、按压或只从旁经过，熊未被搬离地面。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 476.0–482.0 s 底盘从柜前驶近桌前的第一只熊；视频 487.0–493.0 s 又驶回书柜，熊仍留在地上。"
+     }
+    ]
+   },
+   "teddies_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 512.5,
+      "log_step": 198,
+      "text_zh": "观察：视频 510.0–513.5 s，机器人左夹爪向门边第二只粉色熊靠近并闭合，熊仍在地板上；视频 514.0–518.4 s 夹爪反复接近，机器人视野持续侧倾，没有把熊搬到书柜。log step 198 的执行日志记录第二只熊抓取后开口为 0.0000 m 并重试，log step 199 的服务状态报告机器人翻倒、episode 已结束。"
+     },
+     {
+      "t": 518.4,
+      "log_step": null,
+      "text_zh": "观察：视频 518.4 s 的末帧，第二只熊仍在门边地板，夹爪在其腹部附近，机器人未返回柜子。"
+     },
+     {
+      "t": 518.4,
+      "log_step": null,
+      "text_zh": "推断：run.json 的评分器 q_score=0，live_matches_replay=1；七个入柜目标初始均不成立，因此终态不允许任何入柜计数成立，结合视频判为 false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 510.5–513.5 s、517.5–518.4 s 可见左夹爪在第二只熊腹部及腿间附近闭合、张开，但接触面被熊和近处机体遮挡，不能确定实际夹持或挤压方式，未见熊被提离地面。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 504.0–510.0 s，轮式底盘从柜前转向并驶近门边第二只熊，随后视野明显侧倾。"
+     }
+    ]
+   },
+   "board_games_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 461.3,
+      "log_step": 195,
+      "text_zh": "观察：视频 450.0–461.7 s，机器人向床上的彩色桌游盒伸出左夹爪并两次闭合、回提；视频 462.0–463.0 s 左腕退开，头部画面仍见桌游盒在床上，未随夹爪离开。视频 464.0–475.0 s 机器人驶到柜前伸臂，但没有搬来该盒。"
+     },
+     {
+      "t": 518.4,
+      "log_step": null,
+      "text_zh": "观察：视频 505.0–507.0 s，床上仍有彩色桌游盒，书桌上另有一盒；没有任何桌游盒放入书柜的画面。"
+     },
+     {
+      "t": 518.4,
+      "log_step": null,
+      "text_zh": "推断：run.json 的评分器 q_score=0，live_matches_replay=1；七个入柜目标初始均不成立，因此终态不允许任何入柜计数成立，结合视频判为 false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 454.0–461.7 s，左二指夹爪在床上桌游盒边缘附近闭合，盒体常位于腕部画面边缘；没有看清可靠的对向夹持或可确定的推动，视频 462.0 s 盒子仍在床上，故具体接触方式未知。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 446.0–451.0 s 底盘驶至床上桌游前，视频 462.0–467.0 s 又驶向书柜，左夹爪没有带走盒子。"
+     }
+    ]
+   },
+   "board_games_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 507,
+      "log_step": null,
+      "text_zh": "观察：视频 16.0 s、480.0–485.0 s、505.0–507.0 s，书桌右侧的桌游盒仍在桌面；机器人只尝试床上的那盒，未向桌上这盒执行抓取，床上那盒也没有入柜。"
+     },
+     {
+      "t": 518.4,
+      "log_step": null,
+      "text_zh": "推断：run.json 的评分器 q_score=0，live_matches_replay=1；七个入柜目标初始均不成立，因此终态不允许任何入柜计数成立，结合视频判为 false。"
+     }
+    ]
+   },
+   "train_in_bookcase": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 507,
+      "log_step": null,
+      "text_zh": "观察：视频 16.0 s、480.0–485.0 s、505.0–507.0 s，红绿车厢组成的火车玩具一直位于书桌后缘；机器人处理地板上的熊时没有抓起火车，也没有将它搬到书柜。"
+     },
+     {
+      "t": 518.4,
+      "log_step": null,
+      "text_zh": "推断：run.json 的评分器 q_score=0，live_matches_replay=1；七个入柜目标初始均不成立，因此终态不允许任何入柜计数成立，结合视频判为 false。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "dice_in_bookcase_1",
+   "t": 254.4,
+   "log_step": 160,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 254.3 s 黑骰子仍被左夹爪夹住，视频 254.4 s 夹爪在书柜外张开，视频 254.6 s 骰子落在柜前木地板；随后机器人空爪向柜内伸入并回撤，未捡回该骰子。视频 439.0–442.0 s 后续白骰子也落在柜外，至少一枚骰子入柜的步骤始终未修复，因此断点取此步；log step 199 的机器人服务虽然最后以翻倒终止，但那发生在更晚的熊抓取期间。"
+  },
+  "unmet": {
+   "dice_in_bookcase_1": false,
+   "dice_in_bookcase_2": false,
+   "teddies_in_bookcase_1": false,
+   "teddies_in_bookcase_2": false,
+   "board_games_in_bookcase_1": false,
+   "board_games_in_bookcase_2": false,
+   "train_in_bookcase": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 254.4,
+    "log_step": 160,
+    "evidence_zh": "观察：视频 253.7–254.3 s 左爪握着黑骰子停在书柜前，视频 254.4 s 两指张开、骰子离爪，视频 254.6–255.2 s 骰子在柜外地板上；释放前物体尚未送入柜内。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 160 的控制脚本依次提交固定数量的预放置、插入指令，随后直接提交开爪指令，虽打印末端读数，却没有依据实际末端或物体是否进入柜内来决定能否释放或重试；视频 254.4–255.2 s 显示该执行在柜外开爪落物。目标确实是书柜，但控制执行与释放时机未保证到位；缺少此次动作的完整末端反馈，不进一步区分逆解、跟踪或接触子类。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频；柜体内部判据和精确速度无法逐帧计算，但本次未入柜的画面与评分器 q_score=0 一致，终态七节点均可判 false。两次熊抓取及床上桌游尝试的指尖接触面被物体、机体或腕部画面边缘遮住，contact_actual 保留未知；log step 160 对应执行的完整末端反馈未收入 run.json，无法确定柜外释放的更细控制根因。视频时间均直接取已检查画面，未用 agent 工作时间换算。"
+ },
+ "summary_zh": "机器人依次尝试黑骰子、白骰子、床上桌游和两只地板上的熊，但七个入柜节点均未达到，最终为 0/7，与评分器 q_score=0 一致。最早未修复的失败是视频约 254.4 s 在柜外开爪使黑骰子落地，属于位姿不准，控制脚本未按实际入柜结果决定释放；机器人后来在第二只熊旁侧翻并被服务判负。无状态日志，熊及桌游的具体指尖接触方式、柜外释放的更细控制原因仍有证据缺口。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "七个节点均为 false 与 q_score=0 一致；视频 253.5–258 s 帧确认黑骰子在柜外张开爪后落到地板（左腕相机可见骰子在地板上），断点取 dice_in_bookcase_1、位姿不准、根因控制均有证据支持，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": "2026-10-30T21:13:03Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-childrens-toys-i00-standard--havvdul/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-childrens-toys-i00-standard--havvdul/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0d97e6a40fd360c4b70d22c58ac8629cdca6de2cb47398646db865f46f398f3d",
+   "video_sha256": "ad4e8ca92e8d682974724f38656ff10439635ad00cf3a02c81d2bc5b6f64ad94",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-standard--nfib72i.json

@@ -0,0 +1,398 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-collecting-childrens-toys-i00-standard--nfib72i",
+ "taskKey": "behavior-1k/collecting_childrens_toys",
+ "dag_sha256": "c236dc50d1c43f8f6eaf6d7c859842df16d2f5e4870176f1f7cb433b6ed11266",
+ "outcome": {
+  "success": 0,
+  "reward": 0.14285714285714285,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 9162,
+   "sim_steps": 9312,
+   "physics_steps": 37248,
+   "steps": 2954,
+   "elapsed_s": 6677.1,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 150,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.14285714285714285,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-collecting-childrens-toys-i00-standard--nfib72i/replay.mp4",
+  "duration_s": 310.5,
+  "fps": 10.0,
+  "frames": 3105,
+  "sha256": "a3ff1911e337c3e745cfa10ddf33f295a48c153917e7492a778070a672528380"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "dice_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      81.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–10 s 的床面视角显示骰子尚在床上，书柜尚未收纳骰子。"
+     },
+     {
+      "t": 81.0,
+      "log_step": 259,
+      "text_zh": "观察：视频 70–79.5 s 右夹爪夹持白骰子离开床面并移向书柜；视频 80.5–82 s 白骰子在张开的两指之间落定于木层板，随后夹爪撤离。首次放稳时间取视频约 81 s。"
+     },
+     {
+      "t": 310.4,
+      "log_step": null,
+      "text_zh": "推断：后续视频未见机器人取回柜内白骰子；评分器最终 q_score=1/7，与这一枚白骰子入柜相符，因此该计数节点最终为真。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 70–80 s 机器人右二指夹爪夹住白骰子，搬至书柜并张开释放；此处第1枚按柜内数量计，不固定为先操作的黑骰子。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 76–79 s 轮式底盘转向，支撑机器人持白骰子朝向书柜。"
+     }
+    ]
+   },
+   "dice_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.0,
+      "log_step": 123,
+      "text_zh": "观察：视频 18.5 s 黑骰子仍夹在右夹爪中且位于柜侧板外，视频约 19 s 张爪后下落，视频 21 s 可见黑骰子停在柜旁地板，未落入层板内部。"
+     },
+     {
+      "t": 83.0,
+      "log_step": 268,
+      "text_zh": "观察：视频 82.5–84.5 s 柜旁地板仍可见黑骰子；后续机器人转去操作其他玩具，没有把这枚骰子再搬入柜。"
+     },
+     {
+      "t": 310.4,
+      "log_step": null,
+      "text_zh": "推断：白骰子后来仅使柜内数量达到1；评分器最终 q_score=1/7，不允许两枚骰子同时满足入柜关系，因此第2枚计数节点从未成立，最终为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 10–18.5 s 右二指夹爪夹住并搬运黑骰子，随后张开；视频约 19 s 黑骰子落到柜旁。该失败搬放对应最终仍缺少的第2枚计数。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 15–18 s 轮式底盘在持黑骰子时转向并靠近书柜。"
+     }
+    ]
+   },
+   "teddies_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 126.0,
+      "log_step": null,
+      "text_zh": "观察：视频 94–129 s 机器人反复伸臂至蓝椅及毛绒物附近，夹爪多次闭合、抬起，但未见目标熊随手离地或被送到书柜。"
+     },
+     {
+      "t": 238.0,
+      "log_step": 762,
+      "text_zh": "观察：视频 232–238 s ��色熊在左腕画面下方地板上；视频 240–278 s 机器人换臂接近后，粉色熊仍留在桌边地板，未完成入柜。"
+     },
+     {
+      "t": 310.4,
+      "log_step": null,
+      "text_zh": "推断：视频没有熊入柜的搬放过程，唯一可确认的目标关系为白骰子入柜，最终评分器 q_score=1/7 也排除了额外的熊入柜关系。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 94–129 s 蓝椅及手腕遮挡了若干伸手和闭爪动作，无法确认夹爪是否触及椅旁目标熊；不以闭爪指令推定抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 91–96 s 轮式底盘转向并接近椅旁毛绒物，支撑伸臂尝试。"
+     }
+    ]
+   },
+   "teddies_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 238.0,
+      "log_step": null,
+      "text_zh": "观察：视频 232–238 s 机器人夹爪向桌边粉色熊靠近；视频 250、260、274–278 s 粉色熊仍在地板，另一只小熊也可在桌旁地面视角中看到，未出现两熊搬入柜的过程。"
+     },
+     {
+      "t": 310.4,
+      "log_step": null,
+      "text_zh": "推断：第2只熊是同柜数量阈值，不按机器人给毛绒物起的名称区分实例；视频所示地面残留以及最终 q_score=1/7 均不支持两只熊入柜，最终为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 232–278 s 机器人先后用左、右夹爪接近桌边粉色熊，但手掌、桌沿遮挡接触区，未见夹住并带走；实际是否触及熊及接触方式未知。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 228–232 s 以及 247–260 s 轮式底盘靠近、侧移，调整桌边熊的抓取位置。"
+     }
+    ]
+   },
+   "board_games_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 142.0,
+      "log_step": null,
+      "text_zh": "观察：视频 132–144 s 右夹爪接近床上桌游，盒子被拨转、立起后又躺回床面；视频 206–224 s 再次尝试后桌游仍在床上，没有被搬入柜。"
+     },
+     {
+      "t": 310.4,
+      "log_step": null,
+      "text_zh": "观察：视频 285–291 s 床上桌游仍在床沿；视频 309.5–310.4 s 桌上桌游仍在白色桌面，未见任何桌游入柜。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 133–142 s 机器人右夹爪指端拨动床上桌游盒，使其在床面转向、立起后落回；没有形成可确认的搬运抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 130–132 s、199–206 s 和 282–286 s 轮式底盘调整至床边操作桌游。"
+     }
+    ]
+   },
+   "board_games_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 186.0,
+      "log_step": null,
+      "text_zh": "观察：视频 154–190 s 机器人左右夹爪先后向桌上桌游盒靠近并闭合，撤起后盒子仍在桌面；没有到书柜的搬放。"
+     },
+     {
+      "t": 310.4,
+      "log_step": 861,
+      "text_zh": "观察：视频 305–310.4 s 末端停在桌上桌游附近，盒子仍由桌面承托；另一盒此前留在床上，柜内桌游数量从未达到2。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 154–190 s 机器人先后用左、右夹爪从上方和侧面尝试桌上桌游，部分指端与盒边接触区被手腕遮挡；未见夹住、抬走，不能确定具体接触方式。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 150–155 s 和 292–295 s 轮式底盘靠近书桌，支撑机械臂尝试桌上桌游。"
+     }
+    ]
+   },
+   "train_in_bookcase": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 299.0,
+      "log_step": 855,
+      "text_zh": "观察：视频 294–300 s 机器人向桌上的彩色火车玩具伸左臂并闭爪，随后抬臂、张爪；没有看到火车随手离开白色桌面，也没有向书柜转运。"
+     },
+     {
+      "t": 310.4,
+      "log_step": null,
+      "text_zh": "推断：整段视频未见火车进入书柜；已确认白骰子入柜占据最终 q_score=1/7 的唯一目标关系，因此火车入柜最终为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 294–300 s 左夹爪伸向火车玩具，但目标与指端接触区在腕部近景中被手体遮挡，头���视角未显示物体随手移动；无法确定是否碰到及如何接触火车。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 292–295 s 轮式底盘转向并靠近书桌，支撑左臂抓取火车的尝试。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.14285714285714285,
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "dice_in_bookcase_2",
+   "t": 19.0,
+   "log_step": 123,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 18.5–21 s 机器人右夹爪在柜侧外张开，黑骰子掉到柜旁地板；后续没有回收该骰子。推断：视频约 81 s 白骰子入柜修复了至少1枚的计数，但两枚入柜始终未达成，因此按计数 DAG 将最早未修复的黑骰子搬放失败归到 dice_in_bookcase_2，而非后面才发生的熊、桌游或火车抓取失败。"
+  },
+  "unmet": {
+   "dice_in_bookcase_1": true,
+   "dice_in_bookcase_2": false,
+   "teddies_in_bookcase_1": false,
+   "teddies_in_bookcase_2": false,
+   "board_games_in_bookcase_1": false,
+   "board_games_in_bookcase_2": false,
+   "train_in_bookcase": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 19.0,
+    "log_step": 123,
+    "evidence_zh": "观察：视频 18.5 s 黑骰子仍在柜侧板外的右夹爪中，视频约 19 s 机器人张爪后骰子直接落向柜旁地板，视频 21 s 已停在地上；它没有先落稳在目标层板。log step 122–123 记录 agent 的脚本主动张开右夹爪。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 18.5,
+    "log_step": 120,
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 119 给右末端的悬停目标为 [20.45,7.75,0.85] 米；log step 120 执行后读数为 [20.542,7.789,0.841] 米；log step 122 直接保持当前关节位置、张开右夹爪。视频 18.5–21 s 显示机器人在柜侧外释放黑骰子。推断：运动执行后仍有约9厘米的横向位置偏差，脚本未修正放置位置便释放，导致黑骰子未被层板承接；证据只支持控制大类，不能确定具体控制子类。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 未提供状态日志或成功示范；视频 82.5 s 后柜内白骰子常离开镜头，其最终保留结合最终 q_score=1/7 推断。椅旁及桌下的若干抓取接触被手腕、家具遮挡，熊和桌上玩具的部分 contact_actual 只能标未知；没有证据把闭爪当作成功抓握。黑骰子释放失败可见，但缺少物体中心与接触力记录，无法进一步区分末端跟踪、夹持偏置和定位误差的贡献。"
+ },
+ "summary_zh": "观察：机器人仅在视频约 81 s 将白骰子放稳于书柜，最终评分器 q_score=1/7，七个节点中仅第1枚骰子入柜成立。推断：最早未修复的失败是视频约 19 s 黑骰子在柜侧外释放落地，对应仍缺少的第2枚骰子入柜，现象为位姿不准，日志支持放置位置未修正便张爪的控制问题；后续熊、两盒桌游及火车均未完成入柜。观察：无状态日志和成功示范，部分抓取接触被遮挡，白骰子的终态保留结合评分总量推断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "抽查视频与 log：黑骰子约 19 s 在柜侧外释放、21 s 落在柜旁地板；白骰子约 81 s 放稳在层板；断点 dice_in_bookcase_2 与位姿不准现象成立。控制根因（IK 误差 0.08 毫米、执行后末端读数偏约 9 厘米）有 log 读数支持，已标为推断。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": "2026-10-30T21:13:34Z",
+  "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/behavior-collecting-childrens-toys-i00-standard--nfib72i/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-childrens-toys-i00-standard--nfib72i/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "393882b5f63d404dea62c90a6b13a51de18e3a4318303b2a2107de7bb20b8c2a",
+   "video_sha256": "a3ff1911e337c3e745cfa10ddf33f295a48c153917e7492a778070a672528380",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-standard--rametkw.json

@@ -0,0 +1,392 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-collecting-childrens-toys-i00-standard--rametkw",
+ "taskKey": "behavior-1k/collecting_childrens_toys",
+ "dag_sha256": "c236dc50d1c43f8f6eaf6d7c859842df16d2f5e4870176f1f7cb433b6ed11266",
+ "outcome": {
+  "success": 0,
+  "reward": 0.5714285714285714,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 4587,
+   "sim_steps": 4587,
+   "physics_steps": 18348,
+   "steps": 1493,
+   "elapsed_s": 6594.5,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "q_score": 0.5714285714285714,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-collecting-childrens-toys-i00-standard--rametkw/replay.mp4",
+  "duration_s": 152.9,
+  "fps": 30.0,
+  "frames": 4587,
+  "sha256": "8e68aaa7e68439d014b9d759411e5451cfa56bf355c2f9fa64531d91af013372"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "dice_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      18.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 50,
+      "text_zh": "观察：视频 10–12 s 两夹爪分别夹住黑、白骰子并将其从床垫上抬离，床上原位随即空出；视频 14–16 s 机器人持骰子驶向书柜。"
+     },
+     {
+      "t": 18.0,
+      "log_step": 67,
+      "text_zh": "观察：视频 17.8–18.4 s 两枚骰子分别留在同一书柜的内部层板上，左右夹爪张开并撤离；视频 19–20 s 两枚均未掉出。两枚基本同时放稳，计数节点均取视频约 18.0 s，误差约0.3秒。"
+     },
+     {
+      "t": 152.8,
+      "log_step": null,
+      "text_zh": "推断：后续视频未见机器人取出骰子，末尾较低层板部分被遮挡；评分器 q_score=4/7、live_matches_replay=1，与两骰子、一盒桌游及一只熊留在同柜一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 10–18 s 左右二指夹爪各夹持一枚骰子，同时抬离床面、搬运并在书柜内释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 7–9 s 底盘移近床铺，视频 13–16 s 持两枚骰子驶向书柜，支撑双臂搬运。"
+     }
+    ]
+   },
+   "dice_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      18.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": 50,
+      "text_zh": "观察：视频 10–12 s 两夹爪分别夹住黑、白骰子并将其从床垫上抬离，床上原位随即空出；视频 14–16 s 机器人持骰子驶向书柜。"
+     },
+     {
+      "t": 18.0,
+      "log_step": 67,
+      "text_zh": "观察：视频 17.8–18.4 s 两枚骰子分别留在同一书柜的内部层板上，左右夹爪张开并撤离；视频 19–20 s 两枚均未掉出。两枚基本同时放稳，计数节点均取视频约 18.0 s，误差约0.3秒。"
+     },
+     {
+      "t": 152.8,
+      "log_step": null,
+      "text_zh": "推断：后续视频未见机器人取出骰子，末尾较低层板部分被遮挡；评分器 q_score=4/7、live_matches_replay=1，与两骰子、一盒桌游及一只熊留在同柜一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 10–18 s 左右二指夹爪各夹持一枚骰子，同时抬离床面、搬运并在书柜内释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 7–9 s 底盘移近床铺，视频 13–16 s 持两枚骰子驶向书柜，支撑双臂搬运。"
+     }
+    ]
+   },
+   "teddies_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      60.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 60.5,
+      "log_step": 137,
+      "text_zh": "观察：视频 59.0–60.4 s 机器人用右夹爪把一只熊送入已有桌游盒的书柜层板，张开并撤回；视频 61–64 s 该熊躺在层板内，另一只熊在柜前地面。按实际入柜顺序将右手放入的熊计为第1只，放稳时间约为视频 60.5 s。"
+     },
+     {
+      "t": 152.8,
+      "log_step": null,
+      "text_zh": "观察：视频 72–152.8 s 柜内一直有这只躺卧的熊和桌游盒，未见它被重新提离层板；末尾视频 151.8–152.8 s 仍可见。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 43–45 s 左夹爪抓起一只熊，视频 49–51 s 右夹爪再抓起另一只；视频 51–56 s 两手各持一只共同搬运，视频 59–60.4 s 右手将其中一只放入书柜。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 40–43 s 底盘驶向地上玩具，视频 45–49 s 持第一只熊接近另一只，视频 51–55 s 持两只熊返回书柜。"
+     }
+    ]
+   },
+   "teddies_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 56.5,
+      "log_step": 137,
+      "text_zh": "观察：视频 55.8–56.4 s 左腕视角可见左夹爪夹持的熊悬在书柜前缘，视频 56.5–56.8 s 松开后熊从前缘落下，视频 57.4–58.0 s 可见其在柜前地面；右手随后放入的另一只熊只达到数量1。"
+     },
+     {
+      "t": 82.6,
+      "log_step": 200,
+      "text_zh": "观察：视频 74–78 s 左夹爪重新抓起柜前这只熊；视频 80–82.4 s 熊被举至书柜上层前方，仍悬在层板前，视频 82.6–83.6 s 又落到地面。后续视频 87–150 s 多次重抓、搬放，未出现两只熊同时在柜内放稳。"
+     },
+     {
+      "t": 152.8,
+      "log_step": null,
+      "text_zh": "观察：视频 151.8–152.8 s 柜内仅有一只熊，视频 152.5–152.8 s 左腕视角可见另一只在机器人旁的地面。"
+     },
+     {
+      "t": 152.8,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=4/7、live_matches_replay=1；两枚骰子、一盒桌游和一只熊已经对应4项目标，因此第2只熊最终未入柜，与末帧一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 43–56 s 左右二指夹爪先后抓起、同时各持一只熊并运到书柜；左手首次放置的这只熊掉到柜前，此后主要由左夹爪单独反复抓起和尝试搬放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人底盘在视频 40–55 s 支撑抓取和双熊搬运；视频 100–110 s 等后续阶段移位以重新抓取柜前的熊。"
+     }
+    ]
+   },
+   "board_games_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      37.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 29.0,
+      "log_step": 91,
+      "text_zh": "观察：视频 25–27 s 首次抓取后桌游仍在床上；视频 28–30 s 左夹爪重新夹住盒边，将彩色桌游盒抬离床面，随后持盒驶向书柜。"
+     },
+     {
+      "t": 37.2,
+      "log_step": 106,
+      "text_zh": "观察：视频 36.8–37.8 s 机器人将桌游盒放到书柜内部层板上并撤回左夹爪；视频 38–39 s 盒子持续由层板支承。放稳时间取视频约 37.2 s。"
+     },
+     {
+      "t": 152.8,
+      "log_step": null,
+      "text_zh": "观察：视频 61–152.8 s 同一桌游盒始终可见于柜内层板上，后放入的一只熊躺在其旁边及部分盒面上。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 28–37 s 左二指夹爪夹住桌游盒边缘，抬起搬入书柜后释放；此前视频 25–27 s 的抓取未带走盒子。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 21–24 s 底盘移近床边桌游盒；视频 31–35 s 持盒驶向书柜。"
+     }
+    ]
+   },
+   "board_games_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 46.0,
+      "log_step": null,
+      "text_zh": "观察：视频 41–46 s 另一盒桌游仍在书桌上，机器人转而抓取地上的熊；之后视频 54–152.8 s 主要在书柜和熊的地面位置之间操作，未见抓取或搬入第二盒桌游。"
+     },
+     {
+      "t": 152.8,
+      "log_step": null,
+      "text_zh": "推断：末帧书柜内可见的桌游仍只有一盒；评分器 q_score=4/7 已由两枚骰子、一盒桌游和一只熊占满，第2盒桌游 final=false。"
+     }
+    ]
+   },
+   "train_in_bookcase": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 46.0,
+      "log_step": null,
+      "text_zh": "观察：视频 41–46 s 书桌上可见长条火车玩具，机器人在桌旁转向地上的熊，未操作该玩���；后续视频至 152.8 s 未见抓起、搬运或放入火车的动作。"
+     },
+     {
+      "t": 152.8,
+      "log_step": null,
+      "text_zh": "推断：末帧柜内未见火车玩具；评分器 q_score=4/7 已由两枚骰子、一盒桌游和一只熊占满，火车入柜 final=false。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.5714285714285714,
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "teddies_in_bookcase_2",
+   "t": 56.5,
+   "log_step": 137,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 56.5–56.8 s 机器人左夹爪释放的熊从书柜前缘落至柜前，视频 57.4–58.0 s 在地面可见；另一只于视频约 60.5 s 放稳入柜，计为第1只。失败的这只之后虽反复重抓和尝试放置，到视频 152.8 s 仍在柜外，因此数量2的入柜步骤是最早未修复的失败。"
+  },
+  "unmet": {
+   "dice_in_bookcase_1": true,
+   "dice_in_bookcase_2": true,
+   "teddies_in_bookcase_1": true,
+   "teddies_in_bookcase_2": false,
+   "board_games_in_bookcase_1": true,
+   "board_games_in_bookcase_2": false,
+   "train_in_bookcase": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 56.5,
+    "log_step": 137,
+    "evidence_zh": "观察：视频 55.8–56.8 s 左夹爪所持熊未获得柜内层板支承，就在书柜前缘释放并下落，视频 57.4–58.0 s 已到地面；视频 82.4–83.6 s 重试时也从层板前方落下。log step 137 的动作脚本明确在插入阶段后主动张开左夹爪，随后撤回。推断：释放时熊的放置位姿未到柜内，属于位姿不准。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：机器人能将熊抓起并送到柜前，但搬放控制未使熊在柜内得到支承后再释放。视频 56.5–56.8 s 与 82.4–83.6 s 两次均在柜前落下；log step 137、200 的脚本均用预先生成的关节插值走到插入姿态后按固定序列张爪，未在释放前核实熊是否由层板支承；后续重试仍未补足第2只熊。现有证据不足以进一步区分接触几何、轨迹解或执行跟踪的具体问题。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功示范；部分搬放时刻头部视角被层板遮挡，判定结合左右腕视角和动作前后帧。无法直接核实包围盒内含关系、0.05米/秒阈值或辅助抓取状态，放稳时刻为视觉近似；末尾两枚骰子的保留结合早先放置、后续无取出动作及评分器4/7推断。控制失误可见，但缺少接触力、逐帧关节目标及对象状态，根因仅标控制。"
+ },
+ "summary_zh": "机器人将两枚骰子、一盒桌游和一只熊放入同一书柜，最终完成4/7个节点，与评分器 q_score=4/7 一致。视频约 56.5 s 左手放熊时在柜前缘释放并掉到地面，随后反复搬放仍未修复“第2只熊入柜”；第二盒桌游和火车未开始收纳。无状态日志与成功示范，放稳时刻及末尾被遮挡的骰子状态结合视频过程和评分推断，根因只能确定为控制层面。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点进度（4/7，与 q_score 4/7 一致）、断点（第2只熊入柜）、位姿不准现象与控制根因与所检帧和评分一致，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": "2026-10-30T21:11:27Z",
+  "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/behavior-collecting-childrens-toys-i00-standard--rametkw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-childrens-toys-i00-standard--rametkw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a06948d20072aaaa82567077cc08605f4351ab5efa9d7ac9fa64b3dedb431517",
+   "video_sha256": "8e68aaa7e68439d014b9d759411e5451cfa56bf355c2f9fa64531d91af013372",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-standard--tt7yr9y.json

