diff --git a/phase2/behavior-1k/assembling_gift_baskets/trajectories/behavior-assembling-gift-baskets-i00-privileged--c7dzbs4.json b/phase2/behavior-1k/assembling_gift_baskets/trajectories/behavior-assembling-gift-baskets-i00-privileged--c7dzbs4.json new file mode 100644 index 0000000000000000000000000000000000000000..1efbb72e563a0126e164d8c4c2813e2275a4655f --- /dev/null +++ b/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 该饼干仍在篮内。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个奶酪入篮最终为假。" + } + ] + }, + "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，未继续搬运其余礼物。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" + } + } +} diff --git a/phase2/behavior-1k/assembling_gift_baskets/trajectories/behavior-assembling-gift-baskets-i00-privileged--htmbvje.json b/phase2/behavior-1k/assembling_gift_baskets/trajectories/behavior-assembling-gift-baskets-i00-privileged--htmbvje.json new file mode 100644 index 0000000000000000000000000000000000000000..1537d6369393908dda7df67a37ac5bd2663a53cb --- /dev/null +++ b/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": 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"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：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 的篮内只有蜡烛；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)，评分器记录 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" + } + } +} diff --git a/phase2/behavior-1k/assembling_gift_baskets/trajectories/behavior-assembling-gift-baskets-i00-privileged--kgl2pkh.json b/phase2/behavior-1k/assembling_gift_baskets/trajectories/behavior-assembling-gift-baskets-i00-privileged--kgl2pkh.json new file mode 100644 index 0000000000000000000000000000000000000000..ab1295326d9f278386b4e28b085b8fc92295d1bc --- /dev/null +++ b/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接触。" + }, + { + "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自检值替代评分视频。" + } + ], + "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" + } + } +} diff --git a/phase2/behavior-1k/assembling_gift_baskets/trajectories/behavior-assembling-gift-baskets-i00-privileged--q8j9bvm.json b/phase2/behavior-1k/assembling_gift_baskets/trajectories/behavior-assembling-gift-baskets-i00-privileged--q8j9bvm.json new file mode 100644 index 0000000000000000000000000000000000000000..4ceb3eb2005d231d9af00b85d1129afd26b62ff3 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/assembling_gift_baskets/trajectories/behavior-assembling-gift-baskets-i00-privileged--vsrub8q.json b/phase2/behavior-1k/assembling_gift_baskets/trajectories/behavior-assembling-gift-baskets-i00-privileged--vsrub8q.json new file mode 100644 index 0000000000000000000000000000000000000000..89e4f571248d6a120f0896fe5049b0559e3269f8 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/assembling_gift_baskets/trajectories/behavior-assembling-gift-baskets-i00-privileged--zhhk2cy.json b/phase2/behavior-1k/assembling_gift_baskets/trajectories/behavior-assembling-gift-baskets-i00-privileged--zhhk2cy.json new file mode 100644 index 0000000000000000000000000000000000000000..6a38b85bbd1bb96d388fbb8f503f66ac569ffb91 --- /dev/null +++ b/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，节点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" + } + } +} diff --git a/phase2/behavior-1k/assembling_gift_baskets/trajectories/behavior-assembling-gift-baskets-i00-standard--njrysyu.json b/phase2/behavior-1k/assembling_gift_baskets/trajectories/behavior-assembling-gift-baskets-i00-standard--njrysyu.json new file mode 100644 index 0000000000000000000000000000000000000000..392a5228c51de0d320067156a4ece2cc5ac2a967 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/assembling_gift_baskets/trajectories/behavior-assembling-gift-baskets-i00-standard--v8ddgfj.json b/phase2/behavior-1k/assembling_gift_baskets/trajectories/behavior-assembling-gift-baskets-i00-standard--v8ddgfj.json new file mode 100644 index 0000000000000000000000000000000000000000..ba434040c4f1fc42332643e816237c6a6e6e9187 --- /dev/null +++ b/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。断点仍为第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" + } + } +} diff --git a/phase2/behavior-1k/assembling_gift_baskets/trajectories/behavior-assembling-gift-baskets-i00-standard--xpygg4t.json b/phase2/behavior-1k/assembling_gift_baskets/trajectories/behavior-assembling-gift-baskets-i00-standard--xpygg4t.json new file mode 100644 index 0000000000000000000000000000000000000000..9407c6bfa9772c10169541b4368e000c312e355d --- /dev/null +++ b/phase2/behavior-1k/assembling_gift_baskets/trajectories/behavior-assembling-gift-baskets-i00-standard--xpygg4t.json @@ -0,0 +1,566 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-assembling-gift-baskets-i00-standard--xpygg4t", + "taskKey": "behavior-1k/assembling_gift_baskets", + "dag_sha256": "f73b438e440ce63d6355e3a4ab58c371398e747ffe1fac3b44b09c6c3fb40668", + "outcome": { + "success": 0, + "reward": 0.3125, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 9122, + "sim_steps": 9272, + "physics_steps": 37088, + "steps": 583, + "elapsed_s": 6158.5, + "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": 0.3125, + "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", + 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"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, + "sim_steps": 736, + "fallen": 0, + "final_reward": 0.0, + "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": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:45:02Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-bringing-in-wood-i00-privileged--kagsxgr/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-bringing-in-wood-i00-privileged--kagsxgr/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-bringing-in-wood-i00-privileged--kagsxgr/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-bringing-in-wood-i00-privileged--kagsxgr/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "4be17150456573273dbcdfbc61c3671dc202329403ca349f2a8699b1cf88dbc9", + "video_sha256": "356bb0b94ad61d350c6b81764002fe709bf36fb29e884c2d3ab22ac77091bd31", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/bringing_in_wood/trajectories/behavior-bringing-in-wood-i00-privileged--tulpxdl.json b/phase2/behavior-1k/bringing_in_wood/trajectories/behavior-bringing-in-wood-i00-privileged--tulpxdl.json new file mode 100644 index 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"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" + } + } +} diff --git a/phase2/behavior-1k/bringing_in_wood/trajectories/behavior-bringing-in-wood-i00-privileged--xrxfmwc.json b/phase2/behavior-1k/bringing_in_wood/trajectories/behavior-bringing-in-wood-i00-privileged--xrxfmwc.json new file mode 100644 index 0000000000000000000000000000000000000000..dae7a72c35bc1a091078dd135f2108e03a3ae56e --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/bringing_in_wood/trajectories/behavior-bringing-in-wood-i00-privileged--zsezdlm.json b/phase2/behavior-1k/bringing_in_wood/trajectories/behavior-bringing-in-wood-i00-privileged--zsezdlm.json new file mode 100644 index 0000000000000000000000000000000000000000..3dae678bc1a29a0e057e57eb739de675a26762b3 --- /dev/null +++ b/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。全片未出现搬板过程，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" + } + } +} diff --git a/phase2/behavior-1k/bringing_in_wood/trajectories/behavior-bringing-in-wood-i00-standard--3nacyzz.json b/phase2/behavior-1k/bringing_in_wood/trajectories/behavior-bringing-in-wood-i00-standard--3nacyzz.json new file mode 100644 index 0000000000000000000000000000000000000000..3040885ca225a806273b942b23292012db1d9069 --- /dev/null +++ b/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、视频没有搬板入室，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" + } + } +} diff --git a/phase2/behavior-1k/bringing_in_wood/trajectories/behavior-bringing-in-wood-i00-standard--8y6ujmp.json b/phase2/behavior-1k/bringing_in_wood/trajectories/behavior-bringing-in-wood-i00-standard--8y6ujmp.json new file mode 100644 index 0000000000000000000000000000000000000000..a6fec48cc29e12d4c8705a9f33b3d42119b1b90d --- /dev/null +++ b/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", + 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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": 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"b9dc775a68593425e6ec675ea778e78d26560a11ad271ae1239fb4dc9faad621", + "video_sha256": "55689e22f94be85bf98d1a02c485eb28e3834d8a409e72a6df099e69e38ff642", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/bringing_in_wood/trajectories/behavior-bringing-in-wood-i00-standard--mnwb6p5.json b/phase2/behavior-1k/bringing_in_wood/trajectories/behavior-bringing-in-wood-i00-standard--mnwb6p5.json new file mode 100644 index 0000000000000000000000000000000000000000..469e23868a5d9b2eb501f0122a34c8e3b382c77d --- /dev/null +++ b/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板上。" + }, + { + "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": 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"6f6366d33f71b6a60338af31823cb4ff8dcb1b074dbce88bb5fd2d56593b5f95", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/bringing_in_wood/trajectories/behavior-bringing-in-wood-i00-standard--myaibvy.json b/phase2/behavior-1k/bringing_in_wood/trajectories/behavior-bringing-in-wood-i00-standard--myaibvy.json new file mode 100644 index 0000000000000000000000000000000000000000..a7f93ff402e3d578a6fa070fcdd1154ebc465869 --- /dev/null +++ b/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、时钟与倒地现象基本可信，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" + } + } +} diff --git a/phase2/behavior-1k/bringing_in_wood/trajectories/behavior-bringing-in-wood-i00-standard--yf9votj.json b/phase2/behavior-1k/bringing_in_wood/trajectories/behavior-bringing-in-wood-i00-standard--yf9votj.json new file mode 100644 index 0000000000000000000000000000000000000000..0cd8c39eefdd12bc0d220ce44fdaa711ba89a013 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-privileged--7mxawud.json b/phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-privileged--7mxawud.json new file mode 100644 index 0000000000000000000000000000000000000000..0b9444f4cd9c3e5743770d4f23fc12cd1aeea43c --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-privileged--cqpg2mo.json b/phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-privileged--cqpg2mo.json new file mode 100644 index 0000000000000000000000000000000000000000..9ed73c6259287f044d4b5a2e5186872e2cc41c53 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-privileged--m6ec52r.json b/phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-privileged--m6ec52r.json new file mode 100644 index 0000000000000000000000000000000000000000..99c8b9bde6c069736b94b513bac4df58514c44cb --- /dev/null +++ b/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": 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"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" + } + } +} diff --git a/phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-privileged--rpbdydb.json b/phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-privileged--rpbdydb.json new file mode 100644 index 0000000000000000000000000000000000000000..3569ba1752f4dc05fe0d329fb34e5ddd5598fcd3 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-standard--57aecvq.json b/phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-standard--57aecvq.json new file mode 100644 index 0000000000000000000000000000000000000000..60e5694fc11a66fddabc11ee0d2844e7c599ab85 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-standard--6zn8joq.json b/phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-standard--6zn8joq.json new file mode 100644 index 0000000000000000000000000000000000000000..47174f2c25d2c3a9f7ee2020ee26dce6b7e35f00 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-standard--dtdcjb2.json b/phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-standard--dtdcjb2.json new file mode 100644 index 0000000000000000000000000000000000000000..687a0f9e7c645547bd9d3a85667774c8461ebac8 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-standard--fzm6bns.json b/phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-standard--fzm6bns.json new file mode 100644 index 0000000000000000000000000000000000000000..1f93a792b42003673edfea238de6353ec65706d6 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-standard--wsw7lp2.json b/phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-standard--wsw7lp2.json new file mode 100644 index 0000000000000000000000000000000000000000..d1d346d1808467384e39de5fdf483703bfd1abed --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-standard--zpcvajv.json b/phase2/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-standard--zpcvajv.json new file mode 100644 index 0000000000000000000000000000000000000000..7265f0e44a05c5fb0f7604425970c8aa386236a2 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-privileged--3gqbrav.json b/phase2/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-privileged--3gqbrav.json new file mode 100644 index 0000000000000000000000000000000000000000..fe759f16f181fe2877ca86175ac88e4a72d70656 --- /dev/null +++ b/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": 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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火车留在该层前缘，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" + } + } +} diff --git a/phase2/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-privileged--6ysxuwq.json b/phase2/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-privileged--6ysxuwq.json new file mode 100644 index 0000000000000000000000000000000000000000..505cf4e6dbf26b29e92ea70ea8c7bc8567f4096d --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-privileged--dws2vfc.json b/phase2/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-privileged--dws2vfc.json new file mode 100644 index 0000000000000000000000000000000000000000..a546a223a9fd1edfd19e5397f5c50a4820b66d77 --- /dev/null +++ b/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计数无法核验，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" + } + } +} diff --git a/phase2/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-standard--dibo9w3.json b/phase2/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-standard--dibo9w3.json new file mode 100644 index 0000000000000000000000000000000000000000..bba0031aa5b56ee2b756bd14636dedd2069d6cb9 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-standard--havvdul.json b/phase2/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-standard--havvdul.json new file mode 100644 index 0000000000000000000000000000000000000000..4d562fb8a5075f7f0e56e48b21b4b2b247e47515 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-standard--nfib72i.json b/phase2/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-standard--nfib72i.json new file mode 100644 index 0000000000000000000000000000000000000000..667f555288d2610dcc1d12a74ccc611e033502d4 --- /dev/null +++ b/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 粉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，头部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" + } + } +} diff --git a/phase2/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-standard--rametkw.json b/phase2/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-standard--rametkw.json new file mode 100644 index 0000000000000000000000000000000000000000..92c6de4dd147c506a1e6140d8fef69368fca6ab0 --- /dev/null +++ b/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，未操作该玩具；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" + } + } +} diff --git a/phase2/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-standard--tt7yr9y.json b/phase2/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-standard--tt7yr9y.json new file mode 100644 index 0000000000000000000000000000000000000000..e821af436674f800f69b02d1ce13f5573a1d4a87 --- /dev/null +++ b/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，后续还向书柜小幅靠近。" + } + ] + }, + "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" + } + } +} diff --git a/phase2/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-standard--zrnklum.json b/phase2/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-standard--zrnklum.json new file mode 100644 index 0000000000000000000000000000000000000000..d225e7ef9ca5c04d4a8287257f3746604f94a205 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-privileged--ugkujzj.json b/phase2/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-privileged--ugkujzj.json new file mode 100644 index 0000000000000000000000000000000000000000..2e4958b0c06a49d1f63c6dbb02f8f66b05cc251c --- /dev/null +++ b/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，主要活动区域一直是下柜、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" + } + } +} diff --git a/phase2/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-privileged--v2my7pq.json b/phase2/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-privileged--v2my7pq.json new file mode 100644 index 0000000000000000000000000000000000000000..538da85bb24fe6639732d0aba613be34362b8ad4 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-standard--77oq2xr.json b/phase2/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-standard--77oq2xr.json new file mode 100644 index 0000000000000000000000000000000000000000..d9bae58d33c9b716ac3912ac820262b43f1431b8 --- /dev/null +++ b/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高柜门保持明显敞开，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" + } + } +} diff --git a/phase2/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-standard--g27vbmo.json b/phase2/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-standard--g27vbmo.json new file mode 100644 index 0000000000000000000000000000000000000000..171d78d506e569ad167d3b289cbe790cf1f7382f --- /dev/null +++ b/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不能保证，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": 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0000000000000000000000000000000000000000..5c713c053e68b39a3173d43a967b540296baeb26 --- /dev/null +++ b/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起、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": 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"019162841978a73464eea6523263826ab123f58b08b6a55731964e723f423535", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-standard--kvs8nsp.json b/phase2/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-standard--kvs8nsp.json new file mode 100644 index 0000000000000000000000000000000000000000..86328f5ae46ec2ab1e59ccc5ef758bef471c49fd --- /dev/null +++ b/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，函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" + } + } +} diff --git a/phase2/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-standard--mb7srxw.json b/phase2/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-standard--mb7srxw.json new file mode 100644 index 0000000000000000000000000000000000000000..51d2cb8306614bc6893788f4e49d2bb79c72ccfb --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-standard--pcrb39g.json b/phase2/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-standard--pcrb39g.json new file mode 100644 index 0000000000000000000000000000000000000000..d3a19c8e20afc3b43f04dbef739d1a3fb0887307 --- /dev/null +++ b/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 与倒地后画面相符，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" + } + } +} diff --git a/phase2/behavior-1k/make_pizza/trajectories/behavior-make-pizza-i00-privileged--ah9okt2.json b/phase2/behavior-1k/make_pizza/trajectories/behavior-make-pizza-i00-privileged--ah9okt2.json new file mode 100644 index 0000000000000000000000000000000000000000..f94efed5942aa9779f85a04e88f421bb9adb5bda --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/make_pizza/trajectories/behavior-make-pizza-i00-privileged--mfkjltm.json b/phase2/behavior-1k/make_pizza/trajectories/behavior-make-pizza-i00-privileged--mfkjltm.json new file mode 100644 index 0000000000000000000000000000000000000000..3796e22f434d5ca69563965b26bbef90a0217c60 --- /dev/null +++ b/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，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_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_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" + } + } +} diff --git a/phase2/behavior-1k/make_pizza/trajectories/behavior-make-pizza-i00-privileged--w6ajb3c.json b/phase2/behavior-1k/make_pizza/trajectories/behavior-make-pizza-i00-privileged--w6ajb3c.json new file mode 100644 index 0000000000000000000000000000000000000000..bc828caffe99a64ed5548b2f1f23eba9c36414f4 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/make_pizza/trajectories/behavior-make-pizza-i00-privileged--zmshjpq.json b/phase2/behavior-1k/make_pizza/trajectories/behavior-make-pizza-i00-privileged--zmshjpq.json new file mode 100644 index 0000000000000000000000000000000000000000..bcea67b01c21c1f47032f7c9a6367f4a3ddef499 --- /dev/null +++ b/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。推断：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，局部开门控制未完成，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" + } + } +} diff --git a/phase2/behavior-1k/make_pizza/trajectories/behavior-make-pizza-i00-standard--6xyoct2.json b/phase2/behavior-1k/make_pizza/trajectories/behavior-make-pizza-i00-standard--6xyoct2.json new file mode 100644 index 0000000000000000000000000000000000000000..4c0ea4259b057685c10a83a13d282ac56c0fcdf8 --- /dev/null +++ b/phase2/behavior-1k/make_pizza/trajectories/behavior-make-pizza-i00-standard--6xyoct2.json @@ -0,0 +1,461 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-make-pizza-i00-standard--6xyoct2", + "taskKey": "behavior-1k/make_pizza", + "dag_sha256": "d6d9df11b8f00b7e0bec05341901a476ef340b5195498408f6ce96ab9b7f72cc", + "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": 28374, + "sim_steps": 28374, + "physics_steps": 113496, + "steps": 23325, + "elapsed_s": 11102.4, + "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-make-pizza-i00-standard--6xyoct2/replay.mp4", + "duration_s": 945.8, + "fps": 30.0, + "frames": 28374, + "sha256": "49e04bf0ec9e94235472acb81e2b1c9010463fc614f41cc81cd860d6a32d6d6c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 19, + "base": null, + "peak": null, + "final": null, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 660, + "log_step": null, + "text_zh": "观察：视频 450、650、660–670 s，冰箱一侧门已经向外敞开，内部搁架及上层白色保鲜盒可见；机器人在视频 670 s 后才伸手接近盒子。" + }, + { + "t": 450, + "log_step": 184, + "text_zh": "推断：全片前段是导航、恢复姿态和查看台面，未见机器人开冰箱；结合视频 450 s 已敞开的门，将可接近取料的开门状态归于初态，事件从视频 0 s 起成立。log step 184 的“门已经打开”仅作佐证。" + }, + { + "t": 826, + "log_step": 286, + "text_zh": "观察：视频 754–758、822–826 s，机器人在冰箱前横向伸动左夹爪并推拨门板；log step 245、286 的脚本记录了推门动作。后来改变门开度不撤销此事件。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：机器人用左夹爪横向推拨冰箱门内板，以改变取盒通道；未见夹住把手再拉门的动作（视频 754–758、822–826 s；log step 245、286）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：轮式底盘支承机器人接近冰箱并改变操作站位（视频 650–676、736–742 s）。" + } + ] + }, + "oven_opened": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2, + "log_step": null, + "text_zh": "观察：视频 2 s 的头部视角中，灶台下烤箱黑色炉腔敞开、炉门向下放平；视频 430 s 可再次看到该状态，机器人未对炉门做开门操作。" + }, + { + "t": 2, + "log_step": 120, + "text_zh": "推断：机器人起初只转向和导航，未接触烤箱；视频 2 s 已达到可装盘开度，因此开门事件视为初态成立，从视频 0 s 记入。log step 120 也称炉门原已打开。" + } + ] + }, + "oven_on": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 430, + "log_step": null, + "text_zh": "观察：视频 2、400、430 s 可见烤箱及控制面板，但没有可确认含义的加热状态读数；全片抽帧未见机器人操作加热开关，后段机器人一直在冰箱前。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：没有状态日志或加热成功的后续现象，不能区分烤箱初始已开启与始终关闭；门敞开不能证明加热已开，故此节点未知。" + } + ] + }, + "cheese_on_dough": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 430, + "log_step": 298, + "text_zh": "推断：视频 430 s 饼坯仍裸露于台面烤盘，视频 660–945.77 s 的取料近景与撤手画面没有显示配料被送到饼坯；视频 670、798、832、854、929–933 s 仍可见冰箱上层白色盒。log step 209–310 的脚本主要尝试取盒，未执行铺料，故该铺料事件未达成。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 676–728、780–798、910–933 s，机器人伸夹爪尝试取冰箱白色盒并空手撤出。推断：盒内材料及其与此配料节点的对应不能可靠识别，只能确认共同取料尝试，不能确认该节点专属的接触；不把闭爪命令记为已抓握。" + } + ] + }, + "pepperoni_on_dough_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 430, + "log_step": 298, + "text_zh": "推断：视频 430 s 饼坯仍裸露于台面烤盘，视频 660–945.77 s 的取料近景与撤手画面没有显示配料被送到饼坯；视频 670、798、832、854、929–933 s 仍可见冰箱上层白色盒。log step 209–310 的脚本主要尝试取盒，未执行铺料，故该铺料事件未达成。 未见达到至少1片不同香肠接触饼坯的条件。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 676–728、780–798、910–933 s，机器人伸夹爪尝试取冰箱白色盒并空手撤出。推断：盒内材料及其与此配料节点的对应不能可靠识别，只能确认共同取料尝试，不能确认该节点专属的接触；不把闭爪命令记为已抓握。" + } + ] + }, + "pepperoni_on_dough_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 430, + "log_step": 298, + "text_zh": "推断：视频 430 s 饼坯仍裸露于台面烤盘，视频 660–945.77 s 的取料近景与撤手画面没有显示配料被送到饼坯；视频 670、798、832、854、929–933 s 仍可见冰箱上层白色盒。log step 209–310 的脚本主要尝试取盒，未执行铺料，故该铺料事件未达成。 未见达到至少2片不同香肠接触饼坯的条件。" + } + ] + }, + "pepperoni_on_dough_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 430, + "log_step": 298, + "text_zh": "推断：视频 430 s 饼坯仍裸露于台面烤盘，视频 660–945.77 s 的取料近景与撤手画面没有显示配料被送到饼坯；视频 670、798、832、854、929–933 s 仍可见冰箱上层白色盒。log step 209–310 的脚本主要尝试取盒，未执行铺料，故该铺料事件未达成。 未见达到至少3片不同香肠接触饼坯的条件。" + } + ] + }, + "pepperoni_on_dough_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 430, + "log_step": 298, + "text_zh": "推断：视频 430 s 饼坯仍裸露于台面烤盘，视频 660–945.77 s 的取料近景与撤手画面没有显示配料被送到饼坯；视频 670、798、832、854、929–933 s 仍可见冰箱上层白色盒。log step 209–310 的脚本主要尝试取盒，未执行铺料，故该铺料事件未达成。 未见达到至少4片不同香肠接触饼坯的条件。" + } + ] + }, + "mushrooms_halved_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 798, + "log_step": 298, + "text_zh": "推断：全片粗采样及视频 660–945.77 s 的密集检查只显示查看台面和冰箱取盒尝试，未见机器人拿刀压切蘑菇、把蘑菇移到刀刃或生成分离半块；完整日志也无执行切菇动作，故第1只菇切半事件未达成。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 676–728、780–798、910–933 s，机器人伸夹爪尝试取冰箱白色盒并空手撤出。推断：盒内材料及其与此配料节点的对应不能可靠识别，只能确认共同取料尝试，不能确认该节点专属的接触；不把闭爪命令记为已抓握。" + } + ] + }, + "mushrooms_halved_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 798, + "log_step": 298, + "text_zh": "推断：全片粗采样及视频 660–945.77 s 的密集检查只显示查看台面和冰箱取盒尝试，未见机器人拿刀压切蘑菇、把蘑菇移到刀刃或生成分离半块；完整日志也无执行切菇动作，故第2只菇切半事件未达成。" + } + ] + }, + "mushroom_halves_on_dough_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 430, + "log_step": 298, + "text_zh": "推断：视频 430 s 的饼坯仍无蘑菇半块，后续检查至视频 945.77 s 未见取出蘑菇、切半或向饼坯搬运半块；第1块菇铺好所需的切半前置事件也未达成。" + } + ] + }, + "mushroom_halves_on_dough_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 430, + "log_step": 298, + "text_zh": "推断：视频 430 s 的饼坯仍无蘑菇半块，后续检查至视频 945.77 s 未见取出蘑菇、切半或向饼坯搬运半块；第2块菇铺好所需的切半前置事件也未达成。" + } + ] + }, + "mushroom_halves_on_dough_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 430, + "log_step": 298, + "text_zh": "推断：视频 430 s 的饼坯仍无蘑菇半块，后续检查至视频 945.77 s 未见取出蘑菇、切半或向饼坯搬运半块；第3块菇铺好所需的切半前置事件也未达成。" + } + ] + }, + "mushroom_halves_on_dough_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 430, + "log_step": 298, + "text_zh": "推断：视频 430 s 的饼坯仍无蘑菇半块，后续检查至视频 945.77 s 未见取出蘑菇、切半或向饼坯搬运半块；第4块菇铺好所需的切半前置事件也未达成。" + } + ] + }, + "onion_diced": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 430, + "log_step": null, + "text_zh": "观察：视频 430 s 头部视角可见台面砧板上的整只橙黄色洋葱；之后机器人主要转向冰箱并尝试取盒，未见持刀切洋葱或把洋葱移向刀刃。" + }, + { + "t": 945.77, + "log_step": 298, + "text_zh": "推断：全片检查与日志均无执行切丁动作或生成洋葱丁的证据，切丁步骤未开始，故未达成；不从 q_score=0 推导此中间事件。" + } + ] + }, + "diced_onion_on_dough": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 430, + "log_step": 298, + "text_zh": "推断：视频 430 s 饼坯仍裸露；此后至视频 945.77 s 未见机器人切丁、用碗或其他方式把洋葱丁转移到饼坯，且切丁前置未达成。" + } + ] + }, + "dough_in_oven": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 430, + "log_step": null, + "text_zh": "观察：视频 430 s 左腕视角仍可见生饼坯留在台面上的黑色烤盘内，敞开烤箱位于另一侧；机器人随后前往冰箱。" + }, + { + "t": 945.77, + "log_step": 298, + "text_zh": "推断：后半片机器人持续在冰箱前伸手、推门和空手撤回，未见烤盘离开台面或通过炉门，日志也没有执行运盘入炉动作；入炉事件未达成。" + } + ] + }, + "pizza_baked": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 430, + "log_step": null, + "text_zh": "观察：视频 430 s 左腕视角显示的是无配料的生饼坯；全片所查画面未见生成成品披萨。" + }, + { + "t": 945.77, + "log_step": 311, + "text_zh": "推断：评分器 reward.q_score=0、success=0、live_matches_replay=1；DAG 两个目标是成品披萨存在和披萨在烤盘上，成品初始不存在，任一个目标成立都会超过零总分，因此最终成品不存在。视频中的未铺料、未入炉过程与此相符。" + } + ] + }, + "pizza_on_sheet": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 430, + "log_step": null, + "text_zh": "观察：视频 430 s 的盘上物仍是生饼坯，不是成品披萨；不能把初始饼坯在盘上记为成品披萨在盘上。" + }, + { + "t": 945.77, + "log_step": 311, + "text_zh": "推断：reward.q_score=0 且 live_matches_replay=1 决定最终两个非初始目标均不成立；成品未生成，故成品由烤盘承托及其离手静置验收均未达成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "比例", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": 721.0, + "log_step": 209, + "where": "操作中", + "evidence_zh": "观察：视频 720–728 s 机器人夹爪在冰箱上层盒子旁伸入、闭合后撤开，没有盒子随手离开搁架；视频 798、832、854、929–933 s 的复查仍显示盒子留在架上。log step 209 记录首次明确取盒闭爪后开度为 0、提升无逆解，后续多次尝试至 log step 310 也没有送出配料。推断：最早未修复的失败位于配料取盒准备；DAG 没有共同取料节点，画面与日志不能确定被取的盒子对应奶酪、香肠还是蘑菇，故不强选某个配料节点。" + }, + "unmet": { + "pizza_baked": false, + "pizza_on_sheet": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 721.0, + "log_step": 209, + "evidence_zh": "观察：视频 720–728、780–798、910–933 s，机器人向盒子伸爪后撤回，未见盒子被两指夹持并随手提离，多个后续正视画面仍可见盒子位于冰箱上层；log step 209 闭爪读数为 0，log step 262、310 的撤回过程中也为 0。推断：取料所需的有效持握没有建立；这里指所需夹持接触缺失，不声称夹爪完全没有擦碰盒缘或门架。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "t": 721.0, + "log_step": 209, + "evidence_zh": "推断：取盒控制未把夹爪送到能夹持盒子的姿态，且没有可靠的持物确认。log step 209 脚本目标为 [5.17,-0.30,1.40]，实际 TCP 报 [5.337,-0.040,1.521]，仍闭爪，随后提升返回无逆解；log step 252 又把完全闭合的 0 开度判断为 HOLDING，log step 262 继续执行空手拖出路径。视频 720–728、780–798 s 的原位盒子和空手撤回支持这一控制失效；证据不足以在接触几何、逆解和跟踪之间唯一选定子类。" + } + ], + "gap_zh": "没有 inputs/states.jsonl 或成功参考视频。白色保鲜盒的内容及各次取盒的配料身份无法可靠辨认，且日志只以盒子位置称呼目标，故无法把共同取料失败唯一绑定奶酪铺料、首片香肠铺料或首只蘑菇切半，breakpoint.ref 保留 unknown，三个候选首节点的专属接触记未知。相机近景遮住部分指尖与盒缘，不能判定每次擦碰的接触对或排除极短持握；烤箱初始加热状态没有可确认的读数，oven_on 保留未知。开门事件的起点根据最早可见状态及此前无开门动作推断为视频 0 s。" + }, + "summary_zh": "本次评分回合可确认 2/19 个节点成立，均为原已敞开的冰箱门和烤箱门；未见完成取料、铺料、切料或入炉，最终无成品披萨，q_score=0。机器人反复尝试取冰箱上层白色盒，但夹爪未建立可搬运的持握，控制日志还显示目标与实际末端位置偏差、无逆解和空夹后继续撤回。取盒所对应的配料身份无法可靠辨认，故断点节点未知；烤箱加热状态也未知。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽帧复查未发现能改变结论的错误：冰箱门和烤箱门在机器人接近前已敞开（视频 2 s、430 s、648 s 远景可见），2/19 的节点判断、unknown 的 oven_on 及 unknown 断点均有依据；取盒未建立接触的现象与控制类根因有日志支撑。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:36:48Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-make-pizza-i00-standard--6xyoct2/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-make-pizza-i00-standard--6xyoct2/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d865e193ae34d674b693de0ad761733f38a01d08e110a6af3a5f56850d3cb143", + "video_sha256": "49e04bf0ec9e94235472acb81e2b1c9010463fc614f41cc81cd860d6a32d6d6c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/make_pizza/trajectories/behavior-make-pizza-i00-standard--agxssbg.json b/phase2/behavior-1k/make_pizza/trajectories/behavior-make-pizza-i00-standard--agxssbg.json new file mode 100644 index 0000000000000000000000000000000000000000..75c6a01dc643fa40f38b197ecd05e83d1a0bcac1 --- /dev/null +++ b/phase2/behavior-1k/make_pizza/trajectories/behavior-make-pizza-i00-standard--agxssbg.json @@ -0,0 +1,497 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-make-pizza-i00-standard--agxssbg", + "taskKey": "behavior-1k/make_pizza", + "dag_sha256": "d6d9df11b8f00b7e0bec05341901a476ef340b5195498408f6ce96ab9b7f72cc", + "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": 19466, + "sim_steps": 19466, + "physics_steps": 77864, + "steps": 9082, + "elapsed_s": 5402.7, + "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": 0.326, + "peak_processes": 11, + "peak_disk_gb": 0.478, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-standard--agxssbg/replay.mp4", + "duration_s": 648.867, + "fps": 30.0, + "frames": 19466, + "sha256": "a06ab38b3aeca3fc18941aa51d06e29ed05b42e04daaccdb5b24862b3137f076" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 19, + "base": null, + "peak": null, + "final": null, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 420, + "log_step": null, + "text_zh": "观察：视频 20–30 s、视频 90–95 s及视频 420 s可见冰箱门仍贴合门框；机器人此后在水槽、烤盘与砧板区域作业，未拉冰箱门，也未显露冰箱内的保鲜盒。" + } + ] + }, + "oven_opened": { + "method": "visual", + "intervals": [ + [ + 53, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 53, + "log_step": 33, + "text_zh": "观察：视频 50.5–54 s机器人右夹爪夹住炉门把手向外下方拉，视频约 53 s炉腔及烤架已经露出、开口可供薄烤盘通过；视频 65–70 s又把门向下推至近水平。首次可通过时刻约有 0.5 s误差。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右夹爪夹住烤箱门把手，沿开门弧线下拉。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "随后右夹爪抵住炉门向下推，使门进一步敞开；这段没有包夹门板。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘驶到烤箱前并后退调整与门的距离。" + } + ] + }, + "oven_on": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 646.2, + "log_step": 229, + "text_zh": "观察：视频 44 s及视频 93–96 s可同时看到灶面与炉门上方的两个红色设备标记；视频 646.05–646.25 s倾倒中的腕部视角可见靠近灶面的一个标记由红变绿。画面没有同时显示两个标记以辨认此次变化属于灶头还是烤箱，日志也未报告设备启停状态，因此不能确定烤箱开启事件。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "倾倒末段炉具附近有红标变绿，但设备归属及具体作用端接触被视角遮挡，无法确定是否为烤箱开关接触。" + } + ] + }, + "cheese_on_dough": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 646.8, + "log_step": null, + "text_zh": "观察：视频 437–442 s饼坯被放回烤盘时表面无奶酪；视频 615 s、视频 622 s及视频 646.8 s的腕部视角仍见裸饼坯。机器人没有取出奶酪盒或执行倾倒。" + } + ] + }, + "pepperoni_on_dough_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 646.8, + "log_step": null, + "text_zh": "观察：视频 437–442 s、视频 615 s及视频 646.8 s可见盘中仍是裸饼坯，没有香肠片；机器人未从冰箱取出香肠，未发生第1片铺料。" + } + ] + }, + "pepperoni_on_dough_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 646.8, + "log_step": null, + "text_zh": "观察：视频 437–442 s、视频 615 s及视频 646.8 s可见盘中仍是裸饼坯，没有香肠片；机器人未从冰箱取出香肠，未发生第2片铺料。" + } + ] + }, + "pepperoni_on_dough_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 646.8, + "log_step": null, + "text_zh": "观察：视频 437–442 s、视频 615 s及视频 646.8 s可见盘中仍是裸饼坯，没有香肠片；机器人未从冰箱取出香肠，未发生第3片铺料。" + } + ] + }, + "pepperoni_on_dough_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 646.8, + "log_step": null, + "text_zh": "观察：视频 437–442 s、视频 615 s及视频 646.8 s可见盘中仍是裸饼坯，没有香肠片；机器人未从冰箱取出香肠，未发生第4片铺料。" + } + ] + }, + "mushrooms_halved_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 648.5, + "log_step": null, + "text_zh": "观察：已检查视频全程，机器人在开炉门、移盘、捡回饼坯及取刀和接近洋葱之间作业，没有取出蘑菇或让刀刃接触蘑菇，也没有出现蘑菇分成两半的画面；第1只蘑菇切半未发生。" + } + ] + }, + "mushrooms_halved_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 648.5, + "log_step": null, + "text_zh": "观察：已检查视频全程，机器人在开炉门、移盘、捡回饼坯及取刀和接近洋葱之间作业，没有取出蘑菇或让刀刃接触蘑菇，也没有出现蘑菇分成两半的画面；第2只蘑菇切半未发生。" + } + ] + }, + "mushroom_halves_on_dough_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 646.8, + "log_step": null, + "text_zh": "观察：视频 437–442 s、视频 615 s及视频 646.8 s可见裸饼坯，没有蘑菇半块；全程未见蘑菇取出或切半、移到饼坯上，第1块铺料未发生。" + } + ] + }, + "mushroom_halves_on_dough_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 646.8, + "log_step": null, + "text_zh": "观察：视频 437–442 s、视频 615 s及视频 646.8 s可见裸饼坯，没有蘑菇半块；全程未见蘑菇取出或切半、移到饼坯上，第2块铺料未发生。" + } + ] + }, + "mushroom_halves_on_dough_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 646.8, + "log_step": null, + "text_zh": "观察：视频 437–442 s、视频 615 s及视频 646.8 s可见裸饼坯，没有蘑菇半块；全程未见蘑菇取出或切半、移到饼坯上，第3块铺料未发生。" + } + ] + }, + "mushroom_halves_on_dough_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 646.8, + "log_step": null, + "text_zh": "观察：视频 437–442 s、视频 615 s及视频 646.8 s可见裸饼坯，没有蘑菇半块；全程未见蘑菇取出或切半、移到饼坯上，第4块铺料未发生。" + } + ] + }, + "onion_diced": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 648.5, + "log_step": 221, + "text_zh": "观察：视频 525–535 s机器人右夹爪拿起并搬开雕刻刀；视频 554–582 s夹爪抵住砧板向外拖动，洋葱未随之移近；视频 595–607 s夹爪在洋葱附近闭合、抬起后，完整的粉红色洋葱仍在砧板原处。视频 648.5 s仍见整只洋葱，没有半块或洋葱丁。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右夹爪包夹雕刻刀柄，将刀拿起并放到台面边缘，作为切洋葱的准备；刀刃没有接触洋葱，不标工具切割接触。" + }, + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "右夹爪闭合后抵压砧板表面，尝试把砧板和洋葱拖近；随后在洋葱附近空合夹爪，未形成可见的洋葱抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在刀具台面与砧板前往返、调整取料姿态。" + } + ] + }, + "diced_onion_on_dough": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 648.5, + "log_step": null, + "text_zh": "观察：视频 648.5 s完整洋葱仍在砧板上；视频 615 s、视频 622 s及视频 646.8 s盘中饼坯表面没有洋葱丁，机器人未执行碎丁铺料。" + } + ] + }, + "dough_in_oven": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 97.5, + "log_step": 53, + "text_zh": "观察：视频 82–96 s机器人左夹爪夹持带饼坯的烤盘移向已打开的烤箱附近；视频 96–99 s持盘姿态改变，饼坯离开盘面，视频 103 s可见它落在烤箱旁地面。视频 437–442 s机器人把饼坯放回炉旁台面上的烤盘，但视频 615 s、视频 622 s及视频 646.8 s仍见它在台面上，始终没有把带饼坯的烤盘送进炉腔。" + }, + { + "t": 441.5, + "log_step": 186, + "text_zh": "推断：视频 437–442 s已恢复饼坯在盘上的承载关系，但不是本节点要求的入炉完成；此后直到视频结束没有入炉，故搬运阶段失败的步骤仍未完成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左夹爪夹住烤盘边缘，把载有饼坯的烤盘从原台面搬到炉旁台面；未完成入炉。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘后退、旋转并驶向烤箱旁，搬运期间左夹爪持盘。" + } + ] + }, + "pizza_baked": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 646.8, + "log_step": null, + "text_zh": "观察：视频 437–442 s、视频 615 s及视频 646.8 s可见仍为无配料的生饼坯，未见配方生成成品披萨。评分器 reward.q_score=0、live_matches_replay=1与此一致，但未仅凭零分否定动作。" + } + ] + }, + "pizza_on_sheet": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 646.8, + "log_step": 186, + "text_zh": "观察：视频 437–442 s机器人将捡回的生饼坯放回台面烤盘，视频 646.8 s仍是生饼坯；本节点要求成品披萨，不能把生饼坯在盘上计为披萨留盘。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "前段机器人持烤盘从下方承托生饼坯，倾斜后饼坯滑落；此处只是成品留盘的承载准备。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "视频约 394–400 s右夹爪夹住地上饼坯的边缘并抬起，随后搬回并在视频约 437 s松开放到烤盘上；操作的是生饼坯。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "持盘搬运及持饼坯回到台面时底盘行驶、转向。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "比例", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "dough_in_oven", + "t": 97.5, + "log_step": 53, + "where": "操作中", + "evidence_zh": "观察：视频 82–96 s机器人持盘驶向烤箱附近，视频 96–99 s盘倾斜后饼坯滑离，视频 103 s落在地上；log step 53的脚本在左夹爪仍持盘时改变躯干关节。推断：这是最早出错且本步骤始终未完成的搬运入炉操作；视频 437–442 s仅将饼坯放回炉旁台面上的盘，未完成入炉，后来的洋葱操作和倾倒也没有补完此节点。" + }, + "unmet": { + "pizza_baked": false, + "pizza_on_sheet": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 97.5, + "log_step": 53, + "evidence_zh": "观察：视频 95–96 s饼坯仍由左夹爪所持烤盘承托；视频 96.5–99 s持盘姿态改变，饼坯从盘面滑离，视频 103 s可见饼坯在炉旁地面，而烤盘随后被机器人放到台面。这里丢失的是搬运中对盘内饼坯的承托，不是已在炉内按计划松手后的不稳。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "轨迹或逆解", + "t": 97.5, + "log_step": 53, + "source_zh": "日志", + "note_zh": "持盘时修改躯干关节，未同步补偿持盘末端姿态。", + "evidence_zh": "观察：log step 50的服务读数显示左夹爪开度持续为0.0241，视频 95–96 s烤盘仍承托饼坯。log step 53的set_trunk代码以q0.copy()建立目标，仅令q1[3:7]=t，再线性插值躯干关节，两臂关节未同步补偿；log step 55读回的左末端旋转矩阵已明显倾斜。视频 96–99 s可见持盘姿态改变、饼坯离开盘面，视频 103 s可见饼坯在地面。推断：问题发生在生成的关节轨迹未维持承载所需的末端姿态，支持控制·轨迹或逆解；没有证据表明是闭环跟踪误差，也未验证补偿姿态的替代轨迹能否成功，故alt_feasible为未知。", + "alt_feasible": "未知" + } + ], + "gap_zh": "无状态日志、无成功参考视频；开门首次达到装盘开度的时间为视觉估计。视频 646.15 s附近有炉具红标变绿，但两种热源的标记未同时入镜、无设备状态读数，不能唯一确认是烤箱开启，故oven_on保留未知。后段洋葱抓取未成，机器人又在视频约 638.5 s开始倾倒；log step 229–231的服务记录最终以跌倒终止，但这不是最早未完成步骤的新断点。控制步时钟依据log step 7的30 Hz及19466步对应视频648.867 s，已用log step 186的13131/30=437.7 s与视频437–438 s饼坯放回盘上核对；未使用agent工作时间换算。" + }, + "summary_zh": "机器人完成开烤箱门，随后持盘向炉旁搬运时因改变躯干姿态而使饼坯滑落；饼坯虽在视频约 437 s被放回烤盘，但整个回合未完成入炉，因此断点保留为饼坯送入烤箱。随后取刀和接近洋葱均未产生切丁或铺料，末段倾倒终止，未生成披萨，19个节点仅1个确定完成。没有状态日志；末段炉具绿标无法唯一归属烤箱，烤箱开启节点未知。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "断点（dough_in_oven，视频 97.5 s，操作中）、节点进度和现象（没保持住）经视频与 log step 53 核对成立；唯一需改的是根因 item 写成“控制·控制”，不是分类表中的有效条目，且缺少 alt_feasible。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "断点（dough_in_oven，视频约 97.5 s）、烤箱开门、饼坯滑落于约 103 s落地、末段仍为裸饼坯等关键标注与抽查帧一致；根因与现象符合证据，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:47:00Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-make-pizza-i00-standard--agxssbg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-make-pizza-i00-standard--agxssbg/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-make-pizza-i00-standard--agxssbg/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-make-pizza-i00-standard--agxssbg/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a6575c94cd2acf71b084c71c92f498a3992eb0ef676b6305ff531c9c50c01730", + "video_sha256": "a06ab38b3aeca3fc18941aa51d06e29ed05b42e04daaccdb5b24862b3137f076", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/make_pizza/trajectories/behavior-make-pizza-i00-standard--njs4twc.json b/phase2/behavior-1k/make_pizza/trajectories/behavior-make-pizza-i00-standard--njs4twc.json new file mode 100644 index 0000000000000000000000000000000000000000..48c0087c74388a43242fef09d77889fa5c9b771b --- /dev/null +++ b/phase2/behavior-1k/make_pizza/trajectories/behavior-make-pizza-i00-standard--njs4twc.json @@ -0,0 +1,398 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-make-pizza-i00-standard--njs4twc", + "taskKey": "behavior-1k/make_pizza", + "dag_sha256": "d6d9df11b8f00b7e0bec05341901a476ef340b5195498408f6ce96ab9b7f72cc", + "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": 441, + "sim_steps": 441, + "physics_steps": 1764, + "steps": 132, + "elapsed_s": 503.6, + "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": 0.321, + "peak_processes": 11, + "peak_disk_gb": 0.999, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-standard--njs4twc/replay.mp4", + "duration_s": 14.7, + "fps": 30.0, + "frames": 441, + "sha256": "369d902823fd80e731fa38e7400c618d120d0cdf540641b7796296b053365606" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 19, + "base": null, + "peak": null, + "final": null, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.1, + "log_step": 43, + "text_zh": "观察：视频 0.1、0.9 s 的厨房背景中未见冰箱门扇向外打开或露出取料内腔；机器人仍在餐桌旁。视频 1.2–14.67 s 机器人行驶、倾倒及翻滚，未见夹爪操作冰箱门；log step 43 的执行脚本只转向并向厨房平移，没有开门动作。" + }, + { + "t": 2.1, + "log_step": 47, + "text_zh": "推断：结合起始厨房门面、全段没有开门或取盒动作，打开冰箱事件未达成；不能用 q_score=0 单独判定此事件。" + } + ] + }, + "oven_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.9, + "log_step": 43, + "text_zh": "观察：视频 0.1、0.9 s 厨房下柜处的烤箱门面仍关闭，未见炉腔入口或放下的门板；视频 1.2–14.67 s 机器人始终未操作炉门，log step 43 仅执行底盘导航。" + } + ] + }, + "oven_on": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 0.9, + "log_step": 43, + "text_zh": "观察：视频 0.1、0.9 s 仅远处可见厨房电器，无法辨清烤箱控制件档位或开机指示；后续至视频 14.67 s 没有操作烤箱控制件的动作。输入没有状态日志，run.json 的评分字段也未报告烤箱启停状态，故不能排除烤箱初始已开启。" + } + ] + }, + "cheese_on_dough": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.1, + "log_step": 43, + "text_zh": "推断：任务初态说明奶酪在冰箱内的保鲜盒中；视频 0–14.67 s 仅见机器人转向、空手行驶及倾倒恢复，未见取出保鲜盒或向饼坯倾倒。log step 43、52–73 的实际执行也仅为底盘动作，因此没有奶酪从盒中铺上饼坯的事件。" + } + ] + }, + "pepperoni_on_dough_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.1, + "log_step": 43, + "text_zh": "推断：任务初态的四片辣香肠在冰箱保鲜盒内；视频 0–14.67 s 未出现机器人取片、持片或将片铺上饼坯的过程，倾倒后的动作一直是底盘滑动和翻滚。结合 log step 43、52–73 的执行动作，未达到至少1片香肠接触面团的事件。" + } + ] + }, + "pepperoni_on_dough_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.1, + "log_step": 43, + "text_zh": "推断：任务初态的四片辣香肠在冰箱保鲜盒内；视频 0–14.67 s 未出现机器人取片、持片或将片铺上饼坯的过程，倾倒后的动作一直是底盘滑动和翻滚。结合 log step 43、52–73 的执行动作，未达到至少2片香肠接触面团的事件。" + } + ] + }, + "pepperoni_on_dough_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.1, + "log_step": 43, + "text_zh": "推断：任务初态的四片辣香肠在冰箱保鲜盒内；视频 0–14.67 s 未出现机器人取片、持片或将片铺上饼坯的过程，倾倒后的动作一直是底盘滑动和翻滚。结合 log step 43、52–73 的执行动作，未达到至少3片香肠接触面团的事件。" + } + ] + }, + "pepperoni_on_dough_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.1, + "log_step": 43, + "text_zh": "推断：任务初态的四片辣香肠在冰箱保鲜盒内；视频 0–14.67 s 未出现机器人取片、持片或将片铺上饼坯的过程，倾倒后的动作一直是底盘滑动和翻滚。结合 log step 43、52–73 的执行动作，未达到至少4片香肠接触面团的事件。" + } + ] + }, + "mushrooms_halved_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.67, + "log_step": 73, + "text_zh": "推断：任务初态为两只完整蘑菇在冰箱保鲜盒内；视频 0–14.67 s 未见机器人取菇、持刀切菇或半块分离，实际回合仅进行转向、行驶及倾倒恢复（log step 43、52–73）。因此未达到至少1只完整蘑菇切成两半的事件。" + } + ] + }, + "mushrooms_halved_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.67, + "log_step": 73, + "text_zh": "推断：任务初态为两只完整蘑菇在冰箱保鲜盒内；视频 0–14.67 s 未见机器人取菇、持刀切菇或半块分离，实际回合仅进行转向、行驶及倾倒恢复（log step 43、52–73）。因此未达到至少2只完整蘑菇切成两半的事件。" + } + ] + }, + "mushroom_halves_on_dough_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.67, + "log_step": 73, + "text_zh": "推断：视频 0–14.67 s 机器人没有切菇或搬运半块到饼坯的过程，全段仅转向、行驶及倾倒恢复；任务初态只有完整蘑菇，log step 43、52–73 也没有切割或铺料动作。因此至少1个蘑菇半块铺上面团的事件未发生。" + } + ] + }, + "mushroom_halves_on_dough_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.67, + "log_step": 73, + "text_zh": "推断：视频 0–14.67 s 机器人没有切菇或搬运半块到饼坯的过程，全段仅转向、行驶及倾倒恢复；任务初态只有完整蘑菇，log step 43、52–73 也没有切割或铺料动作。因此至少2个蘑菇半块铺上面团的事件未发生。" + } + ] + }, + "mushroom_halves_on_dough_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.67, + "log_step": 73, + "text_zh": "推断：视频 0–14.67 s 机器人没有切菇或搬运半块到饼坯的过程，全段仅转向、行驶及倾倒恢复；任务初态只有完整蘑菇，log step 43、52–73 也没有切割或铺料动作。因此至少3个蘑菇半块铺上面团的事件未发生。" + } + ] + }, + "mushroom_halves_on_dough_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.67, + "log_step": 73, + "text_zh": "推断：视频 0–14.67 s 机器人没有切菇或搬运半块到饼坯的过程，全段仅转向、行驶及倾倒恢复；任务初态只有完整蘑菇，log step 43、52–73 也没有切割或铺料动作。因此至少4个蘑菇半块铺上面团的事件未发生。" + } + ] + }, + "onion_diced": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.67, + "log_step": 73, + "text_zh": "推断：任务初态是砧板上的完整洋葱；视频 0–14.67 s 没有机器人接近砧板操作、刀刃切洋葱或生成碎丁的过程，log step 43、52–73 的执行仅为底盘行驶和恢复。因此整只洋葱切丁事件未达成。" + } + ] + }, + "diced_onion_on_dough": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.67, + "log_step": 73, + "text_zh": "推断：视频 0–14.67 s 没有洋葱切丁或机器人将洋葱丁转移到面团的过程，实际执行始终为底盘动作（log step 43、52–73）；结合任务初态为完整洋葱，洋葱丁铺料事件未达成。" + } + ] + }, + "dough_in_oven": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.67, + "log_step": 73, + "text_zh": "推断：任务初态饼坯和烤盘在台面上；视频 0–14.67 s 机器人空手行驶并倾倒，未见夹爪拿起烤盘、开炉门或使烤盘进入炉腔。log step 43、52–73 没有烤盘搬运动作，因此饼坯入炉事件未达成。" + } + ] + }, + "pizza_baked": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.67, + "log_step": 75, + "text_zh": "推断：任务初态只有生饼坯，成品披萨尚不存在；视频 0–14.67 s 未见任何铺料或入炉过程，末帧机器人仍侧倒。评分器 q_score=0，且 live_matches_replay=1；两项终点为披萨存在和披萨在烤盘上，均非初始成立条件，故总分也确定披萨存在这一目标最终为假。" + } + ] + }, + "pizza_on_sheet": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.67, + "log_step": 75, + "text_zh": "推断：视频 0–14.67 s 没有制作或生成成品披萨的过程，台面初始的生饼坯不等于披萨。评分器 q_score=0、live_matches_replay=1，且披萨并非初始已存在，故成品披萨在烤盘上这一终点最终为假；没有可计的达成区间。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "比例", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": 1.5, + "log_step": 43, + "where": "转场", + "evidence_zh": "观察：视频 1.2–2.1 s 机器人在餐桌、椅子旁空手行驶，视角逐步翻斜；随后滑动、翻滚，视频 14.1–14.67 s 仍侧倒。log step 43 的脚本目标仅为向厨房行驶，尚无明确取料或操作炉门动作；log step 75 的机器人服务状态（本回合的执行状态通道）报告 done=true、reason=\"failure: the robot fell over\"。推断：这是进入厨房操作区途中的失衡，无法唯一归属于打开冰箱、切洋葱或其他某个 DAG 节点。" + }, + "unmet": { + "pizza_baked": false, + "pizza_on_sheet": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 1.5, + "log_step": 47, + "evidence_zh": "观察：视频 1.2–2.1 s 厨房墙面与地面在机载画面中持续翻斜；视频 2.5–5.0 s 出现多次翻滚，视频 14.1–14.67 s 停在侧倒姿态。log step 47 的本回合服务读数为 control_steps=63，基座上轴竖直分量约0.181；log step 75 在 control_steps=441 报告跌倒失败。推断：按 log step 28 的 control_hz=30，63/30=视频 2.1 s，已与视频 2.1 s 的倾倒画面核对，441/30=视频 14.7 s 也与片长相符。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 1.5, + "log_step": 43, + "source_zh": "日志", + "evidence_zh": "推断：log step 30 的服务说明明确底盘位移命令会在每个30赫兹控制步重复施加；log step 43 的 move_world 默认 speed=0.13，首段请求世界坐标位移(1.0,-0.35)米，被压入9个控制步，名义平移速度约3.5米/秒。同一步执行结果基座高度从约0.065米升至0.301米，log step 47 上轴竖直分量仅0.181，与视频 1.2–2.1 s 的翻斜一致；log step 52–73 的持续底盘滑动和旋转未使机器人稳定恢复直立，最终服务判跌倒。行驶及姿态恢复控制未能保持支撑；证据不足以单独确定速度参数、障碍接触和姿态反馈各自的贡献，故停在控制大类。" + } + ], + "gap_zh": "没有状态日志或成功参考视频。实际动作仅为全景转向、朝厨房导航及倾倒恢复，未明确开始某个 DAG 操作，因此断点 ref 保留 unknown；这些一般底盘移动不强行归入某个节点的 contact_actual，各节点均未见针对目标的操作接触。烤箱的初始启停指示在所有视角中无法辨清，oven_on 为 unknown；食材多数未获近景，其未处理状态由初态、完整动作过程和未发生切割/搬运共同推断。首次失衡时具体碰撞点及受力不可见，不把 agent 自述“撞餐椅”（log step 85）当作已观察到的独立现象或已证实的唯一原因。" + }, + "summary_zh": "机器人只完成转向观察与向厨房的空手行驶，没有观察到19个制作节点中任何一个达成；其中烤箱初始启停无法确认，其余18个判为未达成，两个成品目标也由 q_score=0 佐证。机器人在约视频 1.5 s 的转场中倾倒，后续滑动和翻滚未恢复稳定支撑，服务最终判跌倒失败；日志支持底盘行驶及恢复控制失当。导航尚未明确指向某个 DAG 操作，断点节点保留 unknown；无状态日志，食材近景和烤箱初始开机状态是主要证据缺口。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频帧与标注一致：机器人只做转向和向厨房的空手行驶，约 1.2–2.1 s 起视角翻斜并倾倒，后段翻滚、末帧侧倒；各节点未达成、断点 unknown/转场、平衡 + 控制的因果链均有视频与服务读数支持，时钟换算有核对。", + "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": "2026-10-30T21:30:04Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-make-pizza-i00-standard--njs4twc/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-make-pizza-i00-standard--njs4twc/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "55cd8f21760411cbd350a0c3c162f59ca55f4db1c4097748bed8aabf4729508c", + "video_sha256": "369d902823fd80e731fa38e7400c618d120d0cdf540641b7796296b053365606", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/make_pizza/trajectories/behavior-make-pizza-i00-standard--rq5xqqr.json b/phase2/behavior-1k/make_pizza/trajectories/behavior-make-pizza-i00-standard--rq5xqqr.json new file mode 100644 index 0000000000000000000000000000000000000000..3ae96df30383e692e4e6c3daf89f0285f58108cb --- /dev/null +++ b/phase2/behavior-1k/make_pizza/trajectories/behavior-make-pizza-i00-standard--rq5xqqr.json @@ -0,0 +1,441 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-make-pizza-i00-standard--rq5xqqr", + "taskKey": "behavior-1k/make_pizza", + "dag_sha256": "d6d9df11b8f00b7e0bec05341901a476ef340b5195498408f6ce96ab9b7f72cc", + "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": 3318, + "sim_steps": 3318, + "physics_steps": 13272, + "steps": 1106, + "elapsed_s": 1337.8, + "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": 0.261, + "peak_processes": 6, + "peak_disk_gb": 0.269, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-standard--rq5xqqr/replay.mp4", + "duration_s": 110.6, + "fps": 30.0, + "frames": 3318, + "sha256": "1c76f9fa4214c5aa2bf35f791b775774c06840702ae9c76c2d7edded8f32c993" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 19, + "base": null, + "peak": null, + "final": null, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 32.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 32.5, + "log_step": 132, + "text_zh": "观察：视频 28.5–30.5 s 右夹爪围住冰箱竖直把手，视频 31.0–33.0 s 门向外转开；视频 32.5 s 已露出可接近保鲜盒的层架，视频 35.5 s 和 110.57 s 均可见冰箱右门敞开、取料开口露出。完成时刻约为视频 32.5 s。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 29.5–33.0 s 机器人右侧二指夹爪夹住冰箱竖直把手并向外拉门，随后张开离开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘在视频 0–27 s 的接近阶段移动、转向，支承机器人来到冰箱前。" + } + ] + }, + "oven_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 100, + "log_step": null, + "text_zh": "观察：视频 15.0 s、22.0 s、35.5 s 及 100.0 s 烤箱门均贴合炉体；所检查的全段动作只有冰箱开门、备料区夹爪动作和末段取盒，未见机器人拉开烤箱门或露出炉腔入口。" + } + ] + }, + "oven_on": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 100, + "log_step": null, + "text_zh": "观察：视频 22.0 s、42.0 s 和 100.0 s 可见烤箱及红色控制标记，机器人没有操作烤箱控制件；这些视角没有可辨认的通电/加热状态读数。推断：不能从红色标记判定初始是否开启；无状态日志或设备状态反馈，开启节点无法定真或定假。" + } + ] + }, + "cheese_on_dough": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 110.57, + "log_step": 219, + "text_zh": "观察：视频 35.5 s 冰箱内仍有保鲜盒；视频 106.8–110.57 s 右夹爪伸向中层盒子后闭合、抬起和回撤，盒子仍留在层架，夹爪未携盒离开；未见将碎奶酪带到饼坯并倾倒的动作。推断：奶酪铺料未达到；末段盒内内容不可辨认，不将取盒计划当成奶酪已转移。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 106.8–110.57 s 右夹爪曾对中层配料盒闭合并回撤，盒未离架。盒内被遮挡，无法确认是否为奶酪盒及是否接触其边缘；本项表示同一次取盒动作的节点归属不明，不能解读为三种配料都被分别操作或抓住。" + } + ] + }, + "pepperoni_on_dough_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 110.57, + "log_step": 219, + "text_zh": "观察：视频 35.5 s、106.0 s 及 110.57 s 保鲜盒仍在冰箱内；末段右夹爪回撤时为空手，未见香肠片离盒、随夹爪转移或到达饼坯。推断：没有完成第1片香肠铺料，盒内遮挡不等于一次成功取放。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 106.8–110.57 s 右夹爪曾对中层配料盒闭合并回撤，盒未离架。盒内被遮挡，无法确认是否为香肠盒及是否接触其边缘；本项表示同一次取盒动作的节点归属不明，不能解读为三种配料都被分别操作或抓住。" + } + ] + }, + "pepperoni_on_dough_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 110.57, + "log_step": null, + "text_zh": "推断：依据视频 35.5 s、106.0–110.57 s 的取料前后对照及全段动作顺序，没有香肠片从冰箱送到饼坯，第1片铺料尚未达到，因而累计至少2片的事件也未达到；并非由 q_score=0 单独推得。" + } + ] + }, + "pepperoni_on_dough_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 110.57, + "log_step": null, + "text_zh": "推断：依据视频 35.5 s、106.0–110.57 s 的取料前后对照及全段动作顺序，没有香肠片从冰箱送到饼坯，第1片铺料尚未达到，因而累计至少3片的事件也未达到；并非由 q_score=0 单独推得。" + } + ] + }, + "pepperoni_on_dough_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 110.57, + "log_step": null, + "text_zh": "推断：依据视频 35.5 s、106.0–110.57 s 的取料前后对照及全段动作顺序，没有香肠片从冰箱送到饼坯，第1片铺料尚未达到，因而累计至少4片的事件也未达到；并非由 q_score=0 单独推得。" + } + ] + }, + "mushrooms_halved_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 110.57, + "log_step": null, + "text_zh": "观察：视频 80.0–97.5 s 备料区操作对象是红皮整洋葱，右夹爪未持刀，未见蘑菇或蘑菇半块进入操作区；视频 106.8–110.57 s 取盒后盒子仍在冰箱层架。推断：没有第1只蘑菇变成两个半块的事件。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 106.8–110.57 s 右夹爪曾对中层配料盒闭合并回撤，盒未离架。盒内被遮挡，无法确认是否为蘑菇盒及是否接触其边缘；本项表示同一次取盒动作的节点归属不明，不能解读为三种配料都被分别操作或抓住。" + } + ] + }, + "mushrooms_halved_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 110.57, + "log_step": null, + "text_zh": "推断：视频 80.0–97.5 s 只见完整洋葱与空夹爪的操作，视频 106.8–110.57 s 未取出配料盒，没有发生可见蘑菇切割；累计两只蘑菇切半的条件未达到。" + } + ] + }, + "mushroom_halves_on_dough_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 110.57, + "log_step": null, + "text_zh": "推断：视频 80.0–97.5 s 的备料操作未产生蘑菇半块，视频 106.8–110.57 s 取盒未把配料带离冰箱，未见任何半块向饼坯转移；累计至少1块蘑菇铺料的事件未达到。" + } + ] + }, + "mushroom_halves_on_dough_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 110.57, + "log_step": null, + "text_zh": "推断：视频 80.0–97.5 s 的备料操作未产生蘑菇半块，视频 106.8–110.57 s 取盒未把配料带离冰箱，未见任何半块向饼坯转移；累计至少2块蘑菇铺料的事件未达到。" + } + ] + }, + "mushroom_halves_on_dough_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 110.57, + "log_step": null, + "text_zh": "推断：视频 80.0–97.5 s 的备料操作未产生蘑菇半块，视频 106.8–110.57 s 取盒未把配料带离冰箱，未见任何半块向饼坯转移；累计至少3块蘑菇铺料的事件未达到。" + } + ] + }, + "mushroom_halves_on_dough_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 110.57, + "log_step": null, + "text_zh": "推断：视频 80.0–97.5 s 的备料操作未产生蘑菇半块，视频 106.8–110.57 s 取盒未把配料带离冰箱，未见任何半块向饼坯转移；累计至少4块蘑菇铺料的事件未达到。" + } + ] + }, + "onion_diced": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 97.0, + "log_step": 204, + "text_zh": "观察：视频 81.0–84.0 s 右夹爪在洋葱旁闭合、抬起，夹爪中无刀；视频 85.0–89.0 s 洋葱仍完整。视频 91.0–92.0 s 和 95.5–97.0 s 闭合夹爪的指端直接压碰洋葱，洋葱发生位移但保持完整，旁边刀具仍在砧板上；视频 98.5–99.0 s 机器人离开时仍可见整洋葱，没有两个分离半块或碎丁。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 91.0–92.0 s、95.5–97.0 s 机器人右夹爪闭合后以裸指端向下压碰完整洋葱，未持刀，不能标为手持工具切割或抓握洋葱。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘在离开冰箱、接近洋葱砧板的阶段移动并调整位置，视频 38.0–44.0 s 和 78.5–80.0 s 可见视点平移、转向。" + } + ] + }, + "diced_onion_on_dough": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 98.5, + "log_step": 204, + "text_zh": "观察：视频 91.0–97.0 s 右夹爪两次下压后洋葱仍完整；视频 98.5 s 整洋葱仍留在砧板。推断：没有产生可铺料的洋葱丁，也没有洋葱丁转移到饼坯的动作，故该事件未达到。" + } + ] + }, + "dough_in_oven": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 100, + "log_step": null, + "text_zh": "观察：视频 22.0 s、35.5 s、100.0 s 烤箱门均关闭，机器人没有搬起烤盘或把承载饼坯的烤盘送入炉腔；所检查的操作停留在冰箱及洋葱砧板。推断：饼坯入炉未达到。" + } + ] + }, + "pizza_baked": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 110.57, + "log_step": 231, + "text_zh": "推断：任务 DAG 指出成品披萨初始不存在；视频所见仅有开冰箱、未成功的切洋葱及取盒，没有配料组装和烘烤过程。评分器报告 q_score=0、live_matches_replay=1，real(pizza) 是新增目标字面量，因此该总分也排除了终态已有成品披萨；不是仅凭失败总分判定中间步骤未做。" + } + ] + }, + "pizza_on_sheet": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 110.57, + "log_step": 231, + "text_zh": "推断：DAG 的盘上目标要求真实成品披萨，初始的生饼坯在烤盘上不满足此条件；视频 80.0–99.0 s 洋葱尚完整、视频 110.57 s 机器人仍停在冰箱前。结合评分器 q_score=0 和没有成品生成/烘烤的可见动作，终态不满足成品由烤盘承托。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "比例", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "onion_diced", + "t": 82.0, + "log_step": 197, + "where": "操作中", + "evidence_zh": "观察：视频 81.0–84.0 s 机器人右夹爪执行闭合、抬起动作后仍未持刀；视频 85.0–89.0 s 及第二次下压的 91.0–97.0 s 仍是裸夹爪压碰完整洋葱，没有碎丁。log step 196–197 发出先抓刀再切丁的动作，log step 203–204 又发出下压重试；视频 98.5 s 机器人离开仍留整洋葱。推断：打开冰箱已完成，切洋葱是随后首个实际操作且始终未修复的失败步骤，末段取盒失败发生更晚。" + }, + "unmet": { + "pizza_baked": false, + "pizza_on_sheet": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 82.0, + "log_step": 197, + "evidence_zh": "观察：视频 82.0–89.0 s 右夹爪闭合、抬起后可见空的指间，刀没有随夹爪移动；视频 91.0–92.0 s、95.5–97.0 s 指端直接接触洋葱外皮，旁边刀具仍平放，洋葱未切开。推断：切丁所需的刀具握持及有效刀刃接触始终未建立，不能把裸夹爪碰到洋葱当成切割接触，也无已握刀后掉刀的证据。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频 / 日志", + "evidence_zh": "观察：log step 196 的轨迹依次命令“grasp knife pos”“close gripper”“lift knife”和两次切割，在同一批动作中直接从闭合进入切割；视频 82.0–89.0 s 显示夹爪空手，log step 203 的重试仍直接命令闭合夹爪下压，视频 91.0–97.0 s 显示裸指端压洋葱。推断：实际抓刀及刀刃接触没有实现，后续运动无法完成切丁；现有证据不足以进一步区分定位误差、抓取几何或轨迹跟踪问题，根因保留在控制。" + } + ], + "gap_zh": "观察：inputs/ 提供完整重放视频和 run.json，但无 states.jsonl，也没有成功参考视频。烤箱可见红色控制标记不能确定初始通电状态，oven_on 留未知；末段配料盒内容不可辨认，三个相关首个配料节点的未知接触共同指向同一次取盒归属缺口，不代表三个已确认尝试。刀具握持失败可从空夹爪及刀留砧板判断，但缺少接触对、物体位姿真值和执行误差记录，控制根因不细分。log step 227 只写入后续脚本，log step 228 仅做语法检查，不能将其中未执行的铺料、烘烤计划算入本次进展。" + }, + "summary_zh": "观察：本次视频只确认打开冰箱，最终确认已达 1/19 个节点（另有烤箱开启节点未知）；机器人随后未持刀而以闭合夹爪反复压碰完整洋葱，重试后仍未切丁，最后的取料盒动作也未把盒带离层架。推断：首个未修复断点为洋葱切丁，所需刀具接触未建立，根因可支持到控制层；成品不存在及盘上目标未达到，与评分器 q_score=0 一致。观察：没有状态日志或成功参考，烤箱初始通电状态及末段所取盒内配料无法确认，后续脚本仅保存和语法检查，未在视频中执行。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "标签与视频一致：冰箱门约 32.5 s 开启，其余节点未达；洋葱切丁断点处夹爪确为空手压洋葱，末段取盒未离架。根因“控制”已保守声明无法细分，未发现需要修改的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:35:52Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-make-pizza-i00-standard--rq5xqqr/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-make-pizza-i00-standard--rq5xqqr/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "dae9b334a93582defe7440736c54176ea97722dd37d808240871703da547e5d8", + "video_sha256": "1c76f9fa4214c5aa2bf35f791b775774c06840702ae9c76c2d7edded8f32c993", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/make_pizza/trajectories/behavior-make-pizza-i00-standard--wll7yvz.json b/phase2/behavior-1k/make_pizza/trajectories/behavior-make-pizza-i00-standard--wll7yvz.json new file mode 100644 index 0000000000000000000000000000000000000000..db8aa8d98d4407c549b6a3dffe169285105db622 --- /dev/null +++ b/phase2/behavior-1k/make_pizza/trajectories/behavior-make-pizza-i00-standard--wll7yvz.json @@ -0,0 +1,444 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-make-pizza-i00-standard--wll7yvz", + "taskKey": "behavior-1k/make_pizza", + "dag_sha256": "d6d9df11b8f00b7e0bec05341901a476ef340b5195498408f6ce96ab9b7f72cc", + "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": 3417, + "sim_steps": 3417, + "physics_steps": 13668, + "steps": 1139, + "elapsed_s": 6665.0, + "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-make-pizza-i00-standard--wll7yvz/replay.mp4", + "duration_s": 113.9, + "fps": 30.0, + "frames": 3417, + "sha256": "b62c0f7b8e8a4372286e0e6e7ee45096986cd51234a83874a42c64fbd9c48c83" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 19, + "base": null, + "peak": null, + "final": null, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 20.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 20.5, + "log_step": 69, + "text_zh": "观察：视频18.0–20.5 s，机器人右夹爪夹住右侧冰箱门把手向外拉，随后推门，视频20.5 s已露出层架和保鲜盒入口；视频25.0 s右臂能够伸入取盒，视频108.5 s两扇门均敞开。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右夹爪夹住右侧冰箱把手拉门；后续左夹爪也夹住左门把手尝试打开，两侧操作依次发生。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "夹爪张开后推冰箱门内侧；后段左夹爪继续推开左门。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘驶到冰箱前，后续为让左门转开而后退、横移和重新靠近。" + } + ] + }, + "oven_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.0, + "log_step": null, + "text_zh": "观察：视频7.0、12.0、40.5、72.5及108.5 s可见烤箱前门始终竖直闭合，机器人全程未拉动炉门，未出现可让烤盘通过的炉腔入口。" + } + ] + }, + "oven_on": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 12.0, + "log_step": 56, + "text_zh": "观察：视频7.0、12.0、40.5及72.5 s可见灶炉附近有静态红色控制件，机器人未操作烤箱控制件；没有可辨认的加热指示变化或加热结果。无设备状态日志且DAG注明启停初态未核实，无法据控制件颜色判定是否从初始就已开启。" + } + ] + }, + "cheese_on_dough": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 40.5, + "log_step": 115, + "text_zh": "观察：视频25.6–29.5 s右夹爪夹住第一个白色保鲜盒边缘并移出，盒口明显倾斜；视频40.5 s可见冰箱前地板散落大量白色碎料。机器人随后向地面伸手但未把碎料带到饼坯上，直至视频113.867 s未见奶酪铺到饼坯；log step 105将地面碎料称为奶酪，log step 115的脚本试图拾取地面grated_cheese。" + }, + { + "t": 27.5, + "log_step": 81, + "text_zh": "推断：结合视频26.4–27.2 s的盒口倾斜及盒内浅色碎料、视频40.5 s的地面碎料和log step 105、115，取料期间奶酪洒出；视频27.5 s仅作约略导航锚点，单颗碎料离盒的瞬间被盒壁遮挡。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右侧二指夹爪夹住装奶酪的第一个保鲜盒边缘，盒子随夹爪离开层架并倾转；后续虽向地面奶酪闭爪，画面未显示成功拾起奶酪。" + } + ] + }, + "pepperoni_on_dough_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 79.5, + "log_step": 241, + "text_zh": "观察：视频49.0–79.5 s机器人反复伸右夹爪取第二个保鲜盒并在冰箱前翻转查看，视频79.5 s盒内可见红色片状物；随后仍在冰箱附近操作，至视频113.867 s未见任何香肠片转移到饼坯，未达到至少1片铺好的判据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右夹爪经过多次空夹后夹住第二个保鲜盒，取出并转动检查；视频79.5 s可见盒内红色片状物，故将该取料尝试归于首片香肠铺料准备。未观察到逐片夹取或放到饼坯。" + } + ] + }, + "pepperoni_on_dough_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 79.5, + "log_step": 241, + "text_zh": "观察：视频49.0–79.5 s机器人反复伸右夹爪取第二个保鲜盒并在冰箱前翻转查看，视频79.5 s盒内可见红色片状物；随后仍在冰箱附近操作，至视频113.867 s未见任何香肠片转移到饼坯，未达到至少2片铺好的判据。" + } + ] + }, + "pepperoni_on_dough_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 79.5, + "log_step": 241, + "text_zh": "观察：视频49.0–79.5 s机器人反复伸右夹爪取第二个保鲜盒并在冰箱前翻转查看，视频79.5 s盒内可见红色片状物；随后仍在冰箱附近操作，至视频113.867 s未见任何香肠片转移到饼坯，未达到至少3片铺好的判据。" + } + ] + }, + "pepperoni_on_dough_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 79.5, + "log_step": 241, + "text_zh": "观察：视频49.0–79.5 s机器人反复伸右夹爪取第二个保鲜盒并在冰箱前翻转查看，视频79.5 s盒内可见红色片状物；随后仍在冰箱附近操作，至视频113.867 s未见任何香肠片转移到饼坯，未达到至少4片铺好的判据。" + } + ] + }, + "mushrooms_halved_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 113.867, + "log_step": null, + "text_zh": "观察：从视频0–113.867 s的全程抽帧及取盒过程加密帧中，机器人只操作冰箱门和保鲜盒，未使用台面刀具压切蘑菇，也未将蘑菇移向刀刃；未见完整蘑菇分成两半的事件，未达到至少1只切半。视频113.867 s仍停在持盒靠近台面的阶段。" + } + ] + }, + "mushrooms_halved_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 113.867, + "log_step": null, + "text_zh": "观察：从视频0–113.867 s的全程抽帧及取盒过程加密帧中，机器人只操作冰箱门和保鲜盒，未使用台面刀具压切蘑菇，也未将蘑菇移向刀刃；未见完整蘑菇分成两半的事件，未达到至少2只切半。视频113.867 s仍停在持盒靠近台面的阶段。" + } + ] + }, + "mushroom_halves_on_dough_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 113.867, + "log_step": null, + "text_zh": "观察：视频0–113.867 s机器人未执行蘑菇切割或向饼坯放置半块的动作；末段视频108.5–113.867 s仅将第三个保鲜盒带向台面，未见任何蘑菇半块落在饼坯，未达到至少1块铺好的判据。" + } + ] + }, + "mushroom_halves_on_dough_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 113.867, + "log_step": null, + "text_zh": "观察：视频0–113.867 s机器人未执行蘑菇切割或向饼坯放置半块的动作；末段视频108.5–113.867 s仅将第三个保鲜盒带向台面，未见任何蘑菇半块落在饼坯，未达到至少2块铺好的判据。" + } + ] + }, + "mushroom_halves_on_dough_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 113.867, + "log_step": null, + "text_zh": "观察：视频0–113.867 s机器人未执行蘑菇切割或向饼坯放置半块的动作；末段视频108.5–113.867 s仅将第三个保鲜盒带向台面，未见任何蘑菇半块落在饼坯，未达到至少3块铺好的判据。" + } + ] + }, + "mushroom_halves_on_dough_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 113.867, + "log_step": null, + "text_zh": "观察：视频0–113.867 s机器人未执行蘑菇切割或向饼坯放置半块的动作；末段视频108.5–113.867 s仅将第三个保鲜盒带向台面，未见任何蘑菇半块落在饼坯，未达到至少4块铺好的判据。" + } + ] + }, + "onion_diced": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 113.867, + "log_step": null, + "text_zh": "观察：视频7.0 s台面砧板上可见整只红洋葱，视频113.867 s仍为整只洋葱；机器人全程没有抓洋葱或持刀切割，未出现洋葱丁粒子。" + } + ] + }, + "diced_onion_on_dough": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 113.867, + "log_step": null, + "text_zh": "观察：视频7.0 s及末帧视频113.867 s，洋葱仍完整放在砧板上；机器人全程未切洋葱，也未把洋葱丁转移到饼坯。" + } + ] + }, + "dough_in_oven": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 113.867, + "log_step": null, + "text_zh": "观察：视频7.0 s饼坯及烤盘在备料台面，视频12.0、40.5、72.5及108.5 s烤箱门仍关闭；机器人未搬运烤盘入炉，视频113.867 s仍持保鲜盒在备料台前。" + } + ] + }, + "pizza_baked": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 113.867, + "log_step": null, + "text_zh": "观察：视频7.0 s可见台面上的浅色生饼坯，全程未出现配料铺好后入炉加热或生成成品披萨的变化；视频113.867 s机器人仍在持盒准备阶段。" + }, + { + "t": 113.867, + "log_step": null, + "text_zh": "推断：run.json评分器报告q_score=0.0、live_success=0、replay_success=0且live_matches_replay=1；结合初始没有成品披萨和全程未烘烤，终态real(pizza)不成立，final=false。" + } + ] + }, + "pizza_on_sheet": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 113.867, + "log_step": null, + "text_zh": "观察：视频全程未生成成品披萨，视频113.867 s台面仍是备料场景；初始生饼坯在烤盘上不满足成品披萨由烤盘承托的判据。" + }, + { + "t": 113.867, + "log_step": null, + "text_zh": "推断：run.json的q_score=0.0，初始并不存在成品披萨；与视频未进行烘烤一致，因此终态成品披萨在烤盘上的目标不成立。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "比例", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "cheese_on_dough", + "t": 27.5, + "log_step": 81, + "where": "操作中", + "evidence_zh": "推断：视频25.6–29.5 s机器人取第一个保鲜盒时盒口大幅倾斜，视频40.5 s冰箱前地板出现白色碎料；log step 105、115把这些碎料作为洒出的奶酪检查并尝试拾取。视频后续至113.867 s没有把奶酪铺到饼坯，故最早开始后始终未修复的步骤是奶酪铺上饼坯；视频27.5 s为洒落过程的粗略锚点。" + }, + "unmet": { + "pizza_baked": false, + "pizza_on_sheet": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 27.5, + "log_step": 81, + "evidence_zh": "推断：视频26.4–27.2 s右夹爪仍夹着保鲜盒，盒口已明显倾斜，浅色碎料聚向盒口；视频40.5 s两处视角可见碎料散落于冰箱前地板，log step 105与115分别检查并尝试拾回奶酪。丢失的是容器对奶酪的承载，未见在饼坯上有计划地倒料，后续也未恢复铺料。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "轨迹或逆解", + "t": 27.5, + "log_step": 81, + "source_zh": "日志", + "evidence_zh": "推断：log step 81的取盒脚本先用solve_wp求出保持quat_grasp的q_out，随后直接把q_out[0:4]改为[0.0,0.0,-0.15,-0.45]，未按新躯干姿态重算手臂逆解。log step 142对同次取盒的回读显示右TCP接近方向由[约0,-0.708,-0.707]变为[-0.149,-0.986,-0.079]，所求的持盒朝向未被保持；与视频25.6–29.5 s盒子转至近竖直、视频40.5 s奶酪落地相吻合。这支持持盒轨迹的构造错误，无法据此断言具体碰撞力或夹持力。" + } + ], + "gap_zh": "无状态日志、无成功参考视频。盒壁及机器人手臂遮挡奶酪离盒瞬间，洒落时刻和物料身份由前后画面与log step 105、115联合推断，视频27.5 s为粗略锚点；无法区分全部碎料的具体落点。烤箱初始启停状态及静态红色控制件的含义无法核实，oven_on保留未知；第二、第三保鲜盒内容物未完整可数，不能由取盒自述补记切割或铺料。" + }, + "summary_zh": "评分轨迹完成打开冰箱，确认终态完成1/19个节点；机器人取出并检查保鲜盒，未完成切料、铺料、入炉或生成成品披萨，评分器q_score=0.0。最早未修复的失败在奶酪铺料准备：取盒时容器倾斜，奶酪洒落地板，脚本在逆解后直接替换躯干关节支持持盒轨迹构造错误这一根因。没有状态日志或成功参考视频，洒落瞬间部分遮挡，烤箱是否初始开启未知。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "fridge_opened≈20.5 s、其余节点未达成、断点cheese_on_dough（取盒倾斜后奶酪洒落）、没保持住+轨迹或逆解均有帧和log支持（log step 81的q_out[0:4]覆盖、step 142回读接近方向变化），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": "2026-10-30T21:30:03Z", + "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-make-pizza-i00-standard--wll7yvz/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-make-pizza-i00-standard--wll7yvz/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5e3875e73b7b5ee2a42cc85a900d90d417d25e51e48af74b2c1ddfd72d427da4", + "video_sha256": "b62c0f7b8e8a4372286e0e6e7ee45096986cd51234a83874a42c64fbd9c48c83", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-privileged--93ykppg.json b/phase2/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-privileged--93ykppg.json new file mode 100644 index 0000000000000000000000000000000000000000..be5fd58cf9eccd3d25cc2c65bddf49591439d7f9 --- /dev/null +++ b/phase2/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-privileged--93ykppg.json @@ -0,0 +1,331 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-organizing-school-stuff-i00-privileged--93ykppg", + "taskKey": "behavior-1k/organizing_school_stuff", + "dag_sha256": "6d94495621b002cd6665ebc6a8ff9d45909c21b1d26e77cc83c95f15a52ef769", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 7296, + "sim_steps": 7296, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 5420.9, + "replay_timeout_s": 4848.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 15, + "agent_resets": 0, + "agent_sim_steps": 6930, + "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-organizing-school-stuff-i00-privileged--93ykppg/replay.mp4", + "duration_s": 243.2, + "fps": 30.0, + "frames": 7296, + "sha256": "b02ff55ed736297f4292bd08881ec8d77f441b688a79e0b1f8750e9a0c35bce5" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "folder_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 66, + "log_step": null, + "text_zh": "观察：视频 56–114 s，机器人左夹爪在床尾较大的蓝色扁平文件夹边缘多次下降、闭合和撤回；视频 66 s、78 s、102 s 和 114 s 均可见文件夹仍由白色床垫支承，未被夹持搬走，也未接近包口。" + }, + { + "t": 243.167, + "log_step": null, + "text_zh": "推断：视频 115 s 后机器人离床转到门边地板，直到视频 243.167 s 结束未再装文件夹；评分器 q_score=0 且初态六项关系均不成立，故该节点最终为 false。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "视频 60–114 s 左夹爪反复对准文件夹边缘闭合，没有可确认的两指夹持或提起；指尖与薄边的间隙受视角和分辨率限制，瞬时触碰方式未知。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 56–114 s 尝试文件夹期间，机器人轮式底盘支承本体并数次绕床边移动、改变抓取方位。" + } + ] + }, + "book_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 41, + "log_step": null, + "text_zh": "观察：视频 35–49 s，机器人左夹爪对床头附近的较小蓝色书本反复接近、闭合、张开；腕部视角视频 41 s 和 46 s 可见书本仍在床面，视频 49–54 s 机器人撤离时书本留在原处，没有携书去包口。" + }, + { + "t": 114, + "log_step": null, + "text_zh": "观察：视频 56–114 s 的床面远端仍可见该小蓝色书本，机器人此时在床的另一端尝试文件夹。" + }, + { + "t": 243.167, + "log_step": null, + "text_zh": "推断：之后视频 120–243.167 s 的操作转到门边地板，没有再取书或装书；评分器 q_score=0 与初态六项均不成立共同确定书本入包最终为 false。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "视频 39–47 s 左夹爪在书本上方闭合，但未见两指夹住书本或将书本提离床面；近景不能可靠区分指尖是否瞬时擦碰，实际目标接触方式未知，不据闭爪标为抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 35–38 s 机器人底盘移动到床头书本旁，视频 49–56 s 撤离并绕床换位；轮式底盘支承本体。" + } + ] + }, + "pencil_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 15, + "log_step": null, + "text_zh": "观察：视频 11–18 s，机器人左夹爪接近床上的黄色铅笔；腕部近景随后显示两指夹住笔身，铅笔离开床面并随夹爪移动。此为抓起和搬运，尚未入包。" + }, + { + "t": 28.2, + "log_step": 149, + "text_zh": "观察：视频 26.4–27.8 s 铅笔仍在左夹爪间，视频 28.0 s 两指张开，视频 28.2–28.4 s 铅笔落在木地板上；该落点没有手提包承接，未见铅笔经过包口。log step 149 的生成脚本输出也记录 released pencil.n.01_1: inside=False。" + }, + { + "t": 243.167, + "log_step": null, + "text_zh": "推断：视频 28.4–243.167 s 机器人转而尝试书本、文件夹以及门边地板上的用品，未回收落地铅笔；评分器 q_score=0 且六项目标初态均不成立，确定本节点最终为 false。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "视频约 15–28 s，机器人左二指夹爪夹住黄色铅笔并搬运，随后张开释放；右夹爪未协同操作铅笔。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频约 18–26 s，机器人轮式底盘支承本体并在持铅笔期间退离床边、转向和移动。" + } + ] + }, + "pen_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 156, + "log_step": null, + "text_zh": "观察：视频 120–184 s，机器人在木门与白墙旁向地板下降左夹爪，多次闭爪后抬回；腕部画面反复可见细长浅色钢笔仍躺在计算器旁地板上，未随夹爪离地，也没有搬运至手提包的动作。" + }, + { + "t": 243.167, + "log_step": null, + "text_zh": "观察：视频 218 s、230 s 和 238 s 的腕部画面仍可见细长钢笔留在门边地板；视频 242.2–243.167 s 机器人结束在计算器旁，未出现钢笔入包过程。" + }, + { + "t": 243.167, + "log_step": null, + "text_zh": "推断：初态无钢笔入包关系，结合上述未提起过程及评分器 q_score=0，本节点最终为 false。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "视频 120–184 s 左夹爪在门边地面上方反复闭合，钢笔始终未被夹住带起；头部视角被门板占据，腕部近景不能确定指尖是否擦碰钢笔，实际目标接触未知。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 115–124 s 机器人轮式底盘支承本体并从床边驶到门边钢笔作业位置。" + } + ] + }, + "calculator_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 228, + "log_step": null, + "text_zh": "观察：视频 190–242 s，机器人左夹爪改向门边带显示屏和按键的黑色计算器反复下降、闭合和抬回；视频 224–228 s 与 234–236 s 的腕部近景中，计算器留在地板上，未随夹爪升起。" + }, + { + "t": 243.167, + "log_step": null, + "text_zh": "观察：已检查视频 242.2–243.167 s，含最后一帧；计算器仍在腕部画面中的木地板上，夹爪没有携带计算器，未发生入包。" + }, + { + "t": 243.167, + "log_step": null, + "text_zh": "推断：该物品未离开门边地板，且评分器 q_score=0，计算器入包最终为 false。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "视频 224–228 s、234–236 s 左夹爪在计算器附近开合，但未见夹住；手臂及机身遮挡接近路径，是否存在瞬时指尖压碰无法确认，实际接触方式未知。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频约 184–198 s 机器人轮式底盘在门边移动并转向计算器，支承本体调整作业位置。" + } + ] + }, + "carryall_on_bed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 手提包位于床旁木地板上，包与床面分离；视频 20 s、34 s 和 56 s 的头部或腕部画面仍可见包在地板上，机器人未抓取或抬起手提包。" + }, + { + "t": 243.167, + "log_step": 155, + "text_zh": "推断：视频全程的操作依次针对铅笔、书本、文件夹、钢笔和计算器，未出现手提包被搬到床垫的过程；末段床面不在视野内，但评分器 q_score=0 且所有六项目标初态均不成立，确定手提包上床最终为 false。log step 155 验证交付文件为 7296 个动作，log step 160 自述搬包阶段没有运行，与录像相符。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "pencil_in_carryall", + "t": 28.0, + "log_step": 149, + "where": "操作中", + "evidence_zh": "观察：视频 26.4–27.8 s 机器人左夹爪仍夹住铅笔，视频 28.0 s 张开，视频 28.2–28.4 s 铅笔落在包外木地板上。之后机器人转去尝试其他用品，直到视频 243.167 s 结束都未回收铅笔；这是最早尝试却未完成、且此后未修复的目标步骤。log step 149 的生成脚本同时输出铅笔释放后 inside=False。" + }, + "unmet": { + "folder_in_carryall": false, + "book_in_carryall": false, + "pencil_in_carryall": false, + "pen_in_carryall": false, + "calculator_in_carryall": false, + "carryall_on_bed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 28.0, + "log_step": 149, + "evidence_zh": "观察：视频 28.0 s 机器人主动张开左夹爪时，铅笔下方是包外木地板；视频 28.2–28.4 s 铅笔直接落在该地板上，未先落入包内。松手前的放置位置未对准包口，故不是入包后失稳。log step 149 输出 released pencil.n.01_1: inside=False。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "evidence_zh": "推断：松爪前缺少实际到位的反馈门控，导致机器人在包外释放。log step 66 的 drop_in_tote 先调用两次 eef_try，未检查返回误差或铅笔是否已对准包口便调用 release_at 开爪，inside 只在释放后检查；log step 87 的 eef_move 即使多次重试仍有误差也只打印并返回，log step 137 的修改保留该流程。视频 26.4–28.4 s 可见铅笔被正常夹持到主动开爪，随后落在地板上，支持放置控制未阻止未到位释放；不据后续抓取困难归因为铅笔握持失败。", + "source_zh": "日志" + } + ], + "gap_zh": "没有逐帧状态日志，无法量化铅笔释放时的末端误差或区分逆解残差、执行跟踪偏差与目标偏移；根因只标有脚本证据的释放反馈缺口。书本、文件夹、钢笔和计算器的抓取近景无法可靠分辨瞬时指尖擦碰，故这些目标接触保留未知，不从闭爪或 agent 自述认定抓握。各节点末态还由初态六项均不成立及评分器 q_score=0 约束；视频时间均取已检查的帧，未把 agent 工作时间换算为视频时间。交付为 log step 153、155 记录的 7296 动作检查点，与视频 243.2 s 时长相符，保存后继续运行的 fix_items 不是本次录像进展。" + }, + "summary_zh": "评分轨迹中机器人夹起并搬运铅笔，但在视频约 28 s 于包外松爪，铅笔落地且未被回收；其后书本、文件夹、钢笔和计算器的抓取均未带走物品，手提包未上床，六个节点最终均为 false，q_score=0。最早未修复断点为铅笔入包，现象为位姿不准，脚本在未确认放置对准时继续开爪，支持控制·反馈控制归因。已对照成功参考录像中的包口装入及搬包上床画面；本轨迹无状态日志，未成功抓取用品的瞬时目标接触和释放偏差的更底层机制仍不能确定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点全为 false、断点取最早未修复的铅笔入包（视频约 28 s 包外松爪落地，log step 149 输出 inside=False）、现象位姿不准、根因反馈控制均有帧和日志支持，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:25:20Z", + "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-organizing-school-stuff-i00-privileged--93ykppg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-organizing-school-stuff-i00-privileged--93ykppg/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "83b6a87bf512dd58420d62ac35ed6bb89899182b4b162820cde98eb2669de676", + "video_sha256": "b02ff55ed736297f4292bd08881ec8d77f441b688a79e0b1f8750e9a0c35bce5", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-privileged--acjjr94.json b/phase2/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-privileged--acjjr94.json new file mode 100644 index 0000000000000000000000000000000000000000..d59d5265a987a3f61aab8309f96f525694b3e05b --- /dev/null +++ b/phase2/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-privileged--acjjr94.json @@ -0,0 +1,305 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-organizing-school-stuff-i00-privileged--acjjr94", + "taskKey": "behavior-1k/organizing_school_stuff", + "dag_sha256": "6d94495621b002cd6665ebc6a8ff9d45909c21b1d26e77cc83c95f15a52ef769", + "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": 350, + "sim_steps": 350, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 875.0, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 2, + "agent_resets": 2, + "agent_sim_steps": 350, + "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": 18.594, + "peak_memory_gb": 16.3, + "peak_processes": 34, + "peak_disk_gb": 1.253, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-organizing-school-stuff-i00-privileged--acjjr94/replay.mp4", + "duration_s": 11.667, + "fps": 30.0, + "frames": 350, + "sha256": "c07bbfb3656c4e9471960fae26bad7fedf510771e8c60b4b44b8fd9a7da7054e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "folder_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.63, + "log_step": 75, + "text_zh": "观察：视频0–11.63 s机器人仅接近地板上的手提包、闭爪并空手抬臂转向，未搬取文件夹；视频11.63 s左腕画面仍可见床面的蓝色薄片。log step 75显示交付生成脚本在phase_tote内异常退出，尚未进入phase_folder。" + }, + { + "t": 11.63, + "log_step": null, + "text_zh": "推断：任务DAG确认六项目标关系初始均不成立；结合全段录像未发生该用品入包或包上床过程，以及评分器q_score=0.0，终态该关系为假。调试会话中的成功关系不计入交付录像。" + } + ] + }, + "book_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.63, + "log_step": 75, + "text_zh": "观察：视频0–11.63 s机器人未从床面拿取书本，也未向包口送入矩形物件；log step 75显示交付生成脚本在搬包阶段退出，未进入装书阶段。" + }, + { + "t": 11.63, + "log_step": null, + "text_zh": "推断：任务DAG确认六项目标关系初始均不成立；结合全段录像未发生该用品入包或包上床过程，以及评分器q_score=0.0，终态该关系为假。调试会话中的成功关系不计入交付录像。" + } + ] + }, + "pencil_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.63, + "log_step": 75, + "text_zh": "观察：视频0–11.63 s机器人未拿取或搬送铅笔，左爪抬起后为空；log step 75显示交付生成脚本在搬包阶段退出，未进入装铅笔阶段。" + }, + { + "t": 11.63, + "log_step": null, + "text_zh": "推断：任务DAG确认六项目标关系初始均不成立；结合全段录像未发生该用品入包或包上床过程，以及评分器q_score=0.0，终态该关系为假。调试会话中的成功关系不计入交付录像。" + } + ] + }, + "pen_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.63, + "log_step": 75, + "text_zh": "观察：视频0–11.63 s机器人只在手提包附近操作，未俯身拾取地板钢笔、也未向包口放入细长物；log step 59的生成脚本将地板用品安排在搬包及床面用品之后，而log step 75显示脚本已在phase_tote退出。" + }, + { + "t": 11.63, + "log_step": null, + "text_zh": "推断：任务DAG确认六项目标关系初始均不成立；结合全段录像未发生该用品入包或包上床过程，以及评分器q_score=0.0，终态该关系为假。调试会话中的成功关系不计入交付录像。" + } + ] + }, + "calculator_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.63, + "log_step": 75, + "text_zh": "观察：视频0–11.63 s未出现计算器被夹起或送入包口；log step 75显示交付脚本尚在phase_tote就退出。log step 70的计算器调试来自另一REPL会话，不是此350步交付轨迹。" + }, + { + "t": 11.63, + "log_step": null, + "text_zh": "推断：任务DAG确认六项目标关系初始均不成立；结合全段录像未发生该用品入包或包上床过程，以及评分器q_score=0.0，终态该关系为假。调试会话中的成功关系不计入交付录像。" + } + ] + }, + "carryall_on_bed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.63, + "log_step": 75, + "text_zh": "观察：视频0 s手提包在地板上；视频4–6 s左爪在包提手附近闭合，视频7.5–9 s左爪空手抬起，包仍在原地板位置；视频10.5–11.63 s机器人转向床边，未搬包到床面。" + }, + { + "t": 11.63, + "log_step": null, + "text_zh": "推断：任务DAG确认六项目标关系初始均不成立；结合全段录像未发生该用品入包或包上床过程，以及评分器q_score=0.0，终态该关系为假。调试会话中的成功关系不计入交付录像。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频4–6 s左夹爪在手提包近侧提手旁闭合，视频7.5–9 s空手抬起；两指未夹住提手，是否曾轻擦包沿受视角及分辨率限制，不能确认具体目标接触，因此不记为抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频0–3 s轮式底盘驶近地板手提包，视频9–11.63 s空手转向床侧；底盘在搬包尝试中移动并支承机器人，未实际载着手提包搬运。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "carryall_on_bed", + "t": 5.5, + "log_step": 75, + "where": "操作中", + "evidence_zh": "观察：视频约5.5 s左爪已在手提包提手旁闭合，但视频7.5–9 s抬臂时夹爪为空、包仍留地板，直至视频11.63 s也未上床。log step 75显示交付生成脚本在phase_tote内发生左臂no IK solution并以350步结束；此搬包步骤从未补成。" + }, + "unmet": { + "folder_in_carryall": false, + "book_in_carryall": false, + "pencil_in_carryall": false, + "pen_in_carryall": false, + "calculator_in_carryall": false, + "carryall_on_bed": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 5.5, + "log_step": null, + "evidence_zh": "观察：视频4–6 s左夹爪在提手旁闭合，其腕部画面中的红褐色提手未处于两指之间；视频7.5–9 s左爪空手抬起，头部画面显示手提包仍在地板原处。所需的夹持接触没有建立，没有先持包再滑落的过程。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：视频5.5–9 s显示空夹后仍抬臂；log step 44所写phase_tote在close_gripper后不检查object_in_hand就继续抬高、转向，并按包与末端的当前位置差计算放置目标。log step 59的生成脚本调用此阶段；log step 75记录该阶段请求左臂到[23.753,23.904,1.05]时无逆解，异常被捕获后直接结束录制。夹持未建立时缺少核验和恢复，后续运动异常终止了交付动作。现有证据不足以细分最初空夹的控制原因。", + "source_zh": "日志", + "note_zh": "候选：控制脚本异常。搬包阶段的PrimitiveError导致动作生成提前终止；不归为基础设施崩溃。" + }, + { + "cat": "交付", + "item": "交付操作出错", + "evidence_zh": "观察：log step 59的生成脚本在异常后保存已记录动作到trajectory_gen.npz；log step 73安排把该文件自动复制为最终trajectory.npz，log step 75显示搬包失败且仅350步，log step 76确认两文件均为39028字节。log step 77中agent明确承认最终文件为失败占位轨迹且未做回放检查；评分器agent_replays=0、n_actions=350、deterministic=1。最终提交的是异常退出时的未完成记录。", + "source_zh": "日志" + } + ], + "gap_zh": "没有逐帧状态日志；左指与提手局部是否曾轻擦无法从相机分辨，contact_actual保留未知，但包从未被提起可见。五件用品未被操作，其精确终态容纳关系由初态、全段未搬取过程及评分器q_score=0.0共同判定；无法把最初空夹进一步归因于接触几何、轨迹跟踪或某个控制参数。" + }, + "summary_zh": "交付录像仅包含接近手提包、左爪空夹后抬臂并转向床边，六项关系始终未达成，终态0/6。断点为手提包上床：所需夹持未建立，脚本未核验抓取便继续搬运动作，随后逆解异常终止，agent最终提交了这段350步失败记录。没有状态日志，轻微擦碰及最初空夹的具体控制子因无法确认；调试会话中装入用品的进展不属于本次交付。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "断点节点 carryall_on_bed 正确，但“左爪空夹、包仍留在地板”与录像不符：视频约5–11.6 s左腕画面中的红褐色提手与包体始终固定在夹爪旁，头部画面中包随机器人转向一直留在画面底部，左爪已提起手提包并带着转向；log step 73 的 ee 序列(0.465→0.65→1.05, err 0.000)也与抓住后抬起一致。随后在放置目标 [23.753,23.904,1.05] 处 move_ee 无逆解，脚本异常结束。因此“没建立接触”和“控制：未核验抓取”两项不成立，contact_actual 的抓握也被误判为未知。", + "n_issues": 4, + "n_major": 4 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "独立复看录像：视频5.5 s左腕画面提手在夹爪左侧、未在两指之间；7.5、8.7、9.7、11.5 s左腕画面中夹爪均空，11.5 s腕部与头部画面无手提包，床侧也无包。未见持包转向，第1轮评审的“已抓起”读法证据不足。断点carryall_on_bed、没建立接触、控制与交付两项根因与证据一致。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:47:59Z", + "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-organizing-school-stuff-i00-privileged--acjjr94/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-organizing-school-stuff-i00-privileged--acjjr94/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-organizing-school-stuff-i00-privileged--acjjr94/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-organizing-school-stuff-i00-privileged--acjjr94/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c6617ada98d4a82e7f2005ab556de4f5147921ff564c714b4aa7167534f23945", + "video_sha256": "c07bbfb3656c4e9471960fae26bad7fedf510771e8c60b4b44b8fd9a7da7054e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-privileged--hexu9j8.json b/phase2/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-privileged--hexu9j8.json new file mode 100644 index 0000000000000000000000000000000000000000..fcbf0497882adbeb2249bdaeb52ad6d767cded83 --- /dev/null +++ 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"agent_resets": 0, + "agent_sim_steps": 0, + "agent_records": 2, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-organizing-school-stuff-i00-privileged--hexu9j8/replay.mp4", + "duration_s": 103.4, + "fps": 30.0, + "frames": 3102, + "sha256": "8d9e10402e6270db4526bd91f148efdc1f4a0ea2139e32cc73cfff8a205b0073" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "folder_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 30.6, + "log_step": 52, + "text_zh": "观察：视频 29.0–31.8 s 左腕相机中蓝色文件夹仍平铺白色床面，左夹爪从上方靠近并闭合；视频 32.0–35.0 s 夹爪退开，文件夹仍在床面，未随夹爪抬起。" + }, + { + "t": 80, + "log_step": 78, + "text_zh": "观察：视频 59.0–85.0 s 左夹爪反复压向文件夹及其边缘，文件夹发生平移、转动，但始终留在床面，未被运往红褐色包口；视频 89.5 s 仍可见其躺在包外的床上。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 30.0–31.8 s 及视频 59.0–85.0 s，左夹爪指尖压到蓝色文件夹上表面和边缘，后续还使其沿床面移位；未见两指夹住薄片后将其带离床面。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 23.0–29.0 s 底盘空手转向并移动到文件夹一侧，支承随后左臂的操作。" + } + ] + }, + "book_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 89.5, + "log_step": null, + "text_zh": "观察：视频 14.0–21.0 s 床角可见小蓝色书本；视频 89.5–91.0 s 书本仍在包后方的白色床面上。全片未见机器人夹起该书并送入包口。" + }, + { + "t": 103.3, + "log_step": null, + "text_zh": "推断：末态手提包仍在床上，且 reward.q_score=1/6；DAG 确认六项关系初态均为假，因此包上床已占唯一成立项，书本入包末态为假。" + } + ] + }, + "pencil_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 90, + "log_step": 81, + "text_zh": "观察：视频 89.5–91.0 s 包后方床面仍可见细长铅笔；机器人随后将左夹爪降向该区域，视频 91.5–98.0 s 包壁遮挡夹爪与铅笔的接触点，未见铅笔离床后被搬入包口。log step 81 的脚本明确以 pencil.n.01_1 为该次抓取目标。" + }, + { + "t": 103.3, + "log_step": 83, + "text_zh": "推断：视频 98.0–103.3 s 机器人保持在床边，没有搬运铅笔到包口的后续动作；末态包上床与评分器 q_score=1/6 合并，排除铅笔入包末态成立。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 91.5–103.3 s 左夹爪在包侧和床面附近操作；包壁及腕部近景遮住铅笔本体与指尖的接触点，不能确认是否接触铅笔或形成何种接触。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 85.0–91.0 s 底盘转向并驶向床上铅笔一侧，支承左臂的后续抓取尝试。" + } + ] + }, + "pen_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 89.5, + "log_step": null, + "text_zh": "观察：视频 0.0–103.3 s 机器人先搬包，随后一直围绕床上的文件夹和铅笔操作；未见机器人前往地板上钢笔所在的区域并将其运到包口。" + }, + { + "t": 103.3, + "log_step": null, + "text_zh": "推断：钢笔初态在包外（DAG 初态说明）；全片无其入包过程。视频末态包仍在床上，评分器 reward.q_score=1/6 且六项初态均为假，故钢笔入包末态必为假。" + } + ] + }, + "calculator_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 89.5, + "log_step": null, + "text_zh": "观察：视频 0.0–103.3 s 机器人先搬包，随后一直围绕床上的文件夹和铅笔操作；未见机器人前往地板上计算器所在的区域并将其运到包口。" + }, + { + "t": 103.3, + "log_step": null, + "text_zh": "推断：计算器初态在包外（DAG 初态说明）；全片无其入包过程。视频末态包仍在床上，评分器 reward.q_score=1/6 且六项初态均为假，故计算器入包末态必为假。" + } + ] + }, + "carryall_on_bed": { + "method": "visual", + "intervals": [ + [ + 20.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6, + "log_step": 51, + "text_zh": "观察：视频 0.0 s 包在床边地板上；视频 5.0–19.0 s 左腕相机可见红色提手夹在左夹爪两指间，包随左臂及底盘移动到床侧。" + }, + { + "t": 20, + "log_step": 51, + "text_zh": "推断：视频 19.5–21.0 s 左腕近景可见包底下方为床面，左臂完成下降后退开；将包上床关系的起点记为视频约 20.0 s（接触点局部出画，约有 1 s 不确定性）。视频 28.0 s 头部视角明确显示包已独立立在白色床面上。" + }, + { + "t": 103.3, + "log_step": null, + "text_zh": "观察：视频 28.0–89.5 s 包一直留在床面；视频 90.0–93.0 s 包移到靠窗床边并倾斜，视频 93.0–103.3 s 仍由床垫支承，没有离床，故不拆分区间。视频最后一秒及视频 103.3 s 最末检查帧保持这一关系。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 5.0–19.0 s 左二指夹爪夹住红色提手，包随左臂移动；机器人在床上放下包后退开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0.0–3.0 s 底盘驶向地板上的包，视频 8.0–14.0 s 在左夹爪持包时转向并驶向床边。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.16666666666666666, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "folder_in_carryall", + "t": 30.6, + "log_step": 52, + "where": "操作中", + "evidence_zh": "观察：视频 30.4–31.8 s 机器人左夹爪在蓝色文件夹上方合拢，视频 32.0–35.0 s 撤离时文件夹仍躺在床面；视频 59.0–85.0 s 多次重试仍未将它带离床面，更未送入包。后来的铅笔尝试没有修复文件夹入包，这是最早发生且直到结束都未修复的失败步骤。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 30.6, + "log_step": 52, + "evidence_zh": "观察：视频 30.4–31.8 s 左夹爪两指从文件夹上方闭合，文件夹未被两指夹起；视频 32.0–35.0 s 手爪抬开而文件夹留在床面，视频 59.0–85.0 s 后续重试也只有床面内位移。推断：虽然指尖碰到文件夹，但所需的夹持接触从未建立，不属于持住后掉落。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "已验证有", + "source_zh": "日志", + "evidence_zh": "观察：log step 57 明确选择两指同高按到文件夹顶面的 top-pinch；log step 69 的诊断反复显示 contacts 包含 folder_209/base_link，而 raycast=[]、hand=None；log step 72 给出下方辅助抓取射线高度约 0.5182 m，log step 75 的文件夹顶面约 0.5168 m，log step 73、75、77、78 多次重试仍无附着。视频 30.4–35.0 s 及视频 59.0–85.0 s 与这种按压、移位而不能带起的行为一致。推断：所选指尖深度和接触几何没有让薄片进入两指有效夹持区域，导致只压到表面而不能建立抓取；不把未核实的具体力控机制再细分。参考成功视频 4.0–10.0 s 可见另一抓法夹住文件夹并将其离床送至包内，证明存在可行替代；参考视频仅用于验证替代可行性。" + } + ], + "gap_zh": "本次没有逐帧状态日志，包底最初接触床垫的点局部出画，视频约 20.0 s 的达成起点有约 1 s 不确定性；铅笔尝试的指尖接触被包壁遮住，实际接触保留未知。五件用品的末态由已观察到的包上床与评分器 q_score=1/6 联合约束；辅助抓取射线和接触诊断来自 agent 会话脚本，不代替本次视频的物品搬运证据。", + "unmet": { + "folder_in_carryall": false, + "book_in_carryall": false, + "pencil_in_carryall": false, + "pen_in_carryall": false, + "calculator_in_carryall": false, + "carryall_on_bed": true + } + }, + "summary_zh": "机器人在视频约 20.0 s 将手提包放到床上，直至视频 103.3 s 仍由床垫支承，最终完成 1/6；五件学习用品均未入包。最早未修复的失败是视频约 30.6 s 的文件夹抓取，夹爪只压到薄片而未建立有效夹持，反复调整后仍未带离床面，末段铅笔尝试也未完成装包。没有逐帧状态日志，包上床起点约有 1 s 不确定性，铅笔的直接接触被包壁遮挡。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值（仅包上床为真，其余五项为假）、q_score=1/6 的约束、断点（文件夹抓取）、没建立接触/抓取和接触设计的归因与视频一致；未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:27:29Z", + "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-organizing-school-stuff-i00-privileged--hexu9j8/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-organizing-school-stuff-i00-privileged--hexu9j8/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "aa834e744e3aead9fb7a7400042fcf50041ccc12756573dc80cb70f9db2203c8", + "video_sha256": "8d9e10402e6270db4526bd91f148efdc1f4a0ea2139e32cc73cfff8a205b0073", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-privileged--udwyxoe.json b/phase2/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-privileged--udwyxoe.json new file mode 100644 index 0000000000000000000000000000000000000000..ce39f6c72c5a5dd9ae2413ce88b628f62ae5e2c5 --- /dev/null +++ b/phase2/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-privileged--udwyxoe.json @@ -0,0 +1,424 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-organizing-school-stuff-i00-privileged--udwyxoe", + "taskKey": "behavior-1k/organizing_school_stuff", + "dag_sha256": "6d94495621b002cd6665ebc6a8ff9d45909c21b1d26e77cc83c95f15a52ef769", + "outcome": { + "success": 0, + "reward": 0.8333333333333334, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 1, + "n_actions": 8366, + "sim_steps": 8366, + "fallen": 0, + "final_reward": 0.8333333333333334, + "q_score": 0.8333333333333334, + "replay_wall_s": 3015.3, + "replay_timeout_s": 5383.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 2, + "agent_resets": 1, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-organizing-school-stuff-i00-privileged--udwyxoe/replay.mp4", + "duration_s": 278.867, + "fps": 30.0, + "frames": 8366, + "sha256": "63014cf621cd0224255ac17b2baa7adc82cdf922f053f79feca33c5513a8f118" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 0, + "peak": 5, + "final": 5, + "nodes": { + "folder_in_carryall": { + "method": "visual", + "intervals": [ + [ + 41.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 30.0, + "log_step": null, + "text_zh": "观察：视频 20.0 s 文件夹仍平放在床上；视频 30.0–40.8 s 左腕视角可见蓝色薄文件夹夹在机器人左爪两指之间，已离开原床面，随后竖放到包口上方。" + }, + { + "t": 41.2, + "log_step": 167, + "text_zh": "观察：视频 41.0 s 左爪张开，文件夹向两提手之间下落；视频 41.17–41.5 s 文件夹落入包中，视频 44.0 s 与后续近景可见蓝色薄片留在包口内部。起点取视频约 41.2 s。" + }, + { + "t": 278.83, + "log_step": null, + "text_zh": "推断：视频 253.0–253.5 s 包侧倒后未见文件夹离开包，视频 267.0–270.0 s 蓝色物件仍在侧向包口；评分器 q_score=5/6 且计算器确定在包外，决定文件夹末态为真。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左夹爪以斜向边缘夹持文件夹，抬离床面，竖直移动至包口后松开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘从放包位置调整到文件夹所在床边，以支承抓取和搬送。" + } + ] + }, + "book_in_carryall": { + "method": "visual", + "intervals": [ + [ + 253.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 90.0, + "log_step": null, + "text_zh": "观察：视频 60.0–80.0 s 书仍在床上，右爪多次夹取；视频 90.0–125.0 s 右腕近景可见带白色书页厚度的蓝封面书夹于右爪，原来的床面位置已空。" + }, + { + "t": 130.0, + "log_step": null, + "text_zh": "观察：视频 125.0–126.0 s 右爪在包口松书，视频 126.0–132.0 s 书斜架在文件夹和包口上部，机器人右爪随后下压。" + }, + { + "t": 132.0, + "log_step": 204, + "text_zh": "观察：log step 204 的脚本检查输出书本 Inside=False，而文件夹、铅笔和包上床为真；该检查属于最终交付前缀内的第二进程，画面中书斜架包口的状态与之相符，不把首次松手直接计作入包。" + }, + { + "t": 253.5, + "log_step": 249, + "text_zh": "推断：视频 253.0–253.5 s 包被碰成侧倒，原先斜架包口的书随包倾倒进入其侧向内部；视频 267.0–270.0 s 蓝色书/文件夹仍在侧向包口，未见书留在包外。log step 249 所报该前缀末端书 Inside=True 与这一过程相符，首次成立取视频约 253.5 s，约有一秒不确定。" + }, + { + "t": 278.83, + "log_step": null, + "text_zh": "推断：最终评分器 q_score=5/6，且计算器在包外，六项目标初始均不成立，故书本末态为真。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人右夹爪多次夹书边缘，最终夹住并抬走书本，运至包口后松手。" + }, + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "首次放书后，机器人以闭合的右夹爪向下压包口处的书，试图使其下沉。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘在右爪持书时绕床行驶回到手提包附近，支承搬运。" + } + ] + }, + "pencil_in_carryall": { + "method": "visual", + "intervals": [ + [ + 108.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 60.0, + "log_step": null, + "text_zh": "观察：视频 50.0 s 铅笔还在床上；视频 60.0–107.5 s 左腕视角可见黄色铅笔被左爪夹住并随手搬运，原床面上的铅笔已被取走。" + }, + { + "t": 108.0, + "log_step": 197, + "text_zh": "观察：视频 107.5 s 铅笔位于两提手之间的包口上方；视频 108.0 s 左爪松开，视频 108.5–113.0 s 黄色细杆横在包口内、与蓝色文件夹交叉，随后随装包动作下沉。起点约有半秒不确定。" + }, + { + "t": 278.83, + "log_step": null, + "text_zh": "推断：视频后段未见机器人把铅笔取出；包内细杆被包壁和其他用品遮挡，结合评分器 q_score=5/6 及计算器仍在包外，铅笔末态为真。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左夹爪夹住黄色铅笔，提离床面并搬运至手提包上方松开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘持铅笔从床另一侧绕回手提包旁，支承搬运。" + } + ] + }, + "pen_in_carryall": { + "method": "visual", + "intervals": [ + [ + 277.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 191.0, + "log_step": null, + "text_zh": "观察：视频 183.0–189.0 s 左爪在地板处围住细长钢笔；视频 190.0–193.0 s 钢笔随左爪离地，腕部近景可见细杆而原地已空。随后机器人持笔返回床边。" + }, + { + "t": 277.5, + "log_step": null, + "text_zh": "观察：视频 271.0–277.33 s 左腕视角可见机器人夹持的细长钢笔在侧倒包的开口附近下降、调整角度，蓝色用品及包壁遮住更深位置；视频 277.67–278.83 s 左爪张开并停在包口处，笔未留在外侧床面。" + }, + { + "t": 278.83, + "log_step": 259, + "text_zh": "推断：评分器 q_score=5/6 且计算器确定在包外，决定钢笔末态为真；log step 259 记录所交付前缀在放笔后达到 8366 控制步、钢笔 Inside=True，log step 273–274 确认只保存此前缀。结合视频末段的入包与松爪过程，将成立起点估为视频约 277.5 s，受遮挡有约一秒不确定。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左夹爪在地板处夹起钢笔，持笔返回床边，再调整姿态送入侧倒手提包的开口并松开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘在持笔期间从地板取物区驶回床边，并在插笔期间向前微调。" + } + ] + }, + "calculator_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 238.0, + "log_step": 244, + "text_zh": "观察：视频 220.0–230.0 s 计算器仍在地板、右爪反复靠近；视频 235.0–238.0 s 右夹爪夹住计算器按键一端并将其抬离地板，随后腕部持续可见被持计算器。" + }, + { + "t": 253.2, + "log_step": 247, + "text_zh": "观察：视频 251.2–253.2 s 计算器仍在机器人右爪，位于包侧；视频 253.0–253.5 s 手提包在机器人手臂运动期间从直立变为侧倒，计算器没有进入开口。" + }, + { + "t": 255.5, + "log_step": 249, + "text_zh": "观察：视频 255.33 s 计算器仍在右爪近景，视频 255.5–255.73 s 右爪张开，计算器从包外下落并离开腕部画面；截至视频 278.83 s 机器人只继续操作钢笔，没有拾回计算器。" + }, + { + "t": 278.83, + "log_step": 259, + "text_zh": "推断：计算器在包外松开后留在床边地板；log step 249/259 报告该物品位置高度约 0.01 米及 Inside=False，与视频中的包外下落一致，评分器最终 q_score=5/6 支持其末态未入包。log step 260 后的回收和再插入未包含在 log step 273–274 保存的 8366 行前缀里。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人右二指夹爪夹持计算器较高的按键一端，抬离地板并搬至床边；未到包内就张爪释放。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘在右爪持计算器时从地板取物区驶回床旁，支承搬运。" + } + ] + }, + "carryall_on_bed": { + "method": "visual", + "intervals": [ + [ + 14.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 红褐色手提包立在床边地板，床面没有包；该关系初始不成立。" + }, + { + "t": 14.0, + "log_step": null, + "text_zh": "观察：视频 10.0–13.7 s 机器人左夹爪夹着提手搬送包；视频约 14.0 s 包落到白色床垫上，视频 16.3–20.0 s 左爪撤离后包仍直立。接触床面的起点约有半秒不确定。" + }, + { + "t": 268.0, + "log_step": null, + "text_zh": "观察：视频 253.0–253.5 s 手提包侧倒，视频 267.0–270.0 s 仍完整躺在床垫上，没有掉到地板；视频 278.0–278.83 s 末段未再提包。" + }, + { + "t": 278.83, + "log_step": null, + "text_zh": "推断：评分器 q_score=5/6，计算器留在包外，六项关系初始均为假，因此其余五项目标关系末态均为真；包侧倒并不使其失去床的承托。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左侧二指夹爪夹住手提包提手，从地板提起并送到床面，随后张爪。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘在左爪持包时转向并驶近床边，支承搬运。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.8333333333333334, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "calculator_in_carryall", + "t": 253.2, + "log_step": 247, + "where": "操作中", + "evidence_zh": "观察：视频 235.0–238.0 s 机器人已夹起计算器，视频 251.2–253.5 s 返回床边后的右臂变姿没有把计算器送进包口，包同时侧倒；视频 255.5–255.73 s 右爪在包外张开，计算器下落。后续交付片段只修正钢笔，计算器入包从未补成；log step 273–274 明确保留 8366 行前缀，评分器最终为 5/6。" + }, + "unmet": { + "folder_in_carryall": true, + "book_in_carryall": true, + "pencil_in_carryall": true, + "pen_in_carryall": true, + "calculator_in_carryall": false, + "carryall_on_bed": true + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 253.2, + "log_step": 247, + "evidence_zh": "推断：视频 251.2–252.8 s 包仍直立，机器人右爪持计算器在旁；视频 253.0–253.5 s 可见包在机器人手臂变姿期间迅速侧倒，书和文件夹随包移动，而计算器仍在包外。结合 log step 245 的床边末端运动指令和 log step 247 的大幅末端误差，判断该臂运动碰倒包；具体接触点被腕部和包壁遮住。" + }, + { + "cat": "运动", + "item": "位姿不准", + "t": 255.5, + "log_step": 245, + "evidence_zh": "观察：视频 255.33–255.73 s 计算器在包外从张开的右夹爪下落；log step 245 的 cmd_124 在调用 ee 后直接 open_gripper，log step 247 输出末端位置误差 0.6648 米及 CALCPACKED False。该次松手发生在目标之外。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：末端运动与释放衔接的控制未处理实际未到位的状态。log step 147 定义的 ee 执行插值关节动作，结束时只打印并返回实际末端误差；log step 245 的 cmd_124 未检查该返回值就张开右爪，log step 247 实际输出误差 0.6648 米。视频 253.0–255.73 s 同时证实包被碰倒、计算器仍在包外却被释放，说明此控制路径及释放判定未能完成放入；现有证据不足以进一步把未到位唯一归到逆解、跟踪或具体碰撞几何。", + "source_zh": "日志", + "note_zh": "保留控制上位项：可确认未到位仍开爪，不能仅凭误差数值判定逆解无解。" + } + ], + "gap_zh": "没有逐帧状态日志。包壁及用品遮挡精确容纳边界，书本随包侧倒入内和钢笔末段入包的时刻分别约有一秒不确定，末态由可见搬入过程、计算器包外下落与评分器 5/6 总量共同确定；不能逐帧验证全部物品速度或共同静置窗口。手臂碰倒包的具体接触连杆被遮挡，无法细分控制子因。log step 260 后的回收计算器及再次插入属于未交付的会话后续，不用于本次节点进度或失败现象。" + }, + "summary_zh": "机器人将手提包放上床，装入文件夹和铅笔，书本在包侧倒后进入包内，末段再把钢笔送入包；最终五项关系成立，计算器仍在包外，评分器 q_score=5/6、success=0。断点为计算器入包：视频约 253.2 s 手臂运动碰倒包，视频约 255.5 s 末端未到位仍被脚本松爪，计算器落向床边地板。没有状态日志，包内遮挡使部分成立时刻需结合过程和最终评分推断；交付仅含 8366 个控制步，未计入会话后续的计算器回收。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值、断点（计算器入包，操作中）、现象与根因与视频及log一致；q=4/6→5/6 的变化与书/文件夹/铅笔/包在床上成立后再入钢笔相符。未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:30:47Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-organizing-school-stuff-i00-privileged--udwyxoe/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-organizing-school-stuff-i00-privileged--udwyxoe/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "640a89f069242c59d8851a8a288fd784739bcb18d96b3935ca955a2691312e21", + "video_sha256": "63014cf621cd0224255ac17b2baa7adc82cdf922f053f79feca33c5513a8f118", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-standard--boz9oa4.json b/phase2/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-standard--boz9oa4.json new file mode 100644 index 0000000000000000000000000000000000000000..688bea7d2a176bf82a9383fdad185c526f75707f --- /dev/null +++ b/phase2/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-standard--boz9oa4.json @@ -0,0 +1,371 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-organizing-school-stuff-i00-standard--boz9oa4", + "taskKey": "behavior-1k/organizing_school_stuff", + "dag_sha256": "6d94495621b002cd6665ebc6a8ff9d45909c21b1d26e77cc83c95f15a52ef769", + "outcome": { + "success": 0, + "reward": 0.8333333333333334, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 4923, + "sim_steps": 4923, + "physics_steps": 19692, + "steps": 1641, + "elapsed_s": 6638.3, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 0, + "q_score": 0.8333333333333334, + "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-organizing-school-stuff-i00-standard--boz9oa4/replay.mp4", + "duration_s": 164.1, + "fps": 30.0, + "frames": 4923, + "sha256": "84f9a5f82f9dcc152dcaf55de4afc66746f7ab799abccb4910d801532159d73a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 0, + "peak": 5, + "final": 5, + "nodes": { + "folder_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 156.5, + "log_step": null, + "text_zh": "观察：视频 156.5 s 书本已落入包内，另一大片扁平蓝色文件夹仍留在手提包左侧床面。" + }, + { + "t": 161, + "log_step": 311, + "text_zh": "观察：视频 159–161 s 机器人左二指夹爪夹住蓝色文件夹近边并将其从床上抬起；视频 161–164.07 s 左腕近景持续可见文件夹被夹持在包外，包口位于头部视角中央，未见文件夹移入或释放入包。" + }, + { + "t": 164.07, + "log_step": 328, + "text_zh": "推断：评分器 q_score=0.8333333333333334，即六项初态均不成立的关系中最终满足五项，live_matches_replay=1；结合其余五项可见的达成过程及文件夹明确在包外，文件夹入包最终为假。log step 313–328 只记录持物后的几何分析与入包轨迹计算，不能作为已执行入包的证据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左二指夹爪夹住文件夹近边并抬离床面，录像结束时仍夹着，尚未搬入包口；此段未见底盘搬运。" + } + ] + }, + "book_in_carryall": { + "method": "visual", + "intervals": [ + [ + 156.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 134, + "log_step": null, + "text_zh": "观察：视频 109–130 s 机器人右夹爪多次接近蓝色书本，书仍在床上；视频 133–138 s 右夹爪终于夹起书本，原位置空出，蓝色封面和书页随右手运动。" + }, + { + "t": 156.5, + "log_step": 272, + "text_zh": "观察：视频 154.5–156 s 机器人右夹爪持书移至包口上方并下降；视频 156.5 s 右腕近景可见蓝色书本落在包内侧，视频 157–158.5 s 右夹爪张开并空手退离。关系成立约为视频 156.5 s，误差约 0.5 s。" + }, + { + "t": 164.07, + "log_step": null, + "text_zh": "推断：之后右手未再取书，视频 159–164.07 s 左腕中仍在包外的大片蓝色物件是床上原留的文件夹；评分器 q_score=5/6、live_matches_replay=1 支持书本入包末态为真。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "机器人左夹爪持铅笔，右二指夹爪在反复重试后夹住书本近边，两臂各持一件搬回；铅笔先放入后，右夹爪独立把书放入包口。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人轮式底盘在左手持铅笔、右手持书时驶回床边手提包。" + } + ] + }, + "pencil_in_carryall": { + "method": "visual", + "intervals": [ + [ + 152.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 111, + "log_step": null, + "text_zh": "观察：视频 109–111 s 机器人左夹爪夹起床上的黄色细长铅笔，铅笔离开床面并持续出现在左腕视角；视频 138–148 s 左手持笔、右手持书随底盘搬回包前。" + }, + { + "t": 152.5, + "log_step": 272, + "text_zh": "观察：视频 150–152 s 机器人左夹爪将铅笔竖向送到包口并下降；视频 152.5 s 腕部近景可见黄色铅笔已横落于包内，视频 153–154 s 左夹爪张开退回。关系成立约为视频 152.5 s，误差约 0.5 s。" + }, + { + "t": 164.07, + "log_step": null, + "text_zh": "推断：铅笔落入后没有被取出的动作；结合评分器 q_score=5/6、live_matches_replay=1 和文件夹末态在包外，铅笔入包末态为真。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "机器人左二指夹爪夹铅笔、右二指夹爪夹书本，两手各持一件搬运；左手先放铅笔时右手继续持书。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人轮式底盘在左手持铅笔、右手持书本时驶回手提包并调整到包口正前方。" + } + ] + }, + "pen_in_carryall": { + "method": "visual", + "intervals": [ + [ + 97, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 64, + "log_step": null, + "text_zh": "观察：视频 60–65 s 机器人右夹爪夹起地板上的白色细长钢笔，随后钢笔随右手搬至床边。视频 80–83 s 首次放笔后笔未留在包中；视频 90–93 s 机器人改用左夹爪从床面重新夹起钢笔。" + }, + { + "t": 97, + "log_step": 185, + "text_zh": "观察：视频 93.5–96.5 s 机器人左夹爪将钢笔移过包口并向包内下降；视频 97–97.5 s 腕部视角可见细长白笔落入内衬之间，随后空夹爪退开。关系首次成立约为视频 97 s，误差约 0.5 s。" + }, + { + "t": 164.07, + "log_step": null, + "text_zh": "推断：之后未见机器人取出钢笔或钢笔掉出；结合末态文件夹明确在包外及评分器 q_score=5/6、live_matches_replay=1，钢笔入包末态为真。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "机器人起初左夹爪夹计算器、右夹爪夹钢笔并共同搬运；钢笔首次未放入后，改由左二指夹爪独立从床面重新夹起并送入包口。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人轮式底盘在右手持钢笔、左手持计算器时驶回床边。" + } + ] + }, + "calculator_in_carryall": { + "method": "visual", + "intervals": [ + [ + 78, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 54, + "log_step": null, + "text_zh": "观察：视频 48–54 s 计算器从地板被机器人左二指夹爪夹起，视频 60–76 s 腕部近景仍可见计算器随左夹爪运动，原地板位置已空。" + }, + { + "t": 78, + "log_step": 158, + "text_zh": "观察：视频 75.5–78.5 s 机器人左夹爪把带显示屏及按键的计算器降入两提手之间；视频 79 s 夹爪张开，计算器留在包内，视频 79.5 s 左手退开。关系成立时刻约为视频 78 s，误差约 0.5 s。" + }, + { + "t": 164.07, + "log_step": null, + "text_zh": "推断：视频中此后未见计算器被取出或掉出；结合评分器 q_score=5/6、live_matches_replay=1，以及文件夹末态明确在包外，计算器入包末态为真。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "机器人左二指夹爪夹住计算器，右夹爪抓钢笔，两臂各持一件共同搬回手提包；左手先将计算器放入，右手暂持钢笔。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人轮式底盘持计算器和钢笔从地板取物处驶回床边手提包。" + } + ] + }, + "carryall_on_bed": { + "method": "visual", + "intervals": [ + [ + 28.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 红褐色手提包在床边地板上；视频 16–24 s 机器人左夹爪夹住包沿，提起并搬向床面。" + }, + { + "t": 28.5, + "log_step": 63, + "text_zh": "观察：视频 28.5–30.5 s 手提包底部落在白色床垫上，机器人左夹爪松开并退开；视频 78–101 s、148–164.07 s 装入用品期间包仍在床上，末帧也未离床。首次贴床约为视频 28.5 s，视觉误差约 0.5 s。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左二指夹爪夹住手提包左侧包沿，将包提起、送到床垫上并松开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人轮式底盘在持包期间转向并驶向床边，支承搬运。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.8333333333333334, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "folder_in_carryall", + "t": 161, + "log_step": 311, + "where": "操作中", + "evidence_zh": "观察：视频 159–161 s 机器人左夹爪拿起最后的文件夹后，文件夹停留在包外直至视频 164.07 s 末帧；该步从未达成。log step 311 记录执行抓起文件夹，log step 313–328 记录后续几何分析、逆解与路径检查，未记录执行入包动作；视频 161 s 为持物停留开始的导航锚点。" + }, + "unmet": { + "folder_in_carryall": false, + "book_in_carryall": true, + "pencil_in_carryall": true, + "pen_in_carryall": true, + "calculator_in_carryall": true, + "carryall_on_bed": true + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 有完整录像和运行日志，但无逐帧状态日志；包内物品在后续视角被包壁遮挡，首次容纳时刻为视觉估计，末态以可见搬运过程和评分器五项关系的总数交叉确认。视频 161–164.07 s 只显示左夹爪持文件夹停在包外；log step 313–328 是 agent 自己的几何分析及轨迹计算，未执行该入包路径，且末次自述只是等待规划结果（log step 321），没有完成声明。推断：可定位未完成的文件夹步骤，但无法确认一次实际入包运动中的放偏、碰撞或滑落，故现象留空；早期逆解误差在 log step 326–328 的计算中已减小，不能据此认定最终控制不可行或规划错误，根因也留空，不将预算结束当作原因。" + }, + "summary_zh": "观察：机器人先把手提包放到床上，再完成计算器、钢笔、铅笔和书本入包，最终关系为 5/6，与评分器 q_score=5/6 一致。视频 159–164.07 s 的最后一步只把文件夹夹起并停留在包外，文件夹入包未达成。推断：日志后续仍在计算入包轨迹，未执行该路径；缺少能支持具体物理失误及根因的证据，因此两层失败原因留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标注与视频一致：五项入包/包在床上成立，文件夹在末帧仍被左夹爪夹在包外，q_score=5/6 支持。运行在 7200 s 限时处被截断（wall_s 7203），日志末尾仍在计算入包轨迹，未见可支持的具体物理失误，现象与根因留空并写 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": "2026-10-30T21:40:38Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-organizing-school-stuff-i00-standard--boz9oa4/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-organizing-school-stuff-i00-standard--boz9oa4/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "28f10bba94bb9043b6f68638efa3515049592a684fbfba9d52202cae5abb89c5", + "video_sha256": "84f9a5f82f9dcc152dcaf55de4afc66746f7ab799abccb4910d801532159d73a", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-standard--dezqvug.json b/phase2/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-standard--dezqvug.json new file mode 100644 index 0000000000000000000000000000000000000000..65dda5b579a0d90708c6755b3d1b25cff65246c4 --- /dev/null +++ b/phase2/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-standard--dezqvug.json @@ -0,0 +1,323 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-organizing-school-stuff-i00-standard--dezqvug", + "taskKey": "behavior-1k/organizing_school_stuff", + "dag_sha256": "6d94495621b002cd6665ebc6a8ff9d45909c21b1d26e77cc83c95f15a52ef769", + "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": 13466, + "sim_steps": 13466, + "physics_steps": 53864, + "steps": 690, + "elapsed_s": 4542.6, + "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": 2, + "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-organizing-school-stuff-i00-standard--dezqvug/replay.mp4", + "duration_s": 448.9, + "fps": 10.0, + "frames": 4489, + "sha256": "e5028a2a89c17e996b12a0c86dd7fb8536a352431bd6ed2c5e5ca906a251d4ff" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 0, + "peak": 1, + "final": 0, + "nodes": { + "folder_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 88.5, + "log_step": 119, + "text_zh": "观察：视频 86–93.5 s，机器人左夹爪在蓝色文件夹旁闭合并抬起，文件夹仍留在床面，没有随夹爪离开；log step 119 的服务读数显示左夹爪闭合至约0米。" + }, + { + "t": 256, + "log_step": null, + "text_zh": "观察：视频 200–244 s，蓝色文件夹仍在床侧低处，左夹爪反复闭合、抬起；视频 256 s 的左腕画面仍可见文件夹留在床侧，机器人没有将它送到包口。视频 261.6 s 前后的张爪动作也没有出现文件夹落入包内。" + }, + { + "t": 448.8, + "log_step": null, + "text_zh": "推断：视频 448.8 s 仍可见蓝色文件夹在床侧包外；结合全过程未见入包，以及评分器 q_score=0（六项目标初态均不成立），文件夹入包终态为假。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "左夹爪在尝试夹取时抵碰、拨动蓝色文件夹，使其移至床边低处；未见两指成功夹持文件夹，反复空闭合不计抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人移动底盘接近床边文件夹，后又沿床边小幅移动以重新接近文件夹。" + } + ] + }, + "book_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 62, + "log_step": null, + "text_zh": "观察：已检查视频全程粗采样及文件夹、手提包操作的密集画面，机器人只反复操作手提包和蓝色文件夹，没有抓取并搬送书本入包的过程；初态任务记录中书本位于包外（床远端的蓝色小矩形书本）。" + }, + { + "t": 448.8, + "log_step": null, + "text_zh": "推断：评分器 q_score=0，且六项目标初态均不成立，故最终没有任一新增目标关系成立，书本入包终态为假；视频全程没有显示与此相反的入包过程。" + } + ] + }, + "pencil_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 62, + "log_step": null, + "text_zh": "观察：已检查视频全程粗采样及文件夹、手提包操作的密集画面，机器人只反复操作手提包和蓝色文件夹，没有抓取并搬送铅笔入包的过程；初态任务记录中铅笔位于包外（床远端的细长铅笔）。" + }, + { + "t": 448.8, + "log_step": null, + "text_zh": "推断：评分器 q_score=0，且六项目标初态均不成立，故最终没有任一新增目标关系成立，铅笔入包终态为假；视频全程没有显示与此相反的入包过程。" + } + ] + }, + "pen_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 62, + "log_step": null, + "text_zh": "观察：已检查视频全程粗采样及文件夹、手提包操作的密集画面，机器人只反复操作手提包和蓝色文件夹，没有抓取并搬送钢笔入包的过程；初态任务记录中钢笔位于包外（地板上的钢笔）。" + }, + { + "t": 448.8, + "log_step": null, + "text_zh": "推断：评分器 q_score=0，且六项目标初态均不成立，故最终没有任一新增目标关系成立，钢笔入包终态为假；视频全程没有显示与此相反的入包过程。" + } + ] + }, + "calculator_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 62, + "log_step": null, + "text_zh": "观察：已检查视频全程粗采样及文件夹、手提包操作的密集画面，机器人只反复操作手提包和蓝色文件夹，没有抓取并搬送计算器入包的过程；初态任务记录中计算器位于包外（地板上的计算器）。" + }, + { + "t": 448.8, + "log_step": null, + "text_zh": "推断：评分器 q_score=0，且六项目标初态均不成立，故最终没有任一新增目标关系成立，计算器入包终态为假；视频全程没有显示与此相反的入包过程。" + } + ] + }, + "carryall_on_bed": { + "method": "visual", + "intervals": [ + [ + 55.5, + 98.4 + ] + ], + "final": false, + "evidence": [ + { + "t": 55.5, + "log_step": 96, + "text_zh": "推断：视频 53–58 s，机器人右夹爪将红褐色手提包降到床沿并张开，视频 60–63 s 转动视角后可见包底落在白色床垫上；将关系起点估为视频 55.5 s，约有1秒不确定性，包底在最初接触时被遮挡。" + }, + { + "t": 94, + "log_step": null, + "text_zh": "观察：视频 60–95 s 的连续检查中，手提包一直位于床垫同一侧；机器人手臂伸缩、遮挡或张爪时，包并未离开床垫，不切断这段区间。" + }, + { + "t": 98.4, + "log_step": 124, + "text_zh": "观察：视频 95–98.4 s，机器人在左臂重新接近文件夹的过程中，右臂碰动床沿的手提包；视频 98.4 s 包已离开床面向外翻落，视频 99.8 s 可见其落到地板。之后没有恢复包上床。" + }, + { + "t": 438.6, + "log_step": 373, + "text_zh": "观察：视频 424–438.6 s，右夹爪夹住包边后包随手抬高，但仍位于床外；视频 439–448.8 s 机器人侧翻，未把包放回床面。log step 394 的服务终止原因为“failure: the robot fell over”。" + }, + { + "t": 439.6, + "log_step": 375, + "text_zh": "推断：本次为无重置、无恢复的单次实时评分局。log step 375 的 control_steps=13188，以30赫兹得视频 439.6 s，已在视频 439–439.5 s 的明显侧倾动作核对；log step 394 的13466控制步对应视频约448.87 s，与录像终点一致。时间判断以已检查视频为准。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右二指夹爪夹住手提包边缘搬上床；包落地后多次重夹，末段成功夹住包边并短暂抬起。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在首次持包靠近床、转向以及后段接近地面手提包和持包移动时支承机器人并行驶。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "folder_in_carryall", + "t": 88.5, + "log_step": 119, + "where": "操作中", + "evidence_zh": "观察：视频 87.5–93.5 s，机器人左夹爪首次闭合、抬升后，蓝色文件夹仍留在床上；其后多次重试也没有完成文件夹入包。视频 98.4 s 手提包才从床沿被碰落，视频约439 s 后重新搬包时机器人侧翻，因此文件夹入包是最早尝试失败且始终未修复的步骤。" + }, + "unmet": { + "folder_in_carryall": false, + "book_in_carryall": false, + "pencil_in_carryall": false, + "pen_in_carryall": false, + "calculator_in_carryall": false, + "carryall_on_bed": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 88.5, + "log_step": 119, + "evidence_zh": "观察：视频 87.5–93.5 s，左夹爪在文件夹旁空闭合，抬手后文件夹仍在原床面；后续视频 176–202 s、214–244 s 的重夹也未见文件夹被夹持带走，视频 256 s 和448.8 s 仍能在包外找到它。这里缺少的是能够搬运文件夹的夹持接触，夹爪曾碰动文件夹不等于建立抓握。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：视频 86–93.5 s 显示机器人已将左夹爪送到文件夹附近，却未使两指夹持成立；log step 119、142、159、183 的实时服务读数均显示闭合后左夹爪开口接近0米，且各次抬手后文件夹仍留在包外。结合多种接近方向的重复失效，证据支持抓取执行的控制问题，但不足以唯一判定接触设计、轨迹还是反馈子类。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "没有逐帧状态日志。手提包首次触床的包底被遮挡，起点约有1秒不确定性；包内精确包围盒关系也不能从像素数值复核，但未入包的可见过程及评分器 q_score=0 可共同决定六个终态。文件夹抓取缺少力、接触对及完整控制误差记录，控制根因不细分；成功参考录像仅用于对比完成外观，未作为本次到达证据。" + }, + "summary_zh": "机器人曾将手提包放到床上，进度峰值1/6，但在尝试抓取文件夹时碰落手提包，最终0/6，与评分器 q_score=0一致。最早未修复的失败是文件夹入包：左夹爪反复空夹，文件夹始终留在包外；后来机器人重新夹起包并移动时侧翻，服务于视频约448.9 s终止。无状态日志，包首次触床时间有约1秒误差，抓取失败的控制子类无法确定。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽查视频 0/30/52/56/62/90/97/98.4/100/150/256/440/448 s：包初始在地板，约 55–98 s 在床上，之后落地且至终点未回床，文件夹始终在包外，与标注一致；断点与根因有证据支持。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:33:36Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-organizing-school-stuff-i00-standard--dezqvug/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-organizing-school-stuff-i00-standard--dezqvug/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "405c12e171397f55a463b22a5333e7c830774ce478933743c8ca8cc58bc1679d", + "video_sha256": "e5028a2a89c17e996b12a0c86dd7fb8536a352431bd6ed2c5e5ca906a251d4ff", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-standard--fktatuq.json b/phase2/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-standard--fktatuq.json new file mode 100644 index 0000000000000000000000000000000000000000..08b3b3353722a9da174cd13122412dd34e45c6e6 --- /dev/null +++ b/phase2/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-standard--fktatuq.json @@ -0,0 +1,440 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-organizing-school-stuff-i00-standard--fktatuq", + "taskKey": "behavior-1k/organizing_school_stuff", + "dag_sha256": "6d94495621b002cd6665ebc6a8ff9d45909c21b1d26e77cc83c95f15a52ef769", + "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": 26459, + "sim_steps": 26459, + "physics_steps": 105836, + "steps": 16235, + "elapsed_s": 13917.2, + "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-organizing-school-stuff-i00-standard--fktatuq/replay.mp4", + "duration_s": 881.967, + "fps": 30.0, + "frames": 26459, + "sha256": "219b6eb781fb77bc4d773471387905af3fcb0250e0cc78584db9d732e71b9756" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 0, + "peak": 3, + "final": 0, + "nodes": { + "folder_in_carryall": { + "method": "visual", + "intervals": [ + [ + 692.0, + 806.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频开头大蓝色扁平文件夹位于床上，包在床边地板上，文件夹不在包内。" + }, + { + "t": 381.5, + "log_step": null, + "text_zh": "观察：视频 374.5–398.5 s，机器人把大蓝色文件夹降至包口旁，松手后文件夹斜靠在包沿外侧，随后又回到床面；不能把这次松手当作入包。" + }, + { + "t": 692.0, + "log_step": 627, + "text_zh": "观察：视频 690.2–697.2 s，机器人左夹爪持包，右夹爪将大蓝色文件夹对准包口后松开；文件夹下落到两侧包壁之间，白色边沿仍露出，原来的持物夹爪变空。" + }, + { + "t": 806.5, + "log_step": null, + "text_zh": "观察：视频 804.5–808.5 s，机器人持包手臂转动，包口侧倾，大蓝色文件夹从包口滑出；视频 813.5 s 后床边地面可见它与小蓝色书本。掉出时刻约为视频 806.5 s，包壁遮挡使边界有约两秒不确定性。" + }, + { + "t": 881.9, + "log_step": null, + "text_zh": "推断：视频 853–875 s 两件蓝色用品仍在包外，未见重新入包；末秒视野受机身遮挡。评分器 q_score=0.0 且 live_matches_replay=1，六项目标初态均为假，因此文件夹入包的最终值为假。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "机器人先用左夹爪夹取文件夹，右夹爪抓包提手配合对准；后期改为左夹爪持包、右夹爪夹文件夹并松手入包。" + }, + { + "who": "双臂协作", + "how": "推/扫", + "note_zh": "机器人一手持包，另一夹爪推移床上及地面的文件夹边缘，尝试露出可夹取的边或向包口送入。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘支承机器人驶近取物位置，并在夹爪持包、搬送用品时移动。" + } + ] + }, + "book_in_carryall": { + "method": "visual", + "intervals": [ + [ + 778.5, + 806.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 709.0, + "log_step": null, + "text_zh": "观察：视频 709–755 s，小蓝色书本仍在床上；机器人右夹爪数次闭合、抬起后，原位置仍可见书本，不能按 agent 的抓取自述提前记入包。" + }, + { + "t": 778.5, + "log_step": 710, + "text_zh": "观察：视频 767–778.7 s，机器人右夹爪夹住小蓝色书本并抬离床面，左夹爪持包；右手把书本转成窄边朝下送到包口，约视频 778.5 s 松手后书本落到包壁之间。" + }, + { + "t": 806.5, + "log_step": null, + "text_zh": "推断：视频 804.5–808.5 s 包倾斜、蓝色用品掉出，视频 813.5 s 后大小两件蓝色用品均在床边地面；小书本失去容纳关系的边界取视频 806.5 s，遮挡下约有两秒不确定性。" + }, + { + "t": 881.9, + "log_step": null, + "text_zh": "推断：视频 853–875 s 小书本仍在地面，未见重新装包；结合评分器 q_score=0.0、live_matches_replay=1 及六项初态均为假，书本入包最终为假。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "左夹爪抓包提手保持开口，右夹爪闭合夹住小蓝色书本边角，抬起、转向并松手入包。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘支承机器人驶近取物位置，并在夹爪持包、搬送用品时移动。" + } + ] + }, + "pencil_in_carryall": { + "method": "visual", + "intervals": [ + [ + 725.5, + 806.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 709.2, + "log_step": null, + "text_zh": "观察：视频 709.2 s 黄色铅笔仍横放床面；视频 715–723 s 机器人右夹爪夹起它，床上原位置变空。" + }, + { + "t": 725.5, + "log_step": 666, + "text_zh": "观察：视频 724.2–726.2 s，左夹爪持包，右夹爪把黄色铅笔转为近竖直并移至两提手之间，张爪后铅笔向下进入包口，右夹爪随后空手离开。" + }, + { + "t": 806.5, + "log_step": null, + "text_zh": "推断：视频 804.5–808.5 s 包侧倾，随后视频 853–855 s 近地视角可见黄色细杆在掉出的蓝色用品旁；结合后续未见重新装入，将失去关系的锚点取为视频 806.5 s，铅笔离开包口的瞬间被包壁遮挡。" + }, + { + "t": 881.9, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.0、live_matches_replay=1，且六项初态均为假，最终不可能仍有铅笔入包这一目标成立；该总分只用于最终值，不否认视频 725.5 s 的入包过程。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "左夹爪抓持包的提手，右夹爪闭合夹住黄色铅笔，提起并在包口上方张开释放。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘支承机器人驶近取物位置，并在夹爪持包、搬送用品时移动。" + } + ] + }, + "pen_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 803.7, + "log_step": null, + "text_zh": "观察：视频 799–810 s 机器人转向床边地板，右腕视角可见计算器及附近的浅色细杆；后续视频 820–881.9 s 机器人反复靠近计算器和掉出的蓝色用品，未见把钢笔从地面夹走并转移到包口。" + }, + { + "t": 881.9, + "log_step": null, + "text_zh": "推断：全段未见钢笔搬取或入包过程；评分器 q_score=0.0 且 live_matches_replay=1，六项目标初态均为假，因此钢笔入包最终为假。" + } + ] + }, + "calculator_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 803.7, + "log_step": null, + "text_zh": "观察：视频 803.7 s 右腕近景中计算器位于地面，显示屏、黑色按键和红色按钮清楚可见。" + }, + { + "t": 833.5, + "log_step": 753, + "text_zh": "观察：视频 830.5–838.5 s 机器人右夹爪靠近计算器按钮和边缘并闭合、抬起，但计算器留在地面；后续视频 845–865 s 仍可见它，未发生送入包口的搬运。" + }, + { + "t": 881.9, + "log_step": null, + "text_zh": "推断：视频未见计算器离开地面并进入包中，评分器 q_score=0.0、live_matches_replay=1 也限定最终为假。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "左夹爪持续抓住包提手，为右臂取计算器保留包的位置；右夹爪尝试闭合夹取计算器，但视频没有显示成功承载计算器。" + }, + { + "who": "双臂协作", + "how": "压/擦", + "note_zh": "左手持包时，右夹爪指端接触计算器的按钮区域及上表面；计算器受到拨压后仍留在地面。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘支承机器人驶近取物位置，并在夹爪持包、搬送用品时移动。" + } + ] + }, + "carryall_on_bed": { + "method": "visual", + "intervals": [ + [ + 20.0, + 76.5 + ], + [ + 111.5, + 123.5 + ], + [ + 139.5, + 255.5 + ], + [ + 288.8, + 306.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 20.0, + "log_step": null, + "text_zh": "观察：视频 12–20.2 s 机器人左夹爪抓持包沿，底盘转向床，包落到白色床垫上；视频 20.2 s 后包直立在床面。视频 75.5–76.5 s 包向床边倾倒并离开床面，随后位于地面。" + }, + { + "t": 111.5, + "log_step": null, + "text_zh": "观察：视频 111.5–123.5 s 机器人右夹爪把包放回床面；视频 116.5–121 s 右手松开离开，包直立后侧倒但始终在床垫上，故此处不拆分区间。视频约 123.5–124 s 重新抓持后抬离床。" + }, + { + "t": 139.5, + "log_step": null, + "text_zh": "观察：视频约 139.5 s 包再次落在床上；视频 145–251.5 s 包侧躺在床面，机器人围绕它尝试送入文件夹。视频 255.5–257.7 s 右夹爪抓住提手并把包抬离床面。" + }, + { + "t": 288.8, + "log_step": 272, + "text_zh": "观察：视频 288.8–290.8 s 机器人右手松开包，包落稳并侧躺在床垫上；视频 300–306.3 s 再抓提手时包仍在床面，约视频 306.5 s 才随右臂上抬离开床面。" + }, + { + "t": 400.0, + "log_step": null, + "text_zh": "观察：视频 360–509 s 机器人持包配合取文件夹时，包多次接近床边或悬于床面上方；视频 400 s 包在床的前缘外，视频 483 s 包悬于蓝色文件夹上方，不能仅因视线投影落在床上而记为床面支撑。" + }, + { + "t": 881.9, + "log_step": null, + "text_zh": "观察：视频 695 s 包在床外悬持，视频 786–805 s 随底盘移到计算器附近，视频 869–881.9 s 仍由左夹爪持在床外，没有再次放回床面。" + }, + { + "t": 881.9, + "log_step": null, + "text_zh": "推断：末态包在床外与评分器 q_score=0.0 一致；评分器 live_matches_replay=1，六项目标初态均为假，最终包上床为假。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左夹爪先抓包沿搬到床上，之后右夹爪多次夹住提手抬起、翻转、放回，后期换左夹爪持续持包。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "机器人夹爪接触、推拨包沿以调整倾斜的包体位置，包在首次床边调整中翻落。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘支承机器人驶近取物位置，并在夹爪持包、搬送用品时移动。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "folder_in_carryall", + "t": 806.5, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 800–803.5 s 左夹爪仍持包，包口内可见蓝色用品；视频 804.5–808.5 s 机器人调整持包手臂和躯干姿态，包口侧倾，蓝色文件夹移出包口，视频 813.5 s 后大小两件蓝色用品位于床边地面，视频 854–874 s 仍在包外，未见重新装回。推断：断点取最先装入而后未恢复的文件夹入包节点，视频约 806.5 s 为掉出事件的导航锚点；铅笔同时掉出由后续地面细杆及最终评分共同支持。视频约 306.5 s 抬包是主动重定位以继续装包，不能仅因包上床关系自此为假就把这次抬起当作出错。" + }, + "unmet": { + "folder_in_carryall": false, + "book_in_carryall": false, + "pencil_in_carryall": false, + "pen_in_carryall": false, + "calculator_in_carryall": false, + "carryall_on_bed": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 806.5, + "log_step": null, + "evidence_zh": "观察：视频 800–803.5 s 蓝色用品位于左夹爪所持包的两侧包壁之间；视频 804.5–808.5 s 机器人持包调整姿态，包口侧倾，蓝色用品离开包口，视频 813.5 s 后可见它们落在床边地面。推断：已装用品在持包搬运和姿态调整途中洒出，属于没保持住（docs/TAXONOMY_v2.md §3 接触类），而非把主动抬包记为位姿不准；铅笔离开包口的瞬间受遮挡。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "轨迹或逆解", + "evidence_zh": "观察：log step 464 定义的 gotoq 用 np.linspace 对当前关节位置与目标关节位置插值；log step 733 在左夹爪保持闭合（lg=0）时调用 gotoq 切换到 savedq(358) 的关节姿态，中间先修改 q[5]。视频 800–803.5 s 持包尚容纳蓝色用品，视频 804.5–808.5 s 手臂和躯干姿态改变时包口侧倾、用品掉出。推断：此持包姿态切换轨迹未维持装载所需的包口朝上姿态，导致用品洒出，归入轨迹或逆解；这是基于动作代码与可见运动的推断，不以其他时刻的逆解报错或 agent 自述作为掉物的证明。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有逐帧状态日志，包底接触和用品包围盒中心只能靠多视角过程判断；包壁遮挡使视频约 804.5–808.5 s 各件用品掉出的边界约有两秒不确定性，尤其铅笔离开包口的瞬间不可见，其掉出由后续地面细杆与最终 q_score=0.0 共同支持。关节姿态切换轨迹导致包口倾斜属于结合日志代码和视频的推断，没有末端姿态跟踪误差或力反馈数据，不能进一步断言反馈控制失稳或具体参数不当；视频末秒机身遮住部分物品。" + }, + "summary_zh": "机器人曾完成包上床，并先后把文件夹、铅笔、书本放入包内，同时最多三项目标成立；计算器抓取未成功，钢笔未见搬取，最终六项关系均为假。断点取文件夹入包：视频约 804.5–808.5 s 持包姿态调整使包口侧倾，已装用品掉出且未恢复，现象为没保持住；结合关节插值代码推断该次姿态切换轨迹未维持包口朝上。没有状态日志，个别掉出边界及轨迹根因仍需推断，因此置信度保留为 6。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点区间与视频基本吻合（包上床区间、三件用品入包、约806.5 s掉出均可在帧中看到），但断点选错：视频约306.5 s抬包是机器人为装包而做的主动重定位，不是失败；真正未恢复的失败是视频约804.5–808.5 s持包转向/倾斜使已装的文件夹、书本、铅笔掉出包外，之后再未装回。root_causes为空且现象“位姿不准”挂在主动抬包上，不被证据支持。", + "n_issues": 3, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "断点（文件夹入包，约视频806.5 s，持包转向时用品洒出）、各节点区间与final、没保持住现象均与帧一致；根因“轨迹或逆解”是基于log step 733（gotoq插值回savedq(358)）与可见姿态变化的推断，已标为推断并在gap_zh说明，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": "2026-10-30T21:48:25Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-organizing-school-stuff-i00-standard--fktatuq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-organizing-school-stuff-i00-standard--fktatuq/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-organizing-school-stuff-i00-standard--fktatuq/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-organizing-school-stuff-i00-standard--fktatuq/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "9369859d4b017a43d9812fd7234f6e5ac57927d1e3a951625ffd25f9853fe1fa", + "video_sha256": "219b6eb781fb77bc4d773471387905af3fcb0250e0cc78584db9d732e71b9756", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-standard--fyvgzvd.json b/phase2/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-standard--fyvgzvd.json new file mode 100644 index 0000000000000000000000000000000000000000..274db0ade6958f3277904a214fec08081580666c --- /dev/null +++ b/phase2/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-standard--fyvgzvd.json @@ -0,0 +1,394 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-organizing-school-stuff-i00-standard--fyvgzvd", + "taskKey": "behavior-1k/organizing_school_stuff", + "dag_sha256": "6d94495621b002cd6665ebc6a8ff9d45909c21b1d26e77cc83c95f15a52ef769", + "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, + "missing_log": 0, + "n_actions": 26064, + "sim_steps": 26064, + "physics_steps": 104256, + "steps": 8553, + "elapsed_s": 6425.0, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 1, + "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, + "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-organizing-school-stuff-i00-standard--fyvgzvd/replay.mp4", + "duration_s": 868.8, + "fps": 30.0, + "frames": 26064, + "sha256": "e181b5af012e081ded1e67c3cc6aed62c7b658da476b4cf5189d9719b4263ae5" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 0, + "peak": 4, + "final": 4, + "nodes": { + "folder_in_carryall": { + "method": "visual", + "intervals": [ + [ + 555.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 545, + "log_step": 203, + "text_zh": "观察：视频 520–545 s，左夹爪夹持床上较大的蓝色折页状薄件并转为竖直；视频 547–560 s 可见它下降到包口两提手之间，视频 560–575 s 松爪撤离后该蓝色物仍留在包内。此前视频 270–294 s、375–406 s 的下降未形成可见入包，物件随后仍在床上。" + }, + { + "t": 555.5, + "log_step": 205, + "text_zh": "推断：按任务判据及成功参考视频中较大蓝色薄片的外形，将此物归为文件夹；log step 203–207 将它称为 book，物品名称采用画面形态而非该称呼。中心进入包内约在视频 555.5 s，边界有约 1 s 误差。" + }, + { + "t": 805, + "log_step": null, + "text_zh": "推断：视频 790–805 s 包内仍可见蓝色用品，之后机器人空手离开且未再操作包；评分器 q_score=4/6、live_matches_replay=1，与文件夹、书、铅笔及包上床四项成立相符。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 170–185 s，左夹爪接触并推移床上的大蓝色文件夹到床沿。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左二指夹爪随后夹住蓝色文件夹边缘，抬起、转动并送入包口；视频 545–560 s 可见持物下降和松手。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人夹持该蓝色文件夹时移动底盘调整相对床和包的位置，视频 240–260 s、520–530 s 可见搬送。" + } + ] + }, + "book_in_carryall": { + "method": "visual", + "intervals": [ + [ + 790, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 730, + "log_step": 238, + "text_zh": "观察：视频 720 s 小蓝色带浅色页边的矩形物仍在床面；视频 730–750 s，右二指夹爪夹住其边缘，将它从床上抬离并向手提包搬送。" + }, + { + "t": 790, + "log_step": 250, + "text_zh": "观察：视频 783–789.5 s，右夹爪将第二件蓝色用品降到包口内，视频 790–791 s 松手后它落下，视频 791–805 s 夹爪离开而蓝色物留在包中。" + }, + { + "t": 791, + "log_step": 250, + "text_zh": "推断：根据较小蓝色物的厚度、页边及成功参考视频同形物的搬运，将其归为书本；log step 238–250 仅称 small blue item。入包约在视频 790 s，最终关系由入包过程及评分器四项目标成立共同支持。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 730–791 s，右二指夹爪夹住小蓝色书本边缘，抬起、搬送、下降后放入包内。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 740–750 s，机器人夹持小蓝色书本时移动底盘靠近包。" + } + ] + }, + "pencil_in_carryall": { + "method": "visual", + "intervals": [ + [ + 710.