@@ -0,0 +1,353 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-collecting-childrens-toys-i00-standard--tt7yr9y",
+ "taskKey": "behavior-1k/collecting_childrens_toys",
+ "dag_sha256": "c236dc50d1c43f8f6eaf6d7c859842df16d2f5e4870176f1f7cb433b6ed11266",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "n_actions": 32446,
+   "sim_steps": 32446,
+   "physics_steps": 129784,
+   "steps": 19104,
+   "elapsed_s": 13749.4,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-collecting-childrens-toys-i00-standard--tt7yr9y/replay.mp4",
+  "duration_s": 1081.533,
+  "fps": 30.0,
+  "frames": 32446,
+  "sha256": "ddd312599779d0178474b041cb1175649715ba7f990e5eac73226e716016b752"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "dice_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 850,
+      "log_step": 234,
+      "text_zh": "观察：视频 850–860 s，机器人移到床边并把右腕相机转向床面；视频 860–904 s，两枚深色、白色小骰子仍在绿色床垫上，未见骰子随夹爪离床或被送进书柜。"
+     },
+     {
+      "t": 1081.5,
+      "log_step": null,
+      "text_zh": "观察：视频 1080.5–1081.5 s，左腕画面仍能看到床垫上的小物，右腕夹爪前为空，机器人未回到柜内放置骰子。"
+     },
+     {
+      "t": 1081.5,
+      "log_step": null,
+      "text_zh": "推断：评分器终值 q_score=0.0、live_matches_replay=1；本任务七个入柜目标初始均不成立，零总分排除了终态任一玩具入柜，因此该计数节点 final=false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 840–860 s，轮式底盘支撑机器人移到床边扫描骰子；未见夹爪接触或夹住骰子。"
+     }
+    ]
+   },
+   "dice_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 900,
+      "log_step": null,
+      "text_zh": "观察：视频 900 s，白色和深色骰子仍分散在床垫上；此前及之后未见两枚骰子被搬进同一书柜。"
+     },
+     {
+      "t": 1081.5,
+      "log_step": null,
+      "text_zh": "推断：评分器终值 q_score=0.0、live_matches_replay=1；本任务七个入柜目标初始均不成立，零总分排除了终态任一玩具入柜，因此该计数节点 final=false。"
+     }
+    ]
+   },
+   "teddies_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 344,
+      "log_step": 153,
+      "text_zh": "观察：视频 336–346 s，右夹爪抓持粉色熊并将其抬离原来的地面位置；视频 360–400 s，底盘携熊移动到书柜前。这是抓起和搬运，尚未形成已释放的入柜状态。"
+     },
+     {
+      "t": 400,
+      "log_step": 183,
+      "text_zh": "观察：视频 400–500 s，左腕画面可见右夹爪仍夹着熊的头部，熊脚抵着层板前沿；右腕画面一直贴近熊身，插入尝试没有完成松手放稳。"
+     },
+     {
+      "t": 854,
+      "log_step": 230,
+      "text_zh": "观察：视频 774–839 s，熊被放到柜前地面并被机器人继续拨动、重新接近；视频 850–856 s，头部画面清楚显示两座书柜层板空着，操作过的熊躺在柜外，机器人已转向床边。"
+     },
+     {
+      "t": 1081.5,
+      "log_step": null,
+      "text_zh": "推断：评分器终值 q_score=0.0、live_matches_replay=1；本任务七个入柜目标初始均不成立，零总分排除了终态任一玩具入柜，因此该计数节点 final=false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 336–400 s，右二指夹爪夹住粉色熊头部并提起、搬运，熊身悬垂；另一只手没有同时夹持熊。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 781–789 s，右夹爪以合拢指端接近并顶拨柜前地上的熊，熊在接触中改变朝向，仍未进入柜内；此段未见对向夹住并提起。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 346–400 s，轮式底盘支撑机器人携熊从地面原位置开到书柜前，后续还向书��小幅靠近。"
+     }
+    ]
+   },
+   "teddies_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 300,
+      "log_step": null,
+      "text_zh": "观察：视频 300–346 s，两只粉色熊中只有一只被右夹爪拿起，另一只仍在原来的地面位置；视频 850–904 s，书柜前是先前搬运后放下的一只熊，床边地面仍可见另一只熊，未见第二只被搬入柜内。"
+     },
+     {
+      "t": 1081.5,
+      "log_step": null,
+      "text_zh": "推断：评分器终值 q_score=0.0、live_matches_replay=1；本任务七个入柜目标初始均不成立，零总分排除了终态任一玩具入柜，因此该计数节点 final=false。"
+     }
+    ]
+   },
+   "board_games_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 900,
+      "log_step": 254,
+      "text_zh": "观察：视频 860–904 s，右夹爪反复朝床上紫色桌游盒下压、闭合和抬起；左腕与头部画面显示盒子始终留在床垫上，没有随夹爪离床。"
+     },
+     {
+      "t": 1081.5,
+      "log_step": 255,
+      "text_zh": "观察：视频 906–920 s，机器人转离床面后右夹爪前没有桌游盒；视频 1080.5–1081.5 s，左腕仍能看到床上桌游盒，没有发生入柜放置。日志中 agent 自述“盒子已夹住”（log step 255）不能替代这些画面。"
+     },
+     {
+      "t": 1081.5,
+      "log_step": null,
+      "text_zh": "推断：评分器终值 q_score=0.0、live_matches_replay=1；本任务七个入柜目标初始均不成立，零总分排除了终态任一玩具入柜，因此该计数节点 final=false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 874–904 s，右夹爪指端在桌游盒上方及边缘下压、闭合后抬离；盒子仍受床垫支撑，未见形成对向夹持并提起，因此不记抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 850–860 s，底盘支撑机器人靠近床上桌游；视频 906–920 s，底盘转动并尝试驶离床边。"
+     }
+    ]
+   },
+   "board_games_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 344,
+      "log_step": null,
+      "text_zh": "观察：视频 300–346 s，书桌上仍有玩具和盒状物，机器人此时操作的是地上粉色熊；视频 850–904 s，只尝试床上的一盒桌游，未见再从书桌搬运另一盒桌游到书柜。"
+     },
+     {
+      "t": 1081.5,
+      "log_step": null,
+      "text_zh": "推断：评分器终值 q_score=0.0、live_matches_replay=1；本任务七个入柜目标初始均不成立，零总分排除了终态任一玩具入柜，因此该计数节点 final=false。"
+     }
+    ]
+   },
+   "train_in_bookcase": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 344,
+      "log_step": null,
+      "text_zh": "观察：视频 300–346 s，机器人右臂伸向地上熊，书桌上的玩具没有被拿走；随后机器人携熊去书柜，再转床边，全程未见火车玩具离桌并进入书柜。"
+     },
+     {
+      "t": 1081.5,
+      "log_step": null,
+      "text_zh": "推断：评分器终值 q_score=0.0、live_matches_replay=1；本任务七个入柜目标初始均不成立，零总分排除了终态任一玩具入柜，因此该计数节点 final=false。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "teddies_in_bookcase_1",
+   "t": 400.0,
+   "log_step": 183,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 400 s，机器人右夹爪持粉色熊停在书柜层板前，熊脚接触前沿；视频 400–500 s 反复推进仍未释放入柜。视频 774–856 s，熊被留在柜外地面，机器人随后转向床上的物品（log step 230），此后没有完成熊入柜；推断：断点是最先尝试且一直未修复的第1只熊入柜。"
+  },
+  "unmet": {
+   "dice_in_bookcase_1": false,
+   "dice_in_bookcase_2": false,
+   "teddies_in_bookcase_1": false,
+   "teddies_in_bookcase_2": false,
+   "board_games_in_bookcase_1": false,
+   "board_games_in_bookcase_2": false,
+   "train_in_bookcase": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 400.0,
+    "log_step": 183,
+    "evidence_zh": "观察：视频 400 s 的左腕画面中，熊的双脚顶在书柜水平层板前沿，右夹爪从上方保持抓持；视频 400–500 s 熊与夹爪长期停在该前沿，后续改高度再推进也没有把熊放进去。log step 202 的两次向柜内目标移动均返回 False，末端仍停在原位置；log step 204 中 agent 也自述“熊腿卡在层板前沿”，与画面一致。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 400.0,
+    "log_step": 183,
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：从头部夹持、让熊身竖直悬垂的搬放姿态没有为熊的下肢留出越过层板前沿的空间。视频 400 s 可见脚与层板接触而熊仍在夹爪下方；log step 183 的脚本以固定向下的夹爪姿态直接给出前置和入柜 TCP 目标，log step 202、204 的继续内推仍未前进，之后才尝试横置熊（log step 212–213）。这些证据支持持物接触几何不适配，不能据此断言熊在所有合法姿态下都无法入柜。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功示范；熊贴近右腕相机、机械臂遮挡部分柜口，无法精确核对包围盒中心、全部接触对及速度，也未验证可行替代握法。终态七个节点的 false 由视频中的未完成搬放与评分器 q_score=0.0 共同约束；未用 agent 的抓取自述或夹爪开度单独认定抓取、放置成功。"
+ },
+ "summary_zh": "机器人抓起并搬运一只粉色熊到书柜前，但在视频约 400 s 起的入柜尝试中被层板前沿阻挡，最终把熊留在柜外；随后扫描床上骰子并多次抓桌游，桌游始终留在床上，七个入柜节点均未达成，终态为0/7。断点为第1只熊入柜，证据支持竖直悬垂的持物接触布局不适配层板开口；后续床边操作也未完成搬放。缺少状态日志且柜口局部受遮挡，精确内部关系无法逐帧核验，终值同时采用与回放一致的评分器 q_score=0.0 约束。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "断点（第1只熊入柜，约400 s）、七节点均为false和被挡/碰撞现象与画面相符；但证据中引用的日志内容与run.json对不上，需要改成可核对的引用。",
+    "n_issues": 2,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "七个节点均为 false、断点为第1只熊入柜（约 400 s）、被挡/碰撞与抓取和接触设计（推断、alt_feasible 未知）均与画面和 q_score=0 相符；第1轮的日志引用争议已由标注者以 steps[].id 口径说明，未发现新问题。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:45:50Z",
+  "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/behavior-collecting-childrens-toys-i00-standard--tt7yr9y/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-childrens-toys-i00-standard--tt7yr9y/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-childrens-toys-i00-standard--tt7yr9y/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-childrens-toys-i00-standard--tt7yr9y/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6c5eeefc2a98d57d1b86ce077d73214462bdcb692d898095369b20a9516ef68c",
+   "video_sha256": "ddd312599779d0178474b041cb1175649715ba7f990e5eac73226e716016b752",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-standard--zrnklum.json

@@ -0,0 +1,288 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-collecting-childrens-toys-i00-standard--zrnklum",
+ "taskKey": "behavior-1k/collecting_childrens_toys",
+ "dag_sha256": "c236dc50d1c43f8f6eaf6d7c859842df16d2f5e4870176f1f7cb433b6ed11266",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 479,
+   "sim_steps": 479,
+   "physics_steps": 1916,
+   "steps": 479,
+   "elapsed_s": 607.9,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.157,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.183,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-collecting-childrens-toys-i00-standard--zrnklum/replay.mp4",
+  "duration_s": 15.967,
+  "fps": 30.0,
+  "frames": 479,
+  "sha256": "a740021359bf30baa5462a342370ffb1d40252f5723b5acf887225f236abd372"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "dice_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.1,
+      "log_step": null,
+      "text_zh": "观察：视频 1.1 s 头部画面中床垫上仍有两件小骰子形物体，视频 6.25 s 再次经过床边时未见机器人取走它们；视频 1.5–3.0 s 扫过的两座书柜层板上未见骰子入柜。"
+     },
+     {
+      "t": 15.933,
+      "log_step": 29,
+      "text_zh": "推断：视频 0.0–15.933 s 的头部及双腕画面显示机器人旋转扫描、空手移动和翻倒后的自救，未见夹爪携带玩具或向书柜搬放；log step 10、11、16、17、22–28 的实际控制调用也仅为扫描、底盘移动和自救。评分器 q_score=0.0，且本任务七个入柜目标初始均不成立，live_matches_replay=1，因此该节点终态为 false；结合全程没有玩具搬放，记为从未达到。"
+     }
+    ]
+   },
+   "dice_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.1,
+      "log_step": null,
+      "text_zh": "观察：视频 1.1 s 头部画面中床垫上仍有两件小骰子形物体，视频 6.25 s 再次经过床边时未见机器人取走它们；视频 1.5–3.0 s 扫过的两座书柜层板上未见骰子入柜。"
+     },
+     {
+      "t": 15.933,
+      "log_step": 29,
+      "text_zh": "推断：视频 0.0–15.933 s 的头部及双腕画面显示机器人旋转扫描、空手移动和翻倒后的自救，未见夹爪携带玩具或向书柜搬放；log step 10、11、16、17、22–28 的实际控制调用也仅为扫描、底盘移动和自救。评分器 q_score=0.0，且本任务七个入柜目标初始均不成立，live_matches_replay=1，因此该节点终态为 false；结合全程没有玩具搬放，记为从未达到。"
+     }
+    ]
+   },
+   "teddies_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.6,
+      "log_step": null,
+      "text_zh": "观察：视频 12.4–12.7 s 翻倒后的低位头部画面中可见粉色熊仍在地板上，视频 15.4–15.9 s 再次露出地面的熊；双腕画面未见夹爪夹持熊或在柜内释放熊。"
+     },
+     {
+      "t": 15.933,
+      "log_step": 29,
+      "text_zh": "推断：视频 0.0–15.933 s 的头部及双腕画面显示机器人旋转扫描、空手移动和翻倒后的自救，未见夹爪携带玩具或向书柜搬放；log step 10、11、16、17、22–28 的实际控制调用也仅为扫描、底盘移动和自救。评分器 q_score=0.0，且本任务七个入柜目标初始均不成立，live_matches_replay=1，因此该节点终态为 false；结合全程没有玩具搬放，记为从未达到。"
+     }
+    ]
+   },
+   "teddies_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.6,
+      "log_step": null,
+      "text_zh": "观察：视频 12.4–12.7 s 翻倒后的低位头部画面中可见粉色熊仍在地板上，视频 15.4–15.9 s 再次露出地面的熊；双腕画面未见夹爪夹持熊或在柜内释放熊。"
+     },
+     {
+      "t": 15.933,
+      "log_step": 29,
+      "text_zh": "推断：视频 0.0–15.933 s 的头部及双腕画面显示机器人旋转扫描、空手移动和翻倒后的自救，未见夹爪携带玩具或向书柜搬放；log step 10、11、16、17、22–28 的实际控制调用也仅为扫描、底盘移动和自救。评分器 q_score=0.0，且本任务七个入柜目标初始均不成立，live_matches_replay=1，因此该节点终态为 false；结合全程没有玩具搬放，记为从未达到。"
+     }
+    ]
+   },
+   "board_games_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.1,
+      "log_step": null,
+      "text_zh": "观察：视频 1.1 s 床垫远端仍有一盒扁平彩色桌游，视频 6.25 s 再次看见它；视频 1.5–3.0 s 两座书柜内未见桌游搬入，后续头部逐渐仰起并翻倒，双腕未见搬运桌游。"
+     },
+     {
+      "t": 15.933,
+      "log_step": 29,
+      "text_zh": "推断：视频 0.0–15.933 s 的头部及双腕画面显示机器人旋转扫描、空手移动和翻倒后的自救，未见夹爪携带玩具或向书柜搬放；log step 10、11、16、17、22–28 的实际控制调用也仅为扫描、底盘移动和自救。评分器 q_score=0.0，且本任务七个入柜目标初始均不成立，live_matches_replay=1，因此该节点终态为 false；结合全程没有玩具搬放，记为从未达到。"
+     }
+    ]
+   },
+   "board_games_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.1,
+      "log_step": null,
+      "text_zh": "观察：视频 1.1 s 床垫远端仍有一盒扁平彩色桌游，视频 6.25 s 再次看见它；视频 1.5–3.0 s 两座书柜内未见桌游搬入，后续头部逐渐仰起并翻倒，双腕未见搬运桌游。"
+     },
+     {
+      "t": 15.933,
+      "log_step": 29,
+      "text_zh": "推断：视频 0.0–15.933 s 的头部及双腕画面显示机器人旋转扫描、空手移动和翻倒后的自救，未见夹爪携带玩具或向书柜搬放；log step 10、11、16、17、22–28 的实际控制调用也仅为扫描、底盘移动和自救。评分器 q_score=0.0，且本任务七个入柜目标初始均不成立，live_matches_replay=1，因此该节点终态为 false；结合全程没有玩具搬放，记为从未达到。"
+     }
+    ]
+   },
+   "train_in_bookcase": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.933,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–15.933 s 未见机器人夹起或搬放火车玩具，视频 15.933 s 末帧房间仍大幅侧转，机器人尚未恢复。火车及书桌未被持续清晰拍到，终态以本节点下一条结合视频动作与评分总量的推断确定。"
+     },
+     {
+      "t": 15.933,
+      "log_step": 29,
+      "text_zh": "推断：视频 0.0–15.933 s 的头部及双腕画面显示机器人旋转扫描、空手移动和翻倒后的自救，未见夹爪携带玩具或向书柜搬放；log step 10、11、16、17、22–28 的实际控制调用也仅为扫描、底盘移动和自救。评分器 q_score=0.0，且本任务七个入柜目标初始均不成立，live_matches_replay=1，因此该节点终态为 false；结合全程没有玩具搬放，记为从未达到。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": 11.6,
+   "log_step": 17,
+   "where": "探索",
+   "evidence_zh": "观察：视频 0.0–6.5 s 机器人空手转动并移动，扫视床、书柜与房间；视频 6.5–11.5 s 头部逐渐仰向天花板，视频 11.6–12.4 s 头部与双腕画面共同大幅侧转，机器人翻倒，视频 12.5–15.933 s 未恢复站立。log step 17 实际执行的是第二轮 scan.py 房间扫描，log step 19、21 的服务本体读数确认底盘向上轴竖直分量约 0.019；此前没有可见的玩具抓取或明确针对某件玩具的接近动作，无法将本次扫描中失衡唯一归入七个收纳节点之一。"
+  },
+  "unmet": {
+   "dice_in_bookcase_1": false,
+   "dice_in_bookcase_2": false,
+   "teddies_in_bookcase_1": false,
+   "teddies_in_bookcase_2": false,
+   "board_games_in_bookcase_1": false,
+   "board_games_in_bookcase_2": false,
+   "train_in_bookcase": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 11.6,
+    "log_step": 21,
+    "evidence_zh": "观察：视频 11.6–12.4 s 机器人在转动中翻倒，双腕视角的地板及书柜也随本体侧转；视频 12.5–15.933 s 自救只造成侧卧翻滚，末帧仍严重倾斜。log step 21 的实时机器人服务报告 control_steps=388、底盘向上轴竖直分量约 0.019，log step 28 最后仍仅约 0.0345。推断：本次单一实时回合无重置，控制频率为 30 Hz（log step 6），479 个控制步与视频 15.967 s 相符；388/30≈视频 12.93 s 的侧卧画面已核对，服务读数支持视频中的失衡，未把尚未触发的跌倒判负计时说成已发生的终止。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "log_step": 10,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 7 的 jp_now 将实测躯干关节角直接复制为动作目标，log step 10 的 base_move 在每次移动/旋转前调用它，log step 11、17 的扫描连续复用这套逻辑；其保持姿态的实现不断接受已有躯干偏移，未保持固定的稳定躯干目标。初始 torso_joint1=1.024（log step 7），第二轮扫描后变成 -0.331（log step 19），与视频 6.5–11.5 s 头部越来越朝天、随后视频 11.6–12.4 s 翻倒一致；agent 也在 log step 31 自述同一控制错误。证据支持躯干姿态反馈/目标保持不当导致失稳，尚不足以量化重心及逐步力矩变化。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功示范，书桌、火车及部分玩具在后半段被仰头/侧卧视角遮挡，不能逐物体测量柜内关系和速度；七个节点的终态由无搬放的全程画面、控制调用和评分器零目标进度共同确定。机器人倒下时仍在对全房间扫描，未选定可辨认的收纳对象，断点 ref 保留 unknown；这些扫描和自救不归入某个玩具节点的 contact_actual。重力下沉、重心及力矩的完整因果链缺少逐帧状态数据，根因仅标有代码和姿态变化支持的反馈控制。log step 29 的服务仍为 done=False，评分器 task_failure=0，不能声称视频末已触发连续300步的跌倒终止。"
+ },
+ "summary_zh": "本次评分回合仅完成房间扫描和空手移动，七个玩具入柜节点均从未达到，终态为0/7。机器人在第二轮扫描时躯干逐渐后仰，于视频 11.6–12.4 s 翻倒，至视频 15.933 s 仍未恢复；控制脚本反复将实测躯干角作为新目标，支持反馈控制失当的根因。扫描尚未对应某件玩具，故断点步骤未知；无状态日志且后段视角倾斜遮挡，终态判断同时使用评分器 q_score=0.0。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "七个节点均未达成（q_score=0、视频全程无搬放）与视频一致；视频 11.6–12.4 s 翻倒、末帧仍侧卧，平衡现象与反馈控制根因（log step 7/10 把实测躯干角回灌为目标，agent 日志与服务读数一致）有证据支持。断点 ref=unknown、where=探索 是对“扫描中摔倒、尚未选定任何玩具”的可辩护处理，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": "2026-10-30T21:11:29Z",
+  "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/behavior-collecting-childrens-toys-i00-standard--zrnklum/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-childrens-toys-i00-standard--zrnklum/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0b5a7e74dbb3d314cd7f663c08d8c0b71982059e5d48d178a5aab2780ff1b8fe",
+   "video_sha256": "a740021359bf30baa5462a342370ffb1d40252f5723b5acf887225f236abd372",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-privileged--ugkujzj.json