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 670, + "log_step": 224, + "text_zh": "观察：视频 670–680 s，右二指夹爪将黄色铅笔从床上夹起；视频 690–708 s 腕部视角持续可见黄色细杆随夹爪移动到包口上方，原床面不再有该铅笔。" + }, + { + "t": 710.5, + "log_step": 231, + "text_zh": "观察：视频 709.5–710.5 s，右夹爪在包口上方张开，黄色铅笔向包内落下；视频 711–716 s 夹爪撤离，未见铅笔落回床上或落在包外。" + }, + { + "t": 716, + "log_step": 231, + "text_zh": "推断：铅笔落点被包壁和蓝色用品遮住，但下降方向进入包口；视频 791–845 s 包保持在床上且未再被搬动，评分器末态 q_score=4/6，加上两件蓝色用品及手提包上床，支持铅笔最终入包。视频 710.5 s 为落下过程的近似锚点。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 670–710.5 s，右二指夹爪夹住黄色铅笔并搬到包口，随后张开放下。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 680–690 s，机器人持铅笔时移动底盘靠近包口。" + } + ] + }, + "pen_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 830, + "log_step": 252, + "text_zh": "观察：视频 805–830 s，机器人收回空夹爪并离开床边；视频 830–858 s 它移动、转身扫描地面，没有将地面细长物夹起或带回手提包。log step 252–254 的代码检查了被 agent 称为 pen 的图像候选，随后 log step 259 执行地面扫描。" + }, + { + "t": 868.766, + "log_step": 260, + "text_zh": "推断：视频 858–868.766 s 机器人倾倒并以空夹爪结束，钢笔从未经历可见取物或入包；与视频 0 s 的包在地面、用品未装入的初态及末态 q_score=4/6 一致，钢笔入包为 false。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 830–858 s，机器人为寻找尚未收纳的地面用品移动和原地转动，底盘支承机体；未观察到夹爪与钢笔接触。" + } + ] + }, + "calculator_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 830, + "log_step": 259, + "text_zh": "观察：视频 0–868.766 s 的操作依次涉及手提包、两件蓝色用品和黄色铅笔，未出现带显示屏和按键的计算器离开地面并到达包口的过程；视频 830–858 s 机器人只在空手扫描地面。" + }, + { + "t": 868.766, + "log_step": 260, + "text_zh": "推断：视频末段至视频 868.766 s 均无计算器取放，且其余四项目标已由画面支持，评分器 q_score=4/6 限定计算器末态不能再成立，故为 false；并非仅因总任务失败而判未完成。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 830–858 s，机器人空手移动并转身搜索剩余地面用品（钢笔和计算器）；未观察到与计算器的手部接触。" + } + ] + }, + "carryall_on_bed": { + "method": "visual", + "intervals": [ + [ + 58, + 69.5 + ], + [ + 73, + 110 + ], + [ + 140, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 58, + "log_step": 55, + "text_zh": "观察：视频 0 s 手提包在地面，视频 26–40 s 左夹爪抓住提手抬起并随底盘移到床边；视频 58–69 s 可见包侧躺在床垫上，包与床之间没有可见空隙。" + }, + { + "t": 70.5, + "log_step": 67, + "text_zh": "观察：已按半秒间隔核对视频 55–77 s；视频 69.5–72.5 s，左夹爪实际抬动包，视频 70.5 s 包随手升高并与床垫分开，视频 73 s 放回床面，视频 76–108 s 仍留在床上。此处结束区间依据可见抬离，而非松爪。" + }, + { + "t": 111.5, + "log_step": 101, + "text_zh": "观察：已以半秒间隔核对视频 106–149 s；视频 110–123 s 腕部视角可见提起的包下方有空隙和分离的影子，视频 123–138 s 继续持包升高和旋转，不能将悬于床上方计为上床。" + }, + { + "t": 140, + "log_step": 116, + "text_zh": "推断：视频 138–140 s 左夹爪下降并释放转正的包，视频 144–160 s 腕部和头部视角确认包已直立支承于床上；恢复锚点取视频 140 s，受画面遮挡约有 2–4 s 不确定性。最初接触取视频 58 s 首次清晰可见时，视频 50–58 s 包底遮挡，可能更早接触。" + }, + { + "t": 845, + "log_step": null, + "text_zh": "观察：视频 160–845 s 后续收纳期间包一直在床垫上，视频 842–845 s 最后一次清晰头部扫视仍见包直立在床上；其后机器人空手离开，直到视频 868.766 s 结束没有再次搬包。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左二指夹爪抓住手提包提手，将包从地面搬上床，并在视频 69.5–73 s、110–140 s 再次提起、转动和放回。右腕相机观察不另算双臂抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 33–40 s，机器人由左夹爪持包，底盘转向并靠近床。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.6666666666666666, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "pen_in_carryall", + "t": 858, + "log_step": 259, + "where": "探索", + "evidence_zh": "推断：视频 830–858 s，机器人在收纳三件床上用品后空手绕行并扫描地面，尚未拿到地面用品；log step 252–254 最近一次明确检查的候选是钢笔，log step 259 接着执行地面扫描，因此把断点归入钢笔入包的探索阶段。视频 858–868.766 s 机器人倾倒且未恢复，log step 260 的实时服务状态为 done=True、reason=failure: the robot fell over；此前包的抬离和大蓝色用品的失败放置均已被后续操作修复。" + }, + "unmet": { + "folder_in_carryall": true, + "book_in_carryall": true, + "pencil_in_carryall": true, + "pen_in_carryall": false, + "calculator_in_carryall": false, + "carryall_on_bed": true + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 858, + "log_step": 259, + "evidence_zh": "观察：视频 846–858 s 视线逐步抬高并侧斜，视频 858–868.766 s 地面、床和墙持续大幅倾斜，机器人未恢复直立；log step 259 中机器人本体姿态计算的 tilt 依次为 0.921、0.576、0.214、0.119、-0.140，服务最终报告 robot fell over。这里的 tilt 是底座上轴竖直分量，用于检测机体倾倒。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "evidence_zh": "推断：log step 259 的扫描代码每个地点连续六次执行 drive(wz=0.5,T=2.1)，循环没有根据机体倾角中止或恢复姿态的分支；同一步输出已显示 tilt 从 0.921 降到 0.576、0.214 后，脚本仍继续旋转并调用下一地点的 goto。视频 858–868.766 s 对应持续倾倒而非稳定恢复，表明底盘扫描缺少对支承姿态恶化的反馈处理，导致失衡持续到服务终止。", + "source_zh": "日志" + } + ], + "gap_zh": "无逐帧状态日志；包底早期接触和最终下降部分被遮挡，手提包上床区间边界尤其视频 50–58 s、138–144 s 只能近似。包内中心位置无法数值验证，铅笔落点遮挡，结合可见下降轨迹与 q_score=4/6 推断末态；两件蓝色物按薄片/厚书外形区分，agent 的 book/small blue item 命名不可靠。最后扫描同时服务于钢笔和计算器搜索，按最近明确检查的钢笔候选归断点，不能证明扫描只针对钢笔。导致初始失衡的具体碰撞部位没有在镜头中清楚显示，故不加碰撞现象，也不把 agent 自述的被柜子推倒当作已证实事实。" + }, + "summary_zh": "观察与推断：机器人把手提包搬上床，并将大蓝色文件夹、黄色铅笔和小蓝色书本送入包，末态四个节点成立，与评分器 q_score=4/6 一致；钢笔和计算器未入包。最后机器人空手搜索地面用品时失衡倾倒，断点按最近钢笔候选归入钢笔入包的探索阶段，扫描代码在倾角恶化后仍继续驱动，支持反馈控制根因。无状态日志，部分包底接触边界和包内落点受遮挡，具体起始碰撞及最后扫描的单一目标无法确定。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值、断点（钢笔入包·探索）、平衡现象与反馈控制根因均与视频及 log step 259/260 相符，未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:41:44Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-organizing-school-stuff-i00-standard--fyvgzvd/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-organizing-school-stuff-i00-standard--fyvgzvd/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "fb6d789399a21acefac39e36a49d04fcb912cf17f4761b375838be5711f3d72e", + "video_sha256": "e181b5af012e081ded1e67c3cc6aed62c7b658da476b4cf5189d9719b4263ae5", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-standard--ootukfu.json b/phase2/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-standard--ootukfu.json new file mode 100644 index 0000000000000000000000000000000000000000..12d25911533c8885a9de4f773d6ac722c8cc051e --- /dev/null +++ b/phase2/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-standard--ootukfu.json @@ -0,0 +1,324 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-organizing-school-stuff-i00-standard--ootukfu", + "taskKey": "behavior-1k/organizing_school_stuff", + "dag_sha256": "6d94495621b002cd6665ebc6a8ff9d45909c21b1d26e77cc83c95f15a52ef769", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 0, + "live_matches_replay": 0, + "finalized": 0, + "n_actions": 35153, + "sim_steps": 35153, + "physics_steps": 140612, + "steps": 17233, + "elapsed_s": 11780.1, + "video_rendered": 0, + "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-organizing-school-stuff-i00-standard--ootukfu/replay.mp4", + "duration_s": 1171.767, + "fps": 30.0, + "frames": 35153, + "sha256": "844eca3dbaf769069796ce77c7b12e41db75b72c5563557e7783e570fd123667" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "folder_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12, + "log_step": null, + "text_zh": "观察：视频 12.0 s 的床面近景可见靠近床脚的蓝色扁平用品仍平放在白色床垫上，视频 16.0–22.5 s 仍可见床面上的蓝色用品；没有夹爪夹起薄片并搬送到包口的过程。" + }, + { + "t": 82, + "log_step": null, + "text_zh": "观察：视频 82.0 s 的床面及床边视野中没有手提包；此前机器人反复绕床倾倒、翻滚，未见文件夹送入包口。" + }, + { + "t": 1171.7, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，DAG 确认六项目标初态均为假，因此末态没有一项目标关系可计为真。reward.live_matches_replay=0，故该总分仅用于约束未被视频反证的末态；结合本片未见相应搬运，标为末态未达成，而非仅由零分倒推从未操作。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人在视频 10.0–24.0 s 为观察床上的文件夹、书本和铅笔共同行驶、转向；此处记录这一共享探索阶段的移动底盘支承。未观察到夹爪夹持该用品，不据 agent 的物品命名添加抓握。" + } + ] + }, + "book_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 16, + "log_step": null, + "text_zh": "观察：视频 16.0–22.5 s 可见床面上两件蓝色矩形用品，均未被夹爪搬运；视频 22.0 s 的蓝色书状物仍靠在床面。" + }, + { + "t": 12, + "log_step": 48, + "text_zh": "观察：agent 在 log step 36 将近处蓝色物称为“book”，在 log step 48 改变机器人观察位置以继续找床上的用品；视频 12.0–24.0 s 显示观察和失衡，没有书本抓起、移到包口的动作。" + }, + { + "t": 1171.7, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，DAG 确认六项目标初态均为假，因此末态没有一项目标关系可计为真。reward.live_matches_replay=0，故该总分仅用于约束未被视频反证的末态；结合本片未见相应搬运，标为末态未达成，而非仅由零分倒推从未操作。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人在视频 10.0–24.0 s 为观察床上的文件夹、书本和铅笔共同行驶、转向；此处记录这一共享探索阶段的移动底盘支承。未观察到夹爪夹持该用品，不据 agent 的物品命名添加抓握。" + } + ] + }, + "pencil_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.5, + "log_step": null, + "text_zh": "观察：视频 19.0 s、20.5–22.0 s 的头部视角清楚显示黄色细长铅笔仍躺在白色床垫上；两夹爪没有夹持铅笔，也没有将其带向包口。" + }, + { + "t": 1171.7, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，DAG 确认六项目标初态均为假，因此末态没有一项目标关系可计为真。reward.live_matches_replay=0，故该总分仅用于约束未被视频反证的末态；结合本片未见相应搬运，标为末态未达成，而非仅由零分倒推从未操作。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人在视频 10.0–24.0 s 为观察床上的文件夹、书本和铅笔共同行驶、转向；此处记录这一共享探索阶段的移动底盘支承。未观察到夹爪夹持该用品，不据 agent 的物品命名添加抓握。" + } + ] + }, + "pen_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 手提包在床边地板上；随后已检查的全片粗采样与视频 0.0–88.0 s 的加密帧没有夹爪从地板拾取钢笔并向包口搬送的过程。钢笔本体细小，后期视野又远离地板物品区，不能逐帧直接核对其位置。" + }, + { + "t": 1171.7, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，DAG 确认六项目标初态均为假，因此末态没有一项目标关系可计为真。reward.live_matches_replay=0，故该总分仅用于约束未被视频反证的末态；结合本片未见相应搬运，标为末态未达成，而非仅由零分倒推从未操作。" + } + ] + }, + "calculator_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 手提包在床边地板上；视频早期机器人主要转动、驶向床边并翻倒，未见夹爪拿起带显示屏和按键的计算器，也未出现计算器插入两提手之间的近景。" + }, + { + "t": 1171.7, + "log_step": null, + "text_zh": "观察：视频 90.0 s 以后全片粗采样及视频 1170.7–1171.7 s 的末秒密集帧显示机器人保持倾斜，头部视角朝向墙面，只有部分腕部运动，没有计算器搬运过程。" + }, + { + "t": 1171.7, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，DAG 确认六项目标初态均为假，因此末态没有一项目标关系可计为真。reward.live_matches_replay=0，故该总分仅用于约束未被视频反证的末态；结合本片未见相应搬运，标为末态未达成，而非仅由零分倒推从未操作。" + } + ] + }, + "carryall_on_bed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 红褐色敞口手提包直立在床边木地板上，包不在床垫上。" + }, + { + "t": 24, + "log_step": null, + "text_zh": "观察：视频 12.5 s、23.5–24.0 s 的腕部视角仍可见红褐色手提包在地板区域，未见包被夹起；视频 78.0 s 红包仍在地板上，视频 82.0 s 可见床面没有包。" + }, + { + "t": 1171.7, + "log_step": null, + "text_zh": "观察：视频 87.5 s 后机器人停留在倾斜的墙边视角，末秒视频 1170.7–1171.7 s 仍如此；没有后续提包上床的过程。" + }, + { + "t": 1171.7, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，DAG 确认六项目标初态均为假，因此末态没有一项目标关系可计为真。reward.live_matches_replay=0，故该总分仅用于约束未被视频反证的末态；结合本片未见相应搬运，标为末态未达成，而非仅由零分倒推从未操作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": 6.5, + "log_step": 24, + "where": "探索", + "evidence_zh": "观察：视频 6.0–7.5 s 机器人空手行驶、转向时，视野突然仰向天花板并明显倾斜；视频 10.0–24.0 s 再次靠近和探查床上用品，随后继续翻滚，未完成任何物品搬运。推断：这是整理用品的共同场景探索中最早的失衡，后续扶正没有完成任何相关步骤，至视频 83.0–88.0 s 又翻倒并长期停滞；当时尚未对文件夹、书本或铅笔中的一个形成可区分的取放动作，故不能可靠选定唯一 DAG 节点。" + }, + "unmet": { + "folder_in_carryall": false, + "book_in_carryall": false, + "pencil_in_carryall": false, + "pen_in_carryall": false, + "calculator_in_carryall": false, + "carryall_on_bed": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 6.5, + "log_step": 24, + "evidence_zh": "观察：视频 6.0–7.5 s 机器人行驶后头部画面由正常室内水平视野变为仰视天花板、床面明显倾斜；视频 12.5–14.0 s、17.5–24.0 s 又出现床框贴近相机和连续翻转。视频 83.0–88.0 s 再次失衡后，头部画面一直侧倒朝墙，至视频 1171.7 s 仍未恢复工作姿态。机器人未持有任何目标用品。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "source_zh": "日志 / 视频", + "alt_feasible": "未知", + "evidence_zh": "观察：log step 21 的 drive.py 将整段底盘位移拆成固定增量直接提交，未在段内检查家具间隙；log step 24 的脚本连续转向 3.32 弧度并前进 0.8 米。log step 26 中 agent 自述“撞到东西”，log step 27 的服务 proprio 返回 base z=0.178 米及四元数 [-0.342, 0.212, 0.012, -0.915]；log step 28 的约 40° 横滚是 agent 对该状态的自述。log step 48 的 nav.py 在未核验沿途通行间隙的情况下连续侧移 −1.30 米、前进 1.30 米、转向 1.57 弧度，服务返回 base z=1.018 米；log step 50 再次读到同一高度，log step 52 后退后服务返回 z=0.061 米，agent 在该步自述“爬上床角”。视频 6.0–7.5 s 可见视野仰向天花板，视频 12.0–14.0 s 可见机器人贴近床沿后翻转，视频 83.0–88.0 s 又在家具与墙边侧倒。推断：脚本选择的接近路径及家具附近转向没有先核验机器人所需的通行间隙，开环连续位移使机器人进入障碍区域并失衡，支持导航路径与避障规划失误；这些证据没有证明反馈控制器本身失效。服务读数与视频中的失衡形态相符，但未将 agent 工作时间换算为视频时间，也不把具体障碍身份仅凭 agent 自述判定。", + "note_zh": "替代方案候选为绕开家具、每小段移动后重新观察并核验间隙；本次证据未验证某条替代路径可行，故 alt_feasible 为未知。" + } + ], + "gap_zh": "没有逐帧状态日志。机器人最早失败于面向床上多件用品的共同探索，视频没有足够动作线索把断点唯一归给某一入包节点；不是从物品实例名称的不确定性推成节点未知。早期未见任何取放，后期墙边视野遮住用品与包内，六项末态由初态、已见过程及 q_score=0 的上界共同判断；live_matches_replay=0，不能把所有实时诊断无条件当作回放状态。agent 在 log step 275 声称右臂经碰撞缝隙进入地板并卡住，服务姿态读数支持异常低位，但“地板缝隙/仿真 bug”的具体机制未独立核实，未据此添加环境根因。" + }, + "summary_zh": "机器人只进行了用品定位、床边行驶和翻倒恢复，未观察到五件用品入包或手提包上床，六节点末态均为假，与评分器 q_score=0 一致。视频约 6.5 s 在共同探索床上用品时首次失衡，此后虽多次扶正，始终没有完成相关步骤，视频约 83.0–88.0 s 再次翻倒后长期停滞；根因据连续位移脚本、服务姿态读数与床边翻转推断为认知·推理/规划：接近与转向路径缺少家具间隙核验；可行替代路线尚未验证。由于尚未形成可区分的单件用品操作，断点节点保留 unknown；无状态日志，后期用品遮挡由评分总分约束末态。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点末态全为假、断点 unknown、现象 全身·平衡 与视频和 q_score=0 一致（视频 6–7 s 仰视天花板、12–24 s 床框贴近镜头、85 s 起倒向墙面）。问题在根因：日志显示机器人是被开环位移指令直接开上床沿而倾倒，不是控制器失稳，标成“控制·控制”证据不支持。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "六节点末态全为假、断点 unknown（早期尚无可区分的取放动作）、全身·平衡与认知·推理/规划根因均与视频及 q_score=0 一致；上一轮的根因问题已修正，未发现新的内容错误。", + "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": "2026-10-30T21:47:02Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-organizing-school-stuff-i00-standard--ootukfu/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-organizing-school-stuff-i00-standard--ootukfu/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-organizing-school-stuff-i00-standard--ootukfu/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-organizing-school-stuff-i00-standard--ootukfu/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1f1729a57691547f89b4f4a205f335013cde1068ebed21f9d39d6a7a71e86eee", + "video_sha256": "844eca3dbaf769069796ce77c7b12e41db75b72c5563557e7783e570fd123667", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-standard--vxp29u5.json b/phase2/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-standard--vxp29u5.json new file mode 100644 index 0000000000000000000000000000000000000000..1ee70e9e2f559ef00ead48b1cc3b56a755ab92a8 --- /dev/null +++ b/phase2/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-standard--vxp29u5.json @@ -0,0 +1,332 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-organizing-school-stuff-i00-standard--vxp29u5", + "taskKey": "behavior-1k/organizing_school_stuff", + "dag_sha256": "6d94495621b002cd6665ebc6a8ff9d45909c21b1d26e77cc83c95f15a52ef769", + "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": 8039, + "sim_steps": 8039, + "physics_steps": 32156, + "steps": 2680, + "elapsed_s": 3497.8, + "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-organizing-school-stuff-i00-standard--vxp29u5/replay.mp4", + "duration_s": 267.967, + "fps": 30.0, + "frames": 8039, + "sha256": "00a69ea23805a4cd7aef7549dfb5c200b3e7613756bf27e491e6f7b424fdfb9a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "folder_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4, + "log_step": null, + "text_zh": "观察：视频 4 s 的头部视角可见床面远端的小蓝色薄片；后续视频 48、144、200、232 s 仍可见它留在床面远端，机器人操作的是床边手提包，没有将文件夹夹起并送入包口。" + }, + { + "t": 267.9, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，且六项目标初态均不成立、live_matches_replay=1，因此末态六项关系均为假；结合视频全程没有该用品入包过程，本节点没有达成区间。视频 267.9 s 已检查，末段机器人倾倒，未发生装包。" + } + ] + }, + "book_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 200, + "log_step": null, + "text_zh": "观察：视频 4、48、72、144、200、228、250 s 的头部视角中，蓝色厚书一直在床垫近端；视频 221–226 s 空夹爪移过床边，书仍留在床上，未出现书随夹爪离床或进入包口的过程。" + }, + { + "t": 267.9, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，且六项目标初态均不成立、live_matches_replay=1，因此末态六项关系均为假；结合视频全程没有该用品入包过程，本节点没有达成区间。视频 267.9 s 已检查，末段机器人倾倒，未发生装包。" + } + ] + }, + "pencil_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 78, + "log_step": null, + "text_zh": "观察：视频 60–80 s 及 198–228 s 的连续近景中，机器人只搬动手提包，没有夹持黄色铅笔或把细长物件送入包口；视频 78–80 s 的头部视角可见包仍单独位于床旁地板。" + }, + { + "t": 267.9, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，且六项目标初态均不成立、live_matches_replay=1，因此末态六项关系均为假；结合视频全程没有该用品入包过程，本节点没有达成区间。视频 267.9 s 已检查，末段机器人倾倒，未发生装包。" + } + ] + }, + "pen_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 224, + "log_step": null, + "text_zh": "观察：视频全程以每 2 s 抽帧检查，并加密检查搬包段，机器人未到地板钢笔处执行拾取，也未见钢笔随夹爪移动或横放进包口；视频 224–228 s 腕部近景中的夹爪周围只有包沿，没有钢笔入包动作。" + }, + { + "t": 267.9, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，且六项目标初态均不成立、live_matches_replay=1，因此末态六项关系均为假；结合视频全程没有该用品入包过程，本节点没有达成区间。视频 267.9 s 已检查，末段机器人倾倒，未发生装包。" + } + ] + }, + "calculator_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 62, + "log_step": null, + "text_zh": "观察：视频 12–20、60–80、120–144、150–176、198–228 s 的抓放段，夹爪接近和携带的都是红褐色手提包；未见带显示屏和按键的计算器被夹起或送入包口。" + }, + { + "t": 267.9, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，且六项目标初态均不成立、live_matches_replay=1，因此末态六项关系均为假；结合视频全程没有该用品入包过程，本节点没有达成区间。视频 267.9 s 已检查，末段机器人倾倒，未发生装包。" + } + ] + }, + "carryall_on_bed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 红褐色敞口手提包在床旁木地板上，白色床垫位于其左侧，初态没有包上床关系。" + }, + { + "t": 16.2, + "log_step": null, + "text_zh": "观察：视频 15.8–16.1 s 左腕近景可见包的红色提手位于闭合夹爪之间；视频约 16.2 s 夹爪张开，视频 16.8–18 s 包与夹爪分离，留在床边地板，机器人空爪转向床。 此处时间取自画面，未确认对应的单次 submit，故不绑定 log_step；日志引用均使用 steps[].id。" + }, + { + "t": 78, + "log_step": null, + "text_zh": "观察：视频 60–70 s 左夹爪再次夹包并搬动；视频 71–80 s 包出现在床框外侧，视频 78–80 s 可见包底下是木地板，未由白色床垫承托。" + }, + { + "t": 174, + "log_step": null, + "text_zh": "观察：视频 88–144 s 多次伸爪后包仍位于床边地板；视频 150–160 s 右夹爪搬包，视频 168–174 s 包又在电视墙前地板上。" + }, + { + "t": 226, + "log_step": 253, + "text_zh": "观察：视频 198–226 s 左腕和右腕视角可交叉检查：包在床框外侧、以木地板和电视墙为背景，空夹爪伸到白色床面上时包仍在外侧；视频 224–226 s 松爪回撤后没有包落在床垫上的画面，视频 244–246 s 又可见包在地板上。" + }, + { + "t": 267.9, + "log_step": 270, + "text_zh": "推断：视频约 253.5–255 s 机器人倾倒，视频 266.9、267.9 s 仍朝向墙顶；log step 270 服务状态为 done=True、reason=failure: the robot fell over。结合视频各次搬包均未见包底由床垫承托，以及评分器 q_score=0.0，本节点全程未达成且末态为假。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 15.8–16.1、60–70 s 左夹爪夹住手提包提手或包沿，视频 150–160 s 改由右夹爪夹包，视频 198–226 s 又用左夹爪搬包；两手先后操作，没有同时双臂夹包的证据。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 16–22、62–70、198–220 s 等搬包尝试中，轮式底盘支承机器人并转向或平移，包含持包靠近床边的移动。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "carryall_on_bed", + "t": 16.2, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频约 16.2 s 机器人在把包搬向床的过程中张开左夹爪，视频 16.8–18 s 包留在床旁地板；后续反复重新抓包均未建立包底由床垫承托的关系。视频约 253.5–255 s 机器人进一步倾倒，log step 270 服务确认因跌倒结束；最早未被完成修复的步骤始终是手提包上床。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 16.2, + "log_step": null, + "evidence_zh": "观察：视频 15.8–16.1 s 左夹爪合拢夹住包提手，视频约 16.2 s 两指张开，包脱离夹爪；视频 16.8–18 s 手提包留在地板，机器人空夹爪转向床，尚未到床上就失去抓持。" + }, + { + "cat": "全身", + "item": "平衡", + "t": 253.5, + "log_step": 270, + "evidence_zh": "观察：视频 253–255 s 头部画面快速后仰并旋转，随后主要朝向墙顶，视频 266.9、267.9 s 仍未恢复；机器人仍未完成搬包。log step 270 的机器人服务状态明确记录 done=True、reason=failure: the robot fell over。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 16.2, + "log_step": null, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：以下 log step 均指 inputs/run.json 的 steps[].id，不是数组下标。log step 62（steps[55]）的 RobotController 初始化将 _last_grip_l、_last_grip_r 固定为 0.07（打开），底盘移动动作使用该缓存值；log step 80（steps[71]）写入的抓包脚本先闭合左爪再抬起，由 log step 81 启动；log step 85（steps[75]）随后新建 RobotController 并执行 turn_to_yaw/drive_to_xy，没有恢复闭合目标。视频 15.8–16.1 s 包提手仍在夹爪之间，视频约 16.2 s 夹爪张开，视频 16.8–18 s 包与夹爪分离而留在地板；这与上述缓存缺陷造成早期失去抓持的机制一致。log step 90（steps[79]）把初始化改为读取实际开度，支持该代码缺陷判断。log step 96（steps[84]）才是后续放置脚本，明确调用 set_grippers(left=0.07) 有意释放，log step 97（steps[85]）是等待该脚本的消息，不能把它们当作此处缓存缺陷的证据。初次抓包后转向的动作先后与日志一致，但没有这一段逐次 submit 的 control_steps 读数，未建立视频约 16.2 s 到某次 submit 的精确对应，因此本条 log_step 留空；没有换算 agent 时间。后续重试仍未完成包上床，不能仅凭这些记录细分后续失败和最终跌倒的控制机制。" + } + ], + "gap_zh": "无状态日志，缺少逐帧物体关系、接触力及底座姿态数值；包底在部分搬运瞬间被夹爪或包体遮挡，但前后帧和另一腕部视角均未见其由床垫承托，末态六项为假另由 q_score=0.0 约束。初次松爪的代码缺陷有日志代码与画面动作先后的支持，但两者的对应为推断，缺少该段逐次 submit 的 control_steps 读数，不能把视频约 16.2 s 精确绑定到一次日志调用，相关 log_step 留空；后续搬包持续失败与最终跌倒的具体力学原因无法可靠区分，故根因停留在控制，不补造感知或规划原因。", + "unmet": { + "folder_in_carryall": false, + "book_in_carryall": false, + "pencil_in_carryall": false, + "pen_in_carryall": false, + "calculator_in_carryall": false, + "carryall_on_bed": false + } + }, + "summary_zh": "六个节点均未达成：机器人反复抓取、搬动手提包，未开始五件用品入包，包也始终没有由床垫承托。手提包上床步骤最早在视频约 16.2 s 因左夹爪张开而失去抓持，日志代码支持控制器重新初始化为打开夹爪的根因推断，但缺少视频帧与单次 submit 的精确对应；后续重试未修复该目标，机器人最终在视频约 253.5–255 s 倾倒，服务判跌倒失败。没有状态日志，后续抓放及跌倒的具体力学原因不明；六项末态均为假与评分器 q_score=0.0 一致。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "六节点未达成、断点在手提包上床、夹爪脱手与跌倒的判断与视频、评分器一致；但根因和现象引用的 log step 编号与 run.json 对不上：把 steps[] 下标和 id 混用，导致证据链不可核。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "标签与视频一致：六节点均未达成，手提包始终未上床；断点在手提包上床（视频约16.2 s 夹爪张开、包留地板），末段约253–255 s 倾倒。根因控制推断已标注为推断且未绑定log_step，处理得当。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:49:25Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-organizing-school-stuff-i00-standard--vxp29u5/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-organizing-school-stuff-i00-standard--vxp29u5/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-organizing-school-stuff-i00-standard--vxp29u5/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-organizing-school-stuff-i00-standard--vxp29u5/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "39167e49dc3374a7312bce45896a02b224c5acb9ca878d9a434e69caad3026f8", + "video_sha256": "00a69ea23805a4cd7aef7549dfb5c200b3e7613756bf27e491e6f7b424fdfb9a", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-standard--zhyu2i6.json b/phase2/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-standard--zhyu2i6.json new file mode 100644 index 0000000000000000000000000000000000000000..8ee76411692422f8973d5fca8d66f6c24939ac18 --- /dev/null +++ b/phase2/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-standard--zhyu2i6.json @@ -0,0 +1,271 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-organizing-school-stuff-i00-standard--zhyu2i6", + "taskKey": "behavior-1k/organizing_school_stuff", + "dag_sha256": "6d94495621b002cd6665ebc6a8ff9d45909c21b1d26e77cc83c95f15a52ef769", + "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": 588, + "sim_steps": 588, + "physics_steps": 2352, + "steps": 588, + "elapsed_s": 685.2, + "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": 0.375, + "peak_processes": 9, + "peak_disk_gb": 1.005, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-organizing-school-stuff-i00-standard--zhyu2i6/replay.mp4", + "duration_s": 19.6, + "fps": 30.0, + "frames": 588, + "sha256": "91bf55eb9726246ef42b620ea42b1b074c29f0a41205472cf06fe0663dc92027" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "folder_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.167, + "log_step": 43, + "text_zh": "观察：视频 0–3.0 s 中机器人空爪原地旋转，床上可见蓝色矩形用品，红褐色手提包仍在地板上；后续视频至 19.57 s 只见机器人倾倒、翻滚及空爪，没有将文件夹送入包口的过程。log step 43 的扫描脚本始终命令两夹爪张开，后续 log step 52、54、60、62、64、66、68 执行静置或底盘自扶正动作。" + }, + { + "t": 19.57, + "log_step": 70, + "text_zh": "推断：本次由未装包初态开始，未出现文件夹的取放或入包过程；评分器 q_score=0.0，且六项目标初始均不成立，因此终态没有任何新增目标关系，文件夹入包 final=false。末帧有遮挡，终态结论结合评分总数，未从 agent 的完成自述取值。" + } + ] + }, + "book_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.167, + "log_step": 43, + "text_zh": "观察：视频 0–3.0 s 中机器人空爪原地旋转，床上可见蓝色矩形用品，红褐色手提包仍在地板上；后续视频至 19.57 s 只见机器人倾倒、翻滚及空爪，没有将书本送入包口的过程。log step 43 的扫描脚本始终命令两夹爪张开，后续 log step 52、54、60、62、64、66、68 执行静置或底盘自扶正动作。" + }, + { + "t": 19.57, + "log_step": 70, + "text_zh": "推断：本次由未装包初态开始，未出现书本的取放或入包过程；评分器 q_score=0.0，且六项目标初始均不成立，因此终态没有任何新增目标关系，书本入包 final=false。末帧有遮挡，终态结论结合评分总数，未从 agent 的完成自述取值。" + } + ] + }, + "pencil_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.167, + "log_step": 43, + "text_zh": "观察：视频 0–3.0 s 中机器人空爪原地旋转，床上可见蓝色矩形用品，红褐色手提包仍在地板上；后续视频至 19.57 s 只见机器人倾倒、翻滚及空爪，没有将铅笔送入包口的过程。log step 43 的扫描脚本始终命令两夹爪张开，后续 log step 52、54、60、62、64、66、68 执行静置或底盘自扶正动作。" + }, + { + "t": 19.57, + "log_step": 70, + "text_zh": "推断：本次由未装包初态开始，未出现铅笔的取放或入包过程；评分器 q_score=0.0，且六项目标初始均不成立，因此终态没有任何新增目标关系，铅笔入包 final=false。末帧有遮挡，终态结论结合评分总数，未从 agent 的完成自述取值。" + } + ] + }, + "pen_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.167, + "log_step": 43, + "text_zh": "观察：视频 0–3.0 s 中机器人空爪原地旋转，床上可见蓝色矩形用品，红褐色手提包仍在地板上；后续视频至 19.57 s 只见机器人倾倒、翻滚及空爪，没有将钢笔送入包口的过程。log step 43 的扫描脚本始终命令两夹爪张开，后续 log step 52、54、60、62、64、66、68 执行静置或底盘自扶正动作。" + }, + { + "t": 19.57, + "log_step": 70, + "text_zh": "推断：本次由未装包初态开始，未出现钢笔的取放或入包过程；评分器 q_score=0.0，且六项目标初始均不成立，因此终态没有任何新增目标关系，钢笔入包 final=false。末帧有遮挡，终态结论结合评分总数，未从 agent 的完成自述取值。" + } + ] + }, + "calculator_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.167, + "log_step": 43, + "text_zh": "观察：视频 0–3.0 s 中机器人空爪原地旋转，床上可见蓝色矩形用品，红褐色手提包仍在地板上；后续视频至 19.57 s 只见机器人倾倒、翻滚及空爪，没有将计算器送入包口的过程。log step 43 的扫描脚本始终命令两夹爪张开，后续 log step 52、54、60、62、64、66、68 执行静置或底盘自扶正动作。" + }, + { + "t": 19.57, + "log_step": 70, + "text_zh": "推断：本次由未装包初态开始，未出现计算器的取放或入包过程；评分器 q_score=0.0，且六项目标初始均不成立，因此终态没有任何新增目标关系，计算器入包 final=false。末帧有遮挡，终态结论结合评分总数，未从 agent 的完成自述取值。" + } + ] + }, + "carryall_on_bed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 红褐色手提包位于白色床垫旁的地板上；视频 0.667 s、3.0 s 及 19.2–19.3 s 再次可见包仍在地板上，机器人夹爪没有抓住或搬起包。全段未见包底接触床垫。" + }, + { + "t": 19.57, + "log_step": 70, + "text_zh": "推断：视频中没有手提包上床过程，评分器 q_score=0.0 且六项目标初态均为假，故手提包上床终态为假；视频最后一秒虽视角翻转，仍不足以推翻该结论。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": 0.8, + "log_step": 43, + "where": "探索", + "evidence_zh": "观察：视频 0–0.667 s 机器人空爪快速旋转观看卧室，视频约 0.833–1.5 s 头部和腕部视角出现明显侧倾、仰望天花板；log step 43 实际运行的是原地旋转并合并房间点云的扫描脚本，未针对任一用品或手提包执行抓取。log step 45 的服务本体读数在 control step 63 给出底盘直立分量 0.507；后续视频中持续倾倒和翻滚，log step 70 的服务状态在 control step 588 以 failure: the robot fell over 结束。" + }, + "unmet": { + "folder_in_carryall": false, + "book_in_carryall": false, + "pencil_in_carryall": false, + "pen_in_carryall": false, + "calculator_in_carryall": false, + "carryall_on_bed": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 0.8, + "log_step": 45, + "evidence_zh": "观察：视频约 0.833 s 画面开始明显倾斜，视频 1.0–3.0 s 头部视角反复转向天花板，视频 5–18 s 多次呈地板竖立、床侧面横转的倒地视角，至视频 19.57 s 仍未稳定直立。log step 45 的服务读数为 cos(rx)·cos(ry)=0.507，log step 68、70 的服务终止原因为机器人跌倒。推断：log step 24 报告控制率 30 Hz，log step 45 的 control step 63 对应视频 2.1 s，已在该处的侧倾画面核对；总 control step 588/30=视频 19.6 s，也与片长一致。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 0.8, + "log_step": 43, + "source_zh": "日志", + "evidence_zh": "推断：log step 43 的实际扫描代码把每次 45.5° 转向分成三份，每个控制行写入约 0.265 rad 的底盘转角，并将各行重复三次；在 log step 24 的 30 Hz 控制率下是快速连续转动，且整个扫描循环未检查底盘倾斜或在失衡时停止。log step 29 的初态躯干关节约为 1.024、−1.447 rad，扫描代码保持这一躯干姿态；视频约 0.833–1.5 s 随旋转出现明显倾倒，log step 45 服务读数确认已经失衡。故归因于底盘转动控制未维持本体稳定；现有证据不区分具体控制子类。" + } + ], + "gap_zh": "观察：inputs 中没有逐帧状态日志；小件用品后期被视角和机体遮挡，六项终态结合评分器 q_score=0.0 判断。推断：本次实际动作是全局场景扫描及倒地自扶正，不能由视频确定它属于六个物品关系中的哪一步，故 breakpoint.ref=unknown；log step 74 在本局结束后才写出的“先把包放床上”方案不能反推扫描时的节点。无足够动力学或对照试验将控制根因细化，也不采信 agent 在 log step 78 所称“恢复不可能”为已验证事实。" + }, + "summary_zh": "六项目标关系均未达到，最终为 0/6；机器人在视频约 0.8 s 的原地场景扫描中倾倒，随后持续尝试自扶正，服务最终以机器人跌倒结束。实际扫描脚本连续快速驱动底盘、未在扫描期间监测倾斜，支持控制层面的根因；未开始任何物品搬运，不能把断点强行归入某一具体关系节点。无逐帧状态日志，小件终态由视频过程与评分器 q_score=0.0 共同确定，断点保留 unknown／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": "六节点全 false、无 contact_actual（从未对任何物品下手）、断点 unknown/探索、平衡 + 控制均与视频和日志一致：agent 的扫描脚本 7×45.5° 共 63 个控制步（log step 43），control step 63=视频 2.1 s 处已倾倒（log step 45），之后持续倒地至 588 步以 robot fell over 结束。未见需要修改的内容。", + "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": "2026-10-30T21:34:48Z", + "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-organizing-school-stuff-i00-standard--zhyu2i6/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-organizing-school-stuff-i00-standard--zhyu2i6/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "da99c2a2a7d888e3ec3406044b9ab32e3589369b3b79bd74d80aa6b218085946", + "video_sha256": "91bf55eb9726246ef42b620ea42b1b074c29f0a41205472cf06fe0663dc92027", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-privileged--35dtnlf.json b/phase2/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-privileged--35dtnlf.json new file mode 100644 index 0000000000000000000000000000000000000000..0987288640c10720bd8c177737c9b9b97feca40e --- /dev/null +++ b/phase2/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-privileged--35dtnlf.json @@ -0,0 +1,347 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-away-toys-i00-privileged--35dtnlf", + "taskKey": "behavior-1k/putting_away_toys", + "dag_sha256": "335669259132e6e3781489edc4059c3b1f7f791c60276348736cffe3197bc030", + "outcome": { + "success": 0, + "reward": 0.125, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 6164, + "sim_steps": 6164, + "final_reward": 0.125, + "q_score": 0.125, + "replay_wall_s": 5094.7, + "replay_timeout_s": 4282.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 5, + "agent_resets": 2, + "agent_sim_steps": 12328, + "agent_records": 1, + "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-putting-away-toys-i00-privileged--35dtnlf/replay.mp4", + "duration_s": 205.467, + "fps": 30.0, + "frames": 6164, + "sha256": "7bfeb0f54d56501f7e0916213c2a3f37a2b1befc98555a790a9335dcb85ccf85" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 8, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "toys_in_box_1": { + "method": "visual", + "intervals": [ + [ + 25.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 黑色玩偶仍在机器人前方地面；视频全程粗查及各次放箱密查未见更早入箱。" + }, + { + "t": 25.8, + "log_step": 137, + "text_zh": "观察：视频 24.0–25.6 s 左夹爪在绿箱口持黑色玩偶，视频 25.8–26.8 s 松爪后黑色玩偶落入四面箱壁围成的内腔，腕部视图可见其留在箱底；首达取视频约 25.8 s，误差约0.5秒。" + }, + { + "t": 124, + "log_step": 140, + "text_zh": "观察：视频 54 s、94 s 和124 s 黑色玩偶仍在绿箱内，橙色、紫色、白色玩偶则在箱外地面；评分器最终 q_score=0.125，success=0。" + }, + { + "t": 205.43, + "log_step": null, + "text_zh": "推断：八个玩偶初始均未入箱，最终 q_score=0.125 对应仅一个入箱关系；结合视频 25.8–124 s 的箱内黑色玩偶及此后无取出动作，判第1个入箱持续至视频结束。视频 205.43 s 绿箱已不在视野内。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左侧二指夹爪夹住黑色玩偶并将它从地面抬起，搬到绿箱口后张爪释放；视频 10 s、20–25.8 s 可见玩偶位于两指之间，右爪未协同持物。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 14–20 s 轮式底盘承载持有黑色玩偶的机器人，从拾取处驶到地面绿箱旁。" + } + ] + }, + "toys_in_box_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 53.5, + "log_step": 137, + "text_zh": "观察：视频 40–53.25 s 左夹爪持橙色玩偶搬向绿箱；视频约 53.5 s 张爪时玩偶位于箱侧外，视频 53.75–57 s 它落在箱外地板，黑色玩偶仍在箱底。此时未达到两个入箱。" + }, + { + "t": 95.5, + "log_step": 138, + "text_zh": "观察：视频 60–80 s 机器人反复夹取紫色玩偶并最终将它抬离原地；视频 90–95 s 紫色玩偶在绿箱侧缘外，松爪后视频 95.5 s 它落到箱旁，未补成第二个入箱。" + }, + { + "t": 123, + "log_step": 140, + "text_zh": "观察：视频 105–122 s 左夹爪持白色玩偶，视频 123–124.5 s 松爪后白色玩偶与紫色、橙色玩偶一起留在绿箱外地面；绿箱中仍只有黑色玩偶。" + }, + { + "t": 205.43, + "log_step": 140, + "text_zh": "观察：视频 140–205.43 s 左爪继续持金黄色玩偶在餐桌及白墙附近移动，未见它进入任一玩具箱，最后一秒亦保持持物画面。log step 140 保存6164动作并报告原生 q_score=0.125；脚本的 RESULTS 列了三个 True，但其自检不能替代实际入箱。" + }, + { + "t": 205.43, + "log_step": null, + "text_zh": "推断：评分器 q_score=1/8，结合各次放箱前后画面，第2个计数最终为假；后续橙色、紫色、白色、金黄色玩偶的操作均归于尝试把实际箱内数量从一个增加到两个，而非按脚本的实例序号计数。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左侧二指夹爪先后夹持橙色、紫色、白色玩偶运输并张爪释放，三者均落到绿箱外；视频 140 s 至205.43 s 左爪还夹持金黄色玩偶。均为单爪抓握，未见右爪协作。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 40–50 s、80–86 s、110–120 s 机器人持物驶向绿箱；视频 140–205 s 仍持金黄色玩偶在家具间行驶、转向。" + } + ] + }, + "toys_in_box_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 124, + "log_step": null, + "text_zh": "观察：视频 25.8 s 首个黑色玩偶入绿箱；视频 53.5–57 s、90–95.5 s、120–124.5 s 的后续投放均留在箱侧或箱外地面，未见箱内数量增加至3个。" + }, + { + "t": 205.43, + "log_step": 140, + "text_zh": "推断：视频 140–205.43 s 金黄色玩偶仍在左爪中，未再出现入箱；评分器最终 q_score=0.125 将最终入箱数限定为一个，因此第3个入箱为假。按实际数量的计数节点，后续失败操作仍是第2个入箱的尝试，未开展维持至少3个入箱的操作。" + } + ] + }, + "toys_in_box_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 124, + "log_step": null, + "text_zh": "观察：视频 25.8 s 首个黑色玩偶入绿箱；视频 53.5–57 s、90–95.5 s、120–124.5 s 的后续投放均留在箱侧或箱外地面，未见箱内数量增加至4个。" + }, + { + "t": 205.43, + "log_step": 140, + "text_zh": "推断：视频 140–205.43 s 金黄色玩偶仍在左爪中，未再出现入箱；评分器最终 q_score=0.125 将最终入箱数限定为一个，因此第4个入箱为假。按实际数量的计数节点，后续失败操作仍是第2个入箱的尝试，未开展维持至少4个入箱的操作。" + } + ] + }, + "toys_in_box_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 124, + "log_step": null, + "text_zh": "观察：视频 25.8 s 首个黑色玩偶入绿箱；视频 53.5–57 s、90–95.5 s、120–124.5 s 的后续投放均留在箱侧或箱外地面，未见箱内数量增加至5个。" + }, + { + "t": 205.43, + "log_step": 140, + "text_zh": "推断：视频 140–205.43 s 金黄色玩偶仍在左爪中，未再出现入箱；评分器最终 q_score=0.125 将最终入箱数限定为一个，因此第5个入箱为假。按实际数量的计数节点，后续失败操作仍是第2个入箱的尝试，未开展维持至少5个入箱的操作。" + } + ] + }, + "toys_in_box_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 124, + "log_step": null, + "text_zh": "观察：视频 25.8 s 首个黑色玩偶入绿箱；视频 53.5–57 s、90–95.5 s、120–124.5 s 的后续投放均留在箱侧或箱外地面，未见箱内数量增加至6个。" + }, + { + "t": 205.43, + "log_step": 140, + "text_zh": "推断：视频 140–205.43 s 金黄色玩偶仍在左爪中，未再出现入箱；评分器最终 q_score=0.125 将最终入箱数限定为一个，因此第6个入箱为假。按实际数量的计数节点，后续失败操作仍是第2个入箱的尝试，未开展维持至少6个入箱的操作。" + } + ] + }, + "toys_in_box_7": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 124, + "log_step": null, + "text_zh": "观察：视频 25.8 s 首个黑色玩偶入绿箱；视频 53.5–57 s、90–95.5 s、120–124.5 s 的后续投放均留在箱侧或箱外地面，未见箱内数量增加至7个。" + }, + { + "t": 205.43, + "log_step": 140, + "text_zh": "推断：视频 140–205.43 s 金黄色玩偶仍在左爪中，未再出现入箱；评分器最终 q_score=0.125 将最终入箱数限定为一个，因此第7个入箱为假。按实际数量的计数节点，后续失败操作仍是第2个入箱的尝试，未开展维持至少7个入箱的操作。" + } + ] + }, + "toys_in_box_8": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 124, + "log_step": null, + "text_zh": "观察：视频 25.8 s 首个黑色玩偶入绿箱；视频 53.5–57 s、90–95.5 s、120–124.5 s 的后续投放均留在箱侧或箱外地面，未见箱内数量增加至8个。" + }, + { + "t": 205.43, + "log_step": 140, + "text_zh": "推断：视频 140–205.43 s 金黄色玩偶仍在左爪中，未再出现入箱；评分器最终 q_score=0.125 将最终入箱数限定为一个，因此第8个入箱为假。按实际数量的计数节点，后续失败操作仍是第2个入箱的尝试，未开展维持至少8个入箱的操作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.125, + "unit": "ratio", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "toys_in_box_2", + "t": 53.5, + "log_step": 137, + "where": "操作中", + "evidence_zh": "观察：机器人已把黑色玩偶放入绿箱，随后视频约 53.5 s 左爪在绿箱外侧松开橙色玩偶，视频 54–57 s 橙色玩偶落在箱外地面。后续紫色和白色玩偶也未入箱，视频 124 s 仍可见这三个玩偶在箱外；至视频 205.43 s 未补成第二个入箱。故首个未修复的失败是第2个计数，而非后期持金黄色玩偶移动受阻的步骤。" + }, + "unmet": { + "toys_in_box_1": true, + "toys_in_box_2": false, + "toys_in_box_3": false, + "toys_in_box_4": false, + "toys_in_box_5": false, + "toys_in_box_6": false, + "toys_in_box_7": false, + "toys_in_box_8": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 53.5, + "log_step": 137, + "evidence_zh": "观察：视频 52–53.25 s 橙色玩偶仍由机器人左夹爪夹持，位于绿箱侧壁外；视频约 53.5 s 张爪，玩偶直接落到箱外地板，视频 54 s 腕部视图清楚分开显示橙色玩偶在地板、黑色玩偶在箱内。松手前尚未送入内腔。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频", + "evidence_zh": "推断：视频 40–53.25 s 左夹爪能夹住并运输橙色玩偶，失败出现在送到箱口后的放置定位：视频约 53.5 s 主动张爪时物体仍在内腔外；视频 90–95.5 s 和120–124.5 s 又出现沿箱侧释放其他玩偶的同类偏差。证据支持放置控制未把被夹物体送到可入箱位置；无法仅凭相机区分抓取偏置、末端跟踪或箱体位移的贡献，故停在控制大类。" + }, + { + "cat": "认知", + "item": "推理/规划", + "source_zh": "日志 / 视频 / 评分器字段", + "evidence_zh": "观察：log step 121 的 task.py 将 inside_box 实现为玩偶中心与启动时箱体轴对齐包围盒的范围比较，未检查内部容积；主循环将 place 返回值写入 results 后直接继续下一个玩偶。log step 137 对橙色玩偶输出 inside=True，而视频 54 s 它在箱外；log step 140 仍列三个 True，原生 q_score 却为0.125。推断：脚本采用了不等价的完成检查并缺少失败后修复分支，使箱外投放被放过，第2个入箱始终未修复。" + } + ], + "gap_zh": "无逐帧状态日志，无法读取玩偶中心与箱内体积的精确关系，也无法将放置偏差进一步区分为抓取变换、末端跟踪或箱体移动；首次入箱时间为视频约25.8 s的视觉估计。绿箱在视频后段离开视野，最终一个入箱由先前清楚画面、未见取出动作及评分器q_score共同确定。log step 141 的“3/8”是agent按自写包围盒检查作的自述，与视频及原生评分不符；log step 150 之后另启的改进试跑不属于交付的6164动作轨迹。" + }, + "summary_zh": "机器人在视频约 25.8 s 将黑色玩偶放入绿箱，最终仅1/8个计数节点成立，与评分器 q_score=0.125 一致。第2个入箱在视频约 53.5 s 失败：橙色玩偶尚在箱外便被松开，之后紫色和白色玩偶也落在箱旁；放置定位偏差及脚本用包围盒代替内部容积的自检、未安排修复，使该步始终未完成。无状态日志，放置控制的更细根因及精确中心越界时刻无法确定，agent所称“3/8”未被采信。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值（仅第1个入箱，约25.8 s）、断点（第2个入箱，约53.5 s）与评分器 q_score=0.125 及抽查帧一致；现象与根因有证据支持，未发现需要改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:16:45Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": 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0000000000000000000000000000000000000000..b058460ba9f3025f154e56fec474416c38403c0d --- /dev/null +++ b/phase2/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-privileged--pb4sz3x.json @@ -0,0 +1,298 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-away-toys-i00-privileged--pb4sz3x", + "taskKey": "behavior-1k/putting_away_toys", + "dag_sha256": "335669259132e6e3781489edc4059c3b1f7f791c60276348736cffe3197bc030", + "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": 74, + "sim_steps": 74, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 948.4, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 9, + "agent_resets": 0, + "agent_sim_steps": 1380, + "agent_records": 2, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-putting-away-toys-i00-privileged--pb4sz3x/replay.mp4", + "duration_s": 2.467, + "fps": 30.0, + "frames": 74, + "sha256": "688738287f7074950ed2b7d1795eb8673ca34c28f5dcff0a9acce6429312cb9e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 8, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "toys_in_box_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 4, + "text_zh": "观察：视频 0.0 s 可见地面上的玩偶及空夹爪；log step 4 所列冻结初态中八个玩偶均在地面，没有入箱目标关系。" + }, + { + "t": 2.433, + "log_step": null, + "text_zh": "推断：已检查视频 0.0–2.433 s 的全过程及视频最后约1秒的逐帧画面，机器人仅空手移动，双腕视图未出现夹持、搬运或越过箱口的玩偶；结合初态以及评分器 q_score=0.0，入箱数量仍为0，因此至少1个玩偶入箱在本轨迹全程未成立、终态为假。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0.0–2.433 s，固定沙发、门窗和地板相对机器人视图连续平移、转向；轮式底盘承载机器人空手接近首个地面玩偶。未观察到夹爪夹住玩偶，故不标抓握。" + } + ] + }, + "toys_in_box_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 4, + "text_zh": "观察：视频 0.0 s 可见地面上的玩偶及空夹爪；log step 4 所列冻结初态中八个玩偶均在地面，没有入箱目标关系。" + }, + { + "t": 2.433, + "log_step": null, + "text_zh": "推断：已检查视频 0.0–2.433 s 的全过程及视频最后约1秒的逐帧画面，机器人仅空手移动，双腕视图未出现夹持、搬运或越过箱口的玩偶；结合初态以及评分器 q_score=0.0，入箱数量仍为0，因此至少2个玩偶入箱在本轨迹全程未成立、终态为假。" + } + ] + }, + "toys_in_box_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 4, + "text_zh": "观察：视频 0.0 s 可见地面上的玩偶及空夹爪；log step 4 所列冻结初态中八个玩偶均在地面，没有入箱目标关系。" + }, + { + "t": 2.433, + "log_step": null, + "text_zh": "推断：已检查视频 0.0–2.433 s 的全过程及视频最后约1秒的逐帧画面，机器人仅空手移动，双腕视图未出现夹持、搬运或越过箱口的玩偶；结合初态以及评分器 q_score=0.0，入箱数量仍为0，因此至少3个玩偶入箱在本轨迹全程未成立、终态为假。" + } + ] + }, + "toys_in_box_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 4, + "text_zh": "观察：视频 0.0 s 可见地面上的玩偶及空夹爪；log step 4 所列冻结初态中八个玩偶均在地面，没有入箱目标关系。" + }, + { + "t": 2.433, + "log_step": null, + "text_zh": "推断：已检查视频 0.0–2.433 s 的全过程及视频最后约1秒的逐帧画面，机器人仅空手移动，双腕视图未出现夹持、搬运或越过箱口的玩偶；结合初态以及评分器 q_score=0.0，入箱数量仍为0，因此至少4个玩偶入箱在本轨迹全程未成立、终态为假。" + } + ] + }, + "toys_in_box_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 4, + "text_zh": "观察：视频 0.0 s 可见地面上的玩偶及空夹爪；log step 4 所列冻结初态中八个玩偶均在地面，没有入箱目标关系。" + }, + { + "t": 2.433, + "log_step": null, + "text_zh": "推断：已检查视频 0.0–2.433 s 的全过程及视频最后约1秒的逐帧画面，机器人仅空手移动，双腕视图未出现夹持、搬运或越过箱口的玩偶；结合初态以及评分器 q_score=0.0，入箱数量仍为0，因此至少5个玩偶入箱在本轨迹全程未成立、终态为假。" + } + ] + }, + "toys_in_box_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 4, + "text_zh": "观察：视频 0.0 s 可见地面上的玩偶及空夹爪；log step 4 所列冻结初态中八个玩偶均在地面，没有入箱目标关系。" + }, + { + "t": 2.433, + "log_step": null, + "text_zh": "推断：已检查视频 0.0–2.433 s 的全过程及视频最后约1秒的逐帧画面，机器人仅空手移动，双腕视图未出现夹持、搬运或越过箱口的玩偶；结合初态以及评分器 q_score=0.0，入箱数量仍为0，因此至少6个玩偶入箱在本轨迹全程未成立、终态为假。" + } + ] + }, + "toys_in_box_7": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 4, + "text_zh": "观察：视频 0.0 s 可见地面上的玩偶及空夹爪；log step 4 所列冻结初态中八个玩偶均在地面，没有入箱目标关系。" + }, + { + "t": 2.433, + "log_step": null, + "text_zh": "推断：已检查视频 0.0–2.433 s 的全过程及视频最后约1秒的逐帧画面，机器人仅空手移动，双腕视图未出现夹持、搬运或越过箱口的玩偶；结合初态以及评分器 q_score=0.0，入箱数量仍为0，因此至少7个玩偶入箱在本轨迹全程未成立、终态为假。" + } + ] + }, + "toys_in_box_8": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 4, + "text_zh": "观察：视频 0.0 s 可见地面上的玩偶及空夹爪；log step 4 所列冻结初态中八个玩偶均在地面，没有入箱目标关系。" + }, + { + "t": 2.433, + "log_step": null, + "text_zh": "推断：已检查视频 0.0–2.433 s 的全过程及视频最后约1秒的逐帧画面，机器人仅空手移动，双腕视图未出现夹持、搬运或越过箱口的玩偶；结合初态以及评分器 q_score=0.0，入箱数量仍为0，因此至少8个玩偶入箱在本轨迹全程未成立、终态为假。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "toys_in_box_1", + "t": 2.3, + "log_step": 159, + "where": "转场", + "evidence_zh": "推断：视频 0.0–2.433 s 只包含机器人空手接近首个玩偶的移动，视频 2.3 s 附近仍未进入抓取或搬运；log step 157 记录首个玩偶的接近位姿到达后保存了74行崩溃轨迹，log step 159 的调用栈显示随后首次抓取所需的 move_ee 调用因漏传 quat 而异常退出。首个入箱步骤此后没有在交付轨迹内完成，故断点为第1个玩偶入箱，位置为取物转场；视频时刻仅作接近阶段末尾的导航锚点。" + }, + "unmet": { + "toys_in_box_1": false, + "toys_in_box_2": false, + "toys_in_box_3": false, + "toys_in_box_4": false, + "toys_in_box_5": false, + "toys_in_box_6": false, + "toys_in_box_7": false, + "toys_in_box_8": false + }, + "phenomena": [], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "note_zh": "候选细分：控制脚本异常。agent 自编生成器调用 kinematics_ik 时遗漏必需参数，控制流程在抓取动作发出前中断。", + "source_zh": "日志", + "evidence_zh": "观察：log step 159 的生成器调用栈为 main→fetch→grasp→move_ee，最后执行 q, perr = kinematics_ik(tgt)，抛出 TypeError: kinematics_ik() missing 1 required positional argument: quat，并记录 saved crash trajectory (74, 25)；log step 161–162 明确将该调用改为 kinematics_ik(tgt, quat)。这是 agent 自编控制脚本的参数错误；交付视频 0.0–2.433 s 也仅显示初始接近，没有随后的抓取。" + }, + { + "cat": "交付", + "item": "交付操作出错", + "source_zh": "日志", + "evidence_zh": "推断：log step 157、159 显示异常处理保存了74行轨迹；修复后后续会话的入箱反馈出现在 log step 199、211，但 log step 209、215 的最终文件检查仍为 actions (74, 25)，log step 216 也显示文件修改时间未更新。agent 最终在 log step 219 明确自述交付文件只含初始移动、后续调试结果未录入；评分器 n_actions=74、agent_replays=0，且视频仅长2.467秒，与该旧文件一致。因此交付保留了崩溃片段，没有保存并回放核验后续版本。" + } + ], + "gap_zh": "没有逐帧状态日志；视频头部视图在后半段转向天花板，两只玩具箱不能同时完整看到，但双腕视图始终没有携带玩偶，且冻结初态、仅74步的移动和 q_score=0.0 共同决定所有计数节点终态为假。评分轨迹止于取物接近，未包含实际抓取或放入尝试，因此无足够证据赋予接触或运动失败现象，现象层留空；不把后续调试会话中的抓取、入箱、脱落或早期会话的倒地当成本轨迹现象。脚本异常与视频的对应来自74行保存记录及交付检查，不能从相机画面定位其精确发生帧。" + }, + "summary_zh": "评分轨迹只有74个控制步（视频约2.467秒），机器人空手向首个地面玩偶移动，没有任何玩偶被抓起或入箱，八个计数节点最终为0/8。首个玩偶入箱在取物转场阶段中断：生成器漏传 quat 参数后保存崩溃片段，后续修复及调试进展没有更新到最终交付文件。无状态日志且画面未包含实际抓取或投放失败，故现象层留空；后续会话的入箱反馈不计入本次评分进度。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标签与证据一致：交付轨迹仅74步（视频约2.47 s）空手移动，q_score=0，八个计数节点终态为假；log 159 的 TypeError 与保存的 (74,25) 崩溃轨迹、log 215/216 的文件未更新支持「控制」与「交付操作出错」两个根因；现象层留空且有 gap_zh（FAIL-23）。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": "2026-10-30T21:11:00Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-putting-away-toys-i00-privileged--pb4sz3x/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-away-toys-i00-privileged--pb4sz3x/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f9101795f454e1a0e3352c53edb81da88ed210851523dfef83148555211020ac", + "video_sha256": "688738287f7074950ed2b7d1795eb8673ca34c28f5dcff0a9acce6429312cb9e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-privileged--wpfjwfr.json b/phase2/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-privileged--wpfjwfr.json new file mode 100644 index 0000000000000000000000000000000000000000..2894eadb50da01e234f1675ef737932aced70b29 --- /dev/null +++ b/phase2/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-privileged--wpfjwfr.json @@ -0,0 +1,414 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-away-toys-i00-privileged--wpfjwfr", + "taskKey": "behavior-1k/putting_away_toys", + "dag_sha256": "335669259132e6e3781489edc4059c3b1f7f791c60276348736cffe3197bc030", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 1, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 6256, + "sim_steps": 6256, + "final_reward": 0.0, + "q_score": 1.0, + "replay_wall_s": 2991.9, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 3, + "agent_resets": 0, + "agent_sim_steps": 18768, + "agent_records": 2, + "agent_replays": 1, + "agent_cost_self_reported": 1, + "regrade_0154": { + "tag": "behavior-254-0154", + "old": 1, + "new": 0, + "why": "stricter rule", + "at": "2026-10-18 02:08:19" + } + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-putting-away-toys-i00-privileged--wpfjwfr/replay.mp4", + "duration_s": 208.533, + "fps": 30.0, + "frames": 6256, + "sha256": "8606867fe071f45ed36313b4613c82473805328830961d76b693b87797384e30" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 8, + "base": 0, + "peak": 8, + "final": 8, + "nodes": { + "toys_in_box_1": { + "method": "visual", + "intervals": [ + [ + 10.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 10.0, + "log_step": null, + "text_zh": "观察：视频 4.0–6.5 s 左腕视图中黑灰色玩偶随左夹爪离开地面并被运走；视频 9.5–11.5 s 左腕视图显示机器人将其降过绿箱箱口，随后玩偶留在箱内。首次进入约视频 10.0 s，误差约0.5秒。" + }, + { + "t": 208.5, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 q_score=1.0 对应八个玩偶全部入箱；结合本次视频逐次入箱及后续未见取出，至少1个入箱关系保持至视频 208.5 s。计数节点不绑定实例，持物入箱按 DAG 的 freeze_held=false 计入；全局松手静置验收另论。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左臂二指夹爪夹住黑灰色玩偶，提起、运输并送入绿箱；进入后张开夹爪，玩偶留在箱内。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：轮式底盘承载机器人及左夹爪所持的黑灰色玩偶，从拾取处行驶至绿箱旁。" + } + ] + }, + "toys_in_box_2": { + "method": "visual", + "intervals": [ + [ + 27.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 27.5, + "log_step": null, + "text_zh": "观察：视频 16.0 s 紫红衣玩偶仍在地面，视频 20.0–24.0 s 已被左夹爪夹持运输；视频 26.5–28.5 s 机器人将其下降、松爪，玩偶留在绿箱内，与先前黑灰色玩偶构成两个。首次进入约视频 27.5 s，误差约0.5秒。" + }, + { + "t": 208.5, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 q_score=1.0 对应八个玩偶全部入箱；结合本次视频逐次入箱及后续未见取出，至少2个入箱关系保持至视频 208.5 s。计数节点不绑定实例，持物入箱按 DAG 的 freeze_held=false 计入；全局松手静置验收另论。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左臂二指夹爪夹住紫红衣人形玩偶，提起、运输并送入绿箱；进入后张开夹爪，玩偶留在箱内。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：轮式底盘承载机器人及左夹爪所持的紫红衣人形玩偶，从拾取处行驶至绿箱旁。" + } + ] + }, + "toys_in_box_3": { + "method": "visual", + "intervals": [ + [ + 42.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 42.5, + "log_step": null, + "text_zh": "观察：视频 32.0–38.0 s 橙白色玩偶随左夹爪从拾取处运往绿箱；视频 41.5–43.5 s 机器人把玩偶降入箱壁围成的空间并松爪，先前两个玩偶仍在箱内。首次进入约视频 42.5 s，误差约0.5秒。" + }, + { + "t": 208.5, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 q_score=1.0 对应八个玩偶全部入箱；结合本次视频逐次入箱及后续未见取出，至少3个入箱关系保持至视频 208.5 s。计数节点不绑定实例，持物入箱按 DAG 的 freeze_held=false 计入；全局松手静置验收另论。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左臂二指夹爪夹住橙白色玩偶，提起、运输并送入绿箱；进入后张开夹爪，玩偶留在箱内。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：轮式底盘承载机器人及左夹爪所持的橙白色玩偶，从拾取处行驶至绿箱旁。" + } + ] + }, + "toys_in_box_4": { + "method": "visual", + "intervals": [ + [ + 76.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 76.0, + "log_step": null, + "text_zh": "观察：视频 52.0 s 该玩偶在地面，视频 56.0–72.0 s 被左夹爪抬起并运到餐桌蓝箱；视频 74.5–78.0 s 左腕视图显示机器人将其降过蓝箱边缘，松爪后玩偶留在箱底，绿箱此前三个未被取出。首次进入约视频 76.0 s，误差约0.5秒。" + }, + { + "t": 208.5, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 q_score=1.0 对应八个玩偶全部入箱；结合本次视频逐次入箱及后续未见取出，至少4个入箱关系保持至视频 208.5 s。计数节点不绑定实例，持物入箱按 DAG 的 freeze_held=false 计入；全局松手静置验收另论。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左臂二指夹爪夹住浅灰白色玩偶，提起、运输并送入蓝箱；进入后张开夹爪，玩偶留在箱内。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：轮式底盘承载机器人及左夹爪所持的浅灰白色玩偶，从拾取处行驶至蓝箱旁。" + } + ] + }, + "toys_in_box_5": { + "method": "visual", + "intervals": [ + [ + 95.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 95.0, + "log_step": null, + "text_zh": "观察：视频 84.0–92.0 s 黄褐色长尾玩偶随左夹爪运输，视频 94.0–96.0 s 机器人将其降入蓝箱并松爪；左腕视图随后可见它与先前浅灰白色玩偶同处蓝箱底部，两箱合计五个。首次进入约视频 95.0 s，误差约0.5秒。" + }, + { + "t": 208.5, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 q_score=1.0 对应八个玩偶全部入箱；结合本次视频逐次入箱及后续未见取出，至少5个入箱关系保持至视频 208.5 s。计数节点不绑定实例，持物入箱按 DAG 的 freeze_held=false 计入；全局松手静置验收另论。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左臂二指夹爪夹住黄褐色长尾玩偶，提起、运输并送入蓝箱；进入后张开夹爪，玩偶留在箱内。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：轮式底盘承载机器人及左夹爪所持的黄褐色长尾玩偶，从拾取处行驶至蓝箱旁。" + } + ] + }, + "toys_in_box_6": { + "method": "visual", + "intervals": [ + [ + 146.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 146.5, + "log_step": null, + "text_zh": "观察：视频 120.0 s 左夹爪对着地面玩偶，视频 124.0–144.0 s 四足玩偶已离地、随左夹爪被运回绿箱；视频 145.5–147.5 s 机器人将其降入绿箱并松爪，玩偶留在先前三个旁，另有两个仍在蓝箱。首次进入约视频 146.5 s，误差约0.5秒。" + }, + { + "t": 208.5, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 q_score=1.0 对应八个玩偶全部入箱；结合本次视频逐次入箱及后续未见取出，至少6个入箱关系保持至视频 208.5 s。计数节点不绑定实例，持物入箱按 DAG 的 freeze_held=false 计入；全局松手静置验收另论。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左臂二指夹爪夹住黄褐色四足玩偶，提起、运输并送入绿箱；进入后张开夹爪，玩偶留在箱内。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：轮式底盘承载机器人及左夹爪所持的黄褐色四足玩偶，从拾取处行驶至绿箱旁。" + } + ] + }, + "toys_in_box_7": { + "method": "visual", + "intervals": [ + [ + 184.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 184.5, + "log_step": null, + "text_zh": "观察：视频 160.0–168.0 s 左夹爪多次接近地面目标，视频 176.0–180.0 s 灰绿色长形玩偶已随夹爪离地运输；视频 183.5–186.5 s 机器人把它送入绿箱，松爪后仍留在箱内，累计七个。首次进入约视频 184.5 s，误差约0.5秒。" + }, + { + "t": 208.5, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 q_score=1.0 对应八个玩偶全部入箱；结合本次视频逐次入箱及后续未见取出，至少7个入箱关系保持至视频 208.5 s。计数节点不绑定实例，持物入箱按 DAG 的 freeze_held=false 计入；全局松手静置验收另论。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左臂二指夹爪夹住灰绿色长形玩偶，提起、运输并送入绿箱；进入后张开夹爪，玩偶留在箱内。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：轮式底盘承载机器人及左夹爪所持的灰绿色长形玩偶，从拾取处行驶至绿箱旁。" + } + ] + }, + "toys_in_box_8": { + "method": "visual", + "intervals": [ + [ + 208.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 208.5, + "log_step": null, + "text_zh": "观察：视频 192.0 s 机器人在地面目标旁，视频 196.0–206.0 s 最后一个黄褐色玩偶随左夹爪离地运输；视频 207.5–208.5 s 左腕视图中玩偶持续下降到绿箱内，最后一帧视频 208.5 s 夹爪仍贴持玩偶，未出现松爪和静置窗口。入箱中心判据的准确过界受近景遮挡，采用约视频 208.5 s 的终帧锚点，结合评分器 q_score=1.0 确认八个关系已成立。" + }, + { + "t": 208.5, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 q_score=1.0 对应八个玩偶全部入箱；结合本次视频逐次入箱及后续未见取出，至少8个入箱关系保持至视频 208.5 s。计数节点不绑定实例，持物入箱按 DAG 的 freeze_held=false 计入；全局松手静置验收另论。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左臂二指夹爪夹住最后一个黄褐色玩偶，提起、运输并送入绿箱；终帧仍贴持该玩偶。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：轮式底盘承载机器人及左夹爪所持的最后一个黄褐色玩偶，从拾取处行驶至绿箱旁。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 1.0, + "unit": "ratio", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "toys_in_box_8", + "t": 208.5, + "log_step": 157, + "where": "终态验收", + "evidence_zh": "观察：视频 207.5–208.5 s 机器人左夹爪把最后一个玩偶降入绿箱，终帧仍贴持玩偶；inputs/run.json 记录 q_score=1.0、all_success=1，却由 regrade_0154 以 stricter rule 将 success 从1改为0。原 task_text 明示八个 inside 一成立回合即自动结束；log step 155 的脚本在最后下降后原计划 open_gripper 并 hold(30)，log step 157 保存6256个控制步，log step 205 和246的新进程核验均报告旧规则 success=true。推断：八个入箱步骤均达到，失败锚定最后一步的全局终态验收，而非把已修复的前期抓取重试当成断点。" + }, + "unmet": { + "toys_in_box_1": true, + "toys_in_box_2": true, + "toys_in_box_3": true, + "toys_in_box_4": true, + "toys_in_box_5": true, + "toys_in_box_6": true, + "toys_in_box_7": true, + "toys_in_box_8": true + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本作业没有状态日志；评分器只给 stricter rule 的复评说明，没有逐物体辅助抓持、线速度或30控制步联合保持计数，无法区分复评具体由哪一项拒绝。任务设计问题：原 task_text 只列八个入箱关系并说明满足即自动结束，旧版新进程回放确实成功（log step 205、245、246）；当前 DAG 增加所有玩偶和箱子离手、线速度≤0.05米/秒并共同保持30控制步的验收，视频至208.5 s末帧仍贴持最后一个玩偶。推断：这是原自动结束规则与新增联合验收的版本不匹配；依目录保留失败，不能据此虚构机器人没松开、误以为完成或交付出错的现象和根因。各次入箱过界时间为约0.5秒精度，最后一次以终帧和评分总量联合确认。" + }, + "summary_zh": "机器人用左夹爪逐一搬运八个玩偶，六个送入地面绿箱、两个送入餐桌蓝箱，八个计数节点终态均成立（评分器 q_score=1.0）；早先抓取与放入的重试均已修复。任务设计问题：原指令要求入箱即自动结束，旧版新进程核验成功，但复评以 stricter rule 改判失败，断点为最后一步的终态验收，视频 208.5 s 最后一个玩偶仍贴持在夹爪间。无状态日志及复评细分字段，无法确定新增联合松手静置验收中具体哪项拒绝，因此不填写机器人失败现象或根因。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "八个入箱节点与终态一致（q_score=1.0，视频 208.4 s 末帧夹爪仍贴持玩偶）；断点和空因果层符合任务设计问题（S9/D9）的处理：原 task_text 写明入箱即自动结束，旧规则新进程回放 success=true，复评 stricter rule 改判失败，未虚构机器人现象。未发现需修改内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:16:50Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-putting-away-toys-i00-privileged--wpfjwfr/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-away-toys-i00-privileged--wpfjwfr/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b9730bb550b9ae1b784d20b2b549f2cf3257674f3e46af34dbb7a95211cb37d6", + "video_sha256": "8606867fe071f45ed36313b4613c82473805328830961d76b693b87797384e30", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-standard--bkhjec4.json b/phase2/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-standard--bkhjec4.json new file mode 100644 index 0000000000000000000000000000000000000000..a712197723cad5cf47dcc2eeccf3f94dd5780ab3 --- /dev/null +++ b/phase2/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-standard--bkhjec4.json @@ -0,0 +1,411 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-away-toys-i00-standard--bkhjec4", + "taskKey": "behavior-1k/putting_away_toys", + "dag_sha256": "335669259132e6e3781489edc4059c3b1f7f791c60276348736cffe3197bc030", + "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": 20131, + "sim_steps": 20131, + "physics_steps": 80524, + "steps": 5023, + "elapsed_s": 13707.3, + "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-putting-away-toys-i00-standard--bkhjec4/replay.mp4", + "duration_s": 671.033, + "fps": 30.0, + "frames": 20131, + "sha256": "99d5024aea32105bb05b5c3aef33a0162ecdb977301a8c089d4efbb566d6392c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 8, + "base": null, + "peak": null, + "final": 0, + "nodes": { + "toys_in_box_1": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 16, + "log_step": null, + "text_zh": "观察：视频 15.0 s 灰黑色玩偶仍在地面；视频 16.0–22.5 s 机器人左夹爪夹持该玩偶并随底盘运至绿箱。视频 23.5–25.0 s 腕部画面显示该玩偶落在绿色箱壁围成的区域，视频 359.0 s 亦有一个灰色玩偶看似在箱底。此视觉线索与零分总量冲突，无法确定原生 inside 判据的历史真值，故不编造达成或失去区间。" + }, + { + "t": 657, + "log_step": null, + "text_zh": "观察：视频 657.0 s 腕部视图可见绿箱内有灰黑色、紫色和黄色形体；视频 670.0–671.0 s 末段视图已转向地面玩偶，未提供原生关系读数。" + }, + { + "t": 671, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，success=0，live_matches_replay=1；依本作业的总量约束，本节点最终为 false。此结论来自评分总量，不是由 agent 的投放自述推得。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "视频 16.0–22.5 s 左二指夹爪夹住灰黑色玩偶并搬运；此前有对准、闭爪重试。此处记录收取尝试的实际接触，不表示相应累计数量已验收。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘承载机器人，在该次拾取位置与客厅绿箱之间行驶，包括持物运输；非把静止底盘背景接触另计。" + } + ] + }, + "toys_in_box_2": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 53.5, + "log_step": 139, + "text_zh": "观察：视频 48.0–53.0 s 机器人左夹爪持橙色玩偶移到绿箱旁，视频约 53.5 s 张爪后玩偶离手；视频 359.0 s 绿箱前方地面仍有橙色玩偶，箱右侧另有紫色玩偶。log step 139 的脚本将释放目标写为世界坐标 (16.65,3.37,0.52)。" + }, + { + "t": 572, + "log_step": null, + "text_zh": "观察：视频 569.0–571.5 s 左夹爪将此前在箱旁的紫色玩偶送到箱内，视频 572.0–580.0 s 张爪后可见其与灰黑色玩偶处于绿箱包围区域。视觉上至少两个的线索与最终零分冲突；没有逐帧 inside 读数，不以自述或任意终止时间构造区间。" + }, + { + "t": 671, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，success=0，live_matches_replay=1；依本作业的总量约束，本节点最终为 false。此结论来自评分总量，不是由 agent 的投放自述推得。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "视频 48.0–53.0 s 左二指夹爪夹住橙色玩偶运输并张爪释放；视频 569.0–572.0 s 又夹持紫色玩偶送向箱内。此处记录收取尝试的实际接触，不表示相应累计数量已验收。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘承载机器人，在该次拾取位置与客厅绿箱之间行驶，包括持物运输；非把静止底盘背景接触另计。" + } + ] + }, + "toys_in_box_3": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 69, + "log_step": null, + "text_zh": "观察：视频 64.0–68.5 s 左夹爪持紫色玩偶靠近绿箱；视频 69.0–69.5 s 玩偶在箱外地板上离手，视频 359.0 s 仍可见该紫色玩偶在箱右侧地面，故该次搬运不等于箱内达到三个。" + }, + { + "t": 652.5, + "log_step": null, + "text_zh": "观察：视频 647.0–652.0 s 左夹爪夹持黄色恐龙形玩偶送向箱子；视频 652.5–657.0 s 玩偶离爪后与紫色、灰黑色形体同时出现在绿箱底部区域。此处有三个的视觉线索，但与 q_score=0 的总量约束不能调和；不据此虚构原生关系的起止区间。" + }, + { + "t": 671, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，success=0，live_matches_replay=1；依本作业的总量约束，本节点最终为 false。此结论来自评分总量，不是由 agent 的投放自述推得。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "视频 64.0–69.0 s 左二指夹爪夹住紫色玩偶运输后在箱旁释放；视频 647.0–652.5 s 夹持黄色玩偶再次投放。此处记录收取尝试的实际接触，不表示相应累计数量已验收。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘承载机器人，在该次拾取位置与客厅绿箱之间行驶，包括持物运输；非把静止底盘背景接触另计。" + } + ] + }, + "toys_in_box_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 110, + "log_step": null, + "text_zh": "观察：视频 100.0–110.0 s 左夹爪夹持黄色玩偶并从餐厅运输到绿箱；视频约 110.0–115.0 s 释放、收臂。后续视频 359.0 s 和 657.0 s 的箱内检查均没有显示至少四个不同玩偶同时入箱的充分线索。" + }, + { + "t": 671, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，success=0，live_matches_replay=1；依本作业的总量约束，本节点最终为 false。此结论来自评分总量，不是由 agent 的投放自述推得。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "视频 100.0–110.0 s 左二指夹爪夹住黄色玩偶运输后释放。此处记录收取尝试的实际接触，不表示相应累计数量已验收。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘承载机器人，在该次拾取位置与客厅绿箱之间行驶，包括持物运输；非把静止底盘背景接触另计。" + } + ] + }, + "toys_in_box_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 205, + "log_step": null, + "text_zh": "观察：视频 195.0–205.0 s 左夹爪在餐桌旁抓起灰色鲨鱼形玩偶；视频 210.0–220.0 s 搬回绿箱附近后张爪、收臂。全片检查没有显示五个不同玩偶同时进入任一箱内。" + }, + { + "t": 671, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，success=0，live_matches_replay=1；依本作业的总量约束，本节点最终为 false。此结论来自评分总量，不是由 agent 的投放自述推得。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "视频 195.0–218.0 s 左二指夹爪夹住灰色鲨鱼形玩偶并搬运、释放。此处记录收取尝试的实际接触，不表示相应累计数量已验收。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘承载机器人，在该次拾取位置与客厅绿箱之间行驶，包括持物运输；非把静止底盘背景接触另计。" + } + ] + }, + "toys_in_box_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 275, + "log_step": null, + "text_zh": "观察：视频 250.0–274.5 s 左夹爪持长尾黄色恐龙形玩偶跨房间运输；视频 275.0–277.0 s 在绿箱旁释放。全片检查没有显示六个不同玩偶同时进入箱内。" + }, + { + "t": 671, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，success=0，live_matches_replay=1；依本作业的总量约束，本节点最终为 false。此结论来自评分总量，不是由 agent 的投放自述推得。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "视频 250.0–277.0 s 左二指夹爪夹住长尾黄色玩偶并搬运、释放。此处记录收取尝试的实际接触，不表示相应累计数量已验收。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘承载机器人，在该次拾取位置与客厅绿箱之间行驶，包括持物运输；非把静止底盘背景接触另计。" + } + ] + }, + "toys_in_box_7": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 485, + "log_step": null, + "text_zh": "观察：视频 480.0–490.0 s 机器人左夹爪在餐厅端抓取黄色玩偶，视频 495.0–510.5 s 持物返回绿箱方向，视频约 511.0 s 在箱旁释放，视频 515.0–516.5 s 已收臂。后段仍有玩偶散在箱外；没有七个不同玩偶同时在箱内的画面。" + }, + { + "t": 671, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，success=0，live_matches_replay=1；依本作业的总量约束，本节点最终为 false。此结论来自评分总量，不是由 agent 的投放自述推得。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "视频 480.0–511.0 s 左二指夹爪夹住黄色玩偶并运输、释放。此处记录收取尝试的实际接触，不表示相应累计数量已验收。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘承载机器人，在该次拾取位置与客厅绿箱之间行驶，包括持物运输；非把静止底盘背景接触另计。" + } + ] + }, + "toys_in_box_8": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 671, + "log_step": 1769, + "text_zh": "观察：视频 668.0–670.5 s 腕部视图中有黄色玩偶留在地板上，左夹爪接近后在视频 671.0 s 的最后一帧仍未显示将其运至箱内。log step 1769 的 agent 最终消息仅称已启动收取走廊玩偶的脚本，正在行驶，不是完成报告。" + }, + { + "t": 671, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，success=0，live_matches_replay=1；依本作业的总量约束，本节点最终为 false。此结论来自评分总量，不是由 agent 的投放自述推得。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 660.0–671.0 s 机器人空手驶向剩余地面玩偶；截至末帧未观察到其被夹起。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "ratio", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "toys_in_box_1", + "t": 53.5, + "log_step": 139, + "where": "操作中", + "evidence_zh": "推断：按评分器 q_score=0.0 的总量约束，首个入箱计数在终态仍未通过；视频约 53.5 s 的橙色玩偶释放是明确的偏位投放导航点，视频 359.0 s 可复查该玩偶仍在绿箱前方地面。log step 139 的释放目标为 (16.65,3.37,0.52)。由于视频 23.5 s 及后段存在似乎入箱的形体，不能精确确定最早一次原生 inside 判定失败的时刻；此处不是宣称所有抓取都未发生。" + }, + "unmet": { + "toys_in_box_1": false, + "toys_in_box_2": false, + "toys_in_box_3": false, + "toys_in_box_4": false, + "toys_in_box_5": false, + "toys_in_box_6": false, + "toys_in_box_7": false, + "toys_in_box_8": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 53.5, + "log_step": 139, + "evidence_zh": "观察：视频 52.0–53.0 s 左夹爪持橙色玩偶移到绿箱边，视频约 53.5 s 玩偶离爪；视频 359.0 s 橙色玩偶仍在箱前地面，紫色玩偶也在箱右侧地面。视频 69.0 s 可见机器人在箱外地面释放紫色玩偶；这两次均未先把玩偶送入箱壁围成的内腔，不属于入箱后滚出或搬运中滑脱。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "感知", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：agent 的脚本以错误的箱内目标位置投放。log step 61 的点云分析把绿箱中心估为约 (16.707,3.375)，log step 101、139 均据此使用 (16.65,3.37,0.52) 作为箱上方释放位置；视频 53.5 s、69.0 s 的释放及视频 359.0 s 的箱外玩偶表明该估计没有把所搬玩偶送入箱内。log step 1610 后来从相机重测的可见箱体范围为 X=16.741–17.199、Y=3.422–3.799，log step 1614 改试 (16.970,3.610,0.480)；视频 572.0 s 及 652.5 s 对应的新投放明显更深入箱内。不同物体上的系统性落点偏移支持箱体位置估计错误，不能仅据这些证据认定底层 IK 失效。" + } + ], + "gap_zh": "未提供状态日志；inputs/ 中有完整本次视频与日志，以及成功示范视频，均已检查，不能把示范当成本次的状态证据。本次视频 23.5–25.0 s、359.0 s、572.0–580.0 s、652.5–657.0 s 分别有一至三个形体看似在绿箱内，且与成功示范的箱内外观相似，但 reward.q_score=0.0、live_matches_replay=1；缺少逐物体原生 inside 布尔量及包围盒中心，无法解释这个视觉与评分冲突。按作业总量规则所有 final 置 false；前三个节点的历史区间置 null，避免把看似入箱直接当作已获原生验收，也避免捏造末段物体出箱事件。第4至第8个计数未见成立，区间为空。接触按实际连续收取尝试记录，不把日志中的 Toy 编号绑定为节点身份。首次原生失败时间及历史峰值不能可靠确定；未据此认定评分器或仿真有错误。" + }, + "summary_zh": "机器人用左夹爪反复抓取并运输多件玩偶，但多次释放落在绿箱外；评分器 success=0、q_score=0，按总量约束终态八个计数均为 false。断点暂定位首个入箱计数，视频约 53.5 s 的偏位投放及错误箱体位置估计支持位姿不准、感知的归因。视频后段有最多三个形体看似入箱，与评分冲突，缺少原生 inside 状态，故前三个节点的历史区间及历史峰值不作确定判断。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 5, + "summary_zh": "终态八个计数 final=false 由 q_score=0 的总量约束决定，标注已按 PROG-10 写明为逻辑推断，并未虚构区间。视频 359 s 可见橙色、紫色玩偶落在绿箱外，支持“位姿不准”与“感知”（log step 61/101/139 的箱心估计，step 1610/1614 的重测）。断点放在第1个计数、53.5 s，是粗略锚点，可接受。视频 572–657 s 看似有玩偶入箱而 q=0，缺少状态日志，标注已在 gap_zh 中如实说明。未发现必须修改的错误。", + "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": "2026-10-30T21:15:38Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-putting-away-toys-i00-standard--bkhjec4/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-away-toys-i00-standard--bkhjec4/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "581b04d9f8488cf3f8aa7ccd70bd7879d87fba3fc10ea8f5169c595d2960215c", + "video_sha256": "99d5024aea32105bb05b5c3aef33a0162ecdb977301a8c089d4efbb566d6392c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-standard--fgz7ipb.json b/phase2/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-standard--fgz7ipb.json new file mode 100644 index 0000000000000000000000000000000000000000..23a1e0d05e11ce6f48810370a754e020b4b54610 --- /dev/null +++ b/phase2/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-standard--fgz7ipb.json @@ -0,0 +1,359 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-away-toys-i00-standard--fgz7ipb", + "taskKey": "behavior-1k/putting_away_toys", + "dag_sha256": "335669259132e6e3781489edc4059c3b1f7f791c60276348736cffe3197bc030", + "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": 2415, + "sim_steps": 2415, + "physics_steps": 9660, + "steps": 390, + "elapsed_s": 4240.3, + "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": 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-putting-away-toys-i00-standard--fgz7ipb/replay.mp4", + "duration_s": 80.5, + "fps": 30.0, + "frames": 2415, + "sha256": "29b4c0ca5d077b8011991dd8e6cd251718989f7c5c285665be4a9bfba66846d7" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 8, + "base": null, + "peak": null, + "final": 0, + "nodes": { + "toys_in_box_1": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 23.5, + "log_step": 76, + "text_zh": "观察：视频约 23.5 s，机器人将棕白色狗玩偶降过绿箱箱口；视频 25.5–28.0 s 双夹爪已退出，箱壁围成的内腔中可见棕白色与黑灰色两个玩偶，故至少1个入箱。