@@ -0,0 +1,396 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-freeze-fruit-i00-privileged--ugkujzj",
+ "taskKey": "behavior-1k/freeze_fruit",
+ "dag_sha256": "e86f72e029e34ab3019ced83d0f54559848fd3255afc274eb31a7668669172af",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 20722,
+   "sim_steps": 20722,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 5507.8,
+   "replay_timeout_s": 11561.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 2,
+   "agent_resets": 2,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-freeze-fruit-i00-privileged--ugkujzj/replay.mp4",
+  "duration_s": 690.733,
+  "fps": 30.0,
+  "frames": 20722,
+  "sha256": "4cfb6212c04082d30aadb3dcaefd562bd9935a79a7b70fbc824c5ddb5e4d6259"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 9,
+  "base": 1,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.5,
+      "log_step": null,
+      "text_zh": "观察：视频 9.0–12.0 s 左侧下柜门被机器人左夹爪拉离柜体，视频 10.5 s 已露出取盒入口；视频 32.0–38.0 s 左夹爪带着白色保鲜盒退出柜内，证实通道足以取盒。开柜为 event，此后门板回摆不撤销已完成事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人先用左二指夹爪夹住下柜把手外拉，后续右夹爪也在另一门把手处操作；左右手先后操作。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人拉柜门时轮式底盘后退、侧移，支撑手臂完成外拉。"
+     }
+    ]
+   },
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 540,
+      "log_step": null,
+      "text_zh": "观察：视频全程粗看并密查视频 164.0–211.5 s、540.0–582.0 s，机器人主要在微波炉下柜与吧台旁倾斜、伸臂；没有出现冰箱门板拉开及可通盒的内腔入口。日志中开冰箱的交互自检不能代替评分回放的开门事实。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "回放的机械臂动作已偏离交互会话；没有可确认作用于冰箱把手的接触，不能把会话中的抓把手记录移作实际接触。"
+     }
+    ]
+   },
+   "apples_in_boxes_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 164,
+      "log_step": null,
+      "text_zh": "观察：视频 42.0–52.0 s 可见第一个空盒放上水果台面，视频 164.0 s 水果台面仍在远处；视频 170.0–211.5 s 机器人侧倾后，视频 212.0–537.0 s 的巡查画面显示夹爪在吧台、墙面或空处运动，没有看到苹果离开原处并进入保鲜盒。"
+     },
+     {
+      "t": 690.5,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器 reward.q_score=0.0，且水果入盒并非初始成立的目标，因此末态不允许有第1个苹果入盒成立；视频 690.5 s 的末帧也未显示成功装果。会话内的 Inside=True 不作为本回放节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "评分回放中未能确认夹爪与第1个苹果的接触；不沿用交互会话中自报的抓取。"
+     }
+    ]
+   },
+   "apples_in_boxes_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 164,
+      "log_step": null,
+      "text_zh": "观察：视频 42.0–52.0 s 可见第一个空盒放上水果台面，视频 164.0 s 水果台面仍在远处；视频 170.0–211.5 s 机器人侧倾后，视频 212.0–537.0 s 的巡查画面显示夹爪在吧台、墙面或空处运动，没有看到苹果离开原处并进入保鲜盒。"
+     },
+     {
+      "t": 690.5,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器 reward.q_score=0.0，且水果入盒并非初始成立的目标，因此末态不允许有第2个苹果入盒成立；视频 690.5 s 的末帧也未显示成功装果。会话内的 Inside=True 不作为本回放节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "评分回放中未能确认夹爪与第2个苹果的接触；不沿用交互会话中自报的抓取。"
+     }
+    ]
+   },
+   "strawberries_in_boxes_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 164,
+      "log_step": null,
+      "text_zh": "观察：视频 42.0–52.0 s 可见第一个空盒放上水果台面，视频 164.0 s 水果台面仍在远处；视频 170.0–211.5 s 机器人侧倾后，视频 212.0–537.0 s 的巡查画面显示夹爪在吧台、墙面或空处运动，没有看到草莓离开原处并进入保鲜盒。"
+     },
+     {
+      "t": 690.5,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器 reward.q_score=0.0，且水果入盒并非初始成立的目标，因此末态不允许有第1个草莓入盒成立；视频 690.5 s 的末帧也未显示成功装果。会话内的 Inside=True 不作为本回放节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "评分回放中未能确认夹爪与第1个草莓的接触；不沿用交互会话中自报的抓取。"
+     }
+    ]
+   },
+   "strawberries_in_boxes_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 164,
+      "log_step": null,
+      "text_zh": "观察：视频 42.0–52.0 s 可见第一个空盒放上水果台面，视频 164.0 s 水果台面仍在远处；视频 170.0–211.5 s 机器人侧倾后，视频 212.0–537.0 s 的巡查画面显示夹爪在吧台、墙面或空处运动，没有看到草莓离开原处并进入保鲜盒。"
+     },
+     {
+      "t": 690.5,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器 reward.q_score=0.0，且水果入盒并非初始成立的目标，因此末态不允许有第2个草莓入盒成立；视频 690.5 s 的末帧也未显示成功装果。会话内的 Inside=True 不作为本回放节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "评分回放中未能确认夹爪与第2个草莓的接触；不沿用交互会话中自报的抓取。"
+     }
+    ]
+   },
+   "boxes_in_fridge_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34,
+      "log_step": null,
+      "text_zh": "观察：视频 32.0–38.0 s 左夹爪夹持白色保鲜盒退出下柜，视频 42.0–52.0 s 搬到水果台面后松手；这是取盒和临时放置，还不是入冰箱。"
+     },
+     {
+      "t": 170,
+      "log_step": null,
+      "text_zh": "观察：视频 168.0–179.5 s 机器人离开下柜附近时视野逐渐侧转、上仰，视频 180.0–199.0 s 头部视图维持明显侧倾且主要朝向天花板，视频 204.0–211.5 s 地面在视野侧方；此后没有看到任何盒进入冰箱。"
+     },
+     {
+      "t": 690.5,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，而盒入冰箱初始不成立，故末态第1盒入冰箱为 false；视频 690.5 s 仍在微波炉附近，未见完成入冰箱。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左二指夹爪夹持第一个保鲜盒盒沿，将盒从下柜取出，携到台面临时放下；后续无法确认的夹持不另作抓握事实。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人持盒离开下柜、转向并移动到水果台面，底盘移动承载手臂及盒。"
+     }
+    ]
+   },
+   "boxes_in_fridge_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 112,
+      "log_step": null,
+      "text_zh": "观察：视频 104.0–139.0 s 机器人继续在下柜前操作，视频 112.0–124.0 s 腕部视图能见夹爪、门板及台面，但未显示第二盒随夹爪清楚离开柜内；没有看到第二盒到达冰箱。"
+     },
+     {
+      "t": 690.5,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，且两盒初始均不在冰箱内，故末态第2盒入冰箱为 false；不能用会话内第二盒已取出或已装果的记录补记回放进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "下柜内第二盒及夹爪的关键接触区域被柜门、台面或腕部遮挡，无法确认夹持或推碰；回放未出现清楚的第二盒搬运。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人为继续取盒而在下柜前移动和转向，随后在吧台旁发生明显侧倾。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG 对初始字面量的说明确认冰箱初始关闭；视频 0.0–690.5 s 巡查未出现机器人成功到冰箱并拉开门的过程，主要活���区域一直是下柜、吧台及水果台面附近，因此按未被改变的初态保留关闭。冰箱门未始终在相机内，精确5%关节阈值无法直接核验；评分器 q_score=0 不扣除这一初始成立的关系。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "boxes_in_fridge_1",
+   "t": 170.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 32.0–52.0 s 机器人已取出一盒暂放台面，视频 104.0–164.0 s 仍在下柜及吧台旁继续取盒准备；视频 168.0–179.5 s 机体视野大幅侧转，视频 180.0–211.5 s 持续失去正常直立工作视角，后续未完成任何盒入冰箱。推断：这是盒搬运准备过程中首个能清楚定位、且其任务步骤此后从未完成的失衡；按入冰箱数量计数，尚无第一盒达标，断点归第1盒入冰箱。第二盒取出是否在更早时已抓空无法确证。"
+  },
+  "unmet": {
+   "apples_in_boxes_1": false,
+   "apples_in_boxes_2": false,
+   "strawberries_in_boxes_1": false,
+   "strawberries_in_boxes_2": false,
+   "boxes_in_fridge_1": false,
+   "boxes_in_fridge_2": false,
+   "fridge_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 170.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 168.0–179.5 s 头部与腕部视图中的台面、门框一起大幅倾转，视频 180.0–199.0 s 头部相机持续侧向仰看天花板，视频 204.0–211.5 s 地面与家具接近横置；视频 212.0–537.0 s 还反复出现同类侧倾视角。推断：机器人在下柜附近取盒、移位阶段失去直立支撑；其后即使短时回正也没有修复盒入冰箱步骤。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "交付",
+    "item": "交付操作出错",
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 182 的控制代码在同一进程内执行 s.reset() 后立即 s.record_start()，重录最终采用的动作；log step 312 读到的 API 说明明确指出进程内 reset 是近似复位，接触求解器隐状态不同，会使新进程开环回放漂移。log step 468、482–483 把这一交互会话的 _recording 导出为20722步最终文件；log step 484 明说未完成新进程回放，评分器 agent_replays=0、deterministic=1、q_score=0.0，而 log step 483 的会话末态自检 q_score=0.5714。推断：agent 交付了在近似复位后录制、未完成新进程验收的开环序列，无法复现交互会话的取盒、装果与搬运结果；这是有具体录制和验收记录支持的交付问题。"
+   }
+  ],
+  "gap_zh": "无状态日志或成功参考录像。第二次取盒的关键接触在视频 112.0–124.0 s 被门板、台面或腕部遮挡，不能分辨从未夹住还是短暂夹住后失去，因此不添加对应接触现象；视频 170.0 s 的失衡是首个可清楚定位的持续失败。冰箱不持续入镜，关闭关系依据初态与未见开门的连续上下文推断，无法核验5%关节阈值。视频与交互会话明显不一致，未将会话的 Inside 检查转换为回放节点时间；具体首次漂移的物理触发点及接触力原因无法确定。"
+ },
+ "summary_zh": "观察：评分回放完成开柜，并将一个空盒取出暂放水果台面；未确认水果入盒或盒入冰箱，末态计入开柜事件及推断保留的初始关冰箱状态，共2/9。推断：盒搬运准备过程中，机器人约在视频 170.0 s 失去直立支撑，后续未修复第1盒入冰箱；日志支持进程内近似复位后录制且未完成新进程验收的交付问题，交互会话进度不能移用于评分回放。无状态日志，第二次取盒接触及首次漂移触发点无法确定，冰箱关闭沿用未见开门的初态推断。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值与交付根因基本可信，但断点步骤选错：失衡发生时机器人正在水果台/碗旁准备装果，应归第1个苹果入盒，而不是尚未开始的盒入冰箱。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "开柜、取盒暂放、170 s 起侧倾失衡与交付根因均与帧相符；节点值、断点与 gap 说明可接受，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": "2026-10-30T21:47:53Z",
+  "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/behavior-freeze-fruit-i00-privileged--ugkujzj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-freeze-fruit-i00-privileged--ugkujzj/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-freeze-fruit-i00-privileged--ugkujzj/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-freeze-fruit-i00-privileged--ugkujzj/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "cd3bdb65bf1a3ae254a832d5aaf03da5d35664dda8f80e356d6570abe80176a0",
+   "video_sha256": "4cfb6212c04082d30aadb3dcaefd562bd9935a79a7b70fbc824c5ddb5e4d6259",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-privileged--v2my7pq.json

@@ -0,0 +1,324 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-freeze-fruit-i00-privileged--v2my7pq",
+ "taskKey": "behavior-1k/freeze_fruit",
+ "dag_sha256": "e86f72e029e34ab3019ced83d0f54559848fd3255afc274eb31a7668669172af",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 1489,
+   "sim_steps": 1489,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1944.9,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 5,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-freeze-fruit-i00-privileged--v2my7pq/replay.mp4",
+  "duration_s": 49.633,
+  "fps": 30.0,
+  "frames": 1489,
+  "sha256": "01af93cb10961f669ca022a2d07dcc29b98b5418e62feb0eba21dad73ab499bb"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 9,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的头部画面显示台面下柜门板处于关闭位置。"
+     },
+     {
+      "t": 20,
+      "log_step": null,
+      "text_zh": "观察：视频 18.0–37.0 s 左腕画面中夹爪在柜门上缘附近反复小幅移动，门板未向外转出，未出现可取盒的内腔通道；视频 42.0–49.6 s 门板仍挡在夹爪前。"
+     },
+     {
+      "t": 37,
+      "log_step": 286,
+      "text_zh": "观察：log step 286 的最终录制进程输出记有左指与 doorleft2 接触、creep STALLED at -0.0；这是该进程的读数，视频中门板不转开的现象与之吻合。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 18.0–37.0 s 左夹爪贴住柜门上缘施压并小幅拖动，未见两指夹住门板；log step 286 记录左手指与 doorleft2 接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–4.0 s 机器人底盘驶近目标下柜，为随后左臂开柜提供工作位置与支撑。"
+     }
+    ]
+   },
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 49.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–49.6 s 机器人始终在带微波炉的下柜前活动，没有驶向冰箱或操作冰箱门的动作。"
+     },
+     {
+      "t": 49.6,
+      "log_step": null,
+      "text_zh": "推断：结合 DAG 记载的冰箱初始关闭状态及整段视频未操作冰箱，打开冰箱未达成。"
+     }
+    ]
+   },
+   "apples_in_boxes_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 49.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–49.6 s 没有机器人拾取苹果、携带苹果或将其送入保鲜盒的可见动作，末段左夹爪仍在关闭的下柜前；水果与盒内腔未获清晰展示。"
+     },
+     {
+      "t": 49.6,
+      "log_step": null,
+      "text_zh": "推断：该关系初态不成立，评分器 q_score=0.0 不允许新增的苹果入盒目标字面量在末态成立，故第1个苹果入盒 final=false；视频也未出现可支持中途达成的搬果过程。"
+     }
+    ]
+   },
+   "apples_in_boxes_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 49.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–49.6 s 没有机器人拾取苹果、携带苹果或将其送入保鲜盒的可见动作，末段左夹爪仍在关闭的下柜前；水果与盒内腔未获清晰展示。"
+     },
+     {
+      "t": 49.6,
+      "log_step": null,
+      "text_zh": "推断：该关系初态不成立，评分器 q_score=0.0 不允许新增的苹果入盒目标字面量在末态成立，故第2个苹果入盒 final=false；视频也未出现可支持中途达成的搬果过程。"
+     }
+    ]
+   },
+   "strawberries_in_boxes_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 49.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–49.6 s 没有机器人拾取草莓、携带草莓或将其送入保鲜盒的可见动作，末段左夹爪仍在关闭的下柜前；水果与盒内腔未获清晰展示。"
+     },
+     {
+      "t": 49.6,
+      "log_step": null,
+      "text_zh": "推断：该关系初态不成立，评分器 q_score=0.0 不允许新增的草莓入盒目标字面量在末态成立，故第1个草莓入盒 final=false；视频也未出现可支持中途达成的搬果过程。"
+     }
+    ]
+   },
+   "strawberries_in_boxes_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 49.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–49.6 s 没有机器人拾取草莓、携带草莓或将其送入保鲜盒的可见动作，末段左夹爪仍在关闭的下柜前；水果与盒内腔未获清晰展示。"
+     },
+     {
+      "t": 49.6,
+      "log_step": null,
+      "text_zh": "推断：该关系初态不成立，评分器 q_score=0.0 不允许新增的草莓入盒目标字面量在末态成立，故第2个草莓入盒 final=false；视频也未出现可支持中途达成的搬果过程。"
+     }
+    ]
+   },
+   "boxes_in_fridge_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 49.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–49.6 s 没有保鲜盒被带离下柜或送往冰箱的可见过程；视频 42.0–49.6 s 左夹爪在关闭的柜门前下降、收拢，未见盒子随手移动。"
+     },
+     {
+      "t": 49.6,
+      "log_step": null,
+      "text_zh": "推断：结合初态盒子在下柜内、整段视频无跨柜搬运及评分器 q_score=0.0，第1盒入冰箱未达成。"
+     },
+     {
+      "t": 42,
+      "log_step": 286,
+      "text_zh": "推断：log step 286 在开柜停滞后输出 pinch pre，配合视频 38.0–49.6 s 左臂换位下降，可判为尝试取第一盒以搬入冰箱；盒子本体被柜门遮住，不能据此认定抓取成功。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 42.0–49.6 s 左夹爪朝关闭的下柜内接近并收拢；保鲜盒被门板遮挡，无法辨认夹爪是否接触盒壁或怎样接触，未见盒子取出。"
+     }
+    ]
+   },
+   "boxes_in_fridge_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 49.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–49.6 s 没有保鲜盒被带离下柜或送往冰箱的可见过程；视频 42.0–49.6 s 左夹爪在关闭的柜门前下降、收拢，未见盒子随手移动。"
+     },
+     {
+      "t": 49.6,
+      "log_step": null,
+      "text_zh": "推断：结合初态盒子在下柜内、整段视频无跨柜搬运及评分器 q_score=0.0，第2盒入冰箱未达成。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG 明确冰箱初态关闭；视频 0.0–49.6 s 机器人仅在下柜前活动，未操作冰箱，故关闭状态从视频 0.0 s 保留到末态。冰箱门未在本次相机画面中得到正面核验。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "cabinet_opened",
+   "t": 20.0,
+   "log_step": 286,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 18.0–37.0 s 机器人左夹爪在下柜门上缘附近施力并反复微动，柜门未打开取盒通道；视频 42.0–49.6 s 转而向柜内伸爪时门板仍关闭。log step 286 的最终录制输出同时记有左指接触 doorleft2、门角约零及 creep STALLED；开柜至结束未修复。"
+  },
+  "unmet": {
+   "apples_in_boxes_1": false,
+   "apples_in_boxes_2": false,
+   "strawberries_in_boxes_1": false,
+   "strawberries_in_boxes_2": false,
+   "boxes_in_fridge_1": false,
+   "boxes_in_fridge_2": false,
+   "fridge_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "接触力异常",
+    "t": 20.0,
+    "log_step": 286,
+    "evidence_zh": "观察：视频 18.0–37.0 s 左夹爪贴在柜门上缘附近反复施力，门板没有随之转开；log step 286 的最终录制进程输出报告左指与 doorleft2 接触，但沿开门弧线微移后门角仍约零并触发停滞。所需门板运动未由接触产生。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 268 的开柜控制先下压柜门上缘，再按预设弧线微移；log step 282–283 修正录制保存后重启的最终进程在 log step 286 仍报告接触存在而门角不变。结合视频 18.0–37.0 s 门板始终不转开，失败在开柜接触动作未能驱动机构；现有记录不足以区分接触几何、施力或轨迹跟踪的具体子因。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频；柜门遮住盒子，第一盒取出尝试的实际盒壁接触无法辨认，故 contact_actual 为未知。水果与冰箱内腔未获展示，水果入盒及盒入冰箱的末态否定结合初态、整段视频无搬运和评分器 q_score=0.0 推断；冰箱持续关闭由初态及未操作推断。最终交付有1489个动作，而 log step 287 只核验过较早的1259动作快照，后续完整保存输出未返回，不能把调试中的开门结果当成本次进度；开柜控制缺少力和精确关节记录，无法细分根因。"
+ },
+ "summary_zh": "本次评分视频中机器人驶近下柜，以左夹爪反复施压拖动柜门上缘，但未打开取盒通道，随后向关闭的柜内伸爪也未见保鲜盒被取出；水果装盒和两盒入冰箱均未达成。9个节点中仅冰箱初始关闭状态保留，断点为打开橱柜，现象是接触未能驱动门板转动，根因保留在控制层级。无状态日志，盒子接触受遮挡，冰箱持续关闭及部分末态结合初态、未操作过程和评分总分推断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "标注与证据基本相符：视频只见机器人在下柜前左夹爪施压，无任何取盒通道或搬运；log step 286 的最终进程读数（接触 doorleft2、creep STALLED at -0.0）与断点 cabinet_opened、接触力异常、控制根因一致，末态否定由 q_score=0.0 界定，未发现需要改动的节点值、时间或接触。视频分辨率低、腕部画面小，门板细节只能弱验证，故置信度中等。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:09:24Z",
+  "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/behavior-freeze-fruit-i00-privileged--v2my7pq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-freeze-fruit-i00-privileged--v2my7pq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6b97f2a6316c7587cdc359bcb4f304abca8db65e45896bd11b6e8f653a7659ed",
+   "video_sha256": "01af93cb10961f669ca022a2d07dcc29b98b5418e62feb0eba21dad73ab499bb",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-standard--77oq2xr.json