时间精度约0.5秒，按实际入箱先后计数。" + }, + { + "t": 80.47, + "log_step": 218, + "text_zh": "推断：reward.q_score=0、live_matches_replay=1，且初始没有玩偶在箱内，依评分总量将本节点终值判为false。观察：视频 25.5–28.0 s 可见首次两件在绿箱内，但视频 28.0 s 后箱内长期不可见，视频 74.8–80.47 s 也仅断续露出箱体，不能数清原先两件；无法定位关系失去的时点，故完整区间填null，不以最后看见时刻伪作失去时刻。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 15–23 s，左夹爪夹持黑灰色怪兽、右夹爪夹持棕白色狗，同步搬运；到绿箱后右臂先送狗入箱，左臂随后送怪兽入箱并分别松开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 8–23 s，轮式底盘在地面拾取位置和绿箱之间行驶，承载机器人及夹爪中的玩偶。" + } + ] + }, + "toys_in_box_2": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 25.0, + "log_step": 76, + "text_zh": "观察：视频约 25.0 s，机器人将黑灰色怪兽玩偶降过绿箱箱口；视频 25.5–28.0 s 双夹爪已退出，箱壁围成的内腔中可见棕白色与黑灰色两个玩偶，故至少2个入箱。时间精度约0.5秒，按实际入箱先后计数。" + }, + { + "t": 80.47, + "log_step": 218, + "text_zh": "推断：reward.q_score=0、live_matches_replay=1，且初始没有玩偶在箱内，依评分总量将本节点终值判为false。观察：视频 25.5–28.0 s 可见首次两件在绿箱内，但视频 28.0 s 后箱内长期不可见，视频 74.8–80.47 s 也仅断续露出箱体，不能数清原先两件；无法定位关系失去的时点，故完整区间填null，不以最后看见时刻伪作失去时刻。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 15–23 s，左夹爪夹持黑灰色怪兽、右夹爪夹持棕白色狗，同步搬运；到绿箱后右臂先送狗入箱，左臂随后送怪兽入箱并分别松开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 8–23 s，轮式底盘在地面拾取位置和绿箱之间行驶，承载机器人及夹爪中的玩偶。" + } + ] + }, + "toys_in_box_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 43.5, + "log_step": 106, + "text_zh": "观察：视频 37–39 s，左夹爪第一次接近紫色玩偶后，玩偶仍留在壁炉前地面；视频 43.0–44.5 s，机器人重新夹取后玩偶离地并随左夹爪移动，该次早期抓取偏差已修复。" + }, + { + "t": 68.5, + "log_step": 163, + "text_zh": "观察：视频 64.5–68.0 s，机器人左夹爪持紫色玩偶、右夹爪持白色玩偶返向绿箱；视频约 68.5 s 起主视图突然仰向天花板，随后持续翻滚，直至视频 80.47 s 两件仍在双腕附近，未见任一件进入箱口。" + }, + { + "t": 80.47, + "log_step": 218, + "text_zh": "推断：视频中只有首次两件曾入箱，随后两件未被送入箱，故至少3个入箱从未成立；reward.q_score=0同时约束本节点final=false。log step 218服务返回done=True，原因是机器人翻倒。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 43.5 s 后左夹爪夹持紫色玩偶，视频约 64.5 s 右夹爪抓住并抬起白色玩偶，随后两臂各持一件共同返箱；翻倒前尚未释放入箱。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人驾底盘接近壁炉处紫色玩偶及沙发后白色玩偶；视频 66.5–68.5 s 双臂持物返箱时继续行驶，随后失去平衡。" + } + ] + }, + "toys_in_box_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 64.5, + "log_step": 134, + "text_zh": "观察：视频 63.5–65.0 s，白色玩偶由地面进入右夹爪并抬起，左夹爪同时保留紫色玩偶；视频 68.5–80.47 s 返箱失败及恢复过程中，未见这两件通过箱口，至少4个入箱没有成立。" + }, + { + "t": 80.47, + "log_step": null, + "text_zh": "推断：初始没有入箱关系，reward.q_score=0且live_matches_replay=1，因此至少4个入箱的终值为false。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 43.5 s 后左夹爪夹持紫色玩偶，视频约 64.5 s 右夹爪抓住并抬起白色玩偶，随后两臂各持一件共同返箱；翻倒前尚未释放入箱。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人驾底盘接近壁炉处紫色玩偶及沙发后白色玩偶；视频 66.5–68.5 s 双臂持物返箱时继续行驶，随后失去平衡。" + } + ] + }, + "toys_in_box_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 80.47, + "log_step": 218, + "text_zh": "观察：视频全程仅出现首次两个玩偶入绿箱，以及后来紫色、白色两件的拾取和失败返程，未见第5至第8件的取放操作；视频 79.5–80.47 s 机器人仍翻倒，log step 218服务报告回合已因翻倒结束。" + }, + { + "t": 80.47, + "log_step": null, + "text_zh": "推断：全程没有至少5个玩偶同时入箱的可见过程；初始无入箱关系，reward.q_score=0进一步确定本计数节点final=false。" + } + ] + }, + "toys_in_box_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 80.47, + "log_step": 218, + "text_zh": "观察：视频全程仅出现首次两个玩偶入绿箱，以及后来紫色、白色两件的拾取和失败返程，未见第5至第8件的取放操作；视频 79.5–80.47 s 机器人仍翻倒，log step 218服务报告回合已因翻倒结束。" + }, + { + "t": 80.47, + "log_step": null, + "text_zh": "推断：全程没有至少6个玩偶同时入箱的可见过程；初始无入箱关系，reward.q_score=0进一步确定本计数节点final=false。" + } + ] + }, + "toys_in_box_7": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 80.47, + "log_step": 218, + "text_zh": "观察：视频全程仅出现首次两个玩偶入绿箱，以及后来紫色、白色两件的拾取和失败返程，未见第5至第8件的取放操作；视频 79.5–80.47 s 机器人仍翻倒，log step 218服务报告回合已因翻倒结束。" + }, + { + "t": 80.47, + "log_step": null, + "text_zh": "推断：全程没有至少7个玩偶同时入箱的可见过程；初始无入箱关系，reward.q_score=0进一步确定本计数节点final=false。" + } + ] + }, + "toys_in_box_8": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 80.47, + "log_step": 218, + "text_zh": "观察：视频全程仅出现首次两个玩偶入绿箱，以及后来紫色、白色两件的拾取和失败返程，未见第5至第8件的取放操作；视频 79.5–80.47 s 机器人仍翻倒，log step 218服务报告回合已因翻倒结束。" + }, + { + "t": 80.47, + "log_step": null, + "text_zh": "推断：全程没有至少8个玩偶同时入箱的可见过程；初始无入箱关系，reward.q_score=0进一步确定本计数节点final=false。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "ratio", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "toys_in_box_3", + "t": 68.5, + "log_step": 163, + "where": "操作中", + "evidence_zh": "观察：视频约 68.5 s，机器人正双臂持紫色和白色玩偶返回绿箱，主视图明显向后仰起，继而侧翻，视频 69–80.47 s 始终未恢复稳定站立或完成下一件入箱。log step 214及218服务确认回合以failure: the robot fell over结束；断点属于当时正在搬运的第3个入箱步骤，持物运输记操作中。" + }, + "unmet": { + "toys_in_box_1": false, + "toys_in_box_2": false, + "toys_in_box_3": false, + "toys_in_box_4": false, + "toys_in_box_5": false, + "toys_in_box_6": false, + "toys_in_box_7": false, + "toys_in_box_8": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 68.5, + "log_step": 171, + "evidence_zh": "观察：视频 68.25–69.0 s，持物行驶的机器人由正常前视突然仰视天花板；视频 72–80.47 s 画面持续大幅侧倾、翻转。log step 171读取该次019返程的本体姿态，向上轴竖直分量从1.000降到0.667，随后到-0.051；log step 214服务最终报告机器人翻倒，恢复动作未修复该次入箱失败。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 163, + "source_zh": "日志", + "evidence_zh": "观察：log step 163的返箱脚本把相对出生坐标系的base_footprint_x/y/rz_joint直接用于世界坐标目标(15.75, 2.80)的差值计算，再将整段33行直行一次提交；log step 174的服务规格明确区分这些虚拟关节与base_x/base_y等世界位姿。log step 183显示该次每0.2秒动作行前进指令合计约0.568米，log step 171则记录机器人越过目标后持续倾斜。推断：底盘位移计算混用坐标系，且整段运动没有中途按实际位姿和倾斜修正，导致持物返程失稳；证据支持控制实现问题，不能进一步唯一细分控制子类。" + } + ], + "gap_zh": "没有状态日志。视频 25.5–28.0 s 可见首次两件在绿箱内，但之后箱内长期不在视野，末段仅见箱体局部，无法直接确定它们的关系是否、何时失去；按照评分总量q_score=0将全部终值判为false。前两节点的入箱起点约为视频23.5 s和25.0 s，但不能可靠结束其区间，因此intervals=null，完整进度曲线未知，已观察到的进展见各节点证据。评分记录没有逐玩偶关系，无法排除该零分与翻倒终止路径有关；不能断言发生碰箱、洒出或捏造失去时刻。" + }, + "summary_zh": "机器人在视频约23.5 s和25.0 s先后将两个玩偶送入绿箱，随后又抓起紫色和白色两件；持物返箱时约视频68.5 s失衡，恢复失败，第3个入箱步骤未完成。日志显示返程底盘位移计算混用出生相对坐标与世界坐标，并开环连续行驶，支持控制问题；依评分总量q_score=0将终态判为0/8。首次两件早期可见入箱与最终零分之间缺少逐物状态和清晰箱内画面，不能定位失去关系的时点，故前两节点完整区间未知，保留其可见入箱证据。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "视频 23.5/25 s 入箱、视频约 68.5 s 持物返箱时失衡翻倒、q_score=0 约束全部终值 false，均与帧和日志一致；断点 toys_in_box_3、现象 平衡、根因 控制 有帧与 log step 171/183 支持。前两节点 intervals=null 因箱内后续不可见且 q=0，处理合理。", + "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": "2026-10-30T21:25:46Z", + "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-putting-away-toys-i00-standard--fgz7ipb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-away-toys-i00-standard--fgz7ipb/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0cfc81fe7ec088b476d248698ef0c4a42877e318cbb19129416216e31fd14acc", + "video_sha256": "29b4c0ca5d077b8011991dd8e6cd251718989f7c5c285665be4a9bfba66846d7", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-standard--r454rj8.json b/phase2/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-standard--r454rj8.json new file mode 100644 index 0000000000000000000000000000000000000000..4049dcabd363657d9b76f3ffc37893e51af6953b --- /dev/null +++ b/phase2/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-standard--r454rj8.json @@ -0,0 +1,367 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-away-toys-i00-standard--r454rj8", + "taskKey": "behavior-1k/putting_away_toys", + "dag_sha256": "335669259132e6e3781489edc4059c3b1f7f791c60276348736cffe3197bc030", + "outcome": { + "success": 0, + "reward": 0.375, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 10462, + "sim_steps": 10462, + "physics_steps": 41848, + "steps": 3488, + "elapsed_s": 3652.7, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 1, + "q_score": 0.375, + "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-putting-away-toys-i00-standard--r454rj8/replay.mp4", + "duration_s": 348.733, + "fps": 30.0, + "frames": 10462, + "sha256": "fd7aca4478becddaff7dd68e3fc1327eb5b6c307d449c21620faf0094b5f3bb8" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 8, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "toys_in_box_1": { + "method": "visual", + "intervals": [ + [ + 47.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 47.5, + "log_step": 90, + "text_zh": "观察：视频 44–47 s 左夹爪夹持黑灰玩偶移至绿箱上方，视频约 47.5 s 玩偶主体随下降越过箱口进入箱壁围成的内腔；视频 51.5–55 s 松爪后玩偶留在箱底，视频 151–157 s 仍与另外两个玩偶同在箱内。入箱时刻由头部与左腕画面估计，误差约0.5秒；持物入箱已计入关系。" + }, + { + "t": 348.7, + "log_step": null, + "text_zh": "推断：视频 151–157 s 已确认三个玩偶在绿箱，此后全片未见取出或移动绿箱的操作；评分器 q_score=0.375=3/8，live_matches_replay=1、deterministic=1，与三个入箱关系保留到终态一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左二指夹爪夹住黑灰玩偶，从地面提起并运至绿箱，下降后张爪释放。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：轮式底盘在拾取位置与绿箱之间行驶，承载机器人及左爪中的黑灰玩偶。" + } + ] + }, + "toys_in_box_2": { + "method": "visual", + "intervals": [ + [ + 92.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 92.5, + "log_step": 111, + "text_zh": "观察：视频 75–90 s 左夹爪夹持粉红玩偶离开地面并运至绿箱，视频约 92.5 s 主体降入箱壁围成的内腔；视频 95.5–100 s 松爪后可见黑灰、粉红两个玩偶均在箱底，视频 151–157 s 两者仍在箱内。入箱时刻估计误差约0.5秒，未等到松爪才计数。" + }, + { + "t": 348.7, + "log_step": null, + "text_zh": "推断：视频 151–157 s 已确认三个玩偶在绿箱，此后全片未见取出或移动绿箱的操作；评分器 q_score=0.375=3/8，live_matches_replay=1、deterministic=1，与三个入箱关系保留到终态一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左二指夹爪夹住粉红玩偶，从地面提起并运至绿箱，下降后张爪释放。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：轮式底盘在拾取位置与绿箱之间行驶，承载机器人及左爪中的粉红玩偶。" + } + ] + }, + "toys_in_box_3": { + "method": "visual", + "intervals": [ + [ + 146.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 146.0, + "log_step": 137, + "text_zh": "观察：视频 122–144 s 左夹爪夹持橙色玩偶离开原地并运至绿箱，视频约 146 s 主体下降进入箱口以内；视频 148.5–157 s 松爪后腕部及头部视图可见橙色、黑灰、粉红三个玩偶留在箱内，随后机器人离开且未再操作绿箱。入箱时刻估计误差约0.5秒。" + }, + { + "t": 348.7, + "log_step": null, + "text_zh": "推断：视频 151–157 s 已确认三个玩偶在绿箱，此后全片未见取出或移动绿箱的操作；评分器 q_score=0.375=3/8，live_matches_replay=1、deterministic=1，与三个入箱关系保留到终态一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左二指夹爪夹住橙色玩偶，从地面提起并运至绿箱，下降后张爪释放。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：轮式底盘在拾取位置与绿箱之间行驶，承载机器人及左爪中的橙色玩偶。" + } + ] + }, + "toys_in_box_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 249.0, + "log_step": 198, + "text_zh": "观察：视频 192–197 s 白色独角兽从原地离开并出现在左夹爪中；视频 231–248 s 机器人持它在蓝箱旁调整与下降，视频 248.5–249 s 松爪后它落在蓝箱外的桌面，视频 262、271、281 s 可见它与箱内腔分离，未形成第四个入箱关系。" + }, + { + "t": 338.5, + "log_step": 262, + "text_zh": "观察：视频 311–326 s 白色独角兽再次被左夹爪夹起并离开桌面；视频 338.5–339 s 搬运途中视野侧翻，视频 347.733–348.7 s 机器人仍侧倒，独角兽还在左爪处，未到达绿箱。log step 262 的服务终态为 done=true、reason=\"failure: the robot fell over\"、control_steps=10462。" + }, + { + "t": 348.7, + "log_step": null, + "text_zh": "推断：开局玩偶均在箱外，末尾评分器 q_score=3/8 且 live_matches_replay=1，因此终态恰有三个玩偶入箱；第四个计数节点为假。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左二指夹爪抓持白色独角兽从地面运到餐桌，松开后多次重抓，最后夹起离桌并持物返程。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：桌面重抓过程中左夹爪触碰并拨动白色独角兽，使它在桌面移位；这些接触未直接形成入箱关系。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：底盘持物驶向餐桌、绕到桌端，并在重抓后向客厅绿箱返程；返程途中机器人翻倒。" + } + ] + }, + "toys_in_box_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 348.7, + "log_step": null, + "text_zh": "推断：已检查全片及视频 347.733–348.7 s 的终段；只确认前三个玩偶入绿箱，之后反复处理同一个白色独角兽，未见再收取其他玩偶入箱。评分器 q_score=0.375=3/8，live_matches_replay=1，决定终态不足5个；全片也无达到该数量的可见事件。" + } + ] + }, + "toys_in_box_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 348.7, + "log_step": null, + "text_zh": "推断：已检查全片及视频 347.733–348.7 s 的终段；只确认前三个玩偶入绿箱，之后反复处理同一个白色独角兽，未见再收取其他玩偶入箱。评分器 q_score=0.375=3/8，live_matches_replay=1，决定终态不足6个；全片也无达到该数量的可见事件。" + } + ] + }, + "toys_in_box_7": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 348.7, + "log_step": null, + "text_zh": "推断：已检查全片及视频 347.733–348.7 s 的终段；只确认前三个玩偶入绿箱，之后反复处理同一个白色独角兽，未见再收取其他玩偶入箱。评分器 q_score=0.375=3/8，live_matches_replay=1，决定终态不足7个；全片也无达到该数量的可见事件。" + } + ] + }, + "toys_in_box_8": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 348.7, + "log_step": null, + "text_zh": "推断：已检查全片及视频 347.733–348.7 s 的终段；只确认前三个玩偶入绿箱，之后反复处理同一个白色独角兽，未见再收取其他玩偶入箱。评分器 q_score=0.375=3/8，live_matches_replay=1，决定终态不足8个；全片也无达到该数量的可见事件。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.375, + "unit": "ratio", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "toys_in_box_4", + "t": 249.0, + "log_step": 198, + "where": "操作中", + "evidence_zh": "观察：视频 248.5–249 s 机器人将第四个玩偶白色独角兽松在蓝箱外桌面，视频 262–306 s 多次重抓仍未使它入箱；视频 311–326 s 重抓成功后改向绿箱搬运，视频 338.5–339 s 翻倒，直至视频 348.7 s 也未完成第四个入箱关系。log step 206 承认独角兽落在箱旁桌面，log step 262 记录服务因翻倒终止。推断：重抓成功未修复入箱步骤，最早未修复步骤仍是第4个玩偶入箱。" + }, + "unmet": { + "toys_in_box_1": true, + "toys_in_box_2": true, + "toys_in_box_3": true, + "toys_in_box_4": false, + "toys_in_box_5": false, + "toys_in_box_6": false, + "toys_in_box_7": false, + "toys_in_box_8": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 249.0, + "log_step": 198, + "evidence_zh": "观察：视频 248.5–249 s 左夹爪张开时白色独角兽位于蓝箱外侧，落到箱旁桌面；视频 262、271、281 s 玩偶仍在桌面，蓝箱内腔为空。这是在目标外释放，未见先入箱再滚出的过程。" + }, + { + "cat": "全身", + "item": "平衡", + "t": 338.5, + "log_step": 262, + "evidence_zh": "观察：视频 338.5–339 s 机器人持独角兽行驶时头部与右腕画面整体向侧面翻转，视频 340–348.7 s 维持侧倒视角；log step 262 读取的服务终态 reason=\"failure: the robot fell over\"，回合结束。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 249.0, + "log_step": 200, + "source_zh": "日志", + "evidence_zh": "推断：降放动作的执行未达到设定末端位置，却继续松爪，支持控制层归因。log step 198 的脚本要求左末端下降到世界坐标 z=1.02米后直接张爪；log step 200 的服务本体感知给出张爪后左末端 z≈1.163米，脚本没有以实际下降到位作为释放条件。视频 248.5–249 s 可见独角兽落在箱外，后续视频 338.5–348.7 s 持物行驶又未维持机体稳定；具体控制子类无法由这些证据唯一确定。" + } + ], + "gap_zh": "无逐帧状态日志，入箱时刻由头部与腕部画面估计，不能直接读取包围盒中心及inside布尔值；前三次计数时刻约有0.5秒误差。末尾绿箱不在视野内，其三个已达关系的保留结合后续未再操作绿箱及评分器3/8推断。蓝箱旁末端偏差的具体来源、翻倒是否由底盘或机体碰撞触发未能确定，根因保留在控制总类。" + }, + "summary_zh": "机器人依次将黑灰、粉红、橙色玩偶放进绿箱，约在视频 47.5 s、92.5 s、146 s 达到前三个数量节点，终态为3/8。第四个白色独角兽在视频约249 s 被放到蓝箱外桌面，多次重抓后仍未入箱，返程又在视频约338.5 s 翻倒；降放执行偏差及未核实实际到位便释放支持控制层归因。没有逐帧状态日志，精确入箱时刻及控制失效子类存在缺口，终态数量由画面和评分器q_score=0.375共同确认。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "抽查未发现需要修改的错误：第4个玩偶（白色独角兽）视频约249 s 落在蓝箱外的桌面，262–281 s 仍在桌面；338–348 s 机器人侧翻。断点 toys_in_box_4、位姿不准、平衡、控制根因与终态3/8均有证据支持。前三个入箱时刻本次未逐帧复核。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:16:42Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-putting-away-toys-i00-standard--r454rj8/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-away-toys-i00-standard--r454rj8/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "29c43850adeca4f8c808a8c52d7e60e23b52e31922ecb41cdbb23341b9843a22", + "video_sha256": "fd7aca4478becddaff7dd68e3fc1327eb5b6c307d449c21620faf0094b5f3bb8", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-standard--tzszfde.json b/phase2/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-standard--tzszfde.json new file mode 100644 index 0000000000000000000000000000000000000000..f477176172c1f3d256c293872219a5ca1410d34d --- /dev/null +++ b/phase2/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-standard--tzszfde.json @@ -0,0 +1,314 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-away-toys-i00-standard--tzszfde", + "taskKey": "behavior-1k/putting_away_toys", + "dag_sha256": "335669259132e6e3781489edc4059c3b1f7f791c60276348736cffe3197bc030", + "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": 311, + "sim_steps": 311, + "physics_steps": 1244, + "steps": 139, + "elapsed_s": 827.4, + "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-putting-away-toys-i00-standard--tzszfde/replay.mp4", + "duration_s": 10.367, + "fps": 30.0, + "frames": 311, + "sha256": "001414d914941173a8b2ef9fca251503f8c32d5d775443ad2aeb7ba061a28c78" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 8, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "toys_in_box_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.3, + "log_step": 75, + "text_zh": "观察：视频 0.0–0.3 s 可见地面玩偶，双腕视图未见夹持玩偶；随后视频 0.4–1.1 s 的三路视图随机器人一起侧转。通看视频 0.0–10.33 s，机器人未展示抓起玩偶、携带玩偶或越过箱口送入的动作，片尾视频 9.3–10.33 s 仍为侧倒视角。" + }, + { + "t": 10.33, + "log_step": null, + "text_zh": "推断：inputs/run.json 的 task_text 给定初态八个玩偶均在地面，所检视频未见入箱过程；评分器 reward.q_score=0.0 且 live_matches_replay=1，终态不容许任何新增入箱关系成立，因此“至少1个玩偶入箱”终态为假。结合初态与全程未见搬运，未建立成立区间。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人在首次收玩偶前进行前后移动、横移及转向标定（视频 0.0–0.53 s；log step 74–77），移动中的轮式底盘支承机身，随后侧翻；未见夹爪接触或夹住玩偶。此接触记在第1个入箱步骤的探索准备阶段。" + } + ] + }, + "toys_in_box_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.3, + "log_step": 75, + "text_zh": "观察：视频 0.0–0.3 s 可见地面玩偶，双腕视图未见夹持玩偶；随后视频 0.4–1.1 s 的三路视图随机器人一起侧转。通看视频 0.0–10.33 s，机器人未展示抓起玩偶、携带玩偶或越过箱口送入的动作，片尾视频 9.3–10.33 s 仍为侧倒视角。" + }, + { + "t": 10.33, + "log_step": null, + "text_zh": "推断：inputs/run.json 的 task_text 给定初态八个玩偶均在地面，所检视频未见入箱过程；评分器 reward.q_score=0.0 且 live_matches_replay=1，终态不容许任何新增入箱关系成立，因此“至少2个玩偶入箱”终态为假。结合初态与全程未见搬运，未建立成立区间。" + } + ] + }, + "toys_in_box_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.3, + "log_step": 75, + "text_zh": "观察：视频 0.0–0.3 s 可见地面玩偶，双腕视图未见夹持玩偶；随后视频 0.4–1.1 s 的三路视图随机器人一起侧转。通看视频 0.0–10.33 s，机器人未展示抓起玩偶、携带玩偶或越过箱口送入的动作，片尾视频 9.3–10.33 s 仍为侧倒视角。" + }, + { + "t": 10.33, + "log_step": null, + "text_zh": "推断：inputs/run.json 的 task_text 给定初态八个玩偶均在地面，所检视频未见入箱过程；评分器 reward.q_score=0.0 且 live_matches_replay=1，终态不容许任何新增入箱关系成立，因此“至少3个玩偶入箱”终态为假。结合初态与全程未见搬运，未建立成立区间。" + } + ] + }, + "toys_in_box_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.3, + "log_step": 75, + "text_zh": "观察：视频 0.0–0.3 s 可见地面玩偶，双腕视图未见夹持玩偶；随后视频 0.4–1.1 s 的三路视图随机器人一起侧转。通看视频 0.0–10.33 s，机器人未展示抓起玩偶、携带玩偶或越过箱口送入的动作，片尾视频 9.3–10.33 s 仍为侧倒视角。" + }, + { + "t": 10.33, + "log_step": null, + "text_zh": "推断：inputs/run.json 的 task_text 给定初态八个玩偶均在地面，所检视频未见入箱过程；评分器 reward.q_score=0.0 且 live_matches_replay=1，终态不容许任何新增入箱关系成立，因此“至少4个玩偶入箱”终态为假。结合初态与全程未见搬运，未建立成立区间。" + } + ] + }, + "toys_in_box_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.3, + "log_step": 75, + "text_zh": "观察：视频 0.0–0.3 s 可见地面玩偶，双腕视图未见夹持玩偶；随后视频 0.4–1.1 s 的三路视图随机器人一起侧转。通看视频 0.0–10.33 s，机器人未展示抓起玩偶、携带玩偶或越过箱口送入的动作，片尾视频 9.3–10.33 s 仍为侧倒视角。" + }, + { + "t": 10.33, + "log_step": null, + "text_zh": "推断：inputs/run.json 的 task_text 给定初态八个玩偶均在地面，所检视频未见入箱过程；评分器 reward.q_score=0.0 且 live_matches_replay=1，终态不容许任何新增入箱关系成立，因此“至少5个玩偶入箱”终态为假。结合初态与全程未见搬运，未建立成立区间。" + } + ] + }, + "toys_in_box_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.3, + "log_step": 75, + "text_zh": "观察：视频 0.0–0.3 s 可见地面玩偶，双腕视图未见夹持玩偶；随后视频 0.4–1.1 s 的三路视图随机器人一起侧转。通看视频 0.0–10.33 s，机器人未展示抓起玩偶、携带玩偶或越过箱口送入的动作，片尾视频 9.3–10.33 s 仍为侧倒视角。" + }, + { + "t": 10.33, + "log_step": null, + "text_zh": "推断：inputs/run.json 的 task_text 给定初态八个玩偶均在地面，所检视频未见入箱过程；评分器 reward.q_score=0.0 且 live_matches_replay=1，终态不容许任何新增入箱关系成立，因此“至少6个玩偶入箱”终态为假。结合初态与全程未见搬运，未建立成立区间。" + } + ] + }, + "toys_in_box_7": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.3, + "log_step": 75, + "text_zh": "观察：视频 0.0–0.3 s 可见地面玩偶，双腕视图未见夹持玩偶；随后视频 0.4–1.1 s 的三路视图随机器人一起侧转。通看视频 0.0–10.33 s，机器人未展示抓起玩偶、携带玩偶或越过箱口送入的动作，片尾视频 9.3–10.33 s 仍为侧倒视角。" + }, + { + "t": 10.33, + "log_step": null, + "text_zh": "推断：inputs/run.json 的 task_text 给定初态八个玩偶均在地面，所检视频未见入箱过程；评分器 reward.q_score=0.0 且 live_matches_replay=1，终态不容许任何新增入箱关系成立，因此“至少7个玩偶入箱”终态为假。结合初态与全程未见搬运，未建立成立区间。" + } + ] + }, + "toys_in_box_8": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.3, + "log_step": 75, + "text_zh": "观察：视频 0.0–0.3 s 可见地面玩偶，双腕视图未见夹持玩偶；随后视频 0.4–1.1 s 的三路视图随机器人一起侧转。通看视频 0.0–10.33 s，机器人未展示抓起玩偶、携带玩偶或越过箱口送入的动作，片尾视频 9.3–10.33 s 仍为侧倒视角。" + }, + { + "t": 10.33, + "log_step": null, + "text_zh": "推断：inputs/run.json 的 task_text 给定初态八个玩偶均在地面，所检视频未见入箱过程；评分器 reward.q_score=0.0 且 live_matches_replay=1，终态不容许任何新增入箱关系成立，因此“至少8个玩偶入箱”终态为假。结合初态与全程未见搬运，未建立成立区间。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "ratio", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "toys_in_box_1", + "t": 0.4, + "log_step": 75, + "where": "探索", + "evidence_zh": "观察：视频 0.0–0.3 s 机器人空手移动，视频 0.4–0.6 s 头部和双腕画面一起大幅侧转，随后保持侧倒；未见开始抓取玩偶。log step 74–75 显示机器人实际执行了前后、横移、转向的底盘标定，log step 77 的服务本体读数在 control_steps=16 时已明显倾斜，log step 81 为同一读数算得倾角88.3度。推断：这是评分回合中首次收玩偶前的实体探索移动，失败归第1个玩偶入箱；之后的扶正尝试未恢复直立，也未完成该步。" + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 0.4, + "log_step": 77, + "evidence_zh": "观察：视频 0.4–1.1 s 三路机载相机从直立视角转为约侧倒视角，视频 1.5–10.33 s 始终未恢复正常方向；视频 9.3–10.33 s 的密集片尾帧仍侧倒。log step 109 的服务状态为 control_steps=311、done=true、reason=\"failure: the robot fell over\"。推断：机器人在底盘标定中翻倒并持续失去直立支撑；服务在倒地窗口结束后判负，而不是在片尾才首次摔倒。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 0.4, + "log_step": 75, + "source_zh": "日志", + "evidence_zh": "推断：log step 69、74 的已执行控制代码以30赫兹连续发送底盘位移，前后各0.30米、左右各0.25米及正反各0.40弧度的标定，保留当前躯干与臂姿，没有在六段标定间检查倾角或安排稳定等待；log step 75、77 显示仅16个控制步后机身已侧倒，视频 0.3–0.6 s 对应出现明显翻转。底盘运动控制未维持机身稳定，足以支持“控制”根因；尚不能独立确定是加减速、承载布局还是具体增益造成，故不细分子类。" + } + ], + "gap_zh": "无逐帧状态日志，机载视图也不直接展示轮地支承和完整机身，无法独立核实 agent 在 log step 138 所称的重心位置及“无法恢复”的动力学解释；不据此归因任务或环境。箱内在侧倒后不总可见，节点终值结合初态、全程无可见搬运和评分器 q_score=0.0 判定。日志的 agent 时间不作视频时间；服务 control_steps=16、sim_time_s=0.533（log step 81）与视频约0.5秒已侧倒相符，终态311个控制步/30赫兹=10.367秒也与录像时长吻合。", + "unmet": { + "toys_in_box_1": false, + "toys_in_box_2": false, + "toys_in_box_3": false, + "toys_in_box_4": false, + "toys_in_box_5": false, + "toys_in_box_6": false, + "toys_in_box_7": false, + "toys_in_box_8": false + } + }, + "summary_zh": "评分回合未见抓起或送入任何玩偶，八个计数节点均未达到，评分器 q_score=0.0，最终为0/8。机器人在视频约0.4 s 的首次底盘标定探索中侧翻，后续扶正未成功，断在第1个玩偶入箱，现象为全身平衡失败，根因保守归控制。没有逐帧状态日志或完整机身外视角，不能核实更具体的重心与动力学成因；log step 117 以后编写的 gen.py 是回合结束后的记录代码，未计入进展。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频0.3–0.6 s三路视图随底盘标定侧倒并至片尾未恢复，八节点均未达成，断点在toys_in_box_1（探索）、现象平衡、根因控制，与帧和log step 74–81、109相符；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": "2026-10-30T21:18:52Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-putting-away-toys-i00-standard--tzszfde/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-away-toys-i00-standard--tzszfde/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "678e8a42a73fa011fcc473c85a31c33e8f62eed08d578d63753b89b764eadae8", + "video_sha256": "001414d914941173a8b2ef9fca251503f8c32d5d775443ad2aeb7ba061a28c78", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-standard--z5qurs6.json b/phase2/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-standard--z5qurs6.json new file mode 100644 index 0000000000000000000000000000000000000000..548ff496c935b0dc609b4e5f5b07c3a4a674dac8 --- /dev/null +++ b/phase2/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-standard--z5qurs6.json @@ -0,0 +1,350 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-away-toys-i00-standard--z5qurs6", + "taskKey": "behavior-1k/putting_away_toys", + "dag_sha256": "335669259132e6e3781489edc4059c3b1f7f791c60276348736cffe3197bc030", + "outcome": { + "success": 0, + "reward": 0.375, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "n_actions": 33124, + "sim_steps": 33124, + "physics_steps": 132496, + "steps": 33124, + "elapsed_s": 11982.3, + "video_rendered": 1, + "gpu_lost": 0, + "q_score": 0.375, + "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-putting-away-toys-i00-standard--z5qurs6/replay.mp4", + "duration_s": 1104.133, + "fps": 30.0, + "frames": 33124, + "sha256": "749f97e5e5d6f3182c5697baf128bc23ecc5b6cb4ac6faabc0d1b3d2e0574697" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 8, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "toys_in_box_1": { + "method": "visual", + "intervals": [ + [ + 61.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 61.5, + "log_step": 123, + "text_zh": "观察：视频 45–50 s 左腕显示棕白马形玩偶被左夹爪夹住并随底盘运输，视频 59.5–63 s 左爪将其下降至绿箱内并松开；视频约 61.5 s 玩偶主体已进入箱壁围成的空间，视频 65 s 可见其留在箱底。入箱边界由画面估计，约有 0.5–1 s 不确定度；按本节点 freeze_held=false，在松手之前即计入。" + }, + { + "t": 1104.1, + "log_step": null, + "text_zh": "推断：已检查视频至 1104.1 s，包括末秒的 1103.2、1103.5、1103.8、1104.1 s；三个玩偶放入后未见被取出，后段机器人持续在箱外寻找与自救。末帧绿箱较远，不能逐个清点；评分器 q_score=0.375、live_matches_replay=1，与已见的三次入箱相符，支持本计数节点保持到终态。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左臂二指夹爪夹住棕白马形玩偶，将其提离地面、持有运输，再在绿箱内张开释放；右爪未同时抓持该玩偶。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘在拾取点与绿箱之间驶行并转向，承载左爪中的棕白马形玩偶。" + } + ] + }, + "toys_in_box_2": { + "method": "visual", + "intervals": [ + [ + 109.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 109.0, + "log_step": 136, + "text_zh": "观察：视频 96 s 深色玩偶仍在地面，视频 100–106 s 它夹在左爪中随机器人驶向绿箱，视频 108.5–110 s 左爪将其降低到箱内并放开，约视频 109 s 主体进入内腔；此前放入的马形玩偶仍在箱底。时间约有 0.5–1 s 不确定度。" + }, + { + "t": 1104.1, + "log_step": null, + "text_zh": "推断：已检查视频至 1104.1 s，包括末秒的 1103.2、1103.5、1103.8、1104.1 s；三个玩偶放入后未见被取出，后段机器人持续在箱外寻找与自救。末帧绿箱较远，不能逐个清点；评分器 q_score=0.375、live_matches_replay=1，与已见的三次入箱相符，支持本计数节点保持到终态。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左臂二指夹爪夹住深色尖刺玩偶，将其提离地面、持有运输，再在绿箱内张开释放；右爪未同时抓持该玩偶。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘在拾取点与绿箱之间驶行并转向，承载左爪中的深色尖刺玩偶。" + } + ] + }, + "toys_in_box_3": { + "method": "visual", + "intervals": [ + [ + 206.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 206.5, + "log_step": 182, + "text_zh": "观察：视频 195–204 s 紫红色玩偶在左夹爪中随机器人移动；视频 205.5–208 s 左爪将其下降至绿箱内并放开，约视频 206.5 s 主体进入内腔，视频 208 s 左腕清楚显示马形、深色与紫红色三个玩偶均在箱内。早先对该玩偶的抓取失误随后已修复，不是最终断点；入箱边界约有 0.5–1 s 不确定度。" + }, + { + "t": 1104.1, + "log_step": null, + "text_zh": "推断：已检查视频至 1104.1 s，包括末秒的 1103.2、1103.5、1103.8、1104.1 s；三个玩偶放入后未见被取出，后段机器人持续在箱外寻找与自救。末帧绿箱较远，不能逐个清点；评分器 q_score=0.375、live_matches_replay=1，与已见的三次入箱相符，支持本计数节点保持到终态。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左臂二指夹爪夹住紫红色裙装玩偶，将其提离地面、持有运输，再在绿箱内张开释放；右爪未同时抓持该玩偶。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘在拾取点与绿箱之间驶行并转向，承载左爪中的紫红色裙装玩偶。" + } + ] + }, + "toys_in_box_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 274.0, + "log_step": 225, + "text_zh": "观察：视频 264–272 s 机器人靠近餐桌，视频 274–324 s 左腕反复显示地板、桌边及空夹爪，没有第四个玩偶随夹爪离地或被送往任一箱。log step 224–225 的脚本确实执行了面向餐桌边候选坐标的抓取尝试；不能从其抓取函数名称认定抓取成功。" + }, + { + "t": 368.0, + "log_step": 259, + "text_zh": "观察：视频 366–370 s 场景在三路相机中进一步侧转，视频 380.5 s 机器人已侧倒；log step 259 的实时服务与本体读数给出 control_steps=11416、基座高度 0.397 m、四元数 [0.633,0.344,0.117,0.683] 且 done=False。推断：控制频率 30 Hz，11416/30=380.53 s，与视频 380.5 s 的侧倒视图核对一致；此处只用于关联实时读数，未把 agent 工作时间当作视频时间。" + }, + { + "t": 1104.1, + "log_step": 350, + "text_zh": "推断：视频 208 s 后未再见新玩偶离地、运输或入箱，只有搜索、空手移动、翻倒及自救；末秒机器人已直立且双爪无玩偶。评分器 q_score=3/8、live_matches_replay=1，在前三个已见入箱的基础上决定至少四个入箱为假；log step 350 的 agent 最终报告也仅自述放入三个。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 211 s 后机器人空手在客厅及餐桌周围驶行、转向以寻找下一玩偶，轮式底盘承载机器人；左夹爪在桌边做抓取动作，但画面没有可确认的玩偶夹持，故未将该动作记为抓握接触。" + } + ] + }, + "toys_in_box_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1104.1, + "log_step": null, + "text_zh": "推断：已粗查完整视频并细查三次入箱及餐桌抓取，视频 208 s 左腕只见三个玩偶在绿箱内，此后至视频 1104.1 s 没有再见任何玩偶被带起和入箱。评分器 q_score=0.375=3/8 且 live_matches_replay=1，与此一致，因此至少5个入箱的终态为假；没有独立开始第5个成功计数所需的后续搬运。" + } + ] + }, + "toys_in_box_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1104.1, + "log_step": null, + "text_zh": "推断：已粗查完整视频并细查三次入箱及餐桌抓取，视频 208 s 左腕只见三个玩偶在绿箱内，此后至视频 1104.1 s 没有再见任何玩偶被带起和入箱。评分器 q_score=0.375=3/8 且 live_matches_replay=1，与此一致，因此至少6个入箱的终态为假；没有独立开始第6个成功计数所需的后续搬运。" + } + ] + }, + "toys_in_box_7": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1104.1, + "log_step": null, + "text_zh": "推断：已粗查完整视频并细查三次入箱及餐桌抓取，视频 208 s 左腕只见三个玩偶在绿箱内，此后至视频 1104.1 s 没有再见任何玩偶被带起和入箱。评分器 q_score=0.375=3/8 且 live_matches_replay=1，与此一致，因此至少7个入箱的终态为假；没有独立开始第7个成功计数所需的后续搬运。" + } + ] + }, + "toys_in_box_8": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1104.1, + "log_step": null, + "text_zh": "推断：已粗查完整视频并细查三次入箱及餐桌抓取，视频 208 s 左腕只见三个玩偶在绿箱内，此后至视频 1104.1 s 没有再见任何玩偶被带起和入箱。评分器 q_score=0.375=3/8 且 live_matches_replay=1，与此一致，因此至少8个入箱的终态为假；没有独立开始第8个成功计数所需的后续搬运。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.375, + "unit": "ratio", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "toys_in_box_4", + "t": 274.0, + "log_step": 225, + "where": "操作中", + "evidence_zh": "观察：机器人已在视频约 206.5 s 放入第三个玩偶，之后寻找下一件；视频 264–324 s 在餐桌边伸爪、下降与合爪，但腕部画面没有带起玩偶，log step 224–225 执行的正是该候选的抓取脚本。此后视频 366–380.5 s 又在桌边空手移动时侧倒，后段虽多次自救直立，却直到视频 1104.1 s 都没有补成第四个入箱。推断：首个未修复的计数步骤为第4个玩偶入箱，时间取首次餐桌抓取未形成持物的可见锚点；自救直立没有修复这个入箱步骤。" + }, + "unmet": { + "toys_in_box_1": true, + "toys_in_box_2": true, + "toys_in_box_3": true, + "toys_in_box_4": false, + "toys_in_box_5": false, + "toys_in_box_6": false, + "toys_in_box_7": false, + "toys_in_box_8": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 274.0, + "log_step": 225, + "evidence_zh": "观察：视频 274–324 s 左夹爪在餐桌边调整、下降并合拢，左腕持续可见附近地板和桌边，没有玩偶出现在两指之间，也没有玩偶随抬爪离开原处；视频 324 s 后仍未持物，之后未有新的送箱动作。推断：获取第四个玩偶所需的夹持接触未建立，而非已经持有后滑落。" + }, + { + "cat": "全身", + "item": "平衡", + "t": 368.0, + "log_step": 259, + "evidence_zh": "观察：在第四个入箱步骤尚未完成时，机器人于视频 366–370 s 在餐桌旁进一步倾覆，视频 380.5 s 三路视图显示持续侧倒；log step 259 的基座四元数与高度读数对应同一侧倒状态。后续视频约 560–670 s、840–1010 s 也反复出现侧倒和自救，机器人恢复直立后仍未获得下一玩偶。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "感知", + "t": 274.0, + "log_step": 224, + "source_zh": "日志", + "evidence_zh": "推断：agent 对下一抓取目标存在有记录的误识别。log step 221 把四个聚类称为玩偶，log step 224 选取坐标 (8.733,2.948) 调用抓取，log step 243 后续检查发现该候选为竖直细柱（水平范围约 0.038×0.061 m，观测高度延伸到 0.45 m），log step 244 明确改判 A/D 是桌腿；视频 268–324 s 相应操作区是餐桌与桌腿，左爪没有取得玩偶。这支持所选候选识别错误，不据此断言其余玩偶的实际藏身位置。" + }, + { + "cat": "控制", + "item": "控制", + "t": 368.0, + "log_step": 307, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：底盘运动脚本未能在家具附近及时中断受阻运动并保持直立。log step 44 的 drive_rel 将整段逐步位移直接提交、段内没有碰撞或倾斜检查；log step 245–246 用同一移动方式到餐桌东北侧，log step 251、253 又继续后退，随后视频 366–380.5 s 出现侧倒。log step 272 新增检查仍每30步才检查一次，log step 274 服务本体读数 up-z 已降至 0.425，log step 276 降至 -0.372；log step 307 才把平移检查段由30步缩为6步。上述代码、读数及画面支持控制层面，尚不足以唯一归于逆解、参数或接触设计子类。" + } + ], + "gap_zh": "没有逐帧状态日志，三次跨箱口的包围盒中心判据只能由头部及腕部相机估计，边界约有0.5–1 s误差；终态绿箱在远处，逐个计数以此前可见三次放入及评分器3/8共同确定。餐桌抓取时部分目标区域受桌面和手臂遮挡，不能确定每次手指是否擦到桌腿或地板，也没有将未见的接触填为抓握。DAG描述倒地持续约10秒即终止，但本回合视频出现长时间侧倒，log step 259、341 的实时服务仍为 done=False；可能存在执行版本差异，未据DAG阈值虚构终止事件或手工补判约束。" + }, + "summary_zh": "机器人依次将马形、深色及紫红色三个玩偶放入绿箱，计数约于视频 61.5、109、206.5 s 达到1、2、3，终态3/8与评分器q_score=0.375一致。第四个入箱步骤在餐桌边抓取时未取得玩偶，日志支持把桌腿候选误认为玩偶，随后空手寻找期间又多次失衡；后续自救没有补成第四步。无逐帧状态日志，入箱边界为视觉估计，倒地终止规则与本回合持续运行的表现存在版本疑点。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "三个入箱节点的时间与 q_score=3/8 相符，第4个入箱未达成、断点取在第4个玩偶（抓取候选实为桌腿）合理；侧倒时间与 log step 259 的 control_steps 11416/30=380.5 s 在视频中核对一致。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": "2026-10-30T21:21:37Z", + "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-putting-away-toys-i00-standard--z5qurs6/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-away-toys-i00-standard--z5qurs6/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "21960e4a3d1cf06485efb8d7eff684102c9fe3d03253e6407dbce11bd6114848", + "video_sha256": "749f97e5e5d6f3182c5697baf128bc23ecc5b6cb4ac6faabc0d1b3d2e0574697", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-privileged--hkddlnv.json b/phase2/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-privileged--hkddlnv.json new file mode 100644 index 0000000000000000000000000000000000000000..6e1c8780067a440417713037c28c754792931f4b --- /dev/null +++ b/phase2/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-privileged--hkddlnv.json @@ -0,0 +1,245 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-dirty-dishes-in-sink-i00-privileged--hkddlnv", + "taskKey": "behavior-1k/putting_dirty_dishes_in_sink", + "dag_sha256": "0ae83395c13ee3df9019df559327fe10e26a960f6acd108d99bcbe4e135e8d04", + "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": 1218, + "sim_steps": 1218, + "fallen": 1, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 832.3, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 16, + "agent_resets": 0, + "agent_sim_steps": 0, + "agent_records": 9, + "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-putting-dirty-dishes-in-sink-i00-privileged--hkddlnv/replay.mp4", + "duration_s": 40.6, + "fps": 30.0, + "frames": 1218, + "sha256": "ffe384e9fa71470f59b0b25274854803cbebd1e41ebc8eb8bc5d53f2148422a8" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "bowls_in_sink_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.5, + "log_step": null, + "text_zh": "观察：视频4.0–5.0 s可见餐桌上的两只深色碗和两只棕色方盘；视频5.0–7.5 s左夹爪夹住靠近机器人的一只碗并将它提离原桌面位置，左腕画面可见碗随夹爪运动。视频8.0–13.0 s机器人持碗驶离餐桌，桌上还留另一只碗和两只盘。" + }, + { + "t": 40.56, + "log_step": null, + "text_zh": "观察：视频13.8–15.5 s机器人持碗行驶时明显侧倾，之后仍在餐厅内；视频28.0–31.5 s再次大幅倾斜，视频39.6–40.56 s停在餐厅墙边，未出现厨房水槽或送碗入槽动作。" + }, + { + "t": 40.56, + "log_step": 417, + "text_zh": "推断：本次全程未到厨房，搬起的碗未入槽；评分器q_score=0.0、fallen=1，且四个入槽条件起初均不成立，故最终没有一只碗在槽内。log step 417记录最终保存1218步，log step 419核对交付文件同为1218步，与本视频帧数及跌倒结局一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频5.0–7.5 s左二指夹爪夹持第一只深色碗的边缘并提起，左腕画面可见碗被夹在夹爪处；视频8.0–13.0 s继续持碗。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频0–4.5 s轮式底盘驶向餐桌；视频8.0–13.0 s承托机器人及左爪所持碗驶离餐桌，搬运中发生倾斜。" + } + ] + }, + "bowls_in_sink_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.5, + "log_step": null, + "text_zh": "观察：视频8.0–11.5 s机器人仅带走一只碗，另一只深色碗仍在两只方盘旁的桌面上；之后直到视频40.56 s机器人未返回取第二只碗，也未到厨房水槽。" + }, + { + "t": 40.56, + "log_step": null, + "text_zh": "推断：本次没有搬运第二只碗的动作，最终q_score=0.0又排除了任何新增入槽关系，故两只碗同时在槽内的条件未达成。" + } + ] + }, + "plates_in_sink_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.5, + "log_step": null, + "text_zh": "观察：视频4.0–11.5 s两只棕色方盘均留在餐桌上；机器人左爪拿走的是深色碗，未夹取盘子。视频12.0–40.56 s机器人始终未到厨房水槽，也未返回取盘。" + }, + { + "t": 40.56, + "log_step": null, + "text_zh": "推断：两只盘均未被搬运，评分器q_score=0.0与上述画面一致，排除了任何新增的盘入槽关系，故至少一只盘在槽内的条件未达成。" + } + ] + }, + "plates_in_sink_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.5, + "log_step": null, + "text_zh": "观察：视频4.0–11.5 s两只棕色方盘均留在餐桌上；机器人左爪拿走的是深色碗，未夹取盘子。视频12.0–40.56 s机器人始终未到厨房水槽，也未返回取盘。" + }, + { + "t": 40.56, + "log_step": null, + "text_zh": "推断：两只盘均未被搬运，评分器q_score=0.0与上述画面一致，排除了任何新增的盘入槽关系，故两只盘在槽内的条件未达成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "bowls_in_sink_1", + "t": 14.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频5.0–7.5 s机器人左夹爪抓起第一只碗，视频8.0–13.0 s持碗驶离餐桌；视频13.8–15.5 s机身明显侧倾，短暂回摆后视频28.0–31.5 s再度倾斜，直到视频40.56 s仍未到达水槽。推断：第一只碗的搬运已开始而始终未完成，断点属于第1只碗入槽的操作中，视频14.0 s为首次明显失衡的粗略锚点。" + }, + "unmet": { + "bowls_in_sink_1": false, + "bowls_in_sink_2": false, + "plates_in_sink_1": false, + "plates_in_sink_2": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 14.0, + "log_step": null, + "evidence_zh": "观察：视频13.8–15.5 s机器人持碗移动时头部画面的墙、地面和桌椅整体大幅旋转，腕部视角同步倾斜；视频28.0–31.5 s再次失衡，视频39.6–40.56 s保持倾斜且不再前进。评分器字段fallen=1；最终交付试验的服务状态在log step 417同样报告fallen=True、sim_steps=1218。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：agent脚本在log step 330加入每10个控制步检查倾斜并退让的行驶逻辑，log step 380、395加入高度防护和倒退，log step 409在最终版本中进一步降低通道行驶速度并收紧持碗姿态；log step 419确认交付脚本正是这一最终版本。尽管有这些稳定措施，视频13.8–15.5 s及28.0–31.5 s仍出现持物行驶失衡，最终服务与评分器均判跌倒，说明行驶及恢复控制未能维持本体稳定；具体是碰撞路径、承载姿态还是反馈实现所致，现有证据不足以细分。", + "source_zh": "日志 / 视频 / 评分器字段" + } + ], + "gap_zh": "没有状态日志；腕部视角和头部视角不能看清轮子下方，无法确认触发倾斜的具体障碍或接触对，也无法精确定位跌倒阈值开始累计的时刻。因此不另标被挡/碰撞，不把agent在log step 427自述的“底盘爬障碍”当作已核实事实；控制根因只保留大类。" + }, + "summary_zh": "机器人抓起第一只碗并持碗驶离餐桌，但未抵达厨房水槽，四个入槽节点均未达成，最终为0/4。搬运中从视频约14.0 s出现明显失衡，随后反复倾斜，最终评分器报告fallen=1、q_score=0.0；持物行驶及恢复控制未能保持稳定。没有状态日志且轮子下方被遮挡，无法确定具体致倒接触或进一步细分控制根因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点均未达成（0/4）、被抓起的第一只碗在视频5–10 s确在左夹爪、全程未离开餐厅，与q_score=0、fallen=1一致；断点bowls_in_sink_1/操作中、平衡现象和控制根因均有帧和评分器字段支持，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": "2026-10-30T21:35:30Z", + "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-putting-dirty-dishes-in-sink-i00-privileged--hkddlnv/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-dirty-dishes-in-sink-i00-privileged--hkddlnv/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8fa7893409e09f6fca1c24e471c693f857b9ebe24d33923166b850f02e6dfcd3", + "video_sha256": "ffe384e9fa71470f59b0b25274854803cbebd1e41ebc8eb8bc5d53f2148422a8", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-privileged--puthxzj.json b/phase2/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-privileged--puthxzj.json new file mode 100644 index 0000000000000000000000000000000000000000..57b60888b225f1b8e1a9d45c6dbbc73e787b920c --- /dev/null +++ b/phase2/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-privileged--puthxzj.json @@ -0,0 +1,299 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-dirty-dishes-in-sink-i00-privileged--puthxzj", + "taskKey": "behavior-1k/putting_dirty_dishes_in_sink", + "dag_sha256": "0ae83395c13ee3df9019df559327fe10e26a960f6acd108d99bcbe4e135e8d04", + "outcome": { + "success": 0, + "reward": 0.5, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 1, + "n_actions": 5881, + "sim_steps": 3114, + "fallen": 1, + "final_reward": 0.5, + "q_score": 0.5, + "replay_wall_s": 1345.3, + "replay_timeout_s": 5120.7, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 1, + "agent_resets": 11, + "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": 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-putting-dirty-dishes-in-sink-i00-privileged--puthxzj/replay.mp4", + "duration_s": 103.8, + "fps": 30.0, + "frames": 3114, + "sha256": "627ca920677ea6af0da4955085b58368107efaf3db2ea5abf6f9db7ef3ddbdfc" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "bowls_in_sink_1": { + "method": "visual", + "intervals": [ + [ + 74.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 10.0, + "log_step": null, + "text_zh": "观察：视频 4–8 s 可见卡座桌上两碗两盘；视频 8–11 s 机器人左夹爪夹住近侧深色碗边缘并抬起，原位置空出，腕部画面中的碗随左手移动。" + }, + { + "t": 74.5, + "log_step": null, + "text_zh": "观察：视频 72.5–74.5 s 机器人左手在水槽上方下降并张开，视频 74.5 s 腕部视角可见深色碗落在不锈钢槽腔内；视频 75–78.5 s 碗留在槽内，机器人空手后退。入槽时刻取约视频 74.5 s，精度约半秒。" + }, + { + "t": 103.76, + "log_step": null, + "text_zh": "推断：视频 78.5 s 后机器人未再伸手进入水槽，视频约 83–103.76 s 倾倒后也未搬动餐具；结合评分器 reward.q_score=0.5（四个入槽目标满足两个），已观察到的一碗一盘关系保留到终局。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 8–11 s 左二指夹爪夹住碗边缘并抬起；视频 24–72 s 左手持碗、右手持方盘同时搬运，双臂各持一件配合完成同一趟取送；视频 74.5 s 左手将碗释放到水槽内。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 29–69 s 轮式底盘承托机器人及双手所持餐具，从卡座驶向厨房水槽，并在槽前调整位置。" + } + ] + }, + "bowls_in_sink_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 29.0, + "log_step": null, + "text_zh": "观察：视频 26–29 s 第一只碗已在左手，另一只深色碗仍在卡座桌上；视频 30–103.76 s 机器人只完成第一趟取送，没有返回桌边拿起剩余碗。" + }, + { + "t": 103.76, + "log_step": null, + "text_zh": "推断：视频 74.5–78.5 s 仅一只碗和一只盘入槽，之后机器人空手返程并翻倒，未进行第二只碗的取送；评分器 reward.q_score=0.5 与这两个已达目标一致，因此两碗同时入槽的终值为假。" + } + ] + }, + "plates_in_sink_1": { + "method": "visual", + "intervals": [ + [ + 77.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 25.0, + "log_step": null, + "text_zh": "观察：视频 18–23 s 机器人右夹爪对准桌上一只棕色方盘边缘闭合；视频 24–26 s 方盘随右手升离桌面，桌面只剩另一只盘和另一只碗。" + }, + { + "t": 77.0, + "log_step": null, + "text_zh": "观察：视频 76.5–77.5 s 机器人右手在水槽上方松开方盘，盘下降到槽腔内；视频 77.0–78.5 s 可见方盘和先放入的深色碗同处槽内，随后双手空着退出。入槽时刻约视频 77.0 s，精度约半秒。" + }, + { + "t": 103.76, + "log_step": null, + "text_zh": "推断：视频 78.5–103.76 s 未出现再次取出盘的动作，机器人在厨房内空手移动并翻倒；结合评分器 reward.q_score=0.5，已观察到的一碗一盘为最终满足的两个入槽目标。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 23–26 s 右二指夹爪夹住方盘边缘并抬起；随后右手持盘、左手持碗同时运送到厨房，双臂各持一件配合取送；视频 76.5–77.5 s 右手释放方盘入槽。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 29–69 s 底盘载着机器人及双手餐具驶往厨房；视频 75–76 s 在水槽前横移以放置右手方盘。" + } + ] + }, + "plates_in_sink_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 29.0, + "log_step": null, + "text_zh": "观察：视频 24–29 s 一只方盘已由右手抬走，另一只棕色方盘留在卡座桌上；视频 78.5 s 机器人放完第一趟餐具后空手离开水槽，此后直到视频 103.76 s 未返回卡座或拿起另一只盘。" + }, + { + "t": 83.0, + "log_step": 162, + "text_zh": "推断：视频 79–83 s 的空手移动是为下一趟取物转场，约视频 83 s 起机器人倾倒，之后未恢复取送；log step 162 的保存脚本在返程后先安排左手取剩余方盘，再安排右手取剩余碗，因此把未修复的返程翻倒归到第2只盘入槽；该脚本只用于解释下一项工作，不用于认定第二趟实际发生。" + }, + { + "t": 103.76, + "log_step": null, + "text_zh": "推断：视频只出现一次方盘入槽，且评分器 reward.q_score=0.5 的两个目标已由一碗一盘占满；第2只盘入槽最终为假。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 79–83 s 机器人空手退出水槽工作位并在厨房内移动，约视频 83 s 后倾倒，未到达剩余盘，未发生对该盘的夹持。推断：倾倒前底盘承担返回取下一只盘的转场。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.5, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "plates_in_sink_2", + "t": 83.0, + "log_step": 162, + "where": "转场", + "evidence_zh": "推断：视频 77–78.5 s 一碗一盘已入槽，视频 79–83 s 机器人空手退出水槽工作位；约视频 83–84 s 头部画面转向天花板并明显旋转，双腕画面同步旋转、贴近蓝色地面，之后持续处于倾倒姿态，视频 98.5–103.76 s 近侧躺，未恢复取送。log step 162 的保存脚本在返程后先取剩余方盘、再取剩余碗，故断点归第2只盘入槽的转场；评分器 reward.fallen=1 与末段持续翻倒相符。" + }, + "unmet": { + "bowls_in_sink_1": true, + "bowls_in_sink_2": false, + "plates_in_sink_1": true, + "plates_in_sink_2": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 83.0, + "log_step": null, + "evidence_zh": "观察：视频约 83–84 s 头部画面明显转向天花板并旋转，双腕画面同步旋转、贴近蓝色地面；视频 84–92.5 s 头部仍主要朝向天花板，没有恢复此前朝向水槽的视角，视频 93–95 s 进一步侧滚，视频 98.5–103.76 s 保持近侧躺方向，机器人没有恢复直立或继续取物；评分器 reward.fallen=1。" + } + ], + "root_causes": [], + "gap_zh": "无状态日志，头部和腕部相机看不到底盘支撑点及侧翻起因，无法区分机体与障碍接触、运动跟踪或姿态控制问题，故根因层留空。入槽时刻由可见落槽过程估计，误差约半秒；最终槽内关系结合已见取送和评分器总分推断。log step 158 的三件入槽和 log step 177 的直立终姿属于会话测试，不能替代评分录像；log step 162 的脚本中段在输入日志内已截断，下一项为盘的归属依据其可见第二趟代码并结合录像空手返程推断。log step 179 已报告会话 episode_done=True，随后 log step 180 才出现模型过滤消息；评分录像已经发生物理失败，不将该过滤记为本次失败原因。" + }, + "summary_zh": "观察：评分录像中机器人从卡座取走一只碗和一只盘，约视频 74.5 s、77.0 s 分别放入水槽，最终完成2/4个节点，与评分器 q_score=0.5 一致。推断：机器人空手返程准备取剩余方盘时，约视频 83 s 开始持续翻倒，断点为第2只盘入槽的转场，现象为全身平衡失效。无状态日志且底盘接触区域不可见，侧翻根因不能确定；会话测试中的额外进展不计入评分轨迹。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "入槽节点（碗约74.5 s、盘约77 s）与终值基本成立；但翻倒起点标错：视频约83–84 s 头部相机已转向天花板、双腕画面变为贴近地面，机体此时已开始倾倒，而非约93.5 s。断点 t 与平衡现象的证据文字（称92–92.5 s仍维持屈身朝向）与帧不符。", + "n_issues": 2, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "入槽节点（碗约74.5 s、盘约77 s）、终值、断点（约83 s 倾倒、第2只盘转场）和平衡现象与帧一致；无状态日志，根因留空并有 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": "2026-10-30T21:48:19Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-putting-dirty-dishes-in-sink-i00-privileged--puthxzj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-dirty-dishes-in-sink-i00-privileged--puthxzj/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-dirty-dishes-in-sink-i00-privileged--puthxzj/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-putting-dirty-dishes-in-sink-i00-privileged--puthxzj/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "69ebea54ce2266580118d143dc64ba98d4b51a2030364990dd6a218779f1d4aa", + "video_sha256": "627ca920677ea6af0da4955085b58368107efaf3db2ea5abf6f9db7ef3ddbdfc", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-standard--hayvhad.json b/phase2/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-standard--hayvhad.json new file mode 100644 index 0000000000000000000000000000000000000000..d4b4ddb7c548809e0244722a75f5b631176061f1 --- /dev/null +++ b/phase2/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-standard--hayvhad.json @@ -0,0 +1,257 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-dirty-dishes-in-sink-i00-standard--hayvhad", + "taskKey": "behavior-1k/putting_dirty_dishes_in_sink", + "dag_sha256": "0ae83395c13ee3df9019df559327fe10e26a960f6acd108d99bcbe4e135e8d04", + "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": 12386, + "sim_steps": 12386, + "physics_steps": 49544, + "steps": 12386, + "elapsed_s": 6001.4, + "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-putting-dirty-dishes-in-sink-i00-standard--hayvhad/replay.mp4", + "duration_s": 412.867, + "fps": 30.0, + "frames": 12386, + "sha256": "d6bc29264e20ef108a54025c0a78d89f5c53135af9b6986d3b0df632566a1928" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "bowls_in_sink_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 19.0, + "log_step": 57, + "text_zh": "观察：视频14.0–19.0 s，左夹爪夹住卡座桌上近侧深色小碗的边缘，将碗提离桌面；视频20.0–22.0 s，原桌面仅余另一只碗和两只方盘，腕部视角可见被持碗。拿起和搬运不等于入槽。" + }, + { + "t": 320.4, + "log_step": 318, + "text_zh": "观察：视频313.0–320.0 s，机器人面对厨房白门旁有挡边的长条平坦台面；视频320.2–321.0 s，左夹爪张开，碗留在该平面上；视频326.0–328.0 s，头部视角直接显示碗在台面上。成功参考视频90.0 s、115.0 s的水槽具有深盆和水龙头，与此处不同。此后机器人离开，没有将该碗重新搬到水槽。" + }, + { + "t": 412.833, + "log_step": 383, + "text_zh": "推断：评分器记录q_score=0.0、live_matches_replay=1，四个入槽目标初始均未成立，因此终态没有任何餐具入槽，第1只碗入槽final=false；这与视频320.2–328.0 s所见的台面放置相符。视频411.833–412.833 s机器人仍在白门内侧，未再搬碗。agent在log step 383、384自述“第一只碗已入槽”不作为达成证据。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频17.0–320.0 s左二指夹爪夹持碗边缘并搬运；其中视频243.0–251.0 s左手持碗、右手同时推厨房门，形成双臂配合，视频320.2–320.8 s左手张开释放。" + }, + { + "who": "双臂协作", + "how": "推/扫", + "note_zh": "观察：视频243.0–251.0 s，右夹爪抵推白色厨房门板使门打开，同时左夹爪仍夹持第一只碗；此项记录右手与门板的推压接触。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频22.0–314.0 s间，轮式底盘多次行驶、转向，并在视频约210.0–223.0 s低姿穿过吧台下通道，支承机器人和左手所持的碗进入厨房、靠近放置处。" + } + ] + }, + "bowls_in_sink_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 22.0, + "log_step": 64, + "text_zh": "观察：视频20.0–22.0 s，机器人仅持走一只碗，另一只碗仍在卡座桌上；此后完整录像中机器人未返回该桌取第二只碗，视频328.0–412.833 s主要在厨房门内侧操作门板。" + }, + { + "t": 412.833, + "log_step": 383, + "text_zh": "推断：评分器q_score=0.0且live_matches_replay=1，四个初始为假的入槽字面量终态均不成立，因此至少两碗入槽的final=false。视频没有第二只碗被搬入水槽的过程；返程受阻尚未形成对第二只碗的取放操作。" + } + ] + }, + "plates_in_sink_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 22.0, + "log_step": 64, + "text_zh": "观察：视频14.0–22.0 s两只棕色方盘均留在卡座桌面，机器人取走的是一只碗；完整录像中没有夹取、搬运或放置方盘，机器人进入厨房后直到视频412.833 s也未回到卡座。第1只盘入槽没有可见达成过程。" + }, + { + "t": 412.833, + "log_step": 383, + "text_zh": "推断：评分器q_score=0.0、live_matches_replay=1，且四个入槽目标初始均未成立，终态没有盘子满足入槽关系，故第1只盘入槽final=false。" + } + ] + }, + "plates_in_sink_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 22.0, + "log_step": 64, + "text_zh": "观察：视频14.0–22.0 s两只棕色方盘均留在卡座桌面，机器人取走的是一只碗；完整录像中没有夹取、搬运或放置方盘，机器人进入厨房后直到视频412.833 s也未回到卡座。第2只盘入槽没有可见达成过程。" + }, + { + "t": 412.833, + "log_step": 383, + "text_zh": "推断：评分器q_score=0.0、live_matches_replay=1，且四个入槽目标初始均未成立，终态没有盘子满足入槽关系，故第2只盘入槽final=false。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "bowls_in_sink_1", + "t": 320.4, + "log_step": 318, + "where": "操作中", + "evidence_zh": "观察：视频320.2–321.0 s，机器人左夹爪在厨房门旁的平坦台面上释放第一只碗，视频326.0–328.0 s碗仍在该台面。推断：这次放置未达水槽容纳关系，后来没有纠正；故首个未修复步骤为第1只碗入槽，而不是随后返程打不开门时的下一件餐具步骤。评分器q_score=0.0、live_matches_replay=1支持终态仍未入槽。" + }, + "unmet": { + "bowls_in_sink_1": false, + "bowls_in_sink_2": false, + "plates_in_sink_1": false, + "plates_in_sink_2": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 320.4, + "log_step": 318, + "evidence_zh": "观察：视频320.2–321.0 s，机器人张开左夹爪，把碗放在白门旁带挡边的平坦台面；视频328.0 s可见碗在台面上，而非深槽内。成功参考视频90.0 s、115.0 s可辨认真正水槽的深盆和水龙头。推断：碗在释放时就位于目标水槽之外，属于放置位置错误。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "感知", + "t": 314.3, + "log_step": 312, + "source_zh": "日志 / 视频 / 评分器字段", + "evidence_zh": "推断：agent在log step 308将右侧长台面认作“长凹盆”，log step 312进一步称其凸边和凹部与水槽一致，并将目标命名为sink_pre；机器人随后按此目标在视频320.2–321.0 s释放碗，视频326.0–328.0 s显示碗停在平面上。参考视频90.0 s、115.0 s中的真实水槽有独立深盆和水龙头，评分器终态q_score=0.0。错误在于把非水槽台面识别为目标水槽，有日志中的错误身份判断与实际放置位置相互印证。" + } + ], + "gap_zh": "观察：inputs/没有状态日志；放碗后的末段视角主要朝向厨房门，未持续显示真正水槽，无法直接测量餐具包围盒中心与水槽内腔的几何关系。终态四节点为假由评分器q_score=0.0作逻辑限定，并结合可见的台面放置和其余餐具未搬运判断；未采用agent的入槽自述。" + }, + "summary_zh": "观察：机器人夹起并长距离搬运一只碗，在视频320.2–321.0 s把它释放到厨房门旁的平坦台面，另外一只碗和两只盘没有被搬运；评分器q_score=0.0，四个节点终态均未达成。推断：断点为第1只碗入槽，放置位置错误由agent将非水槽台面误认作水槽造成，随后返程开门受阻也未纠正这次放置。观察：没有状态日志，终态视角未覆盖水槽，终态判断结合录像与评分器总分。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标签与视频一致：碗在视频320 s被放在门旁有挡边的平坦台面（非深盆水槽，对照oracle 90/115 s的深盆水槽），其余餐具未动，q_score=0，断点与位姿不准/感知归因有证据支持。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:32:52Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-putting-dirty-dishes-in-sink-i00-standard--hayvhad/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-dirty-dishes-in-sink-i00-standard--hayvhad/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "03061ba1f8ac130aaa2e8f99194086271296dca0d7f044c99e45eaf3506eb930", + "video_sha256": "d6bc29264e20ef108a54025c0a78d89f5c53135af9b6986d3b0df632566a1928", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-standard--hssqng3.json b/phase2/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-standard--hssqng3.json new file mode 100644 index 0000000000000000000000000000000000000000..f201a19aeaa2c77c705e28171534eb5c8dd820cb --- /dev/null +++ b/phase2/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-standard--hssqng3.json @@ -0,0 +1,257 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-dirty-dishes-in-sink-i00-standard--hssqng3", + "taskKey": "behavior-1k/putting_dirty_dishes_in_sink", + "dag_sha256": "0ae83395c13ee3df9019df559327fe10e26a960f6acd108d99bcbe4e135e8d04", + "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": 61468, + "sim_steps": 61468, + "physics_steps": 245872, + "steps": 20514, + "elapsed_s": 12799.6, + "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-putting-dirty-dishes-in-sink-i00-standard--hssqng3/replay.mp4", + "duration_s": 2048.933, + "fps": 30.0, + "frames": 61468, + "sha256": "8ebda0decba506dc512ad114060e003450b2b29e959eeb7ca9d111f582e3efb4" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "bowls_in_sink_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1500, + "log_step": 239, + "text_zh": "观察：视频1498–1503 s右腕画面中，夹爪在紫色碗前方空处张开、合拢，抬起后碗仍在白色餐桌上；log step 239的机器人服务反馈为双末端逆解失败、nothing moved。" + }, + { + "t": 1562, + "log_step": 247, + "text_zh": "观察：视频1543–1562 s多次接近和合爪后，同一紫色碗仍与棕色盘并排留在桌面；log step 247中agent也自述碗仍在桌上。" + }, + { + "t": 1750.4, + "log_step": 286, + "text_zh": "观察：视频1736–1755 s左腕视角可见右夹爪反复接近、碰动桌边紫色碗；局部碗缘被夹爪遮住，不能仅凭log step 286的bowl_lift输出认定完成抓取或搬运。" + }, + { + "t": 2048, + "log_step": null, + "text_zh": "推断：已检查全片粗采样及视频1450–1600 s、1710–2048 s的加密画面，未见碗进入参考录像所示的厨房不锈钢水槽；视频2048 s末帧遮住目标区。评分器reward.q_score=0.0且live_matches_replay=1，四个入槽字面量初始均为假，因此末态没有一只碗在槽内。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "未知", + "note_zh": "观察：视频1498–1503 s右二指夹爪在碗前空夹；视频1736–1755 s左腕视角可见右夹爪碰动桌边紫色碗，碗缘与指间局部被挡，不能可靠区分短暂夹持与单侧拨动，故不直接记为抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频1450–1474 s及1710–1734 s轮式底盘承托机器人接近餐桌，视频1804–1920 s又向餐厅吧台移动；不以该移动推定夹爪持有碗。" + } + ] + }, + "bowls_in_sink_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1725, + "log_step": null, + "text_zh": "观察：视频1724–1736 s右腕画面仍可见两只紫色碗和两只棕色盘在餐厅同一张白桌上；没有两只碗被送入水槽的画面。" + }, + { + "t": 2048, + "log_step": null, + "text_zh": "推断：评分器reward.q_score=0.0，四个入槽字面量初始均为假，故末态槽内碗数为0，至少2只碗入槽为假；全片未观察到该数量关系曾成立。机器人反复操作同一桌边碗，未见另取第2只碗的独立尝试。" + } + ] + }, + "plates_in_sink_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1500, + "log_step": 239, + "text_zh": "观察：视频1498–1503 s的合爪没有带走桌面餐具；log step 237–239的脚本同时向碗和盘提交双臂目标，服务报告下降和抬升均无双末端逆解。" + }, + { + "t": 1801, + "log_step": 287, + "text_zh": "观察：视频1736–1763.5 s机器人另一夹爪仍伸向餐桌，视频1798–1804 s可见棕色方盘在桌边/夹爪附近，随后腕部画面转向地面和餐厅；没有方盘进入厨房水槽的画面。log step 287仅报告tray_desc与合爪输出，不能替代盘的实际转移。" + }, + { + "t": 2048, + "log_step": null, + "text_zh": "推断：视频末段仍是餐厅吧台附近的操作，参考录像末段所示厨房水槽容纳盘子的结果未出现；reward.q_score=0.0且live_matches_replay=1，因此末态至少1只盘入槽为假。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "未知", + "note_zh": "观察：视频1498–1503 s夹爪进行取盘尝试；视频1736–1763.5 s另一夹爪伸向方盘，视频1798–1804 s棕色方盘位于夹爪/桌边附近。局部接触被手臂遮挡，不能确认是夹住盘缘还是碰动方盘。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人以轮式底盘接近白桌并在视频1804–1920 s离开餐桌向吧台移动，承托本体；未据此认定携盘成功。" + } + ] + }, + "plates_in_sink_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1725, + "log_step": null, + "text_zh": "观察：视频1724–1736 s右腕视角两只棕色方盘仍在白色餐桌上；后续未见两只方盘进入厨房水槽。" + }, + { + "t": 2048, + "log_step": null, + "text_zh": "推断：reward.q_score=0.0且四个入槽字面量初始均为假，末态没有盘在水槽内，至少2只盘入槽为假；全片未见该关系曾成立。日志和画面只支持反复操作同一组桌边餐具，未见另取第2只盘的独立尝试。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "bowls_in_sink_1", + "t": 1500.0, + "log_step": 239, + "where": "操作中", + "evidence_zh": "观察：视频1498–1503 s夹爪在紫色碗前方空处合拢，碗未离桌，log step 239服务报告双末端逆解失败。此为首次可明确归到餐具节点的取碗失败，同期取盘也失败；之后多次重试直至视频2048 s仍未完成任何入槽关系，故该步骤未修复。视频约25 s开始的翻倒发生在事先侦察路线时，尚未选定具体餐具，不能将它武断归给某一计数节点。" + }, + "unmet": { + "bowls_in_sink_1": false, + "bowls_in_sink_2": false, + "plates_in_sink_1": false, + "plates_in_sink_2": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 1500.0, + "log_step": 239, + "evidence_zh": "观察：视频1498–1503 s右腕画面显示夹爪在碗前方空处开合，随后抬起而紫色碗仍在白桌上；视频1543–1562 s重试后碗也仍在桌面。此处未建立取碗所需的夹持接触，并非已经拿住后滑落；log step 239同时记录了下降、抬升动作的逆解失败。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 237的取物脚本向两个末端同时提交目标，log step 239服务明确返回no IK solution for the two end-effector poses together (nothing moved)，脚本仍继续合爪并提交抬升；视频1498–1503 s确实表现为空夹。log step 243–244改用单臂后末端会移动，但视频1543–1562 s碗仍在原桌面。证据支持末端运动与抓取执行控制失败；尚不足以在接触几何、轨迹求解和跟踪之间给全部失败指定同一细分原因。" + } + ], + "gap_zh": "无状态日志；三路相机已检查，视频1736–1755 s碗缘及视频1798–1804 s盘缘的局部接触被夹爪/手臂遮住，不能确认后期是否有短暂对向夹持，也不能把agent最终报告中的“拿碗搬运”当作已观察事实。末帧目标区被遮挡，节点末态由q_score=0的总量约束决定；历史区间依据全片场景与加密检查未见入槽。早期侦察翻倒尚无具体碗盘目标，断点锚定首次可明确识别的取碗失败。运行时task_text使用四个inside同时成立即结束的旧规则，DAG另述联合离手静置窗口；本次四个inside均未完成，这一版本差异不改变节点判定。" + }, + "summary_zh": "四个入槽节点均未达成，末态0/4，与评分器q_score=0一致。机器人早期在侦察时翻倒并长时间尝试恢复，随后取碗、取盘多次未成功；首次明确的取碗失败见视频约1500 s空夹，服务同时报告双末端逆解失败，后续没有修复为入槽结果。后期短暂夹持方式及末帧餐具位置存在遮挡，未采信agent关于已抓碗搬运的自述作为节点或接触事实。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "四个入槽节点均未达成与 q_score=0、帧所见一致；早期翻倒后机器人已恢复站立（视频约1498 s画面正常），断点锚定在首次取碗失败（1500 s 空夹，log step 239 逆解失败）合理；根因停在“控制”符合分类规则。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": 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"8ebda0decba506dc512ad114060e003450b2b29e959eeb7ca9d111f582e3efb4", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-standard--oqjrqb8.json b/phase2/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-standard--oqjrqb8.json new file mode 100644 index 0000000000000000000000000000000000000000..4997404ecfef2f3f43e1341a9d717e0431dc7a67 --- /dev/null +++ b/phase2/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-standard--oqjrqb8.json @@ -0,0 +1,291 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-dirty-dishes-in-sink-i00-standard--oqjrqb8", + "taskKey": "behavior-1k/putting_dirty_dishes_in_sink", + "dag_sha256": "0ae83395c13ee3df9019df559327fe10e26a960f6acd108d99bcbe4e135e8d04", + "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": 2797, + "sim_steps": 2797, + "physics_steps": 11188, + "steps": 933, + "elapsed_s": 1075.3, + "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": 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-putting-dirty-dishes-in-sink-i00-standard--oqjrqb8/replay.mp4", + "duration_s": 93.233, + "fps": 30.0, + "frames": 2797, + "sha256": "431e600100479b8d0469dda33a1544806f832ad5dcbebd6d2b6b52563aaef275" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "bowls_in_sink_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.5, + "log_step": null, + "text_zh": "观察：视频约13.5 s的头部视角显示两只深色小碗和两只棕色方盘仍在餐厅卡座桌上；全片抽帧检查至视频93.2 s，机器人未携餐具进入厨房，也没有把第1只碗送入不锈钢水槽的动作。" + }, + { + "t": 31.5, + "log_step": null, + "text_zh": "观察：视频30.5–31.5 s左腕视角中小碗与方盘相邻，视频35.0 s以后地面可见移出桌面的餐具，视频65.5 s桌面只清楚可见一只碗和一只盘。桌边探索没有形成可见的夹持搬运，不能把这种位移记为入槽。" + }, + { + "t": 93.2, + "log_step": 185, + "text_zh": "推断：评分器reward.q_score=0.0，live_matches_replay=1；四个目标inside关系开局均未成立，故终态没有任何一个入槽字面量成立，该数量节点final=false。此总分只决定终态，未用它反推取物过程。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：机器人在视频18.0–32.3 s把腕部移到有碗和盘的桌沿附近探索；腕部结构遮住碗与机器人之间的具体接触，不能确定直接拨碰还是经桌面或邻近方盘带动，未见夹住碗。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频约3.0–18.0 s及51.0–65.5 s轮式底盘承托机器人靠近和退出放有碗盘的卡座桌；没有携碗移动。" + } + ] + }, + "bowls_in_sink_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.5, + "log_step": null, + "text_zh": "观察：视频约13.5 s的头部视角显示两只深色小碗和两只棕色方盘仍在餐厅卡座桌上；全片抽帧检查至视频93.2 s，机器人未携餐具进入厨房，也没有把第2只碗送入不锈钢水槽的动作。" + }, + { + "t": 93.2, + "log_step": 185, + "text_zh": "推断：评分器reward.q_score=0.0，live_matches_replay=1；四个目标inside关系开局均未成立，故终态没有任何一个入槽字面量成立，该数量节点final=false。此总分只决定终态，未用它反推取物过程。" + } + ] + }, + "plates_in_sink_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.5, + "log_step": null, + "text_zh": "观察：视频约13.5 s的头部视角显示两只深色小碗和两只棕色方盘仍在餐厅卡座桌上；全片抽帧检查至视频93.2 s，机器人未携餐具进入厨房，也没有把第1只盘送入不锈钢水槽的动作。" + }, + { + "t": 31.8, + "log_step": 137, + "text_zh": "观察：视频30.5–32.3 s左腕视角中，棕色方盘紧邻被腕部结构遮挡的区域，随后翻转并离开桌沿；视频35.0–50.5 s方盘可见于桌边地面，视频65.5 s桌面还剩另一只方盘和一只碗。未见夹爪对向夹紧方盘，也没有将落地方盘捡回并送入水槽。推断：方盘在机器人桌边运动过程中受到非预期扰动，但具体接触部位和传力方式不能由这些帧唯一确定。" + }, + { + "t": 93.2, + "log_step": 185, + "text_zh": "推断：评分器reward.q_score=0.0，live_matches_replay=1；四个目标inside关系开局均未成立，故终态没有任何一个入槽字面量成立，该数量节点final=false。此总分只决定终态，未用它反推取物过程。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频30.5–32.3 s方盘邻近左腕结构并翻转离桌，视频35.0–36.0 s可见方盘落在桌边地面；精确接触点被腕部结构遮挡。推断：无法区分夹爪、其他机身部位的直接碰动或经桌面、邻近物体传力，故作用端与接触方式均记未知；未见抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频约3.0–18.0 s及51.0–65.5 s轮式底盘承托机器人靠近、退出并重新接近卡座桌；没有携盘移动。" + } + ] + }, + "plates_in_sink_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.5, + "log_step": null, + "text_zh": "观察：视频约13.5 s的头部视角显示两只深色小碗和两只棕色方盘仍在餐厅卡座桌上；全片抽帧检查至视频93.2 s，机器人未携餐具进入厨房，也没有把第2只盘送入不锈钢水槽的动作。" + }, + { + "t": 93.2, + "log_step": 185, + "text_zh": "推断：评分器reward.q_score=0.0，live_matches_replay=1；四个目标inside关系开局均未成立，故终态没有任何一个入槽字面量成立，该数量节点final=false。此总分只决定终态，未用它反推取物过程。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "plates_in_sink_1", + "t": 31.8, + "log_step": 137, + "where": "探索", + "evidence_zh": "观察：视频30.5–32.3 s左腕视角中的方盘翻转并离开桌沿，视频35.0–50.5 s方盘留在地面；log step 137执行左臂末端位置目标(0.23,-8.60,0.95)的运动，随后log step 140仍报告base=(-0.057,-7.987,0.004)、tilt cos=1.0。视频约58–64 s另有一次靠近卡座桌后倾斜、后退恢复的过程，log step 157、159、161记录对应的底盘抬升及恢复，不能把这次较晚事件归到视频31.8 s。推断：桌边探索先扰动且未送入水槽的方盘归于第1只盘入槽，这是最早未修复的餐具步骤；直接接触部位未知，保持探索位置与约视频31.8 s的断点。视频约83.2 s机器人在吧台附近再次翻倒，至视频93.2 s仍未恢复；log step 183、185的服务状态报告跌倒并结束整局。" + }, + "unmet": { + "bowls_in_sink_1": false, + "bowls_in_sink_2": false, + "plates_in_sink_1": false, + "plates_in_sink_2": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 31.8, + "log_step": 137, + "evidence_zh": "观察：视频30.5–32.3 s机器人左腕附近的棕色方盘翻转并从桌沿出去，精确接触点遮挡；视频35.0–50.5 s方盘留在桌旁地面。log step 140在末端运动后报告底盘z=0.004、tilt cos=1.0。推断：这是机器人桌边接近及退出过程中非预期碰动餐具，支持被挡/碰撞，但不认定由夹爪直接推扫，也不把头部画面倾斜当作底盘倾斜；未见先抓住或按计划释放，故不标没保持住或放后不稳。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 31.8, + "log_step": 137, + "source_zh": "日志+视频", + "evidence_zh": "观察：log step 128执行后末端位于(0.033,-8.323,1.305)，偏离目标(0.15,-8.70,1.00)；log step 133反复运动仍未到达。log step 137改用arm-only IK并实际执行桌边末端运动，执行后末端位置误差为0.020 m；视频30.5–32.3 s可见腕部附近方盘翻转离桌，视频35.0 s以后落在地面。log step 140随后仍报告底盘z=0.004、tilt cos=1.0；底盘drive_to后z=0.276、tilt=0.315的读数实际位于更晚的log step 157。推断：桌边接近及退出未避免扰动餐具，保留宽类控制根因；不能认定某一直接接触部位，也不能把IK未约束末端朝向单独认定为成因，证据不足以细分控制子类。" + } + ], + "gap_zh": "没有状态日志。腕部结构遮挡了方盘和小碗的精确接触点，不能唯一确定是夹爪、其他机器人部位直接碰动，还是经桌面或邻近物体带动；两者接触方式均保留未知，未见抓握。视频早期头部视线倾斜不足以证明底盘倾斜：log step 140在arm-only IK运动后仍报告底盘z=0.004、tilt cos=1.0，log step 157–161的抬升、后退恢复是较晚事件；未将两段运动混为同一因果链。节点终态由可见的未搬运过程及评分器q_score=0共同判定，水槽未在本次终态镜头中出现。已比较oracle视频约240.0 s及275.1 s的厨房不锈钢水槽视角，它只用于辨认目标区域，不作为本次达成证据。" + }, + "summary_zh": "机器人在餐厅完成桌面与路线探索、伸臂调试，四个入槽节点均未达到，终态0/4（q_score=0）；约视频31.8 s桌边运动伴随方盘离桌，该盘一直未送入水槽，断点保持第1只盘入槽，根因保留宽类控制。精确接触部位和具体控制机制未能确定，置信度由7降至6；较晚的底盘接近、倾斜及恢复不能作为早期方盘落地的直接原因，约视频83.2 s在吧台附近的再次翻倒最终触发服务结束。无状态日志；运行时文本采用四个inside关系同时成立即结束的规则，与DAG所述共同松手静置窗有版本差异，但不影响本次零入槽结论。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "四节点未达成、终态0/4、q=0都成立；但根因“控制/arm-only IK 在桌边拨落方盘”缺证据，且与日志相冲：视频约17–22 s底盘开到卡座桌旁、头部相机贴桌，日志 id 155–161 显示 drive_to 后底盘 z=0.276、倾斜 cos=0.315，随后‘退到地面’，id 165 agent 自述‘机器人碰落了桌上物品’；视频约31–36 s 的方盘落地发生在机身倾斜/退下过程中。断点现象与根因应改为底盘导航把机器人开上/撞上桌边，而不是左臂IK。", + "n_issues": 3, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "四个入槽节点均未达成、终态0/4（q_score=0）成立；第二轮已把接触改为未知并降低归因强度，断点、现象与宽类控制根因的措辞与证据一致，无需再改。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:51:05Z", + "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-putting-dirty-dishes-in-sink-i00-standard--oqjrqb8/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-dirty-dishes-in-sink-i00-standard--oqjrqb8/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-dirty-dishes-in-sink-i00-standard--oqjrqb8/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-putting-dirty-dishes-in-sink-i00-standard--oqjrqb8/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0a63fc8a4223f57328b63681d0fa20d273477e0535652d97a539082768a3425b", + "video_sha256": "431e600100479b8d0469dda33a1544806f832ad5dcbebd6d2b6b52563aaef275", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-standard--qbgs5ra.json b/phase2/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-standard--qbgs5ra.json new file mode 100644 index 0000000000000000000000000000000000000000..db0a5398023c669feb8e2b24eeaa904eb4f6a9e6 --- /dev/null +++ b/phase2/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-standard--qbgs5ra.json @@ -0,0 +1,235 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-dirty-dishes-in-sink-i00-standard--qbgs5ra", + "taskKey": "behavior-1k/putting_dirty_dishes_in_sink", + "dag_sha256": "0ae83395c13ee3df9019df559327fe10e26a960f6acd108d99bcbe4e135e8d04", + "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": 25137, + "sim_steps": 25137, + "physics_steps": 100548, + "steps": 24625, + "elapsed_s": 3173.0, + "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": 0.289, + "peak_processes": 9, + "peak_disk_gb": 0.247, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-putting-dirty-dishes-in-sink-i00-standard--qbgs5ra/replay.mp4", + "duration_s": 837.9, + "fps": 30.0, + "frames": 25137, + "sha256": "d277ca5b28da9bdd97e29771bda6314c876ba25aceeb8173fed53fb4870402ed" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "bowls_in_sink_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.0, + "log_step": 28, + "text_zh": "观察：视频22.0–27.0 s，头部画面清楚显示两只深色碗和两只棕色方盘仍在餐厅卡座的白色桌面上，机器人夹爪未伸向餐具；log step 28也记录agent正在定位餐具。第1只碗入槽条件此时不成立。" + }, + { + "t": 837.87, + "log_step": 158, + "text_zh": "推断：从视频27.0 s离开餐桌后至837.87 s末帧，机器人只进行空手移动、查看台面和厨房探索，没有可见的餐具拿起或送入水槽过程；视频825.5–829.0 s机器人倾倒，末帧仍侧倒。评分器q_score=0.0、live_matches_replay=1，且四个入槽关系初始均未成立，故终态不能有任何一只碗入槽，第1只碗节点为false；全程未观察到该节点成立。" + } + ] + }, + "bowls_in_sink_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.0, + "log_step": 28, + "text_zh": "观察：视频22.0–27.0 s，头部画面清楚显示两只深色碗和两只棕色方盘仍在餐厅卡座的白色桌面上，机器人夹爪未伸向餐具；log step 28也记录agent正在定位餐具。第2只碗入槽条件此时不成立。" + }, + { + "t": 837.87, + "log_step": 158, + "text_zh": "推断：从视频27.0 s离开餐桌后至837.87 s末帧，机器人只进行空手移动、查看台面和厨房探索，没有可见的餐具拿起或送入水槽过程；视频825.5–829.0 s机器人倾倒，末帧仍侧倒。评分器q_score=0.0、live_matches_replay=1，且四个入槽关系初始均未成立，故终态不能有任何一只碗入槽，第2只碗节点为false；全程未观察到该节点成立。" + } + ] + }, + "plates_in_sink_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.0, + "log_step": 28, + "text_zh": "观察：视频22.0–27.0 s，头部画面清楚显示两只深色碗和两只棕色方盘仍在餐厅卡座的白色桌面上，机器人夹爪未伸向餐具；log step 28也记录agent正在定位餐具。第1只盘入槽条件此时不成立。" + }, + { + "t": 837.87, + "log_step": 158, + "text_zh": "推断：从视频27.0 s离开餐桌后至837.87 s末帧，机器人只进行空手移动、查看台面和厨房探索，没有可见的餐具拿起或送入水槽过程；视频825.5–829.0 s机器人倾倒，末帧仍侧倒。评分器q_score=0.0、live_matches_replay=1，且四个入槽关系初始均未成立，故终态不能有任何一只盘入槽，第1只盘节点为false；全程未观察到该节点成立。" + } + ] + }, + "plates_in_sink_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.0, + "log_step": 28, + "text_zh": "观察：视频22.0–27.0 s，头部画面清楚显示两只深色碗和两只棕色方盘仍在餐厅卡座的白色桌面上，机器人夹爪未伸向餐具；log step 28也记录agent正在定位餐具。第2只盘入槽条件此时不成立。" + }, + { + "t": 837.87, + "log_step": 158, + "text_zh": "推断：从视频27.0 s离开餐桌后至837.87 s末帧，机器人只进行空手移动、查看台面和厨房探索，没有可见的餐具拿起或送入水槽过程；视频825.5–829.0 s机器人倾倒，末帧仍侧倒。评分器q_score=0.0、live_matches_replay=1，且四个入槽关系初始均未成立，故终态不能有任何一只盘入槽，第2只盘节点为false；全程未观察到该节点成立。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": 826.5, + "log_step": 157, + "where": "探索", + "evidence_zh": "观察：视频22.0–27.0 s两碗两盘均留在餐桌上；随后机器人空手探索餐厅和厨房。视频825.5–829.0 s厨房画面逐渐翻转，腕部视角也随本体侧倒，至视频837.87 s仍未恢复。log step 157执行驶向厨房门附近的goto序列，服务输出基座倾角从近零变为rx=-0.715、ry=-1.248弧度，随后返回“failure: the robot fell over”；log step 158确认done=True。没有证据表明此时选定了哪一只碗或盘作为下一件搬运对象，无法唯一归入四个入槽节点之一。" + }, + "unmet": { + "bowls_in_sink_1": false, + "bowls_in_sink_2": false, + "plates_in_sink_1": false, + "plates_in_sink_2": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 826.5, + "log_step": 157, + "evidence_zh": "观察：视频825.5–829.0 s，机器人头部相机从近直立的厨房视野变成侧向贴近蓝色地面的视野，双腕画面同步旋转；视频836.5 s、837.5 s及837.87 s末帧仍侧倒。log step 157中基座rx、ry从近零发展至-2.471、-0.940弧度，服务以机器人跌倒结束该局，之后没有恢复。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "t": 826.5, + "log_step": 157, + "evidence_zh": "推断：agent的底盘控制未根据倾斜反馈及时中止或恢复。log step 26定义的drive把预先生成的位移序列按最多300个控制步一批提交，只在服务done时退出，未检查基座倾角；log step 78的goto调用该drive，log step 157连续调用goto而没有倾角保护，服务已报告rx=-0.715、ry=-1.248弧度后仍继续执行后续移动，直到跌倒判负。视频825.5–837.87 s显示倾倒持续且没有恢复动作；agent也在log step 161自述其驾驶代码没有倾角检查。此前log step 118、123、125曾在局部探索循环添加倾角检查，但末段没有沿用。", + "source_zh": "日志" + } + ], + "gap_zh": "没有状态日志。视频能确认机器人侧倒和没有餐具搬运，但机器人本体遮住了末段底盘与门扇的接触区域；agent在log step 159、161称驶入打开的门扇，碰撞对象及具体接触链尚不能由画面独立核实，因此未另标碰撞现象或归因于门扇几何。四个节点共用的找水槽、找路线探索未指向具体餐具，故breakpoint.ref为unknown；没有实际开始任何一件餐具的抓取搬运，节点不填写餐具操作的contact_actual。终态关系结合初始画面、全程未搬运的画面及评分器总分推断，而非由末帧直接看见餐桌。" + }, + "summary_zh": "两碗两盘在视频22.0–27.0 s仍在餐厅卡座桌上，机器人随后空手探索路线和厨房，四个入槽节点全程均未达成，终态0/4，与评分器q_score=0.0一致。机器人在视频约826.5 s探索途中倾倒，至视频837.87 s末帧仍侧倒；底盘控制没有利用倾角反馈中止和恢复。由于尚未选定具体餐具，断点节点无法唯一定位；末段底盘与门扇的接触被本体遮挡。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "四个入槽节点全程未达成、终态0/4与q_score=0一致；视频826 s起倾倒、末帧仍侧倒，log step 157的倾角读数和failure结束符合。breakpoint.ref为unknown、平衡现象、反馈控制根因均有证据支持，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:38:22Z", + "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-putting-dirty-dishes-in-sink-i00-standard--qbgs5ra/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-dirty-dishes-in-sink-i00-standard--qbgs5ra/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a3899b6ca2b80de2c102127f50057bc7a4e193bada3510a2b667b6a8948b022f", + "video_sha256": "d277ca5b28da9bdd97e29771bda6314c876ba25aceeb8173fed53fb4870402ed", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/putting_up_Christmas_decorations_inside/trajectories/behavior-putting-up-christmas-decorations-inside-i00-privileged--3uj5sxt.json b/phase2/behavior-1k/putting_up_Christmas_decorations_inside/trajectories/behavior-putting-up-christmas-decorations-inside-i00-privileged--3uj5sxt.json new file mode 100644 index 0000000000000000000000000000000000000000..1aa04712bd59583fd1b331c3a02b700bce24ed5d --- /dev/null +++ b/phase2/behavior-1k/putting_up_Christmas_decorations_inside/trajectories/behavior-putting-up-christmas-decorations-inside-i00-privileged--3uj5sxt.json @@ -0,0 +1,327 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-up-christmas-decorations-inside-i00-privileged--3uj5sxt", + "taskKey": "behavior-1k/putting_up_Christmas_decorations_inside", + "dag_sha256": "ff205aa53c28e4c5ed90954f2662c546f50165c51c74d5ed77e4ece4a9ffd6bf", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 621, + "sim_steps": 621, + "fallen": 1, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 1162.5, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 6, + "agent_resets": 0, + "agent_sim_steps": 1242, + "agent_records": 0, + "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-putting-up-christmas-decorations-inside-i00-privileged--3uj5sxt/replay.mp4", + "duration_s": 20.7, + "fps": 30.0, + "frames": 621, + "sha256": "d77b0e8683d2a3931ac6e9dcacad8d16d6213b8db4b929d29a0064d93ba121cd" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 9, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "gift_boxes_by_tree_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 可见礼盒分散在客厅地板上；视频 0.0–20.66 s 未见机器人抓持礼盒或将礼盒推向圣诞树，机器人先驶向装饰篮，随后翻倒。" + }, + { + "t": 20.66, + "log_step": null, + "text_zh": "推断：结合礼盒初始分散、全程没有礼盒搬运或靠树放置，以及评分器 reward.q_score=0.0，第1个礼盒靠树未达成，终态为假；不是仅凭零分判断未尝试。" + } + ] + }, + "gift_boxes_by_tree_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 可见礼盒分散在客厅地板上；视频 0.0–20.66 s 未见机器人抓持礼盒或将礼盒推向圣诞树，机器人先驶向装饰篮，随后翻倒。" + }, + { + "t": 20.66, + "log_step": null, + "text_zh": "推断：结合礼盒初始分散、全程没有礼盒搬运或靠树放置，以及评分器 reward.q_score=0.0，第2个礼盒靠树未达成，终态为假；不是仅凭零分判断未尝试。" + } + ] + }, + "gift_boxes_by_tree_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 可见礼盒分散在客厅地板上；视频 0.0–20.66 s 未见机器人抓持礼盒或将礼盒推向圣诞树，机器人先驶向装饰篮，随后翻倒。" + }, + { + "t": 20.66, + "log_step": null, + "text_zh": "推断：结合礼盒初始分散、全程没有礼盒搬运或靠树放置，以及评分器 reward.q_score=0.0，第3个礼盒靠树未达成，终态为假；不是仅凭零分判断未尝试。" + } + ] + }, + "candles_on_table_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 9.0, + "log_step": null, + "text_zh": "观察：视频 0.0–20.66 s 未见机器人夹取柱状蜡烛或把蜡烛放到餐桌；视频 8.0–10.0 s 可见装饰篮仍处于地板区域，机器人视角已严重倾斜。" + }, + { + "t": 20.66, + "log_step": null, + "text_zh": "推断：任务初态中的两根蜡烛在地面篮内，本次视频未出现蜡烛离篮上桌的转移；结合评分器 reward.q_score=0.0，第1根蜡烛上桌未达成，终态为假。" + } + ] + }, + "candles_on_table_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 9.0, + "log_step": null, + "text_zh": "观察：视频 0.0–20.66 s 未见机器人夹取柱状蜡烛或把蜡烛放到餐桌；视频 8.0–10.0 s 可见装饰篮仍处于地板区域，机器人视角已严重倾斜。" + }, + { + "t": 20.66, + "log_step": null, + "text_zh": "推断：任务初态中的两根蜡烛在地面篮内，本次视频未出现蜡烛离篮上桌的转移；结合评分器 reward.q_score=0.0，第2根蜡烛上桌未达成，终态为假。" + } + ] + }, + "candy_cane_on_table": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.66, + "log_step": null, + "text_zh": "观察：视频 0.0–20.66 s 未见机器人携带拐杖糖接近餐桌或释放糖到桌面，最后一秒画面仍为翻倒后的倾斜视角。" + }, + { + "t": 20.66, + "log_step": 240, + "text_zh": "推断：初态拐杖糖在篮中，视频没有上桌转移；log step 240 的最终生成日志仅保存第一根糖上沙发的失败尝试，结合评分器 reward.q_score=0.0，拐杖糖上桌未达成。" + } + ] + }, + "wreath_on_sofa": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 9.0, + "log_step": null, + "text_zh": "观察：视频 0.0–20.66 s 未见机器人抓持花环、将花环从篮中搬出并放到沙发；视频 8.0–10.0 s 可见装饰篮仍在地面区域。" + }, + { + "t": 20.66, + "log_step": 240, + "text_zh": "推断：花环初始在篮内，本次没有花环上沙发的转移；最终生成日志 log step 240 在第一根糖的失败尝试后结束，结合评分器 reward.q_score=0.0，花环上沙发未达成。" + } + ] + }, + "candy_canes_on_sofa_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.0, + "log_step": 240, + "text_zh": "观察：视频 0.0–4.8 s 机器人空手向地面装饰篮驶近；视频约 5.0–5.7 s 多路视角随机器人急剧翻转，随后继续倾斜晃动；全程未见糖离开原处被夹持并运到沙发。log step 240 的最终生成日志记录 pick candy_cane.n.01_1 failed，并保存 sofa_candy_cane.n.01_1，文件共621个动作。" + }, + { + "t": 20.66, + "log_step": 246, + "text_zh": "推断：视频最后一秒机器人仍未恢复正常姿态且没有糖上沙发的放置，log step 246 的该交付回放结果为 fallen=true、q_score=0.0；第1根糖上沙发未达成。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0.0–4.8 s 轮式底盘承载机器人空手驶向地面装饰篮，为取出第一根拐杖糖作准备；随后机器人翻倒。未见夹爪夹住糖，故不标抓握。" + } + ] + }, + "candy_canes_on_sofa_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.66, + "log_step": 240, + "text_zh": "观察：视频 0.0–20.66 s 未见任何拐杖糖被放到沙发，机器人在驶向装饰篮时翻倒；log step 240 的最终生成记录只到第一根糖的失败尝试便结束。" + }, + { + "t": 20.66, + "log_step": null, + "text_zh": "推断：初态糖在篮内，全程没有两根糖转移到同一沙发的过程；结合评分器 reward.q_score=0.0，第2根糖上沙发未达成，终态为假。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "candy_canes_on_sofa_1", + "t": 5.0, + "log_step": 240, + "where": "转场", + "evidence_zh": "观察：视频约 5.0–5.7 s，机器人在空手驶近地面装饰篮时，多路相机画面一起急剧翻转，之后持续倾斜，未见糖被取出或送到沙发，视频 19.7–20.66 s 也未恢复。log step 157 的流水线把第一根糖上沙发排在首项，log step 240 的最终生成日志仅记录该项抓取失败并保存621个动作；log step 246 对同一交付的回放记录 fallen=true。断点为该糖的放置步骤，发生于空手取物途中。" + }, + "unmet": { + "gift_boxes_by_tree_1": false, + "gift_boxes_by_tree_2": false, + "gift_boxes_by_tree_3": false, + "candles_on_table_1": false, + "candles_on_table_2": false, + "candy_cane_on_table": false, + "wreath_on_sofa": false, + "candy_canes_on_sofa_1": false, + "candy_canes_on_sofa_2": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 5.0, + "log_step": 246, + "evidence_zh": "观察：视频约 5.0–5.7 s 机器人驶近篮子时突然翻转，多路视角随后反复偏斜，视频约 14.5–20.66 s 停在倾斜姿态，没有完成抓取搬运；评分器 reward.fallen=1，且 log step 246 的交付回放结果 fallen=true，支持机器人失去平衡并翻倒。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 5.0, + "log_step": 240, + "source_zh": "视频 / 日志", + "evidence_zh": "推断：视频 0.0–5.7 s 显示机器人尚在空手接近装饰篮时即失去稳定姿态，未形成搬运；log step 240 对最终生成过程连续报告 move_base 无进展，随后第一根糖的抓取失败，log step 246 确认同一交付翻倒。可归因于接近目标过程中的运动控制未维持机体稳定，但无法据现有证据区分碰撞诱发、支撑布局或反馈控制细项。" + } + ], + "gap_zh": "没有状态日志或成功参考视频；相机未提供底盘与地面、家具或篮子的完整接触视图，无法确认翻倒由哪一处接触或哪组控制参数引起。篮内小物和部分终态目标面有遮挡，未逐件直接读取原生关系；节点判断结合初态、全程未见目标搬运和评分器q_score=0.0作推断。日志里较早交互会话的抓取、推散物品及翻倒不是本次621动作交付的进度或现象。" + }, + "summary_zh": "本次交付的9个放置节点均未达成，未见任何目标物被搬到指定表面或树旁，评分器q_score=0.0。机器人为第一根拐杖糖上沙发空手驶向装饰篮，在视频约 5.0 s 开始明显翻倒，该步骤始终未修复，根因仅能归到运动控制未维持机体稳定。缺少状态日志及底盘接触视图，不能确定具体致倒接触或控制子类，遮挡物的终态结合初态和评分总量推断。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "9个节点均未达成与视频（全程无抓取/搬运，约5 s后翻倒，20 s仍倾斜）及q_score=0、fallen=1一致；断点、平衡现象与控制根因有证据支持且表述克制，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:27:01Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-putting-up-christmas-decorations-inside-i00-privileged--3uj5sxt/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-up-christmas-decorations-inside-i00-privileged--3uj5sxt/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8e0da81e5d97a9aa6e35d21271a1ac47a0d74f2c3eea10d3a4744d9b477240a5", + "video_sha256": "d77b0e8683d2a3931ac6e9dcacad8d16d6213b8db4b929d29a0064d93ba121cd", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/putting_up_Christmas_decorations_inside/trajectories/behavior-putting-up-christmas-decorations-inside-i00-privileged--jzhadko.json b/phase2/behavior-1k/putting_up_Christmas_decorations_inside/trajectories/behavior-putting-up-christmas-decorations-inside-i00-privileged--jzhadko.json new file mode 100644 index 0000000000000000000000000000000000000000..1d221d605d6056bca6e866efa4936842e8552810 --- /dev/null +++ b/phase2/behavior-1k/putting_up_Christmas_decorations_inside/trajectories/behavior-putting-up-christmas-decorations-inside-i00-privileged--jzhadko.json @@ -0,0 +1,418 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-up-christmas-decorations-inside-i00-privileged--jzhadko", + "taskKey": "behavior-1k/putting_up_Christmas_decorations_inside", + "dag_sha256": "ff205aa53c28e4c5ed90954f2662c546f50165c51c74d5ed77e4ece4a9ffd6bf", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 2230, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 2380, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 1318.0, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 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": 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-putting-up-christmas-decorations-inside-i00-privileged--jzhadko/replay.mp4", + "duration_s": 79.333, + "fps": 30.0, + "frames": 2380, + "sha256": "668bc16e3c6a69e1b3fe14800823ba892368ae9fabd2454ccb8bbf20c0b1f1e1" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 9, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "gift_boxes_by_tree_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 23.5, + "log_step": 50, + "text_zh": "观察：视频 15.0–29.5 s，机器人驶离篮子后，在沙发旁礼盒附近转向并反复张合左夹爪；视频 18.0 s 礼盒仍在地面，视频 23.5–29.0 s 夹爪视野没有夹住礼盒。未见任何礼盒被携带到树下。" + }, + { + "t": 79.2, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0、goal=0、video_replay_matches=1；结合本片初始装饰在篮中、礼盒与树分离及全程未见目标搬运，末态没有新增达标目标关系，因此本节点 final=false。该结论不单凭零分判断动作是否发生。" + }, + { + "t": 23.5, + "log_step": 50, + "text_zh": "推断：log step 49 的交付脚本依次尝试 gift_box.n.01_3、_1、_2，log step 50、56 均读回未持物，与视频中的三处失败尝试一致；接触按这三次不同礼盒尝试的顺序记载，不把实例固定为计数节点，也不表示已完成前面的数量。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 15.0–29.5 s，轮式底盘支承机器人驶向本次礼盒并调整朝向；本次脚本目标为 gift_box.n.01_3。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：左夹爪在目标礼盒附近开合，但三相机未清楚显示夹爪与盒面的实际接触点；没有可确认的对向夹持，不据脚本的抓取命令填写抓握。" + } + ] + }, + "gift_boxes_by_tree_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 35.5, + "log_step": 50, + "text_zh": "观察：视频 30.0–46.5 s，机器人向另一礼盒方向伸臂、张合左夹爪；腕部视野中礼盒始终在夹爪前方的地板上，夹爪抬起时没有礼盒随动，未发生第二个礼盒靠树的放置。" + }, + { + "t": 79.2, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0、goal=0、video_replay_matches=1；结合本片初始装饰在篮中、礼盒与树分离及全程未见目标搬运，末态没有新增达标目标关系，因此本节点 final=false。该结论不单凭零分判断动作是否发生。" + }, + { + "t": 35.5, + "log_step": 50, + "text_zh": "推断：log step 49 的交付脚本依次尝试 gift_box.n.01_3、_1、_2，log step 50、56 均读回未持物，与视频中的三处失败尝试一致；接触按这三次不同礼盒尝试的顺序记载，不把实例固定为计数节点，也不表示已完成前面的数量。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 30.0–46.5 s，轮式底盘支承机器人驶向本次礼盒并调整朝向；本次脚本目标为 gift_box.n.01_1。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：左夹爪在目标礼盒附近开合，但三相机未清楚显示夹爪与盒面的实际接触点；没有可确认的对向夹持，不据脚本的抓取命令填写抓握。" + } + ] + }, + "gift_boxes_by_tree_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 62.0, + "log_step": 56, + "text_zh": "观察：视频 59.0–71.5 s，机器人将左夹爪降至第三处礼盒上表面附近并多次合拢、退开；视频 62.0 s 两指位于盒顶上方，没有包住盒子两侧，视频 78.3–79.2 s 盒子仍在地板上，未被搬到树旁。" + }, + { + "t": 79.2, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0、goal=0、video_replay_matches=1；结合本片初始装饰在篮中、礼盒与树分离及全程未见目标搬运，末态没有新增达标目标关系，因此本节点 final=false。该结论不单凭零分判断动作是否发生。" + }, + { + "t": 62.0, + "log_step": 56, + "text_zh": "推断：log step 49 的交付脚本依次尝试 gift_box.n.01_3、_1、_2，log step 50、56 均读回未持物，与视频中的三处失败尝试一致；接触按这三次不同礼盒尝试的顺序记载，不把实例固定为计数节点，也不表示已完成前面的数量。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 48.0–71.5 s，轮式底盘支承机器人驶向本次礼盒并调整朝向；本次脚本目标为 gift_box.n.01_2。" + }, + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "推断：视频 61.5–63.0 s、65.5–67.0 s、69.5–71.0 s，左夹爪指端下探至红色礼盒盒顶并合拢，作用在上表面，盒子没有被两指从两侧包夹或带离地面；按顶面按压记录，不记抓握。" + } + ] + }, + "candles_on_table_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 9.5, + "log_step": 50, + "text_zh": "观察：视频 6.0–9.5 s 机器人靠近地面装饰篮、左夹爪下降至篮沿附近；视频 10.0–14.5 s 左夹爪反复闭合，篮子仍留在地面，没有随夹爪升起。视频 15.0 s 机器人离开，视频 50.0 s 再次看到篮子仍在地面，未见蜡烛取出或放上餐桌。" + }, + { + "t": 14.5, + "log_step": 49, + "text_zh": "推断：log step 38 记录先把整篮抬到餐桌再取蜡烛的方案，log step 49–50 的交付阶段以取篮开始，篮沿三次尝试失败后直接进入礼盒阶段。把这段共享取篮准备归入第1根蜡烛上桌；它不是已拿起蜡烛的证据，其他篮内物的单独放置均未启动。" + }, + { + "t": 79.2, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0、goal=0、video_replay_matches=1；结合本片初始装饰在篮中、礼盒与树分离及全程未见目标搬运，末态没有新增达标目标关系，因此本节点 final=false。该结论不单凭零分判断动作是否发生。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0.0–7.5 s，底盘支承机器人行驶到装饰篮旁，为蜡烛上桌方案准备操作位置。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 9.5–14.5 s 左夹爪在装饰篮边缘附近张合；篮沿与指端交界在画面边缘，无法确认两指实际接触组合，未见篮子被夹持抬起。这里记录的是取篮准备，未确认夹爪直接触及蜡烛。" + } + ] + }, + "candles_on_table_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.5, + "log_step": 50, + "text_zh": "观察：视频 7.0–14.5 s 装饰仍集中在地面篮内；机器人取篮未成，随后到视频 79.2 s 的动作只涉及礼盒附近的移动和夹爪开合，未见单独取出并搬运相应装饰，也未见“两根蜡烛同桌”的放置过程。" + }, + { + "t": 50.0, + "log_step": 56, + "text_zh": "推断：视频 50.0 s 篮子仍留在地面；log step 56 的交付记录仅有 rim 和三个礼盒阶段且全部失败，没有篮内物的单独执行结果。未从此前调试会话中的抓取或改写后的 gen.py 给本片补记进度。" + }, + { + "t": 79.2, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0、goal=0、video_replay_matches=1；结合本片初始装饰在篮中、礼盒与树分离及全程未见目标搬运，末态没有新增达标目标关系，因此本节点 final=false。该结论不单凭零分判断动作是否发生。" + } + ] + }, + "candy_cane_on_table": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.5, + "log_step": 50, + "text_zh": "观察：视频 7.0–14.5 s 装饰仍集中在地面篮内；机器人取篮未成，随后到视频 79.2 s 的动作只涉及礼盒附近的移动和夹爪开合，未见单独取出并搬运相应装饰，也未见“拐杖糖上桌”的放置过程。" + }, + { + "t": 50.0, + "log_step": 56, + "text_zh": "推断：视频 50.0 s 篮子仍留在地面；log step 56 的交付记录仅有 rim 和三个礼盒阶段且全部失败，没有篮内物的单独执行结果。未从此前调试会话中的抓取或改写后的 gen.py 给本片补记进度。" + }, + { + "t": 79.2, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0、goal=0、video_replay_matches=1；结合本片初始装饰在篮中、礼盒与树分离及全程未见目标搬运，末态没有新增达标目标关系，因此本节点 final=false。该结论不单凭零分判断动作是否发生。" + } + ] + }, + "wreath_on_sofa": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.5, + "log_step": 50, + "text_zh": "观察：视频 7.0–14.5 s 装饰仍集中在地面篮内；机器人取篮未成，随后到视频 79.2 s 的动作只涉及礼盒附近的移动和夹爪开合，未见单独取出并搬运相应装饰，也未见“花环上沙发”的放置过程。" + }, + { + "t": 50.0, + "log_step": 56, + "text_zh": "推断：视频 50.0 s 篮子仍留在地面；log step 56 的交付记录仅有 rim 和三个礼盒阶段且全部失败，没有篮内物的单独执行结果。未从此前调试会话中的抓取或改写后的 gen.py 给本片补记进度。" + }, + { + "t": 79.2, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0、goal=0、video_replay_matches=1；结合本片初始装饰在篮中、礼盒与树分离及全程未见目标搬运，末态没有新增达标目标关系，因此本节点 final=false。该结论不单凭零分判断动作是否发生。" + } + ] + }, + "candy_canes_on_sofa_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.5, + "log_step": 50, + "text_zh": "观察：视频 7.0–14.5 s 装饰仍集中在地面篮内；机器人取篮未成，随后到视频 79.2 s 的动作只涉及礼盒附近的移动和夹爪开合，未见单独取出并搬运相应装饰，也未见“至少一根拐杖糖上沙发”的放置过程。" + }, + { + "t": 50.0, + "log_step": 56, + "text_zh": "推断：视频 50.0 s 篮子仍留在地面；log step 56 的交付记录仅有 rim 和三个礼盒阶段且全部失败，没有篮内物的单独执行结果。未从此前调试会话中的抓取或改写后的 gen.py 给本片补记进度。" + }, + { + "t": 79.2, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0、goal=0、video_replay_matches=1；结合本片初始装饰在篮中、礼盒与树分离及全程未见目标搬运，末态没有新增达标目标关系，因此本节点 final=false。该结论不单凭零分判断动作是否发生。" + } + ] + }, + "candy_canes_on_sofa_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.5, + "log_step": 50, + "text_zh": "观察：视频 7.0–14.5 s 装饰仍集中在地面篮内；机器人取篮未成，随后到视频 79.2 s 的动作只涉及礼盒附近的移动和夹爪开合，未见单独取出并搬运相应装饰，也未见“至少两根拐杖糖在同一沙发”的放置过程。" + }, + { + "t": 50.0, + "log_step": 56, + "text_zh": "推断：视频 50.0 s 篮子仍留在地面；log step 56 的交付记录仅有 rim 和三个礼盒阶段且全部失败，没有篮内物的单独执行结果。未从此前调试会话中的抓取或改写后的 gen.py 给本片补记进度。" + }, + { + "t": 79.2, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0、goal=0、video_replay_matches=1；结合本片初始装饰在篮中、礼盒与树分离及全程未见目标搬运，末态没有新增达标目标关系，因此本节点 final=false。该结论不单凭零分判断动作是否发生。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "candles_on_table_1", + "t": 11.5, + "log_step": 50, + "where": "操作中", + "evidence_zh": "推断：视频 9.5–14.5 s，机器人正在为蜡烛上桌准备夹起装饰篮，左夹爪反复闭合后篮子未离地，视频 15.0 s 即离开，至视频 79.2 s 未返回完成该步骤。log step 50 的三次 rim att 均为 none、basket in hand=False，随后开始礼盒；这是最早未修复的失败，按共享取篮准备归入第1根蜡烛上桌。视频时间来自所检帧；交付记录的控制步 442/30≈视频 14.7 s 与离篮转场一致，未使用 agent 工作时间换算。" + }, + "unmet": { + "gift_boxes_by_tree_1": false, + "gift_boxes_by_tree_2": false, + "gift_boxes_by_tree_3": false, + "candles_on_table_1": false, + "candles_on_table_2": false, + "candy_cane_on_table": false, + "wreath_on_sofa": false, + "candy_canes_on_sofa_1": false, + "candy_canes_on_sofa_2": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 11.5, + "log_step": 50, + "evidence_zh": "观察：视频 9.5、10.0–14.5 s，左夹爪在篮沿附近反复合拢，但装饰篮没有跟随夹爪移动或离开地面；视频 15.0 s 机器人转身离开时篮子仍在原工作区域。log step 50 三次取篮读回均无持物。这里指未建立搬运所需的夹持，不宣称手指从未擦碰篮沿，也没有先持稳再滑落的画面。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 11.5, + "log_step": 50, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：视频 9.5–14.5 s 左夹爪已经抵达篮沿附近并反复开合，未把篮子带起；交付阶段 log step 50 在控制步 342、392、442 都读回未持物。此前 log step 38 的取篮测试也得到 in hand=None，log step 49 仍以该取篮方案开始交付。证据支持取篮动作执行未能建立有效夹持，故停在控制一级；不足以区分接触几何、跟踪误差或抓取窗口参数。" + } + ], + "gap_zh": "没有状态日志或成功参考视频；三相机不能辨清篮沿与两指的全部接触点，也无法验证 agent 自述的花环阻挡及所需持续按压步数。log step 49 的脚本中段在输入内已截断，整篮准备服务于多个装饰步骤，因此归入第1根蜡烛上桌是依据方案和可见动作的推断，并非看到机器人已选择某根蜡烛。前两处礼盒尝试的实际手指接触亦不清楚；第三处仅能判断盒顶按压，不能据合爪命令记抓握。评分器总分结合未见目标搬运确定各节点末态为假；遮挡使精确物理谓词阈值无法逐帧复核。" + }, + "summary_zh": "本次交付轨迹九个节点均未达到，最终为0/9：机器人先尝试取起地面装饰篮，随后在三个礼盒附近尝试操作，没有看到装饰上桌、上沙发或礼盒被搬到树旁，评分器 q_score=0.0。最早未修复的失败是取篮准备未建立有效夹持，归入第1根蜡烛上桌，现象为没建立接触，根因只定位到控制。无状态日志且篮沿接触部分遮挡，共享准备对应具体节点及控制子类仍有推断成分；此前调试结果和交付后改写的生成脚本不计入进度。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "九个节点均未达成（q_score=0、goal=0），与视频一致；断点取篮准备（归入第1根蜡烛上桌）、现象没建立接触、根因控制均有视频与日志支持，且文件已把归属写成推断。未发现需改的问题。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:20:58Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-putting-up-christmas-decorations-inside-i00-privileged--jzhadko/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-up-christmas-decorations-inside-i00-privileged--jzhadko/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "9018b96fbf4a99ad3f72cbaf727386dcbb3c099e7cefb54d84b598979a60cc9d", + "video_sha256": "668bc16e3c6a69e1b3fe14800823ba892368ae9fabd2454ccb8bbf20c0b1f1e1", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/putting_up_Christmas_decorations_inside/trajectories/behavior-putting-up-christmas-decorations-inside-i00-privileged--s2a45qb.json b/phase2/behavior-1k/putting_up_Christmas_decorations_inside/trajectories/behavior-putting-up-christmas-decorations-inside-i00-privileged--s2a45qb.json new file mode 100644 index 0000000000000000000000000000000000000000..aad921713534022621d11265ed13d07147df2754 --- /dev/null +++ b/phase2/behavior-1k/putting_up_Christmas_decorations_inside/trajectories/behavior-putting-up-christmas-decorations-inside-i00-privileged--s2a45qb.json @@ -0,0 +1,529 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-up-christmas-decorations-inside-i00-privileged--s2a45qb", + "taskKey": "behavior-1k/putting_up_Christmas_decorations_inside", + "dag_sha256": "ff205aa53c28e4c5ed90954f2662c546f50165c51c74d5ed77e4ece4a9ffd6bf", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 1, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 0, + "n_actions": 10326, + "sim_steps": 10326, + "final_reward": 0.0, + "q_score": 1.0, + "replay_wall_s": 3389.3, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 3, + "agent_resets": 0, + "agent_sim_steps": 30978, + "agent_records": 1, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "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-putting-up-christmas-decorations-inside-i00-privileged--s2a45qb/replay.mp4", + "duration_s": 344.2, + "fps": 30.0, + "frames": 10326, + "sha256": "fe58c22c37cde6d193a322e2084c3432f899cf304515e4ec83fab771fad06660" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 9, + "base": 0, + "peak": 8, + "final": 8, + "nodes": { + "gift_boxes_by_tree_1": { + "method": "visual", + "intervals": [ + [ + 276.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 5, + "log_step": null, + "text_zh": "观察：视频 5 s 的客厅视野中，礼盒分散在地板上，未集中到树边；视频 235–253.5 s，机器人将先搬的礼盒送到树前偏远处并释放，随后又去取另一盒。" + }, + { + "t": 276.5, + "log_step": 131, + "text_zh": "观察：视频 261–275 s，机器人左夹爪夹着另一个礼盒移动到树边；视频 276–278 s，夹爪已张开，礼盒落地停住，之后机器人退开。" + }, + { + "t": 276.5, + "log_step": 131, + "text_zh": "推断：按实际达标顺序计数，第1个达标盒对应 gift_box.n.01_1；log step 131 的录制会话工具查询给出该盒 NextTo=True，且该放置顺序与视频一致。先搬的 gift_box.n.01_3 在 log step 125 的查询中三种关系均为 False，因此不把视频约 252 s 的首次落地计为达标。" + }, + { + "t": 344.166, + "log_step": 145, + "text_zh": "观察：视频 333–344.166 s，树边已有的两盒留在地面，机器人最后另抓一盒调整；至少1盒离手靠树的状态保持到结尾。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左二指夹爪夹住计数中第1个达标礼盒的黄色缎带（gift_box.n.01_1）后搬运；放置时张开夹爪。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘支承本体，并在携带该礼盒及往返取放位置时行驶、转向。" + } + ] + }, + "gift_boxes_by_tree_2": { + "method": "visual", + "intervals": [ + [ + 336.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 289, + "log_step": 134, + "text_zh": "推断：视频 283–290 s，机器人重抓先搬的礼盒并放回树前；相应录制会话查询（log step 134）仍为 gift_box.n.01_3 NextTo=False、Under=False、Touching=False，所以这次落地不增加达标盒数。" + }, + { + "t": 336.0, + "log_step": 142, + "text_zh": "观察：视频 305–310 s，机器人从沙发附近夹起另一个礼盒，随后带盒返回圣诞树；视频 335.5–337 s，左夹爪张开，礼盒留在树边地板上并停住。" + }, + { + "t": 336.0, + "log_step": 142, + "text_zh": "推断：按达标数量计，第2盒对应 gift_box.n.01_2。log step 142 的录制会话查询给出该盒 NextTo=True；视频 337–344.166 s 中该盒与先前达标盒均留在地上，最后抓起的是另一盒，因此至少2盒的状态保持至结尾。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左二指夹爪夹住计数中第2个达标礼盒的黄色缎带（gift_box.n.01_2）后搬运；放置时张开夹爪。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘支承本体，并在携带该礼盒及往返取放位置时行驶、转向。" + } + ] + }, + "gift_boxes_by_tree_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 252.5, + "log_step": 125, + "text_zh": "观察：视频 235–253.5 s，机器人左夹爪夹住黄色缎带搬运一个礼盒，并在树前释放；视频 283–290 s 又重抓该盒调整、释放。" + }, + { + "t": 289, + "log_step": 134, + "text_zh": "推断：这两次对 gift_box.n.01_3 的放置与 log step 125、134 中三种树边关系均为 False 的工具查询相符，未形成3盒同时达标。" + }, + { + "t": 344.166, + "log_step": 145, + "text_zh": "观察：视频 341.75–344.166 s（包括最后一帧），左腕视图显示左夹爪两指仍夹在礼盒黄色缎带两侧，礼盒随末端抬起、调整，未出现张开释放后静止的画面；其余两盒留在树边地面。" + }, + { + "t": 344.166, + "log_step": 143, + "text_zh": "推断：当前 DAG 要求礼盒离手静止，故第3盒 final=False。log step 143 的脚本先调整礼盒，若 episode_done 则退出调整循环，之后才调用 open_gripper；log step 145 显示服务在10326个控制步时已报告 success=True 并保存同样长度的动作。原生 q_score=1.0 只支持树边关系，不证明最后一盒离手。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左二指夹爪反复夹住 gift_box.n.01_3 的黄色缎带，搬到树边、释放、重抓调整；视频 343–344.166 s 仍夹着缎带。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘支承本体，并在携带反复调整的礼盒 gift_box.n.01_3及往返取放位置时行驶、转向。" + } + ] + }, + "candles_on_table_1": { + "method": "visual", + "intervals": [ + [ + 76.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 37, + "log_step": 56, + "text_zh": "观察：视频 35–37 s 可见柳条篮内的蜡烛；视频 38–53 s，机器人提篮并向餐桌移动，之后改为从地面逐件取物。" + }, + { + "t": 66, + "log_step": 65, + "text_zh": "观察：视频 63–66 s，左夹爪从地面夹起一根白色柱状蜡烛，蜡烛离开旧位置并随腕部上升。" + }, + { + "t": 76.0, + "log_step": 68, + "text_zh": "观察：视频 73.5–75 s，机器人把蜡烛降到白色餐桌上；视频 75.5–78 s，夹爪张开退离，蜡烛留在桌面上停住。" + }, + { + "t": 179, + "log_step": 100, + "text_zh": "推断：第1根按达标顺序计数；log step 68 查询 pillar_candle.n.01_1 OnTop=True。视频 177–180 s 的餐桌全景可见两根蜡烛，机器人后续只取放其他装饰物；结合最终原生 q_score=1.0，该状态保持到结尾。" + } + ], + "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1根白色柱状蜡烛后搬运；放置时张开夹爪。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "推断：视频 35–43 s，机器人左夹爪夹住篮沿，提起装有小装饰物的柳条篮并移向餐桌；篮体先承托其中物体，物体随后散落，机器人改为逐件抓取。此处记录篮体对所载物体的承托，不重复记录夹爪握篮这一接触链。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘支承本体，并在携带蜡烛及装饰物篮及往返取放位置时行驶、转向。" + } + ] + }, + "candles_on_table_2": { + "method": "visual", + "intervals": [ + [ + 157.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 144, + "log_step": 97, + "text_zh": "观察：视频 80–140 s，机器人在玻璃门边反复调整手臂；视频 143–145 s，左腕视图出现已被夹住并离开地面的第2根白色蜡烛，随后机器人带它移动到餐桌。" + }, + { + "t": 157.0, + "log_step": 100, + "text_zh": "观察：视频 155–156.33 s，第2根蜡烛仍在两指之间；视频 156.67 s 夹爪已张开，视频 157–158.33 s 蜡烛侧卧在白色桌面上且不再移动。DAG 不要求蜡烛直立。" + }, + { + "t": 179, + "log_step": 100, + "text_zh": "推断：log step 100 的录制会话查询显示两根蜡烛均 OnTop 于 table.n.02_1；视频 177–180 s 全景也显示两根蜡烛位于同桌，后续未再操作蜡烛，最终原生 q_score=1.0 与保留该关系相符。" + } + ], + "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2根白色柱状蜡烛；此前左右臂曾依次尝试接近，成功搬运使用左夹爪后搬运；放置时张开夹爪。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "推断：视频 35–43 s，机器人左夹爪夹住篮沿，提起装有小装饰物的柳条篮并移向餐桌；篮体先承托其中物体，物体随后散落，机器人改为逐件抓取。此处记录篮体对所载物体的承托，不重复记录夹爪握篮这一接触链。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘支承本体，并在携带蜡烛及装饰物篮及往返取放位置时行驶、转向。" + } + ] + }, + "candy_cane_on_table": { + "method": "visual", + "intervals": [ + [ + 178.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 168, + "log_step": 103, + "text_zh": "观察：视频 164–167 s，拐杖糖在地面；视频 168–171 s，机器人左夹爪将其夹起，糖离开旧位置并随夹爪上升。" + }, + { + "t": 178.0, + "log_step": 106, + "text_zh": "观察：视频 175–177.5 s，机器人将该糖送到白色餐桌；视频 177.75–179 s 两指已离开糖，糖留在桌面且位置稳定，视频 179.5–180.75 s 机器人退离。" + }, + { + "t": 180, + "log_step": 106, + "text_zh": "推断：log step 106 对这次放置查询为 CANE1 TABLE=True；视频显示的是糖本身从地面到桌面的转移，非仅搬动空手。后续两根糖分别搬往沙发，最终原生 q_score=1.0 与桌上保留一根糖相符。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左二指夹爪夹住放到餐桌的红绿白条纹拐杖糖后搬运；放置时张开夹爪。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "推断：视频 35–43 s，机器人左夹爪夹住篮沿，提起装有小装饰物的柳条篮并移向餐桌；篮体先承托其中物体，物体随后散落，机器人改为逐件抓取。此处记录篮体对所载物体的承托，不重复记录夹爪握篮这一接触链。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘支承本体，并在携带拐杖糖及此前的装饰物篮及往返取放位置时行驶、转向。" + } + ] + }, + "wreath_on_sofa": { + "method": "visual", + "intervals": [ + [ + 29.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 20, + "log_step": 50, + "text_zh": "观察：视频 19–21 s，左夹爪从篮内夹住带绿叶、红色装饰的花环并提起，花环离开篮子随左腕移动。" + }, + { + "t": 29.0, + "log_step": 53, + "text_zh": "观察：视频 26–28 s，机器人将花环降向棕色沙发座面；视频 28.5–31.5 s，花环留在座面上，夹爪已撤开，花环不再随手移动。" + }, + { + "t": 216.5, + "log_step": 114, + "text_zh": "观察：视频 216.5–217 s 的左腕视图可见花环与两根糖均留在同一沙发座面；之后机器人只处理礼盒，没有再搬动花环。" + }, + { + "t": 216.5, + "log_step": 114, + "text_zh": "推断：log step 53、114 的工具查询均显示花环 OnTop=True，且最终原生 q_score=1.0 支持该放置关系保留到结尾。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左二指夹爪夹住绿叶红饰花环的一处边缘后搬运；放置时张开夹爪。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘支承本体，并在携带花环及往返取放位置时行驶、转向。" + } + ] + }, + "candy_canes_on_sofa_1": { + "method": "visual", + "intervals": [ + [ + 197.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 187, + "log_step": 108, + "text_zh": "观察：视频 184 s，另1根糖仍在地面；视频 186–188 s，左夹爪夹起该糖并带离地面，随后机器人驶向棕色沙发。" + }, + { + "t": 197.0, + "log_step": 109, + "text_zh": "观察：视频 192–196.5 s，机器人将糖降向花环所在沙发；视频 196.75–198.25 s 两指已张开，糖躺在沙发座面且不随手移动。" + }, + { + "t": 216.5, + "log_step": 114, + "text_zh": "观察：视频 216.5–217 s，同一沙发座面可见两根独立拐杖糖及花环；本计数至少1根成立。" + }, + { + "t": 216.5, + "log_step": 114, + "text_zh": "推断：log step 114 的录制会话工具查询显示两根糖均 OnTop 于 sofa.n.01_1；此后仅搬礼盒，最终原生 q_score=1.0 与该关系保留相符。" + } + ], + "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1根放到沙发的拐杖糖后搬运；放置时张开夹爪。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘支承本体，并在携带该拐杖糖及往返取放位置时行驶、转向。" + } + ] + }, + "candy_canes_on_sofa_2": { + "method": "visual", + "intervals": [ + [ + 215.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 206, + "log_step": 111, + "text_zh": "观察：视频 204–206 s，机器人左夹爪从地面夹起剩下的1根糖；视频 207–213 s 糖在夹爪中随机器人移向沙发。" + }, + { + "t": 215.0, + "log_step": 114, + "text_zh": "观察：视频 214–214.5 s 糖还在夹爪附近；视频 214.75–215.75 s 夹爪张开退离，糖留在沙发座面，视频 216.5–217 s 可见同一座面上两根独立的糖和花环。" + }, + { + "t": 216.5, + "log_step": 114, + "text_zh": "推断：按同一沙发上的达标数量计为第2根；log step 114 查询两根糖在 sofa.n.01_1 上均为 True。其后机器人仅处理礼盒，最终原生 q_score=1.0 与两糖关系保留相符。" + } + ], + "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2根放到同一沙发的拐杖糖后搬运；放置时张开夹爪。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘支承本体，并在携带该拐杖糖及往返取放位置时行驶、转向。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 1.0, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "gift_boxes_by_tree_3", + "t": 343.5, + "log_step": 145, + "where": "操作中", + "evidence_zh": "观察：视频 341.75–344.166 s，机器人正在树边重新夹起、调整最后一个礼盒，末帧左夹爪仍夹着黄色缎带；前两盒已在树边落地。log step 143 先执行调整、再松手的脚本与 log step 145 在10326个控制步保存动作、旧服务 success=True 的结果相符；inputs/run.json 的 reward.regrade_0154 则明确把 old=1 改为 new=0，原因为 stricter rule。推断：按当前 DAG，未补完的是第3盒离手静止的放置验收；此前篮内散落及蜡烛抓取困难均已通过后续实际放置修复。" + }, + "unmet": { + "gift_boxes_by_tree_1": true, + "gift_boxes_by_tree_2": true, + "gift_boxes_by_tree_3": false, + "candles_on_table_1": true, + "candles_on_table_2": true, + "candy_cane_on_table": true, + "wreath_on_sofa": true, + "candy_canes_on_sofa_1": true, + "candy_canes_on_sofa_2": true + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "任务设计问题：运行时 task_text 明示目标关系成立即自动结束，未写离手、速度阈值或30控制步窗口；log step 145、188、199 显示旧服务及两次新进程回放均在同一10326步终态通过，之后 reward.regrade_0154 以 stricter rule 改判失败。视频最后一帧仍持盒，且 log step 143 已把松手安排在触发 episode_done 的调整之后，支持旧服务在计划松手前结束、交付中未含该释放动作的推断；不能据此再归因机器人拒绝松手、错误规划或误以为完成，因此现象和根因留空。未提供状态日志或成功参考视频；重评记录没有逐条件诊断，无法独立核验严格规则的具体失败项及物体线速度，礼盒精确相邻关系部分依赖与视频相符的录制会话工具查询。节点起始均为视频画面估计，约有0.5 s误差。" + }, + "summary_zh": "机器人把花环和两根糖放在同一沙发、两根蜡烛和一根糖放到餐桌，并完成两盒靠树，最终按当前 DAG 为8/9；视频 344.166 s 的末帧仍夹着第3盒。任务设计问题：运行时文本及旧服务按目标关系立即结束，日志中两次新进程回放均通过且原生 q_score=1.0，目录结果却以 stricter rule 重评失败；计划松手位于旧服务已结束的调整之后，不能据此添加机器人失败现象或根因。无状态日志及逐条件重评诊断，严格静置窗口和精确相邻谓词不能完全由画面独立核验。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "标注与视频一致：末帧（344.166 s）左夹爪仍夹着第3盒，前两盒留在树边，8/9、断点在第3盒、现象与根因留空并以任务设计问题说明均有证据支持，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": "2026-10-30T21:23:11Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-putting-up-christmas-decorations-inside-i00-privileged--s2a45qb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-up-christmas-decorations-inside-i00-privileged--s2a45qb/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "795a1b124ed1757ccd9568d5eeb2e1f5a536253ddf065cc9056b8af2b1da5e18", + "video_sha256": "fe58c22c37cde6d193a322e2084c3432f899cf304515e4ec83fab771fad06660", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/putting_up_Christmas_decorations_inside/trajectories/behavior-putting-up-christmas-decorations-inside-i00-privileged--vq2we9d.json b/phase2/behavior-1k/putting_up_Christmas_decorations_inside/trajectories/behavior-putting-up-christmas-decorations-inside-i00-privileged--vq2we9d.json new file mode 100644 index 0000000000000000000000000000000000000000..b4c7e23aaf42e4cf305d0fb26b52c6a5800e978b --- /dev/null +++ b/phase2/behavior-1k/putting_up_Christmas_decorations_inside/trajectories/behavior-putting-up-christmas-decorations-inside-i00-privileged--vq2we9d.json @@ -0,0 +1,499 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-up-christmas-decorations-inside-i00-privileged--vq2we9d", + "taskKey": "behavior-1k/putting_up_Christmas_decorations_inside", + "dag_sha256": "ff205aa53c28e4c5ed90954f2662c546f50165c51c74d5ed77e4ece4a9ffd6bf", + "outcome": { + "success": 0, + "reward": 0.5555555555555556, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 0, + "n_actions": 12744, + "sim_steps": 12744, + "final_reward": 0.5555555555555556, + "q_score": 0.5555555555555556, + "replay_wall_s": 4732.3, + "replay_timeout_s": 7572.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 9, + "agent_resets": 0, + "agent_sim_steps": 20137, + "agent_records": 2, + "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-putting-up-christmas-decorations-inside-i00-privileged--vq2we9d/replay.mp4", + "duration_s": 424.8, + "fps": 30.0, + "frames": 12744, + "sha256": "dbbb9ac4fbf79bfcae2327d161d62d0ed240ca9e0d40072d40070cb7c7406830" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 9, + "base": null, + "peak": null, + "final": 5, + "nodes": { + "gift_boxes_by_tree_1": { + "method": "visual", + "intervals": [ + [ + 37.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 38, + "log_step": null, + "text_zh": "观察：视频 15.0 s 左腕画面中礼盒被左夹爪夹住并随机器人移动；视频 38.0 s 该礼盒已离开夹爪，留在树旁地板。三个同类礼盒按先后放好计数，本节点对应第1个，达标时刻约为视频 37.5 s。" + }, + { + "t": 280, + "log_step": null, + "text_zh": "观察：视频 280.0 s 头部画面可见三个礼盒分别留在圣诞树基部附近；后续机器人操作篮子和糖，没有再搬动这三个礼盒。" + }, + { + "t": null, + "log_step": 174, + "text_zh": "推断：log step 163 所示交付 run6 的三次放置检查均为 True；log step 174 的最终报告仍为三个礼盒靠树，且评分器 deterministic=1。结合视频中的放置及保留位置，三个计数节点最终均成立。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左二指夹爪夹住第1个搬运的礼盒，提起后松开放在树旁。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在夹持第1个礼盒期间移动，支承机器人完成搬运。" + } + ] + }, + "gift_boxes_by_tree_2": { + "method": "visual", + "intervals": [ + [ + 62.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 64, + "log_step": null, + "text_zh": "观察：视频 50.0 s 左腕画面中礼盒被左夹爪夹住并随机器人移动；视频 64.0 s 该礼盒已离开夹爪，留在树旁地板。三个同类礼盒按先后放好计数，本节点对应第2个，达标时刻约为视频 62.5 s。" + }, + { + "t": 280, + "log_step": null, + "text_zh": "观察：视频 280.0 s 头部画面可见三个礼盒分别留在圣诞树基部附近；后续机器人操作篮子和糖，没有再搬动这三个礼盒。" + }, + { + "t": null, + "log_step": 174, + "text_zh": "推断：log step 163 所示交付 run6 的三次放置检查均为 True；log step 174 的最终报告仍为三个礼盒靠树，且评分器 deterministic=1。结合视频中的放置及保留位置，三个计数节点最终均成立。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左二指夹爪夹住第2个搬运的礼盒，提起后松开放在树旁。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在夹持第2个礼盒期间移动，支承机器人完成搬运。" + } + ] + }, + "gift_boxes_by_tree_3": { + "method": "visual", + "intervals": [ + [ + 121.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 123, + "log_step": null, + "text_zh": "观察：视频 100.0 s 左腕画面中礼盒被左夹爪夹住并随机器人移动；视频 123.0 s 该礼盒已离开夹爪，留在树旁地板。三个同类礼盒按先后放好计数，本节点对应第3个，达标时刻约为视频 121.5 s。" + }, + { + "t": 280, + "log_step": null, + "text_zh": "观察：视频 280.0 s 头部画面可见三个礼盒分别留在圣诞树基部附近；后续机器人操作篮子和糖，没有再搬动这三个礼盒。" + }, + { + "t": null, + "log_step": 174, + "text_zh": "推断：log step 163 所示交付 run6 的三次放置检查均为 True；log step 174 的最终报告仍为三个礼盒靠树，且评分器 deterministic=1。结合视频中的放置及保留位置，三个计数节点最终均成立。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左二指夹爪夹住第3个搬运的礼盒，提起后松开放在树旁。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在夹持第3个礼盒期间移动，支承机器人完成搬运。" + } + ] + }, + "candles_on_table_1": { + "method": "visual", + "intervals": [ + [ + 183.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 183.5, + "log_step": 164, + "text_zh": "观察：视频 147.0–151.0 s 左夹爪从篮内夹起一根浅色柱状蜡烛，原位置变空；视频 180.0–184.5 s 左腕画面显示机器人将它降到白色餐桌并松开，蜡烛留在桌面，夹爪撤离。首次达标约为视频 183.5 s。" + }, + { + "t": 253, + "log_step": null, + "text_zh": "观察：视频 223.5–253.0 s 两次蜡烛放置后机器人转而放置桌上拐杖糖，没有把两根蜡烛一并取走。" + }, + { + "t": 424.77, + "log_step": 174, + "text_zh": "推断：评分器 q_score=5/9；视频支持三个礼盒靠树、桌上一根糖，且没有任何装饰物完成沙发放置。剩余一个满足的目标文字面量必须来自蜡烛上桌，因此至少一根蜡烛最终达标；这也与 log step 174 的 candles@table=False（两根的合取检查）相容。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左二指夹爪从篮中夹起第一根蜡烛，搬到餐桌后松开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在夹持第一根蜡烛期间从篮子附近移动到餐桌旁。" + } + ] + }, + "candles_on_table_2": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 223.5, + "log_step": 164, + "text_zh": "观察：视频 202.0–205.0 s 第二根浅色柱状蜡烛离开篮内并随左夹爪移动；视频 220.0–224.5 s 机器人将它降到同一白色餐桌，打开夹爪撤离，第二根蜡烛留在桌面。因此本节点曾于约视频 223.5 s 达成。" + }, + { + "t": 424.77, + "log_step": 174, + "text_zh": "推断：视频未见任何成功的沙发放置，三个礼盒与桌上一根糖最终保留；评分器 q_score=5/9 只允许另有一根蜡烛上桌，因此两根蜡烛同桌最终为 false。log step 174 的交付 run6 最终合取检查 candles@table=False 与此一致。" + }, + { + "t": null, + "log_step": null, + "text_zh": "观察：视频后段餐桌大部分处于视野外，已检查搬篮与补救操作前后的画面，仍无法定位哪根蜡烛何时失去桌面关系；intervals 保留 null，避免把最后一次看见或最终验收时刻虚构为失去时刻。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左二指夹爪夹住第二根蜡烛，从篮内取出并在餐桌松手。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在夹持第二根蜡烛期间移动到同一餐桌附近。" + } + ] + }, + "candy_cane_on_table": { + "method": "visual", + "intervals": [ + [ + 252.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 241, + "log_step": null, + "text_zh": "观察：视频 241.0–245.0 s 左腕可见一根红绿白条纹拐杖糖夹在左夹爪中，糖已从篮中移出并随机器人前往餐桌。" + }, + { + "t": 253, + "log_step": 164, + "text_zh": "观察：视频 250.0–253.5 s 机器人把糖降到餐桌，左夹爪张开后糖平躺在白色桌面，夹爪撤离；约视频 252.0 s 已放好。" + }, + { + "t": 424.77, + "log_step": 174, + "text_zh": "推断：视频后续没有重新抓取桌上这根糖；log step 174 的交付 run6 最终检查 candy_cane.n.01_1@table=True，与评分器 q_score=5/9 及已观察的其他终态一致，判断最终保留。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左二指夹爪夹持第一根搬出篮子的拐杖糖，降到餐桌后松开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在夹持这根糖期间由篮子附近移动到餐桌。" + } + ] + }, + "wreath_on_sofa": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 270, + "log_step": null, + "text_zh": "观察：视频 260.0–270.0 s 左腕画面被夹持并提起的藤篮遮挡，篮内仍可见装饰物；机器人随后带篮移动。" + }, + { + "t": 278.5, + "log_step": null, + "text_zh": "观察：视频 273.5–278.5 s 机器人持篮转向，篮体倾斜；视频 278.5 s 右腕画面可见红色装饰花环已落在木地板上，视频 285.0 s 仍在地板，未到沙发。" + }, + { + "t": 424.77, + "log_step": null, + "text_zh": "观察：视频 352.0–354.0 s 花环和篮子可见于地板；视频 398.0–424.77 s 左夹爪仍夹着拐杖糖，未见把花环提离地面并放上沙发的过程。" + }, + { + "t": null, + "log_step": 174, + "text_zh": "推断：结合持续在地板上的花环和没有完成沙发放置的动作，本节点全程未达成；log step 174 的交付 run6 最终 wreath@sofa=False 为一致性支持。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "左夹爪持藤篮，篮底承托剩余装饰物，尝试整体运向沙发；只记篮子与所装物体的作用链，不另重复篮把抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在左臂持篮搬运剩余装饰物期间移动并转向。" + } + ] + }, + "candy_canes_on_sofa_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 273, + "log_step": 166, + "text_zh": "观察：视频 260.0–273.0 s 机器人提起装有剩余糖和花环的藤篮，试图整体搬运；视频 278.0–281.0 s 持篮停在客厅中部，没有到沙发座面上方倾倒。" + }, + { + "t": 350, + "log_step": 172, + "text_zh": "观察：视频 305.0–348.0 s 左夹爪对地板上的拐杖糖多次接近、闭合；视频 350.0 s 糖已离地夹在左夹爪中，随后随机器人移动。" + }, + { + "t": 424.77, + "log_step": null, + "text_zh": "观察：视频 350.0–424.77 s 这根糖始终随左夹爪移动；视频 424.0 s、424.5 s 和末帧仍可见夹持，未在沙发松手。其他糖也未见完成沙发放置。" + }, + { + "t": null, + "log_step": 174, + "text_zh": "推断：搬篮未把糖倒到沙发，单根补救抓取也没有完成释放放置，因此至少一根糖上沙发的计数从未成立；log step 174 的最终所有糖@sofa1=False、two_cc_on_some_sofa=False 与画面相符。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "左夹爪持藤篮，篮底承托剩余装饰物，尝试整体运向沙发；只记篮子与所装物体的作用链，不另重复篮把抓握。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "搬篮后，左二指夹爪又从地板夹起一根拐杖糖并持续携带到视频结束，没有在沙发松开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在提篮阶段以及后段夹持单根糖时移动、转向。" + } + ] + }, + "candy_canes_on_sofa_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 273, + "log_step": null, + "text_zh": "观察：视频 260.0–273.0 s 机器人以藤篮共同承载两根剩余糖，开始整体搬运；未把篮口移至沙发座面上方。" + }, + { + "t": 424.77, + "log_step": null, + "text_zh": "观察：视频后段只有一根糖可确认被左夹爪提离地板，直到视频 424.77 s 仍在夹爪中，没有看见第二根糖离开原处并到达沙发，也没有两根糖同时留在任何沙发上的画面。" + }, + { + "t": null, + "log_step": 173, + "text_zh": "推断：连第一根糖在沙发离手的条件都未达成，本节点不成立。log step 173 的补救程序在声称抓第三根糖时实际返回的仍是 candy_cane.n.01_2，支持没有第二次成功转运；此工具输出仅作画面的一致性支持。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "左夹爪持藤篮，篮底承托剩余装饰物，尝试整体运向沙发；只记篮子与所装物体的作用链，不另重复篮把抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在左臂持篮搬运剩余装饰物期间移动并转向。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.5555555555555556, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "wreath_on_sofa", + "t": 278.5, + "log_step": 149, + "where": "操作中", + "evidence_zh": "观察：视频 273.5–278.5 s 机器人左臂持篮搬运剩余装饰物时篮体倾斜，视频 278.5 s 花环已出现在右腕视野的木地板上；视频 285.0 s 及 352.0–354.0 s 仍未在沙发。log step 149 的脚本把花环与两根剩余糖作为整篮搬运、到沙发后再倒出的同一批次；本次运输已在抵达目标前失去花环，之后未修复，故选花环上沙发为断点。" + }, + "unmet": { + "gift_boxes_by_tree_1": true, + "gift_boxes_by_tree_2": true, + "gift_boxes_by_tree_3": true, + "candles_on_table_1": true, + "candles_on_table_2": false, + "candy_cane_on_table": true, + "wreath_on_sofa": false, + "candy_canes_on_sofa_1": false, + "candy_canes_on_sofa_2": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 278.5, + "log_step": null, + "evidence_zh": "观察：视频 270.0–278.5 s 左夹爪仍持藤篮，篮体随机器人搬运而倾斜，花环却离开篮内承托落到地板；视频 285.0 s 仍可见地板上的花环。这里丢失的是搬运中的载荷，机器人还未在沙发执行计划释放。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "source_zh": "视频 / 日志", + "evidence_zh": "推断：log step 149 的方案用左夹爪只固定藤篮，让花环和两根糖作为未固定载荷留在篮中，计划到沙发后才倾倒；视频 273.5–278.5 s 实际持篮姿态已经使篮口倾斜，花环失去承托落地，说明这一载荷固定及承托布置未能保持花环。视频 352.0–354.0 s 仍见花环在地板；没有已验证成功的替代搬运方案。" + } + ], + "gap_zh": "没有状态日志或成功参考视频。第二根蜡烛于约视频 223.5 s 放上桌可见，但后续失去桌面关系的具体时刻和实例在相机视野外，故该计数节点的完整 intervals 无法确定；最终 false 由评分器 5/9 与其余节点的画面联合推出。剩余花环和两根糖是同篮同时搬运，不能精确区分每件内容物先后掉出的时刻，断点取最先直接看见落地且始终未修复的花环。log step 166 的到站失败与无 IK 解可核对持篮未到沙发的画面，但不能据 agent 关于茶几的猜测确定具体阻挡物；未标碰撞。" + }, + "summary_zh": "评分轨迹先后放好三个树旁礼盒、两根餐桌蜡烛和一根桌上拐杖糖，曾达到六个节点；最终两根蜡烛同桌失效，保留三个礼盒、一根蜡烛和桌上糖，共5/9。机器人整篮搬运剩余装饰物时承托失效，花环在视频约278.5 s 已落地且没有修复，沙发放置均未完成，末帧仍夹着补救抓取的糖。无状态日志，第二根蜡烛失去桌面关系的时刻无法定位，完整区间留空，终态按画面与评分器总分联合判断。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽查视频 272/278.5/424 s：278.5 s 右腕视野可见花环在地板上，与断点、没保持住现象和 5/9 的终态一致；未发现需要改动的节点、时间或根因问题。第二根蜡烛失去时刻留 null 有评分器总分支撑。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + 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"behavior-1k/putting_up_Christmas_decorations_inside", + "dag_sha256": "ff205aa53c28e4c5ed90954f2662c546f50165c51c74d5ed77e4ece4a9ffd6bf", + "outcome": { + "success": 0, + "reward": 0.1111111111111111, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 6303, + "sim_steps": 6303, + "fallen": 1, + "final_reward": 0.1111111111111111, + "q_score": 0.1111111111111111, + "replay_wall_s": 2589.6, + "replay_timeout_s": 4351.5, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 26, + "agent_resets": 0, + "agent_sim_steps": 36146, + "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": 10.443, + "peak_memory_gb": 14.688, + "peak_processes": 46, + "peak_disk_gb": 12.673, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-putting-up-christmas-decorations-inside-i00-privileged--w3xt9zj/replay.mp4", + "duration_s": 210.1, + "fps": 30.0, + "frames": 6303, + "sha256": "b98634a4d54b0958b35a40ba0c5820e02b8f1326cdc5ce5876edcd53af75041a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 9, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "gift_boxes_by_tree_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频开始时礼盒散在客厅地面，与远处圣诞树有明显间隔；未见礼盒在树下或接触树。" + }, + { + "t": 202.5, + "log_step": null, + "text_zh": "观察：视频 180–194 s 机器人空爪驶回沙发旁；视频 194.5–205.0 s 在沙发附近转向、受阻，视频 205–209.9 s 画面翻倒并贴近沙发与地面；没有礼盒被推到树边。" + }, + { + "t": 209.9, + "log_step": null, + "text_zh": "推断：三个礼盒均没有完成靠树放置；已确认的一根蜡烛对应 q_score=1/9 的唯一新增目标文字面量，因此第一个礼盒靠树最终也为假。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 180–205 s 底盘支承机器人从篮旁驶向礼盒工作区域，但在沙发附近受阻并翻倒，尚未见底盘或夹爪实际推到礼盒。" + } + ] + }, + "gift_boxes_by_tree_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 202.5, + "log_step": null, + "text_zh": "观察：视频 0–40 s 与视频 188–204 s 所见礼盒仍散在客厅地面，没有2个礼盒被移至树边；最终翻倒前未开始后续礼盒的独立搬运。" + }, + { + "t": 209.9, + "log_step": null, + "text_zh": "推断：评分器 q_score=1/9 且唯一已确认的新增目标是桌上一根蜡烛，不可能同时满足至少2个礼盒靠树的数量节点，故最终为假。" + } + ] + }, + "gift_boxes_by_tree_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 202.5, + "log_step": null, + "text_zh": "观察：视频 0–40 s 与视频 188–204 s 所见礼盒仍散在客厅地面，没有3个礼盒被移至树边；最终翻倒前未开始后续礼盒的独立搬运。" + }, + { + "t": 209.9, + "log_step": null, + "text_zh": "推断：评分器 q_score=1/9 且唯一已确认的新增目标是桌上一根蜡烛，不可能同时满足至少3个礼盒靠树的数量节点，故最终为假。" + } + ] + }, + "candles_on_table_1": { + "method": "visual", + "intervals": [ + [ + 52.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 47, + "log_step": null, + "text_zh": "观察：视频 43–47 s 左夹爪夹住篮中的一根蜡烛，蜡烛离篮并随夹爪移向餐桌。" + }, + { + "t": 52.5, + "log_step": null, + "text_zh": "观察：视频 51.5–54.8 s 左夹爪张开后，一根蜡烛留在白色餐桌面上；夹爪撤离时蜡烛与桌面的相对位置保持不变。首次离手静止约为视频 52.5 s，时间精度约半秒。" + }, + { + "t": 72.5, + "log_step": 508, + "text_zh": "观察：视频 71.5–73.0 s 左腕画面仍可见餐桌上的这一根蜡烛，机器人随后撤离，未再见其被搬走；log step 508 的交付会话输出亦报告第一根蜡烛 OnTop 为 True。" + }, + { + "t": 209.9, + "log_step": null, + "text_zh": "推断：视频后续未见破坏这根蜡烛的动作，评分器 q_score=1/9 与其作为唯一最终达标目标一致，故最终为真。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 45–51.5 s 左二指夹爪夹持第一根蜡烛并从篮子搬到桌边。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 47–51 s 底盘支承机器人，携带蜡烛从篮旁驶向餐桌。" + } + ] + }, + "candles_on_table_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 65, + "log_step": null, + "text_zh": "观察：视频 61–65 s 左夹爪从篮中提起另一根蜡烛；视频 69–73 s 在桌边张爪并撤回，但画面中没有出现两根蜡烛共同离手静止在桌上的可核实状态。" + }, + { + "t": 73, + "log_step": 512, + "text_zh": "观察：log step 512 的已交付生成会话输出报告第二根蜡烛 OnTop 为 False；这只作为视频中放置未被确认的补充，不能用抓持读数替代搬运画面。" + }, + { + "t": 209.9, + "log_step": null, + "text_zh": "推断：第一根蜡烛已占用评分器 q_score=1/9 所允许的唯一新增目标文字面量；两根蜡烛同桌至少需要两个，因此本数量节点最终为假。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 61–69 s 左二指夹爪夹持并提运第二根蜡烛。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 65–69 s 底盘支承机器人并携带第二根蜡烛驶向餐桌。" + } + ] + }, + "candy_cane_on_table": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 92, + "log_step": null, + "text_zh": "观察：视频 80–90 s 左夹爪在篮中反复对准红白拐杖糖；视频 91–95 s 一根糖已离篮，被左夹爪夹持并搬向桌边。" + }, + { + "t": 99, + "log_step": null, + "text_zh": "观察：视频 97–101 s 左夹爪在餐桌边释放并撤离，糖的最终落点受桌缘和相机视野限制，未见它离手静止留在桌面的状态。" + }, + { + "t": 209.9, + "log_step": 542, + "text_zh": "推断：已确认的一根桌上蜡烛对应唯一最终计分目标，评分器 q_score=1/9 不允许另有桌上糖达标，故本节点最终为假；交付会话 log step 512、542 也记录该糖 OnTop 为 False。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 91–97 s 左二指夹爪夹住一根拐杖糖并提离篮子，携带到桌边。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 92–96 s 底盘支承机器人并携带夹爪中的拐杖糖驶向餐桌。" + } + ] + }, + "wreath_on_sofa": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14, + "log_step": null, + "text_zh": "观察：视频 10–14 s 左腕画面中的花环离开篮子，随后随左夹爪和底盘一起搬向沙发。" + }, + { + "t": 30.3, + "log_step": null, + "text_zh": "观察：视频 29.5–30.0 s 花环在左夹爪前、靠近沙发靠背；视频 30.1–30.8 s 松爪后花环翻转越过沙发边缘，离开腕部视野，未见离手静止在沙发上的稳定阶段。" + }, + { + "t": 190.5, + "log_step": null, + "text_zh": "观察：视频 190.5–191.0 s 左腕画面清楚显示花环平躺在沙发外的木地板上；之后没有再次抓回或摆放花环。" + }, + { + "t": 190.5, + "log_step": 508, + "text_zh": "推断：花环上沙发最终为假；交付会话中对 OnTop 的局部成功读数不能覆盖视频中后续落地的事实。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 10–30 s 左二指夹爪夹持花环的一处并搬运，随后张爪释放。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 14–24 s 轮式底盘支承机器人并携带左爪中的花环移动到沙发旁。" + } + ] + }, + "candy_canes_on_sofa_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 120, + "log_step": null, + "text_zh": "观察：视频 105–142 s 左夹爪反复下降到篮中拐杖糖旁、闭合再抬起；糖始终留在篮中，未见随夹爪运向沙发。" + }, + { + "t": 160, + "log_step": null, + "text_zh": "观察：视频 145–179 s 对另一根糖的反复抓取也没有使糖离篮，之后机器人空爪离开篮旁。" + }, + { + "t": 209.9, + "log_step": null, + "text_zh": "推断：视频未见任何糖被放上沙发；结合第一根蜡烛已占用 q_score=1/9 的唯一新增计分目标，本节点最终为假。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 105–142 s 左夹爪反复在糖旁闭合，篮壁与腕部视角遮挡了准确接触点；未见成功提起，不能把闭爪直接标成抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 103–105 s 底盘从桌边驶回篮旁，为取糖并放沙发的尝试定位。" + } + ] + }, + "candy_canes_on_sofa_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 160, + "log_step": null, + "text_zh": "观察：视频 145–179 s 左夹爪继续对篮中另一根拐杖糖下降、闭合和抬起，糖没有随夹爪离篮；没有两根糖被搬至同一沙发的动作。" + }, + { + "t": 209.9, + "log_step": null, + "text_zh": "推断：视频中没有完成任何糖上沙发的放置，且两根糖同沙发需至少两个新增目标文字面量，超过评分器 q_score=1/9 的上限，本节点最终为假。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 145–179 s 左夹爪对另一根糖反复闭合，但篮壁遮挡接触点，无法确定手指是夹到糖还是触到篮子；未见糖被提离。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 143–145 s 底盘在篮旁重新定位，以便左夹爪尝试另一根糖。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.1111111111111111, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "wreath_on_sofa", + "t": 30.3, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 30.1–30.8 s 机器人左夹爪松开后花环在沙发靠背边缘翻转并越过边缘；视频 190.5–191.0 s 清楚显示它已躺在沙发外木地板上，此后没有重放。花环是按视频动作顺序最早未修复的放置失败；视频 205–209.9 s 的后续翻倒不替代这个断点。" + }, + "unmet": { + "gift_boxes_by_tree_1": false, + "gift_boxes_by_tree_2": false, + "gift_boxes_by_tree_3": false, + "candles_on_table_1": true, + "candles_on_table_2": false, + "candy_cane_on_table": false, + "wreath_on_sofa": false, + "candy_canes_on_sofa_1": false, + "candy_canes_on_sofa_2": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "放后不稳", + "t": 30.3, + "log_step": null, + "evidence_zh": "观察：视频 29.5–30.0 s 机器人把花环送到沙发靠背边缘后张开左夹爪；视频 30.1–30.8 s 花环没有留稳，而是翻转越过沙发边缘，视频 190.5–191.0 s 可见其平躺地板。未见花环离手静止并持续由沙发承托。" + } + ], + "root_causes": [], + "gap_zh": "无状态日志及成功参考视频。花环在沙发边缘释放后翻转、最终落地可见，但精确支承点、释放位姿和接触力未记录，无法可靠区分接触设计、轨迹执行或目标位姿选择问题，故根因留空。第二根蜡烛和桌上糖的落点受桌缘与腕部视野遮挡，最终值结合已确认的一根桌上蜡烛和评分器 q_score=1/9 推断；不能据总分推断它们从未被尝试。log step 539 保存的6303行轨迹与视频6303帧及终态分数一致；log step 544–559 是之后启动、尚未显示保存完成的另一轮生产尝试，不作为本段视频的节点证据。" + }, + "summary_zh": "交付视频中仅确认一根蜡烛离手留在餐桌上，最终完成1/9个节点；花环、另一根蜡烛和一根糖虽被搬运，其余放置均未完成。最早未修复的断点为花环上沙发：视频约30.3 s 释放后花环越过沙发边缘，视频190.5 s 可见其落地；机器人后来在视频205 s 附近翻倒。无状态日志，桌边部分落点不可见，相关终值受评分器1/9总分约束，花环失败的具体根因证据不足。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽查视频帧后，蜡烛1留在桌上、花环最终落在地板、断点选花环与证据一致；根因留空并附gap_zh可接受。", + "n_issues": 0, + 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"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-putting-up-christmas-decorations-inside-i00-privileged--wmfxdiz/replay.mp4", + "duration_s": 299.333, + "fps": 30.0, + "frames": 8980, + "sha256": "7232dd1de6de0e9818606e4c58f28f67981fbff6736943a62426a8527472ffd4" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 9, + "base": 0, + "peak": 8, + "final": 8, + "nodes": { + "gift_boxes_by_tree_1": { + "method": "visual", + "intervals": [ + [ + 14.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 14.5, + "log_step": null, + "text_zh": "观察：视频 0–8 s 左爪夹起地面上的第一个礼盒并携带；视频 13.5–15.5 s 左爪张开、后退，礼盒留在圣诞树下缘旁的地面，未再随手移动。达到时刻约为视频 14.5 s（误差约0.5秒）。" + } + ], + "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个搬运的礼盒并将其提离原处，搬运后张开放下；右爪未共同夹持。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘在搬运第一个搬运的礼盒到目标位置时移动并支承机体。" + } + ] + }, + "gift_boxes_by_tree_2": { + "method": "visual", + "intervals": [ + [ + 36.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 36.5, + "log_step": null, + "text_zh": "观察：视频 23–29 s 第二个礼盒随左爪离开原地并被搬到树前；视频 35.5–37.5 s 左爪张开后抬离，两个礼盒留在树下缘旁地面，第一盒未被搬离。达到时刻约为视频 36.5 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个搬运的礼盒并将其提离原处，搬运后张开放下；右爪未共同夹持。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘在搬运第二个搬运的礼盒到目标位置时移动并支承机体。" + } + ] + }, + "gift_boxes_by_tree_3": { + "method": "visual", + "intervals": [ + [ + 82.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 82.5, + "log_step": null, + "text_zh": "观察：视频 40–54 s 第三个礼盒抓取曾未成功，随后视频 55–80 s 礼盒随左爪搬至树边；视频 81.5–84 s 松爪退手后可见三个礼盒分布在树下缘周围地面。达到时刻约为视频 82.5 s；后续机器人离开树区，未再搬动礼盒。" + }, + { + "t": 299.3, + "log_step": null, + "text_zh": "推断：三个礼盒的树旁放置均已在视频中出现，后续未被操作；评分器最终 q_score=8/9，结合最后一根糖仍在篮内，与这三项终态保持一致。" + } + ], + "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个搬运的礼盒并将其提离原处，搬运后张开放下；右爪未共同夹持。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘在搬运第三个搬运的礼盒到目标位置时移动并支承机体。" + } + ] + }, + "candles_on_table_1": { + "method": "visual", + "intervals": [ + [ + 123, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 123, + "log_step": null, + "text_zh": "观察：视频 113–122 s 第一根蜡烛随左爪离篮、运到白色目标餐桌；视频 122.5–124.5 s 松爪抬手，蜡烛留在桌面，未随手撤走。达到时刻约为视频 123 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一根蜡烛并将其提离原处，搬运后张开放下；右爪未共同夹持。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘在搬运第一根蜡烛到目标位置时移动并支承机体。" + } + ] + }, + "candles_on_table_2": { + "method": "visual", + "intervals": [ + [ + 135, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 135, + "log_step": null, + "text_zh": "观察：视频 128–134 s 第二根蜡烛从篮内被左爪提起并搬到同一白色餐桌；视频 134.5–136 s 松爪后可见两根蜡烛分别留在桌面。视频 149.5–150.5 s 两根仍在该桌上。达到时刻约为视频 135 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根蜡烛并将其提离原处，搬运后张开放下；右爪未共同夹持。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘在搬运第二根蜡烛到目标位置时移动并支承机体。" + } + ] + }, + "candy_cane_on_table": { + "method": "visual", + "intervals": [ + [ + 148.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 148.5, + "log_step": null, + "text_zh": "观察：视频 140–147 s 左爪夹住一根红白绿条纹拐杖糖，提离篮子并运到白色餐桌；视频 148–150.5 s 松爪后糖躺在桌面，两根蜡烛仍在同桌。达到时刻约为视频 148.5 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放到餐桌的拐杖糖并将其提离原处，搬运后张开放下；右爪未共同夹持。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘在搬运放到餐桌的拐杖糖到目标位置时移动并支承机体。" + } + ] + }, + "wreath_on_sofa": { + "method": "visual", + "intervals": [ + [ + 103.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 103.5, + "log_step": null, + "text_zh": "观察：视频 93–98 s 花环从篮内随左夹爪提起，视频 101–103.5 s 左爪将其降低到棕色沙发座面并松开；视频 104–105.5 s 手退开，花环留在座面。视频 241–245 s 同一花环仍在该沙发上。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左二指夹爪夹住花环并将其提离原处，搬运后张开放下；右爪未共同夹持。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘在搬运花环到目标位置时移动并支承机体。" + } + ] + }, + "candy_canes_on_sofa_1": { + "method": "visual", + "intervals": [ + [ + 243.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 243.5, + "log_step": null, + "text_zh": "观察：视频 153–229 s 左爪反复尝试篮内拐杖糖，尚未出现沙发放置；视频 230–242 s 一根糖随左爪离篮并运到已有花环的沙发。视频 242.5–245 s 松爪、抬手后，一根拐杖糖静置于沙发座面，花环留在旁边。达到时刻约为视频 243.5 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一根放到沙发的拐杖糖并将其提离原处，搬运后张开放下；右爪未共同夹持。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘在搬运第一根放到沙发的拐杖糖到目标位置时移动并支承机体。" + } + ] + }, + "candy_canes_on_sofa_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 254, + "log_step": null, + "text_zh": "观察：视频 251–256 s 机器人左爪伸入篮内对剩余拐杖糖合拢并抬起，糖仍留在篮底，没有随夹爪离篮；视频 258–299.3 s 反复重试均未出现将这根糖搬往沙发的动作。" + }, + { + "t": 299.3, + "log_step": 209, + "text_zh": "观察：视频 298–299.3 s 左腕视图可见最后一根拐杖糖仍躺在篮内，两指未将其夹出。log step 209 的交付脚本运行结果报告 Failed to grasp any of candy_cane.n.01_1、sim_steps=8980、q_score=8/9，与视频结束状态相符。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 253–255 s、267–274 s 左爪在篮内合拢尝试夹糖，手指碰拨糖与篮底附近，糖在篮内变动位置和方向；未观察到两指形成可将糖提走的抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 246–253 s 及后续重试间，机器人轮式底盘移动、转向以改变面对篮子的工作位置。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.8888888888888888, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "candy_canes_on_sofa_2", + "t": 254, + "log_step": 209, + "where": "操作中", + "evidence_zh": "观察：视频 243.5–245 s 第一根拐杖糖已离手留在沙发，随后机器人回到篮子；视频 253–256 s 开始对最后一根糖合爪、抬手但未取出，后续直到视频 299.3 s 仍未修复。log step 198 的交付脚本在第三根糖抓取后才安排第二次沙发放置；log step 209 报告该次抓取失败。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 254, + "log_step": 209, + "evidence_zh": "观察：视频 253–256 s、267–274 s、288–299.3 s 左爪多次伸入篮内合拢又抬起，目标糖始终留在篮中，未形成能带走物体的夹持；这里缺失的是所需抓握，并非完全没有碰触。log step 207 多次 in_hand=None，log step 209 最终报告抓取失败。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频 / 日志", + "evidence_zh": "推断：视频 253–299.3 s 机器人已将左爪送到可见的篮内目标附近，但重复合爪未能把糖夹起；log step 207 的交付脚本运行输出列出多种 stem/hook 抓取尝试仍为 in_hand=None，log step 209 因抓取候选耗尽抛出 RuntimeError。失败落在实际抓取执行；证据不足以进一步区分接触几何、末端轨迹误差或反馈控制。" + } + ], + "gap_zh": "无状态日志和成功参考视频；礼盒相邻的包围盒阈值、目标物速度及联合30控制步窗口无法逐项测量，放置时刻按已查看的半秒间隔画面估计。已放置对象在末段部分离开相机视野，终态结合后续未再操作及评分器8/9总分判断；最后一根糖仍在篮内直接可见。夹爪与细糖的局部接触被手指、篮壁部分遮挡，无法确定控制根因子类。会话曾有独立测试和过滤提示，但之后另从初态运行并交付了本段8980步轨迹，不把测试中的成功或失败移入本段进度。", + "unmet": { + "gift_boxes_by_tree_1": true, + "gift_boxes_by_tree_2": true, + "gift_boxes_by_tree_3": true, + "candles_on_table_1": true, + "candles_on_table_2": true, + "candy_cane_on_table": true, + "wreath_on_sofa": true, + "candy_canes_on_sofa_1": true, + "candy_canes_on_sofa_2": false + } + }, + "summary_zh": "机器人将三个礼盒放到树旁、两根蜡烛及一根拐杖糖放上同一餐桌，并将花环和另一根拐杖糖放上沙发，最终完成8/9个节点。视频 253–299.3 s 最后一根糖的多次抓取未建立有效夹持，第二根糖上沙发未完成，评分器 q_score=8/9 与此相符。无状态日志，精确接触几何、速度和联合静置窗口无法直接核实，控制根因保留到类别层。", + "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8/9与评分器 q_score=8/9 一致；断点在第二根沙发拐杖糖，视频 254/290/299 s 帧显示糖仍在篮中、左爪未能夹起，log step 209 报告抓取失败，现象与根因（控制，已声明无法细分）有证据支持。未发现需修改之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:16:55Z", + "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-putting-up-christmas-decorations-inside-i00-privileged--wmfxdiz/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-up-christmas-decorations-inside-i00-privileged--wmfxdiz/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b743d1eefdbf2f671aa991676d0d57529d08523fab40031549a6cb2605e17af3", + "video_sha256": "7232dd1de6de0e9818606e4c58f28f67981fbff6736943a62426a8527472ffd4", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/putting_up_Christmas_decorations_inside/trajectories/behavior-putting-up-christmas-decorations-inside-i00-privileged--xnfhuzv.json b/phase2/behavior-1k/putting_up_Christmas_decorations_inside/trajectories/behavior-putting-up-christmas-decorations-inside-i00-privileged--xnfhuzv.json new file mode 100644 index 0000000000000000000000000000000000000000..98468ff74e997cd1e24f9ef3da96ca36eca0b149 --- /dev/null +++ b/phase2/behavior-1k/putting_up_Christmas_decorations_inside/trajectories/behavior-putting-up-christmas-decorations-inside-i00-privileged--xnfhuzv.json @@ -0,0 +1,369 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-up-christmas-decorations-inside-i00-privileged--xnfhuzv", + "taskKey": "behavior-1k/putting_up_Christmas_decorations_inside", + "dag_sha256": "ff205aa53c28e4c5ed90954f2662c546f50165c51c74d5ed77e4ece4a9ffd6bf", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 0, + "n_actions": 4746, + "sim_steps": 4746, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 2083.2, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 2, + "agent_resets": 2, + "agent_sim_steps": 0, + "agent_records": 4, + "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-putting-up-christmas-decorations-inside-i00-privileged--xnfhuzv/replay.mp4", + "duration_s": 158.2, + "fps": 30.0, + "frames": 4746, + "sha256": "fdff40475b09977992a16724a2cc9eba87c64c8f6c057b15278c50cd3f7a2060" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 9, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "gift_boxes_by_tree_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0–3.5 s，礼盒分散在客厅地面，树下没有可见礼盒；视频 9.5–15.5 s，机器人推过的首个礼盒仍停在树旁较远的裸露地板上，与树之间有明显空隙。" + }, + { + "t": 20.6, + "log_step": null, + "text_zh": "观察：视频 19.6–23.0 s，机器人前部逼近圣诞树，树随即倾倒；视频 25.0–28.0 s，礼盒仍与树分离，未见在树下、触树或贴近树后静置的结果。" + }, + { + "t": 157.8, + "log_step": null, + "text_zh": "推断：全段未见可确认的礼盒达标静置；视频 157.2–158.1 s 的末段仍可见礼盒与倒树分离。