@@ -0,0 +1,386 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-freeze-fruit-i00-standard--77oq2xr",
+ "taskKey": "behavior-1k/freeze_fruit",
+ "dag_sha256": "e86f72e029e34ab3019ced83d0f54559848fd3255afc274eb31a7668669172af",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 9319,
+   "sim_steps": 9319,
+   "physics_steps": 37276,
+   "steps": 1832,
+   "elapsed_s": 4057.0,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 0,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.0,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-freeze-fruit-i00-standard--77oq2xr/replay.mp4",
+  "duration_s": 310.7,
+  "fps": 10.0,
+  "frames": 3107,
+  "sha256": "7e817ca62291189f6d8e3ffc2b14b66046acd816204e067af267b007000155ff"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 9,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.0,
+      "log_step": 127,
+      "text_zh": "观察：视频55–61 s，机器人右夹爪在水槽下方柜面附近闭合并回拉，夹爪离开后柜面仍闭合，没有出现取盒通道；视频63–70 s收臂后也未见柜门打开。"
+     },
+     {
+      "t": 240.0,
+      "log_step": 282,
+      "text_zh": "观察：视频228–242 s，右夹爪再次对下柜面伸入、闭合和回拉，柜板没有随夹爪打开。视频208.5–210.0 s另一次拉动打开的是旁边下翻门，视频218–226 s可见其金属碗架，不能算装有保鲜盒的储物柜已打开。"
+     },
+     {
+      "t": 310.6,
+      "log_step": 401,
+      "text_zh": "观察：视频280–310.6 s最后一轮伸手、闭爪和退臂仍没有打开目标储物柜，终帧机器人视角持续倾斜；log step 401中机器人服务返回done=true及failure: the robot fell over。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "未知",
+      "note_zh": "观察：视频55–61 s、228–242 s及291–295 s，右夹爪在目标下柜面附近闭合、回拉；镜面反射和腕部遮挡使手指是否擦到柜面、把手及具体接触方式无法确定，未观察到可靠包夹把手。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "勾",
+      "note_zh": "推断：视频208.5–210.0 s，右夹爪闭合的手指伸到相邻下翻门凹把手处向外带门，门随之翻开；这是寻找储物柜时实际勾拉到的带碗架门，并非目标柜已打开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在寻找并多次尝试下柜期间沿厨房过道行驶、转向和重新停靠，视频45–51 s、225–228 s及269–280 s可见相应视点平移、转动。"
+     }
+    ]
+   },
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      169.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 169.0,
+      "log_step": 215,
+      "text_zh": "观察：视频167.8–169.2 s，机器人左夹爪在高柜门把手处回拉，高门从贴合柜体转为明显向过道敞开；视频190–196 s及265 s仍可见门板大幅离开柜体、留出入口。以视频169.0 s作为足以通盒的近似时间，误差约0.5 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "未知",
+      "note_zh": "观察：视频167.8–169.2 s左夹爪回拉时冰箱门同步转开；腕部近景主要是暗色反射面，不能看清手指与把手的包夹或勾挂细节，因此不确定抓握或勾的具体方式。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频150–165 s机器人空手沿过道移动并转向高柜门，底盘支撑双臂完成开冰箱前的停靠。"
+     }
+    ]
+   },
+   "apples_in_boxes_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 105.0,
+      "log_step": null,
+      "text_zh": "观���：视频105–110 s机器人查看水槽附近的碗和水果，随后离开；整段粗查及视频51–70 s、164–188 s、196–242 s和280–310.6 s的操作细查，均未见夹爪带走苹果或向保鲜盒内放苹果。"
+     },
+     {
+      "t": 310.6,
+      "log_step": null,
+      "text_zh": "推断：评分器reward.q_score=0.0；DAG中苹果入盒初始不成立，任何一个新增苹果入盒字面量都会使该总分大于零，故终态不满足至少一个苹果入盒。此总分只用于终态判定，不作为抓取或放置发生的证据。"
+     }
+    ]
+   },
+   "apples_in_boxes_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 105.0,
+      "log_step": null,
+      "text_zh": "观察：视频105–110 s机器人查看水槽附近的碗和水果，随后离开；整段粗查及视频51–70 s、164–188 s、196–242 s和280–310.6 s的操作细查，均未见夹爪带走苹果或向保鲜盒内放苹果。"
+     },
+     {
+      "t": 310.6,
+      "log_step": null,
+      "text_zh": "推断：评分器reward.q_score=0.0；DAG中苹果入盒初始不成立，任何一个新增苹果入盒字面量都会使该总分大于零，故终态不满足两个苹果分别入不同盒。此总分只用于终态判定，不作为抓取或放置发生的证据。"
+     }
+    ]
+   },
+   "strawberries_in_boxes_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 181.0,
+      "log_step": null,
+      "text_zh": "观察：视频181–184 s头部视图清楚显示托盘中的两颗草莓，机器人手臂从托盘下方经过，未带走草莓；视频210–226 s及300–303 s仍可见托盘中的红色水果，未见草莓被送入盒。"
+     },
+     {
+      "t": 310.6,
+      "log_step": null,
+      "text_zh": "推断：评分器reward.q_score=0.0，草莓入盒并非初始成立的目标；总分排除了终态至少一个草莓入盒。视频未显示任何已完成的草莓装盒过程。"
+     }
+    ]
+   },
+   "strawberries_in_boxes_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 181.0,
+      "log_step": null,
+      "text_zh": "观察：视频181–184 s头部视图清楚显示托盘中的两颗草莓，机器人手臂从托盘下方经过，未带走草莓；视频210–226 s及300–303 s仍可见托盘中的红色水果，未见草莓被送入盒。"
+     },
+     {
+      "t": 310.6,
+      "log_step": null,
+      "text_zh": "推断：评分器reward.q_score=0.0，草莓入盒并非初始成立的目标；总分排除了终态两个草莓分别入不同盒。视频未显示任何已完成的草莓装盒过程。"
+     }
+    ]
+   },
+   "boxes_in_fridge_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 218.0,
+      "log_step": 239,
+      "text_zh": "观察：视频212–226 s机器人右臂在已打开的带金属碗架下翻门上方伸入并收回，夹爪未携出可辨认的保鲜盒，也没有把盒送往冰箱。log step 239中agent自述看见白色带盖容器并准备取盒，但视频不能支持已拿起该盒。"
+     },
+     {
+      "t": 310.6,
+      "log_step": null,
+      "text_zh": "推断：整段视频未见保鲜盒进入冰箱，且reward.q_score=0.0排除了任何新增盒入冰箱目标在终态成立，故第1盒入冰箱终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频212–226 s右夹爪曾伸向下翻门内部及其上方；log step 239将其中白色部件称为容器并拟取出，但视频无法确认夹爪触及真正保鲜盒，实际盒接触记未知。"
+     }
+    ]
+   },
+   "boxes_in_fridge_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 310.6,
+      "log_step": null,
+      "text_zh": "观察：视频169–310.6 s冰箱打开后，未见机器人持盒靠近入口或把第二盒送入；各次收臂后均未显示手中有盒。"
+     },
+     {
+      "t": 310.6,
+      "log_step": null,
+      "text_zh": "推断：评分器reward.q_score=0.0，两个盒入冰箱在初态均不成立；总分排除终态有两个盒在冰箱内。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      168.2
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 164.0,
+      "log_step": null,
+      "text_zh": "观察：视频164.0 s高柜门仍贴近柜体，视频167.8–168.0 s仍未见明显敞开的入口；视频168.2–168.6 s门向过道转开。结合DAG确认的初始冰箱关闭及此前未见开门动作，关闭区间从视频0 s计至约视频168.2 s；无关节记录，5%阈值越界时间为视觉近似。"
+     },
+     {
+      "t": 265.0,
+      "log_step": 260,
+      "text_zh": "观察：视频190–196 s及265 s高柜门保持明���敞开，直到视频310.6 s未见机器人将其带回柜体。log step 260中agent说要关闭的是误认的相邻下翻门，不是冰箱门；因此冰箱关闭状态没有恢复。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cabinet_opened",
+   "t": 58.0,
+   "log_step": 127,
+   "where": "操作中",
+   "evidence_zh": "观察：视频55–61 s机器人右夹爪闭合后从水槽下柜回拉，柜门没有打开；视频228–242 s和291–295 s又做相似动作，直到视频310.6 s仍没有形成取盒通道。视频208.5–226 s打开的相邻下翻门内是金属碗架。推断：最早未修复的是打开橱柜；后来冰箱虽打开，这一步仍未完成，末段倾斜及log step 401服务判定倒地终止也没有修复它。"
+  },
+  "unmet": {
+   "apples_in_boxes_1": false,
+   "apples_in_boxes_2": false,
+   "strawberries_in_boxes_1": false,
+   "strawberries_in_boxes_2": false,
+   "boxes_in_fridge_1": false,
+   "boxes_in_fridge_2": false,
+   "fridge_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 58.0,
+    "log_step": 127,
+    "evidence_zh": "观察：视频55–61 s右夹爪闭合、退回时指间没有柜门把手随行，柜板保持原位；视频291–295 s再次闭合、回拉后柜板仍不动。log step 367机器人服务的右夹爪开口约0.00000071 m。推断：所需的可靠抓住或勾住目标柜门把手的接触未建立；不能把可能擦到柜面算作开门接触成功。"
+   },
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 301.0,
+    "log_step": 386,
+    "evidence_zh": "观察：视频300–303 s机器人视角进一步倾斜，视频309.6–310.6 s仍未恢复；log step 386的服务基座四元数qx=-0.48747、qy=0.13834。推断：按1-2(qx²+qy²)计算基座上轴竖直分量约0.486，即倾角约61°，已明显失去直立支撑。观察：log step 401机器人服务最终返回failure: the robot fell over。该失衡发生在尚未完成的开柜工作及其退臂过程中。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 131中agent把下柜面附近的突出影像定位为把手，log step 282又承认所选暗斑不是可抓把手；视频55–61 s、228–242 s对应的闭爪、回拉没有带开柜门。log step 239把下翻门及其中白色部件认作储物抽屉与带盖容器，但视频218–226 s可见的是金属碗架，log step 260随后也撤回储物抽屉的判断。推断：对把手及取盒位置的识别错误使开柜尝试选错接触目标，未找到真正取盒通道。"
+   },
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "note_zh": "具体证据为姿态反馈计算错误；不进一步推定接触力或逆解失效。",
+    "evidence_zh": "观察：log step 308列明p[31:35]是基座四元数qx、qy、qz、qw；log step 385脚本却用cos(p[31])*cos(p[32])作为倾斜指标，log step 386打印0.875，而同条服务四元数对应的真实上轴竖直分量约0.486。log step 393及400随后继续伸臂与收臂指令；视频303–310.6 s基座倾斜没有恢复，log step 401服务判倒地。推断：姿态反馈处理错误高估稳定程度，控制过程未能恢复支撑，使未完成的开柜工作以倒地结束。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频；目标储物柜内部始终不见，无法核验两个盒的具体位置及开柜所需角度。腕部画面大量被机体和镜面反射遮挡，真实目标柜面及冰箱把手的微观接触方式不清，相关contact_actual保留未知；不能由闭爪命令推定抓握成立。水果和盒入目标的终态用视频连续过程及q_score=0的逻辑上界共同判断；关门5%阈值只作视觉近似。"
+ },
+ "summary_zh": "机器人完成打开冰箱，初始成立的冰箱关闭状态随后失去；水果装盒和两个盒入冰箱均未完成，终态仅保留打开冰箱这一事件节点（1/9）。最早未修复的断点是打开橱柜：多次闭爪回拉没有建立有效开门接触，期间还误认相邻带碗架的下翻门，末段又失衡并由服务判定倒地。没有状态日志和成功参考，柜内物体与把手接触细节受遮挡；部分终态依据q_score=0推定。",
+ "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（仅打开冰箱，约视频169 s）、断点（打开橱柜）、q_score=0 推出的终态、倒地服务读数与现象/根因均与帧和日志一致，未发现需改的错误；腕部画面遮挡多，接触细节保持未知是合理的。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:44:53Z",
+  "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/behavior-freeze-fruit-i00-standard--77oq2xr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-freeze-fruit-i00-standard--77oq2xr/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "594ea471eb7c7d16a2e7edf33acca313731388864dc40013bbc4ed3c1779bf84",
+   "video_sha256": "7e817ca62291189f6d8e3ffc2b14b66046acd816204e067af267b007000155ff",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-standard--g27vbmo.json

@@ -0,0 +1,333 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-freeze-fruit-i00-standard--g27vbmo",
+ "taskKey": "behavior-1k/freeze_fruit",
+ "dag_sha256": "e86f72e029e34ab3019ced83d0f54559848fd3255afc274eb31a7668669172af",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 0,
+   "live_matches_replay": 0,
+   "finalized": 1,
+   "n_actions": 7592,
+   "sim_steps": 7591,
+   "physics_steps": 30364,
+   "steps": 6992,
+   "elapsed_s": 3179.4,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-freeze-fruit-i00-standard--g27vbmo/replay.mp4",
+  "duration_s": 251.367,
+  "fps": 30.0,
+  "frames": 7541,
+  "sha256": "9c10aafe94c8c713295a91cb9b8322d6404c48ee79738ef5b8e79e614387ed76"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 9,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0–15.0 s 的厨房巡视中，下柜门板未形成可见取盒通道，夹爪没有拉柜门；视频 15.5 s 后机器人翻倒并转为恢复动作，至视频 251.3 s 未见取盒或开柜操作。"
+     },
+     {
+      "t": 250.5,
+      "log_step": null,
+      "text_zh": "推断：结合视频全程未见开柜取盒的动作与门板打开的结果，打开橱柜未达到；目标下柜的准确实例和初始开度未获关节记录核验。"
+     }
+    ]
+   },
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.5,
+      "log_step": null,
+      "text_zh": "观察：视频 14.0–16.0 s 机器人在厨房台面及高柜旁移动后翻倒，夹爪没有握住门把手拉开门板，也没有出现可供保鲜盒进入的冰箱内腔。"
+     },
+     {
+      "t": 250.5,
+      "log_step": 90,
+      "text_zh": "推断：视频 17.5–251.3 s 机器人主要侧躺、翻滚及伸臂恢复，未见后续开冰箱操作，故开门事件未达到；log step 77–91 将此前移动目标称为疑似冰箱，节点归属结合此目标判断，不把日志动作时刻换算成视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.0–15.5 s 轮式底盘支撑机器人在厨房台面与高柜旁移动，属于靠近开门工作位置的阶段；未见夹爪抓握把手，不能照搬任务级抓握方案。"
+     }
+    ]
+   },
+   "apples_in_boxes_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0–15.0 s 机器人巡视厨房，碗和红色水果所在台面进入头部视野，但夹爪未搬运水果；视频 15.5–251.3 s 的恢复动作中也未见苹果被夹起并送入保鲜盒。"
+     },
+     {
+      "t": 250.5,
+      "log_step": null,
+      "text_zh": "推断：没有可见的苹果入盒过程；评分器 q_score=0.0 也不允许新增的水果入盒字面量在终态成立，因此“第1个苹果入盒”终态为假。live_matches_replay=0，该分数来自实时运行，只在与视频未见搬运这一事实一致的范围使用。"
+     }
+    ]
+   },
+   "apples_in_boxes_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0–15.0 s 机器人巡视厨房，碗和红色水果所在台面进入头部视野，但夹爪未搬运水果；视频 15.5–251.3 s 的恢复动作中也未见苹果被夹起并送入保鲜盒。"
+     },
+     {
+      "t": 250.5,
+      "log_step": null,
+      "text_zh": "推断：没有可见的苹果入盒过程；评分器 q_score=0.0 也不允许新增的水果入盒字面量在终态成立，因此“第2个苹果入盒”终态为假。live_matches_replay=0，该分数来自实时运行，只在与视频未见搬运这一事实一致的范围使用。"
+     }
+    ]
+   },
+   "strawberries_in_boxes_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0–15.0 s 机器人巡视厨房，碗和红色水果所在台面进入头部视野，但夹爪未搬运水果；视频 15.5–251.3 s 的恢复动作中也未见草莓被夹起并送入保鲜盒。"
+     },
+     {
+      "t": 250.5,
+      "log_step": null,
+      "text_zh": "推断：没有可见的草莓入盒过程；评分器 q_score=0.0 也不允许新增的水果入盒字面量在终态成立，因此“第1个草莓入盒”终态为假。live_matches_replay=0，该分数来自实时运行，只在与视频未见搬运这一事实一致的范围使用。"
+     }
+    ]
+   },
+   "strawberries_in_boxes_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0–15.0 s 机器人巡视厨房，碗和红色水果所在台面进入头部视野，但夹爪未搬运水果；视频 15.5–251.3 s 的恢复动作中也未见草莓被夹起并送入保鲜盒。"
+     },
+     {
+      "t": 250.5,
+      "log_step": null,
+      "text_zh": "推断：没有可见的草莓入盒过程；评分器 q_score=0.0 也不允许新增的水果入盒字面量在终态成立，因此“第2个草莓入盒”终态为假。live_matches_replay=0，该分数来自实时运行，只在与视频未见搬运这一事实一致的范围使用。"
+     }
+    ]
+   },
+   "boxes_in_fridge_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 16.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–16.0 s 未见保鲜盒从橱柜中取出或随夹爪移动；视频 17.5–251.3 s 机器人翻滚、伸臂及停靠家具旁，未见保鲜盒由夹爪搬入冰箱。"
+     },
+     {
+      "t": 250.5,
+      "log_step": null,
+      "text_zh": "推断：视频未见盒入冰箱，且实时评分器 q_score=0.0 排除新增盒在冰箱内的终态关系，故“第1盒入冰箱”终态为假；评分器 live_matches_replay=0，不据此推定重放中具体接触或动作时刻。"
+     }
+    ]
+   },
+   "boxes_in_fridge_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 16.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–16.0 s 未见保鲜盒从橱柜中取出或随夹爪移动；视频 17.5–251.3 s 机器人翻滚、伸臂及停靠家具旁，未见保鲜盒由夹爪搬入冰箱。"
+     },
+     {
+      "t": 250.5,
+      "log_step": null,
+      "text_zh": "推断：视频未见盒入冰箱，且实时评分器 q_score=0.0 排除新增盒在冰箱内的终态关系，故“第2盒入冰箱”终态为假；评分器 live_matches_replay=0，不据此推定重放中具体接触或动作时刻。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "推断：任务 DAG 的 fridge_opened.note_zh 与 fridge_closed.criterion_zh 明确冰箱初态关闭；视频 0–15.0 s 没有机器人拉开门板的动作，后续主要为倒地恢复，未见冰箱门被打开，按初始关闭状态延续计分。"
+     },
+     {
+      "t": 250.5,
+      "log_step": null,
+      "text_zh": "推断：视频全程没有可识别的开门过程或冰箱内腔暴露，终态继续记关闭。该状态从初态已成立，不需要实际执行关门，也不受 after 门控；q_score=0.0 不否定保留的初始目标。末尾没有正对全部门板的视图，精确5%阈值未获关节记录核验。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fridge_opened",
+   "t": 15.5,
+   "log_step": null,
+   "where": "转场",
+   "evidence_zh": "观察：视频 14.0–15.8 s 机器人空手在厨房台面及高柜旁移动，随后头部与腕部画面一起侧转，视频 16.0–17.5 s 已明显侧躺；之后反复翻滚和伸臂恢复，至视频 251.3 s 仍未打开冰箱。推断：结合 log step 77–91 靠近疑似冰箱的行动目标，将失败归于打开冰箱的接近阶段；开门本身后来始终未完成，短暂回正不构成该步骤的修复。"
+  },
+  "unmet": {
+   "apples_in_boxes_1": false,
+   "apples_in_boxes_2": false,
+   "strawberries_in_boxes_1": false,
+   "strawberries_in_boxes_2": false,
+   "boxes_in_fridge_1": false,
+   "boxes_in_fridge_2": false,
+   "fridge_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 15.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频 15.0–16.0 s 机器人在台面旁失稳，头部和腕部相机共同旋转，视频 16.0–17.5 s 房间已呈约横向；视频 22.5–117.5 s 多次翻滚，视频 122.5–197.5 s 长时间歪倒靠着家具，视频 250.3–251.1 s 仍在侧转，始终未恢复到执行开门和搬运的工作状态。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "没有状态日志或成功参考视频；评分器 deterministic=0、live_matches_replay=0，实时日志与重放的逐步对应关系���能保证，所有视频时刻均直接由画面确定。观察：视频 14.0–15.5 s 画面逐渐倾斜，视频 16.0–17.5 s 已明显侧躺，但翻倒触发处被本体和家具遮挡，未能直接看清具体阻挡接触。实时会话 log step 77 的服务 status 为 control_steps=459，基座位置输出 z≈0.0084米；log step 81 的 goto 返回 False，log step 83 是 agent 自述撞到岛台或半岛台，log step 90 的基座 z 从约0.023米升至0.126米、0.207米，log step 91 升至约0.365米，log step 92 的姿态读数显示侧翻。推断：这些读数记录了实时会话中的状态变化，但没有经过可见事件核验的计步对齐，不能将其与视频约15.5 s 的翻倒视为同一事件；碰撞或爬障碍与控制问题的具体机制无法判别，log step 25 的 goto 未检查高度或倾斜也不足以证明其导致了视频中的翻倒，故根因留空。目标下柜实例、疑似冰箱高柜的身份及冰箱全部门关节的最终5%关闭阈值无法精确核验，关闭状态依据DAG已知初态和全程未见开门的连续证据推断。log step 149 出现仿真 pre-physics 异常，log step 150 服务报告 done=True、reason=error，但视频已呈现未修复的翻倒，故仍标该物理失败；异常自身原因不明，不另造机器人根因。"
+ },
+ "summary_zh": "本次轨迹只保留冰箱初始关闭这一状态，最终为1/9；未见开柜、打开冰箱、四个水果装盒或两个保鲜盒入冰箱。机器人在靠近疑似冰箱工作位置的转场中于视频约15.5 s 翻倒，此后反复恢复仍未完成开门；具体翻倒机制证据不足，根因留空。无状态日志或成功参考，实时与重放不一致，断点对应的高柜身份和终态关门均含推断，因此置信度由7降至5；会话末尾另记录仿真异常。",
+ "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（仅冰箱关闭从0起为真、1/9）、断点 fridge_opened、现象 全身·平衡 与视频一致（视频约15 s 起翻倒，之后未恢复）。问题在于根因的证据把实时 log 的读数当成视频中摔倒的原因：实时会话在 control step 459（≈视频15.3 s）仍直立，倾倒发生在其后的 log step 90–92，而视频在约14–15.5 s 就已翻倒，两者不是同一事件；且 log 显示的障碍接触（撞岛台、基座升高）被写成控制问题，证据不足。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（仅冰箱关闭为真，1/9）、断点 fridge_opened（视频约15.5 s 翻倒）、现象 全身·平衡 均与视频一致；第1轮后根因留空并在 gap_zh 说明重放与实时分叉，处理合理，未发现新的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:47:34Z",
+  "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/behavior-freeze-fruit-i00-standard--g27vbmo/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-freeze-fruit-i00-standard--g27vbmo/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-freeze-fruit-i00-standard--g27vbmo/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-freeze-fruit-i00-standard--g27vbmo/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7f4ec10333090b64c3dc111d609b2637fc4744ec7032ea9a74d1f1664808485b",
+   "video_sha256": "9c10aafe94c8c713295a91cb9b8322d6404c48ee79738ef5b8e79e614387ed76",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-standard--izfygyt.json

@@ -0,0 +1,384 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-freeze-fruit-i00-standard--izfygyt",
+ "taskKey": "behavior-1k/freeze_fruit",
+ "dag_sha256": "e86f72e029e34ab3019ced83d0f54559848fd3255afc274eb31a7668669172af",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 14491,
+   "sim_steps": 14491,
+   "physics_steps": 57964,
+   "steps": 1602,
+   "elapsed_s": 3424.6,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-freeze-fruit-i00-standard--izfygyt/replay.mp4",
+  "duration_s": 483.033,
+  "fps": 30.0,
+  "frames": 14491,
+  "sha256": "019162841978a73464eea6523263826ab123f58b08b6a55731964e723f423535"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 9,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 180,
+      "log_step": null,
+      "text_zh": "观察：视频 156–190 s，机器人放下托盘下方器具的门板，露出金属碗篮；视频 228–237 s 还试拉相邻柜门。已查看这些开口，但未辨认出两个目标保鲜盒。"
+     },
+     {
+      "t": 350,
+      "log_step": 201,
+      "text_zh": "观察：视频 270–374 s 已按约2秒间隔检查灶台下方的把手尝试；右夹爪接近、闭合并回撤，台面下主要门板仍挡住内部，未显示保鲜盒或明确取盒通道。"
+     },
+     {
+      "t": 416,
+      "log_step": null,
+      "text_zh": "观察：视频 385–453 s，机器人先后操作水槽及碗下方的把手；头部和腕部视图被门板、台面及机械臂遮挡，未显示可确认装有两个保鲜盒的柜内通路。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：DAG 的 verify_zh 也未确定目标柜门及取盒通路；现有帧只能确认部分柜体被操作，不能确认这些开口属于装保鲜盒的目标柜，因此本节点未知，不能把打开洗碗机直接记为打开目标橱柜。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 156–177 s，左夹爪夹拉托盘下方器具把手并放下门板；后续左右夹爪依次试拉多个柜门把手，并非双臂同时协作。尚未确认所操作柜体是否装有目标保鲜盒。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 230–257 s 及 375–385 s，轮式底盘在搜索、尝试不同柜门期间移动，支撑躯干与机械臂。"
+     }
+    ]
+   },
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 160,
+      "log_step": null,
+      "text_zh": "观察：视频 136–165 s，机器人靠近并转向冰箱查看，冰箱门板仍贴合柜体，没有出现打开后的内腔入口；后续机器人转回台面、操作下柜，未执行可见的开冰箱动作。"
+     },
+     {
+      "t": 232,
+      "log_step": null,
+      "text_zh": "观察：视频 216–240 s，冰箱在台面左侧可见时仍保持关闭；没有保鲜盒进入冰箱的过程。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 136–160 s，机器人移动、转向查看冰箱，底盘支撑上身；未观察到夹爪接触冰箱门或把手。"
+     }
+    ]
+   },
+   "apples_in_boxes_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.5,
+      "log_step": 83,
+      "text_zh": "观察：视频 20.5–26.5 s，机器人空手前往苹果碗附近时视野急剧倾斜，随后移回过道；log step 83 的服务 control_steps=741，按 log step 21 的 30 Hz 对应视频 24.7 s，与倾斜帧相符；该步读取的底盘姿态 cos(rx)cos(ry)=0.1548。"
+     },
+     {
+      "t": 75,
+      "log_step": 129,
+      "text_zh": "观察：视频 73–82.5 s，右夹爪夹住碗沿并带���、倾斜碗，红、绿苹果仍留在碗内，没有夹出单个苹果，更未送入保鲜盒。"
+     },
+     {
+      "t": 479.5,
+      "log_step": null,
+      "text_zh": "观察：视频 463–477 s，两个苹果在台面、空碗旁可见；视频 478–482.9 s，右臂又伸向该处，腕部画面出现碗，未出现苹果进入保鲜盒的动作。"
+     },
+     {
+      "t": 482.9,
+      "log_step": null,
+      "text_zh": "推断：全片未见苹果入盒，评分器 q_score=0 且 live_matches_replay=1；扣除初始已成立的冰箱关闭条件后，最终不允许新增任何苹果入盒字面量，因此本节点最终为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 75–82 s，右二指夹爪实际夹住并带起的是苹果碗的碗沿，两个苹果留在碗内；这里的抓握指碗，不代表成功抓住苹果。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 14–27 s，底盘空手驶向取苹果的位置并在倾斜后退回过道，支撑躯干与机械臂。"
+     }
+    ]
+   },
+   "apples_in_boxes_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 80,
+      "log_step": null,
+      "text_zh": "观察：视频 75–82 s，两个苹果均随碗留在原容器内，没有分别送入两个盒；视频 463–477 s 又可见两个苹果留在台面。"
+     },
+     {
+      "t": 482.9,
+      "log_step": null,
+      "text_zh": "推断：视频中没有两个苹果分别入盒的过程，且评分器 q_score=0 不容许最终新增苹果入盒关系；本节点最终为假。"
+     }
+    ]
+   },
+   "strawberries_in_boxes_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 180,
+      "log_step": null,
+      "text_zh": "观察：视频 136–237 s 的台面视图显示草莓仍在矩形托盘上，机器人操作托盘下方及相邻柜门，没有夹取并转移草莓到保鲜盒。"
+     },
+     {
+      "t": 482.9,
+      "log_step": null,
+      "text_zh": "推断：后段机器人在水槽、苹果碗及柜门附近活动，未见草莓入盒；评分器 q_score=0 不容许最终新增草莓入盒关系，因此本节点最终为假。"
+     }
+    ]
+   },
+   "strawberries_in_boxes_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 180,
+      "log_step": null,
+      "text_zh": "观察：视频 136–237 s 的台面视图显示草莓仍在矩形托盘上，机器人操作托盘下方及相邻柜门，没有夹取并转移草莓到保鲜盒。"
+     },
+     {
+      "t": 482.9,
+      "log_step": null,
+      "text_zh": "推断：后段机器人在水槽、苹果碗及柜门附近活动，未见草莓入盒；评分器 q_score=0 不容许最终新增草莓入盒关系，因此本节点最终为假。"
+     }
+    ]
+   },
+   "boxes_in_fridge_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 232,
+      "log_step": null,
+      "text_zh": "观察：视频 0–483 s 的粗查及各次柜门、取果操作密查中，没有看到机器人从柜中夹出保鲜盒再送入冰箱；视频 136–240 s 冰箱可见时门保持关闭。"
+     },
+     {
+      "t": 482.9,
+      "log_step": null,
+      "text_zh": "推断：未见盒的取出、搬运或进入冰箱，且评分器 q_score=0、live_matches_replay=1，不容许最终新增盒在冰箱内的字面量；本节点最终为假。"
+     }
+    ]
+   },
+   "boxes_in_fridge_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 232,
+      "log_step": null,
+      "text_zh": "观察：视频 0–483 s 的粗查及各次柜门、取果操作密查中，没有看到机器人从柜中夹出保鲜盒再送入冰箱；视频 136–240 s 冰箱可见时门保持关闭。"
+     },
+     {
+      "t": 482.9,
+      "log_step": null,
+      "text_zh": "推断：未见盒的取出、搬运或进入冰箱，且评分器 q_score=0、live_matches_replay=1，不容许最终新增盒在冰箱内的字面量；本节点最终为假。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8,
+      "log_step": null,
+      "text_zh": "观察：视频 8 s 扫视厨房时冰箱门板贴合柜体；视频 136–165 s 的近处查看和视频 216–240 s 的侧方视图仍为关闭，机器人未拉开冰箱门。"
+     },
+     {
+      "t": 482.9,
+      "log_step": null,
+      "text_zh": "推断：全片未见冰箱门离开关闭位置，后段机器人持续在别处操作，故按初始关闭及操作连续性保留关闭状态至视频 482.9 s；q_score=0 不否定此初始已成立的目标。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "apples_in_boxes_1",
+   "t": 21.5,
+   "log_step": 83,
+   "where": "转场",
+   "evidence_zh": "观察：log step 76–78 指令机器人空手前往苹果碗；视频约 21.5 s，机器人靠近台面时开始严重倾斜，视频 24–26 s 仍歪向柜体。log step 83 的 control_steps=741 按 30 Hz 对应视频 24.7 s，姿态读数 cos(rx)cos(ry)=0.1548，与画面核对一致。机器人随后恢复直立，但视频 75–82 s 又只夹起了碗，至视频 482.9 s 仍无苹果入盒；该步骤一直未完成，恢复直立不能修复此步骤。"
+  },
+  "unmet": {
+   "apples_in_boxes_1": false,
+   "apples_in_boxes_2": false,
+   "strawberries_in_boxes_1": false,
+   "strawberries_in_boxes_2": false,
+   "boxes_in_fridge_1": false,
+   "boxes_in_fridge_2": false,
+   "fridge_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 21.5,
+    "log_step": 83,
+    "evidence_zh": "观察：视频 21–26.5 s，机器人在前往取苹果位置时机身与相机视野大幅侧倾；log step 83 读取底盘姿态 cos(rx)cos(ry)=0.1548，log step 84 读取基座抬高至约 0.34 m，确认并非仅头部转动。log step 91 后虽恢复直立，苹果入盒步骤始终未完成。"
+   },
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 75,
+    "log_step": 129,
+    "evidence_zh": "观察：视频 73–82.5 s，机器人右夹爪闭合的位置在碗沿，带起并倾斜了整只碗；红、绿两个苹果仍在碗里，没有建立将单个苹果夹出的抓握。该取果失败与视频约 21.5 s 的底盘失衡是两次独立事件，都发生在始终未完成的第1个苹果入盒步骤中。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 46、51 的移动控制实现按目标位移生成固定底盘增量并成批执行，批间更新位姿，但未按倾斜或接近柜体的情况中止、修正；log step 76–83 执行该移动后，视频 21–26.5 s 与底盘读数均显示失衡。随后 log step 128–129 的取苹果控制在视频 75–82 s 实际夹起碗沿而非苹果，表明移动与末端操作均未实现要求的受控接触；现有证据不能可靠细分为反馈、逆解或抓取设计中的某一项。"
+   }
+  ],
+  "gap_zh": "没有状态日志和成功参考录像。目标保鲜盒所在柜位及取盒通路未确定，多个开柜过程虽可见，但柜内受到门板、台面和手臂遮挡，无法将已打开的柜体与目标盒匹配，cabinet_opened 保留未知；不能仅凭打开洗碗机或其它柜门认定成功。六个放入节点的最终假值同时依赖全片动作与评分器 q_score=0 的逻辑边界。底盘失衡时没有轮地接触、外力或控制误差记录，不能确定具体失衡机理，因此控制根因不细分。"
+ },
+ "summary_zh": "本次评分轨迹没有完成水果入盒或保鲜盒入冰箱，只有初始即成立的冰箱关闭状态保持至结束，最终确认1/9个节点，另有打开目标橱柜1项未知。第1个苹果入盒步骤在视频约21.5 s 的空手接近中出现底盘失衡，后续取果又夹起碗而非苹果，直至视频482.9 s 仍未完成该步骤；证据支持控制层问题，但具体机理不明。无状态日志或成功参考，目标盒所在柜位和开柜结果不能可靠核验。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（仅冰箱关闭为真、cabinet_opened 未知）、断点（apples_in_boxes_1，视频约21.5 s 倾斜）与现象/根因均与帧一致，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": "2026-10-30T21:38:57Z",
+  "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/behavior-freeze-fruit-i00-standard--izfygyt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-freeze-fruit-i00-standard--izfygyt/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "de606502e42ab1c1f75399d0db884fe289effe2ef109cd19a208892450685bb6",
+   "video_sha256": "019162841978a73464eea6523263826ab123f58b08b6a55731964e723f423535",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-standard--kvs8nsp.json

@@ -0,0 +1,328 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-freeze-fruit-i00-standard--kvs8nsp",
+ "taskKey": "behavior-1k/freeze_fruit",
+ "dag_sha256": "e86f72e029e34ab3019ced83d0f54559848fd3255afc274eb31a7668669172af",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "n_actions": 9316,
+   "sim_steps": 9316,
+   "physics_steps": 37264,
+   "steps": 9316,
+   "elapsed_s": 6037.9,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-freeze-fruit-i00-standard--kvs8nsp/replay.mp4",
+  "duration_s": 310.533,
+  "fps": 30.0,
+  "frames": 9316,
+  "sha256": "883906a091be5eb5c94e8e8db44f7988c6d4908c72c0aa0779e49a6579d9f915"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 9,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 52,
+      "log_step": 100,
+      "text_zh": "观察：视频 52–54 s，机器人打开水槽旁下柜的一扇门，露出深色搁板；视频 65–72 s 又打开相邻门并查看。画面没有显露可辨认的两个保鲜盒。"
+     },
+     {
+      "t": 284,
+      "log_step": 283,
+      "text_zh": "观察：视频 284–289 s，机器人还打开高柜右上小隔间；没有取出保鲜盒。DAG 的 criterion_zh 限定为装盒的厨房下柜，而未指明具体门板外观。"
+     },
+     {
+      "t": 310.5,
+      "log_step": null,
+      "text_zh": "推断：能确认机器人曾抓拉柜门，但没有状态日志或成功参考可将已打开的柜腔与装有两盒的目标柜对应；不能把任意柜门打开计为该节点，也不能由 q_score=0 判定这个非目标节点未达成。故目标开柜的时间线和终值保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 50–54 s 左二指夹爪夹住水槽旁下柜把手外拉，视频约 64–69 s 右二指夹爪依次抓拉相邻把手；视频 284 s 右夹爪拉开高柜小隔间。实际接触这些把手，但未核实哪一个属于装保鲜盒的目标柜。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人为寻找装盒柜沿台面行驶，视频 72–77 s 空手经过敞开的下柜门时底盘继续移动并支撑双臂，随后翻倒。"
+     }
+    ]
+   },
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 216,
+      "log_step": null,
+      "text_zh": "观察：视频 216 s 可见高柜的大门板及右侧独立小隔间面板；视频 284–289 s 外翻的是右上小隔间门，旁边大门板仍贴合柜体。未看到冰箱大门转开或供保鲜盒进入的冰箱内腔通道。"
+     },
+     {
+      "t": 310.5,
+      "log_step": null,
+      "text_zh": "推断：结合全片中机器人操作下柜、烤箱及高柜小隔间的连续过程，未见目标冰箱被打开；后段小隔间开门不计作冰箱开门。"
+     }
+    ]
+   },
+   "apples_in_boxes_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 76.5,
+      "log_step": null,
+      "text_zh": "观察：视频 4 s、44 s 及 76.5 s 可见台面上的苹果碗；机器人一直操作门板和进行底盘移动，没有看到夹爪从碗中提走苹果，亦没有苹果送入保鲜盒的过程。"
+     },
+     {
+      "t": 310.5,
+      "log_step": null,
+      "text_zh": "推断：全片未见苹果装盒；inputs/run.json 的 reward.q_score=0、live_matches_replay=1，初始已成立的冰箱关闭不计入 q_score，因此终态不能含有新增的苹果入盒目标字面量；该计数节点终值为 false。"
+     }
+    ]
+   },
+   "apples_in_boxes_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 76.5,
+      "log_step": null,
+      "text_zh": "观察：视频 4 s、44 s 及 76.5 s 可见台面上的苹果碗；机器人一直操作门板和进行底盘移动，没有看到夹爪从碗中提走苹果，亦没有苹果送入保鲜盒的过程。"
+     },
+     {
+      "t": 310.5,
+      "log_step": null,
+      "text_zh": "推断：全片未见苹果装盒；inputs/run.json 的 reward.q_score=0、live_matches_replay=1，初始已成立的冰箱关闭不计入 q_score，因此终态不能含有新增的苹果入盒目标字面量；该计数节点终值为 false。"
+     }
+    ]
+   },
+   "strawberries_in_boxes_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 76.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24 s、52 s 及 76.5 s，草莓仍位于灶台旁的小托盘上；机器人夹爪操作的是门把手，没有看到草莓离开托盘进入保鲜盒。"
+     },
+     {
+      "t": 310.5,
+      "log_step": null,
+      "text_zh": "推断：后续机器人主要在翻倒姿态下尝试恢复，未见草莓装盒；inputs/run.json 的 reward.q_score=0、live_matches_replay=1 进一步限定终态没有新增的草莓入盒字面量，故该计数节点终值为 false。"
+     }
+    ]
+   },
+   "strawberries_in_boxes_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 76.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24 s、52 s 及 76.5 s，草莓仍位于灶台旁的小托盘上；机器人夹爪操作的是门把手，没有看到草莓离开托盘进入保鲜盒。"
+     },
+     {
+      "t": 310.5,
+      "log_step": null,
+      "text_zh": "推断：后续机器人主要在翻倒姿态下尝试恢复，未见草莓装盒；inputs/run.json 的 reward.q_score=0、live_matches_replay=1 进一步限定终态没有新增的草莓入盒字面量，故该计数节点终值为 false。"
+     }
+    ]
+   },
+   "boxes_in_fridge_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 284,
+      "log_step": null,
+      "text_zh": "观察：视频 52–72 s 打开的下柜内未见保鲜盒被取出；视频 284–289 s，机器人夹爪在高柜小隔间门旁，未携带或放入保鲜盒。"
+     },
+     {
+      "t": 310.5,
+      "log_step": null,
+      "text_zh": "推断：全片没有保鲜盒从原柜移出并进入冰箱的过程；inputs/run.json 的 reward.q_score=0、live_matches_replay=1 限定终态没有新增盒入冰箱字面量，故该计数节点终值为 false。"
+     }
+    ]
+   },
+   "boxes_in_fridge_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 284,
+      "log_step": null,
+      "text_zh": "观察：视频 52–72 s 打开的下柜内未见保鲜盒被取出；视频 284–289 s，机器人夹爪在高柜小隔间门旁，未携带或放入保鲜盒。"
+     },
+     {
+      "t": 310.5,
+      "log_step": null,
+      "text_zh": "推断：全片没有保鲜盒从原柜移出并进入冰箱的过程；inputs/run.json 的 reward.q_score=0、live_matches_replay=1 限定终态没有新增盒入冰箱字面量，故该计数节点终值为 false。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 216,
+      "log_step": null,
+      "text_zh": "观察：DAG 的初态说明冰箱关闭；视频 184–216 s 机器人移到高柜前，大门板贴合柜体。视频 284–289 s 右上小隔间门外翻时，相邻大门板仍关闭。"
+     },
+     {
+      "t": 310.5,
+      "log_step": null,
+      "text_zh": "推断：全片未见机器人打开目标冰箱大门；检查视频 309.6 s、309.9 s、310.2 s 与 310.5 s，机器人仍倾倒，未发生新的冰箱操作，因此保留从初态延续的关闭状态。q_score=0 不否定这一初始即成立的条件。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cabinet_opened",
+   "t": 76.0,
+   "log_step": 120,
+   "where": "转场",
+   "evidence_zh": "观察：视频 75.5 s 机器人双爪空闲，正在敞开的水槽下柜门前沿台面移动；视频 76–77 s 视野快速侧倾，视频 78 s 已横倒。log step 117、121 记录 agent 正在继续寻找碗下方的装盒柜，log step 120 的脚本执行后退及横移；随后 log step 123 的本体姿态和视频一致。推断：断点归于寻找并打开装盒柜这一步的转场，目标柜步骤未获确认，后续恢复也未完成取盒装果。"
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 76.0,
+    "log_step": 123,
+    "evidence_zh": "观察：视频 75.5–78 s，机器人空手移动时由近直立快速翻到侧面，画面地平线旋转约四分之一圈；视频 80–96 s 仍横倒。视频 309.6–310.5 s 最后一秒再次检查，机器人仍未恢复正常轮式支撑。log step 123 返回基座 z=0.428 m，log step 124 的基座旋转矩阵上轴竖直分量为 -0.329，与翻倒一致。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 35 的 drive 辅助函数把固定底盘位移目标整段提交，��数内没有根据中间画面或基座倾斜量调整动作；log step 120 连续发出后退 0.3 m 和横移 1.2 m 的动作，在 log step 122 返回后才于 log step 123 查看本体姿态。视频 75.5–78 s 显示此时机器人贴近敞开的柜门行驶并翻倒。推断：底盘执行与姿态恢复控制未能在这一近柜转场中保持支撑，导致取盒流程中断；现有证据不能进一步确定是具体碰撞几何、驱动跟踪还是稳定反馈中的哪一项。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频；DAG 未指明装保鲜盒的具体柜门，已打开的深色柜腔内没有清楚显露两个盒，故 cabinet_opened 保留未知。冰箱关闭按初态和连续画面判断，无法测量其门关节的精确5%阈值。翻倒瞬间的机体与门板接触点受遮挡，未另标碰撞现象，控制根因不细分。视频时间均直接取自所检帧，未把 agent 工作时间换算成视频时间。",
+  "unmet": {
+   "apples_in_boxes_1": false,
+   "apples_in_boxes_2": false,
+   "strawberries_in_boxes_1": false,
+   "strawberries_in_boxes_2": false,
+   "boxes_in_fridge_1": false,
+   "boxes_in_fridge_2": false,
+   "fridge_closed": true
+  }
+ },
+ "summary_zh": "机器人打开并检查了烤箱、水槽旁下柜及高柜小隔间，未见水果入盒或保鲜盒入冰箱；终态确定保留冰箱关闭这一项，目标开柜节点因无法对应装盒柜而未知。视频约 76 s，机器人在继续寻找装盒柜的空手转场中翻倒，后续恢复未能重建正常轮式支撑，根因据脚本及画面归为控制。缺少状态日志与成功参考，不能核实目标柜身份或细分翻倒的接触和控制机制。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "断点（视频约76 s转场中翻倒，cabinet_opened）、平衡现象、控制根因与各节点值均与视频和日志一致；cabinet_opened 保留未知在DAG未指明目标柜的情况下合理。未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:32:57Z",
+  "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/behavior-freeze-fruit-i00-standard--kvs8nsp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-freeze-fruit-i00-standard--kvs8nsp/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7150f8eab6e11b6674bc3bda53c30c1ca14fc9f0036435fd139475ddd70c675f",
+   "video_sha256": "883906a091be5eb5c94e8e8db44f7988c6d4908c72c0aa0779e49a6579d9f915",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-standard--mb7srxw.json

@@ -0,0 +1,333 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-freeze-fruit-i00-standard--mb7srxw",
+ "taskKey": "behavior-1k/freeze_fruit",
+ "dag_sha256": "e86f72e029e34ab3019ced83d0f54559848fd3255afc274eb31a7668669172af",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 6222,
+   "sim_steps": 6222,
+   "physics_steps": 24888,
+   "steps": 1037,
+   "elapsed_s": 6635.1,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-freeze-fruit-i00-standard--mb7srxw/replay.mp4",
+  "duration_s": 207.4,
+  "fps": 30.0,
+  "frames": 6222,
+  "sha256": "68e9baa613269cc76b424bd22bdc2f44161b4c96652a36e23f94997c400fc6a3"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 9,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 28,
+      "log_step": null,
+      "text_zh": "观察：视频 28–34 s 可见机器人拉开灶台下柜门；视频 40–66 s、74–114 s、138–194 s 又反复打开、查看不同柜格，能看到部分内层搁板，但没有辨认出两个保鲜盒所在的柜格。"
+     },
+     {
+      "t": 200.3,
+      "log_step": 231,
+      "text_zh": "推断：视频 194–200.3 s 机器人空手离开墙边柜体、转向岛台继续查看，随后倾倒；log step 231–233 的脚本与自述也说明它仍在查找岛台柜格。普通柜门确已打开，但缺少将这些门对应到存放保鲜盒的目标下柜的证据，因此该节点不能确定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 28–34 s 左夹爪夹住灶台下柜门把手外拉；视频 138–146 s、174–182 s 左右夹爪先后夹持不同下柜门把手开门、查看。这里记录寻找目标柜期间确实发生的抓把手接触，尚不能确认其中哪扇属于目标柜。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 34–40 s、66–74 s、182–200.3 s 等时段，轮式底盘移动、转向，在查找及打开不同柜格期间支撑双臂。"
+     }
+    ]
+   },
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.5,
+      "log_step": null,
+      "text_zh": "观察：视频 8.5 s 的厨房扫描可见冰箱门关闭；完整视频中机器人反复操作的是台面上下的橱柜，没有靠近冰箱把手开门，也没有出现供保鲜盒进入的冰箱内腔通道。视频 200.3 s 转向时可见冰箱门仍贴合柜体。"
+     }
+    ]
+   },
+   "apples_in_boxes_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 180,
+      "log_step": null,
+      "text_zh": "观察：视频 4.5 s、72–114 s、138–182 s 可见台面上的水果碗及其内容物未被机器人取走；机器人操作柜门，夹爪没有携带水果，也没有出现苹果进入保鲜盒的动作。"
+     },
+     {
+      "t": 207.366,
+      "log_step": null,
+      "text_zh": "推断：完整视频未出现水果装盒；评分器 reward.q_score=0.0、live_matches_replay=1、deterministic=1，且 DAG 的水果入盒条件在初态均不成立，因此末态不能有“至少一个苹果入盒”所需的新增满足字面量，final=false。冰箱初始关闭的字面量不计入该 q_score。"
+     }
+    ]
+   },
+   "apples_in_boxes_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 180,
+      "log_step": null,
+      "text_zh": "观察：视频 4.5 s、72–114 s、138–182 s 可见台面上的水果碗及其内容物未被机器人取走；机器人操作柜门，夹爪没有携带水果，也没有出现苹果进入保鲜盒的动作。"
+     },
+     {
+      "t": 207.366,
+      "log_step": null,
+      "text_zh": "推断：完整视频未出现水果装盒；评分器 reward.q_score=0.0、live_matches_replay=1、deterministic=1，且 DAG 的水果入盒条件在初态均不成立，因此末态不能有“两个苹果分别入两个盒”所需的新增满足字面量，final=false。冰箱初始关闭的字面量不计入该 q_score。"
+     }
+    ]
+   },
+   "strawberries_in_boxes_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 180,
+      "log_step": null,
+      "text_zh": "观察：视频 4.5 s、72–114 s、138–182 s 可见台面上的水果碗及其内容物未被机器人取走；机器人操作柜门，夹爪没有携带水果，也没有出现草莓进入保鲜盒的动作。"
+     },
+     {
+      "t": 207.366,
+      "log_step": null,
+      "text_zh": "推断：完整视频未出现水果装盒；评分器 reward.q_score=0.0、live_matches_replay=1、deterministic=1，且 DAG 的水果入盒条件在初态均不成立，因此末态不能有“至少一个草莓入盒”所需的新增满足字面量，final=false。冰箱初始关闭的字面量不计入该 q_score。"
+     }
+    ]
+   },
+   "strawberries_in_boxes_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 180,
+      "log_step": null,
+      "text_zh": "观察：视频 4.5 s、72–114 s、138–182 s 可见台面上的水果碗及其内容物未被机器人取走；机器人操作柜门，夹爪没有携带水果，也没有出现草莓进入保鲜盒的动作。"
+     },
+     {
+      "t": 207.366,
+      "log_step": null,
+      "text_zh": "推断：完整视频未出现水果装盒；评分器 reward.q_score=0.0、live_matches_replay=1、deterministic=1，且 DAG 的水果入盒条件在初态均不成立，因此末态不能有“两个草莓分别入两个盒”所需的新增满足字面量，final=false。冰箱初始关闭的字面量不计入该 q_score。"
+     }
+    ]
+   },
+   "boxes_in_fridge_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 196,
+      "log_step": null,
+      "text_zh": "观察：视频 0–196 s 机器人只扫描、开合和查看柜格，没有从柜内提走保鲜盒；视频 196–200.3 s 双夹爪空着在岛台旁转向，视频 200.3–207.366 s 机器人倾倒后未恢复，没有向冰箱搬盒或放盒。"
+     },
+     {
+      "t": 207.366,
+      "log_step": null,
+      "text_zh": "推断：结合全片没有搬盒、冰箱没有被打开，以及评分器 reward.q_score=0.0、live_matches_replay=1，末态“至少一盒入冰箱”为假；该关系初态不成立，若成立将贡献新增目标字面量。"
+     }
+    ]
+   },
+   "boxes_in_fridge_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 196,
+      "log_step": null,
+      "text_zh": "观察：视频 0–196 s 机器人只扫描、开合和查看柜格，没有从柜内提走保鲜盒；视频 196–200.3 s 双夹爪空着在岛台旁转向，视频 200.3–207.366 s 机器人倾倒后未恢复，没有向冰箱搬盒或放盒。"
+     },
+     {
+      "t": 207.366,
+      "log_step": null,
+      "text_zh": "推断：结合全片没有搬盒、冰箱没有被打开，以及评分器 reward.q_score=0.0、live_matches_replay=1，末态“两盒入冰箱”为假；该关系初态不成立，若成立将贡献新增目标字面量。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.5,
+      "log_step": null,
+      "text_zh": "观察：视频 8.5 s 的厨房扫描中冰箱门贴合柜体；视频 200.3 s 转向时可见其门仍关闭。全片机械臂仅操作橱柜，从未接触、拉开冰箱门。"
+     },
+     {
+      "t": 207.366,
+      "log_step": null,
+      "text_zh": "推断：结合 DAG 明确给出的冰箱初始关闭、连续视频中没有开冰箱动作，关闭状态从视频 0 s 保持至视频 207.366 s；末段冰箱离开视野不构成开门证据。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cabinet_opened",
+   "t": 200.3,
+   "log_step": 231,
+   "where": "探索",
+   "evidence_zh": "观察：视频 14–194 s 机器人逐个开柜查看，未见保鲜盒被找到并取出；视频 196–200.3 s 它双手空着转向岛台，视频约 200.3 s 开始侧倾，至视频 202 s 已近侧卧，视频 207.366 s 仍未恢复。log step 231–233 的岛台检查脚本与这一搜索动作相符。推断：它仍处于寻找并打开存盒下柜的探索阶段，最早未能确认完成且未修复的工作是 cabinet_opened；不能把任意已打开的空柜格直接当作目标柜。"
+  },
+  "unmet": {
+   "apples_in_boxes_1": false,
+   "apples_in_boxes_2": false,
+   "strawberries_in_boxes_1": false,
+   "strawberries_in_boxes_2": false,
+   "boxes_in_fridge_1": false,
+   "boxes_in_fridge_2": false,
+   "fridge_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 200.3,
+    "log_step": 237,
+    "evidence_zh": "观察：视频 200.3–202 s，机器人在岛台旁转向后，头部及两腕相机中的地平线一起大幅滚转，机体降至近侧卧；视频 202–207.366 s 未回正。log step 237 的机器人服务本体读数给出基座 rx=-1.5832、ry=-0.6392，基座上轴竖直分量约 -0.010，与视频侧倒一致；此处不将 agent 工作时间换算为视频时间。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 231 的脚本让机器人保持固定的 q_drive 双臂姿态并调用 drive_to_pose 在岛台旁转向、移动；log step 255 所示该函数先生成转向行再生成平移行，没有姿态失稳后的回正分支。视频 200.3–202 s 正在该转向过程中出现全身侧倒，视频末尾仍未恢复，log step 237 的服务本体读数也确认严重倾斜，支持移动执行与稳定控制失败。现有视角未显示具体触发接触或底盘受力，故不细分为碰撞、参数或抓取设计问题。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频。已打开的多个柜格有暗处及门板遮挡，两个保鲜盒始终未被可靠辨认，无法确认哪扇门属于 DAG 指定的存盒下柜，故 cabinet_opened 的区间和终值为未知；这不是由 q_score=0 推定开柜失败。末段可以确认倾倒，但底盘、受力点及是否碰到岛台没有直接证据，控制根因只能保留到大类；log step 237 还显示服务 done=False，不能声称倒地监视器已终止该局。"
+ },
+ "summary_zh": "机器人反复打开并查看多处橱柜，未搬运水果或保鲜盒；可确认保持的节点只有初态即成立的冰箱关闭，六个装果及入冰箱节点末态均为假，目标存盒柜是否已打开仍未知。视频约 200.3 s，机器人在岛台旁继续搜索时转向失衡，侧倒后直至视频 207.366 s 末帧未恢复，根因保留为控制。缺少状态日志与成功参考，不能把已打开的普通柜格对应到目标存盒柜，也不能确定倾倒的具体受力机制。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "标注与视频一致：六个装果/入冰箱节点为假，fridge_closed 自 0 s 保持，cabinet_opened 因无法对应目标柜保持 unknown；视频约 200 s 起侧倒、末帧未恢复，平衡现象与控制根因有证据支持，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": "2026-10-30T21:35:23Z",
+  "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/behavior-freeze-fruit-i00-standard--mb7srxw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-freeze-fruit-i00-standard--mb7srxw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "de97496fbcff34facd7f6a0ddcde6881ac46ec5f9641590217498422bd4aa579",
+   "video_sha256": "68e9baa613269cc76b424bd22bdc2f44161b4c96652a36e23f94997c400fc6a3",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-standard--pcrb39g.json