评分器 reward.q_score=0.0，初态也未见成立的目标关系，因此终态没有礼盒目标关系成立，至少1盒的节点为假。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0.0–23.0 s，轮式底盘支承机器人绕到首个礼盒附近并在推送过程中移动。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "推断：log step 536、539、541 的脚本用 move_base 推礼盒，视频 4.0–9.5 s 礼盒随机器人接近而移位；机体遮住低处接触点，无法确认究竟是底盘外壳还是其他机器人部位顶到礼盒，不据此虚构夹爪抓握。" + } + ] + }, + "gift_boxes_by_tree_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 27, + "log_step": null, + "text_zh": "观察：视频 25.0–28.5 s，机器人又向另一只地面礼盒接近并使其移位；视频 36.5–46.0 s 及 73.0–80.0 s，可见礼盒仍散在地面，未见两盒共同靠树的静置结果。" + }, + { + "t": 157.8, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，结合初态礼盒与树分离及视频中的未完成推送，终态不足2盒达标。第二只被推移的礼盒属于本数量步骤的未成功尝试，不将物体编号当作节点身份。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 25.0–80.0 s，底盘移动、转向并反复接近第二只被处理的礼盒。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "推断：log step 544、551、555、570 的脚本通过底盘运动推另一只礼盒，视频中可见礼盒移位；实际低处顶推部位被机体遮挡，无证据表明夹爪夹持了礼盒。" + } + ] + }, + "gift_boxes_by_tree_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 80, + "log_step": null, + "text_zh": "观察：视频 0.0–80.0 s 的礼盒作业未形成三个礼盒靠树的结果，随后机器人转往篮子；未见第三个独立礼盒的搬运或推送完成。" + }, + { + "t": 157.8, + "log_step": null, + "text_zh": "推断：视频末段没有三盒靠树的结果，评分器 reward.q_score=0.0 进一步排除终态有3盒目标关系成立；本节点为假。" + } + ] + }, + "candles_on_table_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 95, + "log_step": null, + "text_zh": "观察：视频 94.0–99.0 s，柱状蜡烛仍可见于地面篮子内；视频 100.0–111.0 s 机器人推动篮子，之后未见机器人把蜡烛拿到餐桌。" + }, + { + "t": 157.8, + "log_step": null, + "text_zh": "推断：全段未见蜡烛离开地面区域并到达桌面的搬运，初态蜡烛在篮内，评分器 reward.q_score=0.0 排除终态至少1根蜡烛上桌。" + } + ] + }, + "candles_on_table_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 99, + "log_step": null, + "text_zh": "观察：视频 94.0–99.0 s，蜡烛随其他装饰物留在篮中，后续机器人只在篮子和地面小物附近操作，未见两根蜡烛被搬上同一餐桌。" + }, + { + "t": 157.8, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，结合视频未见任何蜡烛上桌的搬运，两根蜡烛同桌的终值为假。" + } + ] + }, + "candy_cane_on_table": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 96, + "log_step": null, + "text_zh": "观察：视频 94.0–99.0 s，机器人左夹爪探向篮内拐杖糖，抬离时未见糖离开篮子随夹爪搬运；视频 100.0–111.0 s 机器人改为推动篮子。" + }, + { + "t": 143, + "log_step": null, + "text_zh": "观察：视频 114.0–147.0 s，左夹爪反复接近地面拐杖糖，糖被拨动、转向但未见随手离地搬到餐桌；视频 157.2–158.1 s 机器人仍在地面篮子附近。" + }, + { + "t": 157.8, + "log_step": null, + "text_zh": "推断：初态糖在篮内，全段未见拐杖糖从取物位置到桌面的转移，评分器 reward.q_score=0.0 决定此目标的终值为假。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 114.0–147.0 s，左二指夹爪接近地面拐杖糖并将糖拨移、转向，未见稳定夹住后提起；按实际拨动记推/扫，不把合爪命令记成已抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 83.0–94.0 s，底盘移动到篮子旁；视频 100.0–111.0 s，机器人又随篮子推移向前移动，服务于取糖准备。" + } + ] + }, + "wreath_on_sofa": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 98, + "log_step": null, + "text_zh": "观察：视频 94.0–99.0 s，花环与糖和蜡烛仍在地面篮内；未见机器人把花环搬到沙发。" + }, + { + "t": 155.5, + "log_step": null, + "text_zh": "观察：视频 149.0–158.1 s，左夹爪在篮子旁下降，腕部画面主要被篮壁遮住，没有可见花环被提起并送往沙发的过程。" + }, + { + "t": 157.8, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，且花环从篮子/地面区域向沙发的转移未出现，终态花环上沙发为假。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 615 的脚本将左夹爪目标设为花环附近并执行合爪；视频 149.0–158.1 s 对应地面篮子旁的末次下降，但篮壁遮住花环和指尖相对位置，不能确认是否触到花环，更不能记为已抓握。" + } + ] + }, + "candy_canes_on_sofa_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 123, + "log_step": null, + "text_zh": "观察：视频 114.0–147.0 s，机器人在地面拐杖糖附近反复调整左夹爪，未见任何糖离地并到达沙发；没有可确认的糖在沙发上静置。" + }, + { + "t": 157.8, + "log_step": null, + "text_zh": "推断：初态糖在篮内，评分器 reward.q_score=0.0 排除终态至少1根糖在沙发上。地面两根糖的取物重试尚未进入按目标表面分配的搬运，无法确定其中哪次专为沙发取物。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "推断：视频 114.0–147.0 s 确有另一根糖的取物重试，但没有朝桌或沙发搬运来区分用途；是否属于本沙发放置节点的接触归属未知，不把该重试强行记成沙发糖抓握。" + } + ] + }, + "candy_canes_on_sofa_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 147, + "log_step": null, + "text_zh": "观察：视频 114.0–147.0 s 的取糖重试未产生可见的沙发放置，随后机器人转到篮子/花环附近，未见两根糖共同由同一沙发承托。" + }, + { + "t": 157.8, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0 及视频中没有糖被搬上沙发的过程共同决定本节点终值为假；未见针对第二根沙发糖的独立操作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "gift_boxes_by_tree_1", + "t": 10.5, + "log_step": 536, + "where": "操作中", + "evidence_zh": "观察：视频 4.0–9.5 s，机器人移动并推移首个礼盒；视频 10.5–15.5 s，礼盒停在树外的地板上，仍与树明显分离。后续机器人绕树离开并改推另一只盒子，再转去篮子，直到视频 158.2 s 结束都未见首次礼盒靠树步骤完成。推断：这是最早开始而始终未修复的放置失败，不以末段花环重试替换它；视频约 20.6 s 的树倾倒是后续碰撞事件，不另列为首次礼盒未到位的现象。" + }, + "unmet": { + "gift_boxes_by_tree_1": false, + "gift_boxes_by_tree_2": false, + "gift_boxes_by_tree_3": false, + "candles_on_table_1": false, + "candles_on_table_2": false, + "candy_cane_on_table": false, + "wreath_on_sofa": false, + "candy_canes_on_sofa_1": false, + "candy_canes_on_sofa_2": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 10.5, + "log_step": 536, + "evidence_zh": "观察：视频 9.5–15.5 s，机器人推送后的礼盒仍位于树左侧裸露地板，与树之间有明显间隙，既没有到树下也没有可见触树；视频 25.0–28.0 s 机器人转去另一只盒子时，这次靠树放置仍未形成。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 536、539、541 的 agent 脚本以一系列 move_base 移位来顶推首个礼盒；这些指令控制机器人基座目标，没有建立礼盒的夹持或侧向约束。视频 4.0–9.5 s 礼盒逐渐来到机器人侧方，视频 10.5–15.5 s 可见礼盒留在树外，机器人继续移动也未把它带入目标区域。目标仍是让礼盒靠树，但机器人位移没有转化成受控的礼盒位移，支持控制归因；无足够低层记录区分推送接触设计、路径及跟踪误差，故保留控制大类。" + } + ], + "gap_zh": "inputs/ 提供完整视频和运行日志，但没有状态日志、逐物体目标谓词或成功参考视频。机体遮住礼盒低处的真实顶推部位，末段篮壁遮住花环接触，精确间隙和个别瞬时接触不能重建；未见可确认达标静置区间，全部终值由视频与评分器 q_score=0.0 共同确定。两根糖的地面取物重试没有进入目标搬运，沙发取糖的归属不能确定，因此首根沙发糖接触标未知。日志此前多次重置中的成功放置不属于本次交付：log step 525–534 重新启动并开始录制，log step 562 保存首段后在原状态续录，log step 618 合并保存最终动作；不把前一会话的放置成果计入本视频。控制根因子类仍缺少接触与轨迹跟踪证据。视频约 20.6 s 的树倾倒发生在机器人离开首个礼盒、转向另一礼盒的阶段附近；其与首次推送的直接因果边界不能精确确认，故未将该碰撞另列为断点现象。" + }, + "summary_zh": "评分轨迹未见任何可确认达标的放置，评分器 q_score=0.0，9个节点终态均未完成。首次礼盒推送未把盒子送到树旁，继续绕行又碰倒圣诞树，该步骤始终未修复；之后的取糖和花环操作也未形成搬运。无状态日志，礼盒底部及末段花环接触受遮挡，接触不明处保留未知，未采用前一会话的成功放置。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "视频为机器人第一视角，所见与标签一致：礼盒仍在地板上与树分离，各节点终值为假，与 q_score=0.0 相符；断点、现象和根因有证据支持，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": "2026-10-30T21:26:59Z", + "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-putting-up-christmas-decorations-inside-i00-privileged--xnfhuzv/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-up-christmas-decorations-inside-i00-privileged--xnfhuzv/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1c3309685e15c14cfa553b66acec8f158c6bb1fd45f4983fec2131e7ebdfe2a9", + "video_sha256": "fdff40475b09977992a16724a2cc9eba87c64c8f6c057b15278c50cd3f7a2060", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/putting_up_Christmas_decorations_inside/trajectories/behavior-putting-up-christmas-decorations-inside-i00-standard--b3igunn.json b/phase2/behavior-1k/putting_up_Christmas_decorations_inside/trajectories/behavior-putting-up-christmas-decorations-inside-i00-standard--b3igunn.json new file mode 100644 index 0000000000000000000000000000000000000000..77eb611015d2245071d081ebb575166572e246a7 --- /dev/null +++ b/phase2/behavior-1k/putting_up_Christmas_decorations_inside/trajectories/behavior-putting-up-christmas-decorations-inside-i00-standard--b3igunn.json @@ -0,0 +1,418 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-up-christmas-decorations-inside-i00-standard--b3igunn", + "taskKey": "behavior-1k/putting_up_Christmas_decorations_inside", + "dag_sha256": "ff205aa53c28e4c5ed90954f2662c546f50165c51c74d5ed77e4ece4a9ffd6bf", + "outcome": { + "success": 0, + "reward": 0.3333333333333333, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 7928, + "sim_steps": 7928, + "physics_steps": 31712, + "steps": 3736, + "elapsed_s": 2673.2, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 0, + "q_score": 0.3333333333333333, + "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-putting-up-christmas-decorations-inside-i00-standard--b3igunn/replay.mp4", + "duration_s": 264.267, + "fps": 30.0, + "frames": 7928, + "sha256": "dc44c5e101bb1dfdf5e69794ba54fc68bebe820c47c38214f9d9027aa0aa0aec" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 9, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "gift_boxes_by_tree_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3, + "log_step": null, + "text_zh": "观察：视频 0–3 s、15–16 s 的转头扫描中，红色礼盒分散在客厅地板，树脚周围可见地面，没有礼盒被搬到树下；视频 228 s、254 s 仍可见散放的礼盒。机器人全程处理篮子及其内容物，没有夹取或推移礼盒。" + }, + { + "t": 264.23, + "log_step": 110, + "text_zh": "推断：两根蜡烛和桌上拐杖糖已贡献3个新增目标文字面量；评分器 q_score=1/3，在9个目标文字面量中只容许3个成立。结合初始树脚空置、礼盒未被搬动，至少1个礼盒靠树不成立，终值为false；这不是仅凭零分判断未尝试。" + } + ] + }, + "gift_boxes_by_tree_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3, + "log_step": null, + "text_zh": "观察：视频 0–3 s、15–16 s 的转头扫描中，红色礼盒分散在客厅地板，树脚周围可见地面，没有礼盒被搬到树下；视频 228 s、254 s 仍可见散放的礼盒。机器人全程处理篮子及其内容物，没有夹取或推移礼盒。" + }, + { + "t": 264.23, + "log_step": 110, + "text_zh": "推断：两根蜡烛和桌上拐杖糖已贡献3个新增目标文字面量；评分器 q_score=1/3，在9个目标文字面量中只容许3个成立。结合初始树脚空置、礼盒未被搬动，至少2个礼盒靠树不成立，终值为false；这不是仅凭零分判断未尝试。" + } + ] + }, + "gift_boxes_by_tree_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3, + "log_step": null, + "text_zh": "观察：视频 0–3 s、15–16 s 的转头扫描中，红色礼盒分散在客厅地板，树脚周围可见地面，没有礼盒被搬到树下；视频 228 s、254 s 仍可见散放的礼盒。机器人全程处理篮子及其内容物，没有夹取或推移礼盒。" + }, + { + "t": 264.23, + "log_step": 110, + "text_zh": "推断：两根蜡烛和桌上拐杖糖已贡献3个新增目标文字面量；评分器 q_score=1/3，在9个目标文字面量中只容许3个成立。结合初始树脚空置、礼盒未被搬动，至少3个礼盒靠树不成立，终值为false；这不是仅凭零分判断未尝试。" + } + ] + }, + "candles_on_table_1": { + "method": "visual", + "intervals": [ + [ + 89.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 89.5, + "log_step": 59, + "text_zh": "观察：视频 88.5–90.5 s，机器人倾斜藤篮，两根灰白色柱状蜡烛离篮落到白色餐桌；视频 94–101 s 可见蜡烛留在桌面且夹爪只握篮沿。第一根上桌取视频约89.5 s，落下瞬间有篮壁遮挡，误差约0.5 s。" + }, + { + "t": 204.5, + "log_step": 97, + "text_zh": "观察：视频 195.5–203.5 s 左夹爪夹住并提移其中一根蜡烛，视频 204–205 s 张开后该蜡烛留在桌面，另一根仍在桌上；视频 206.5–209 s 左腕视图可见两根蜡烛分开留在同一桌面。按数量计步，将这根后来被移动的蜡烛作为第1根，不要求原实例身份。" + }, + { + "t": 264.23, + "log_step": null, + "text_zh": "推断：视频 222 s 离开餐桌时两根蜡烛仍在桌上，之后机器人只携花环移动并侧翻，没有再次操作蜡烛；评分器 q_score=1/3 与两蜡烛及桌上糖3个关系相符，第一根上桌终值为true。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "视频 72–89.5 s，机器人右夹爪持藤篮，篮底承托蜡烛和糖随底盘搬运，随后倾倒到桌面；此处记录篮子与目标物的承托链路，不把握篮沿重复记成直接抓住目标物。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 72–84 s，轮式底盘在机器人提着装有目标物的藤篮靠近餐桌时移动并支承机器人。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "视频 195.5–204 s，左二指夹爪夹住一根蜡烛，提离原位置后移到同一餐桌另一处并张开释放；右夹爪同时持花环，未共同夹持蜡烛。" + } + ] + }, + "candles_on_table_2": { + "method": "visual", + "intervals": [ + [ + 89.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 89.5, + "log_step": 59, + "text_zh": "观察：视频 89–90.5 s 倾篮后两根灰白蜡烛都在白色餐桌上，视频 94–101 s、150–153 s 的头部及左腕视图进一步显示两根蜡烛均已离篮并由同一桌面承托。两根达标数量约从视频89.5 s成立，时间误差约0.5 s。" + }, + { + "t": 204.5, + "log_step": 97, + "text_zh": "观察：视频 195.5–203.5 s 机器人左夹爪重新提起其中一根蜡烛，视频 204–205 s 在同一餐桌上释放；视频 206.5–209 s 可见两根蜡烛都留在桌面。依该节点 freeze_held=true，持物调整期间冻结原值，放回后条件仍成立，因此不人为切断区间。" + }, + { + "t": 264.23, + "log_step": null, + "text_zh": "推断：视频 222 s 后机器人离开餐桌，未再接触蜡烛；结合最后一次桌面观察和评分器 q_score=1/3，第二根同桌关系终值为true。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "视频 72–89.5 s，机器人右夹爪持藤篮，篮底承托蜡烛和糖随底盘搬运，随后倾倒到桌面；此处记录篮子与目标物的承托链路，不把握篮沿重复记成直接抓住目标物。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 72–84 s，轮式底盘在机器人提着装有目标物的藤篮靠近餐桌时移动并支承机器人。" + } + ] + }, + "candy_cane_on_table": { + "method": "visual", + "intervals": [ + [ + 89.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 89.5, + "log_step": 59, + "text_zh": "观察：视频 88.5–90.5 s，红白绿条纹拐杖糖随蜡烛、花环离篮落到餐桌；视频 100–101 s 头部视图及视频 150–153 s 左腕视图可见糖直接躺在白色桌面，未被夹爪持住。起点取视频约89.5 s，误差约0.5 s。" + }, + { + "t": 220, + "log_step": 100, + "text_zh": "观察：视频 151–178 s 及214–220 s，左夹爪多次向桌上的拐杖糖合拢并抬起，之后糖仍留在桌面；视频 206.5–209 s 可见多根糖散在桌上。没有任何一根被搬到沙发。" + }, + { + "t": 264.23, + "log_step": null, + "text_zh": "推断：机器人在视频 222 s 后离开餐桌，此后无糖的转移；评分器 q_score=1/3 与两蜡烛和桌上糖一致。依DAG绑定的至少一根判据，桌上有多根糖仍满足本节点；不据任务文本“恰好一根”否定本次采用的肯定文字面量。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "视频 72–89.5 s，机器人右夹爪持藤篮，篮底承托蜡烛和糖随底盘搬运，随后倾倒到桌面；此处记录篮子与目标物的承托链路，不把握篮沿重复记成直接抓住目标物。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 72–84 s，轮式底盘在机器人提着装有目标物的藤篮靠近餐桌时移动并支承机器人。" + } + ] + }, + "wreath_on_sofa": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 145, + "log_step": 76, + "text_zh": "观察：视频 143–147 s，机器人右二指夹爪夹住花环，花环随右臂离开原来的餐桌位置；视频 148–252 s 右腕视图始终可见花环紧随夹爪，头部视图也显示它被携带在机器人右侧。此前视频 120–138 s 的试夹未将花环放到沙发。" + }, + { + "t": 256, + "log_step": 103, + "text_zh": "观察：视频 222–255 s 机器人携花环离开餐桌移动；视频 255.5–259 s 头部画面持续向侧面翻转。视频 263.5–264.23 s 最后一秒仍为侧倒视角，右腕仍有花环，未见向沙发释放。花环上沙发从未成立。" + }, + { + "t": 264.23, + "log_step": 107, + "text_zh": "观察：log step 107 的在线服务本体读数为 base_footprint_rx_joint=-1.549、ry=-0.379，竖直分量cos(rx)cos(ry)=0.0205，与视频末端侧倒一致；log step 110 报告7928个control_steps、resumes=0，与视频7928帧的单回合记录一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "视频 143–147 s，右二指夹爪夹住花环后提离餐桌；此后一直单手持花环，至视频264.23 s仍未释放。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 222–255.5 s，底盘支承机器人携右手花环向客厅沙发方向移动；后续机器人侧翻。" + } + ] + }, + "candy_canes_on_sofa_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 153, + "log_step": 81, + "text_zh": "观察：视频 151–178 s 左夹爪在桌上长条拐杖糖处反复合拢、抬起，随后左腕视图中糖仍在原桌面附近；视频 214–220 s 又一次试夹后糖仍在桌上，未见一次持续携糖离桌或向沙发释放。" + }, + { + "t": 264.23, + "log_step": null, + "text_zh": "推断：视频 222 s 后移动中的右夹爪只携花环，左夹爪未携糖，末尾机器人侧翻；结合桌上糖仍在及评分器只接受3/9个新增文字面量，沙发上至少1根糖终值为false。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "视频 151–178 s、214–220 s可见左夹爪试夹拐杖糖，但细小糖杆与指腹的接触面被夹爪局部遮住，不能确定是否真正触碰或仅空夹；未观察到持续夹持搬运，因此不把试夹动作标成实际抓握。" + } + ] + }, + "candy_canes_on_sofa_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 220, + "log_step": null, + "text_zh": "观察：视频 150–220 s 左腕视图中，多根拐杖糖一直散在餐桌上，机器人对第一根的多次试夹没有形成离桌搬运；没有开始独立搬运第二根糖到沙发。" + }, + { + "t": 264.23, + "log_step": null, + "text_zh": "推断：视频 222–264.23 s 机器人只携花环移动并侧翻，未再取糖；同一沙发上至少2根糖未曾达到，终值为false，也受评分器 q_score=1/3 且桌面3个新增目标已成立的总量约束。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.3333333333333333, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "wreath_on_sofa", + "t": 256.0, + "log_step": 103, + "where": "操作中", + "evidence_zh": "观察：视频 143–147 s 右夹爪已把花环提离餐桌；视频 222–255 s 机器人持花环移动，视频 255.5–259 s 发生持续侧翻，至视频264.23 s仍未恢复也未放下花环。log step 103 的命令是携花环驶向沙发区域；花环的早期试夹随后已成功提起，沙发放置过程最终被侧翻中断，故断点是花环上沙发的操作中，而非跌倒约束或后续未开始的礼盒步骤。" + }, + "unmet": { + "gift_boxes_by_tree_1": false, + "gift_boxes_by_tree_2": false, + "gift_boxes_by_tree_3": false, + "candles_on_table_1": true, + "candles_on_table_2": true, + "candy_cane_on_table": true, + "wreath_on_sofa": false, + "candy_canes_on_sofa_1": false, + "candy_canes_on_sofa_2": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 256.0, + "log_step": 107, + "evidence_zh": "观察：视频 255.5–259 s 机器人视角从正常移动明显滚转至接近侧卧，视频 263.5–264.23 s 保持侧倒；花环仍在右夹爪附近。log step 107 在线本体读数rx=-1.549、ry=-0.379，cos(rx)cos(ry)=0.0205，支持机器人失去直立支撑。没有把同一次跌倒另记为违反约束。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 20 中agent的base_move将整段底盘位移预先生成并固定上身关节目标Q，goto只依据平面位置和航向修正，没有在执行批次中按本体倾角调节或停止。log step 103 将两臂末端置于机体前方约1米高后，连续以vmax=0.3及0.4移动并再调整躯干；log step 105 回报求得的躯干目标前3项为[1.47,-1.92,-0.27]。视频 255.5–259 s 在这段持物运动中发生侧翻，随后log step 107才读取倾角，说明这段底盘与上身运动控制未能维持稳定；仅据这些证据不能将速度、承载姿态或躯干动作中的某一项单独确定为根因。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有状态日志和成功参考视频；倒篮后的首次接触被篮壁局部遮挡，上桌起点精度约为视频0.5秒。视频末尾餐桌已离开主视野，桌面节点终值由最后一次可见状态、后续无接触过程及评分器q_score=1/3共同推断；未将agent在log step 114自述“没有目标成立”当成事实。左夹爪试夹糖时的实际指腹接触难以确认，故该尝试接触填未知；第二根糖的独立沙发搬运未开始。没有质量分布、力和接触对数据，无法确定侧翻究竟由速度、姿态、躯干动作或其组合引起，控制根因不细分。视频在侧翻后不足10秒即结束，在线服务末次仍报done=False，因此不宣称评分器已触发跌倒终止。" + }, + "summary_zh": "机器人把篮内装饰倒到餐桌，完成两根蜡烛同桌及拐杖糖上桌，共3/9个节点；蜡烛随后被重新夹起放回同桌，按freeze_held约定不切断既有进度。右夹爪成功提起花环，但在携花环驶向沙发时于视频约256 s侧翻且未恢复，断点为花环上沙发，现象为平衡失败，控制证据支持搬运运动未维持稳定；礼盒及沙发糖关系未达成。无状态日志，桌面终值结合末次可见状态和评分器q_score=1/3推断，侧翻的具体动力学原因无法细分。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽查视频 90/146/240/263 s：倾篮后物品上桌、花环被右夹爪持住、末段侧翻均与标注一致；断点、平衡现象与控制根因有证据支持，未发现需要改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:26:56Z", + "review_prompt": "prompts/04_trajectory_review.md", + "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-putting-up-christmas-decorations-inside-i00-standard--b3igunn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": 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b/phase2/behavior-1k/putting_up_Christmas_decorations_inside/trajectories/behavior-putting-up-christmas-decorations-inside-i00-standard--crc5a4m.json @@ -0,0 +1,321 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-up-christmas-decorations-inside-i00-standard--crc5a4m", + "taskKey": "behavior-1k/putting_up_Christmas_decorations_inside", + "dag_sha256": "ff205aa53c28e4c5ed90954f2662c546f50165c51c74d5ed77e4ece4a9ffd6bf", + "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": 906, + "sim_steps": 906, + "physics_steps": 3624, + "steps": 878, + "elapsed_s": 470.7, + "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-putting-up-christmas-decorations-inside-i00-standard--crc5a4m/replay.mp4", + "duration_s": 30.2, + "fps": 30.0, + "frames": 906, + "sha256": "d143684cc1ea4718f4603b9f26b0721bfd9c653d82823d14dc9b7ed986fd074e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 9, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "gift_boxes_by_tree_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.5, + "log_step": null, + "text_zh": "观察：视频 0.0 s、2.5 s、3.0 s 的红黄礼盒留在客厅地板上；视频 1.0 s、2.5 s、11.5 s、14.5 s 可见圣诞树及附近地面，没有看到礼盒被放到树下、贴树或紧邻树。机器人反复转向，未见夹取或有目标的推盒动作。" + }, + { + "t": 30.167, + "log_step": null, + "text_zh": "推断：上述画面未显示第1个礼盒靠树曾达标；视频 23.5 s 至 30.167 s 机器人停在低位，未恢复布置。结合评分器 q_score=0.0、live_matches_replay=1，终态没有新增达标礼盒，记为未完成。" + } + ] + }, + "gift_boxes_by_tree_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.5, + "log_step": null, + "text_zh": "观察：视频 0.0 s、2.5 s、3.0 s 的红黄礼盒留在客厅地板上；视频 1.0 s、2.5 s、11.5 s、14.5 s 可见圣诞树及附近地面，没有看到礼盒被放到树下、贴树或紧邻树。机器人反复转向，未见夹取或有目标的推盒动作。" + }, + { + "t": 30.167, + "log_step": null, + "text_zh": "推断：上述画面未显示第2个礼盒靠树曾达标；视频 23.5 s 至 30.167 s 机器人停在低位，未恢复布置。结合评分器 q_score=0.0、live_matches_replay=1，终态没有新增达标礼盒，记为未完成。" + } + ] + }, + "gift_boxes_by_tree_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.5, + "log_step": null, + "text_zh": "观察：视频 0.0 s、2.5 s、3.0 s 的红黄礼盒留在客厅地板上；视频 1.0 s、2.5 s、11.5 s、14.5 s 可见圣诞树及附近地面，没有看到礼盒被放到树下、贴树或紧邻树。机器人反复转向，未见夹取或有目标的推盒动作。" + }, + { + "t": 30.167, + "log_step": null, + "text_zh": "推断：上述画面未显示第3个礼盒靠树曾达标；视频 23.5 s 至 30.167 s 机器人停在低位，未恢复布置。结合评分器 q_score=0.0、live_matches_replay=1，终态没有新增达标礼盒，记为未完成。" + } + ] + }, + "candles_on_table_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 30.167, + "log_step": null, + "text_zh": "推断：run.json 的 task_text 给定两根蜡烛初始在篮内；已检查视频 0.0–30.167 s，机器人仅转向和失衡，未见抓起蜡烛或搬运至餐厅桌的过程。视频末段桌面被遮挡，但评分器 q_score=0.0、live_matches_replay=1 排除新增的蜡烛上桌关系，因此第1根蜡烛上桌未完成，未见曾达标区间。" + } + ] + }, + "candles_on_table_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 30.167, + "log_step": null, + "text_zh": "推断：run.json 的 task_text 给定两根蜡烛初始在篮内；已检查视频 0.0–30.167 s，机器人仅转向和失衡，未见抓起蜡烛或搬运至餐厅桌的过程。视频末段桌面被遮挡，但评分器 q_score=0.0、live_matches_replay=1 排除新增的蜡烛上桌关系，因此第2根蜡烛上桌未完成，未见曾达标区间。" + } + ] + }, + "candy_cane_on_table": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 30.167, + "log_step": null, + "text_zh": "推断：run.json 的 task_text 给定三根拐杖糖初始在篮内；视频 0.0–30.167 s 未见机器人取糖、持糖或向桌面放糖，末段相机停在低位。目标桌面的细节不能直接看清，但评分器 q_score=0.0、live_matches_replay=1 排除新增的糖上桌关系，故终态为假，未见曾达标区间。" + } + ] + }, + "wreath_on_sofa": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 15.5, + "log_step": null, + "text_zh": "观察：视频 2.5 s、11.5 s、15.5 s 的沙发座面未见已摆放的花环；机器人没有执行从篮子夹起花环、持环移动或释放到沙发的动作。" + }, + { + "t": 30.167, + "log_step": null, + "text_zh": "推断：run.json 的 task_text 给定花环初始在篮内，视频中未见改变该关系的操作；结合评分器 q_score=0.0、live_matches_replay=1，花环上沙发终态为假，未见曾达标区间。" + } + ] + }, + "candy_canes_on_sofa_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 30.167, + "log_step": null, + "text_zh": "推断：run.json 的 task_text 给定三根拐杖糖初始在篮内；视频 0.0–30.167 s 未见夹取、搬运或放糖到沙发，视频 2.5 s、11.5 s、15.5 s 可见沙发而未见布置动作。糖体很小，无法逐根检查全部沙发表面，但评分器 q_score=0.0、live_matches_replay=1 排除新增的糖上沙发关系，因此第1根拐杖糖上沙发终态为假，未见曾达标区间。" + } + ] + }, + "candy_canes_on_sofa_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 30.167, + "log_step": null, + "text_zh": "推断：run.json 的 task_text 给定三根拐杖糖初始在篮内；视频 0.0–30.167 s 未见夹取、搬运或放糖到沙发，视频 2.5 s、11.5 s、15.5 s 可见沙发而未见布置动作。糖体很小，无法逐根检查全部沙发表面，但评分器 q_score=0.0、live_matches_replay=1 排除新增的糖上沙发关系，因此第2根拐杖糖上沙发终态为假，未见曾达标区间。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": 4.0, + "log_step": 33, + "where": "探索", + "evidence_zh": "观察：视频 0.0–3.5 s 机器人改变躯干及相机姿态并反复转向查看客厅；视频约 4.0 s 起视野大幅侧倾，随后继续翻转、漂移，视频 23.5–30.167 s 停在低位，头部画面几乎全被浅色表面遮住。log step 33 执行的是全景转向扫描，log step 59 的巡查看景脚本随后收到 EpisodeOver，log step 61 的在线服务状态为 done=true、control_steps=906、reason=\"failure: the robot fell over\"。未见机器人对任一装饰物开始专属操作，无法把失败唯一归到某个放置节点；视频约 4.0 s 仅作可见失稳的导航锚点。" + }, + "unmet": { + "gift_boxes_by_tree_1": false, + "gift_boxes_by_tree_2": false, + "gift_boxes_by_tree_3": false, + "candles_on_table_1": false, + "candles_on_table_2": false, + "candy_cane_on_table": false, + "wreath_on_sofa": false, + "candy_canes_on_sofa_1": false, + "candy_canes_on_sofa_2": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 4.0, + "log_step": 61, + "evidence_zh": "观察：视频约 4.0 s 房间地板与墙面在头部视野中近乎竖置，此后反复出现明显侧倾、低位贴近沙发及地面的视角；视频 23.5 s 后头部画面被浅色表面遮住，两个腕部视野保持贴近地面的倾倒姿态直到视频 30.167 s。log step 61 的在线服务明确报告该单局因机器人跌倒终结，且无恢复局。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 33, + "source_zh": "日志", + "evidence_zh": "推断：log step 26 的初始本体读数中躯干关节约为 [1.024,-1.448,-0.470,0]；log step 32 的 acts.row 每次先创建全零的25维动作，躯干默认值也全零；log step 33 的扫描代码调用 acts.row(base=[0,0,0.3])，因而转向时同时把躯干改为零位，未保留原来的稳定姿态，也未按倾斜反馈纠正。视频约 4.0 s 后的大幅姿态摆动与后续跌倒支持控制失稳这一归因。agent 在 log step 116 和最终 log step 320 也将清零躯干/手臂命令解释为失稳原因；该细分机制尚未由连续本体记录独立验证，故只标控制大类。" + } + ], + "gap_zh": "没有状态日志或成功参考视频。篮内小装饰物及全部目标桌面并非全程可见，相关节点终态结合已知篮内初态、视频没有搬放过程及评分器 q_score=0.0 推断；未用零分单独推断未尝试。机器人进行的是全局看景探索，无法确定专属操作节点，因此断点 ref=unknown，所有节点不添加未观察到的 contact_actual。log step 33 的离散本体读数在扫描末仍接近水平，而视频早段已经明显倾斜；两者无逐帧同步，不能据 agent 工作时间换算视频时刻，也不能完整核实失稳的动力学原因。log step 61 已结束在线局，之后的 mock 测试、无状态动力学求解及修订脚本均不属于视频中的执行成果。" + }, + "summary_zh": "评分局未见完成任何装饰物放置，九个节点终态均为假，原生 q_score=0.0。机器人在全局转向看景阶段出现大幅姿态摆动并跌倒，控制动作未保留初始躯干姿态是有日志依据的失稳原因；没有专属物体操作，断点保留 unknown／探索。无连续状态日志，小物体部分被遮挡，节点终态结合初态、实际动作和评分器总分判断；结束后的脚本与 mock 成果不计入进度。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "九个节点全 false、无曾达标区间与视频一致（0-30 s 抽帧未见抓取/放置，机器人早段即侧倾翻转，末段只见天花板/墙面）；平衡现象与控制根因有日志与视频支持。仅断点 ref/where 的写法可疑：机器人在做任何一步之前就跌倒。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "九节点全 false、无曾达标区间与视频一致（抽帧只见转向、侧倾翻转与倒地视角，无夹取/放置）；平衡现象与控制根因有日志与服务读数支持。第1轮的断点争议已由标注者以 03 文档的探索定义和各放置组无固定顺序作出有据回应，未发现新证据，不再重复。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:45:15Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-putting-up-christmas-decorations-inside-i00-standard--crc5a4m/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-up-christmas-decorations-inside-i00-standard--crc5a4m/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-up-christmas-decorations-inside-i00-standard--crc5a4m/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-putting-up-christmas-decorations-inside-i00-standard--crc5a4m/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f339a96b040373e3be38861fac58bad198db2218b0b5439373a46dc5fb954a37", + "video_sha256": "d143684cc1ea4718f4603b9f26b0721bfd9c653d82823d14dc9b7ed986fd074e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/putting_up_Christmas_decorations_inside/trajectories/behavior-putting-up-christmas-decorations-inside-i00-standard--mwbdivl.json b/phase2/behavior-1k/putting_up_Christmas_decorations_inside/trajectories/behavior-putting-up-christmas-decorations-inside-i00-standard--mwbdivl.json new file mode 100644 index 0000000000000000000000000000000000000000..558d2b05720c08cc4336a32f9aacf1bdf3e252f7 --- /dev/null +++ b/phase2/behavior-1k/putting_up_Christmas_decorations_inside/trajectories/behavior-putting-up-christmas-decorations-inside-i00-standard--mwbdivl.json @@ -0,0 +1,390 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-up-christmas-decorations-inside-i00-standard--mwbdivl", + "taskKey": "behavior-1k/putting_up_Christmas_decorations_inside", + "dag_sha256": "ff205aa53c28e4c5ed90954f2662c546f50165c51c74d5ed77e4ece4a9ffd6bf", + "outcome": { + "success": 0, + "reward": 0.2222222222222222, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 10209, + "sim_steps": 10209, + "physics_steps": 40836, + "steps": 3403, + "elapsed_s": 6482.6, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 0, + "q_score": 0.2222222222222222, + "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": 1.056, + "peak_processes": 9, + "peak_disk_gb": 0.332, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-putting-up-christmas-decorations-inside-i00-standard--mwbdivl/replay.mp4", + "duration_s": 340.3, + "fps": 30.0, + "frames": 10209, + "sha256": "369f4c33d30daf0f69581f0932d4d4c4a2957bb49fdae5e4d2557667c39f9153" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 9, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "gift_boxes_by_tree_1": { + "method": "visual", + "intervals": [ + [ + 203.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 25, + "log_step": null, + "text_zh": "观察：视频 20–25 s 的树周地面未见已经摆在树旁的礼盒；视频 173 s 两个红黄礼盒仍在客厅中段。" + }, + { + "t": 203.5, + "log_step": 495, + "text_zh": "推断：视频 182–203 s 机器人用底盘把近处礼盒推向树，视频 202–203 s 腕部画面中红黄礼盒边缘已接近树的下枝，视频 203–205 s 机器人倒退后不再操作礼盒。结合最终 q_score=2/9、视频 290.2 s 起一根蜡烛上桌及其余装饰仍未放好的画面，归入一个礼盒靠树；约视频 203.5 s 是推移结束后的视觉锚点，精确关系成立时刻不能直接读出。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "推/扫", + "note_zh": "视频 182–203 s，机器人保持双臂收起，用底盘前部沿地面推移近处礼盒；没有夹爪抓盒。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人轮式底盘支承整机并向圣诞树行驶，随后倒退离开礼盒。" + } + ] + }, + "gift_boxes_by_tree_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 203, + "log_step": 488, + "text_zh": "观察：视频 173 s 可见相邻的两个礼盒；视频 182–203 s 机器人推移它们，之后离开树旁。机身遮住礼盒与树之间的大部分地面，不能仅凭这次推移宣称两个都达标。" + }, + { + "t": 340.26, + "log_step": null, + "text_zh": "推断：最终评分 q_score=2/9，在线与回放一致；一根蜡烛已在桌上，初始树周视野未见已达标礼盒，因此最终最多容纳一个新增礼盒关系，第2个礼盒靠树为假。推盒后没有再次移动礼盒或恢复更多树旁关系的动作，未标达成区间。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "推/扫", + "note_zh": "视频 182–203 s，机器人保持双臂收起，用底盘前部沿地面推移近处礼盒；没有夹爪抓盒。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人轮式底盘支承整机并向圣诞树行驶，随后倒退离开礼盒。" + } + ] + }, + "gift_boxes_by_tree_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 203, + "log_step": 488, + "text_zh": "观察：视频 173–203 s 只看见机器人推移近处两只礼盒，没有第三只加入推移队列；视频 205 s 后机器人返回篮子，此后没有再次布置礼盒。" + }, + { + "t": 340.26, + "log_step": null, + "text_zh": "推断：最终 q_score=2/9 且已有一根蜡烛上桌，不支持三个礼盒靠树；未见机器人建立三个礼盒同时靠树的状态。" + } + ] + }, + "candles_on_table_1": { + "method": "visual", + "intervals": [ + [ + 290.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 274.5, + "log_step": 673, + "text_zh": "观察：视频 270–274.5 s 右夹爪伸入篮中后提起一根有黑色烛芯的白色柱状蜡烛；视频 275–289 s 该蜡烛随夹爪离开篮子并被送到白色餐桌上方。" + }, + { + "t": 290.2, + "log_step": 696, + "text_zh": "观察：视频 289.7–290.2 s 右夹爪松开，白色柱状蜡烛与夹爪分离，留在白色餐桌面上；视频 290.7–291.7 s 机器人后退时蜡烛仍留在桌面。视频 339.3–340.26 s 的末段没有再次取走它。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人右二指夹爪夹住一根白色柱状蜡烛，提离篮子并在餐桌上松开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人携带蜡烛横移绕开篮子，再行驶到餐桌旁。" + } + ] + }, + "candles_on_table_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 305, + "log_step": 715, + "text_zh": "观察：视频 299–305 s 机器人在篮旁再次闭合右夹爪并抬臂，随后到餐桌执行放置，但没有第二根蜡烛随夹爪出篮或到桌。" + }, + { + "t": 333.7, + "log_step": 734, + "text_zh": "观察：视频 327–333.7 s 最后一次取物动作中，右腕画面显示夹爪空合，篮内物体仍留在篮里；视频 334–340.26 s 机器人驶向桌边，未见第二根蜡烛被携带、释放并留在桌上。log step 735 仅称正在执行流程，并非成功验收。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "机器人右夹爪在篮子附近闭合后抬起，视频未显示夹住第二根蜡烛；指垫是否擦到篮沿或目标不能辨明，不能标为实际抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人为第二根蜡烛的尝试在篮子和餐桌之间往返行驶；未见带着第二根蜡烛。" + } + ] + }, + "candy_cane_on_table": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 119.5, + "log_step": 277, + "text_zh": "观察：视频 117–120 s 机器人右夹爪在篮内拐杖糖附近下降、合拢，视频 120–121.9 s 抬起后没有拐杖糖跟随，红白糖仍在篮中。log step 276–277 的脚本及执行命令明确是这次取糖动作；log step 289 的脚本输出记录闭合后开度为 0.0000 m。" + }, + { + "t": 340.26, + "log_step": null, + "text_zh": "推断：整段视频未见拐杖糖被送到餐桌，视频 328–333 s 篮内仍有红白拐杖糖。唯一一次明确取糖尝试归入单根拐杖糖上桌步骤；后续没有修复该次空抓或完成放糖。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "右夹爪在篮中糖附近尝试闭合，未见任何糖被夹住或带出；是否发生短暂指垫接触不可辨，实际抓握不成立。" + } + ] + }, + "wreath_on_sofa": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 230.5, + "log_step": 578, + "text_zh": "观察：视频 225–232 s 机器人右夹爪在篮内花环上方下降、合拢后抬起，花环仍在篮内，没有随右手出篮；log step 577–578 对应取花环脚本及执行。" + }, + { + "t": 332, + "log_step": null, + "text_zh": "观察：视频 328–332 s 篮内仍可见红绿花环和拐杖糖；整段视频没有机器人把花环送到沙发并松手的动作。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "机器人右夹爪尝试伸入篮子取花环，未形成可见夹持，指垫是否擦碰叶片或篮沿不清楚。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人由树旁空手行驶返回篮子，为取花环定位。" + } + ] + }, + "candy_canes_on_sofa_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 332, + "log_step": null, + "text_zh": "观察：视频 117–121.9 s 的取糖未把糖带出篮子，视频 225–232 s 及 328–332 s 仍可见篮内红白拐杖糖；整段视频没有向任何沙发放糖的动作，也未见沙发上形成1根糖的目标关系。" + } + ] + }, + "candy_canes_on_sofa_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 332, + "log_step": null, + "text_zh": "观察：视频 117–121.9 s 的取糖未把糖带出篮子，视频 225–232 s 及 328–332 s 仍可见篮内红白拐杖糖；整段视频没有向任何沙发放糖的动作，也未见沙发上形成2根糖的目标关系。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.2222222222222222, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "candy_cane_on_table", + "t": 119.5, + "log_step": 277, + "where": "操作中", + "evidence_zh": "推断：视频 117–121.9 s 机器人取糖时右夹爪空合后抬起，糖留在篮中；这次已启动的取糖未在后续得到修复，归入单根拐杖糖上桌步骤。此前的蜡烛抓取失败后来在视频 290.2 s 完成上桌而得到修复；取花环及第二根蜡烛的失败发生更晚。" + }, + "unmet": { + "gift_boxes_by_tree_1": true, + "gift_boxes_by_tree_2": false, + "gift_boxes_by_tree_3": false, + "candles_on_table_1": true, + "candles_on_table_2": false, + "candy_cane_on_table": false, + "wreath_on_sofa": false, + "candy_canes_on_sofa_1": false, + "candy_canes_on_sofa_2": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 119.5, + "log_step": 289, + "evidence_zh": "观察：视频 117–121.9 s 右夹爪下降到篮内物品附近、合拢并抬起，红白拐杖糖仍留在篮底，没有形成带着糖移动的夹持；log step 289 中该次脚本输出为闭合后开度 0.0000 m，没有先夹住再掉落的证据。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 276 的取糖脚本以数值逆解生成接近、下降、闭合和抬起动作，log step 278/289 记录逆解返回成功并执行完闭合抬起；视频 117–121.9 s 却显示糖没有被夹住或带起，说明这套抓取执行未建立所需指垫夹持。证据不能区分接触几何选择与关节跟踪误差，归因停在控制，不把逆解成功当作物理抓取成功。", + "source_zh": "日志" + } + ], + "gap_zh": "没有状态日志或成功参考视频；树旁礼盒被机身及画面边缘部分遮挡，单盒达标与第2盒最终未达标结合视频和 q_score=2/9 推断，视频 203.5 s 只是推移结束附近的锚点，无法精确测出包围盒间隙。取糖脚本没有写明最终送往桌还是沙发，按唯一一次取糖归入单根上桌节点；未据此给上沙发节点记实际尝试。空抓时没有接触对、力或完整关节跟踪记录，无法细分控制根因。" + }, + "summary_zh": "机器人把近处礼盒推向圣诞树，并在视频约 290.2 s 将一根蜡烛松手留在餐桌上；结合最终 q_score=2/9，判为一个礼盒靠树和一根蜡烛上桌，最终完成2/9个节点。最早未修复的明确取物失败是视频约 119.5 s 的取糖空抓，后续花环和第二根蜡烛的尝试也没有完成目标放置，两根糖上沙发未启动。没有状态日志，树旁礼盒的精确数量关系和时刻依赖总分辅助推断，取糖的具体目标表面及控制子类仍有证据缺口。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "未发现需要改动的错误。视频 117–122 s 右腕画面可见夹爪在篮内闭合后抬起、糖仍在篮中；log 步 id 289 的闭合开度 0.0000 m，且 id 299 的服务读数 Control steps=3657（÷30≈121.9 s 视频时间）与此对应，说明取糖空抓确实发生在评分回合。q_score=2/9 与一盒靠树加一根蜡烛上桌的标注一致，根因停在“控制”符合分类规则（分不出子类时允许）。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + 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"cbc741bb72180ef98622d21a61286092ffd147c1c6dbd66fe22a047ae70618ca", + "video_sha256": "369f4c33d30daf0f69581f0932d4d4c4a2957bb49fdae5e4d2557667c39f9153", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/putting_up_Christmas_decorations_inside/trajectories/behavior-putting-up-christmas-decorations-inside-i00-standard--ufm6q37.json b/phase2/behavior-1k/putting_up_Christmas_decorations_inside/trajectories/behavior-putting-up-christmas-decorations-inside-i00-standard--ufm6q37.json new file mode 100644 index 0000000000000000000000000000000000000000..c6c2aac066826f5d8401c75b6f92e09a7a6d08d9 --- /dev/null +++ b/phase2/behavior-1k/putting_up_Christmas_decorations_inside/trajectories/behavior-putting-up-christmas-decorations-inside-i00-standard--ufm6q37.json @@ -0,0 +1,506 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-up-christmas-decorations-inside-i00-standard--ufm6q37", + "taskKey": "behavior-1k/putting_up_Christmas_decorations_inside", + "dag_sha256": "ff205aa53c28e4c5ed90954f2662c546f50165c51c74d5ed77e4ece4a9ffd6bf", + "outcome": { + "success": 0, + "reward": 0.8888888888888888, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 22311, + "sim_steps": 22311, + "physics_steps": 89244, + "steps": 12831, + "elapsed_s": 6395.3, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 0, + "q_score": 0.8888888888888888, + "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-putting-up-christmas-decorations-inside-i00-standard--ufm6q37/replay.mp4", + "duration_s": 743.7, + "fps": 30.0, + "frames": 22311, + "sha256": "8c37a4923741056326adb68e64c4708793d07720bd2da08ea609bf7224057ec7" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 9, + "base": 0, + "peak": 8, + "final": 8, + "nodes": { + "gift_boxes_by_tree_1": { + "method": "visual", + "intervals": [ + [ + 28.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 15.0, + "log_step": 59, + "text_zh": "观察：视频 8.0–15.0 s，机器人左夹爪合拢夹住红色黄缎带礼盒，礼盒随左臂抬起；视频 24.0–28.0 s，机器人把它降至树的低枝旁，随后空夹爪离开。" + }, + { + "t": 28.0, + "log_step": 71, + "text_zh": "推断：结合视频 28.0–34.0 s 的放手、撤臂和后续视频 71.0–75.0 s 树脚礼盒的落点，至少一个礼盒约从视频 28.0 s 起已离手停在树旁；低枝遮挡精确接触位置，起点约有一秒误差。开局视频 0.0–8.0 s 的礼盒散在客厅通道，未见已在树脚的礼盒。" + }, + { + "t": 743.66, + "log_step": 487, + "text_zh": "观察：视频 740.0 s 左腕视野仍有礼盒，视频 742.7、743.0、743.3、743.66 s 礼盒随左夹爪上升，末帧没有再次放下；log step 487 下达重抓树旁礼盒并抬高的命令。" + }, + { + "t": 743.66, + "log_step": null, + "text_zh": "推断：按本 DAG 的 freeze_held=true，末段重抓期间保留上一次已放妥的计数值，不把持物过程另作状态丢失；这不表示最终联合离手验收已满足。评分器 q_score=8/9、live_matches_replay=1，与桌上拐杖糖未达标而其余目标关系达标相容。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左二指夹爪夹持礼盒上部并搬运、松开；末段再次夹起树旁一盒。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘支承机器人转向并携礼盒驶向圣诞树。" + } + ] + }, + "gift_boxes_by_tree_2": { + "method": "visual", + "intervals": [ + [ + 67.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 56.0, + "log_step": 95, + "text_zh": "观察：视频 45.0–56.0 s，第二个礼盒进入左夹爪并随臂提起；视频 63.0–66.0 s 被携至树前，视频 66.5–71.5 s 左夹爪张开并撤离，盒子留在低枝旁地面。" + }, + { + "t": 71.5, + "log_step": 109, + "text_zh": "推断：从视频 67.0 s 左夹爪已空、后续树脚两个礼盒的画面，至少两盒约从视频 67.0 s 起符合靠树关系；具体落地时刻及枝叶下接触点约有一秒不确定性。视频 743.66 s 的再次持盒按 freeze_held=true 保留此前已完成的计数。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左二指夹爪夹住第二盒的上部，运到树前后松开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘携第二个礼盒沿客厅通道回到树旁并转向定位。" + } + ] + }, + "gift_boxes_by_tree_3": { + "method": "visual", + "intervals": [ + [ + 679.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 635.0, + "log_step": 441, + "text_zh": "观察：视频 625.0 s 最后一盒仍在远端沙发旁地面，视频 635.0–675.0 s 礼盒已在左夹爪中并随机器人驶回树前。" + }, + { + "t": 679.5, + "log_step": 456, + "text_zh": "观察：视频 677.5–679.5 s，左夹爪松开第三盒，盒子落到先前两盒旁；视频 680.0–687.0 s 两个腕部与头部视野共同显示礼盒留在低枝旁，空夹爪撤走。" + }, + { + "t": 743.66, + "log_step": null, + "text_zh": "推断：第三个数量条件约从视频 679.5 s 成立；没有包围盒、接触状态日志可直接计算 nextto 阈值，但树旁落点与评分器 q_score=8/9 支持三个礼盒关系达标。视频 742.7–743.66 s 重抓其中一盒时，依 freeze_held=true 保留原计数；最终持物仍未满足联合释放条件。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左二指夹爪夹起远端第三个礼盒，运至圣诞树旁后张开释放。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘支承机器人携第三盒绕过沙发并长距离驶回树旁。" + } + ] + }, + "candles_on_table_1": { + "method": "visual", + "intervals": [ + [ + 185.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 171.0, + "log_step": 176, + "text_zh": "观察：视频 163.0 s 篮中可见两根蜡烛；视频 170.0–173.0 s 一根已离开篮子，在左夹爪中随臂抬高。" + }, + { + "t": 185.5, + "log_step": 202, + "text_zh": "观察：视频 184.0 s 左腕近景仍见夹持的蜡烛，视频 185.0–186.0 s 夹爪已张开且蜡烛留在白色餐桌面；视频 190.0–202.0 s 从头部视角可见它独立停在桌面，未随撤臂或底盘后退移动。" + }, + { + "t": 610.0, + "log_step": 430, + "text_zh": "观察：视频 605.0–613.0 s，餐桌上可见两根蜡烛，第一根在回收另一根时仍留在原桌。后续机器人未再操作桌上蜡烛。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左二指夹爪夹住第一根蜡烛，从篮中提起、携带并在餐桌上释放。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘携蜡烛从篮子驶向餐桌，并在桌椅旁调整站位。" + } + ] + }, + "candles_on_table_2": { + "method": "visual", + "intervals": [ + [ + 604.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 269.5, + "log_step": 272, + "text_zh": "观察：视频 245.0–267.0 s 第二根蜡烛被左夹爪提起并带到餐桌旁；视频 268.0–271.0 s 释放后从腕部视野消失，随后餐桌始终只清楚可见一根蜡烛；视频 585.0–591.0 s 可见另一根在餐桌旁地面并被重新夹起。没有把这次未证实在桌上停稳的释放计作达标。" + }, + { + "t": 604.0, + "log_step": 428, + "text_zh": "观察：视频 591.0–602.0 s 被回收的蜡烛保持在左夹爪中；视频 603.0 s 夹爪已张开，视频 604.0–605.5 s 腕部视野显示蜡烛留在餐桌面，视频 606.0–613.0 s 机器人空手撤离时两根蜡烛都留在同一桌面。" + }, + { + "t": 613.0, + "log_step": 431, + "text_zh": "推断：回收放置后的第二个数量条件约从视频 604.0 s 起成立；此前释放未成功的情况已由这次重新放置修复，因此不作为本次失败断点。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人右夹爪早先向篮中第二根蜡烛合拢但未带出；随后左夹爪多次调整并夹出它，掉落后又从地面夹起，最终在餐桌内侧松开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘在取第二根蜡烛、携带到餐桌及返回地面回收的过程中移动。" + } + ] + }, + "candy_cane_on_table": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 535.0, + "log_step": 404, + "text_zh": "观察：视频 505.0–520.0 s 机器人左夹爪抓住并翻转篮子，最后一根拐杖糖出篮落地；视频 525.0–535.0 s 左夹爪从地面夹起它，原落点不再有该糖。" + }, + { + "t": 551.0, + "log_step": 413, + "text_zh": "观察：视频 540.0–550.5 s 机器人携糖到客厅沙发前的白色矮茶几；视频 551.0 s 左夹爪张开，视频 551.5–553.0 s 腕部视野中糖留在茶几面，空夹爪撤离。该家具与视频 604.0–613.0 s 放蜡烛的带椅餐桌是不同物体。log step 404、408、413 明确将目的地称为 living-room coffee table。" + }, + { + "t": 743.66, + "log_step": null, + "text_zh": "推断：本 DAG 的 criterion_zh 及 atom 把此目标限定为餐厅桌 table.n.02_1；视频中的糖被放到客厅矮茶几，此后机器人只回收蜡烛、搬礼盒和重摆沙发糖，未把茶几上的糖移到餐桌。因此按此评分目标从未达标，final=false；评分器 q_score=8/9、live_matches_replay=1 也支持仅该目标关系未满足。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左二指夹爪先夹篮沿把篮子翻倒以暴露最后一根糖，再夹住糖的直杆搬运并在茶几上松开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘携最后一根拐杖糖从篮子附近驶到客厅白色矮茶几前。" + } + ] + }, + "wreath_on_sofa": { + "method": "visual", + "intervals": [ + [ + 133.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 115.0, + "log_step": 143, + "text_zh": "观察：视频 105.0 s 花环仍在篮中；视频 110.0–115.0 s 花环已被左夹爪夹住并提离篮子，随机器人向沙发移动。" + }, + { + "t": 133.0, + "log_step": 158, + "text_zh": "观察：视频 125.0–131.0 s 花环位于沙发坐垫上方且夹爪仍贴近；视频 132.0–134.0 s 左夹爪撤离，花环留在棕色沙发坐垫，视频 135.0–142.0 s 保持不动。" + }, + { + "t": 724.0, + "log_step": 479, + "text_zh": "观察：视频 700.0–724.0 s 左夹爪在旁边重摆拐杖糖，花环始终留在同一坐垫上，没有被提离沙发。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左二指夹爪夹住花环一处并单臂提离篮子，运到沙发坐垫上释放。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘支承机器人携花环从篮子移到棕色沙发前。" + } + ] + }, + "candy_canes_on_sofa_1": { + "method": "visual", + "intervals": [ + [ + 338.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 320.0, + "log_step": 307, + "text_zh": "观察：视频 305.0 s 篮中尚可见拐杖糖；视频 312.0–335.0 s 一根糖已在左夹爪两指之间，随机器人离开篮子并来到有花环的沙发前。" + }, + { + "t": 338.0, + "log_step": 314, + "text_zh": "推断：视频 336.0–339.0 s 糖离开夹爪、留在花环边缘，部分杆身伸向坐垫；结合视频 700.0–706.0 s 的近景，同一根糖在花环旁由坐垫承托，约从视频 338.0 s 起计第一根。早期糖与花环的局部接触被枝叶遮挡，直接承托的起始时刻较放手时刻更不确定。" + }, + { + "t": 724.0, + "log_step": 477, + "text_zh": "观察：视频 706.0–708.0 s 机器人再次夹起靠花环的糖，视频 719.0–721.0 s 在同一沙发另一片空坐垫释放，视频 722.0–724.0 s 两根糖分别躺在花环两侧。重摆期间另一根糖一直在沙发上，至少一根的条件没有中断。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左二指夹爪夹住拐杖糖直杆，从篮中运到沙发花环旁释放；末段又夹起该糖并在空坐垫重新放下。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘携第一根沙发糖从篮子驶至沙发，并在末段重摆时侧移。" + } + ] + }, + "candy_canes_on_sofa_2": { + "method": "visual", + "intervals": [ + [ + 472.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 455.0, + "log_step": 366, + "text_zh": "观察：视频 445.0–455.0 s，机器人左夹爪从篮旁地面夹起另一根糖，糖随臂升高并离开地面；此前视频 355.0–400.0 s 曾反复伸入篮中并误夹起篮子，未带出第二根糖。" + }, + { + "t": 472.5, + "log_step": 374, + "text_zh": "观察：视频 468.0–470.0 s 第二根糖位于沙发坐垫上方的左夹爪中，视频 471.0–474.0 s 糖已离手、单独躺在花环旁的空坐垫；视频 700.0–704.0 s 同一沙发上清楚可见两根糖与花环。" + }, + { + "t": 724.0, + "log_step": 479, + "text_zh": "观察：视频 706.0–718.0 s 机器人重抓靠花环的一根糖，另一根始终在坐垫；视频 721.0–724.0 s 重抓的糖再次放下，两根都与花环分开。" + }, + { + "t": 724.0, + "log_step": null, + "text_zh": "推断：第二个数量条件约从视频 472.5 s 成立；视频 706.0–721.0 s 重摆时按 freeze_held=true 保留已完成的计数，重新松手后两根仍在同一沙发上，未产生丢失区间。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左夹爪在取第二根糖时曾夹住篮沿并抬起篮子，随后改夹地面糖的直杆，运到沙发空坐垫松开；末段重摆其中一根。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘在篮子、地面糖和沙发之间移动并携糖到沙发前。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.8888888888888888, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "candy_cane_on_table", + "t": 551.0, + "log_step": 413, + "where": "操作中", + "evidence_zh": "观察：视频 551.0–553.0 s，机器人左夹爪把最后一根拐杖糖释放在客厅白色矮茶几上；log step 404、408、413 明确选择 coffee table。inputs/run.json 的 task_text 只要求一根糖放在 a table，而本 DAG 的 criterion_zh 和 atom 指定餐厅桌 table.n.02_1。推断：按此评分目标，该步从这次落点选择起未完成且此后未修复；前面的蜡烛落地已在视频 604.0 s 修复，后面的礼盒及沙发糖处理未改变茶几上糖的位置。" + }, + "unmet": { + "gift_boxes_by_tree_1": true, + "gift_boxes_by_tree_2": true, + "gift_boxes_by_tree_3": true, + "candles_on_table_1": true, + "candles_on_table_2": true, + "candy_cane_on_table": false, + "wreath_on_sofa": true, + "candy_canes_on_sofa_1": true, + "candy_canes_on_sofa_2": true + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "任务设计问题：inputs/run.json 的任务文字要求糖放到一张桌上，没有限定餐厅桌；视频 551.0–553.0 s 机器人确实把糖放稳在客厅茶几上，但本 DAG 的评分关系仅接受餐厅桌 table.n.02_1，故按该目标记未完成，不为这一文字与评分范围差异虚构机器人失败现象或根因。未提供状态日志或成功参考视频，无法逐项读取原生谓词；8/9 的评分总量用于支持终态关系推断，礼盒的精确 nextto 阈值及早期糖在花环边的直接承托时刻有视觉不确定性。视频 742.7–743.66 s 还显示机器人重抓礼盒后持物结束；相应节点依 freeze_held=true 保留已放妥计数，但这不代表通过全物体离手静止的联合验收。" + }, + "summary_zh": "机器人将三个礼盒运到树旁、花环和两根拐杖糖放到同一沙发，并在回收落地蜡烛后将两根蜡烛放到同一餐桌；按持物冻结规则节点终值为8/9，评分器 q_score=8/9且回放一致。任务设计问题：任务文字允许糖放在一张桌上，视频 551.0–553.0 s 的糖确已放在客厅茶几，但 DAG 仅接受餐厅桌，因此断点记拐杖糖上桌，不添加机器人现象或根因。没有状态日志，精确接触与距离部分依视觉和总分推断；视频 743.66 s 机器人仍持重抓礼盒，也未完成联合释放验收。", + "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、时间、断点（拐杖糖放桌，视频 551 s 落在客厅茶几）与“任务设计问题”处理均有证据：任务文字只说“a table”，DAG 的 atom 仅接受餐厅桌 table.n.02_1，q_score=8/9 与此相容；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": "2026-10-30T21:52:13Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-putting-up-christmas-decorations-inside-i00-standard--ufm6q37/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-up-christmas-decorations-inside-i00-standard--ufm6q37/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5a0ffdf9422e24b2e991c88cfec956f768b7386e681f8d34519a400d612c912c", + "video_sha256": "8c37a4923741056326adb68e64c4708793d07720bd2da08ea609bf7224057ec7", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/putting_up_Christmas_decorations_inside/trajectories/behavior-putting-up-christmas-decorations-inside-i00-standard--v9aem4a.json b/phase2/behavior-1k/putting_up_Christmas_decorations_inside/trajectories/behavior-putting-up-christmas-decorations-inside-i00-standard--v9aem4a.json new file mode 100644 index 0000000000000000000000000000000000000000..5049ae2696a28bff2bb4555f5e2a4645632a5017 --- /dev/null +++ b/phase2/behavior-1k/putting_up_Christmas_decorations_inside/trajectories/behavior-putting-up-christmas-decorations-inside-i00-standard--v9aem4a.json @@ -0,0 +1,449 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-up-christmas-decorations-inside-i00-standard--v9aem4a", + "taskKey": "behavior-1k/putting_up_Christmas_decorations_inside", + "dag_sha256": "ff205aa53c28e4c5ed90954f2662c546f50165c51c74d5ed77e4ece4a9ffd6bf", + "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, + "missing_log": 0, + "n_actions": 4797, + "sim_steps": 4797, + "physics_steps": 19188, + "steps": 752, + "elapsed_s": 6479.7, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 0, + "q_score": 0.6666666666666666, + "sim_startups": 2, + "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-putting-up-christmas-decorations-inside-i00-standard--v9aem4a/replay.mp4", + "duration_s": 159.9, + "fps": 30.0, + "frames": 4797, + "sha256": "49011d79d2625b1ee34f888e30f7799ba45579245394cbd918d033c5ee18b007" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 9, + "base": 0, + "peak": 6, + "final": 6, + "nodes": { + "gift_boxes_by_tree_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 40.5, + "log_step": 95, + "text_zh": "观察：视频 12.0–14.0 s 左夹爪夹住并提起一个礼盒，视频 24.0–27.0 s 右夹爪提起另一个；视频 37.0–40.5 s 机器人双手携盒靠近圣诞树，下降后张爪，两盒留在树前地面。视频 41.0–43.0 s、47.0 s 可见盒与树干之间有间隔，之后机器人离开，没有再次调整这两盒。" + }, + { + "t": 159.87, + "log_step": null, + "text_zh": "推断：评分器报告 q_score=0.6666666666666666、live_matches_replay=1；本DAG的9个目标关系中，视频已确认两根蜡烛及一根糖在桌上、花环及两根糖在同一沙发上，共6项，初始均未满足。因此剩余3个礼盒计数节点的末态均为false；不能把“看起来靠近树”直接当作评分关系成立。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：机器人先用左二指夹爪夹持一个礼盒，再以右二指夹爪夹持另一个；随后左右手各持一盒，共同搬运、下降并释放。该接触记录属于这次两盒共同放置，未表示树关系达标。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：轮式底盘支承机器人，先携左手礼盒移向另一礼盒，再携两盒转向并驶至圣诞树前。" + } + ] + }, + "gift_boxes_by_tree_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 40.5, + "log_step": 95, + "text_zh": "观察：视频 12.0–14.0 s 左夹爪夹住并提起一个礼盒，视频 24.0–27.0 s 右夹爪提起另一个；视频 37.0–40.5 s 机器人双手携盒靠近圣诞树，下降后张爪，两盒留在树前地面。视频 41.0–43.0 s、47.0 s 可见盒与树干之间有间隔，之后机器人离开，没有再次调整这两盒。" + }, + { + "t": 159.87, + "log_step": null, + "text_zh": "推断：评分器报告 q_score=0.6666666666666666、live_matches_replay=1；本DAG的9个目标关系中，视频已确认两根蜡烛及一根糖在桌上、花环及两根糖在同一沙发上，共6项，初始均未满足。因此剩余3个礼盒计数节点的末态均为false；不能把“看起来靠近树”直接当作评分关系成立。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：机器人先用左二指夹爪夹持一个礼盒，再以右二指夹爪夹持另一个；随后左右手各持一盒，共同搬运、下降并释放。该接触记录属于这次两盒共同放置，未表示树关系达标。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：轮式底盘支承机器人，先携左手礼盒移向另一礼盒，再携两盒转向并驶至圣诞树前。" + } + ] + }, + "gift_boxes_by_tree_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 47.0, + "log_step": 103, + "text_zh": "观察：视频 43.0–50.0 s 机器人空手在圣诞树旁移动、转动躯干扫视；画面中的树旁仍只有刚放下的两盒。此后机器人转去篮子、沙发及餐桌，视频至159.87 s 未见它抓起或搬运第三盒；log step 295 最后只记录 agent 用已存深度数据检查去第三盒的通路，没有新的动作提交。" + }, + { + "t": 159.87, + "log_step": null, + "text_zh": "推断：评分器报告 q_score=0.6666666666666666、live_matches_replay=1；本DAG的9个目标关系中，视频已确认两根蜡烛及一根糖在桌上、花环及两根糖在同一沙发上，共6项，初始均未满足。因此剩余3个礼盒计数节点的末态均为false；不能把“看起来靠近树”直接当作评分关系成立。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 43.0–50.0 s 轮式底盘在树旁移动以配合扫视寻找第三盒；未见夹爪接触第三盒。" + } + ] + }, + "candles_on_table_1": { + "method": "visual", + "intervals": [ + [ + 139.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 131.0, + "log_step": 254, + "text_zh": "观察：视频 128.0–131.0 s 左夹爪在篮中夹住柱状蜡烛并提起，蜡烛随左腕移动离开篮子；右夹爪同时持有一根拐杖糖。" + }, + { + "t": 140.0, + "log_step": 270, + "text_zh": "观察：视频 138.4–139.4 s 机器人在白色餐桌上方下降双臂并张爪，左腕视图显示蜡烛与夹爪分离并留在桌上；视频 139.6–140.6 s 双臂退离，蜡烛由桌面承托且不再移动。达标时刻取视频约139.5 s，误差约0.5 s；视频159.87 s仍可见它在桌上。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：左二指夹爪夹持第一根实际上桌的蜡烛，右二指夹爪同时夹持桌用拐杖糖；双手共同搬运并在餐桌释放各自物体。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：底盘携左手蜡烛及右手拐杖糖从篮旁驶向餐桌，并在放置时小幅进退。" + } + ] + }, + "candles_on_table_2": { + "method": "visual", + "intervals": [ + [ + 158.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 151.0, + "log_step": 286, + "text_zh": "观察：视频 147.0–151.0 s 右夹爪伸入篮中夹住剩余蜡烛并抬起，圆柱体随右腕离开篮子；机器人随后携它驶回餐桌。" + }, + { + "t": 159.87, + "log_step": 290, + "text_zh": "观察：视频 156.0–158.4 s 右手将第二根蜡烛降至桌面后张爪退离，右腕画面中蜡烛留在白色桌面上；视频159.67–159.87 s头部视图显示两根蜡烛和一根拐杖糖均留在同一张桌面，双爪已空。第二根离手静止取视频约158.0 s，误差约0.5 s。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人右二指夹爪在篮中夹住剩余柱状蜡烛，提起后携带到桌面，张爪释放。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人底盘在持有第二根蜡烛时从篮旁移向餐桌，放置后退回。" + } + ] + }, + "candy_cane_on_table": { + "method": "visual", + "intervals": [ + [ + 139.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 130.0, + "log_step": 246, + "text_zh": "观察：视频126.0–130.0 s右腕画面可见夹爪间有红绿白条纹拐杖糖，糖随右腕离开篮子；它随后与左手蜡烛一起被搬向餐桌。" + }, + { + "t": 140.0, + "log_step": 270, + "text_zh": "观察：视频138.8–139.4 s右夹爪张开，拐杖糖脱离夹爪并落在白色餐桌上；视频139.6–140.6 s右腕视图显示它平放于桌面且夹爪退开。达标取视频约139.5 s，误差约0.5 s；视频159.87 s它仍在桌上。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：右二指夹爪夹持桌用拐杖糖，左二指夹爪同时夹持一根蜡烛；两臂配合搬运并在餐桌共同释放。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：轮式底盘支承机器人，携带右手拐杖糖与左手蜡烛前往餐桌，并配合放置进退。" + } + ] + }, + "wreath_on_sofa": { + "method": "visual", + "intervals": [ + [ + 76.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 65.0, + "log_step": 121, + "text_zh": "观察：视频60.0–63.0 s左夹爪伸入篮子夹住花环并提起；视频64.0–74.5 s左腕视图持续显示花环随手移动，随后右手另持一根拐杖糖。" + }, + { + "t": 77.0, + "log_step": 170, + "text_zh": "观察：视频75.0–76.5 s双手在深色沙发坐垫上方下降、张爪，花环留在坐垫左侧；视频77.0–80.0 s机器人退开，花环与第一根糖都在坐垫上。达标取视频约76.5 s，误差约0.5 s；视频107.0–110.0 s再次看见花环保持在原沙发。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：左二指夹爪夹持花环的一段，右二指夹爪另夹一根拐杖糖，两臂各持一件共同搬运到沙发，下降并同时释放；取花环初期仅左手夹持。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：底盘在左手持花环、右手持糖时驶向沙发，配合放置靠近坐垫。" + } + ] + }, + "candy_canes_on_sofa_1": { + "method": "visual", + "intervals": [ + [ + 76.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 69.0, + "log_step": 129, + "text_zh": "观察：视频64.0–66.0 s右夹爪伸入篮内闭合后提起第一根拐杖糖；视频66.0–74.5 s右腕视图显示糖夹在两指间随手移动，同时左手携带花环。" + }, + { + "t": 77.0, + "log_step": 170, + "text_zh": "观察：视频75.5–76.5 s右爪在深色沙发坐垫上张开，糖与夹爪分离；视频77.0–80.0 s头部及腕部视图可见一根弯钩糖躺在花环右侧，机器人已退离。达标取视频约76.5 s，误差约0.5 s；视频107.0–110.0 s此糖仍在该沙发。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：右二指夹爪夹持第一根沙发用糖，左二指夹爪同时夹持花环，两臂各持一件搬运并在沙发共同释放。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：底盘支承机器人，携右手糖及左手花环移到沙发前，放置时向坐垫靠近。" + } + ] + }, + "candy_canes_on_sofa_2": { + "method": "visual", + "intervals": [ + [ + 107.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 95.0, + "log_step": 202, + "text_zh": "观察：视频84.0–91.0 s右夹爪曾把篮子提起又放下；视频92.0–96.0 s重新伸入篮中，随后腕部视图出现被夹住并随手移动的第二根糖，机器人携它返回原沙发。" + }, + { + "t": 107.5, + "log_step": 215, + "text_zh": "观察：视频105.0–106.5 s右手把糖降到原沙发坐垫，张爪后右腕视图可见两根糖都在花环右侧；视频107.0–110.0 s机器人退离，头部视图仍显示花环与两根糖，未再搬动。第二根离手静止取视频约107.0 s，误差约0.5 s。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：右二指夹爪先误夹并抬起篮沿，放下篮子后重新夹住第二根拐杖糖，携往沙发并张爪释放。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：轮式底盘携右手第二根糖从篮旁驶至先前的沙发，在放置前转向并靠近。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.6666666666666666, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "gift_boxes_by_tree_1", + "t": 40.0, + "log_step": 95, + "where": "操作中", + "evidence_zh": "推断：视频39.5–40.5 s机器人在树前张开两爪，两盒留在地面；视频41.0–43.0 s及47.0 s仍可见两盒与树干分开，之后没有修正。视频中另6个桌面及沙发目标最终均成立，而评分器q_score=6/9、live_matches_replay=1，故两盒这次落点未满足任一树关系；最先未修复的步骤是第1个礼盒靠树，同时尝试的第2盒也未达标。log step 96所谓“直接在前部树枝下方”是agent的计划，不能替代验收。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 40.0, + "log_step": 95, + "evidence_zh": "推断：视频39.5–41.5 s两盒在树前落地、夹爪撤回后静止，视频47.0 s换角度仍可见两盒与树干有间隔；随后未再向树内推进。由视频确认的其余6项目标与评分器q_score=6/9合并判断，这两盒的释放落点没有达到树旁、树下或接触树的评分条件；属于放置位置未到验收范围，未见曾达标后再滑离的证据。" + } + ], + "root_causes": [], + "gap_zh": "没有状态日志或成功参考视频。礼盒与树的包围盒、水平无遮挡及接触真值不可由低分辨率画面精确复算，礼盒末态为评分总量与其余6项视觉事实的联合推断，未把agent的坐标检查当作评分结果。无法区分礼盒落点选择、几何估计与实际控制偏差的影响，故根因层留空；不据此归咎于评分器或仿真。各释放静止时刻存在约0.5秒视觉误差。", + "unmet": { + "gift_boxes_by_tree_1": false, + "gift_boxes_by_tree_2": false, + "gift_boxes_by_tree_3": false, + "candles_on_table_1": true, + "candles_on_table_2": true, + "candy_cane_on_table": true, + "wreath_on_sofa": true, + "candy_canes_on_sofa_1": true, + "candy_canes_on_sofa_2": true + } + }, + "summary_zh": "机器人实际把两个礼盒搬到树前地面，并完成花环及两根拐杖糖上同一沙发、两根蜡烛和另一根糖上餐桌，末态6/9。结合评分器q_score=6/9，两盒落点未通过树关系验收，第三盒没有被搬运，首次未修复断点在视频约40.0 s的第1个礼盒靠树，现象为位姿不准。无状态日志和成功参考视频，树关系的精确几何及失败根因无法确定；日志止于agent检查第三盒通路，没有最终完成报告。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "6/9 的视觉事实与 q_score=6/9 一致，礼盒三节点 false、断点在第1个礼盒靠树，标注为推断；根因留空并写了 gap_zh，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": "2026-10-30T21:22:57Z", + "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-putting-up-christmas-decorations-inside-i00-standard--v9aem4a/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-up-christmas-decorations-inside-i00-standard--v9aem4a/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5efd26f5b46f1a1882e5d5faae69194d57685160a79c9cdd9d768067c5519bcd", + "video_sha256": "49011d79d2625b1ee34f888e30f7799ba45579245394cbd918d033c5ee18b007", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/putting_up_Christmas_decorations_inside/trajectories/behavior-putting-up-christmas-decorations-inside-i00-standard--xmesbzx.json b/phase2/behavior-1k/putting_up_Christmas_decorations_inside/trajectories/behavior-putting-up-christmas-decorations-inside-i00-standard--xmesbzx.json new file mode 100644 index 0000000000000000000000000000000000000000..13efaa5dbc49b3acd3edf14efe97b4ba226a9bec --- /dev/null +++ b/phase2/behavior-1k/putting_up_Christmas_decorations_inside/trajectories/behavior-putting-up-christmas-decorations-inside-i00-standard--xmesbzx.json @@ -0,0 +1,312 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-up-christmas-decorations-inside-i00-standard--xmesbzx", + "taskKey": "behavior-1k/putting_up_Christmas_decorations_inside", + "dag_sha256": "ff205aa53c28e4c5ed90954f2662c546f50165c51c74d5ed77e4ece4a9ffd6bf", + "outcome": { + "success": 0, + "reward": 0.1111111111111111, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "n_actions": 31299, + "sim_steps": 31299, + "physics_steps": 125196, + "steps": 27085, + "elapsed_s": 13364.6, + "video_rendered": 1, + "gpu_lost": 0, + "q_score": 0.1111111111111111, + "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-putting-up-christmas-decorations-inside-i00-standard--xmesbzx/replay.mp4", + "duration_s": 1043.3, + "fps": 30.0, + "frames": 31299, + "sha256": "178e81cf2148f77a64a3c950e46fd3aeac6e5b8df4dbec55e4705a745f564b09" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 9, + "base": null, + "peak": null, + "final": 1, + "nodes": { + "gift_boxes_by_tree_1": { + "method": "visual", + "intervals": null, + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 可见礼盒散放在客厅地面；全片粗查及视频 490–1043.26 s 加密检查中，机器人反复向地面礼盒伸右夹爪、移动底盘，末段改用底盘穿过礼盒所在区域。枝叶和机身多次挡住礼盒与目标树之间的完整空间关系。" + }, + { + "t": 1043.26, + "log_step": null, + "text_zh": "推断：评分器 q_score=1/9、live_matches_replay=1；蜡烛、糖和花环始于篮内，视频未见机器人将它们取出或送往目标表面，因此末态唯一满足的目标文字面量归入礼盒靠树。末段夹爪没有可见持盒，故第1个礼盒关系末态记真；这不认可日志中声称的抓取或搬运。无法从相机确定它首次成立或中途失去的时段，intervals 留空值。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人在礼盒试取、向树旁移动和末段推盒尝试中驱动轮式底盘；底盘支承机身。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：右夹爪多次向礼盒区域运动、闭合后空手抬起；未见足以确认包夹礼盒的画面。末段底盘经过礼盒位置时接触面被机身遮挡，无法确认直接推碰的具体部位，不能按脚本指令记为抓握或推/扫。" + } + ] + }, + "gift_boxes_by_tree_2": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 980, + "log_step": null, + "text_zh": "观察：视频 960 s 可见沙发端部与树边的地面礼盒，视频 980 s 可见一个红色黄带礼盒位于树旁。推断：这些帧不能确定哪个礼盒由哪轮操作移来，也不能判断 log step 300–305 的试取是否曾建立夹持；不将这些日志步骤对应到视频 880–938 s。" + }, + { + "t": 1043.26, + "log_step": null, + "text_zh": "推断：末态唯一达标关系已归入第1个礼盒；第2个礼盒达标至少需要两个目标文字面量，与评分器 q_score=1/9 不相容，故 final=false。相机未持续同时显示三个礼盒和树的边界，不能排除中途短暂关系变化，intervals=null，不以末态分数反推全程从未成立。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人在礼盒试取、向树旁移动和末段推盒尝试中驱动轮式底盘；底盘支承机身。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：右夹爪多次向礼盒区域运动、闭合后空手抬起；未见足以确认包夹礼盒的画面。末段底盘经过礼盒位置时接触面被机身遮挡，无法确认直接推碰的具体部位，不能按脚本指令记为抓握或推/扫。" + } + ] + }, + "gift_boxes_by_tree_3": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 1043.26, + "log_step": 316, + "text_zh": "推断：评分器 q_score=1/9 不容许末态三个礼盒均达标，故 final=false；视频未显示三个礼盒共同靠树，agent 在 log step 316 也自述第三盒未找到。第三盒和树脚并非全程可见，历史区间无法完整确定；未见针对第三盒的独立操作，不追加其接触记录。" + } + ] + }, + "candles_on_table_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1043.26, + "log_step": 316, + "text_zh": "推断：任务记录给定这些装饰物初始在篮内；全片粗查及礼盒操作段加密检查未见机器人取出或搬运对应装饰物，视频 1042.5 s 和 1043.26 s 仍是客厅地面与空臂视图。log step 316 中 agent 自述未找到篮子，蜡烛、糖及花环目标未操作，与视频行为一致；据初态和全程未取放判断“至少一根柱状蜡烛”未成立，并与末态唯一目标文字面量已用于礼盒的 q_score=1/9 相容。" + } + ] + }, + "candles_on_table_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1043.26, + "log_step": 316, + "text_zh": "推断：任务记录给定这些装饰物初始在篮内；全片粗查及礼盒操作段加密检查未见机器人取出或搬运对应装饰物，视频 1042.5 s 和 1043.26 s 仍是客厅地面与空臂视图。log step 316 中 agent 自述未找到篮子，蜡烛、糖及花环目标未操作，与视频行为一致；据初态和全程未取放判断“两根柱状蜡烛同桌”未成立，并与末态唯一目标文字面量已用于礼盒的 q_score=1/9 相容。" + } + ] + }, + "candy_cane_on_table": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1043.26, + "log_step": 316, + "text_zh": "推断：任务记录给定这些装饰物初始在篮内；全片粗查及礼盒操作段加密检查未见机器人取出或搬运对应装饰物，视频 1042.5 s 和 1043.26 s 仍是客厅地面与空臂视图。log step 316 中 agent 自述未找到篮子，蜡烛、糖及花环目标未操作，与视频行为一致；据初态和全程未取放判断“拐杖糖上餐厅桌”未成立，并与末态唯一目标文字面量已用于礼盒的 q_score=1/9 相容。" + } + ] + }, + "wreath_on_sofa": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1043.26, + "log_step": 316, + "text_zh": "推断：任务记录给定这些装饰物初始在篮内；全片粗查及礼盒操作段加密检查未见机器人取出或搬运对应装饰物，视频 1042.5 s 和 1043.26 s 仍是客厅地面与空臂视图。log step 316 中 agent 自述未找到篮子，蜡烛、糖及花环目标未操作，与视频行为一致；据初态和全程未取放判断“花环上沙发”未成立，并与末态唯一目标文字面量已用于礼盒的 q_score=1/9 相容。" + } + ] + }, + "candy_canes_on_sofa_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1043.26, + "log_step": 316, + "text_zh": "推断：任务记录给定这些装饰物初始在篮内；全片粗查及礼盒操作段加密检查未见机器人取出或搬运对应装饰物，视频 1042.5 s 和 1043.26 s 仍是客厅地面与空臂视图。log step 316 中 agent 自述未找到篮子，蜡烛、糖及花环目标未操作，与视频行为一致；据初态和全程未取放判断“至少一根拐杖糖上沙发”未成立，并与末态唯一目标文字面量已用于礼盒的 q_score=1/9 相容。" + } + ] + }, + "candy_canes_on_sofa_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1043.26, + "log_step": 316, + "text_zh": "推断：任务记录给定这些装饰物初始在篮内；全片粗查及礼盒操作段加密检查未见机器人取出或搬运对应装饰物，视频 1042.5 s 和 1043.26 s 仍是客厅地面与空臂视图。log step 316 中 agent 自述未找到篮子，蜡烛、糖及花环目标未操作，与视频行为一致；据初态和全程未取放判断“两根拐杖糖同沙发”未成立，并与末态唯一目标文字面量已用于礼盒的 q_score=1/9 相容。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.1111111111111111, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "gift_boxes_by_tree_2", + "t": null, + "log_step": null, + "where": "操作中", + "evidence_zh": "推断：以可互换礼盒的达标数量定位，评分器末态 q_score=1/9，结合其余装饰物未见搬运的证据，只有第1个礼盒关系成立，增加到第2个礼盒的目标末态未完成，故断点仍为 gift_boxes_by_tree_2。观察：视频末段机器人在礼盒与树旁移动，视频 980 s 有红色礼盒位于树边；log step 300–305、314 分别记录试取、释放及推移脚本。推断：缺少 log step 300–305 的控制步定位，不能把其中某轮操作绑定到视频 880–938 s，也不能认定该轮为空手搬运；具体失败瞬间无法定位，t=null。" + }, + "unmet": { + "gift_boxes_by_tree_1": true, + "gift_boxes_by_tree_2": false, + "gift_boxes_by_tree_3": false, + "candles_on_table_1": false, + "candles_on_table_2": false, + "candy_cane_on_table": false, + "wreath_on_sofa": false, + "candy_canes_on_sofa_1": false, + "candy_canes_on_sofa_2": false + }, + "phenomena": [], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 301, + "source_zh": "日志", + "evidence_zh": "推断：仅依据日志代码与脚本输出，控制执行或检查存在问题的可能性较高，未由同步视频确认。log step 300 的脚本在 chase 返回 ok=false 时仍无条件闭爪、抬臂并向树旁移动；log step 301–302 的脚本输出报告接近误差依次为 0.259、0.310、0.489、0.500 米以及 touch=False，随后仍执行 lift。log step 303 的脚本输出报告替代逆解残差 0.526 米，log step 304 输出 lift tcp 高度约 0.596 米及 at tree, releasing。这些是 agent 自写脚本的计算与打印，不是评分器或接触监测字段；touch=False 不能直接等同于没有接触，抬臂及到树旁也不能证明持盒。该代码在接近检查失败后仍继续执行且没有实际持物检查，支持保留低置信度的控制根因推断；不能据此断言空手搬运、排除后续修复，或确定第2个礼盒最终未达标的具体物理原因，亦不能区分逆解、姿态跟踪与接触几何的各自贡献。" + } + ], + "gap_zh": "无状态日志和成功参考视频。礼盒与树的空间关系在关键阶段被枝叶、机身遮挡；末态第1个礼盒达标为结合初态、未操作其余装饰物和评分总分的推断，不能定位首次达标或完整历史区间，三个礼盒计数节点的 intervals 均保留 null。视频 960 s、980 s 可见树旁红色礼盒，但不能确认其移动过程或对应哪轮日志操作；log step 300–305 没有可定位该轮操作的控制步计数，故删除与视频 880–938 s 的对应，不再断言该轮未建立接触或空手搬运。评分总分只限制末态数量，不说明具体失败现象，phenomena 留空；控制根因仅由 agent 自写脚本代码及输出推断，未经同步视频确认。断点节点保留，失败瞬间无法定位，t 与 log_step 均为 null；不使用 agent 工作时间推算视频时间。" + }, + "summary_zh": "本次在线单局最终推断有1/9节点成立，即一个礼盒靠树；机器人主要尝试礼盒抓取和底盘推移，蜡烛、拐杖糖及花环未见搬运。断点为第2个礼盒靠树，具体物理失败原因无法确定，现象留空；控制根因仅由脚本在接近检查失败后仍继续执行的日志推断，未由同步视频确认。末态数量受评分器 q_score=1/9 支持，但礼盒历史区间、接触过程和失败瞬间均缺乏证据，因此 conf 从6降为5。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "末态 1/9 归于第1个礼盒与断点定在第2个礼盒与评分器总分相容；但断点/现象把 log step 300–305 对应到视频 880–938 s 没有给出映射（仅 step 314、52 有控制步映射），属于未锚定的时钟换算，并据此断言“未见携盒”。视频 约960–1000 s 的帧里有红色礼盒贴着树，与 log step 304 “at tree, releasing” 不矛盾，“没建立接触”的证据不足。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "末态1/9归于第1个礼盒、断点定在第2个礼盒、phenomena留空并以gap_zh说明、控制根因明确标为日志推断且低置信度，均与评分器q_score=1/9、视频帧和log相容；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": "2026-10-30T21:48:33Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-putting-up-christmas-decorations-inside-i00-standard--xmesbzx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-up-christmas-decorations-inside-i00-standard--xmesbzx/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-up-christmas-decorations-inside-i00-standard--xmesbzx/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-putting-up-christmas-decorations-inside-i00-standard--xmesbzx/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8c64953ebddf5a91a42e6b6ea24a81b8428f306ae2746c7344c5cbcdbbea5f9e", + "video_sha256": "178e81cf2148f77a64a3c950e46fd3aeac6e5b8df4dbec55e4705a745f564b09", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/setup_a_bar_for_a_cocktail_party/trajectories/behavior-setup-a-bar-for-a-cocktail-party-i00-privileged--j4yavnc.json b/phase2/behavior-1k/setup_a_bar_for_a_cocktail_party/trajectories/behavior-setup-a-bar-for-a-cocktail-party-i00-privileged--j4yavnc.json new file mode 100644 index 0000000000000000000000000000000000000000..ecfb7f9056fe657b815ee1c43e2ace7bd664abd9 --- /dev/null +++ b/phase2/behavior-1k/setup_a_bar_for_a_cocktail_party/trajectories/behavior-setup-a-bar-for-a-cocktail-party-i00-privileged--j4yavnc.json @@ -0,0 +1,467 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-setup-a-bar-for-a-cocktail-party-i00-privileged--j4yavnc", + "taskKey": "behavior-1k/setup_a_bar_for_a_cocktail_party", + "dag_sha256": "8a072e1994997f39932c0ca13678b0cb7a0584e1170e22d888b0466840d1f291", + "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": 1215, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 1365, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 803.5, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 7, + "agent_resets": 9, + "agent_sim_steps": 1305, + "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-setup-a-bar-for-a-cocktail-party-i00-privileged--j4yavnc/replay.mp4", + "duration_s": 45.5, + "fps": 30.0, + "frames": 1365, + "sha256": "3bf48fdc9f1dc6ad2db0015df3dcef9b1f89cf4b0903f854dbc8e6e0ac26b549" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 14, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "bottle_on_counter": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 45.4, + "log_step": 107, + "text_zh": "推断：视频 0.0–45.4 s 没有机器人取酒瓶、持瓶搬往浅色吧台或放瓶的动作；log step 102 的交付脚本把酒瓶安排在冰块、桶及汽水之后，log step 107 显示运行已在 no-cube-no-bucket 分支保存并退出。