@@ -0,0 +1,406 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-freeze-fruit-i00-standard--pcrb39g",
+ "taskKey": "behavior-1k/freeze_fruit",
+ "dag_sha256": "e86f72e029e34ab3019ced83d0f54559848fd3255afc274eb31a7668669172af",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 21364,
+   "sim_steps": 21364,
+   "physics_steps": 85456,
+   "steps": 13962,
+   "elapsed_s": 6814.5,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-freeze-fruit-i00-standard--pcrb39g/replay.mp4",
+  "duration_s": 712.133,
+  "fps": 30.0,
+  "frames": 21364,
+  "sha256": "52460d89de92f2fe904124489fd103311d1d20733bc645e5b00d0b10dd6778ef"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 9,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 274,
+      "log_step": 166,
+      "text_zh": "观察：视频 269–280 s，机器人左夹爪拉开的台下门露出洗碗机碗架，随后将其关回；视频 455–525 s 另一座全高柜门被打开，所见层板中没有可辨认的两个保鲜盒。"
+     },
+     {
+      "t": 579.5,
+      "log_step": 250,
+      "text_zh": "观察：视频 570–592 s，机器人左夹爪在水槽下柜门上沿闭合并外拉，柜面始终贴在原位；视频 681–688.5 s 再次按压、外拖上沿，也没有出现取盒通道。log step 250–252 记录同一尝试的末端位移受阻和关节力矩饱和。"
+     },
+     {
+      "t": 535,
+      "log_step": 234,
+      "text_zh": "推断：视频 535 s 烤箱下方隔间仅部分敞开，内部受门板和机械臂遮挡；全片未明确辨认保鲜盒及其所属下柜，不能将已打开的其他柜门等同于 DAG 指定的装盒柜，也不能排除部分敞开的隔间就是目标柜，因此本节点保持未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：寻找装盒柜期间，机器人左二指夹爪夹住台下洗碗机把手、全高柜把手及烤箱下方门把手外拉；视频 269–280 s、455–525 s、535 s 可见对应门板随手运动。左爪还在视频 579.5 s 夹住水槽下柜上沿；这些是候选柜搜索中的实际接触，未确认属于装盒目标柜。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 505–515 s，机器人左手伸入全高柜门后方作推门扫动；随后门内层板可见。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 681–688.5 s，机器人左爪闭合指尖压住水槽下柜顶缝边缘并向外摩擦拖动，柜门没有随动。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在视频 225–707.8 s 的寻柜过程中多次驱动轮式底盘，支撑机械臂并切换柜前工作位置；末尾在绕岛寻找柜子的移动中翻倒。"
+     }
+    ]
+   },
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      211.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 211.5,
+      "log_step": 140,
+      "text_zh": "观察：视频 202–207 s，机器人右夹爪握住白色冰箱门的竖直把手外拉；视频 211.5–216 s 门板明显离开柜体，内腔和玻璃层架可见，入口继续扩大至可送盒的宽度。首次通盒时刻取视频约 211.5 s，未提供盒尺寸和门关节数据，约有 1 s 不确定性。"
+     },
+     {
+      "t": 225,
+      "log_step": 142,
+      "text_zh": "观察：视频 225 s 机器人已松开把手，冰箱门保持明显打开；视频 395 s、535 s、665 s 的后续视图中仍可见敞开的冰箱内腔。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 202–216 s，机器人右二指夹爪夹住冰箱竖直把手，随门板转动向外拉开，随后松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在视频 65–85 s 接近冰箱，并在视频 195–202 s 调整底盘位置以重新伸手抓门；底盘移动期间支撑机械臂。"
+     }
+    ]
+   },
+   "apples_in_boxes_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25,
+      "log_step": 30,
+      "text_zh": "观察：视频 25 s 碗内可见红、绿两个苹果；视频 415 s、675–695 s 再次看向水槽台面时，两个苹果仍在原碗内。已检查的全段动作是观察、开门、探柜和移动，没有机器人夹起苹果并送入保鲜盒的过程。"
+     },
+     {
+      "t": 712.1,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，live_matches_replay=1；苹果入盒关系初态不成立，因此末态任何一个苹果入盒都会贡献新增目标字面量，与总分零矛盾。本计数节点末态为 false；不单凭总分推断过程中没有放置。"
+     }
+    ]
+   },
+   "apples_in_boxes_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25,
+      "log_step": 30,
+      "text_zh": "观察：视频 25 s 碗内可见红、绿两个苹果；视频 415 s、675–695 s 再次看向水槽台面时，两个苹果仍在原碗内。已检查的全段动作是观察、开门、探柜和移动，没有机器人夹起苹果并送入保鲜盒的过程。"
+     },
+     {
+      "t": 712.1,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，live_matches_replay=1；苹果入盒关系初态不成立，因此末态任何一个苹果入盒都会贡献新增目标字面量，与总分零矛盾。本计数节点末态为 false；不单凭总分推断过程中没有放置。"
+     }
+    ]
+   },
+   "strawberries_in_boxes_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 274,
+      "log_step": 166,
+      "text_zh": "观察：视频 255–280 s 两个草莓仍在冰箱旁台面托盘上；视频 565 s、615 s、675 s 托盘内的水果仍可见。机器人操作的是托盘下方门板，没有夹起草莓离开托盘或把草莓送入盒的可见过程。"
+     },
+     {
+      "t": 712.1,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，live_matches_replay=1；草莓入盒是初态不成立的新增目标关系，因此末态无草莓入盒，本计数节点为 false；该总分只约束末态。"
+     }
+    ]
+   },
+   "strawberries_in_boxes_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 274,
+      "log_step": 166,
+      "text_zh": "观察：视频 255–280 s 两个草莓仍在冰箱旁台面托盘上；视频 565 s、615 s、675 s 托盘内的水果仍可见。机器人操作的是托盘下方门板，没有夹起草莓离开托盘或把草莓送入盒的可见过程。"
+     },
+     {
+      "t": 712.1,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，live_matches_replay=1；草莓入盒是初态不成立的新增目标关系，因此末态无草莓入盒，本计数节点为 false；该总分只约束末态。"
+     }
+    ]
+   },
+   "boxes_in_fridge_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 225,
+      "log_step": 144,
+      "text_zh": "观察：视频 225 s、395 s、535 s 可见冰箱内腔及层架，未见保鲜盒；后续视频 570–688.5 s 机器人仍在柜前探查，视频 700–712.1 s 空手移动、翻倒和尝试起身，没有持盒离柜或向冰箱内送盒的可见过程。"
+     },
+     {
+      "t": 712.1,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，live_matches_replay=1；保鲜盒入冰箱是新增目标关系，任一盒在冰箱内都会增加总分，故本计数节点末态为 false。盒的原始藏处遮挡不影响由评分总分确定末态。"
+     }
+    ]
+   },
+   "boxes_in_fridge_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 225,
+      "log_step": 144,
+      "text_zh": "观察：视频 225 s、395 s、535 s 可见冰箱内腔及层架，未见保鲜盒；后续视频 570–688.5 s 机器人仍在柜前探查，视频 700–712.1 s 空手移动、翻倒和尝试起身，没有持盒离柜或向冰箱内送盒的可见过程。"
+     },
+     {
+      "t": 712.1,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，live_matches_replay=1；保鲜盒入冰箱是新增目标关系，任一盒在冰箱内都会增加总分，故本计数节点末态为 false。盒的原始藏处遮挡不影响由评分总分确定末态。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      207
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 65,
+      "log_step": 48,
+      "text_zh": "推断：DAG 的初始目标记录说明冰箱起初关闭；视频 65–85 s 和视频 195–205.5 s 白色冰箱门均贴合柜体，故关闭区间从视频 0 s 起计，不受 after 边门控。"
+     },
+     {
+      "t": 207,
+      "log_step": 135,
+      "text_zh": "观察：视频约 207 s 冰箱门外转，视频 208–212 s 门缝持续变宽、层架逐渐露出，关闭状态失去；视频 225 s、395 s、535 s、665 s 门保持打开，之后机器人未再操作冰箱。"
+     },
+     {
+      "t": 712.1,
+      "log_step": null,
+      "text_zh": "推断：从最后可见的敞开冰箱及视频 675–712.1 s 连续的探柜、绕岛移动和倒地动作判断，结束时门未关回。没有关节角记录，5% 关闭阈值的越界时刻以视频约 207 s 估计，误差约 1 s。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cabinet_opened",
+   "t": 579.5,
+   "log_step": 250,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 570–592 s，机器人对水槽下柜上沿闭爪并外拉，门板未形成取盒通道；视频 681–688.5 s 又作按压外拖，仍未取得盒。推断：开装盒柜是已着手但始终未获证实完成的任务环节；选视频 579.5 s 的清楚受阻尝试作断点导航锚点，不把开洗碗机或空高柜视为该步骤修复。其后视频约 707.8 s，机器人继续寻柜时翻倒，至视频 712.1 s 未恢复。"
+  },
+  "unmet": {
+   "apples_in_boxes_1": false,
+   "apples_in_boxes_2": false,
+   "strawberries_in_boxes_1": false,
+   "strawberries_in_boxes_2": false,
+   "boxes_in_fridge_1": false,
+   "boxes_in_fridge_2": false,
+   "fridge_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "接触力异常",
+    "t": 579.5,
+    "log_step": 250,
+    "evidence_zh": "观察：视频 579.5–592 s，机器人左爪在下柜上沿闭合，外拉及换方向尝试时门板仍不动。log step 250 指令向外移动 0.02/0.04 米，报告末端仅从 y=-1.6078 到约 -1.6056 米，躯干关节力矩达到 -100；log step 251–252 重试仍几乎不动。视频 681–688.5 s 的压拖也没有开门。推断：这里表现为接触后施力受阻，而非已经提起物体后失握。"
+   },
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 707.8,
+    "log_step": 263,
+    "evidence_zh": "观察：视频 700.5–704.5 s 绕岛移动中视角曾大幅倾斜并回摆；视频约 707.8–708.5 s 再次俯倒，头部视图贴近地面，视频 709–712.1 s 双臂伸出但机身没有恢复直立。log step 263–265 同一局服务本体读数为基座高度约 0.271 米、上轴竖直分量约 -0.188；log step 266–267 起身尝试后仍约 -0.17。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 579.5,
+    "log_step": 250,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：视频 570–592 s，机器人左夹爪在水槽下柜上沿闭合并尝试外拉，门板没有随动；inputs/run.json 的 log step 250 输出显示，指令向外移动 0.02/0.04 米时，末端 y 仅从 -1.6078 到 -1.6056 米，躯干关节力矩达到 -100；log step 251 换浅夹持后仍受阻，log step 252 多方向探测也没有解除。视频 681–688.5 s 与 log step 260 的按压外拖尝试仍未开门。推断：断点尝试的接触控制未能把外拉动作转化为柜门的有效运动，导致这次开柜尝试未完成；这与末尾翻倒是不同事件。无法确认夹住的是可动门沿还是固定构件，也无法区分接触几何不适配与受阻后的控制问题，依 docs/03_trajectory.md Step 3.3 和 docs/DECISIONS.md D26 的当前处理停在“控制”，不指定子类，未验证可行替代。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考录像；两个保鲜盒在所检视图中始终未被明确辨认，无法把已打开的全高柜或部分打开的烤箱下隔间绑定到 DAG 指定的装盒下柜，故 cabinet_opened 的区间及末态未知。水槽下柜尝试可确认接触受阻，但不能判定夹住的是可动门沿还是固定构件，也未验证可行替代握法；因此仅给控制根因，不断言环境无解。关于审查建议细分为“抓取和接触设计”，具体机制证据仍不足，依 docs/DECISIONS.md D26 / docs/CASES.md OPEN-17 的 Now（子类不明时停在控制）保留上位条目。末尾碰撞部位被机身/视角遮挡，agent 自述“撞吧凳”（log step 270）不能确认具体撞击物；视频 700–712.1 s 与 log step 263–265 证实翻倒，但不足以确定路线净空或避障规划缺失导致翻倒，故删除原规划根因，后一次失衡的具体原因保留未知。视频时间以所检帧为准；日志控制步 21259/30≈视频 708.63 s 与��地后画面相符，且总控制步 21364/30≈视频 712.13 s，未使用 agent 工作时间换算视频。"
+ },
+ "summary_zh": "机器人确认完成打开冰箱，四个水果仍留在原碗或托盘中，没有完成任何装果入盒或盒入冰箱目标；冰箱关闭状态从初态保持至视频约 207 s，随后丢失，结束时仅 1/9 个节点确认成立。开装盒柜环节始终未获证实完成，视频约 579.5 s 下柜边沿施力受阻，日志支持该尝试存在接触控制问题；继续寻柜时又于视频约 707.8 s 失衡倒地，具体原因未确定。保鲜盒所属柜及其开门状态、接触受阻的具体机制均缺乏确定证据，故柜节点保留未知、控制根因不细分，conf 保持 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、时间和未知处理基本成立（冰箱约207–211 s打开、4个水果与2个盒末态false、cabinet_opened保持unknown）。但根因只解释了断点之后约2分钟才发生的翻倒，没有解释断点（装盒柜始终没开成）；且该根因的依据是对agent自写go_to代码的读取与翻倒画面，没有帧显示路线上的障碍。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值、冰箱开/关时间、未知处理、断点及控制根因与视频和日志一致；第1轮问题已按证据修正，未发现新的实质错误。",
+    "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": "2026-10-30T21:49:14Z",
+  "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/behavior-freeze-fruit-i00-standard--pcrb39g/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-freeze-fruit-i00-standard--pcrb39g/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-freeze-fruit-i00-standard--pcrb39g/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-freeze-fruit-i00-standard--pcrb39g/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9429d4ddbec4d976cb7add0462730ccd0dbdb1a1c7914e2785d5eb2a80fd0f2a",
+   "video_sha256": "52460d89de92f2fe904124489fd103311d1d20733bc645e5b00d0b10dd6778ef",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/make_pizza/trajectories/behavior-make-pizza-i00-privileged--ah9okt2.json

@@ -0,0 +1,406 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-make-pizza-i00-privileged--ah9okt2",
+ "taskKey": "behavior-1k/make_pizza",
+ "dag_sha256": "d6d9df11b8f00b7e0bec05341901a476ef340b5195498408f6ce96ab9b7f72cc",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 754,
+   "sim_steps": 754,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 869.3,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 2,
+   "agent_resets": 1,
+   "agent_sim_steps": 4048,
+   "agent_records": 2,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-make-pizza-i00-privileged--ah9okt2/replay.mp4",
+  "duration_s": 25.133,
+  "fps": 30.0,
+  "frames": 754,
+  "sha256": "d91060209839942167683f3f993107f166bf7a546695bc33019b7605ebcc6d35"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 19,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 18.5,
+      "log_step": 156,
+      "text_zh": "观察：视频 4.5–19.5 s 机器人在冰箱前反复移动左夹爪；视频 16.5–18.5 s 腕部画面可见夹爪在门/把手附近，未见包夹把手，头部画面主要朝向天花板，不能从中量出门缝。交付录制 log step 155 左夹爪闭合后 object_in_hand=None、门关节约0.255 rad；log step 156 拉动后门关节为0.359 rad；log step 157 右夹爪闭合后仍为None、门关节回到约0.124 rad。推断：结合视频 0–25.1 s 未见取料开口或保鲜盒被带出，以及这些交付读数，未达到本节点的可取料开度。log step 150 重置后重新录制，log step 158 保存的754步才是交付；log step 135–148 属于重置前测试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 16.5–18.5 s 左夹爪在冰箱门及把手附近移动，未见包夹把手；log step 155 左夹爪闭合后 object_in_hand=None，门关节由约0.252变为0.255 rad，log step 156 拉动后为0.359 rad。推断：发生了拨动门板的接触，但未建立有效抓握；末段右夹爪也未抓住门（log step 157）。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–4.8 s 轮式底盘承载机器人移动到冰箱正面，随后机器人开始开门尝试。"
+     }
+    ]
+   },
+   "oven_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.1,
+      "log_step": 93,
+      "text_zh": "推断：视频 0–25.1 s 机器人只移到冰箱前并操作冰箱，未到烤箱拉门；视频 25.1 s 腕部画面内的烤箱前板仍合拢。log step 93 的冻结初态查询显示烤箱 Open=False，交付录制的 log step 150–158 没有烤箱操作，故未完成打开烤箱。"
+     }
+    ]
+   },
+   "oven_on": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.1,
+      "log_step": 93,
+      "text_zh": "推断：log step 93 的冻结初态查询显示烤箱 ToggledOn=False；视频 0–25.1 s 只有冰箱前的移动和手臂操作，未见机器人触碰烤箱控制件，log step 150–158 的交付录制也没有启动烤箱的命令，故未开启。"
+     }
+    ]
+   },
+   "cheese_on_dough": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 20.5,
+      "log_step": 158,
+      "text_zh": "推断：任务文本说明奶酪起初在冰箱保鲜盒中；视频 4.5–20.5 s 机器人只在冰箱前操作，未见夹爪带出保鲜盒，视频 21.0–25.1 s 也未转移到饼坯处倒料。交付录制 log step 150–158 仅含移动及开门动作，不能将会话检查算作奶酪铺料。"
+     }
+    ]
+   },
+   "pepperoni_on_dough_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.1,
+      "log_step": 158,
+      "text_zh": "推断：任务文本中四片辣香肠初始均在冰箱盒内；视频 0–25.1 s 机器人只在冰箱前尝试开门，没有夹爪携食材离开或把香肠移向饼坯的动作，交付录制 log step 150–158 也没有取放食材。因此没有达到至少1片肠铺上饼坯的事件。"
+     }
+    ]
+   },
+   "pepperoni_on_dough_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.1,
+      "log_step": 158,
+      "text_zh": "推断：任务文本中四片辣香肠初始均在冰箱盒内；视频 0–25.1 s 机器人只在冰箱前尝试开门，没有夹爪携食材离开或把���肠移向饼坯的动作，交付录制 log step 150–158 也没有取放食材。因此没有达到至少2片肠铺上饼坯的事件。"
+     }
+    ]
+   },
+   "pepperoni_on_dough_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.1,
+      "log_step": 158,
+      "text_zh": "推断：任务文本中四片辣香肠初始均在冰箱盒内；视频 0–25.1 s 机器人只在冰箱前尝试开门，没有夹爪携食材离开或把香肠移向饼坯的动作，交付录制 log step 150–158 也没有取放食材。因此没有达到至少3片肠铺上饼坯的事件。"
+     }
+    ]
+   },
+   "pepperoni_on_dough_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.1,
+      "log_step": 158,
+      "text_zh": "推断：任务文本中四片辣香肠初始均在冰箱盒内；视频 0–25.1 s 机器人只在冰箱前尝试开门，没有夹爪携食材离开或把香肠移向饼坯的动作，交付录制 log step 150–158 也没有取放食材。因此没有达到至少4片肠铺上饼坯的事件。"
+     }
+    ]
+   },
+   "mushrooms_halved_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.1,
+      "log_step": 158,
+      "text_zh": "推断：任务文本中两只蘑菇起初完整地位于冰箱保鲜盒；视频 0–25.1 s 没有取菇、持刀或食材接触刀刃的动作，交付录制 log step 150–158 全为移动及开门操作，故未发生第1只菇切半。重置前的取菇测试不属于交付。"
+     }
+    ]
+   },
+   "mushrooms_halved_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.1,
+      "log_step": 158,
+      "text_zh": "推断：任务文本中两只蘑菇起初完整地位于冰箱保鲜盒；视频 0–25.1 s 没有取菇、持刀或食材接触刀刃的动作，交付录制 log step 150–158 全为移动及开门操作，故未发生第2只菇切半。重置前的取菇测试不属于交付。"
+     }
+    ]
+   },
+   "mushroom_halves_on_dough_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.1,
+      "log_step": 158,
+      "text_zh": "推断：视频 0–25.1 s 未发生切菇或向饼坯搬放半块的动作，机器人始终在冰箱前工作；交付录制 log step 150–158 无食材转移，因而没有达到至少1个蘑菇半块铺在面团上的事件。"
+     }
+    ]
+   },
+   "mushroom_halves_on_dough_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.1,
+      "log_step": 158,
+      "text_zh": "推断：视频 0–25.1 s 未发生切菇或向饼坯搬放半块的动作，机器人始终在冰箱前工作；交付录制 log step 150–158 无食材转移，因而没有达到至少2个蘑菇半块铺在面团上的事件。"
+     }
+    ]
+   },
+   "mushroom_halves_on_dough_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.1,
+      "log_step": 158,
+      "text_zh": "推断：视频 0–25.1 s 未发生切菇或向饼坯搬放半块的动作，机器人始终在冰箱前工作；交付录制 log step 150–158 无食材转移，因而没有达到至少3个蘑菇半块铺在面团上的事件。"
+     }
+    ]
+   },
+   "mushroom_halves_on_dough_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.1,
+      "log_step": 158,
+      "text_zh": "推断：视频 0–25.1 s 未发生切菇或向饼坯搬放半块的动作，机器人始终在冰箱前工作；交付录制 log step 150–158 无食材转移，因而没有达到至少4个蘑菇半块铺在面团上的事件。"
+     }
+    ]
+   },
+   "onion_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.1,
+      "log_step": 158,
+      "text_zh": "推断：任务文本中的洋葱起初完整地放在砧板上；视频 0–25.1 s 机器人没有到砧板旁，也未接触洋葱或雕刻刀，交付录制 log step 150–158 没有切料命令，故洋葱未被切丁。"
+     }
+    ]
+   },
+   "diced_onion_on_dough": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.1,
+      "log_step": 158,
+      "text_zh": "推断：视频 0–25.1 s 未见切洋葱、搬碗或向面团倒料；交付录制 log step 150–158 仅操作冰箱，没有产生并转移洋葱丁，故未完成洋葱丁铺料。"
+     }
+    ]
+   },
+   "dough_in_oven": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.1,
+      "log_step": 158,
+      "text_zh": "推断：任务文本中饼坯和烤盘起初在台面；视频 0–25.1 s 机器人没有接触或携带烤盘，末帧腕部可见烤箱门仍合拢，交付录制 log step 150–158 无入炉操作，故没有把承载饼坯的烤盘送入炉腔。"
+     }
+    ]
+   },
+   "pizza_baked": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.1,
+      "log_step": 174,
+      "text_zh": "推断：视频 0–25.1 s 只有冰箱开门尝试，没有备料或烘烤过程；inputs/run.json 的最终评分 q_score=0，real(pizza) 与 ontop(pizza,cookie_sheet) 两个目标初始均不成立，任何一个新增目标成立都会使总分大于0。因此总分约束披萨存在的终值为false，而非仅凭失败判定猜测。"
+     }
+    ]
+   },
+   "pizza_on_sheet": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.1,
+      "log_step": 174,
+      "text_zh": "推断：视频 0–25.1 s 未进行备料、烘烤或成品搬放；inputs/run.json 的最终 q_score=0 对两个初始均不成立的披萨目标给出总分约束，故成品披萨在烤盘上的终值为false。起初生饼坯在烤盘上不满足本节点。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fridge_opened",
+   "t": 18.5,
+   "log_step": 156,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 16.5–18.5 s 左夹爪在冰箱门/把手附近，未见包夹把手；视频 19–25.1 s 头部视角由天花板急转向地面，未见取出食材。交付录制 log step 155 左夹爪闭合后 object_in_hand=None，log step 156 拉动后门关节为0.359 rad，log step 157 换右臂后仍未抓住、门关节回到约0.124 rad，log step 158 保存并终止录制。推断：开门尝试未达到可取料状态，且未修复。"
+  },
+  "unmet": {
+   "pizza_baked": false,
+   "pizza_on_sheet": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 18.5,
+    "log_step": 155,
+    "evidence_zh": "观察：视频 16.5–18.5 s 腕部画面中左夹爪位于门/把手附近，未见包夹把手；交付录制 log step 155 close_gripper 后 object_in_hand=None，门关节约0.255 rad，log step 156 拉动后为0.359 rad；log step 157 右夹爪闭合后仍为None、门关节回到约0.124 rad。推断：开门所需的有效抓握未建立；未找到具体障碍物阻断运动的接触证据。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：机器人对正确冰箱作开门尝试，但视频 16.5–18.5 s 未见夹爪包夹把手；交付录制 log step 155 左夹爪闭合后 object_in_hand=None，log step 156 拉动后仍有约0.170米末端偏差，门关节只到0.359 rad，支持开门执行的控制层失败，尚不能区分抓取和接触设计、轨迹或逆解、反馈控制。观察：交付末段 log step 157 换右臂后返回末端误差约0.836米、实际高度约0.522米（目标1.24米）；视频 19–25.1 s 头部视角也由天花板急转向地面。推断：该大偏差与末段视角急转并存，现有证据不能判定是否本体倾倒，也不能用该偏差确定接触设计问题。"
+   }
+  ],
+  "gap_zh": "没有状态日志，也没有成功参考视频；门后食材与操作台多被遮挡，未操作节点依据初始任务布局、完整视频动作范围及交付录制命令联合推断；视频 19–25.1 s 头部视角由天花板急转向地面，交付末段 log step 157 同时存在右末端约0.836米的大偏差；没有底盘姿态或支承日志，不能判定是否本体倾倒，也不能据该偏差确定接触设计问题，不据此标跌倒或约束。任务设计问题：log step 89–90 的运行时查询显示烹饪配方为空，pizza 配方需7片肠、10块半菇及番茄酱、马郁兰，而任务给出4片肠、2只菇并未列后两种配料；该不匹配阻碍文本路线生成披萨，但不是本次开门未成功的控制根因，尚未验证其他合法生成路径。"
+ },
+ "summary_zh": "评分视频只包含移动到冰箱前和开门尝试，19个节点均未完成；断点为打开冰箱，夹爪未建立有效抓握，交付录制 log step 156 的门关节读数为0.359 rad，控制子类无法细分。任务设计问题：log step 89–90 的运行时配方查询显示需7片肠、10块半菇及番茄酱和马郁兰，与文本给定食材不匹配，配方当时未激活。没有状态日志或成功参考视频，末段视角急转与 log step 157 的右臂大偏差不能确定本体是否倾倒；门后与操作台状态依动作范围及交付命令推断，最终两项目标为false另受评分总分约束。",
+ "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（全 false）、断点 fridge_opened 与 where 基本成立；主要问题是现象「运动·被挡/碰撞」没有阻挡接触证据，log 实为夹爪合拢时 held=None（没抓住把手），应改为接触·没建立接触；另有视频证据句超出画面所见。",
+    "n_issues": 3,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "全部节点 false、q_score=0 与视频一致；断点 fridge_opened（操作中）、现象「没建立接触」及根因「控制」停在父类均有证据支持；末段视角转向地面是否本体倾倒已在 gap 中如实标为无法判定。上一轮意见已采纳。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:47:48Z",
+  "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/behavior-make-pizza-i00-privileged--ah9okt2/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-make-pizza-i00-privileged--ah9okt2/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-make-pizza-i00-privileged--ah9okt2/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-make-pizza-i00-privileged--ah9okt2/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4f52b3510c517d05f05aed3b33592baea9b18857b0da75d08bd1b8065fcfe824",
+   "video_sha256": "d91060209839942167683f3f993107f166bf7a546695bc33019b7605ebcc6d35",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/make_pizza/trajectories/behavior-make-pizza-i00-privileged--mfkjltm.json

@@ -0,0 +1,537 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-make-pizza-i00-privileged--mfkjltm",
+ "taskKey": "behavior-1k/make_pizza",
+ "dag_sha256": "d6d9df11b8f00b7e0bec05341901a476ef340b5195498408f6ce96ab9b7f72cc",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 18343,
+   "sim_steps": 18343,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 5089.6,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 4,
+   "agent_resets": 1,
+   "agent_sim_steps": 0,
+   "agent_records": 1,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-make-pizza-i00-privileged--mfkjltm/replay.mp4",
+  "duration_s": 611.433,
+  "fps": 30.0,
+  "frames": 18343,
+  "sha256": "313ad8ed65fb47e3e8cb07d3f63c87e7ae8a6041c8a42ff65c96fd1a853f47c3"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 19,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      76.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 76.0,
+      "log_step": null,
+      "text_zh": "观察：视频 73.0–75.5 s 机器人右夹爪在冰箱门前动作，视频 76.0–78.0 s 门板向外让开，露出上层保鲜盒所在的搁架，开口已可接近取料；视频 90.0 s 和视频 114.0 s 仍可见敞开的冰箱。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 73.0–76.0 s，机器人右夹爪合拢在冰箱门把手附近，门随手臂外移而打开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 62.0–68.0 s 机器人移动底盘接近冰箱，随后在开门和取料之间调整位置。"
+     }
+    ]
+   },
+   "oven_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.0,
+      "log_step": null,
+      "text_zh": "观察：视频 9.0–13.5 s 可见烤箱门已向下敞开，炉腔入口让出；视频 64.0 s、160.0 s 和后续取盘阶段仍可见敞开的炉门。此时机器人正在台面准备洋葱，没有操作烤箱门；以首次清楚见到入口的画面为锚，不推定不可见的初始开度。"
+     }
+    ]
+   },
+   "oven_on": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 611.2,
+      "log_step": 601,
+      "text_zh": "观察：视频 9.0–13.5 s 已有红色控制件外观；检查视频 490.0–611.2 s 未见机器人操作烤箱电源控制件，也未见可辨认的开机变化。推断：本次没有达到“操作控制件开启加热”的事件；log step 563、599、601 显示会话脚本先在配料检查或搬盘处退出，后面的 power.py 没执行，支持未走到开机这一步。"
+     }
+    ]
+   },
+   "cheese_on_dough": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 107.0,
+      "log_step": 173,
+      "text_zh": "观察：视频 90.0–110.0 s 机器人从冰箱上层取料后回到饼坯所在台面，末端在台面上方倾转；容器口和落料点处在腕部画面之外或被手臂遮住。log step 173、320 的会话查询报告奶酪覆盖为真，但视频 168.0 s、238.0–248.0 s 的黄色饼坯和白色碎料不足以独立区分奶酪与已生成的洋葱丁，不能据会话读数给本回放记成铺好。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：已查看本节点操作时段的头部与腕部画面；目标接触部位被夹爪、容器或画面边缘遮住，不能确认实际接触方式。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在该取料操作期间移动底盘，车轮支承机体；这不表示已成功持物。"
+     }
+    ]
+   },
+   "pepperoni_on_dough_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 338.0,
+      "log_step": 424,
+      "text_zh": "观察：视频 286.0–316.0 s 机器人在冰箱容器及搁架附近反复合爪，随后回台面；视频 330.0–360.0 s 的腕部视角只有短暂露出的部分饼坯，其余时间朝向机体或地面；视频 370.0–417.5 s 又在冰箱搁架前反复接近、合爪、撤回。香肠片及其离开旧位置、落到饼坯的过程未在这些画面中同时清楚出现，饼坯中央又被碎料遮住，不能从可见区域核实至少1片。log step 424 只在会话中报告一片 ontop 为真，��能替代回放中的取放证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：已查看本节点操作时段的头部与腕部画面；目标接触部位被夹爪、容器或画面边缘遮住，不能确认实际接触方式。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在该取料操作期间移动底盘，车轮支承机体；这不表示已成功持物。"
+     }
+    ]
+   },
+   "pepperoni_on_dough_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 374.0,
+      "log_step": 430,
+      "text_zh": "观察：视频 286.0–316.0 s 机器人在冰箱容器及搁架附近反复合爪，随后回台面；视频 330.0–360.0 s 的腕部视角只有短暂露出的部分饼坯，其余时间朝向机体或地面；视频 370.0–417.5 s 又在冰箱搁架前反复接近、合爪、撤回。香肠片及其离开旧位置、落到饼坯的过程未在这些画面中同时清楚出现，饼坯中央又被碎料遮住，不能从可见区域核实至少2片。log step 424 只在会话中报告一片 ontop 为真，不能替代回放中的取放证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：已查看本节点操作时段的头部与腕部画面；目标接触部位被夹爪、容器或画面边缘遮住，不能确认实际接触方式。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在该取料操作期间移动底盘，车轮支承机体；这不表示已成功持物。"
+     }
+    ]
+   },
+   "pepperoni_on_dough_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 374.0,
+      "log_step": 430,
+      "text_zh": "观察：视频 286.0–316.0 s 机器人在冰箱容器及搁架附近反复合爪，随后回台面；视频 330.0–360.0 s 的腕部视角只有短暂露出的部分饼坯，其余时间朝向机体或地面；视频 370.0–417.5 s 又在冰箱搁架前反复接近、合爪、撤回。香肠片及其离开旧位置、落到饼坯的过程未在这些画面中同时清楚出现，饼坯中央又被碎料遮住，不能从可见区域核实至少3片。log step 424 只在会话中报告一片 ontop 为真，不能替代回放中的取放证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：已查看本节点操作时段的头部与腕部画面；目标接触部位被夹爪、容器或画面边缘遮住，不能确认实际接触方式。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在该取料操作期间移动底盘，车轮支承机体；这不表示已成功持物。"
+     }
+    ]
+   },
+   "pepperoni_on_dough_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 374.0,
+      "log_step": 430,
+      "text_zh": "观察：视频 286.0–316.0 s 机器人在冰箱容器及搁架附近反复合爪，随后回台面；视频 330.0–360.0 s 的腕部视角只有短暂露出的部分饼坯，其余时间朝向机体或地面；视频 370.0–417.5 s 又在冰箱搁架前反复接近、合爪、撤回。香肠片及其离开旧位置、落到饼坯的过程未在这些画面中同时清楚出现，饼坯中央又被碎料遮住，不能从可见区域核实至少4片。log step 424 只在会话中报告一片 ontop 为真，不能替代回放中的取放证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：已查看本节点操作时段的头部与腕部画面；目标接触部位被夹爪、容器或画面边缘遮住，不能确认实际接触方式。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在该取料操作期间移动底盘，车轮支承机体；这不表示已成功持物。"
+     }
+    ]
+   },
+   "mushrooms_halved_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 238.0,
+      "log_step": 372,
+      "text_zh": "观察：视频 218.0–230.0 s 机器人在饼坯上方取放，视频 230.0–248.5 s 末端再次在该区域下降、抬起；腕部近景中夹爪遮住操作点，白色洋葱丁覆盖饼坯中央，无法连续分辨完整蘑菇和新生半块。log step 368 是逐只持刀切割脚本，log step 372 的会话查询列出四个半块，但没有状态日志，不能仅据该查询确认本回放已切开至少1只蘑菇。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：已查看本节点操作时段的头部与腕部画面；目标接触部位被夹爪、容器或画面边缘遮住，不能���认实际接触方式。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在该取料操作期间移动底盘，车轮支承机体；这不表示已成功持物。"
+     }
+    ]
+   },
+   "mushrooms_halved_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 244.0,
+      "log_step": 372,
+      "text_zh": "观察：视频 218.0–230.0 s 机器人在饼坯上方取放，视频 230.0–248.5 s 末端再次在该区域下降、抬起；腕部近景中夹爪遮住操作点，白色洋葱丁覆盖饼坯中央，无法连续分辨完整蘑菇和新生半块。log step 368 是逐只持刀切割脚本，log step 372 的会话查询列出四个半块，但没有状态日志，不能仅据该查询确认本回放已切开至少2只蘑菇。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：已查看本节点操作时段的头部与腕部画面；目标接触部位被夹爪、容器或画面边缘遮住，不能确认实际接触方式。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在该取料操作期间移动底盘，车轮支承机体；这不表示已成功持物。"
+     }
+    ]
+   },
+   "mushroom_halves_on_dough_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 244.0,
+      "log_step": 372,
+      "text_zh": "观察：已查看视频 218.0–253.5 s 的取放、切料前后画面及视频 460.0–470.0 s 的取盘近景；饼坯中央堆有白色洋葱碎丁，夹爪和相邻容器遮住部分配料，无法在画面中数清至少1个独立蘑菇半块与饼坯接触。log step 372 自编查询的四个 OnTop=True 仅为会话证据；log step 563 又报告其搬盘后关系均为假，不能由这些互不等同于回放的查询补出本节点区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：已查看本节点操作时段的头部与腕部画面；目标接触部位被夹爪、容器或画面边缘遮住，不能确认实际接触方式。"
+     }
+    ]
+   },
+   "mushroom_halves_on_dough_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 244.0,
+      "log_step": 372,
+      "text_zh": "观察：已查看视频 218.0–253.5 s 的取放、切料前后画面及视频 460.0–470.0 s 的取盘近景；饼坯中央堆有白色洋葱碎丁，夹爪和相邻容器遮住部分配料，无法在画面中数清至少2个独立蘑菇半块与饼坯接触。log step 372 自编查询的四个 OnTop=True 仅为会话证据；log step 563 又报告其搬盘后关系均为假，不能由这些互不等同于回放的查询补出本节点区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：已查看本节点操作时段的头部与腕部画面；目标接触部位被夹爪、容器或画面边缘遮住，不能确认实际接触方式。"
+     }
+    ]
+   },
+   "mushroom_halves_on_dough_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 244.0,
+      "log_step": 372,
+      "text_zh": "观察：已查看视频 218.0–253.5 s 的取放、切料前后画面及视频 460.0–470.0 s 的取盘近景；饼坯中央堆有白色洋葱碎丁，夹爪和相邻容器遮住部分配料，无法在画面中数清至少3个独立蘑菇半块与饼坯接触。log step 372 自编查询的四个 OnTop=True 仅为会话证据；log step 563 又报告其搬盘后关系均为假，不能由这些互不等同于回放的查询补出本节点区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：已查看本节点操作时段的头部与腕部画面；目标接触部位被夹爪、容器或画面边缘遮住，不能确认实际接触方式。"
+     }
+    ]
+   },
+   "mushroom_halves_on_dough_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 244.0,
+      "log_step": 372,
+      "text_zh": "观察：已查看视频 218.0–253.5 s 的取放、切料前后画面及视频 460.0–470.0 s 的取盘近景；饼坯中央堆有白色洋葱碎丁，夹爪和相邻容器遮住部分配料，无法在画面中数清至少4个独立蘑菇半块与饼坯接触。log step 372 自编查询的四个 OnTop=True 仅为会话证据；log step 563 又报告其搬盘后关系均为假，不能由这些互不等同于回放的查询补出本节点区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：已查看本节点操作时段的头部与腕部画面；目标接触部位被夹爪、容器或画面边缘遮住，不能确认实际接触方式。"
+     }
+    ]
+   },
+   "onion_diced": {
+    "method": "visual",
+    "intervals": [
+     [
+      52.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 52.0,
+      "log_step": 76,
+      "text_zh": "观察：视频 26.0–32.0 s 机器人把完整红色洋葱从砧板夹起并放在饼坯上，视频 38.5–51.5 s 在该处持刀操作；视频 52.0 s 腕部画面露出白色碎丁，视频 56.0–58.5 s 可见原整只洋葱已由饼坯上的碎丁替代。切丁完成锚点约有 0.5 s 不确定性。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 26.0–32.0 s，机器人右夹爪夹持整只洋葱并搬到饼坯上，随后松开。"
+     },
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "推断：视频 38.5–52.0 s，机器人右手持刀在洋葱位置下压，之后整葱被碎丁替代，符合刀刃切割接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在视频 26.0–32.0 s 搬洋葱期间移动底盘，车轮支承机体。"
+     }
+    ]
+   },
+   "diced_onion_on_dough": {
+    "method": "visual",
+    "intervals": [
+     [
+      52.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 52.0,
+      "log_step": 76,
+      "text_zh": "观察：视频 52.0 s 及视频 56.0–58.5 s 腕部画面显示新生成的洋葱碎丁落在黄色饼坯中央，由饼坯承托；碎丁是在饼坯上切割生成，未另从砧板搬运。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "推断：视频 38.5–52.0 s，机器人右手所持刀具切割饼坯上的洋葱，碎丁直接落在饼坯上；没有另一次舀取或倒料。"
+     }
+    ]
+   },
+   "dough_in_oven": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 490.0,
+      "log_step": null,
+      "text_zh": "观察：视频 424.0–470.0 s 机器人在台面烤盘边缘多次接近、合爪、撤手；视频 474.0–490.0 s 撤离时，头部画面仍可见原位置的黑色烤盘、黄色饼坯和旁边白碗，视频 492.0–514.0 s 转向敞开的烤箱后，原台面上的饼坯仍可见，未随手臂搬入炉腔。视频 600.0–611.2 s 没有后续成功入炉；不能把炉门敞开算作入炉。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 424.0–470.0 s 机器人夹爪多次接近烤盘边缘，但接触点被夹爪及盘沿遮挡；不能把合爪动作直接记作成功抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 474.0–514.0 s 机器人移动底盘离开台面、转向烤箱；烤盘和饼坯仍留在原台面。"
+     }
+    ]
+   },
+   "pizza_baked": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 611.2,
+      "log_step": 602,
+      "text_zh": "观察：视频 490.0–514.0 s 台面上仍是黄色生饼坯与零散碎料，视频 600.0–611.2 s 没有生成成品披萨的可见事件；评分器 reward.q_score=0.0，且该 DAG 只有 real(pizza) 与 ontop(pizza,sheet) 两个初始不成立的目标字面量。推断：零总分决定 real(pizza) 最终为假；结合未入炉、未开启加热的画面，全程无可确认的成品生成。"
+     }
+    ]
+   },
+   "pizza_on_sheet": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 611.2,
+      "log_step": 602,
+      "text_zh": "观察：视频 32.0 s、244.0 s 和490.0 s 可见的是生饼坯在烤盘上，不能计为成品披萨在盘上；评分器 reward.q_score=0.0。推断：两项目标均非初始已满足项，零总分决定 ontop(pizza,sheet) 最终为假；未见成品生成，故没有本节点成立区间。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "dough_in_oven",
+   "t": 436.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 424.0–436.0 s 机器人在烤盘附近合爪后撤手，烤盘和饼坯没有离开原台面；视频 438.0–470.0 s 重复接近仍未形成搬运，视频 490.0–514.0 s 可见它们继续留在台面，直到视频 611.2 s 也未出现成功入炉。推断：最早能从本回放明确确认且后续未修复的失败，是取盘搬入烤箱这一步；此前配料节点存在观测缺口，不能从会话的成功自述排除或认定更早失败。"
+  },
+  "unmet": {
+   "pizza_baked": false,
+   "pizza_on_sheet": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 有完整视频及运行记录，但没有状态日志和成功参考视频。已以约每十秒的画面覆盖视频全程，并加密查看洋葱、开冰箱、铺料、取盘及视频 610.4–611.2 s；相机在许多取放时朝向机体或地面，奶酪、香肠片及蘑菇半块的接触点、取起后的旧位置与数量无法同时核实，因此这11个非目标节点保留未知。观察：log step 575 报告会话烤盘已到炉门，log step 598 报告其跌到地面，而视频 490.0–514.0 s 仍显示烤盘和饼坯留在原台面；会话状态与评分回放不一致，按视频取值，不把这些会话查询当成状态日志。推断：取盘失败的接触点仍被遮挡，现有画面不能可靠区别空夹、单侧碰盘或夹持后未能抬起，故失败现象及根因均留空；也没有证据证明保存操作、某个控制参数或环境异常造成了差异。"
+ },
+ "summary_zh": "观察：本次回放可确认洋葱切丁并落在饼坯上、冰箱打开及烤箱门敞开，共确认4/19个节点；奶酪和香肠、蘑菇的铺料及蘑菇切半共11个节点因遮挡不能核实。观察：机器人反复取盘后，视频 490.0–514.0 s 的烤盘与生饼坯仍在台面，未入炉、未见开机，最终评分 q_score=0，两个披萨目标均未满足。推断：断点定位于取盘入炉；会话中“烤盘已到炉门/落地”的查询与回放不符，实际接触失败方式及原因不足以细分。",
+ "conf": 4,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "抽查视频 500–611 s 画面，烤盘/饼坯确实仍留在远处台面，未入炉，与标注一致；未知节点和空的现象/根因层均有 gap_zh 说明，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": "2026-10-30T21:32:14Z",
+  "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/behavior-make-pizza-i00-privileged--mfkjltm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-make-pizza-i00-privileged--mfkjltm/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e97043b9709740f540591209197b8fc069cb65588f73f814493d64349bd5e415",
+   "video_sha256": "313ad8ed65fb47e3e8cb07d3f63c87e7ae8a6041c8a42ff65c96fd1a853f47c3",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/make_pizza/trajectories/behavior-make-pizza-i00-privileged--w6ajb3c.json