结合评分器 q_score=0.0，酒瓶上吧台最终为假，未观察到曾成立。" + } + ] + }, + "sodas_on_counter_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 45.4, + "log_step": 107, + "text_zh": "推断：视频 0.0–45.4 s 未出现机器人取罐、持罐搬往吧台或归拢汽水的动作。log step 102 的交付脚本在冰块和桶之后才处理汽水，log step 107 显示此前已从 no-cube-no-bucket 分支退出；结合评分器 q_score=0.0，至少1罐同时满足吧台支承和邻罐关系最终为假，未观察到曾成立。" + } + ] + }, + "sodas_on_counter_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 45.4, + "log_step": 107, + "text_zh": "推断：视频 0.0–45.4 s 未出现机器人取罐、持罐搬往吧台或归拢汽水的动作。log step 102 的交付脚本在冰块和桶之后才处理汽水，log step 107 显示此前已从 no-cube-no-bucket 分支退出；结合评分器 q_score=0.0，至少2罐同时满足吧台支承和邻罐关系最终为假，未观察到曾成立。" + } + ] + }, + "sodas_on_counter_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 45.4, + "log_step": 107, + "text_zh": "推断：视频 0.0–45.4 s 未出现机器人取罐、持罐搬往吧台或归拢汽水的动作。log step 102 的交付脚本在冰块和桶之后才处理汽水，log step 107 显示此前已从 no-cube-no-bucket 分支退出；结合评分器 q_score=0.0，至少3罐同时满足吧台支承和邻罐关系最终为假，未观察到曾成立。" + } + ] + }, + "ice_in_bucket_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.0, + "log_step": null, + "text_zh": "观察：视频 3.0–18.5 s，头部视角中装冰托盘和旁边的冰桶始终留在深棕色柜面，未见任何冰块离开托盘进入桶内，腕部视角也未见持冰搬运。" + }, + { + "t": 45.4, + "log_step": 104, + "text_zh": "推断：本节点按桶内至少1块冰计数。视频至 45.4 s 未出现取冰或向桶内放冰的动作；log step 104 的交付运行 gen6 输出六块冰的 pick short／False，log step 107 保存时报告 no-cube-no-bucket；结合评分器 q_score=0.0，最终本节点为假。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0.0–3.0 s，机器人底盘经地面支承移动并转向装冰托盘所在柜面；六块冰的失败取放尝试共用这次定位。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 3.0–18.5 s 的腕部视角主要朝向地面和机器人本体，未显示夹爪与冰块的接触细节；目标未见被夹起，无法确认是否有瞬时指尖接触，不将日志中的 pick 调用当成实际抓握。" + } + ] + }, + "ice_in_bucket_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.0, + "log_step": null, + "text_zh": "观察：视频 3.0–18.5 s，头部视角中装冰托盘和旁边的冰桶始终留在深棕色柜面，未见任何冰块离开托盘进入桶内，腕部视角也未见持冰搬运。" + }, + { + "t": 45.4, + "log_step": 104, + "text_zh": "推断：本节点按桶内至少2块冰计数。视频至 45.4 s 未出现取冰或向桶内放冰的动作；log step 104 的交付运行 gen6 输出六块冰的 pick short／False，log step 107 保存时报告 no-cube-no-bucket；结合评分器 q_score=0.0，最终本节点为假。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0.0–3.0 s，机器人底盘经地面支承移动并转向装冰托盘所在柜面；六块冰的失败取放尝试共用这次定位。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 3.0–18.5 s 的腕部视角主要朝向地面和机器人本体，未显示夹爪与冰块的接触细节；目标未见被夹起，无法确认是否有瞬时指尖接触，不将日志中的 pick 调用当成实际抓握。" + } + ] + }, + "ice_in_bucket_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.0, + "log_step": null, + "text_zh": "观察：视频 3.0–18.5 s，头部视角中装冰托盘和旁边的冰桶始终留在深棕色柜面，未见任何冰块离开托盘进入桶内，腕部视角也未见持冰搬运。" + }, + { + "t": 45.4, + "log_step": 104, + "text_zh": "推断：本节点按桶内至少3块冰计数。视频至 45.4 s 未出现取冰或向桶内放冰的动作；log step 104 的交付运行 gen6 输出六块冰的 pick short／False，log step 107 保存时报告 no-cube-no-bucket；结合评分器 q_score=0.0，最终本节点为假。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0.0–3.0 s，机器人底盘经地面支承移动并转向装冰托盘所在柜面；六块冰的失败取放尝试共用这次定位。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 3.0–18.5 s 的腕部视角主要朝向地面和机器人本体，未显示夹爪与冰块的接触细节；目标未见被夹起，无法确认是否有瞬时指尖接触，不将日志中的 pick 调用当成实际抓握。" + } + ] + }, + "ice_in_bucket_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.0, + "log_step": null, + "text_zh": "观察：视频 3.0–18.5 s，头部视角中装冰托盘和旁边的冰桶始终留在深棕色柜面，未见任何冰块离开托盘进入桶内，腕部视角也未见持冰搬运。" + }, + { + "t": 45.4, + "log_step": 104, + "text_zh": "推断：本节点按桶内至少4块冰计数。视频至 45.4 s 未出现取冰或向桶内放冰的动作；log step 104 的交付运行 gen6 输出六块冰的 pick short／False，log step 107 保存时报告 no-cube-no-bucket；结合评分器 q_score=0.0，最终本节点为假。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0.0–3.0 s，机器人底盘经地面支承移动并转向装冰托盘所在柜面；六块冰的失败取放尝试共用这次定位。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 3.0–18.5 s 的腕部视角主要朝向地面和机器人本体，未显示夹爪与冰块的接触细节；目标未见被夹起，无法确认是否有瞬时指尖接触，不将日志中的 pick 调用当成实际抓握。" + } + ] + }, + "ice_in_bucket_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.0, + "log_step": null, + "text_zh": "观察：视频 3.0–18.5 s，头部视角中装冰托盘和旁边的冰桶始终留在深棕色柜面，未见任何冰块离开托盘进入桶内，腕部视角也未见持冰搬运。" + }, + { + "t": 45.4, + "log_step": 104, + "text_zh": "推断：本节点按桶内至少5块冰计数。视频至 45.4 s 未出现取冰或向桶内放冰的动作；log step 104 的交付运行 gen6 输出六块冰的 pick short／False，log step 107 保存时报告 no-cube-no-bucket；结合评分器 q_score=0.0，最终本节点为假。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0.0–3.0 s，机器人底盘经地面支承移动并转向装冰托盘所在柜面；六块冰的失败取放尝试共用这次定位。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 3.0–18.5 s 的腕部视角主要朝向地面和机器人本体，未显示夹爪与冰块的接触细节；目标未见被夹起，无法确认是否有瞬时指尖接触，不将日志中的 pick 调用当成实际抓握。" + } + ] + }, + "ice_in_bucket_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.0, + "log_step": null, + "text_zh": "观察：视频 3.0–18.5 s，头部视角中装冰托盘和旁边的冰桶始终留在深棕色柜面，未见任何冰块离开托盘进入桶内，腕部视角也未见持冰搬运。" + }, + { + "t": 45.4, + "log_step": 104, + "text_zh": "推断：本节点按桶内至少6块冰计数。视频至 45.4 s 未出现取冰或向桶内放冰的动作；log step 104 的交付运行 gen6 输出六块冰的 pick short／False，log step 107 保存时报告 no-cube-no-bucket；结合评分器 q_score=0.0，最终本节点为假。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0.0–3.0 s，机器人底盘经地面支承移动并转向装冰托盘所在柜面；六块冰的失败取放尝试共用这次定位。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 3.0–18.5 s 的腕部视角主要朝向地面和机器人本体，未显示夹爪与冰块的接触细节；目标未见被夹起，无法确认是否有瞬时指尖接触，不将日志中的 pick 调用当成实际抓握。" + } + ] + }, + "bucket_on_counter": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 18.5, + "log_step": null, + "text_zh": "观察：视频 3.0–18.5 s 冰桶始终由深棕色柜面支承；随后机器人转向、移动，视频 32.5 s 腕部视角再次露出柜面上的冰桶，未见其离开原支承面。" + }, + { + "t": 45.4, + "log_step": 107, + "text_zh": "推断：视频至 45.4 s 未见机器人持桶搬往浅色吧台；log step 104 的交付运行输出 bucket 的 pick short，log step 107 保存的运行以 no-cube-no-bucket 结束，评分器 q_score=0.0，故冰桶上吧台最终为假。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频约 19.0–33.0 s，机器人底盘在柜旁移动、转向，更换尝试取桶的位置；冰桶未见被携带。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频约 19.0–40.0 s 缺少夹爪与桶缘同框的近景，无法确认瞬时接触的方式；未见夹爪夹住桶缘并抬桶。" + } + ] + }, + "glasses_on_counter_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 45.4, + "log_step": 107, + "text_zh": "推断：视频 0.0–45.4 s 未出现机器人取杯、持杯搬运或在吧台放杯；log step 102 的交付脚本将酒杯安排在后续，log step 107 显示运行已在 no-cube-no-bucket 分支退出。结合评分器 q_score=0.0，至少1只酒杯同时满足吧台支承和杯间相邻关系最终为假，未观察到曾成立。" + } + ] + }, + "glasses_on_counter_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 45.4, + "log_step": 107, + "text_zh": "推断：视频 0.0–45.4 s 未出现机器人取杯、持杯搬运或在吧台放杯；log step 102 的交付脚本将酒杯安排在后续，log step 107 显示运行已在 no-cube-no-bucket 分支退出。结合评分器 q_score=0.0，至少2只酒杯同时满足吧台支承和杯间相邻关系最终为假，未观察到曾成立。" + } + ] + }, + "corkscrew_on_counter": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.0, + "log_step": null, + "text_zh": "观察：视频 10.0 s，细长浅色开瓶器仍在装冰托盘左前方的深棕色柜面。" + }, + { + "t": 45.4, + "log_step": 107, + "text_zh": "推断：视频至 45.4 s 没有机器人搬运开瓶器的动作；log step 102 的脚本将开瓶器安排在后续，log step 107 显示运行已在 no-cube-no-bucket 分支退出。结合评分器 q_score=0.0，开瓶器在吧台且邻酒瓶最终为假。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "ice_in_bucket_1", + "t": 5.0, + "log_step": 104, + "where": "操作中", + "evidence_zh": "推断：视频约 3.0–18.5 s，机器人已面向装冰托盘工作，但托盘内冰块未被取走，桶仍留在柜面；首个未修复步骤是第1块冰入桶。视频约 5.0 s 仅作这一失败阶段的粗略导航锚点，无法逐次定位六次抓取调用；log step 102 的交付脚本先逐块取冰，log step 104 的 gen6 输出记录首块 ice_cube.n.01_3 False 及后续冰块均 pick short，log step 107 保存后退出。后续取桶失败没有修复这一步。" + }, + "unmet": { + "bottle_on_counter": false, + "sodas_on_counter_1": false, + "sodas_on_counter_2": false, + "sodas_on_counter_3": false, + "ice_in_bucket_1": false, + "ice_in_bucket_2": false, + "ice_in_bucket_3": false, + "ice_in_bucket_4": false, + "ice_in_bucket_5": false, + "ice_in_bucket_6": false, + "bucket_on_counter": false, + "glasses_on_counter_1": false, + "glasses_on_counter_2": false, + "corkscrew_on_counter": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 5.0, + "log_step": 104, + "evidence_zh": "推断：视频 3.0–18.5 s 托盘内冰块位置没有可见变化，机器人腕部视角持续朝向地面、本体，未见冰块被夹起或持冰入桶；视频至 45.4 s 也未补做。与 log step 104 中 gen6 的取冰目标和末端位置明显分离、各块均 pick short／False 相互印证，所需的取冰抓持接触未建立。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "轨迹或逆解", + "source_zh": "日志", + "evidence_zh": "推断：log step 102 的交付脚本 ik_strict 对 left_eef_link 求逆解，只在 res.ok 为真且位置误差小于0.015米时返回关节目标。log step 104 的同一 gen6 运行记录，例如 ice_cube.n.01_5 目标[-4.604,-2.574,0.862]而末端[-3.847,-2.601,0.796]，各块均 pick short；log step 105 中 agent 自述“小步逆解均不通过”，与视频 3.0–18.5 s 未见手臂移至托盘抓冰的表现一致。因此有证据支持抓取前的逆解／轨迹生成没有让末端到位。log step 109 的更换TCP坐标系和放宽容差只是交付后的未执行修订，不能证明具体参数是唯一原因。" + } + ], + "gap_zh": "没有状态日志。视频的腕部视角未展示手指与冰块、桶缘的接触近景，不能确定是否发生瞬时擦碰，已尝试节点的直接接触记未知；六次取冰调用不能逐次映射到视频，断点时间仅为粗略锚点。后段部分目标离开视野，最终假值结合起始柜面布局、全过程未搬运及评分器q_score=0.0推断。log step 109 的修订未重新录制验证，严格容差及TCP／eef坐标系对失败的各自贡献无法确定。" + }, + "summary_zh": "交付视频中机器人先移到装冰托盘旁，取冰阶段未见冰块被拿起，随后更换位置尝试取桶，所有14个节点均未达成，最终0/14。首个未修复断点是第1块冰入桶；交付运行日志与视频共同支持抓取前的逆解／轨迹生成未让末端到位，未建立取冰抓持接触。无状态日志且接触近景不足，具体接触细节及各次尝试时刻不能确定，交付后的修订也未验证。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标签与视频、日志一致：交付视频 0–45.4 s 内托盘冰块、冰桶始终留在柜面，没有任何取放，14 节点全假，q_score=0；断点为首块冰入桶，没建立接触加轨迹或逆解根因有 log step 104/105 支撑。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:36:26Z", + "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-setup-a-bar-for-a-cocktail-party-i00-privileged--j4yavnc/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-setup-a-bar-for-a-cocktail-party-i00-privileged--j4yavnc/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b1af2a56eb03367fd1d4fd8b629e437db5d0fcc61e7774ad2abbc3951f233ab5", + "video_sha256": "3bf48fdc9f1dc6ad2db0015df3dcef9b1f89cf4b0903f854dbc8e6e0ac26b549", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/setup_a_bar_for_a_cocktail_party/trajectories/behavior-setup-a-bar-for-a-cocktail-party-i00-privileged--kxjd5jt.json b/phase2/behavior-1k/setup_a_bar_for_a_cocktail_party/trajectories/behavior-setup-a-bar-for-a-cocktail-party-i00-privileged--kxjd5jt.json new file mode 100644 index 0000000000000000000000000000000000000000..4734672c3f271232de7bb2a3b10b12b1ce28b2b9 --- /dev/null +++ b/phase2/behavior-1k/setup_a_bar_for_a_cocktail_party/trajectories/behavior-setup-a-bar-for-a-cocktail-party-i00-privileged--kxjd5jt.json @@ -0,0 +1,449 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-setup-a-bar-for-a-cocktail-party-i00-privileged--kxjd5jt", + "taskKey": "behavior-1k/setup_a_bar_for_a_cocktail_party", + "dag_sha256": "8a072e1994997f39932c0ca13678b0cb7a0584e1170e22d888b0466840d1f291", + "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": 878, + "sim_steps": 878, + "fallen": 1, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 753.0, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 12, + "agent_resets": 19, + "agent_sim_steps": 6295, + "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-setup-a-bar-for-a-cocktail-party-i00-privileged--kxjd5jt/replay.mp4", + "duration_s": 29.267, + "fps": 30.0, + "frames": 878, + "sha256": "cd6609ab044c83721ce6a53b294cced86f8425f75bd1bc274eae438863492b08" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 14, + "base": 0, + "peak": 1, + "final": 0, + "nodes": { + "bottle_on_counter": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.0, + "log_step": null, + "text_zh": "观察：视频 3.0–10.0 s 酒瓶仍在靠墙深棕色柜面；视频 11.0–18.6 s 机器人搬运的是冰桶，没有把酒瓶带到浅色吧台。" + }, + { + "t": 29.23, + "log_step": 260, + "text_zh": "推断：视频 18.8–29.23 s 机器人失衡后未见酒瓶搬运；评分器 q_score=0，结合初态酒瓶不在吧台，最终酒瓶上吧台为假。" + } + ] + }, + "sodas_on_counter_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.0, + "log_step": null, + "text_zh": "观察：视频 3.0–10.0 s 三罐汽水仍分散在深棕色柜面；视频 11.0–18.6 s 仅见机器人搬桶，没有任何汽水到达浅色吧台，未达到第1罐所需的台面支承与邻罐关系。" + }, + { + "t": 29.23, + "log_step": 260, + "text_zh": "推断：视频 19.0–21.0 s 机器人向冰箱旁转动、随后停在倾斜姿态，直至视频 29.23 s 未见持罐或放罐；评分器 q_score=0，结合初始汽水均不在吧台，最终该计数节点为假。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 19.0–21.0 s 机器人空手转向并移动至冰箱旁；log step 256 的本次脚本输出显示开始驶向第一罐汽水。未见夹爪夹住汽水，随后机器人停在失衡姿态。" + } + ] + }, + "sodas_on_counter_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.0, + "log_step": null, + "text_zh": "观察：视频 3.0–10.0 s 三罐汽水仍分散在深棕色柜面；视频 11.0–18.6 s 仅见机器人搬桶，没有任何汽水到达浅色吧台，未达到第2罐所需的台面支承与邻罐关系。" + }, + { + "t": 29.23, + "log_step": 260, + "text_zh": "推断：视频 19.0–21.0 s 机器人向冰箱旁转动、随后停在倾斜姿态，直至视频 29.23 s 未见持罐或放罐；评分器 q_score=0，结合初始汽水均不在吧台，最终该计数节点为假。" + } + ] + }, + "sodas_on_counter_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.0, + "log_step": null, + "text_zh": "观察：视频 3.0–10.0 s 三罐汽水仍分散在深棕色柜面；视频 11.0–18.6 s 仅见机器人搬桶，没有任何汽水到达浅色吧台，未达到第3罐所需的台面支承与邻罐关系。" + }, + { + "t": 29.23, + "log_step": 260, + "text_zh": "推断：视频 19.0–21.0 s 机器人向冰箱旁转动、随后停在倾斜姿态，直至视频 29.23 s 未见持罐或放罐；评分器 q_score=0，结合初始汽水均不在吧台，最终该计数节点为假。" + } + ] + }, + "ice_in_bucket_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.0, + "log_step": null, + "text_zh": "观察：视频 3.0–10.0 s 装冰托盘留在深棕色柜面；视频 10.5–18.5 s 机器人只搬冰桶，视频 17.0 s 腕部视角可见桶腔为空，没有冰块被送入，未达到第1块冰入桶。" + }, + { + "t": 29.23, + "log_step": 260, + "text_zh": "推断：视频 18.6–29.23 s 没有装冰操作，且评分器 q_score=0；结合初始冰块在托盘内，最终该入桶计数为假。" + } + ] + }, + "ice_in_bucket_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.0, + "log_step": null, + "text_zh": "观察：视频 3.0–10.0 s 装冰托盘留在深棕色柜面；视频 10.5–18.5 s 机器人只搬冰桶，视频 17.0 s 腕部视角可见桶腔为空，没有冰块被送入，未达到第2块冰入桶。" + }, + { + "t": 29.23, + "log_step": 260, + "text_zh": "推断：视频 18.6–29.23 s 没有装冰操作，且评分器 q_score=0；结合初始冰块在托盘内，最终该入桶计数为假。" + } + ] + }, + "ice_in_bucket_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.0, + "log_step": null, + "text_zh": "观察：视频 3.0–10.0 s 装冰托盘留在深棕色柜面；视频 10.5–18.5 s 机器人只搬冰桶，视频 17.0 s 腕部视角可见桶腔为空，没有冰块被送入，未达到第3块冰入桶。" + }, + { + "t": 29.23, + "log_step": 260, + "text_zh": "推断：视频 18.6–29.23 s 没有装冰操作，且评分器 q_score=0；结合初始冰块在托盘内，最终该入桶计数为假。" + } + ] + }, + "ice_in_bucket_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.0, + "log_step": null, + "text_zh": "观察：视频 3.0–10.0 s 装冰托盘留在深棕色柜面；视频 10.5–18.5 s 机器人只搬冰桶，视频 17.0 s 腕部视角可见桶腔为空，没有冰块被送入，未达到第4块冰入桶。" + }, + { + "t": 29.23, + "log_step": 260, + "text_zh": "推断：视频 18.6–29.23 s 没有装冰操作，且评分器 q_score=0；结合初始冰块在托盘内，最终该入桶计数为假。" + } + ] + }, + "ice_in_bucket_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.0, + "log_step": null, + "text_zh": "观察：视频 3.0–10.0 s 装冰托盘留在深棕色柜面；视频 10.5–18.5 s 机器人只搬冰桶，视频 17.0 s 腕部视角可见桶腔为空，没有冰块被送入，未达到第5块冰入桶。" + }, + { + "t": 29.23, + "log_step": 260, + "text_zh": "推断：视频 18.6–29.23 s 没有装冰操作，且评分器 q_score=0；结合初始冰块在托盘内，最终该入桶计数为假。" + } + ] + }, + "ice_in_bucket_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.0, + "log_step": null, + "text_zh": "观察：视频 3.0–10.0 s 装冰托盘留在深棕色柜面；视频 10.5–18.5 s 机器人只搬冰桶，视频 17.0 s 腕部视角可见桶腔为空，没有冰块被送入，未达到第6块冰入桶。" + }, + { + "t": 29.23, + "log_step": 260, + "text_zh": "推断：视频 18.6–29.23 s 没有装冰操作，且评分器 q_score=0；结合初始冰块在托盘内，最终该入桶计数为假。" + } + ] + }, + "bucket_on_counter": { + "method": "visual", + "intervals": [ + [ + 14.8, + 18.6 + ] + ], + "final": false, + "evidence": [ + { + "t": 10.7, + "log_step": null, + "text_zh": "观察：视频 10.5–11.0 s 左夹爪夹住冰桶桶壁并将桶提离深棕色柜面，随后机器人携桶转向浅色吧台。" + }, + { + "t": 14.8, + "log_step": null, + "text_zh": "观察：视频 14.8–16.6 s 冰桶底部落在浅色吧台台面上；视频 16.2 s 腕部视角可见张开的夹指在桶旁。该节点只要求台面直接支承，因此计为短暂达到。" + }, + { + "t": 18.3, + "log_step": null, + "text_zh": "推断：视频 16.8–18.0 s 桶底短时在头部画面左缘外，腕部仍见桶；视频 18.2–18.3 s 再见桶靠在吧台面上，故中间不另切断区间。" + }, + { + "t": 18.6, + "log_step": 260, + "text_zh": "观察：视频 18.4–18.7 s 冰桶翻倒并越过吧台内缘下落，之后未见机器人把桶放回；视频 29.23 s 机器人仍停在冰箱旁。评分器最终 q_score=0。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 10.5–11.0 s 左二指夹爪夹住冰桶桶壁提起，视频 11.0–15.0 s 携桶移到吧台；视频 16.2 s 可见夹指张开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0.0–2.0 s 底盘驶近深棕色柜面，视频 11.0–15.0 s 驶动并转向，将左夹爪所持冰桶运到浅色吧台，随后退离。" + } + ] + }, + "glasses_on_counter_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.0, + "log_step": null, + "text_zh": "观察：视频 3.0–10.0 s 酒杯仍在深棕色柜面；视频 11.0–18.6 s 机器人仅搬桶，没有酒杯到达浅色吧台，未达到第1杯所需的台面支承及杯间相邻关系。" + }, + { + "t": 29.23, + "log_step": 260, + "text_zh": "推断：视频 18.8–29.23 s 机器人失衡后没有酒杯搬运，评分器 q_score=0；结合初态酒杯不在吧台，最终该计数节点为假。" + } + ] + }, + "glasses_on_counter_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.0, + "log_step": null, + "text_zh": "观察：视频 3.0–10.0 s 酒杯仍在深棕色柜面；视频 11.0–18.6 s 机器人仅搬桶，没有酒杯到达浅色吧台，未达到第2杯所需的台面支承及杯间相邻关系。" + }, + { + "t": 29.23, + "log_step": 260, + "text_zh": "推断：视频 18.8–29.23 s 机器人失衡后没有酒杯搬运，评分器 q_score=0；结合初态酒杯不在吧台，最终该计数节点为假。" + } + ] + }, + "corkscrew_on_counter": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.0, + "log_step": null, + "text_zh": "观察：视频 5.0–10.0 s 开瓶器仍在深棕色柜面的托盘附近，机器人夹爪在操作冰桶，没有搬运开瓶器。" + }, + { + "t": 29.23, + "log_step": 260, + "text_zh": "推断：视频 11.0–29.23 s 未见开瓶器被带到浅色吧台，评分器 q_score=0；结合初态开瓶器不在吧台，最终该节点为假。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "bucket_on_counter", + "t": 18.6, + "log_step": 256, + "where": "转场", + "evidence_zh": "观察：视频 14.8–16.6 s 冰桶已由浅色吧台支承，夹指随后张开；机器人退离时，视频 18.4–18.7 s 冰桶翻过吧台内缘下落，这个已达到的关系此后未恢复。视频 18.8–21.0 s 机器人视角剧烈倾斜，最后停在冰箱旁；log step 260 确认交付文件为 878 行、fallen=True、q_score=0，与本次 878 帧评分视频一致。" + }, + "unmet": { + "bottle_on_counter": false, + "sodas_on_counter_1": false, + "sodas_on_counter_2": false, + "sodas_on_counter_3": false, + "ice_in_bucket_1": false, + "ice_in_bucket_2": false, + "ice_in_bucket_3": false, + "ice_in_bucket_4": false, + "ice_in_bucket_5": false, + "ice_in_bucket_6": false, + "bucket_on_counter": false, + "glasses_on_counter_1": false, + "glasses_on_counter_2": false, + "corkscrew_on_counter": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "放后不稳", + "t": 18.6, + "log_step": null, + "evidence_zh": "观察：视频 14.8–16.6 s 冰桶在浅色吧台上，视频 16.2 s 左夹指已张开；视频 18.4–18.7 s 桶翻倒并从台面内缘跌下，没有被放回。" + }, + { + "cat": "全身", + "item": "平衡", + "t": 18.9, + "log_step": 260, + "evidence_zh": "观察：视频 18.7–21.0 s 头部及双腕视角连续大幅翻转，之后机器人停在冰箱旁的倾斜姿态，视频 28.3–29.23 s 仍未恢复；评分器字段 fallen=1，log step 260 的本次结束状态也为 fallen=True。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频 / 日志", + "evidence_zh": "推断：视频 10.7–16.6 s 已实现夹桶、运输和台面支承，失败发生在松手后的撤离运动：视频 18.4–18.7 s 桶翻落、视频 18.7–21.0 s 本体失衡。log step 213 的脚本在放置后执行撤臂及底盘退离，log step 254 修改了本次运桶路径，log step 256 仍报告桶关系为假；这些证据支持操作及撤离执行的控制问题，但不足以细分接触设计、轨迹或反馈控制。" + } + ], + "gap_zh": "没有状态日志或接触对；视频 16.8–18.0 s 桶底短时出画，连续台面区间按前后画面推断，达到与失去时刻约有 0.3 s 误差。腕部近景不能可靠区分退爪碰桶、残余牵连或安放后的初始不稳，也不能确定本体具体碰到哪个障碍，因此不追加碰撞现象或更细根因。log step 263 关于早先放桶、搬罐成功的自述属于多次会话测试，不计入本次节点进度；本次最终值结合视频及评分器 q_score=0 判定。" + }, + "summary_zh": "本次评分轨迹仅使冰桶在视频约 14.8–18.6 s 短暂上吧台，进度峰值 1/14、最终 0/14；酒瓶、汽水、酒杯、开瓶器和冰块均未完成目标搬放。断点为冰桶上吧台：机器人退离时已放下的桶翻落，随后本体失衡，证据支持控制问题。无状态日志，桶底短时出画及具体致失稳接触尚不能精确区分，早先会话测试的成功不算本次进度。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽查视频 10–21 s：冰桶被夹起、于约 15–17 s 落在浅色吧台、约 18.5 s 翻落，随后失衡，与标注一致；其余节点为假、峰值 1/14、最终 0、断点和现象/根因均有证据支持，未发现需要改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:42:46Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-setup-a-bar-for-a-cocktail-party-i00-privileged--kxjd5jt/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-setup-a-bar-for-a-cocktail-party-i00-privileged--kxjd5jt/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e97bb60fba90093faa2951a568483c14d233027ffc4dc0b625bd388ab95c7a5a", + "video_sha256": "cd6609ab044c83721ce6a53b294cced86f8425f75bd1bc274eae438863492b08", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/setup_a_bar_for_a_cocktail_party/trajectories/behavior-setup-a-bar-for-a-cocktail-party-i00-privileged--pwv4h56.json b/phase2/behavior-1k/setup_a_bar_for_a_cocktail_party/trajectories/behavior-setup-a-bar-for-a-cocktail-party-i00-privileged--pwv4h56.json new file mode 100644 index 0000000000000000000000000000000000000000..0e0c4b459ad9d47842aefbe43b5a17bde314874a --- /dev/null +++ b/phase2/behavior-1k/setup_a_bar_for_a_cocktail_party/trajectories/behavior-setup-a-bar-for-a-cocktail-party-i00-privileged--pwv4h56.json @@ -0,0 +1,648 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-setup-a-bar-for-a-cocktail-party-i00-privileged--pwv4h56", + "taskKey": "behavior-1k/setup_a_bar_for_a_cocktail_party", + "dag_sha256": "8a072e1994997f39932c0ca13678b0cb7a0584e1170e22d888b0466840d1f291", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 17770, + "sim_steps": 17770, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 4313.7, + "replay_timeout_s": 10085.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 23, + "agent_resets": 0, + "agent_sim_steps": 32036, + "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-setup-a-bar-for-a-cocktail-party-i00-privileged--pwv4h56/replay.mp4", + "duration_s": 592.333, + "fps": 30.0, + "frames": 17770, + "sha256": "78986d35b3db86ea4842cf7ae42112a8ce013c7fb1ea0e2204e82901e24f2d7f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 14, + "base": 0, + "peak": 1, + "final": 0, + "nodes": { + "bottle_on_counter": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 45, + "log_step": null, + "text_zh": "观察：视频 40–80 s 机器人左臂在柜前反复下降、抬起，夹爪未带出酒瓶，未见酒瓶到达浅色吧台。" + }, + { + "t": 592.2, + "log_step": null, + "text_zh": "推断：全片已检查的搬运中只见冰桶被带往吧台；视频 591.4–592.2 s 未见酒瓶上吧台，评分器 q_score=0.0 进一步限定酒瓶目标终值为假。" + }, + { + "t": null, + "log_step": 207, + "text_zh": "观察：log step 207 的最终生成进程 gen_run4 输出酒瓶抓取为 None，重试后记录抓取断言失败并继续；这是失败尝试的旁证，不以日志替代视频中的搬运。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "机器人左夹爪在视频 40–80 s反复接近酒瓶所在区域，但小物体被夹爪、柜体或视野边缘遮挡，不能确认实际接触方式；未见夹持搬运，故不标抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人轮式底盘在尝试搬放酒瓶时于柜前移动、转向，由地面支承。" + } + ] + }, + "sodas_on_counter_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 165, + "log_step": null, + "text_zh": "观察：视频 130–230 s 机器人在柜前换位、伸臂，所见夹爪为空，未见汽水罐从柜面随夹爪转移到浅色吧台，更未形成至少1罐在台面且各有邻罐的摆放。" + }, + { + "t": 592.2, + "log_step": null, + "text_zh": "推断：初始汽水罐在深棕色柜面，视频后续未见成功转运；评分器 q_score=0.0 排除至少1罐在目标台面且各邻另一罐的终态。" + }, + { + "t": null, + "log_step": 208, + "text_zh": "观察：log step 208 的 gen_run4 输出三罐汽水依次抓取失败；计数节点按三次尝试记接触，不按罐的外观指定实例身份。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "机器人左夹爪在视频 130–230 s反复接近第1罐汽水（按三次尝试顺序）所在区域，但小物体被夹爪、柜体或视野边缘遮挡，不能确认实际接触方式；未见夹持搬运，故不标抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人轮式底盘在尝试搬放第1罐汽水（按三次尝试顺序）时于柜前移动、转向，由地面支承。" + } + ] + }, + "sodas_on_counter_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 165, + "log_step": null, + "text_zh": "观察：视频 130–230 s 机器人在柜前换位、伸臂，所见夹爪为空，未见汽水罐从柜面随夹爪转移到浅色吧台，更未形成至少2罐在台面且各有邻罐的摆放。" + }, + { + "t": 592.2, + "log_step": null, + "text_zh": "推断：初始汽水罐在深棕色柜面，视频后续未见成功转运；评分器 q_score=0.0 排除至少2罐在目标台面且各邻另一罐的终态。" + }, + { + "t": null, + "log_step": 208, + "text_zh": "观察：log step 208 的 gen_run4 输出三罐汽水依次抓取失败；计数节点按三次尝试记接触，不按罐的外观指定实例身份。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "机器人左夹爪在视频 130–230 s反复接近第2罐汽水（按三次尝试顺序）所在区域，但小物体被夹爪、柜体或视野边缘遮挡，不能确认实际接触方式；未见夹持搬运，故不标抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人轮式底盘在尝试搬放第2罐汽水（按三次尝试顺序）时于柜前移动、转向，由地面支承。" + } + ] + }, + "sodas_on_counter_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 165, + "log_step": null, + "text_zh": "观察：视频 130–230 s 机器人在柜前换位、伸臂，所见夹爪为空，未见汽水罐从柜面随夹爪转移到浅色吧台，更未形成至少3罐在台面且各有邻罐的摆放。" + }, + { + "t": 592.2, + "log_step": null, + "text_zh": "推断：初始汽水罐在深棕色柜面，视频后续未见成功转运；评分器 q_score=0.0 排除至少3罐在目标台面且各邻另一罐的终态。" + }, + { + "t": null, + "log_step": 208, + "text_zh": "观察：log step 208 的 gen_run4 输出三罐汽水依次抓取失败；计数节点按三次尝试记接触，不按罐的外观指定实例身份。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "机器人左夹爪在视频 130–230 s反复接近第3罐汽水（按三次尝试顺序）所在区域，但小物体被夹爪、柜体或视野边缘遮挡，不能确认实际接触方式；未见夹持搬运，故不标抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人轮式底盘在尝试搬放第3罐汽水（按三次尝试顺序）时于柜前移动、转向，由地面支承。" + } + ] + }, + "ice_in_bucket_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 475, + "log_step": null, + "text_zh": "观察：视频 440–590 s 机器人反复将左夹爪下降到柜面区域后抬起，未见冰块随手转运或释放进桶；视频 475、500、550 s 可见冰桶仍在地面。全片未见达到桶内至少1块的放入动作。" + }, + { + "t": 592.2, + "log_step": null, + "text_zh": "推断：初始冰块在托盘内；视频 591.4–592.2 s 没有新的入桶动作，评分器 q_score=0.0 排除桶内至少1块冰的终态。" + }, + { + "t": null, + "log_step": 212, + "text_zh": "观察：log step 212 的 gen_run4 输出六块冰逐一抓取为 None 并失败；按六次尝试顺序对应计数节点，不从日志给予抓取或入桶进度。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "机器人左夹爪在视频 440–590 s反复接近第1块冰（按六次尝试顺序）所在区域，但小物体被夹爪、柜体或视野边缘遮挡，不能确认实际接触方式；未见夹持搬运，故不标抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人轮式底盘在尝试搬放第1块冰（按六次尝试顺序）时于柜前移动、转向，由地面支承。" + } + ] + }, + "ice_in_bucket_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 475, + "log_step": null, + "text_zh": "观察：视频 440–590 s 机器人反复将左夹爪下降到柜面区域后抬起，未见冰块随手转运或释放进桶；视频 475、500、550 s 可见冰桶仍在地面。全片未见达到桶内至少2块的放入动作。" + }, + { + "t": 592.2, + "log_step": null, + "text_zh": "推断：初始冰块在托盘内；视频 591.4–592.2 s 没有新的入桶动作，评分器 q_score=0.0 排除桶内至少2块冰的终态。" + }, + { + "t": null, + "log_step": 212, + "text_zh": "观察：log step 212 的 gen_run4 输出六块冰逐一抓取为 None 并失败；按六次尝试顺序对应计数节点，不从日志给予抓取或入桶进度。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "机器人左夹爪在视频 440–590 s反复接近第2块冰（按六次尝试顺序）所在区域，但小物体被夹爪、柜体或视野边缘遮挡，不能确认实际接触方式；未见夹持搬运，故不标抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人轮式底盘在尝试搬放第2块冰（按六次尝试顺序）时于柜前移动、转向，由地面支承。" + } + ] + }, + "ice_in_bucket_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 475, + "log_step": null, + "text_zh": "观察：视频 440–590 s 机器人反复将左夹爪下降到柜面区域后抬起，未见冰块随手转运或释放进桶；视频 475、500、550 s 可见冰桶仍在地面。全片未见达到桶内至少3块的放入动作。" + }, + { + "t": 592.2, + "log_step": null, + "text_zh": "推断：初始冰块在托盘内；视频 591.4–592.2 s 没有新的入桶动作，评分器 q_score=0.0 排除桶内至少3块冰的终态。" + }, + { + "t": null, + "log_step": 212, + "text_zh": "观察：log step 212 的 gen_run4 输出六块冰逐一抓取为 None 并失败；按六次尝试顺序对应计数节点，不从日志给予抓取或入桶进度。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "机器人左夹爪在视频 440–590 s反复接近第3块冰（按六次尝试顺序）所在区域，但小物体被夹爪、柜体或视野边缘遮挡，不能确认实际接触方式；未见夹持搬运，故不标抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人轮式底盘在尝试搬放第3块冰（按六次尝试顺序）时于柜前移动、转向，由地面支承。" + } + ] + }, + "ice_in_bucket_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 475, + "log_step": null, + "text_zh": "观察：视频 440–590 s 机器人反复将左夹爪下降到柜面区域后抬起，未见冰块随手转运或释放进桶；视频 475、500、550 s 可见冰桶仍在地面。全片未见达到桶内至少4块的放入动作。" + }, + { + "t": 592.2, + "log_step": null, + "text_zh": "推断：初始冰块在托盘内；视频 591.4–592.2 s 没有新的入桶动作，评分器 q_score=0.0 排除桶内至少4块冰的终态。" + }, + { + "t": null, + "log_step": 212, + "text_zh": "观察：log step 212 的 gen_run4 输出六块冰逐一抓取为 None 并失败；按六次尝试顺序对应计数节点，不从日志给予抓取或入桶进度。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "机器人左夹爪在视频 440–590 s反复接近第4块冰（按六次尝试顺序）所在区域，但小物体被夹爪、柜体或视野边缘遮挡，不能确认实际接触方式；未见夹持搬运，故不标抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人轮式底盘在尝试搬放第4块冰（按六次尝试顺序）时于柜前移动、转向，由地面支承。" + } + ] + }, + "ice_in_bucket_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 475, + "log_step": null, + "text_zh": "观察：视频 440–590 s 机器人反复将左夹爪下降到柜面区域后抬起，未见冰块随手转运或释放进桶；视频 475、500、550 s 可见冰桶仍在地面。全片未见达到桶内至少5块的放入动作。" + }, + { + "t": 592.2, + "log_step": null, + "text_zh": "推断：初始冰块在托盘内；视频 591.4–592.2 s 没有新的入桶动作，评分器 q_score=0.0 排除桶内至少5块冰的终态。" + }, + { + "t": null, + "log_step": 212, + "text_zh": "观察：log step 212 的 gen_run4 输出六块冰逐一抓取为 None 并失败；按六次尝试顺序对应计数节点，不从日志给予抓取或入桶进度。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "机器人左夹爪在视频 440–590 s反复接近第5块冰（按六次尝试顺序）所在区域，但小物体被夹爪、柜体或视野边缘遮挡，不能确认实际接触方式；未见夹持搬运，故不标抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人轮式底盘在尝试搬放第5块冰（按六次尝试顺序）时于柜前移动、转向，由地面支承。" + } + ] + }, + "ice_in_bucket_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 475, + "log_step": null, + "text_zh": "观察：视频 440–590 s 机器人反复将左夹爪下降到柜面区域后抬起，未见冰块随手转运或释放进桶；视频 475、500、550 s 可见冰桶仍在地面。全片未见达到桶内至少6块的放入动作。" + }, + { + "t": 592.2, + "log_step": null, + "text_zh": "推断：初始冰块在托盘内；视频 591.4–592.2 s 没有新的入桶动作，评分器 q_score=0.0 排除桶内至少6块冰的终态。" + }, + { + "t": null, + "log_step": 212, + "text_zh": "观察：log step 212 的 gen_run4 输出六块冰逐一抓取为 None 并失败；按六次尝试顺序对应计数节点，不从日志给予抓取或入桶进度。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "机器人左夹爪在视频 440–590 s反复接近第6块冰（按六次尝试顺序）所在区域，但小物体被夹爪、柜体或视野边缘遮挡，不能确认实际接触方式；未见夹持搬运，故不标抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人轮式底盘在尝试搬放第6块冰（按六次尝试顺序）时于柜前移动、转向，由地面支承。" + } + ] + }, + "bucket_on_counter": { + "method": "visual", + "intervals": [ + [ + 33.3, + 34.3 + ] + ], + "final": false, + "evidence": [ + { + "t": 2, + "log_step": null, + "text_zh": "观察：视频 2–5 s 银色冰桶仍在深棕色柜面；视频 16–22 s 左夹爪夹住桶缘并把桶带向浅色吧台，桶离开原柜面，底盘同时转向。" + }, + { + "t": 33.3, + "log_step": null, + "text_zh": "观察：视频 33.3–34.1 s 腕部视角可见桶底边接触浅色台面，桶身紧贴台边；视频 34.2–35.4 s 桶旋转并越过台边下落，之后机器人回到柜前。" + }, + { + "t": 34.3, + "log_step": null, + "text_zh": "推断：将首次清楚可见的台面支承记为视频约 33.3 s，失去支承记为视频约 34.3 s（边界约有 0.5 s 不确定性）；更早搬运时桶底被桶身及夹爪遮挡，未据此提前计入。本节点 freeze_held=false，短暂支承可以计入。" + }, + { + "t": 80, + "log_step": null, + "text_zh": "观察：视频 80、100、475、550 s 冰桶位于黑白格地面，未见机器人重新抓桶搬回吧台；视频 591.4–592.2 s 也未修复该状态。" + }, + { + "t": null, + "log_step": 212, + "text_zh": "观察：log step 206 的最终生成进程输出已搬桶，但 log step 212 同一进程随后报告桶中心高度 0.101；日志中“placed”不等同持续完成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "视频 16–22 s 左二指夹爪夹住冰桶桶缘，桶与夹爪一起离开柜面、被搬向吧台；视频 33–35 s 在台边松开并撤离。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 18–22 s 轮式底盘携桶转向吧台，地面支承底盘完成搬运。" + } + ] + }, + "glasses_on_counter_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 335, + "log_step": null, + "text_zh": "观察：视频 280–435 s 机器人在柜前反复下降夹爪、回撤并换位，腕部画面未见高脚杯夹在两指之间随手搬走，也未见至少1杯到浅色吧台并与另一杯相邻。" + }, + { + "t": 592.2, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.0，结合未见酒杯向吧台的转运，至少1杯上吧台且杯间相邻的终态为假。" + }, + { + "t": null, + "log_step": 210, + "text_zh": "观察：log step 210 的 gen_run4 输出两只酒杯均扫描抓取失败并继续；该日志用于识别尝试对象，不据此认定接触。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "机器人左夹爪在视频 280–435 s反复接近第1只酒杯（按尝试顺序）所在区域，但小物体被夹爪、柜体或视野边缘遮挡，不能确认实际接触方式；未见夹持搬运，故不标抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人轮式底盘在尝试搬放第1只酒杯（按尝试顺序）时于柜前移动、转向，由地面支承。" + } + ] + }, + "glasses_on_counter_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 335, + "log_step": null, + "text_zh": "观察：视频 280–435 s 机器人在柜前反复下降夹爪、回撤并换位，腕部画面未见高脚杯夹在两指之间随手搬走，也未见至少2杯到浅色吧台并与另一杯相邻。" + }, + { + "t": 592.2, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.0，结合未见酒杯向吧台的转运，至少2杯上吧台且杯间相邻的终态为假。" + }, + { + "t": null, + "log_step": 210, + "text_zh": "观察：log step 210 的 gen_run4 输出两只酒杯均扫描抓取失败并继续；该日志用于识别尝试对象，不据此认定接触。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "机器人左夹爪在视频 280–435 s反复接近第2只酒杯（按尝试顺序）所在区域，但小物体被夹爪、柜体或视野边缘遮挡，不能确认实际接触方式；未见夹持搬运，故不标抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人轮式底盘在尝试搬放第2只酒杯（按尝试顺序）时于柜前移动、转向，由地面支承。" + } + ] + }, + "corkscrew_on_counter": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 95, + "log_step": null, + "text_zh": "观察：视频 85–125 s 机器人左臂在深棕色柜面及其边缘反复伸缩，未见细长开瓶器随夹爪运到浅色吧台，也未见开瓶器与吧台上的酒瓶相邻。" + }, + { + "t": 592.2, + "log_step": null, + "text_zh": "推断：视频 591.4–592.2 s 未出现完成摆设；评分器 q_score=0.0 排除开瓶器在吧台且邻酒瓶的终态。" + }, + { + "t": null, + "log_step": 208, + "text_zh": "观察：log step 208 的 gen_run4 输出开瓶器抓取断言失败后继续。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "机器人左夹爪在视频 85–125 s反复接近开瓶器所在区域，但小物体被夹爪、柜体或视野边缘遮挡，不能确认实际接触方式；未见夹持搬运，故不标抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人轮式底盘在尝试搬放开瓶器时于柜前移动、转向，由地面支承。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "bucket_on_counter", + "t": 34.3, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：机器人最先搬冰桶，视频 33.3–34.1 s 桶底边短暂接触浅色台面，视频 34.2–35.4 s 桶在松爪撤离时翻转、越过台边下落；视频 80 s 已见桶在地面，此后至视频 592.2 s 没有把桶搬回。此为首个未修复的失败步骤，后续酒瓶、开瓶器、汽水、酒杯及冰块尝试也未完成。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "放后不稳", + "t": 34.3, + "log_step": null, + "evidence_zh": "观察：视频 33.3–34.1 s 冰桶底边在浅色台面上，机器人左夹爪随后松开、回撤，视频 34.2–35.4 s 桶翻转并从台面边缘落下；视频 80 s 桶已在地面。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：视频 33.3–35.4 s 机器人将桶留在台面边缘，松爪回撤后桶即失去支承，说明搬放控制没有得到可保持的落放状态；log step 206 的最终生成输出记录落点平面坐标约为（-2.524，-2.605），而 log step 180 修改的桶目标是（-2.35，-2.55），也显示实际落点偏离目标。现有证据不能区分逆解误差、姿态跟踪与接触承载布局的贡献，故停在控制大类。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "无状态日志。桶底在早期靠近台面时被遮挡，短暂支承区间按视频 33.3–34.3 s 的可见接触估计，边界约有 0.5 s 不确定性；缺少接触力和逐帧位姿，不能精确区分桶的偏位、倾转与手部回撤的贡献。多数小物体的真实接触被柜体、夹爪或视野边缘遮挡，contact_actual 对这些夹爪接触记未知，底盘移动单独记录。log step 183 的汽水成功属于另一生成尝试，没有用来给本次评分视频计进度；最终报告关于物体“起初在地面”和不可达的说法亦未当作环境故障证据。", + "unmet": { + "bottle_on_counter": false, + "sodas_on_counter_1": false, + "sodas_on_counter_2": false, + "sodas_on_counter_3": false, + "ice_in_bucket_1": false, + "ice_in_bucket_2": false, + "ice_in_bucket_3": false, + "ice_in_bucket_4": false, + "ice_in_bucket_5": false, + "ice_in_bucket_6": false, + "bucket_on_counter": false, + "glasses_on_counter_1": false, + "glasses_on_counter_2": false, + "corkscrew_on_counter": false + } + }, + "summary_zh": "观察：机器人夹起冰桶并搬到吧台边缘，视频约 33.3–34.3 s 桶底边短暂接触台面，随后翻落地面且未修复；其余物体未见完成转运或入桶，最终 0/14，评分器 q_score=0.0。推断：首个未修复断点是冰桶上吧台，台边落放未能保持，归因到控制；无状态日志，短暂支承时刻及多数小物体接触方式仍有视觉缺口。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "冰桶在视频约33–34.8 s被夹爪带到吧台边、随后翻落地面，bucket_on_counter 短暂区间、断点、放后不稳和停在控制大类均与帧一致；其余节点全片未见完成，q_score=0 支持 final 全假。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:40:21Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-setup-a-bar-for-a-cocktail-party-i00-privileged--pwv4h56/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-setup-a-bar-for-a-cocktail-party-i00-privileged--pwv4h56/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "93eb0f58d5588a97e4d9daff02ad4f95c7c4dd0ca7ad2e2782fe874fffdd654b", + "video_sha256": "78986d35b3db86ea4842cf7ae42112a8ce013c7fb1ea0e2204e82901e24f2d7f", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/setup_a_bar_for_a_cocktail_party/trajectories/behavior-setup-a-bar-for-a-cocktail-party-i00-privileged--sotjfgg.json b/phase2/behavior-1k/setup_a_bar_for_a_cocktail_party/trajectories/behavior-setup-a-bar-for-a-cocktail-party-i00-privileged--sotjfgg.json new file mode 100644 index 0000000000000000000000000000000000000000..c7650e1a923790937bdc4a79ca5a5a1bfed08931 --- /dev/null +++ b/phase2/behavior-1k/setup_a_bar_for_a_cocktail_party/trajectories/behavior-setup-a-bar-for-a-cocktail-party-i00-privileged--sotjfgg.json @@ -0,0 +1,446 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-setup-a-bar-for-a-cocktail-party-i00-privileged--sotjfgg", + "taskKey": "behavior-1k/setup_a_bar_for_a_cocktail_party", + "dag_sha256": "8a072e1994997f39932c0ca13678b0cb7a0584e1170e22d888b0466840d1f291", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 1410, + "sim_steps": 1410, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 1790.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 32, + "agent_resets": 0, + "agent_sim_steps": 26903, + "agent_records": 26, + "agent_replays": 20, + "agent_cost_self_reported": 1 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-setup-a-bar-for-a-cocktail-party-i00-privileged--sotjfgg/replay.mp4", + "duration_s": 47.0, + "fps": 30.0, + "frames": 1410, + "sha256": "7840274d4997bda241b7e9329a017d178b5c5eb3d881e7d2e790e95d04f1d4cd" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 14, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "bottle_on_counter": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.5, + "log_step": null, + "text_zh": "观察：视频 2.0 s 酒瓶在深棕色柜面，视频 5.5 s 起左腕视角中酒瓶被两指夹住并随手臂、底盘一起离开原处。" + }, + { + "t": 32.75, + "log_step": null, + "text_zh": "观察：视频 10.0–29.5 s 酒瓶一直在左夹爪中，未见它接触浅色吧台；视频 30.0–32.5 s 机器人转回靠墙柜面，视频 32.67 s 两指张开，视频 32.75 s 酒瓶向下离开夹爪，视频 32.83 s 爪间已空，腕镜背景为柜面与墙壁。随后机器人改为接近酒杯，没有重新处理酒瓶。" + }, + { + "t": 46.97, + "log_step": null, + "text_zh": "推断：未见酒瓶获得浅色吧台支承的过程，离手点在返回柜面的姿态下；最终评分器 q_score=0.0，初态酒瓶又不在吧台，因此酒瓶上吧台终态为假。log step 298、325 的会话前缀 q_score=0.05 不作为此交付视频的节点证据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 5.5–32.5 s，左二指夹爪合拢夹住酒瓶，酒瓶随夹爪移动；视频 32.67–32.83 s 张指后酒瓶离手。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0–5.5 s 底盘靠近柜面取瓶，视频 6.0–15.5 s 及 30.0–32.5 s 持瓶转向、移动，轮式底盘经地面支承搬运。" + } + ] + }, + "sodas_on_counter_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.0, + "log_step": null, + "text_zh": "观察：视频 2.0 s，汽水罐仍在靠墙的深棕色柜面；检查视频 0–46.97 s，机器人只搬运酒瓶并接近酒杯，没有将汽水移至浅色吧台。" + }, + { + "t": 46.97, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0；结合初态汽水不在吧台及整段未搬运汽水，本计数节点终态为假。" + } + ] + }, + "sodas_on_counter_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.0, + "log_step": null, + "text_zh": "观察：视频 2.0 s，汽水罐仍在靠墙的深棕色柜面；检查视频 0–46.97 s，机器人只搬运酒瓶并接近酒杯，没有将汽水移至浅色吧台。" + }, + { + "t": 46.97, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0；结合初态汽水不在吧台及整段未搬运汽水，本计数节点终态为假。" + } + ] + }, + "sodas_on_counter_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.0, + "log_step": null, + "text_zh": "观察：视频 2.0 s，汽水罐仍在靠墙的深棕色柜面；检查视频 0–46.97 s，机器人只搬运酒瓶并接近酒杯，没有将汽水移至浅色吧台。" + }, + { + "t": 46.97, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0；结合初态汽水不在吧台及整段未搬运汽水，本计数节点终态为假。" + } + ] + }, + "ice_in_bucket_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.0, + "log_step": 6, + "text_zh": "观察：视频 2.0 s，装冰托盘与冰桶在深棕色柜面；log step 6 所读初始条件列出六块冰均在托盘上。" + }, + { + "t": 46.97, + "log_step": null, + "text_zh": "推断：视频 0–46.97 s 未见机器人取冰、持盘倒冰或移动冰桶；视频 35.5 s 仍见原柜面上的托盘与桶，评分器 q_score=0.0，因此没有证据显示冰进入桶，至少1块冰入桶的节点未达成。" + } + ] + }, + "ice_in_bucket_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.0, + "log_step": 6, + "text_zh": "观察：视频 2.0 s，装冰托盘与冰桶在深棕色柜面；log step 6 所读初始条件列出六块冰均在托盘上。" + }, + { + "t": 46.97, + "log_step": null, + "text_zh": "推断：视频 0–46.97 s 未见机器人取冰、持盘倒冰或移动冰桶；视频 35.5 s 仍见原柜面上的托盘与桶，评分器 q_score=0.0，因此没有证据显示冰进入桶，至少2块冰入桶的节点未达成。" + } + ] + }, + "ice_in_bucket_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.0, + "log_step": 6, + "text_zh": "观察：视频 2.0 s，装冰托盘与冰桶在深棕色柜面；log step 6 所读初始条件列出六块冰均在托盘上。" + }, + { + "t": 46.97, + "log_step": null, + "text_zh": "推断：视频 0–46.97 s 未见机器人取冰、持盘倒冰或移动冰桶；视频 35.5 s 仍见原柜面上的托盘与桶，评分器 q_score=0.0，因此没有证据显示冰进入桶，至少3块冰入桶的节点未达成。" + } + ] + }, + "ice_in_bucket_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.0, + "log_step": 6, + "text_zh": "观察：视频 2.0 s，装冰托盘与冰桶在深棕色柜面；log step 6 所读初始条件列出六块冰均在托盘上。" + }, + { + "t": 46.97, + "log_step": null, + "text_zh": "推断：视频 0–46.97 s 未见机器人取冰、持盘倒冰或移动冰桶；视频 35.5 s 仍见原柜面上的托盘与桶，评分器 q_score=0.0，因此没有证据显示冰进入桶，至少4块冰入桶的节点未达成。" + } + ] + }, + "ice_in_bucket_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.0, + "log_step": 6, + "text_zh": "观察：视频 2.0 s，装冰托盘与冰桶在深棕色柜面；log step 6 所读初始条件列出六块冰均在托盘上。" + }, + { + "t": 46.97, + "log_step": null, + "text_zh": "推断：视频 0–46.97 s 未见机器人取冰、持盘倒冰或移动冰桶；视频 35.5 s 仍见原柜面上的托盘与桶，评分器 q_score=0.0，因此没有证据显示冰进入桶，至少5块冰入桶的节点未达成。" + } + ] + }, + "ice_in_bucket_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.0, + "log_step": 6, + "text_zh": "观察：视频 2.0 s，装冰托盘与冰桶在深棕色柜面；log step 6 所读初始条件列出六块冰均在托盘上。" + }, + { + "t": 46.97, + "log_step": null, + "text_zh": "推断：视频 0–46.97 s 未见机器人取冰、持盘倒冰或移动冰桶；视频 35.5 s 仍见原柜面上的托盘与桶，评分器 q_score=0.0，因此没有证据显示冰进入桶，至少6块冰入桶的节点未达成。" + } + ] + }, + "bucket_on_counter": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 35.5, + "log_step": null, + "text_zh": "观察：视频 2.0、35.5 s，浅蓝银色冰桶仍在深棕色柜面；视频 0–46.97 s 未见机器人抓取、搬运冰桶，浅色吧台也未出现该桶。" + }, + { + "t": 46.97, + "log_step": null, + "text_zh": "推断：结合全段未搬运及评分器 q_score=0.0，冰桶上吧台终态为假。" + } + ] + }, + "glasses_on_counter_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 42.0, + "log_step": null, + "text_zh": "观察：视频 38.0–42.0 s，机器人在原柜面上方转动、下降左夹爪，腕部视角随后对着酒杯杯口；视频 42.0–46.97 s 杯口仍紧邻深棕色柜面，没有酒杯离开旧位置并到达浅色吧台的可见转移。" + }, + { + "t": 46.97, + "log_step": null, + "text_zh": "推断：检查整段视频，没有酒杯在吧台上形成邻杯关系；评分器 q_score=0.0 也排除终态新增的酒杯上吧台目标，因此本计数节点为假。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 42.0–46.97 s 左夹爪与酒杯杯口在腕镜中重叠；深色杯口及手指互相遮挡，无法确认是否形成对向夹持或只是单侧碰触，不把会话抓取诊断代作本次接触事实。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 33.0–38.0 s 机器人沿柜面调整底盘位置，准备取第一只酒杯，底盘经地面支承移动。" + } + ] + }, + "glasses_on_counter_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 42.0, + "log_step": null, + "text_zh": "观察：视频 38.0–42.0 s，机器人在原柜面上方转动、下降左夹爪，腕部视角随后对着酒杯杯口；视频 42.0–46.97 s 杯口仍紧邻深棕色柜面，没有酒杯离开旧位置并到达浅色吧台的可见转移。" + }, + { + "t": 46.97, + "log_step": null, + "text_zh": "推断：检查整段视频，没有酒杯在吧台上形成邻杯关系；评分器 q_score=0.0 也排除终态新增的酒杯上吧台目标，因此本计数节点为假。" + } + ] + }, + "corkscrew_on_counter": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.0, + "log_step": null, + "text_zh": "观察：视频 2.0 s，细长开瓶器位于装冰托盘前方的深棕色柜面；视频 0–46.97 s 未见机器人接近或搬运它。" + }, + { + "t": 46.97, + "log_step": null, + "text_zh": "推断：初态开瓶器不在吧台，整段没有对应搬运动作，且评分器 q_score=0.0，开瓶器在吧台并邻酒瓶的条件未成立。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "bottle_on_counter", + "t": 32.75, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 5.5 s 后机器人确实持瓶移动，但视频 30.0–32.5 s 持瓶转回深棕色柜面，视频 32.67–32.83 s 张爪让酒瓶离手，未见酒瓶落在浅色吧台上；此后仅尝试酒杯，没有再完成酒瓶放置。推断：结合评分器 q_score=0.0，最早未修复的步骤是酒瓶上吧台，而非后来尝试的酒杯节点。" + }, + "unmet": { + "bottle_on_counter": false, + "sodas_on_counter_1": false, + "sodas_on_counter_2": false, + "sodas_on_counter_3": false, + "ice_in_bucket_1": false, + "ice_in_bucket_2": false, + "ice_in_bucket_3": false, + "ice_in_bucket_4": false, + "ice_in_bucket_5": false, + "ice_in_bucket_6": false, + "bucket_on_counter": false, + "glasses_on_counter_1": false, + "glasses_on_counter_2": false, + "corkscrew_on_counter": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 32.75, + "log_step": null, + "evidence_zh": "观察：视频 32.5 s 酒瓶仍在左夹爪中，视频 32.67 s 两指张开，视频 32.75 s 瓶向下退出爪间；机器人此时已转向原柜面，腕镜中的离手位置没有浅色吧台支承，后续视频至 46.97 s 未再处理酒瓶。推断：机器人在没有把酒瓶送到目标支承位置时就放开，属于放置位姿不准；不声称瓶已落地或曾在吧台上稳定后滚落。" + } + ], + "root_causes": [ + { + "cat": "交付", + "item": "交付操作出错", + "log_step": 544, + "evidence_zh": "观察：log step 191 展示 agent 脚本在正常及异常保存分支均将 resume_actions 与本次录制动作拼接，异常分支也保存交付轨迹；log step 255 输出抓酒瓶失败的 RuntimeError、checkpoint actions 1205 和 SAVED PARTIAL TRAJECTORY 1205。log step 259 将 partial_actions 截为1020动作并手工写入酒瓶已完成标记，log step 332、544 再次如此截断并以 RESUME=1 续录；log step 256、541、548 的续录进程输出 Segmentation fault。评分器 reward.n_actions=1410、deterministic=1、q_score=0.0、agent_replays=20，但会话中没有最终1410动作文件的完整回放验收记录；log step 298、325 的 q_score=0.05 只属于1020动作前缀。视频 30–32.5 s 酒瓶仍在左夹爪，视频 32.67–32.83 s 在返回原柜面的姿态下离手，与 agent 在 log step 236 自述酒瓶已 ontop=True 不符。推断：agent 交付了依赖手工完成标记、截断前缀和续录保存而未完整验收的轨迹，符合交付操作出错；最终1410动作来自哪一次保存仍不确定，不把会话自述当作交付进度，也不据此指认仿真器故障。", + "source_zh": "日志中的脚本代码、截断保存命令和进程输出，评分器字段及交付视频；最终保存来源为推断。" + } + ], + "gap_zh": "没有状态日志；酒瓶离手后的最终落点不在可用视角内，但结合初态、可见搬运及评分器 q_score=0.0，其终态未达成。log step 298、325 的1020动作前缀 q_score=0.05 不代替交付视频进度；log step 191、259、332、544 记录拼接保存、手工完成标记及截断续录，log step 256、541、548 记录续录进程崩溃，支持未完整验收的交付问题。输入没有将最终1410动作逐段对应到具体保存版本的完整记录，不能确认精确版本链、导致会话与交付表现不同的具体机制或 segfault 的原因。视频 42.0–46.97 s 的杯口遮挡使第一只酒杯的手指接触方式未知。" + }, + "summary_zh": "本次交付终态为0/14：机器人持酒瓶搬运，在返回原柜面后于视频 32.67–32.83 s 放开，随后接近第一只酒杯，最早未修复断点为酒瓶上吧台。log step 191、259、332、544 的异常拼接保存与截断续录代码、log step 548 的续录崩溃，以及缺少最终1410动作文件完整回放验收的记录，支持交付操作出错，不能用会话完成自述或前缀分数补入交付进度。没有状态日志，酒瓶最终落点及最终保存版本链仍未知；交付根因由日志和视频结合推断，因此置信度调为6。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "WHERE 标签（14 节点全假、断点 bottle_on_counter、位姿不准）与视频一致，我未发现节点值/时间错误。主要问题：根因层留空，但 log 有证据显示交付文件是 agent 自己在崩溃（segfault）和反复截断到 1020 动作前缀后续录拼成的、从未完整回放验证，而会话里‘瓶已 ontop=True’在交付视频中不成立（视频 14–32.5 s 酒瓶一直在左爪中，未放到吧台），符合 N10/FAIL-19 的交付操作出错。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "14 节点全假、断点 bottle_on_counter、位姿不准与交付根因均与视频、评分器 q_score=0.0 一致；上一轮提出的交付根因已补入且证据与推断区分清楚，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": "2026-10-30T21:49:23Z", + "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-setup-a-bar-for-a-cocktail-party-i00-privileged--sotjfgg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-setup-a-bar-for-a-cocktail-party-i00-privileged--sotjfgg/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-setup-a-bar-for-a-cocktail-party-i00-privileged--sotjfgg/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-setup-a-bar-for-a-cocktail-party-i00-privileged--sotjfgg/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c042fa4619776ec95f9efeac1d3f2f47bf2620dd745b0c0363837b8261efb97f", + "video_sha256": "7840274d4997bda241b7e9329a017d178b5c5eb3d881e7d2e790e95d04f1d4cd", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/setup_a_bar_for_a_cocktail_party/trajectories/behavior-setup-a-bar-for-a-cocktail-party-i00-standard--aerubtj.json b/phase2/behavior-1k/setup_a_bar_for_a_cocktail_party/trajectories/behavior-setup-a-bar-for-a-cocktail-party-i00-standard--aerubtj.json new file mode 100644 index 0000000000000000000000000000000000000000..75fb3e6f7e9b54b606dc7404233f9a00053a2bea --- /dev/null +++ b/phase2/behavior-1k/setup_a_bar_for_a_cocktail_party/trajectories/behavior-setup-a-bar-for-a-cocktail-party-i00-standard--aerubtj.json @@ -0,0 +1,414 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-setup-a-bar-for-a-cocktail-party-i00-standard--aerubtj", + "taskKey": "behavior-1k/setup_a_bar_for_a_cocktail_party", + "dag_sha256": "8a072e1994997f39932c0ca13678b0cb7a0584e1170e22d888b0466840d1f291", + "outcome": { + "success": 0, + "reward": 0.1, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "n_actions": 31320, + "sim_steps": 31320, + "physics_steps": 125280, + "steps": 27899, + "elapsed_s": 11583.2, + "video_rendered": 1, + "gpu_lost": 0, + "q_score": 0.1, + "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-setup-a-bar-for-a-cocktail-party-i00-standard--aerubtj/replay.mp4", + "duration_s": 1044.0, + "fps": 30.0, + "frames": 31320, + "sha256": "f2747b9be063516084773c54538c8e18fd51a17a70da47d59318bbdec52bafd4" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 14, + "base": null, + "peak": null, + "final": null, + "nodes": { + "bottle_on_counter": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1, + "log_step": null, + "text_zh": "观察：视频 0–8.5 s 巡视时目标用品位于靠墙的深棕色柜面，浅色吧台未见这些目标的布置；视频 9.5–12 s 机器人倾倒，随后主要伸臂抵地和移动自救；视频 242–272 s 再次看到浅色吧台时未见目标摆放，视频 1043–1043.8 s 末段相机仍仰向墙体和天空，夹爪未持目标。" + }, + { + "t": 255, + "log_step": 43, + "text_zh": "推断：结合开局酒瓶在柜面、全程已检片段没有酒瓶离开原处后到达浅色吧台的搬运过程，以及视频 242–272 s 所见吧台，酒瓶上吧台未达成；log step 42–43 的动作是查看并接近柜区，没有指定或抓取酒瓶。" + } + ] + }, + "sodas_on_counter_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1, + "log_step": null, + "text_zh": "观察：视频 0–8.5 s 巡视时目标用品位于靠墙的深棕色柜面，浅色吧台未见这些目标的布置；视频 9.5–12 s 机器人倾倒，随后主要伸臂抵地和移动自救；视频 242–272 s 再次看到浅色吧台时未见目标摆放，视频 1043–1043.8 s 末段相机仍仰向墙体和天空，夹爪未持目标。" + }, + { + "t": 255, + "log_step": null, + "text_zh": "推断：视频 0–8.5 s 的罐装用品仍在深棕色柜面；视频 9.5–272 s 未见机器人搬运汽水到浅色吧台，后续视频 285–1043.8 s 为倾倒、自救与墙外视角。因此未见形成至少1罐同时在吧台并各邻另一罐的组合，按未达成标注；不将 reward.q_score=0.1 换算成汽水放置成功。" + } + ] + }, + "sodas_on_counter_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1, + "log_step": null, + "text_zh": "观察：视频 0–8.5 s 巡视时目标用品位于靠墙的深棕色柜面，浅色吧台未见这些目标的布置；视频 9.5–12 s 机器人倾倒，随后主要伸臂抵地和移动自救；视频 242–272 s 再次看到浅色吧台时未见目标摆放，视频 1043–1043.8 s 末段相机仍仰向墙体和天空，夹爪未持目标。" + }, + { + "t": 255, + "log_step": null, + "text_zh": "推断：视频 0–8.5 s 的罐装用品仍在深棕色柜面；视频 9.5–272 s 未见机器人搬运汽水到浅色吧台，后续视频 285–1043.8 s 为倾倒、自救与墙外视角。因此未见形成至少2罐同时在吧台并各邻另一罐的组合，按未达成标注；不将 reward.q_score=0.1 换算成汽水放置成功。" + } + ] + }, + "sodas_on_counter_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1, + "log_step": null, + "text_zh": "观察：视频 0–8.5 s 巡视时目标用品位于靠墙的深棕色柜面，浅色吧台未见这些目标的布置；视频 9.5–12 s 机器人倾倒，随后主要伸臂抵地和移动自救；视频 242–272 s 再次看到浅色吧台时未见目标摆放，视频 1043–1043.8 s 末段相机仍仰向墙体和天空，夹爪未持目标。" + }, + { + "t": 255, + "log_step": null, + "text_zh": "推断：视频 0–8.5 s 的罐装用品仍在深棕色柜面；视频 9.5–272 s 未见机器人搬运汽水到浅色吧台，后续视频 285–1043.8 s 为倾倒、自救与墙外视角。因此未见形成至少3罐同时在吧台并各邻另一罐的组合，按未达成标注；不将 reward.q_score=0.1 换算成汽水放置成功。" + } + ] + }, + "ice_in_bucket_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 69, + "log_step": null, + "text_zh": "观察：inputs/run.json 的 task_text 给定六块冰开局在托盘；视频 1 s 柜区只能看清桶的外形，视频 66.5–100 s 桶侧倒在地砖上且开口/内部没有足够清晰的视角。全程已检画面没有可确认的冰块进入桶腔过程，没有逐物状态日志或逐冰块评分字段。" + }, + { + "t": 1043.8, + "log_step": 211, + "text_zh": "推断：评分 reward.q_score=0.1 未分解到具体目标，允许最多两个非初始目标字面量成立，不能排除碰落用品时有少量冰偶然进入桶。由于桶腔始终不可辨认，至少1块冰入桶的时间和终值均无法确定；不能从 agent 在 log step 211 自述“没有目标达成”推出为假。" + } + ] + }, + "ice_in_bucket_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 69, + "log_step": null, + "text_zh": "观察：inputs/run.json 的 task_text 给定六块冰开局在托盘；视频 1 s 柜区只能看清桶的外形，视频 66.5–100 s 桶侧倒在地砖上且开口/内部没有足够清晰的视角。全程已检画面没有可确认的冰块进入桶腔过程，没有逐物状态日志或逐冰块评分字段。" + }, + { + "t": 1043.8, + "log_step": 211, + "text_zh": "推断：评分 reward.q_score=0.1 未分解到具体目标，允许最多两个非初始目标字面量成立，不能排除碰落用品时有少量冰偶然进入桶。由于桶腔始终不可辨认，至少2块冰入桶的时间和终值均无法确定；不能从 agent 在 log step 211 自述“没有目标达成”推出为假。" + } + ] + }, + "ice_in_bucket_3": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 69, + "log_step": null, + "text_zh": "观察：inputs/run.json 的 task_text 给定六块冰开局在托盘；视频 1 s 柜区只能看清桶的外形，视频 66.5–100 s 桶侧倒在地砖上且开口/内部没有足够清晰的视角。全程已检画面没有可确认的冰块进入桶腔过程，没有逐物状态日志或逐冰块评分字段。" + }, + { + "t": 1043.8, + "log_step": null, + "text_zh": "推断：本任务最佳目标选项有20个字面量，reward.q_score=0.1 对应最多2个新增满足字面量；六块冰初始在托盘，入桶不属于初始保留条件。至少3块冰入桶需要不少于3个入桶字面量，因此最终为假。该总分不能恢复历史时间线，intervals 保留 null；reward.live_matches_replay=1。" + } + ] + }, + "ice_in_bucket_4": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 69, + "log_step": null, + "text_zh": "观察：inputs/run.json 的 task_text 给定六块冰开局在托盘；视频 1 s 柜区只能看清桶的外形，视频 66.5–100 s 桶侧倒在地砖上且开口/内部没有足够清晰的视角。全程已检画面没有可确认的冰块进入桶腔过程，没有逐物状态日志或逐冰块评分字段。" + }, + { + "t": 1043.8, + "log_step": null, + "text_zh": "推断：本任务最佳目标选项有20个字面量，reward.q_score=0.1 对应最多2个新增满足字面量；六块冰初始在托盘，入桶不属于初始保留条件。至少4块冰入桶需要不少于4个入桶字面量，因此最终为假。该总分不能恢复历史时间线，intervals 保留 null；reward.live_matches_replay=1。" + } + ] + }, + "ice_in_bucket_5": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 69, + "log_step": null, + "text_zh": "观察：inputs/run.json 的 task_text 给定六块冰开局在托盘；视频 1 s 柜区只能看清桶的外形，视频 66.5–100 s 桶侧倒在地砖上且开口/内部没有足够清晰的视角。全程已检画面没有可确认的冰块进入桶腔过程，没有逐物状态日志或逐冰块评分字段。" + }, + { + "t": 1043.8, + "log_step": null, + "text_zh": "推断：本任务最佳目标选项有20个字面量，reward.q_score=0.1 对应最多2个新增满足字面量；六块冰初始在托盘，入桶不属于初始保留条件。至少5块冰入桶需要不少于5个入桶字面量，因此最终为假。该总分不能恢复历史时间线，intervals 保留 null；reward.live_matches_replay=1。" + } + ] + }, + "ice_in_bucket_6": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 69, + "log_step": null, + "text_zh": "观察：inputs/run.json 的 task_text 给定六块冰开局在托盘；视频 1 s 柜区只能看清桶的外形，视频 66.5–100 s 桶侧倒在地砖上且开口/内部没有足够清晰的视角。全程已检画面没有可确认的冰块进入桶腔过程，没有逐物状态日志或逐冰块评分字段。" + }, + { + "t": 1043.8, + "log_step": null, + "text_zh": "推断：本任务最佳目标选项有20个字面量，reward.q_score=0.1 对应最多2个新增满足字面量；六块冰初始在托盘，入桶不属于初始保留条件。至少6块冰入桶需要不少于6个入桶字面量，因此最终为假。该总分不能恢复历史时间线，intervals 保留 null；reward.live_matches_replay=1。" + } + ] + }, + "bucket_on_counter": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1, + "log_step": null, + "text_zh": "观察：视频 0–8.5 s 巡视时目标用品位于靠墙的深棕色柜面，浅色吧台未见这些目标的布置；视频 9.5–12 s 机器人倾倒，随后主要伸臂抵地和移动自救；视频 242–272 s 再次看到浅色吧台时未见目标摆放，视频 1043–1043.8 s 末段相机仍仰向墙体和天空，夹爪未持目标。" + }, + { + "t": 69, + "log_step": null, + "text_zh": "观察：视频 20–31 s 可见浅蓝银色桶已在柜旁地面；视频 66.5–69.5 s 机器人右夹爪/手掌从桶旁掠过并贴碰桶身，桶在地砖上转动，未被相向夹指包围；视频 69、90、100 s 桶仍侧倒在地面，没有由浅色吧台台面支承。" + }, + { + "t": 255, + "log_step": null, + "text_zh": "推断：机器人之后在视频 242–272 s 空手移动并再次倾倒，余下画面为自救；未见把落地冰桶移回台面的过程，冰桶上吧台未达成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 66.5–69.5 s 自救时右夹爪/手掌侧面贴碰地面的桶身，使其滚转；属附带碰动，没有可确认的包围抓握，也未完成上台。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 18–31 s 及视频 66.5–69.5 s 机器人自救时底盘和机身整体移位，桶附近的伸臂碰动伴随该移动；没有持桶运输。" + } + ] + }, + "glasses_on_counter_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1, + "log_step": null, + "text_zh": "观察：视频 0–8.5 s 巡视时目标用品位于靠墙的深棕色柜面，浅色吧台未见这些目标的布置；视频 9.5–12 s 机器人倾倒，随后主要伸臂抵地和移动自救；视频 242–272 s 再次看到浅色吧台时未见目标摆放，视频 1043–1043.8 s 末段相机仍仰向墙体和天空，夹爪未持目标。" + }, + { + "t": 255, + "log_step": null, + "text_zh": "推断：从视频 0–8.5 s 柜面上的用品及视频 242–272 s 所见浅色吧台，结合未出现酒杯的抓取搬运，可判未形成至少1只酒杯在吧台、互相相邻的组合；后段空手自救未修复该目标。" + } + ] + }, + "glasses_on_counter_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1, + "log_step": null, + "text_zh": "观察：视频 0–8.5 s 巡视时目标用品位于靠墙的深棕色柜面，浅色吧台未见这些目标的布置；视频 9.5–12 s 机器人倾倒，随后主要伸臂抵地和移动自救；视频 242–272 s 再次看到浅色吧台时未见目标摆放，视频 1043–1043.8 s 末段相机仍仰向墙体和天空，夹爪未持目标。" + }, + { + "t": 255, + "log_step": null, + "text_zh": "推断：从视频 0–8.5 s 柜面上的用品及视频 242–272 s 所见浅色吧台，结合未出现酒杯的抓取搬运，可判未形成至少2只酒杯在吧台、互相相邻的组合；后段空手自救未修复该目标。" + } + ] + }, + "corkscrew_on_counter": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1, + "log_step": null, + "text_zh": "观察：视频 0–8.5 s 巡视时目标用品位于靠墙的深棕色柜面，浅色吧台未见这些目标的布置；视频 9.5–12 s 机器人倾倒，随后主要伸臂抵地和移动自救；视频 242–272 s 再次看到浅色吧台时未见目标摆放，视频 1043–1043.8 s 末段相机仍仰向墙体和天空，夹爪未持目标。" + }, + { + "t": 69, + "log_step": null, + "text_zh": "观察：视频 69 s 及视频 72–75 s 上方腕部画面可见黑色螺旋开瓶器位于白色地砖处，主画面也可见其靠近地面的夹爪，背景是黑白地砖而非吧台台面。" + }, + { + "t": 255, + "log_step": null, + "text_zh": "推断：后续未见机器人抓取并把开瓶器送到浅色吧台，视频 242–272 s 未形成开瓶器在吧台且邻酒瓶的布置，因此该节点未达成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": 9.5, + "log_step": 43, + "where": "探索", + "evidence_zh": "观察：视频 0–8.5 s 机器人转动巡视，视频 8.7–9.3 s 空手向靠墙柜区移动，视频约 9.5 s 头部视野开始大幅滚转，视频 12 s 已侧倒。log step 42 明确说查看柜区，log step 43 仅执行转向和两段前进，尚未选定要搬哪件用品；log step 46 的本体读取显示基座俯仰约−1.462 rad。推断：首次出错发生在物品操作前的场景探索，无法把它唯一归到酒瓶、汽水、冰桶等某一DAG节点，故 ref=unknown；后续虽有自救，未完成对应布置目标。" + }, + "unmet": { + "bottle_on_counter": false, + "sodas_on_counter_1": false, + "sodas_on_counter_2": false, + "sodas_on_counter_3": false, + "ice_in_bucket_1": null, + "ice_in_bucket_2": null, + "ice_in_bucket_3": false, + "ice_in_bucket_4": false, + "ice_in_bucket_5": false, + "ice_in_bucket_6": false, + "bucket_on_counter": false, + "glasses_on_counter_1": false, + "glasses_on_counter_2": false, + "corkscrew_on_counter": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 9.5, + "log_step": 46, + "evidence_zh": "观察：视频 9.5–12 s 机器人接近柜区时视野由直立转为侧倒，随后长期以倾斜视角伸臂抵地；视频 240–242 s 一度恢复直立，视频 274–285 s 再次翻倒。视频 1043–1043.8 s 末段仍仰向墙体/天空；log step 209 的服务本体读取给出基座上轴z约−0.858，支持末态仍倒置。不是物品放后不稳，也不是单纯移动缓慢。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 9.5, + "log_step": 43, + "evidence_zh": "推断：log step 42–43 的导航代码向柜区连续发送每控制步约0.1米的前进目标，每段0.6米，仅在段后打印平面位置和航向，没有在该动作中依据障碍距离或基座倾斜闭环停止；视频 8.7–12 s 对应可见接近家具后支撑丢失、机身翻倒，log step 46 确认大俯仰偏差。后续 log step 115–127 仍出现受阻时反复前进并再次倾倒，视频 274–285 s 可核对。证据支持移动及自救控制未保持稳定；不能仅凭现有资料细分为参数、逆解或具体接触设计错误。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "观察：inputs/ 有完整本次与成功参考视频、运行日志，但没有 states.jsonl；评分只报告 q_score=0.1，没有逐目标布尔值。桶腔在本次所有已检视角均不清楚，前两块冰是否偶然入桶及各入桶节点的历史时间线不可确定，第3–6块冰的最终假值来自总分上界。首次倾倒前机器人仅查看柜区，不能识别其选定的DAG步骤，断点保留unknown；未凭任务清单任选酒瓶节点。自救阶段桶受附带碰动可见，其他小物落地的精确接触端未清楚显示，未据任务典型方案虚构抓握。DAG所述持续倾倒终止条件与本次仍持续动作的记录存在版本差异，本次按实际graded视频和评分标注，不推断其因该约束结束。" + }, + "summary_zh": "观察：本次单一无重置评分录像中，机器人先巡视柜区，在视频约 9.5 s 首次倾倒，后续主要移动和伸臂自救，冰桶、开瓶器可见落在地面，未确认任何上吧台节点完成。推断：8个上吧台节点最终为假，第3–6块冰入桶由 q_score=0.1 的总分上界判为假；前两块冰因桶内遮挡保留未知，不能把该分数当成已完成两个DAG步骤。首次失败发生在尚未选定物品的探索阶段，断点节点为unknown，现象为平衡、根因为控制；没有逐物状态日志限制了入桶进度及具体接触判断。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "标注与视频和日志一致：视频约 9–12 s 机器人在驶向柜区时机身翻倒，没有任何放置节点完成；ice_in_bucket_1/2 保持未知有据（桶内不可见，q_score 只能给出上界）；平衡 + 控制 的现象和根因有帧与 log step 46 的本体读数支持。ref=unknown 有争议（可考虑 bottle_on_counter 的探索），但证据没有指明具体步骤，不构成错误。", + "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": "2026-10-30T21:45:13Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-setup-a-bar-for-a-cocktail-party-i00-standard--aerubtj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-setup-a-bar-for-a-cocktail-party-i00-standard--aerubtj/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "6d01108a57c554d449f92b5f4223c87640bc33f63e2c68c2acf993342da3f8f4", + "video_sha256": "f2747b9be063516084773c54538c8e18fd51a17a70da47d59318bbdec52bafd4", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/setup_a_bar_for_a_cocktail_party/trajectories/behavior-setup-a-bar-for-a-cocktail-party-i00-standard--ajwudmi.json b/phase2/behavior-1k/setup_a_bar_for_a_cocktail_party/trajectories/behavior-setup-a-bar-for-a-cocktail-party-i00-standard--ajwudmi.json new file mode 100644 index 0000000000000000000000000000000000000000..154f11760013d1880dcdb9dc1f57770fba76982b --- /dev/null +++ b/phase2/behavior-1k/setup_a_bar_for_a_cocktail_party/trajectories/behavior-setup-a-bar-for-a-cocktail-party-i00-standard--ajwudmi.json @@ -0,0 +1,419 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-setup-a-bar-for-a-cocktail-party-i00-standard--ajwudmi", + "taskKey": "behavior-1k/setup_a_bar_for_a_cocktail_party", + "dag_sha256": "8a072e1994997f39932c0ca13678b0cb7a0584e1170e22d888b0466840d1f291", + "outcome": { + "success": 0, + "reward": 0.05, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 4279, + "sim_steps": 4279, + "physics_steps": 17116, + "steps": 4279, + "elapsed_s": 1814.9, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 1, + "q_score": 0.05, + "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": 0.609, + "peak_processes": 11, + "peak_disk_gb": 1.728, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-setup-a-bar-for-a-cocktail-party-i00-standard--ajwudmi/replay.mp4", + "duration_s": 142.633, + "fps": 30.0, + "frames": 4279, + "sha256": "e9c45c0cbb01ea7200ac62b18f7d7b4e7278f2a980eb4adfa283e414091e9115" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 14, + "base": null, + "peak": null, + "final": null, + "nodes": { + "bottle_on_counter": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.5, + "log_step": null, + "text_zh": "观察：视频 5.5 s 的腕部与头部画面显示酒瓶与其他待搬物品在靠墙深棕色柜面，尚未在浅色吧台。" + }, + { + "t": 130, + "log_step": null, + "text_zh": "观察：视频 80–130 s 多次扫过浅色吧台，未见酒瓶放置；机器人双夹爪未携带酒瓶，视频 142.5 s 仍未见搬运结果。" + } + ] + }, + "sodas_on_counter_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.5, + "log_step": null, + "text_zh": "观察：视频 5.5–6.75 s 可见汽水罐仍在靠墙深棕色柜面；视频 80–130 s 扫过浅色吧台时未见搬来的汽水罐。全片未见机器人夹取并转移汽水，未出现至少1罐在吧台且各有邻罐的结果。" + } + ] + }, + "sodas_on_counter_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.5, + "log_step": null, + "text_zh": "观察：视频 5.5–6.75 s 可见汽水罐仍在靠墙深棕色柜面；视频 80–130 s 扫过浅色吧台时未见搬来的汽水罐。全片未见机器人夹取并转移汽水，未出现至少2罐在吧台且各有邻罐的结果。" + } + ] + }, + "sodas_on_counter_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.5, + "log_step": null, + "text_zh": "观察：视频 5.5–6.75 s 可见汽水罐仍在靠墙深棕色柜面；视频 80–130 s 扫过浅色吧台时未见搬来的汽水罐。全片未见机器人夹取并转移汽水，未出现至少3罐在吧台且各有邻罐的结果。" + } + ] + }, + "ice_in_bucket_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 6.5, + "log_step": null, + "text_zh": "观察：视频 5.5–6.75 s 可见柜上的冰桶外壁，但没有可数清桶内冰块的俯视画面；全片未见机器人抓取冰块或倾倒托盘。视频 142.5 s 桶口仍不在画面内；inputs/run.json 的 reward.q_score=0.05 只报告总量，不能判定是否有一块冰意外进入桶内。" + } + ] + }, + "ice_in_bucket_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.5, + "log_step": null, + "text_zh": "观察：视频 5.5–6.75 s 的冰桶仍在原柜面，整段视频未见机器人搬冰、持盘倒冰或搬动冰桶。" + }, + { + "t": 142.5, + "log_step": null, + "text_zh": "推断：inputs/run.json 的 reward.q_score=0.05、live_matches_replay=1；DAG 的目标原子总数不足40项，因此该比例容不下两条新增的冰块 inside 目标。结合初始任务描述六块冰在托盘、视频没有可见入桶过程，至少2块冰入桶未获满足；这不把总分中的单条目标指定给任何一块冰。" + } + ] + }, + "ice_in_bucket_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.5, + "log_step": null, + "text_zh": "观察：视频 5.5–6.75 s 的冰桶仍在原柜面，整段视频未见机器人搬冰、持盘倒冰或搬动冰桶。" + }, + { + "t": 142.5, + "log_step": null, + "text_zh": "推断：inputs/run.json 的 reward.q_score=0.05、live_matches_replay=1；DAG 的目标原子总数不足40项，因此该比例容不下两条新增的冰块 inside 目标。结合初始任务描述六块冰在托盘、视频没有可见入桶过程，至少3块冰入桶未获满足；这不把总分中的单条目标指定给任何一块冰。" + } + ] + }, + "ice_in_bucket_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.5, + "log_step": null, + "text_zh": "观察：视频 5.5–6.75 s 的冰桶仍在原柜面，整段视频未见机器人搬冰、持盘倒冰或搬动冰桶。" + }, + { + "t": 142.5, + "log_step": null, + "text_zh": "推断：inputs/run.json 的 reward.q_score=0.05、live_matches_replay=1；DAG 的目标原子总数不足40项，因此该比例容不下两条新增的冰块 inside 目标。结合初始任务描述六块冰在托盘、视频没有可见入桶过程，至少4块冰入桶未获满足；这不把总分中的单条目标指定给任何一块冰。" + } + ] + }, + "ice_in_bucket_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.5, + "log_step": null, + "text_zh": "观察：视频 5.5–6.75 s 的冰桶仍在原柜面，整段视频未见机器人搬冰、持盘倒冰或搬动冰桶。" + }, + { + "t": 142.5, + "log_step": null, + "text_zh": "推断：inputs/run.json 的 reward.q_score=0.05、live_matches_replay=1；DAG 的目标原子总数不足40项，因此该比例容不下两条新增的冰块 inside 目标。结合初始任务描述六块冰在托盘、视频没有可见入桶过程，至少5块冰入桶未获满足；这不把总分中的单条目标指定给任何一块冰。" + } + ] + }, + "ice_in_bucket_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.5, + "log_step": null, + "text_zh": "观察：视频 5.5–6.75 s 的冰桶仍在原柜面，整段视频未见机器人搬冰、持盘倒冰或搬动冰桶。" + }, + { + "t": 142.5, + "log_step": null, + "text_zh": "推断：inputs/run.json 的 reward.q_score=0.05、live_matches_replay=1；DAG 的目标原子总数不足40项，因此该比例容不下两条新增的冰块 inside 目标。结合初始任务描述六块冰在托盘、视频没有可见入桶过程，至少6块冰入桶未获满足；这不把总分中的单条目标指定给任何一块冰。" + } + ] + }, + "bucket_on_counter": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.5, + "log_step": null, + "text_zh": "观察：视频 5.5–6.75 s 可见浅蓝银色冰桶由靠墙深棕色柜面支承，未在浅色吧台。" + }, + { + "t": 17.5, + "log_step": 113, + "text_zh": "观察：视频 13–20 s 机器人靠近并查看深棕色柜子，夹爪没有夹住或带走冰桶；log step 113、132 记录其为定位冰桶而移位观察，未记录成功搬运。" + }, + { + "t": 130, + "log_step": null, + "text_zh": "观察：视频 80–130 s 多次展示浅色吧台，未见冰桶；与参考成功录像的 oracle 视频 820–840 s 中吧台上的桶身相比，本段始终没有相应放置结果。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 13–20 s 底盘经地面支承移动，机器人在柜子前改变观察位置；log step 113、132 将该阶段指向冰桶定位。