@@ -0,0 +1,431 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-make-pizza-i00-privileged--w6ajb3c",
+ "taskKey": "behavior-1k/make_pizza",
+ "dag_sha256": "d6d9df11b8f00b7e0bec05341901a476ef340b5195498408f6ce96ab9b7f72cc",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 2736,
+   "sim_steps": 2736,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1034.5,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 5,
+   "agent_resets": 0,
+   "agent_sim_steps": 5472,
+   "agent_records": 1,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-make-pizza-i00-privileged--w6ajb3c/replay.mp4",
+  "duration_s": 91.2,
+  "fps": 30.0,
+  "frames": 2736,
+  "sha256": "290e8ddb9f40d836f188f169daa72d95b647299e798c41b7093d354d80a33bf3"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 19,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      17.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 17.5,
+      "log_step": null,
+      "text_zh": "观察：视频 12.0 s 冰箱仍关闭，机器人左夹爪合在把手处；视频 16.5–20.5 s 左门持续向外转开，约视频 17.5 s 已露出可接近保鲜盒的开口；视频 42.0 s 两扇门均敞开，随后机器人从下层取出蘑菇盒。首次达成时间约有 0.5 s 误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频 12–21 s 左夹爪夹住左门把手拉门，视频 33–40 s 右夹爪随后夹住右门把手拉门；两手依次操作。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 0–9 s 轮式底盘驶到冰箱前，开门过程中还调整停车位置。"
+     }
+    ]
+   },
+   "oven_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 66,
+      "log_step": null,
+      "text_zh": "观察：视频 64–68 s 转向搬运时可见灶台下烤箱正面的门板保持竖直关闭，炉腔入口未让出；机器人全程只操作冰箱和蘑菇盒，没有拉开烤箱门。"
+     }
+    ]
+   },
+   "oven_on": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 66,
+      "log_step": null,
+      "text_zh": "观察：视频 64–68 s 烤箱仅在背景中短暂出现，无法辨认加热启停指示；全片未见机器人操作烤箱控制件。推断：未操作不能排除初始已开启，且没有状态日志或评分器的启停读数，故不能确定该事件是否从视频起点成立。"
+     }
+    ]
+   },
+   "cheese_on_dough": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 91.17,
+      "log_step": null,
+      "text_zh": "观察：视频 48–61 s 机器人从冰箱下层取出的为装蘑菇的盒子；视频 78–91.17 s 只将该盒移向并倾倒到饼坯，未见奶酪落到面团上，最后仍可见裸露的生面团。"
+     }
+    ]
+   },
+   "pepperoni_on_dough_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 91.17,
+      "log_step": null,
+      "text_zh": "观察：视频 0–90 s 的连续过程抽帧及视频 88.8–91.17 s 密集帧中，机器人仅开冰箱、搬蘑菇盒并倾倒，未取出香肠片；末帧饼坯表面没有辣香肠片，未达到至少1片铺好的判据。"
+     }
+    ]
+   },
+   "pepperoni_on_dough_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 91.17,
+      "log_step": null,
+      "text_zh": "观察：视频 0–90 s 的连续过程抽帧及视频 88.8–91.17 s 密集帧中，机器人仅开冰箱、搬蘑菇盒并倾倒，未取出香肠片；末帧饼坯表面没有辣香肠片，未达到至少2片铺好的判据。"
+     }
+    ]
+   },
+   "pepperoni_on_dough_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 91.17,
+      "log_step": null,
+      "text_zh": "观察：视频 0–90 s 的连续过程抽帧及视频 88.8–91.17 s 密集帧中，机器人仅��冰箱、搬蘑菇盒并倾倒，未取出香肠片；末帧饼坯表面没有辣香肠片，未达到至少3片铺好的判据。"
+     }
+    ]
+   },
+   "pepperoni_on_dough_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 91.17,
+      "log_step": null,
+      "text_zh": "观察：视频 0–90 s 的连续过程抽帧及视频 88.8–91.17 s 密集帧中，机器人仅开冰箱、搬蘑菇盒并倾倒，未取出香肠片；末帧饼坯表面没有辣香肠片，未达到至少4片铺好的判据。"
+     }
+    ]
+   },
+   "mushrooms_halved_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 90.3,
+      "log_step": null,
+      "text_zh": "观察：视频 48–61 s 机器人取出装有完整蘑菇的盒子，随后直接搬到台面；视频 89.4–91.17 s 倾倒时可见圆帽状整菇，未出现由1只整菇切开形成的半块。雕刻刀仍在饼坯旁的台面，机器人没有执行切菇动作。"
+     }
+    ]
+   },
+   "mushrooms_halved_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 90.3,
+      "log_step": null,
+      "text_zh": "观察：视频 48–61 s 机器人取出装有完整蘑菇的盒子，随后直接搬到台面；视频 89.4–91.17 s 倾倒时可见圆帽状整菇，未出现由2只整菇切开形成的半块。雕刻刀仍在饼坯旁的台面，机器人没有执行切菇动作。"
+     }
+    ]
+   },
+   "mushroom_halves_on_dough_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 90.3,
+      "log_step": null,
+      "text_zh": "观察：视频 89.4–91.17 s 机器人翻转保鲜盒向饼坯倒出圆帽状整菇，未见蘑菇半块铺到面团上。推断：完整蘑菇不满足本节点的半块判据，且切半前置事件未达成，不能计为第1块铺好。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "视频 50–91.17 s 左夹爪持蘑菇保鲜盒，盒底承托整菇搬运，最后翻转盒子向饼坯倾倒；按盒与食材的接触链记录，不把持盒抓握重复列出。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 58–82 s 轮式底盘支承机器人，携装菇保鲜盒从冰箱退开、转向并驶到饼坯台面前。"
+     }
+    ]
+   },
+   "mushroom_halves_on_dough_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 90.3,
+      "log_step": null,
+      "text_zh": "观察：视频 89.4–91.17 s 机器人翻转保鲜盒向饼坯倒出圆帽状整菇，未见蘑菇半块铺到面团上。推断：完整蘑菇不满足本节点的半块判据，且切半前置事件未达成，不能计为第2块铺好。"
+     }
+    ]
+   },
+   "mushroom_halves_on_dough_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 90.3,
+      "log_step": null,
+      "text_zh": "观察：视频 89.4–91.17 s 机器人翻转保鲜盒向饼坯倒出圆帽状整菇，未见蘑菇半块铺到面团上。推断：完整蘑菇不满足本节点的半块判据，且切半前置事件未达成，不能计为第3块铺好。"
+     }
+    ]
+   },
+   "mushroom_halves_on_dough_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 90.3,
+      "log_step": null,
+      "text_zh": "观察：视频 89.4–91.17 s 机器人翻转保鲜盒向饼坯倒出圆帽状整菇，未见蘑菇半块铺到面团上。推断：完整蘑菇不满足本节点的半块判据，且切半前置事件未达成，不能计为第4块铺好。"
+     }
+    ]
+   },
+   "onion_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 91.17,
+      "log_step": 225,
+      "text_zh": "观察：视频 0–91.17 s 机器人未操作洋葱或雕刻刀，也未出现洋葱半块进一步变成碎丁的过程；视频 78–91.17 s 的铺料区未出现洋葱丁。推断：结合交付脚本仅执行开门、搬盒和倾倒（log step 225），洋葱切丁未发生。"
+     }
+    ]
+   },
+   "diced_onion_on_dough": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 91.17,
+      "log_step": null,
+      "text_zh": "观察：视频 78–91.17 s 饼坯始终在台面烤盘中，机器人只对它倾倒蘑菇盒；未见洋葱丁转移或散落到饼坯上。推断：洋葱切丁前置事件也未达成，不能计为洋葱丁铺好。"
+     }
+    ]
+   },
+   "dough_in_oven": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 91.17,
+      "log_step": null,
+      "text_zh": "观察：视频 78–91.17 s 生面团和黑色烤盘一直留在水槽旁台面，机器人持盒在其上方倾倒，没有拿起烤盘或送入烤箱。"
+     }
+    ]
+   },
+   "pizza_baked": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 91.17,
+      "log_step": 236,
+      "text_zh": "观察：视频 91.17 s 最后一帧仍是台面上的浅色生面团和刚倒出的菇，未见烘烤或成品披萨。推断：评分器 q_score=0、success=0，结合初始成品不存在，亦约束 real(pizza) 在终点未满足。"
+     }
+    ]
+   },
+   "pizza_on_sheet": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 91.17,
+      "log_step": 236,
+      "text_zh": "观察：视频 91.17 s 黑色烤盘上仍为生饼坯，未出现成品披萨。推断：成品披萨未生成，生饼坯在烤盘上的初始关系不能算成品披萨在烤盘上；评分器 q_score=0 与此一致。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "mushroom_halves_on_dough_1",
+   "t": 89.5,
+   "log_step": 225,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 89.4–91.17 s 机器人正在向饼坯翻倒蘑菇盒，倒出的是未经切半的整菇，未形成第一块蘑菇半块铺好的结果；之后没有修复。log step 225 的交付脚本主程序只调用开冰箱、搬蘑菇盒和倾倒，随即结束录制；log step 232、236 确认最终保存并重放的是该 2736 动作轨迹。推断：断点按正在进行的铺菇动作定位，而不把会话中后续拿刀失败当成本视频的动作。"
+  },
+  "unmet": {
+   "pizza_baked": false,
+   "pizza_on_sheet": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "配料形态不符",
+    "t": 89.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频 89.4–91.17 s 机器人向面团倾倒后出现的仍是带圆帽的完整蘑菇，没有切开的半块；全片没有刀与蘑菇的切割接触。推断：铺入的食材形态不满足半块铺料判据。",
+    "note_zh": "候选名：配料形态不符。现有接触、运动和全身条目不能准确描述整菇未经加工即被用于半块铺料的结果；没有证据将其说成抓取丢失或放置偏移。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "没有状态日志和成功参考视频；蘑菇盒及夹爪遮挡部分落料位置，不能逐只确认整菇最终接触面团还是邻近烤盘，但未发生切半、半块铺料未达成可确定。烤箱初始启停状态及背景指示不可辨，oven_on 保留 unknown。log step 223、224 的拿刀失败仅是会话测试背景，不能确认其与交付中倾倒整菇的因果关系；交付脚本（log step 225）及视频均未执行切菇，没有交付内的切菇控制失败证据。省略切菇本身也不足以判定具体根因，因此 root_causes 留空。"
+ },
+ "summary_zh": "评分轨迹可确认完成打开冰箱（19个节点中1个达成、1个未知）；机器人随后搬出蘑菇盒并向台面饼坯倾倒整菇，未完成切半或任何有效配料、入炉、成品生成节点。断点是首次蘑菇半块铺料：实际使用的仍为整菇；会话中拿刀失败不足以解释该交付动作，根因留空。没有状态日志或成功参考，部分落料被遮挡，烤箱初始启停状态未知。",
+ "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（冰箱开、其余未达成）与视频一致；主要问题是根因“控制”依赖会话期拿刀测试而非交付轨迹，以及断点应落在从未开始的“蘑菇切半”而非倒整菇。",
+    "n_issues": 2,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "冰箱开、其余未达成与视频一致；断点按实际正在做的铺菇步骤、根因留空并写明缺口，符合 03 规则（不从未尝试反推根因），第1轮已处理的点无新证据。",
+    "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": "2026-10-30T21:44:54Z",
+  "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/behavior-make-pizza-i00-privileged--w6ajb3c/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-make-pizza-i00-privileged--w6ajb3c/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-make-pizza-i00-privileged--w6ajb3c/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-make-pizza-i00-privileged--w6ajb3c/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "18e7ae07f26b50de3e9da598e123c8014d28fd10986546066a895f7fcb42d669",
+   "video_sha256": "290e8ddb9f40d836f188f169daa72d95b647299e798c41b7093d354d80a33bf3",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/make_pizza/trajectories/behavior-make-pizza-i00-privileged--zmshjpq.json

@@ -0,0 +1,398 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-make-pizza-i00-privileged--zmshjpq",
+ "taskKey": "behavior-1k/make_pizza",
+ "dag_sha256": "d6d9df11b8f00b7e0bec05341901a476ef340b5195498408f6ce96ab9b7f72cc",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 797,
+   "sim_steps": 797,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1047.1,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 4,
+   "agent_resets": 2,
+   "agent_sim_steps": 1594,
+   "agent_records": 1,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-make-pizza-i00-privileged--zmshjpq/replay.mp4",
+  "duration_s": 26.567,
+  "fps": 30.0,
+  "frames": 797,
+  "sha256": "98260cec17e7e21db5adc7035fe41e1e084409f950c92eb26453adb62056ba2e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 19,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.53,
+      "log_step": 265,
+      "text_zh": "观察：视频 14.0–18.0 s 机器人移到冰箱前，视频 21.0–26.53 s 腕视角中门边仅小幅让开，未露出足以取保鲜盒的开口，也没有保鲜盒被取出。log step 265 是生成交付文件的脚本及其输出：保存797行轨迹时右门角为0.2679 rad、左门角为0.0542 rad；此小幅开门与视频相符，未达到本节点的可取料开度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 14.0–18.0 s 轮式底盘支承机器人从台面区域驶到冰箱前。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 21.0–26.53 s 左腕视角中夹爪本体遮住把手接触部位。推断：结合 log step 265 的左臂接近并外拉动作及门的小幅运动，机器人尝试通过左夹爪操作冰箱右门，但无法分清实际为勾拉、夹持还是擦碰，不能按典型方案填写抓握。"
+     }
+    ]
+   },
+   "oven_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14.5,
+      "log_step": null,
+      "text_zh": "观察：视频 13.5–15.5 s 头部视角扫过烤箱正面，炉门保持合拢，未让出炉腔入口；其余视频中机器人只在台面取刀位置和冰箱前活动，未操作炉门。"
+     }
+    ]
+   },
+   "oven_on": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 14.5,
+      "log_step": null,
+      "text_zh": "观察：视频 13.5–15.5 s 可见烤箱正面，但无法读出加热启停指示；整段视频未见机器人操作烤箱控制件。推断：不能排除初始即开启，且无本次重放状态日志，因此本节点初态及是否已满足无法确定；会话中其他回合的设备读数不作为本次节点值。"
+     }
+    ]
+   },
+   "cheese_on_dough": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.53,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5 s 烤盘上的圆形饼坯表面没有可见奶酪铺层；随后机器人离开台面并一直在冰箱前操作至视频 26.53 s，未见保鲜盒离开冰箱或向饼坯倾倒。推断：结合任务给定奶酪初始在冰箱内，奶酪铺料事件未发生。"
+     }
+    ]
+   },
+   "pepperoni_on_dough_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.53,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5 s 烤盘上只有未铺香肠的饼坯；视频 14.0–26.53 s 机器人转向冰箱并尝试开门，没有取出香肠、把香肠带回台面或铺到饼坯的动作。推断：结合香肠初始在冰箱内，未满足至少1片不同香肠铺在饼坯上的条件；不按实例身份区分。"
+     }
+    ]
+   },
+   "pepperoni_on_dough_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.53,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5 s 烤盘上只有未铺香肠的饼坯；视频 14.0–26.53 s 机器人转向冰箱并尝试开门，没有取出香肠、把香肠带回台面或铺到饼坯的动作。推断：结合香肠初始在冰箱内，未满足至少2片不同香肠铺在饼坯上的条件；不按实例身份区分。"
+     }
+    ]
+   },
+   "pepperoni_on_dough_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.53,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5 s 烤盘上只有未铺香肠的饼坯；视频 14.0–26.53 s 机器人转向冰箱并尝试开门，没有取出香肠、把香肠带回台面或铺到饼坯的动作。推断：结合香肠初始在冰箱内，未满足至少3片不同香肠铺在饼坯上的条件；不按实例身份区分。"
+     }
+    ]
+   },
+   "pepperoni_on_dough_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.53,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5 s 烤盘上只有未铺香肠的饼坯；视频 14.0–26.53 s 机器人转向冰箱并尝试开门，没有取出香肠、把香肠带回台面或铺到饼坯的动作。推断：结合香肠初始在冰箱内，未满足至少4片不同香肠铺在饼坯上的条件；不按实例身份区分。"
+     }
+    ]
+   },
+   "mushrooms_halved_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.53,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5–14.0 s 机器人在台面处尝试取刀，之后视频 14.0–26.53 s 只移向冰箱和操作门；没有取出蘑菇或刀刃接触蘑菇的动作。推断：结合任务给定两只完整蘑菇初始都在冰箱内，至少1只蘑菇切半事件未发生；拿刀准备不等于完成切菇。"
+     }
+    ]
+   },
+   "mushrooms_halved_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.53,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5–14.0 s 机器人在台面处尝试取刀，之后视频 14.0–26.53 s 只移向冰箱和操作门；没有取出蘑菇或刀刃接触蘑菇的动作。推断：结合任务给定两只完整蘑菇初始都在冰箱内，至少2只蘑菇切半事件未发生；拿刀准备不等于完成切菇。"
+     }
+    ]
+   },
+   "mushroom_halves_on_dough_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.53,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5 s 饼坯上没有蘑菇半块，视频 14.0–26.53 s 机器人只在冰箱前活动，未切菇、取菇或将半块搬回饼坯。推断：结合完整蘑菇初始在冰箱内且没有切半过程，至少1块不同蘑菇半块铺好未发生。"
+     }
+    ]
+   },
+   "mushroom_halves_on_dough_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.53,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5 s 饼坯上没有蘑菇半块，视频 14.0–26.53 s 机器人只在冰箱前活动，未切菇、取菇或将半块搬回饼坯。推断：结合完整蘑菇初始在冰箱内且没有切半过程，至少2块不同蘑菇半块铺好未发生。"
+     }
+    ]
+   },
+   "mushroom_halves_on_dough_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.53,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5 s 饼坯上没有蘑菇半块，视频 14.0–26.53 s 机器人只在冰箱前活动，未切菇、取菇或将半块搬回饼坯。推断：结合完整蘑菇初始在冰箱内且没有切半过程，至少3块不同蘑菇半块铺好未发生。"
+     }
+    ]
+   },
+   "mushroom_halves_on_dough_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.53,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5 s 饼坯上没有蘑菇半块，视频 14.0–26.53 s 机器人只在冰箱前活动，未切菇、取菇或将半块搬回饼坯。推断：结合完整蘑菇初始在冰箱内且没有切半过程，至少4块不同蘑菇半块铺好未发生。"
+     }
+    ]
+   },
+   "onion_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.53,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5–14.0 s 机器人在水槽旁尝试取刀，刀仍可见于台面，未见持刀切洋葱、把洋葱移向刀刃或洋葱变成碎丁；此后直到视频 26.53 s 机器人都在冰箱前。推断：结合任务给定洋葱初始完整，洋葱切丁事件未发生。"
+     }
+    ]
+   },
+   "diced_onion_on_dough": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.53,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5 s 饼坯上未见碎丁，之后机器人未切洋葱，也未将洋葱或碗搬到饼坯处倾倒；视频 26.53 s 仍停在冰箱前。推���：初始完整洋葱没有加工和转移过程，洋葱丁铺料事件未发生。"
+     }
+    ]
+   },
+   "dough_in_oven": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.53,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5 s 饼坯及烤盘仍在水槽旁的台面上；视频 13.5–15.5 s 烤箱门合拢，机器人随后离开台面到冰箱前，直到视频 26.53 s 未取烤盘或将其送入烤箱。推断：饼坯和烤盘未入炉。"
+     }
+    ]
+   },
+   "pizza_baked": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.53,
+      "log_step": 282,
+      "text_zh": "观察：视频 7.5 s 可见的是未铺料的生饼坯；之后没有铺料、入炉或烘烤动作，视频 26.53 s 结束于冰箱前。评分器字段 q_score=0.0、success=0，交付文件重放结果也相同（log step 282）。推断：披萨初始为尚不存在的未来对象，两项终点目标均非初始真值，零目标总分据此排除“成品披萨真实存在”在结束时成立；不是仅从失败结论推断物理步骤未做。"
+     }
+    ]
+   },
+   "pizza_on_sheet": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.53,
+      "log_step": 282,
+      "text_zh": "观察：视频 7.5 s 可见的是未铺料的生饼坯；之后没有铺料、入炉或烘烤动作，视频 26.53 s 结束于冰箱前。评分器字段 q_score=0.0、success=0，交付文件重放结果也相同（log step 282）。推断：披萨初始为尚不存在的未来对象，两项终点目标均非初始真值，零目标总分据此排除“成品披萨由烤盘承托”在结束时成立；不是仅从失败结论推断物理步骤未做。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fridge_opened",
+   "t": 23.0,
+   "log_step": 265,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 21.0–26.53 s 机器人在冰箱把手区域连续操作，门仅产生小幅开口，没有让出取保鲜盒所需通道，随后轨迹结束；log step 265 保存的正是该797行开门前缀，报告右门0.2679 rad。推断：首次未修复的步骤是打开冰箱，而非尚未开始的烘烤或成品放置；视频 23.0 s 为小幅拉门过程的导航锚点，非精确失效瞬间。"
+  },
+  "unmet": {
+   "pizza_baked": false,
+   "pizza_on_sheet": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "接触力异常",
+    "t": 23.0,
+    "log_step": 265,
+    "evidence_zh": "观察：视频 21.0–26.53 s 机器人在门前执行拉门动作，门边只小幅移开，取料入口仍被门遮挡；log step 265 的交付运行输出右门仅0.2679 rad，与窄开口相符。推断：按该类别“门没开到位”的定义记录开门作用不足；无接触力传感记录，不主张力值过大，也不把被遮挡的滑脱当作已观察到的现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：局部开门控制未能把正确的外拉目标实现为可取料开度。log step 265 的实际交付脚本先张开左夹爪，以固定x、固定腕姿态接近把手，再沿单一方向依次外拉并结束，只得到右门0.2679 rad；会话测试 log step 263 还记录把手接近多次无逆解，以及目标位置[5.21,-0.055,1.14]与实际末端[5.528,-0.053,1.052]不一致，支持存在定位与接触执行困难。视频 21.0–26.53 s 的小幅开门与该困难一致，但把手处被遮挡，不能进一步区分抓取几何和轨迹/逆解；这些证据不排除其他合法开门方案。"
+   }
+  ],
+  "gap_zh": "观察：本目录没有状态日志，也没有成功参考视频；视频的左腕视角大部分被机器人夹爪本体遮挡，未直接看到指面与把手接触及是否脱离，故接触方式为未知，不能确定滑脱或具体控制子类。烤箱启停指示不可读，初始状态无法由本次视频确认，oven_on 保留未知；其余未完成事件由初始任务条件、整段动作及目标总分共同判断。log step 267、269 是保存交付文件后的独立会话试验，不计入本次进度；log step 289 的后续服务启动崩溃发生在文件保存且已重放验证后，不是本次轨迹的中断原因。agent 在 log step 297 声称固定实例不可解，但没有排除所有合法方案，不能据此归因为任务或环境。"
+ },
+ "summary_zh": "本次797行交付轨迹只完成到台面尝试取刀、驶向冰箱并将门拉开小缝，没有确认达到任何DAG节点；刀仍在台面，log step 265 也返回 knife in hand: None，与 agent 最终自述拿刀不符。断点为打开冰箱：门未达到可取料开度，局部开门控制未��成，后续取料、切配和烘烤均未进行，评分器 q_score=0.0。无状态日志和成功参考，把手接触被遮挡，具体控制子类不能确定，烤箱初始启停状态未知。",
+ "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（fridge_opened 未达成、oven_on 未知、其余未达成）、断点（fridge_opened，操作中）与视频帧、log 及 q_score=0 一致；未发现需要改内容的错误。视频腕视角大多被夹爪遮挡，开门幅度只能与 log 的门角度（右门约0.22–0.27 rad）互证。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:22:57Z",
+  "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/behavior-make-pizza-i00-privileged--zmshjpq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-make-pizza-i00-privileged--zmshjpq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "01f0898ff2665da0bfa0c3e4ccefb0cd2e9fed0234c30afc9b36ac2fd2e7283a",
+   "video_sha256": "98260cec17e7e21db5adc7035fe41e1e084409f950c92eb26453adb62056ba2e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}