没有可见的夹爪抓桶接触。" + } + ] + }, + "glasses_on_counter_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.5, + "log_step": null, + "text_zh": "观察：视频 5.5–6.75 s 高脚酒杯仍在靠墙深棕色柜面；视频 80–130 s 可见浅色吧台未出现搬来的酒杯，机器人夹爪也没有携杯转移，未出现至少1只合格酒杯在吧台且彼此相邻的结果。" + } + ] + }, + "glasses_on_counter_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.5, + "log_step": null, + "text_zh": "观察：视频 5.5–6.75 s 高脚酒杯仍在靠墙深棕色柜面；视频 80–130 s 可见浅色吧台未出现搬来的酒杯，机器人夹爪也没有携杯转移，未出现至少2只合格酒杯在吧台且彼此相邻的结果。" + } + ] + }, + "corkscrew_on_counter": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.5, + "log_step": null, + "text_zh": "观察：视频 5.5–6.75 s 可见原柜面物品区；开瓶器细小，无法逐帧辨认，但全片没有夹取、搬运并放下这一小件的过程，浅色吧台在视频 80–130 s 多次可见且没有酒瓶。" + }, + { + "t": 142.5, + "log_step": null, + "text_zh": "推断：本节点必须同时满足开瓶器上吧台并邻酒瓶；酒瓶未被搬上吧台，机器人也未把开瓶器放到酒瓶旁，因此联合放置节点为假，而非从总分直接反推未尝试。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.05, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "bucket_on_counter", + "t": 135.5, + "log_step": 267, + "where": "探索", + "evidence_zh": "观察：视频 5.5–6.5 s 可见冰桶及其他待搬物品仍在深棕色柜面，视频 13–20 s 机器人空手接近并查看柜子；log step 113 的指令为 Navigate toward bucket location and look，log step 132 继续移动到柜前，log step 154、199、237 反复定位或投影冰桶，未记录成功搬运。视频 130–135 s 仍为空手观察，视频 135.5–136.5 s 视角显著倾斜下坠，随后保持侧倒到视频 142.5 s；log step 266–267 执行巡查，log step 269 的实时服务状态为 control_steps=4279、done=true、reason=\"failure: the robot fell over\"。推断：冰桶定位及其搬上吧台的准备一直未完成，故断点归 bucket_on_counter，位置为探索；倾倒是搜索期间的回合终止事件，不另设断点。" + }, + "unmet": { + "bottle_on_counter": false, + "sodas_on_counter_1": false, + "sodas_on_counter_2": false, + "sodas_on_counter_3": false, + "ice_in_bucket_1": null, + "ice_in_bucket_2": false, + "ice_in_bucket_3": false, + "ice_in_bucket_4": false, + "ice_in_bucket_5": false, + "ice_in_bucket_6": false, + "bucket_on_counter": false, + "glasses_on_counter_1": false, + "glasses_on_counter_2": false, + "corkscrew_on_counter": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 135.5, + "log_step": 269, + "evidence_zh": "观察：视频 135.5–138 s 机器人相机视角向下并侧转，视频 141.6–142.5 s 仍朝向近处棋盘地面；log step 269 的实时服务明确报告机器人倾倒结束回合，log step 271 给出的基座上轴 z 分量约为 -0.062，确认已失去直立支撑。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "感知", + "t": null, + "log_step": 237, + "source_zh": "日志 / 视频", + "evidence_zh": "观察：视频 5.5–6.5 s 的头部及腕部视角可见深棕色柜面上有浅蓝色冰桶、瓶罐等物品。log step 154 将蓝色候选物估计在约(-4.61,-2.37,0.98)米；log step 237 继续按该候选位置投影，预测桶身深度为1.45米，而同像素实测深度为1.65米；log step 241 输出该像素为墙面浅色，未重获冰桶。log step 113、132、220、228 的脚本据此持续移位或旋转搜索；log step 286 中 agent 最终自述柜面“empty from every angle”，并承认未重新定位物品，这一空柜判断与视频初期可见物品不符。推断：物品定位和柜面内容识别未能纠正，导致冰桶搬运始终停留在搜索准备阶段，并延续到最终倾倒的巡查；这些证据不确定相机标定或数据对齐的具体错误，也不证明感知误差直接造成失衡。" + } + ], + "gap_zh": "没有状态日志；桶口在本段所有已检查视角都不足以清点冰块，q_score=0.05 不提供逐目标真假，故第1块冰入桶保持未知，第2至第6块的终态由总分上界与无搬冰过程推断。视频能确认倾倒，但无法看到底盘与家具的具体阻挡接触，也不能区分最终失衡直接由平移、旋转或其组合引起；因此只保留平衡现象，不添加碰撞现象或把缺少反馈停止条件认定为倾倒根因。感知根因是由日志中的定位结果与视频物品对照作出的推断，其具体标定或数据对齐机制未核实。参考成功录像仅用于比较目标结果的可见外观，不作为本次进度证据。" + }, + "summary_zh": "本次回合主要进行场景扫描、底盘移位及一次空手臂姿测试，没有确认任何物品搬运节点完成；14个节点中13个终态为假，第1块冰入桶因桶内不可见而未知，原生q_score为0.05。机器人持续搜索冰桶却未完成定位及搬运准备，断点为bucket_on_counter（探索）；日志中的投影位置不符及最终“柜面为空”的误判，与视频初期可见物品对照支持感知根因，机器人随后在视频约135.5 s 倾倒并被服务终止。感知根因为综合证据推断，倾倒的直接控制诱因未确定，无状态日志及桶内遮挡仍是主要证据缺口。", + "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（13 假、冰1未知）与 q=0.05 一致，视频 135 s 起倾倒属实；但断点 ref 留 unknown 与日志不符（全程在找冰桶/柜面物品），根因只写了对日志细节的推测式“反馈控制”，漏掉日志中明确的感知失败（多次投影错位，最终判定柜面“为空”，而视频 5.5 s 柜面上有物品）。", + "n_issues": 2, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值（13 假、冰1未知）与 q=0.05 一致；视频 6 s 柜面有物品，135.5 s 起倾倒属实；断点 bucket_on_counter/探索、平衡现象与感知根因均有日志和视频支持，推断已标注。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": "2026-10-30T21:50:00Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-setup-a-bar-for-a-cocktail-party-i00-standard--ajwudmi/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-setup-a-bar-for-a-cocktail-party-i00-standard--ajwudmi/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-setup-a-bar-for-a-cocktail-party-i00-standard--ajwudmi/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-setup-a-bar-for-a-cocktail-party-i00-standard--ajwudmi/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8f6625fe512aa63a8924fb7be90f04a57827a0f14f2a10148fe4002882237b6d", + "video_sha256": "e9c45c0cbb01ea7200ac62b18f7d7b4e7278f2a980eb4adfa283e414091e9115", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/setup_a_bar_for_a_cocktail_party/trajectories/behavior-setup-a-bar-for-a-cocktail-party-i00-standard--hfryyqr.json b/phase2/behavior-1k/setup_a_bar_for_a_cocktail_party/trajectories/behavior-setup-a-bar-for-a-cocktail-party-i00-standard--hfryyqr.json new file mode 100644 index 0000000000000000000000000000000000000000..d38a0b63b00bfec949b9b7c46d9e11062cf0e20b --- /dev/null +++ b/phase2/behavior-1k/setup_a_bar_for_a_cocktail_party/trajectories/behavior-setup-a-bar-for-a-cocktail-party-i00-standard--hfryyqr.json @@ -0,0 +1,634 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-setup-a-bar-for-a-cocktail-party-i00-standard--hfryyqr", + "taskKey": "behavior-1k/setup_a_bar_for_a_cocktail_party", + "dag_sha256": "8a072e1994997f39932c0ca13678b0cb7a0584e1170e22d888b0466840d1f291", + "outcome": { + "success": 0, + "reward": 0.5, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 19528, + "sim_steps": 19528, + "physics_steps": 78112, + "steps": 11256, + "elapsed_s": 5885.9, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 1, + "q_score": 0.5, + "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-setup-a-bar-for-a-cocktail-party-i00-standard--hfryyqr/replay.mp4", + "duration_s": 650.933, + "fps": 30.0, + "frames": 19528, + "sha256": "9127e45b7f2a78932d584b4e54a48fa0dc0b8e25904f3936f92bb888c52d36aa" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 14, + "base": 0, + "peak": 10, + "final": 8, + "nodes": { + "bottle_on_counter": { + "method": "visual", + "intervals": [ + [ + 399.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 399.5, + "log_step": 132, + "text_zh": "观察：视频 396–402 s，机器人右爪将酒瓶降到浅色吧台并张开，瓶底得到台面支承；视频 402 s 酒瓶仍直立。" + }, + { + "t": 470.5, + "log_step": 148, + "text_zh": "观察：视频 470–471 s 酒瓶被搬杯动作碰倒，但一直横躺在同一浅色吧台上；视频 487–491 s 近看及视频 540 s 的堆物画面仍能看到瓶身由台面支承，未因倒卧而失去本节点。" + }, + { + "t": 650.9, + "log_step": 201, + "text_zh": "推断：机器人后来离开吧台，视频 650.9 s 已在厨房翻倒；期间未再搬动酒瓶，最后可见的吧台放置关系保留。服务在 log step 201 报告 control_steps=19528、done=true、reason=failure: the robot fell over，与视频结尾一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人右二指夹爪夹持酒瓶，物体随夹爪离开原位并被搬运。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：轮式底盘承重行驶，在搬运酒瓶期间从靠墙柜面驶向浅色吧台。" + } + ] + }, + "sodas_on_counter_1": { + "method": "visual", + "intervals": [ + [ + 381.5, + 521.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 381.5, + "log_step": 131, + "text_zh": "观察：视频 378–384 s，机器人左爪把第二罐汽水降至第一罐旁的浅色吧台并松开；腕部视角可见两罐并排，罐间空隙很小。按满足条件的数量标第1罐，不固定实例身份；第一罐先前已于视频约 323 s 放上台，但当时没有邻罐。" + }, + { + "t": 521.5, + "log_step": 157, + "text_zh": "观察：视频 520–522 s，机器人右臂扫过台面，两罐汽水与冰桶被推向角落并倒卧；视频 540–541 s 可见两罐分处桶侧和酒瓶旁，已不再保持原先的并排小间隙。" + }, + { + "t": 540, + "log_step": 184, + "text_zh": "推断：视频 540–541 s 的倒卧布局中，两罐的水平间隙超过近邻容差；log step 184 的相机点云估计也将两罐分别置于世界 x 约 -2.57 与 -2.43，表面之间留有明显间隙，辅助支持相邻关系已失去。其后未见重新归拢，故节点终值为假；两罐仍在台面上本身不足以通过含相邻条件的节点。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人右二指夹爪夹持第1次搬运的汽水罐，物体随夹爪离开原位并被搬运。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：轮式底盘承重行驶，在搬运第1次搬运的汽水罐期间从靠墙柜面驶向浅色吧台。" + } + ] + }, + "sodas_on_counter_2": { + "method": "visual", + "intervals": [ + [ + 381.5, + 521.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 381.5, + "log_step": 131, + "text_zh": "观察：视频 378–384 s，机器人左爪把第二罐汽水降至第一罐旁的浅色吧台并松开；腕部视角可见两罐并排，罐间空隙很小。按满足条件的数量标第2罐，不固定实例身份；第一罐先前已于视频约 323 s 放上台，但当时没有邻罐。" + }, + { + "t": 521.5, + "log_step": 157, + "text_zh": "观察：视频 520–522 s，机器人右臂扫过台面，两罐汽水与冰桶被推向角落并倒卧；视频 540–541 s 可见两罐分处桶侧和酒瓶旁，已不再保持原先的并排小间隙。" + }, + { + "t": 540, + "log_step": 184, + "text_zh": "推断：视频 540–541 s 的倒卧布局中，两罐的水平间隙超过近邻容差；log step 184 的相机点云估计也将两罐分别置于世界 x 约 -2.57 与 -2.43，表面之间留有明显间隙，辅助支持相邻关系已失去。其后未见重新归拢，故节点终值为假；两罐仍在台面上本身不足以通过含相邻条件的节点。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左二指夹爪夹持第2次搬运的汽水罐，物体随夹爪离开原位并被搬运。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：轮式底盘承重行驶，在搬运第2次搬运的汽水罐期间从靠墙柜面驶向浅色吧台。" + } + ] + }, + "sodas_on_counter_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 450, + "log_step": 145, + "text_zh": "观察：视频 340–354 s 机器人先后搬走两罐，仍有一罐留在深棕色柜面；视频 450 s 柜面上仍有该罐。后半段机器人搬杯、搜索并离开吧台，未再搬运第三罐；最后一次吧台全景视频约 593 s 也只有先前搬来的两罐，三罐条件从未满足。" + } + ] + }, + "ice_in_bucket_1": { + "method": "visual", + "intervals": [ + [ + 85.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 85.5, + "log_step": 76, + "text_zh": "观察：视频约 85.5 s，机器人左爪把一块冰从托盘移到冰桶口内并放下；结合此前各次搬运和视频 186–187 s 的桶内俯视，此次使桶内数量至少达到1块。计数按入桶先后分配；时刻约有0.5秒误差。" + }, + { + "t": 186.5, + "log_step": 90, + "text_zh": "观察：视频 186–187 s 的左腕俯视可见桶底六块冰，托盘已空；机器人随后夹桶缘搬运，没有再次逐块取冰。" + }, + { + "t": 540, + "log_step": null, + "text_zh": "推断：视频 521–522 s 冰桶被碰倒后，桶腔被桶壁遮挡，不能直接逐块清点。终值结合评分器 q_score=0.5 判断：本任务最佳目标选项有20个目标文字条件，终态酒瓶、冰桶和两罐的台面支承共4项，两罐不再相邻、第三罐未搬、酒杯未摆好、开瓶器始终在手，因此其余6项对应六块冰仍在桶内；此为总分与所见布局的联合推断，非由agent自述六块而直接记真。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左二指夹爪夹持第1次入桶的冰块，物体随夹爪离开原位并被搬运。" + } + ] + }, + "ice_in_bucket_2": { + "method": "visual", + "intervals": [ + [ + 108.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 108.5, + "log_step": 86, + "text_zh": "观察：视频约 108.5 s，机器人左爪把一块冰从托盘移到冰桶口内并放下；结合此前各次搬运和视频 186–187 s 的桶内俯视，此次使桶内数量至少达到2块。计数按入桶先后分配；时刻约有0.5秒误差。" + }, + { + "t": 186.5, + "log_step": 90, + "text_zh": "观察：视频 186–187 s 的左腕俯视可见桶底六块冰，托盘已空；机器人随后夹桶缘搬运，没有再次逐块取冰。" + }, + { + "t": 540, + "log_step": null, + "text_zh": "推断：视频 521–522 s 冰桶被碰倒后，桶腔被桶壁遮挡，不能直接逐块清点。终值结合评分器 q_score=0.5 判断：本任务最佳目标选项有20个目标文字条件，终态酒瓶、冰桶和两罐的台面支承共4项，两罐不再相邻、第三罐未搬、酒杯未摆好、开瓶器始终在手，因此其余6项对应六块冰仍在桶内；此为总分与所见布局的联合推断，非由agent自述六块而直接记真。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左二指夹爪夹持第2次入桶的冰块，物体随夹爪离开原位并被搬运。" + } + ] + }, + "ice_in_bucket_3": { + "method": "visual", + "intervals": [ + [ + 148.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 148.5, + "log_step": 88, + "text_zh": "观察：视频约 148.5 s，机器人左爪把一块冰从托盘移到冰桶口内并放下；结合此前各次搬运和视频 186–187 s 的桶内俯视，此次使桶内数量至少达到3块。计数按入桶先后分配；时刻约有0.5秒误差。" + }, + { + "t": 186.5, + "log_step": 90, + "text_zh": "观察：视频 186–187 s 的左腕俯视可见桶底六块冰，托盘已空；机器人随后夹桶缘搬运，没有再次逐块取冰。" + }, + { + "t": 540, + "log_step": null, + "text_zh": "推断：视频 521–522 s 冰桶被碰倒后，桶腔被桶壁遮挡，不能直接逐块清点。终值结合评分器 q_score=0.5 判断：本任务最佳目标选项有20个目标文字条件，终态酒瓶、冰桶和两罐的台面支承共4项，两罐不再相邻、第三罐未搬、酒杯未摆好、开瓶器始终在手，因此其余6项对应六块冰仍在桶内；此为总分与所见布局的联合推断，非由agent自述六块而直接记真。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左二指夹爪夹持第3次入桶的冰块，物体随夹爪离开原位并被搬运。" + } + ] + }, + "ice_in_bucket_4": { + "method": "visual", + "intervals": [ + [ + 156.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 156.5, + "log_step": 89, + "text_zh": "观察：视频约 156.5 s，机器人左爪把一块冰从托盘移到冰桶口内并放下；结合此前各次搬运和视频 186–187 s 的桶内俯视，此次使桶内数量至少达到4块。计数按入桶先后分配；时刻约有0.5秒误差。" + }, + { + "t": 186.5, + "log_step": 90, + "text_zh": "观察：视频 186–187 s 的左腕俯视可见桶底六块冰，托盘已空；机器人随后夹桶缘搬运，没有再次逐块取冰。" + }, + { + "t": 540, + "log_step": null, + "text_zh": "推断：视频 521–522 s 冰桶被碰倒后，桶腔被桶壁遮挡，不能直接逐块清点。终值结合评分器 q_score=0.5 判断：本任务最佳目标选项有20个目标文字条件，终态酒瓶、冰桶和两罐的台面支承共4项，两罐不再相邻、第三罐未搬、酒杯未摆好、开瓶器始终在手，因此其余6项对应六块冰仍在桶内；此为总分与所见布局的联合推断，非由agent自述六块而直接记真。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左二指夹爪夹持第4次入桶的冰块，物体随夹爪离开原位并被搬运。" + } + ] + }, + "ice_in_bucket_5": { + "method": "visual", + "intervals": [ + [ + 171.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 171.5, + "log_step": 89, + "text_zh": "观察：视频约 171.5 s，机器人左爪把一块冰从托盘移到冰桶口内并放下；结合此前各次搬运和视频 186–187 s 的桶内俯视，此次使桶内数量至少达到5块。计数按入桶先后分配；时刻约有0.5秒误差。" + }, + { + "t": 186.5, + "log_step": 90, + "text_zh": "观察：视频 186–187 s 的左腕俯视可见桶底六块冰，托盘已空；机器人随后夹桶缘搬运，没有再次逐块取冰。" + }, + { + "t": 540, + "log_step": null, + "text_zh": "推断：视频 521–522 s 冰桶被碰倒后，桶腔被桶壁遮挡，不能直接逐块清点。终值结合评分器 q_score=0.5 判断：本任务最佳目标选项有20个目标文字条件，终态酒瓶、冰桶和两罐的台面支承共4项，两罐不再相邻、第三罐未搬、酒杯未摆好、开瓶器始终在手，因此其余6项对应六块冰仍在桶内；此为总分与所见布局的联合推断，非由agent自述六块而直接记真。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左二指夹爪夹持第5次入桶的冰块，物体随夹爪离开原位并被搬运。" + } + ] + }, + "ice_in_bucket_6": { + "method": "visual", + "intervals": [ + [ + 186.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 186.5, + "log_step": 89, + "text_zh": "观察：视频约 186.5 s，机器人左爪把一块冰从托盘移到冰桶口内并放下；结合此前各次搬运和视频 186–187 s 的桶内俯视，此次使桶内数量至少达到6块。计数按入桶先后分配；时刻约有0.5秒误差。" + }, + { + "t": 186.5, + "log_step": 90, + "text_zh": "观察：视频 186–187 s 的左腕俯视可见桶底六块冰，托盘已空；机器人随后夹桶缘搬运，没有再次逐块取冰。" + }, + { + "t": 540, + "log_step": null, + "text_zh": "推断：视频 521–522 s 冰桶被碰倒后，桶腔被桶壁遮挡，不能直接逐块清点。终值结合评分器 q_score=0.5 判断：本任务最佳目标选项有20个目标文字条件，终态酒瓶、冰桶和两罐的台面支承共4项，两罐不再相邻、第三罐未搬、酒杯未摆好、开瓶器始终在手，因此其余6项对应六块冰仍在桶内；此为总分与所见布局的联合推断，非由agent自述六块而直接记真。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左二指夹爪夹持第6次入桶的冰块，物体随夹爪离开原位并被搬运。" + } + ] + }, + "bucket_on_counter": { + "method": "visual", + "intervals": [ + [ + 222, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 222, + "log_step": 105, + "text_zh": "观察：视频 205–218 s，机器人左爪夹桶缘，底盘把冰桶从柜面运至浅色吧台；视频 222–225 s 桶底落在吧台上，夹爪随后张开抬离。" + }, + { + "t": 521.5, + "log_step": 157, + "text_zh": "观察：视频 521–522 s，机器人右臂碰动桶和汽水罐，冰桶翻成侧卧；视频 540–541 s 及视频 593 s 桶身仍在浅色吧台上，未落地，倒卧本身不使此节点失效。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左二指夹爪夹持冰桶，物体随夹爪离开原位并被搬运。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：轮式底盘承重行驶，在搬运冰桶期间从靠墙柜面驶向浅色吧台。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频约 521 s，机器人右臂和夹爪扫到冰桶及旁边汽水罐，桶被推倒并移向角落。" + } + ] + }, + "glasses_on_counter_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 314, + "log_step": 121, + "text_zh": "观察：视频 250–286 s，机器人先以左爪抓第一杯，成功夹杯缘后杯子离开柜面；视频 312–318 s 将该杯放在浅色吧台。此时另一杯仍在深棕色柜面，第一杯没有邻杯，故尚未满足本节点的完整条件。" + }, + { + "t": 470.5, + "log_step": 148, + "text_zh": "观察：视频 450–458 s，另一杯随右爪离开柜面；视频 468–471 s 搬杯动作碰到台沿和原有物品，酒瓶倒下，第一杯从原放置处消失。视频 487–517 s 的台面、台沿及地面搜索没有出现摆在吧台上且互相相邻的两杯，随后亦未搬回。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左二指夹爪夹持第一只酒杯，物体随夹爪离开原位并被搬运。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：轮式底盘承重行驶，在搬运第一只酒杯期间从靠墙柜面驶向浅色吧台。" + } + ] + }, + "glasses_on_counter_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 456, + "log_step": 145, + "text_zh": "观察：视频 450–458 s，机器人右爪夹住第二只杯的杯柄，杯子确实离开深棕色柜面并随机器人转向；不是仅凭夹爪读数认定抓起。" + }, + { + "t": 470.5, + "log_step": 148, + "text_zh": "观察：视频 468–470 s，右爪持杯处在台沿以下，机器人仍向吧台推进；视频 470–471 s 酒瓶突然被碰倒，杯子未形成在台面上与第一杯相邻的摆放。视频 487–517 s 及视频 540 s 的后续搜索仍未见相邻杯组，至视频 650.9 s 终止也未恢复。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人右二指夹爪夹持第二只酒杯，物体随夹爪离开原位并被搬运。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：轮式底盘承重行驶，在搬运第二只酒杯期间从靠墙柜面驶向浅色吧台。" + } + ] + }, + "corkscrew_on_counter": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 423, + "log_step": 142, + "text_zh": "观察：视频 418–425 s，机器人左夹爪在柜面夹住浅色开瓶器手柄并抬起；原柜面相应位置随之空出。" + }, + { + "t": 650.9, + "log_step": 201, + "text_zh": "观察：从视频 425 s 后的左腕画面直到视频 650.9 s 最后画面，浅色开瓶器手柄持续位于左爪两指之间，未出现落在浅色吧台并靠近酒瓶的状态；机器人最后翻倒时仍夹持它。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左二指夹爪夹持开瓶器，物体随夹爪离开原位并被搬运。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：轮式底盘承重行驶，在搬运开瓶器期间从靠墙柜面驶向浅色吧台。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.5, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "glasses_on_counter_2", + "t": 470.5, + "log_step": 148, + "where": "操作中", + "evidence_zh": "观察：视频 450–458 s 机器人已夹起第二杯；视频 468–471 s 搬杯至吧台时右手低于台沿，推进及抬臂碰倒酒瓶，杯组摆放未完成，后续搜索至视频 593 s 均未修复。第一杯先前已搬上台，但相邻杯组从未成立；断点取正在执行并失败的第二杯放置。视频约 641 s 后在厨房翻倒是后续终止事件，服务 log step 201 报告 failure: the robot fell over；不以该后续事件替代更早未修复的搬杯失败。" + }, + "unmet": { + "bottle_on_counter": true, + "sodas_on_counter_1": false, + "sodas_on_counter_2": false, + "sodas_on_counter_3": false, + "ice_in_bucket_1": true, + "ice_in_bucket_2": true, + "ice_in_bucket_3": true, + "ice_in_bucket_4": true, + "ice_in_bucket_5": true, + "ice_in_bucket_6": true, + "bucket_on_counter": true, + "glasses_on_counter_1": false, + "glasses_on_counter_2": false, + "corkscrew_on_counter": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 470.5, + "log_step": 148, + "evidence_zh": "观察：视频 468–470 s 机器人持第二杯的右手位于浅色台沿以下，推进后手臂和持物扫向台面；视频 470–471 s 原本直立的酒瓶被碰倒，第一杯从原位置消失，第二杯也未留下为相邻杯组。后续视频 487–517 s 的近看未显示任何完成的杯组，碰撞造成的摆放失败一直未恢复。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "evidence_zh": "推断：log step 148 的搬杯脚本先要求右末端升至世界 z=1.19米，但同一工具输出的实测右末端仍为 z=1.001米，低于浅色吧台台面约1.08米；脚本打印该读数后仍直接调用 goto 推进约0.46米，再执行放置，未根据未升到安全高度的反馈停止或重试。视频 468–471 s 对应可见的低手位推进和碰倒酒瓶，支持执行期间没有用实际末端反馈保护搬运间隙。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "观察：inputs/ 没有状态日志，只有三相机合成视频及运行日志。视频 521–522 s 桶翻倒后桶内被遮挡，六块冰的终值由原先可见的六块、其余目标布局与 q_score=0.5 联合推断；汽水精确 nextto 阈值也不能从低分辨率视频直接数值复核，使用视频中的分离布局及 log step 184 的相机点云估计辅助。两杯最后的具体落点未见，未将agent关于落到餐厅地面的猜测记为观察；但后续可见吧台没有合格杯组。" + }, + "summary_zh": "观察：机器人先把六块冰逐次放入桶，将冰桶、两罐汽水、酒瓶和第一杯搬到吧台；按含相邻条件的DAG计，峰值为10/14，最终为8/14（桶内六冰的终态由视频与评分总量联合推断）。视频约 470.5 s 搬第二杯时低手位推进发生碰撞，杯组未形成且始终未修复，脚本在末端未升到安全高度的反馈后仍推进；后续搜索又碰倒冰桶并分开汽水罐，最后视频约 641 s 在厨房翻倒而终止。缺少状态日志，桶翻倒后的内部数量及精确邻接依赖推断；本次task_text使用目标几何成立即结束的历史规则，未另据当前DAG全局离手静止窗口拒绝已成立的节点。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点区间、终值（含由 q_score=0.5 推断的六块冰）、断点（搬第二杯时低手位碰倒酒瓶）及根因与视频和日志一致；未发现需要改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:47:10Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-setup-a-bar-for-a-cocktail-party-i00-standard--hfryyqr/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-setup-a-bar-for-a-cocktail-party-i00-standard--hfryyqr/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b40fc590cb5bc30d39dcb91f855af267d3f7417a21b5496e73e1bcc22876e87e", + "video_sha256": "9127e45b7f2a78932d584b4e54a48fa0dc0b8e25904f3936f92bb888c52d36aa", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/setup_a_bar_for_a_cocktail_party/trajectories/behavior-setup-a-bar-for-a-cocktail-party-i00-standard--jr3mpfh.json b/phase2/behavior-1k/setup_a_bar_for_a_cocktail_party/trajectories/behavior-setup-a-bar-for-a-cocktail-party-i00-standard--jr3mpfh.json new file mode 100644 index 0000000000000000000000000000000000000000..debe5718218602c8a2b30a41402696c75e3ecdbf --- /dev/null +++ b/phase2/behavior-1k/setup_a_bar_for_a_cocktail_party/trajectories/behavior-setup-a-bar-for-a-cocktail-party-i00-standard--jr3mpfh.json @@ -0,0 +1,565 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-setup-a-bar-for-a-cocktail-party-i00-standard--jr3mpfh", + "taskKey": "behavior-1k/setup_a_bar_for_a_cocktail_party", + "dag_sha256": "8a072e1994997f39932c0ca13678b0cb7a0584e1170e22d888b0466840d1f291", + "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": 6170, + "sim_steps": 6170, + "physics_steps": 24680, + "steps": 935, + "elapsed_s": 13913.5, + "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-setup-a-bar-for-a-cocktail-party-i00-standard--jr3mpfh/replay.mp4", + "duration_s": 205.667, + "fps": 30.0, + "frames": 6170, + "sha256": "ff893d95e7d82cb2e5c0bf255043714719d845263bee8e843387a8190202f1eb" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 14, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "bottle_on_counter": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.97, + "log_step": null, + "text_zh": "观察：视频4.97 s酒瓶等物仍在靠墙深棕柜面，浅色吧台为空；全片未见机器人夹取、搬运酒瓶，视频205.63 s可见吧台仍无酒瓶。" + }, + { + "t": 205.63, + "log_step": null, + "text_zh": "推断：评分器q_score=0、live_matches_replay=1，与未见酒瓶转移的画面一致，酒瓶上吧台终值为假。" + } + ] + }, + "sodas_on_counter_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 84.97, + "log_step": null, + "text_zh": "观察：视频80.97–84.97 s机器人左夹爪夹取并抬起一罐汽水；视频88.97–98.97 s向吧台伸手，但未见有相邻罐组留在浅色台面。" + }, + { + "t": 118.97, + "log_step": null, + "text_zh": "观察：视频112.97–118.97 s机器人又夹持一罐汽水，视频120.97–126.97 s伸向吧台；视频128.97–150.97 s转回柜面继续尝试，始终未见吧台形成有邻罐的汽水组。" + }, + { + "t": 205.63, + "log_step": null, + "text_zh": "推断：视频205.63 s可见吧台没有汽水组，结合评分器q_score=0，本节点所需至少1罐同时满足上吧台且有邻罐的关系未达成；不把单罐抓起或一次开爪视为完成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "视频80.97–84.97 s左二指夹爪夹住一罐汽水并抬离原位置，随后尝试搬往吧台；两次抓取按实际先后描述，不等同于合格放置计数。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘沿柜面与吧台之间移动，为取罐及搬运提供支撑；三罐节点按数量验收，不固定实例身份。" + } + ] + }, + "sodas_on_counter_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 84.97, + "log_step": null, + "text_zh": "观察：视频80.97–84.97 s机器人左夹爪夹取并抬起一罐汽水；视频88.97–98.97 s向吧台伸手，但未见有相邻罐组留在浅色台面。" + }, + { + "t": 118.97, + "log_step": null, + "text_zh": "观察：视频112.97–118.97 s机器人又夹持一罐汽水，视频120.97–126.97 s伸向吧台；视频128.97–150.97 s转回柜面继续尝试，始终未见吧台形成有邻罐的汽水组。" + }, + { + "t": 205.63, + "log_step": null, + "text_zh": "推断：视频205.63 s可见吧台没有汽水组，结合评分器q_score=0，本节点所需至少2罐同时满足上吧台且有邻罐的关系未达成；不把单罐抓起或一次开爪视为完成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "视频112.97–118.97 s左二指夹爪夹住一罐汽水并抬离原位置，随后尝试搬往吧台；两次抓取按实际先后描述，不等同于合格放置计数。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘沿柜面与吧台之间移动，为取罐及搬运提供支撑；三罐节点按数量验收，不固定实例身份。" + } + ] + }, + "sodas_on_counter_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 84.97, + "log_step": null, + "text_zh": "观察：视频80.97–84.97 s机器人左夹爪夹取并抬起一罐汽水；视频88.97–98.97 s向吧台伸手，但未见有相邻罐组留在浅色台面。" + }, + { + "t": 118.97, + "log_step": null, + "text_zh": "观察：视频112.97–118.97 s机器人又夹持一罐汽水，视频120.97–126.97 s伸向吧台；视频128.97–150.97 s转回柜面继续尝试，始终未见吧台形成有邻罐的汽水组。" + }, + { + "t": 205.63, + "log_step": null, + "text_zh": "推断：视频205.63 s可见吧台没有汽水组，结合评分器q_score=0，本节点所需至少3罐同时满足上吧台且有邻罐的关系未达成；不把单罐抓起或一次开爪视为完成。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "视频150.97–178.97 s左臂反复向柜面远端剩余小物伸入、闭爪；目标和指腹接触被柜边及夹爪遮挡，未能辨明其实际接触方式，不能据闭爪指令标抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘沿柜面与吧台之间移动，为取罐及搬运提供支撑；三罐节点按数量验收，不固定实例身份。" + } + ] + }, + "ice_in_bucket_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 26.67, + "log_step": 140, + "text_zh": "观察：视频23.07–26.87 s机器人左夹爪在托盘内冰块附近下降、闭合后抬起，透明冰块仍留在托盘，未见冰被夹爪带走。" + }, + { + "t": 44.47, + "log_step": null, + "text_zh": "观察：视频32.23–40.80 s机器人夹持托盘边缘并搬动托盘；视频41.13–44.47 s托盘与冰桶近距离接触，冰桶被碰倒在深棕柜面，未见冰块落入桶腔。" + }, + { + "t": 205.63, + "log_step": null, + "text_zh": "推断：后续视频主要是取罐及搬桶，没有再次取冰或倒冰；评分器q_score=0且回放与现场一致，故至少1块冰入桶的终值为假。视频所见没有可确认的入桶区间。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "视频23.07–26.87 s左夹爪指端下探并压碰托盘中的冰块区域，闭合后抬起为空；未见两指稳定夹住冰块。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "视频32.23–43.80 s左夹爪持托盘边缘，托盘从下方承载冰块并被搬向冰桶；这是六块冰的整盘处理尝试，未形成成功倒入。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频0–14.97 s轮式底盘转向并靠近装冰托盘所在的深棕柜面，为随后取冰提供工作位置。" + } + ] + }, + "ice_in_bucket_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 26.67, + "log_step": 140, + "text_zh": "观察：视频23.07–26.87 s机器人左夹爪在托盘内冰块附近下降、闭合后抬起，透明冰块仍留在托盘，未见冰被夹爪带走。" + }, + { + "t": 44.47, + "log_step": null, + "text_zh": "观察：视频32.23–40.80 s机器人夹持托盘边缘并搬动托盘；视频41.13–44.47 s托盘与冰桶近距离接触，冰桶被碰倒在深棕柜面，未见冰块落入桶腔。" + }, + { + "t": 205.63, + "log_step": null, + "text_zh": "推断：后续视频主要是取罐及搬桶，没有再次取冰或倒冰；评分器q_score=0且回放与现场一致，故至少2块冰入桶的终值为假。视频所见没有可确认的入桶区间。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "视频32.23–43.80 s左夹爪持托盘边缘，托盘从下方承载冰块并被搬向冰桶；这是六块冰的整盘处理尝试，未形成成功倒入。" + } + ] + }, + "ice_in_bucket_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 26.67, + "log_step": 140, + "text_zh": "观察：视频23.07–26.87 s机器人左夹爪在托盘内冰块附近下降、闭合后抬起，透明冰块仍留在托盘，未见冰被夹爪带走。" + }, + { + "t": 44.47, + "log_step": null, + "text_zh": "观察：视频32.23–40.80 s机器人夹持托盘边缘并搬动托盘；视频41.13–44.47 s托盘与冰桶近距离接触，冰桶被碰倒在深棕柜面，未见冰块落入桶腔。" + }, + { + "t": 205.63, + "log_step": null, + "text_zh": "推断：后续视频主要是取罐及搬桶，没有再次取冰或倒冰；评分器q_score=0且回放与现场一致，故至少3块冰入桶的终值为假。视频所见没有可确认的入桶区间。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "视频32.23–43.80 s左夹爪持托盘边缘，托盘从下方承载冰块并被搬向冰桶；这是六块冰的整盘处理尝试，未形成成功倒入。" + } + ] + }, + "ice_in_bucket_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 26.67, + "log_step": 140, + "text_zh": "观察：视频23.07–26.87 s机器人左夹爪在托盘内冰块附近下降、闭合后抬起，透明冰块仍留在托盘，未见冰被夹爪带走。" + }, + { + "t": 44.47, + "log_step": null, + "text_zh": "观察：视频32.23–40.80 s机器人夹持托盘边缘并搬动托盘；视频41.13–44.47 s托盘与冰桶近距离接触，冰桶被碰倒在深棕柜面，未见冰块落入桶腔。" + }, + { + "t": 205.63, + "log_step": null, + "text_zh": "推断：后续视频主要是取罐及搬桶，没有再次取冰或倒冰；评分器q_score=0且回放与现场一致，故至少4块冰入桶的终值为假。视频所见没有可确认的入桶区间。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "视频32.23–43.80 s左夹爪持托盘边缘，托盘从下方承载冰块并被搬向冰桶；这是六块冰的整盘处理尝试，未形成成功倒入。" + } + ] + }, + "ice_in_bucket_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 26.67, + "log_step": 140, + "text_zh": "观察：视频23.07–26.87 s机器人左夹爪在托盘内冰块附近下降、闭合后抬起，透明冰块仍留在托盘，未见冰被夹爪带走。" + }, + { + "t": 44.47, + "log_step": null, + "text_zh": "观察：视频32.23–40.80 s机器人夹持托盘边缘并搬动托盘；视频41.13–44.47 s托盘与冰桶近距离接触，冰桶被碰倒在深棕柜面，未见冰块落入桶腔。" + }, + { + "t": 205.63, + "log_step": null, + "text_zh": "推断：后续视频主要是取罐及搬桶，没有再次取冰或倒冰；评分器q_score=0且回放与现场一致，故至少5块冰入桶的终值为假。视频所见没有可确认的入桶区间。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "视频32.23–43.80 s左夹爪持托盘边缘，托盘从下方承载冰块并被搬向冰桶；这是六块冰的整盘处理尝试，未形成成功倒入。" + } + ] + }, + "ice_in_bucket_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 26.67, + "log_step": 140, + "text_zh": "观察：视频23.07–26.87 s机器人左夹爪在托盘内冰块附近下降、闭合后抬起，透明冰块仍留在托盘，未见冰被夹爪带走。" + }, + { + "t": 44.47, + "log_step": null, + "text_zh": "观察：视频32.23–40.80 s机器人夹持托盘边缘并搬动托盘；视频41.13–44.47 s托盘与冰桶近距离接触，冰桶被碰倒在深棕柜面，未见冰块落入桶腔。" + }, + { + "t": 205.63, + "log_step": null, + "text_zh": "推断：后续视频主要是取罐及搬桶，没有再次取冰或倒冰；评分器q_score=0且回放与现场一致，故至少6块冰入桶的终值为假。视频所见没有可确认的入桶区间。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "视频32.23–43.80 s左夹爪持托盘边缘，托盘从下方承载冰块并被搬向冰桶；这是六块冰的整盘处理尝试，未形成成功倒入。" + } + ] + }, + "bucket_on_counter": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 46.97, + "log_step": null, + "text_zh": "观察：视频4.97 s冰桶在深棕柜面；视频44.47–46.97 s桶侧倒在该柜面，尚未到浅色吧台。" + }, + { + "t": 188.73, + "log_step": 510, + "text_zh": "观察：视频182.23–188.73 s机器人左夹爪从柜旁低处提起冰桶，腕部相机可见桶身与金属提手随手臂升高。" + }, + { + "t": 205.63, + "log_step": null, + "text_zh": "观察：视频190.97–201.73 s机器人带桶向吧台方向移动，视频202.23–205.63 s末段伸手后可见浅色吧台没有桶身落定并受支承的画面；评分器q_score=0。" + }, + { + "t": 205.63, + "log_step": null, + "text_zh": "推断：末段桶体部分离开腕部视野，但评分总数排除了冰桶上吧台这一新增目标为真，终值为假。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左二指夹爪多次夹取桶缘或提手区域；视频182.23–188.73 s桶体随夹爪抬升，可确认一次实际抓握搬运。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "视频84.97–108.97 s左夹爪重新接近桶缘并移动桶体，桶在柜面被推移、侧倒，后续落到柜旁低处。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频190.97–201.73 s底盘沿柜面朝浅色吧台移动，同时左臂保持搬桶姿态。" + } + ] + }, + "glasses_on_counter_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 54.97, + "log_step": null, + "text_zh": "观察：视频54.97 s柜面仍有细长透明器皿，机器人随后操作的是汽水罐及冰桶；全片未见机器人夹取高脚杯并搬往浅色吧台，也未见吧台形成相邻酒杯对。" + }, + { + "t": 205.63, + "log_step": null, + "text_zh": "推断：视频205.63 s可见吧台没有酒杯对，评分器q_score=0亦排除新增的杯上吧台目标为真，故至少1杯合格的节点终值为假。" + } + ] + }, + "glasses_on_counter_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 54.97, + "log_step": null, + "text_zh": "观察：视频54.97 s柜面仍有细长透明器皿，机器人随后操作的是汽水罐及冰桶；全片未见机器人夹取高脚杯并搬往浅色吧台，也未见吧台形成相邻酒杯对。" + }, + { + "t": 205.63, + "log_step": null, + "text_zh": "推断：视频205.63 s可见吧台没有酒杯对，评分器q_score=0亦排除新增的杯上吧台目标为真，故至少2杯合格的节点终值为假。" + } + ] + }, + "corkscrew_on_counter": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 54.97, + "log_step": null, + "text_zh": "观察：视频34.23 s和54.97 s细长浅色开瓶器仍在深棕柜面；机器人没有针对它的夹取搬运，视频205.63 s浅色吧台未见酒瓶与邻近开瓶器的组合。" + }, + { + "t": 205.63, + "log_step": null, + "text_zh": "推断：酒瓶未上吧台，开瓶器也未见转移；结合评分器q_score=0，开瓶器上吧台且邻酒瓶的关系终值为假。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "ice_in_bucket_1", + "t": 26.7, + "log_step": 140, + "where": "操作中", + "evidence_zh": "观察：视频23.07–26.87 s机器人左夹爪对托盘内冰块闭合并上抬，但冰仍在托盘，未被带走；视频32.23–44.47 s改用托盘搬冰仍未入桶，反而碰倒冰桶，后续未修复取冰入桶这一步。log step 138–141记录闭爪与抬升指令，log step 154 agent自述首块冰的接触未保持；判断以画面中冰未随手离盘为准。" + }, + "unmet": { + "bottle_on_counter": false, + "sodas_on_counter_1": false, + "sodas_on_counter_2": false, + "sodas_on_counter_3": false, + "ice_in_bucket_1": false, + "ice_in_bucket_2": false, + "ice_in_bucket_3": false, + "ice_in_bucket_4": false, + "ice_in_bucket_5": false, + "ice_in_bucket_6": false, + "bucket_on_counter": false, + "glasses_on_counter_1": false, + "glasses_on_counter_2": false, + "corkscrew_on_counter": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 26.7, + "log_step": 140, + "evidence_zh": "观察：视频23.07–26.87 s机器人左夹爪在冰块附近下降闭合，抬起后两指间没有冰块，原透明冰块仍留在托盘；没有出现稳定夹持并把冰带离托盘的阶段。log step 138–141记录该次闭爪和抬升。" + }, + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 43.8, + "log_step": 172, + "evidence_zh": "观察：视频41.13–44.47 s机器人持托盘移动到冰桶旁，托盘边缘贴近并碰动桶身，桶由直立变为侧倒在深棕柜面；冰未倒入。log step 167–174记录机器人持盘向桶移动、下降及开爪，属于同一入冰步骤后续仍失败的整盘尝试。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：视频23.07–26.87 s的闭爪抬升没有把冰带走，视频41.13–44.47 s的持盘搬运又碰倒冰桶，说明实际抓取和转移未能实现预期的取冰入桶操作。log step 139–141的服务本体反馈显示左末端从约0.868米升到1.050米，夹爪开口由约0.059米收至接近零，与空手抬升画面一致；现有证据不足以进一步区分抓取几何、位置估计和跟踪误差。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "无状态日志；托盘反光、透明冰块及夹爪遮挡使冰块逐个接触和桶内瞬时数量难以精确复核，未观察到入桶故不给完成区间，最终数量用评分器q_score=0作逻辑约束。末段冰桶部分离开腕部视野，不能仅凭agent自述仍持桶证明抓握保持或放置；第三罐尝试的指腹接触方式未知。根因只能确定到控制层，不能据现有画面断言是感知、抓取设计或反馈控制的哪一项。" + }, + "summary_zh": "本次连续评分尝试进行了取冰、搬托盘、取罐和搬桶，但没有形成可确认的目标关系，最终为0/14，评分器q_score=0且现场与回放一致。最早未修复步骤为第1块冰入桶：视频约26.7 s夹爪空手抬起，随后整盘搬运又碰倒冰桶，反映抓取转移控制失败。无状态日志，透明冰块、局部遮挡及末段桶体离开腕部视野限制了接触细节和瞬时位置的判断。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "标签与可检视画面一致：14节点终值均为假、断点为第1块冰入桶（视频约26.7 s空手抬起，后续托盘碰倒冰桶），根因仅到控制层且已说明证据局限；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": "2026-10-30T21:48:17Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-setup-a-bar-for-a-cocktail-party-i00-standard--jr3mpfh/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-setup-a-bar-for-a-cocktail-party-i00-standard--jr3mpfh/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7c9fdeda99d908d01ac34e23bf7aff8cb23ea1685a8a025272dd642ae366a7a0", + "video_sha256": "ff893d95e7d82cb2e5c0bf255043714719d845263bee8e843387a8190202f1eb", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/setup_a_bar_for_a_cocktail_party/trajectories/behavior-setup-a-bar-for-a-cocktail-party-i00-standard--tvmde2s.json b/phase2/behavior-1k/setup_a_bar_for_a_cocktail_party/trajectories/behavior-setup-a-bar-for-a-cocktail-party-i00-standard--tvmde2s.json new file mode 100644 index 0000000000000000000000000000000000000000..35bac487efffd6a6c729c718d2d1c4418b07b577 --- /dev/null +++ b/phase2/behavior-1k/setup_a_bar_for_a_cocktail_party/trajectories/behavior-setup-a-bar-for-a-cocktail-party-i00-standard--tvmde2s.json @@ -0,0 +1,583 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-setup-a-bar-for-a-cocktail-party-i00-standard--tvmde2s", + "taskKey": "behavior-1k/setup_a_bar_for_a_cocktail_party", + "dag_sha256": "8a072e1994997f39932c0ca13678b0cb7a0584e1170e22d888b0466840d1f291", + "outcome": { + "success": 0, + "reward": 0.2, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 23211, + "sim_steps": 23211, + "physics_steps": 92844, + "steps": 7641, + "elapsed_s": 8354.3, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 0, + "q_score": 0.2, + "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-setup-a-bar-for-a-cocktail-party-i00-standard--tvmde2s/replay.mp4", + "duration_s": 773.7, + "fps": 30.0, + "frames": 23211, + "sha256": "f7d96107c8bd071dda494c57df72f8234f2a390f1cacca2762babc7e0ec44f6b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 14, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "bottle_on_counter": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 540, + "log_step": 433, + "text_zh": "观察：视频 540–556 s，右夹爪夹住横躺的酒瓶并将其从深棕柜面搬离；视频 558–562 s，瓶身仍在浅色台面前缘下方，机器人随后松手，瓶子下落。" + }, + { + "t": 767, + "log_step": null, + "text_zh": "观察：视频 767 s 的右腕向下视角可见酒瓶与冰桶、汽水罐在黑白方格地面上；直到视频 773.65 s 未再搬起酒瓶。没有观察到酒瓶由浅色台面支承的区间。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右二指夹爪夹住酒瓶瓶身并搬运，最后在台面前方松开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人夹持酒瓶时驾驶轮式底盘，从靠墙柜前转向并驶到吧台前。" + } + ] + }, + "sodas_on_counter_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 504, + "log_step": 416, + "text_zh": "观察：视频 494–504 s，右夹爪带一罐汽水离开原柜面，到吧台前伸出；视频 504–506 s 汽水在浅色台面前缘下方脱离夹爪，随后在地面视角出现。" + }, + { + "t": 638, + "log_step": 447, + "text_zh": "观察：视频 586–602 s 和视频 624–642 s，机器人再逐罐搬运汽水；释放处均靠近吧台前缘，没有形成由浅色台面支承且每罐邻另一罐的组合。" + }, + { + "t": 758, + "log_step": null, + "text_zh": "观察：视频 754–759 s 腕部视角有单独一罐汽水在浅色台面上；视频 767 s 的向下视角可见其他汽水罐在地面，视频 773.65 s 前未再搬运汽水。推断：台面上的孤立罐不满足 DAG 的“另一罐”邻接判据，合格数量为0，故第1罐计数节点未达到；此判断不由 q_score 单独推出。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右二指夹爪依次夹住汽水罐，搬离深棕柜面并在吧台前松手；同类节点按合格数量计数，不绑定罐的实例编号。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人持罐驾驶轮式底盘，在靠墙柜和吧台之间多次移动。" + } + ] + }, + "sodas_on_counter_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 504, + "log_step": 416, + "text_zh": "观察：视频 494–504 s，右夹爪带一罐汽水离开原柜面，到吧台前伸出；视频 504–506 s 汽水在浅色台面前缘下方脱离夹爪，随后在地面视角出现。" + }, + { + "t": 638, + "log_step": 447, + "text_zh": "观察：视频 586–602 s 和视频 624–642 s，机器人再逐罐搬运汽水；释放处均靠近吧台前缘，没有形成由浅色台面支承且每罐邻另一罐的组合。" + }, + { + "t": 758, + "log_step": null, + "text_zh": "观察：视频 754–759 s 腕部视角有单独一罐汽水在浅色台面上；视频 767 s 的向下视角可见其他汽水罐在地面，视频 773.65 s 前未再搬运汽水。推断：台面上的孤立罐不满足 DAG 的“另一罐”邻接判据，合格数量为0，故第2罐计数节点未达到；此判断不由 q_score 单独推出。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右二指夹爪依次夹住汽水罐，搬离深棕柜面并在吧台前松手；同类节点按合格数量计数，不绑定罐的实例编号。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人持罐驾驶轮式底盘，在靠墙柜和吧台之间多次移动。" + } + ] + }, + "sodas_on_counter_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 504, + "log_step": 416, + "text_zh": "观察：视频 494–504 s，右夹爪带一罐汽水离开原柜面，到吧台前伸出；视频 504–506 s 汽水在浅色台面前缘下方脱离夹爪，随后在地面视角出现。" + }, + { + "t": 638, + "log_step": 447, + "text_zh": "观察：视频 586–602 s 和视频 624–642 s，机器人再逐罐搬运汽水；释放处均靠近吧台前缘，没有形成由浅色台面支承且每罐邻另一罐的组合。" + }, + { + "t": 758, + "log_step": null, + "text_zh": "观察：视频 754–759 s 腕部视角有单独一罐汽水在浅色台面上；视频 767 s 的向下视角可见其他汽水罐在地面，视频 773.65 s 前未再搬运汽水。推断：台面上的孤立罐不满足 DAG 的“另一罐”邻接判据，合格数量为0，故第3罐计数节点未达到；此判断不由 q_score 单独推出。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右二指夹爪依次夹住汽水罐，搬离深棕柜面并在吧台前松手；同类节点按合格数量计数，不绑定罐的实例编号。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人持罐驾驶轮式底盘，在靠墙柜和吧台之间多次移动。" + } + ] + }, + "ice_in_bucket_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 68, + "log_step": 157, + "text_zh": "观察：视频 59–65 s，机器人右夹爪夹住装冰托盘边缘并举起；视频 66–72 s 托盘停在桶口旁上方，姿态几乎不变，没有看到冰块滑落进桶。视频 73–75 s 托盘下降时冰桶被碰倒。" + }, + { + "t": 690, + "log_step": null, + "text_zh": "观察：视频 690 s，冰托盘仍在原深棕柜面，六块深色冰块仍可在盘中辨认；视频 732 s 及视频 767 s，已搬离的桶侧躺在地面。推断：倒冰没有完成，之后只操作桶及其余酒吧物品，未再搬动托盘或逐块取冰；没有支持至少1块冰入桶的区间。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "右夹爪持金属托盘边缘，托盘承载六块冰并被举到冰桶旁，尝试整体倒入；实际冰块仍留盘中，未发生夹爪逐块抓冰。" + } + ] + }, + "ice_in_bucket_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 68, + "log_step": 157, + "text_zh": "观察：视频 59–65 s，机器人右夹爪夹住装冰托盘边缘并举起；视频 66–72 s 托盘停在桶口旁上方，姿态几乎不变，没有看到冰块滑落进桶。视频 73–75 s 托盘下降时冰桶被碰倒。" + }, + { + "t": 690, + "log_step": null, + "text_zh": "观察：视频 690 s，冰托盘仍在原深棕柜面，六块深色冰块仍可在盘中辨认；视频 732 s 及视频 767 s，已搬离的桶侧躺在地面。推断：倒冰没有完成，之后只操作桶及其余酒吧物品，未再搬动托盘或逐块取冰；没有支持至少2块冰入桶的区间。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "右夹爪持金属托盘边缘，托盘承载六块冰并被举到冰桶旁，尝试整体倒入；实际冰块仍留盘中，未发生夹爪逐块抓冰。" + } + ] + }, + "ice_in_bucket_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 68, + "log_step": 157, + "text_zh": "观察：视频 59–65 s，机器人右夹爪夹住装冰托盘边缘并举起；视频 66–72 s 托盘停在桶口旁上方，姿态几乎不变，没有看到冰块滑落进桶。视频 73–75 s 托盘下降时冰桶被碰倒。" + }, + { + "t": 690, + "log_step": null, + "text_zh": "观察：视频 690 s，冰托盘仍在原深棕柜面，六块深色冰块仍可在盘中辨认；视频 732 s 及视频 767 s，已搬离的桶侧躺在地面。推断：倒冰没有完成，之后只操作桶及其余酒吧物品，未再搬动托盘或逐块取冰；没有支持至少3块冰入桶的区间。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "右夹爪持金属托盘边缘，托盘承载六块冰并被举到冰桶旁，尝试整体倒入；实际冰块仍留盘中，未发生夹爪逐块抓冰。" + } + ] + }, + "ice_in_bucket_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 68, + "log_step": 157, + "text_zh": "观察：视频 59–65 s，机器人右夹爪夹住装冰托盘边缘并举起；视频 66–72 s 托盘停在桶口旁上方，姿态几乎不变，没有看到冰块滑落进桶。视频 73–75 s 托盘下降时冰桶被碰倒。" + }, + { + "t": 690, + "log_step": null, + "text_zh": "观察：视频 690 s，冰托盘仍在原深棕柜面，六块深色冰块仍可在盘中辨认；视频 732 s 及视频 767 s，已搬离的桶侧躺在地面。推断：倒冰没有完成，之后只操作桶及其余酒吧物品，未再搬动托盘或逐块取冰；没有支持至少4块冰入桶的区间。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "右夹爪持金属托盘边缘，托盘承载六块冰并被举到冰桶旁，尝试整体倒入；实际冰块仍留盘中，未发生夹爪逐块抓冰。" + } + ] + }, + "ice_in_bucket_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 68, + "log_step": 157, + "text_zh": "观察：视频 59–65 s，机器人右夹爪夹住装冰托盘边缘并举起；视频 66–72 s 托盘停在桶口旁上方，姿态几乎不变，没有看到冰块滑落进桶。视频 73–75 s 托盘下降时冰桶被碰倒。" + }, + { + "t": 690, + "log_step": null, + "text_zh": "观察：视频 690 s，冰托盘仍在原深棕柜面，六块深色冰块仍可在盘中辨认；视频 732 s 及视频 767 s，已搬离的桶侧躺在地面。推断：倒冰没有完成，之后只操作桶及其余酒吧物品，未再搬动托盘或逐块取冰；没有支持至少5块冰入桶的区间。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "右夹爪持金属托盘边缘，托盘承载六块冰并被举到冰桶旁，尝试整体倒入；实际冰块仍留盘中，未发生夹爪逐块抓冰。" + } + ] + }, + "ice_in_bucket_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 68, + "log_step": 157, + "text_zh": "观察：视频 59–65 s，机器人右夹爪夹住装冰托盘边缘并举起；视频 66–72 s 托盘停在桶口旁上方，姿态几乎不变，没有看到冰块滑落进桶。视频 73–75 s 托盘下降时冰桶被碰倒。" + }, + { + "t": 690, + "log_step": null, + "text_zh": "观察：视频 690 s，冰托盘仍在原深棕柜面，六块深色冰块仍可在盘中辨认；视频 732 s 及视频 767 s，已搬离的桶侧躺在地面。推断：倒冰没有完成，之后只操作桶及其余酒吧物品，未再搬动托盘或逐块取冰；没有支持至少6块冰入桶的区间。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "右夹爪持金属托盘边缘，托盘承载六块冰并被举到冰桶旁，尝试整体倒入；实际冰块仍留盘中，未发生夹爪逐块抓冰。" + } + ] + }, + "bucket_on_counter": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 438, + "log_step": null, + "text_zh": "观察：视频 432–442 s，右夹爪夹住侧倒冰桶的桶缘并举离深棕柜面；视频 444–446 s 持桶转向吧台。" + }, + { + "t": 450, + "log_step": null, + "text_zh": "观察：视频 448–450 s，桶在浅色台面前缘下方被放开并向地面落下，没有由浅色台面从下方支承。视频 460 s 可见桶在地面。" + }, + { + "t": 748, + "log_step": 502, + "text_zh": "观察：视频 730–759 s 机器人俯身在地面桶旁多次开合右夹爪，桶未随夹爪升到台面；视频 767 s 仍侧躺于地面。log step 573 转录的回收脚本结果也记载抓取失败，但节点值以这些视频帧为依据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右二指夹爪夹住冰桶桶缘，举起搬运后松开；后段又在地面桶旁尝试夹取。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人持桶从靠墙柜前转向并驾驶到底盘对准吧台的位置。" + } + ] + }, + "glasses_on_counter_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 110, + "log_step": 195, + "text_zh": "观察：视频 96–110 s 左夹爪夹住第一只酒杯，杯子离开原柜面并被搬到浅色吧台；当时另一只杯仍在靠墙柜上，尚无两杯邻接组合。" + }, + { + "t": 674, + "log_step": 457, + "text_zh": "观察：视频 654–670 s 右夹爪夹住并搬运另一只酒杯；视频 674–680 s 它在吧台前缘下方运动后脱离夹爪，没有与第一只杯一起形成由浅色台面支承的相邻组合。推断：至少1只“上台面且邻另一杯”的计数条件从未满足；单只杯被搬到台面不等于该节点达到。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左二指夹爪先夹持并搬运一只酒杯，后由右二指夹爪夹持另一只；两次独立搬运，未见两臂同时配合搬一杯。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人持杯时驾驶轮式底盘由靠墙柜前移至吧台前。" + } + ] + }, + "glasses_on_counter_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 110, + "log_step": 195, + "text_zh": "观察：视频 96–110 s 左夹爪夹住第一只酒杯，杯子离开原柜面并被搬到浅色吧台；当时另一只杯仍在靠墙柜上，尚无两杯邻接组合。" + }, + { + "t": 674, + "log_step": 457, + "text_zh": "观察：视频 654–670 s 右夹爪夹住并搬运另一只酒杯；视频 674–680 s 它在吧台前缘下方运动后脱离夹爪，没有与第一只杯一起形成由浅色台面支承的相邻组合。推断：至少2只“上台面且邻另一杯”的计数条件从未满足；单只杯被搬到台面不等于该节点达到。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左二指夹爪先夹持并搬运一只酒杯，后由右二指夹爪夹持另一只；两次独立搬运，未见两臂同时配合搬一杯。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人持杯时驾驶轮式底盘由靠墙柜前移至吧台前。" + } + ] + }, + "corkscrew_on_counter": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 350, + "log_step": null, + "text_zh": "观察：视频 320–350 s，机器人右夹爪在开瓶器附近反复闭合和举起，开瓶器仍可在深棕柜面上辨认；此前的预抓取与运动测试也没有把它送上吧台。" + }, + { + "t": 710, + "log_step": 467, + "text_zh": "观察：视频 694–708 s 右夹爪终于夹住浅色柄开瓶器并搬离原柜面；视频 710–716 s 将它移到浅色台面前缘下方后松开。" + }, + { + "t": 767, + "log_step": null, + "text_zh": "观察：视频 767 s 右腕向下视角可见开瓶器位于地面物品群中，酒瓶也在地面；未观察到开瓶器由浅色台面支承且靠近酒瓶的区间。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右二指夹爪多次尝试夹住开瓶器，后夹住柄部带走，在吧台前松开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人持开瓶器驾驶轮式底盘，从靠墙柜转向并驶到吧台前。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.2, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "ice_in_bucket_1", + "t": 68, + "log_step": 157, + "where": "操作中", + "evidence_zh": "观察：视频 59–65 s 机器人举起装冰托盘，视频 66–72 s 托盘停在桶口旁却没有完成将冰倒入；视频 73–75 s 下降的托盘又碰倒冰桶，视频 690 s 六块冰仍留盘中。推断：这是最早已进入实际搬运、失败后再未完成的目标步骤，取第1块冰入桶为断点；前段视频 48–57 s 是开爪预定位与运动测试，尚未夹取开瓶器。后续改做杯、桶、罐、瓶及开瓶器搬运，没有修复倒冰。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 68, + "log_step": 157, + "evidence_zh": "观察：视频 66–72 s，机器人持托盘停在冰桶口一侧，盘面没有形成使冰进入桶腔的有效倾倒姿态；视频 75 s 盘已返回柜面，视频 690 s 仍见六块冰留盘。推断：持盘和举盘已经实现，失败发生在倒入所需的位姿与运动，而非未夹住托盘。" + }, + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 74, + "log_step": 157, + "evidence_zh": "观察：视频 73.2–74.8 s，机器人右夹爪持托盘向柜面下降，托盘与桶口区域相交，冰桶随之向右侧倾倒，视频 75 s 已横躺于柜面。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 156 的倒冰脚本以右臂逆解移盘，随后仅给第7腕关节增加1.6弧度来倾倒，没有测量冰块是否离盘；log step 157 执行该脚本。视频 66–72 s 托盘几乎保持不变，视频 73–75 s 回落又碰倒桶，视频 690 s 冰块仍在盘内，说明脚本没有实现所需的倾倒与避碰控制。现有证据不足以进一步区分逆解、关节跟踪或接触布局问题。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有状态日志，桶腔在倒冰时被夹爪和托盘遮挡，冰块的短时运动与接触对无法逐帧精确测量；冰节点依据前后托盘仍有六块冰及全程未见转移作推断。酒杯透明且局部遮挡，不能精确重建其最终坐标，但两杯未在台面形成邻接组合的判据可由搬运前后视角判断。q_score=0.2 只报告目标文字条件的总比例，未给各文字条件明细，不能把它直接当成这14个复合节点的完成比例。", + "unmet": { + "bottle_on_counter": false, + "sodas_on_counter_1": false, + "sodas_on_counter_2": false, + "sodas_on_counter_3": false, + "ice_in_bucket_1": false, + "ice_in_bucket_2": false, + "ice_in_bucket_3": false, + "ice_in_bucket_4": false, + "ice_in_bucket_5": false, + "ice_in_bucket_6": false, + "bucket_on_counter": false, + "glasses_on_counter_1": false, + "glasses_on_counter_2": false, + "corkscrew_on_counter": false + } + }, + "summary_zh": "机器人实际尝试了托盘倒冰和各类物品搬运；按本DAG完整判据，最终14个节点均未达到（单只杯或孤立汽水罐上台面不满足相邻条件），原生q_score为0.2。最早未修复的实际搬运失败是倒冰：视频 66–72 s 未形成有效倾倒，随后碰倒冰桶，后续多次在吧台前缘下方释放物品使其落地。没有状态日志，冰块短时运动和透明杯的精确终态位置存在视觉证据限制；log step 640 的全目标已完成自述与视频及评分结果不符。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "标签与视频一致：视频 66–76 s 托盘停在桶口旁未倾倒、随后碰倒桶，托盘仍留冰；断点 ice_in_bucket_1、位姿不准+被挡/碰撞、控制根因均有帧支持。q_score=0.2 说明有一条目标文字条件成立，但无明细，节点保持 false 且 gap_zh 已说明，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": "2026-10-30T21:46:53Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-setup-a-bar-for-a-cocktail-party-i00-standard--tvmde2s/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-setup-a-bar-for-a-cocktail-party-i00-standard--tvmde2s/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "02494fe1af000752806bcf2472f72ac86750245c5b48f4de23a1c22cf86d9c8c", + "video_sha256": "f7d96107c8bd071dda494c57df72f8234f2a390f1cacca2762babc7e0ec44f6b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/setup_a_bar_for_a_cocktail_party/trajectories/behavior-setup-a-bar-for-a-cocktail-party-i00-standard--xrgneac.json b/phase2/behavior-1k/setup_a_bar_for_a_cocktail_party/trajectories/behavior-setup-a-bar-for-a-cocktail-party-i00-standard--xrgneac.json new file mode 100644 index 0000000000000000000000000000000000000000..a5037622762f456e99c6e017d967b557b238b505 --- /dev/null +++ b/phase2/behavior-1k/setup_a_bar_for_a_cocktail_party/trajectories/behavior-setup-a-bar-for-a-cocktail-party-i00-standard--xrgneac.json @@ -0,0 +1,483 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-setup-a-bar-for-a-cocktail-party-i00-standard--xrgneac", + "taskKey": "behavior-1k/setup_a_bar_for_a_cocktail_party", + "dag_sha256": "8a072e1994997f39932c0ca13678b0cb7a0584e1170e22d888b0466840d1f291", + "outcome": { + "success": 0, + "reward": 0.1, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 3003, + "sim_steps": 3003, + "physics_steps": 12012, + "steps": 926, + "elapsed_s": 5690.8, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 1, + "q_score": 0.1, + "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-setup-a-bar-for-a-cocktail-party-i00-standard--xrgneac/replay.mp4", + "duration_s": 100.1, + "fps": 30.0, + "frames": 3003, + "sha256": "eaa3cc0ce957be7abb49cc09be5c386e275284232d1bf557bc37b57c4fa953cd" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 14, + "base": null, + "peak": null, + "final": null, + "nodes": { + "bottle_on_counter": { + "method": "visual", + "intervals": [ + [ + 43.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 30.0, + "log_step": 80, + "text_zh": "观察：视频约28–33 s，右腕视角中的酒瓶随右夹爪离开原深棕色柜面，原位置不再留有酒瓶；机器人随后持瓶转身驶向浅色吧台。" + }, + { + "t": 43.0, + "log_step": 88, + "text_zh": "观察：视频约43.0 s（支承开始时刻约有0.3 s误差），右腕视角可见瓶底落在浅色吧台上；视频43.4–44.8 s右夹爪张开后退，酒瓶独立留在台面，视频48–49 s转身时仍可见酒瓶在台面。" + }, + { + "t": 100.066, + "log_step": null, + "text_zh": "推断：视频后段机器人在柜面侧空手扫描、失衡及尝试起身，没有再操作该酒瓶；结合已观察到的稳定放置及评分器q_score=0.1、live_matches_replay=1，保留酒瓶上吧台至结束；末帧不直接显示酒瓶。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人右二指夹爪夹住酒瓶瓶身并搬运，随后在浅色吧台松爪；早先的空夹尝试之后已重新取瓶成功。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：轮式底盘在地面上移动、转身，将右爪所持酒瓶从柜面运到吧台。" + } + ] + }, + "sodas_on_counter_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 16.0, + "log_step": null, + "text_zh": "观察：视频16–20 s汽水罐位于深棕色柜面，浅色吧台尚无目标汽水罐。" + }, + { + "t": 50.5, + "log_step": 96, + "text_zh": "观察：视频50.2–50.6 s机器人空手转向柜面时，左腕视角可见一罐汽水靠近张开的夹爪，罐身随后倾斜并离开柜面；视频54.5–58.3 s双爪合拢、抬起时均未带有汽水。" + }, + { + "t": 100.066, + "log_step": null, + "text_zh": "推断：从视频58.3 s直到结束，机器人仅空手扫描、失衡及起身，没有将汽水搬到浅色吧台；因此满足上台且有邻罐条件的汽水数量始终未达到1。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "推断：视频50.2–50.6 s左夹爪转扫经过柜面汽水，汽水倾倒离开柜面；没有形成可见包夹。碰触瞬间的具体指面受遮挡，不能记为抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人空手从酒瓶放置处驶回柜面并旋转，准备双爪取汽水；汽水阶段没有持罐运输。" + } + ] + }, + "sodas_on_counter_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 55.5, + "log_step": 96, + "text_zh": "观察：视频约54.5–58.3 s机器人两爪同时执行合爪及上抬，但两只夹爪抬起时都没有汽水，未向浅色吧台搬运任何汽水。log step 96的脚本分别给左右臂设置两个汽水目标；本文件按尝试的数量记在第1、第2罐节点，不将实例名2、3误当计数节点2、3。" + }, + { + "t": 100.066, + "log_step": null, + "text_zh": "推断：视频后续没有完成取罐或上台动作，第2罐上台且有邻罐的条件未达到。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：右爪在视频54.5–58.3 s对柜面空合后上抬；目标罐已不在可见抓取位置，腕部视角不能确定它此前是否被右臂或右爪碰到，故不把脚本的抓取指令当作实际抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：与第1罐同一段返回柜面和底盘旋转，机器人试图同时取两罐；双爪均未带罐到吧台。" + } + ] + }, + "sodas_on_counter_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 44.0, + "log_step": null, + "text_zh": "观察：视频44 s浅色吧台只见已放置的酒瓶，汽水仍未上台。" + }, + { + "t": 100.066, + "log_step": 96, + "text_zh": "推断：视频50–58.3 s的两罐尝试未带起汽水，之后没有新的取罐或放罐动作，因此第3罐上台且有邻罐未达；未另行尝试第3个计数。" + } + ] + }, + "ice_in_bucket_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 16.0, + "log_step": null, + "text_zh": "观察：视频16 s及约30 s可见冰块所在托盘和冰桶均在深棕色柜面；录像没有显示机器人拾冰、持盘倒冰或向桶内投冰。" + }, + { + "t": 100.066, + "log_step": null, + "text_zh": "观察：视频后段及最后一秒没有能核对冰桶内腔的视图；评分器只报告q_score=0.1，未报告哪块冰在桶内。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：柜面物件受到机器人接近动作扰动后，不能凭未实施装冰动作排除单块冰意外入桶；总分也不能唯一识别这一文字。因此首块冰入桶的后段状态及首次可能达成时刻未知。" + } + ] + }, + "ice_in_bucket_2": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 16.0, + "log_step": null, + "text_zh": "观察：视频16 s冰块所在托盘与冰桶分开放在深棕色柜面，未见至少2块冰位于桶内；后续没有可见的装冰操作，桶内腔在物件受扰后没有可核对视图。" + }, + { + "t": 100.066, + "log_step": null, + "text_zh": "推断：DAG的每个完整目标选项含20个目标文字（酒瓶1、汽水6、冰6、桶1、酒杯4、开瓶器2）；评分器q_score=0.1至多容许2个新增目标文字。冰块初始在托盘，且已确认酒瓶上台，至少2块冰入桶需要不少于3个新增文字，超出总分，故本节点终态为false。总分仅约束终态，不能恢复受遮挡期间是否短暂入桶，intervals留空值。" + } + ] + }, + "ice_in_bucket_3": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 16.0, + "log_step": null, + "text_zh": "观察：视频16 s冰块所在托盘与冰桶分开放在深棕色柜面，未见至少3块冰位于桶内；后续没有可见的装冰操作，桶内腔在物件受扰后没有可核对视图。" + }, + { + "t": 100.066, + "log_step": null, + "text_zh": "推断：DAG的每个完整目标选项含20个目标文字（酒瓶1、汽水6、冰6、桶1、酒杯4、开瓶器2）；评分器q_score=0.1至多容许2个新增目标文字。冰块初始在托盘，且已确认酒瓶上台，至少3块冰入桶需要不少于4个新增文字，超出总分，故本节点终态为false。总分仅约束终态，不能恢复受遮挡期间是否短暂入桶，intervals留空值。" + } + ] + }, + "ice_in_bucket_4": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 16.0, + "log_step": null, + "text_zh": "观察：视频16 s冰块所在托盘与冰桶分开放在深棕色柜面，未见至少4块冰位于桶内；后续没有可见的装冰操作，桶内腔在物件受扰后没有可核对视图。" + }, + { + "t": 100.066, + "log_step": null, + "text_zh": "推断：DAG的每个完整目标选项含20个目标文字（酒瓶1、汽水6、冰6、桶1、酒杯4、开瓶器2）；评分器q_score=0.1至多容许2个新增目标文字。冰块初始在托盘，且已确认酒瓶上台，至少4块冰入桶需要不少于5个新增文字，超出总分，故本节点终态为false。总分仅约束终态，不能恢复受遮挡期间是否短暂入桶，intervals留空值。" + } + ] + }, + "ice_in_bucket_5": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 16.0, + "log_step": null, + "text_zh": "观察：视频16 s冰块所在托盘与冰桶分开放在深棕色柜面，未见至少5块冰位于桶内；后续没有可见的装冰操作，桶内腔在物件受扰后没有可核对视图。" + }, + { + "t": 100.066, + "log_step": null, + "text_zh": "推断：DAG的每个完整目标选项含20个目标文字（酒瓶1、汽水6、冰6、桶1、酒杯4、开瓶器2）；评分器q_score=0.1至多容许2个新增目标文字。冰块初始在托盘，且已确认酒瓶上台，至少5块冰入桶需要不少于6个新增文字，超出总分，故本节点终态为false。总分仅约束终态，不能恢复受遮挡期间是否短暂入桶，intervals留空值。" + } + ] + }, + "ice_in_bucket_6": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 16.0, + "log_step": null, + "text_zh": "观察：视频16 s冰块所在托盘与冰桶分开放在深棕色柜面，未见至少6块冰位于桶内；后续没有可见的装冰操作，桶内腔在物件受扰后没有可核对视图。" + }, + { + "t": 100.066, + "log_step": null, + "text_zh": "推断：DAG的每个完整目标选项含20个目标文字（酒瓶1、汽水6、冰6、桶1、酒杯4、开瓶器2）；评分器q_score=0.1至多容许2个新增目标文字。冰块初始在托盘，且已确认酒瓶上台，至少6块冰入桶需要不少于7个新增文字，超出总分，故本节点终态为false。总分仅约束终态，不能恢复受遮挡期间是否短暂入桶，intervals留空值。" + } + ] + }, + "bucket_on_counter": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 16.0, + "log_step": null, + "text_zh": "观察：视频16–33 s冰桶在靠墙深棕色柜面上，未在浅色吧台上。" + }, + { + "t": 44.0, + "log_step": null, + "text_zh": "观察：视频44–49 s放瓶及离开时浅色吧台只见酒瓶，机器人未持有冰桶。" + }, + { + "t": 100.066, + "log_step": null, + "text_zh": "推断：视频后续机器人双爪空夹、空手扫描并失衡，没有将冰桶移到浅色吧台，冰桶上吧台未达。" + } + ] + }, + "glasses_on_counter_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 16.0, + "log_step": null, + "text_zh": "观察：视频14–18 s高脚酒杯在原深棕色柜面，视频44–49 s的浅色吧台没有酒杯；机器人没有抓取或搬运酒杯。" + }, + { + "t": 100.066, + "log_step": null, + "text_zh": "推断：后续没有放杯过程；至少1只杯在吧台且邻另一杯的条件未达。评分总量也不能容许两杯上台及互邻所需的新增文字同时成立。" + } + ] + }, + "glasses_on_counter_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 16.0, + "log_step": null, + "text_zh": "观察：视频14–18 s高脚酒杯在原深棕色柜面，视频44–49 s的浅色吧台没有酒杯；机器人没有抓取或搬运酒杯。" + }, + { + "t": 100.066, + "log_step": null, + "text_zh": "推断：后续没有放杯过程；至少2只杯在吧台且邻另一杯的条件未达。评分总量也不能容许两杯上台及互邻所需的新增文字同时成立。" + } + ] + }, + "corkscrew_on_counter": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 16.0, + "log_step": null, + "text_zh": "观察：视频16 s细长开瓶器在深棕色柜面左侧、托盘旁；视频44–49 s酒瓶周围的浅色吧台没有开瓶器。" + }, + { + "t": 100.066, + "log_step": null, + "text_zh": "推断：机器人全程未取放开瓶器，后段也未返回酒瓶处完成邻瓶放置，故开瓶器上吧台且邻酒瓶未达。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.1, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "sodas_on_counter_1", + "t": 50.5, + "log_step": 96, + "where": "转场", + "evidence_zh": "观察：酒瓶在视频约43 s上台后，机器人空手驶回柜面取汽水；视频50.2–50.6 s转身接近期间，一罐汽水在左夹爪附近倾倒、离开柜面，视频54.5–58.3 s两爪随后空夹抬起，直到结束都没有一罐汽水上台。推断：最先未修复的是第1罐汽水上吧台；当时仍在从放瓶处空手返回取罐的转场，而非酒瓶放置失败。" + }, + "unmet": { + "bottle_on_counter": true, + "sodas_on_counter_1": false, + "sodas_on_counter_2": false, + "sodas_on_counter_3": false, + "ice_in_bucket_1": null, + "ice_in_bucket_2": false, + "ice_in_bucket_3": false, + "ice_in_bucket_4": false, + "ice_in_bucket_5": false, + "ice_in_bucket_6": false, + "bucket_on_counter": false, + "glasses_on_counter_1": false, + "glasses_on_counter_2": false, + "corkscrew_on_counter": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 50.5, + "log_step": 96, + "evidence_zh": "观察：视频50.2–50.6 s左腕视角的汽水从直立变成倾斜并离开柜面，夹爪转扫经过它；视频54.5–58.3 s两爪合拢后空手抬起。推断：机器人接近时碰倒了目标汽水，未建立可用于搬运的包夹；不把这次碰倒再重复标为没保持住。" + }, + { + "cat": "全身", + "item": "平衡", + "t": 75.3, + "log_step": 133, + "evidence_zh": "观察：视频约75.0–76.0 s机器人空手扫描柜面后视野迅速翻转，地面、柜面及墙面方向大幅倾斜；视频后段尝试起身后再次倾倒，视频99.0–100.067 s仍侧倒。log step 235的机器人服务返回done=True、reason=\"failure: the robot fell over\"。推断：后续失衡阻止了未完成汽水步骤的重试，早先的空夹未被修复。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 50.5, + "log_step": 96, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 96提交的取罐脚本先把双臂展开到柜面高度的预抓姿态，并在该姿态下旋转底盘，随后才执行到旧罐位合爪和抬升。视频50.2–50.6 s对应转身接近时目标罐倾倒，视频54.5–58.3 s则空夹抬起，说明取罐动作没有维持安全的接近与接触过程。具体碰触的指面、前臂及瞬时受力无法分开确认，故根因保留在控制大类。" + } + ], + "gap_zh": "没有状态日志或逐物体目标字段。酒瓶终态由已观察到的稳定放置与后续未再操作推断；汽水倾倒时的精确碰触点部分被手腕遮住，第2罐尝试的实际目标接触未知。冰桶后段内腔始终未得到可核对视图（参考成功录像视频780 s可从腕部直接看见桶内冰块，本次没有同类视图），不能排除单块冰意外入桶，故第1块冰终态未知；第2至第6块冰终态由q_score总量排除，但遮挡期间的完整时间线仍未知。失衡的画面与服务终止一致，未把agent关于自碰撞的最终自述当成已证实的具体受力原因。" + }, + "summary_zh": "录像确认酒瓶在视频约43 s由右夹爪放上浅色吧台，最终确定完成1个节点；其余上台关系未达，第1块冰是否意外入桶未知，至少2块冰入桶的终态被评分总量排除。机器人在返回取汽水的转场中碰倒目标，随后空夹，未修复第1罐汽水上吧台，后续又持续失衡并由服务以摔倒终止。无状态日志，桶内状态、部分实际碰触点及酒瓶末帧位置存在观测缺口。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽查视频43–60 s及全程缩略图：酒瓶约43 s上吧台、50 s左腕见汽水倾倒、其后空夹且无汽水上台，与标签一致；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": "2026-10-30T21:50:18Z", + "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-setup-a-bar-for-a-cocktail-party-i00-standard--xrgneac/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-setup-a-bar-for-a-cocktail-party-i00-standard--xrgneac/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f45d44c64636def605b5441c29fd4f8009f910776f97a455325a602ffa17067c", + "video_sha256": "eaa3cc0ce957be7abb49cc09be5c386e275284232d1bf557bc37b57c4fa953cd", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/store_batteries/trajectories/behavior-store-batteries-i00-privileged--fitst82.json b/phase2/behavior-1k/store_batteries/trajectories/behavior-store-batteries-i00-privileged--fitst82.json new file mode 100644 index 0000000000000000000000000000000000000000..474ac8b4c018bef481e4a1d11cd4eda5fd0b7362 --- /dev/null +++ b/phase2/behavior-1k/store_batteries/trajectories/behavior-store-batteries-i00-privileged--fitst82.json @@ -0,0 +1,266 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-store-batteries-i00-privileged--fitst82", + "taskKey": "behavior-1k/store_batteries", + "dag_sha256": "84b6014bbaa8953a93cb6f1cd12059ba67bf4170c0810be551277e0d13859c5a", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 0, + "n_actions": 4041, + "sim_steps": 4041, + "final_reward": 1.0, + "q_score": 1.0, + "replay_wall_s": 1156.7, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 3, + "agent_resets": 0, + "agent_sim_steps": 12123, + "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-store-batteries-i00-privileged--fitst82/replay.mp4", + "duration_s": 134.7, + "fps": 30.0, + "frames": 4041, + "sha256": "3ad0572367ca272aacb16c3c360c52dd0101c4b2ce2074ed475f6987cd223fac" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 4, + "final": 4, + "nodes": { + "cabinet_drawer_opened": { + "method": "visual", + "intervals": [ + [ + 10.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 电视下方橙棕色长柜的抽屉面板贴合柜体；视频 8.0–9.0 s 机器人左侧二指夹爪夹在抽屉前沿把手处。" + }, + { + "t": 10.0, + "log_step": 43, + "text_zh": "观察：视频 9.5–10.5 s 左爪外拉，抽屉面板离开柜体并露出盒状内腔；视频 11.0–12.0 s 可清楚看到可从上方放入物体的开口。以视频约 10.0 s 作为打开锚点，视觉误差约 0.5 s；log step 43 记录左手抓住 cabinet.n.01_1 并将一个抽屉关节拉至约 0.198 m。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左侧二指夹爪夹住电视柜抽屉把手或前沿并外拉，随后松开；视频 8.0–12.0 s 可见夹爪和抽屉相对运动。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人轮式底盘承载机器人驶向电视柜的抽屉操作位置，见视频 0.0–6.0 s。" + } + ] + }, + "batteries_in_cabinet_1": { + "method": "visual", + "intervals": [ + [ + 29.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 22.0, + "log_step": 46, + "text_zh": "观察：视频 18.0 s 茶几上有两节蓝黑色电池；视频 20.0–22.0 s 机器人左爪夹住其中一节并抬离茶几，头部画面仍可见另一节留在桌上。" + }, + { + "t": 29.0, + "log_step": 49, + "text_zh": "观察：视频 28.5–29.4 s 左爪把电池向打开的电视柜抽屉内下放；视频 29.7 s 夹爪已分开，视频 30.0–33.0 s 电池落在抽屉内并随夹爪抬离而留在原处。log step 49 记录同一次录制中该电池释放前后 inside 均为 True，保存动作前的进度为 1/3。" + }, + { + "t": 29.0, + "log_step": null, + "text_zh": "推断：结合下放、释放后仍位于盒状内腔的连续画面，首节入柜约在视频 29.0 s，误差约 0.5 s；该关系按本次执行规则允许仍夹持时成立。其后未见取出，末态由评分器 success=1、q_score=1.0 共同确认。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左侧二指夹爪夹住第一节茶几电池、抬起并下放入抽屉，随后松手；视频 20.0–22.0 s 及视频 28.5–30.0 s 可见。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人轮式底盘承载机器人往返茶几与电视柜，并在左爪持电池时转向、移动，见视频 23.0–28.0 s。" + } + ] + }, + "batteries_in_cabinet_2": { + "method": "visual", + "intervals": [ + [ + 51.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 43.0, + "log_step": 52, + "text_zh": "观察：视频 39.0–41.0 s 茶几上剩余的一节电池仍在桌面；视频 42.0–44.0 s 机器人左爪夹持它抬起，桌面原位置不再有该电池。" + }, + { + "t": 51.5, + "log_step": 52, + "text_zh": "观察：视频 50.4–51.6 s 左爪把第二节电池下放到同一抽屉；视频 51.9–52.8 s 夹爪已张开，电池留在内腔。视频 54.5–55.0 s 腕部画面可同时看到抽屉内的两节蓝黑色电池；log step 52 记录这两节对同一个 cabinet.n.01_1 的 inside 为 True。" + }, + { + "t": 51.5, + "log_step": null, + "text_zh": "推断：同柜至少两节约在视频 51.5 s 达成，视觉误差约 0.5 s；之后机器人未将电池取出，末态 success=1、q_score=1.0 支持两节关系持续成立。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左侧二指夹爪夹住茶几剩余电池并抬起，再下放至第一节所在抽屉内松手，见视频 42.0–44.0 s、视频 50.4–52.8 s。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人轮式底盘往返茶几与电视柜，搬运途中承载机器人及左爪所持第二节电池，见视频 44.0–50.0 s。" + } + ] + }, + "batteries_in_cabinet_3": { + "method": "visual", + "intervals": [ + [ + 134.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 99.0, + "log_step": 65, + "text_zh": "观察：视频 94.0 s 厨房台面上可见第三节电池；视频 98.0–100.0 s 机器人左爪夹住并抬起电池，台面原位置变空，电池持续出现在左腕画面中。" + }, + { + "t": 134.6, + "log_step": 71, + "text_zh": "观察：视频 126.0–129.0 s 机器人持第三节返回仍打开的电视柜抽屉，视频 131.0–134.67 s 左爪朝该内腔下放电池；已逐帧附近检查视频最后一秒，结尾电池仍夹在两指之间。log step 71 记录保存的轨迹为 4041 个动作，终态 success=True、q_score=1.0、三节对同一柜的 inside 全为 True；评分记录也给出 all_success=1、deterministic=1。" + }, + { + "t": 134.6, + "log_step": null, + "text_zh": "推断：腕部近景遮住电池与容积边界的精确相交位置，结合结尾下放画面及评分成功，将三节同柜的首次达成定位在视频约 134.6 s，误差约 0.2 s。按本次旧版瞬时同柜规则，此时仍夹持第三节也算达成；并不据此声称完成了当前 DAG 描述的释放静置窗口。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左侧二指夹爪夹取厨房台面电池，持续夹持运输并向原抽屉内下放；视频 99.0–134.67 s 可见持物，末帧尚未松手。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人轮式底盘移动到厨房取电池，并持物返回客厅电视柜，见视频 60.0–94.0 s 与视频 100.0–129.0 s；途中偏离后恢复路线并完成运输。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 1.0, + "unit": "fraction", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": null, + "summary_zh": "机器人打开电视柜抽屉，依次将茶几上的两节电池和厨房台面的一节电池送入同一柜内，四个节点最终全部达成，评分器 success=1、q_score=1.0。按 P19 使用本次执行时的旧版规则：三节同柜即结束，视频 134.67 s 末帧第三节仍被左爪夹持，因此不把成功解释为当前 DAG 所述的释放、静止并连续保持 30 个控制步已经验证。无状态日志，入柜时刻为连续画面的近似定位，第三节精确容积边界被夹爪遮挡，其末态结合成功评分确认。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "四个节点按执行时旧规则标注，时间与帧一致，成功评分支持末态；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": "2026-10-30T21:33:01Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-store-batteries-i00-privileged--fitst82/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-store-batteries-i00-privileged--fitst82/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "290154f52a114f4ae97cf22518e46c0bb44bc047ef7d365163aa0ff60e7ec7dc", + "video_sha256": "3ad0572367ca272aacb16c3c360c52dd0101c4b2ce2074ed475f6987cd223fac", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/store_batteries/trajectories/behavior-store-batteries-i00-privileged--fnngv63.json b/phase2/behavior-1k/store_batteries/trajectories/behavior-store-batteries-i00-privileged--fnngv63.json new file mode 100644 index 0000000000000000000000000000000000000000..890e804bb8c0ebeedf82f6014b042af0344e2d64 --- /dev/null +++ b/phase2/behavior-1k/store_batteries/trajectories/behavior-store-batteries-i00-privileged--fnngv63.json @@ -0,0 +1,285 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-store-batteries-i00-privileged--fnngv63", + "taskKey": "behavior-1k/store_batteries", + "dag_sha256": "84b6014bbaa8953a93cb6f1cd12059ba67bf4170c0810be551277e0d13859c5a", + "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": 2930, + "sim_steps": 2930, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 1110.9, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 55, + "agent_resets": 1, + "agent_sim_steps": 11022, + "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-store-batteries-i00-privileged--fnngv63/replay.mp4", + "duration_s": 97.667, + "fps": 30.0, + "frames": 2930, + "sha256": "296e3324cfcfbffbe73f44eb4b8bdf50658fd90e1c6d3e81fea127d2457ec271" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "cabinet_drawer_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.0, + "log_step": null, + "text_zh": "观察：视频 2.0–8.0 s 机器人左夹爪在电视柜前闭合、转动并随底盘后撤；腕部视角没有显示把手被两指夹住后随手外移，视频 12.0 s 柜面仍齐平，没有露出可从上方放入电池的盒状内腔。" + }, + { + "t": 94.5, + "log_step": null, + "text_zh": "观察：视频 30.0–35.0 s、51.0–58.0 s 和 92.0–95.0 s 三次送电池到柜前时，均未出现可用抽屉内腔；视频 96.5–97.6 s 机器人空手停留，未再次开柜。" + }, + { + "t": null, + "log_step": 539, + "text_zh": "观察：log step 539 的交付生成脚本先执行左夹爪靠近、闭合和后拉，再直接输出“Drawer 5 opened”；log step 541 启动该脚本，log step 666 的运行输出记载保存了 2930 个动作，与评分器 n_actions=2930 一致。脚本的开柜声明不能替代视频中的开口证据。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 2.0–8.0 s 左夹爪在柜前尝试闭合并后撤；把手附近被夹爪本体遮挡，不能确认是否发生夹持、勾拉或短暂擦碰，不将脚本 close_gripper 指令记作已抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0.0–2.0 s 底盘承载机器人靠近电视柜，视频 8.0–12.0 s 随开柜尝试后撤。" + } + ] + }, + "batteries_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 21.0, + "log_step": null, + "text_zh": "观察：视频 20.0–23.0 s 左夹爪夹住茶几上的一节蓝黑色电池并将其提离桌面，随后携物驶向电视柜；视频 30.0–31.0 s 松爪后电池落到柜前木地板，视频 33.0–35.0 s 仍留在柜外。" + }, + { + "t": 95.0, + "log_step": null, + "text_zh": "观察：视频 43.0–47.0 s 和 78.0–86.0 s 机器人又分别夹持、搬运另两节电池；视频 54.0–58.0 s 可见两节在柜前地板，视频 94.5–95.0 s 第三节释放后也留在柜外，未见任何电池进入内腔。" + }, + { + "t": 97.6, + "log_step": null, + "text_zh": "推断：视频 96.5–97.6 s 未再发生转移，评分器 q_score=0.0，且三项 inside 初态均不成立，因此末态任一柜内电池数为零，第1节入柜 final=false；并非仅由失败总分判断未曾尝试。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 20.0–31.0 s 机器人左侧二指夹爪夹住并搬运按本次尝试顺序计的第1节电池，后在电视柜前松开；计数节点不固定电池实例。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：第1次存放尝试期间，轮式底盘承载机器人及左夹爪中的电池从取物处驶向电视柜。" + } + ] + }, + "batteries_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 44.0, + "log_step": null, + "text_zh": "观察：视频 43.0–47.0 s 左夹爪将茶几剩余一节电池提离并携带，原位置已空；视频 51.0–54.0 s 在电视柜前释放，视频 54.0–58.0 s 两节电池均可见于柜外木地板，没有两节同柜的内腔画面。" + }, + { + "t": 97.6, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.0 与视频 94.5–95.0 s 电池仍在柜外、视频 96.5–97.6 s 无新搬运动作一致；不可能满足同柜至少2节，final=false。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 43.0–54.0 s 机器人左侧二指夹爪夹住并搬运按本次尝试顺序计的第2节电池，后在电视柜前松开；计数节点不固定电池实例。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：第2次存放尝试期间，轮式底盘承载机器人及左夹爪中的电池从取物处驶向电视柜。" + } + ] + }, + "batteries_in_cabinet_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 81.0, + "log_step": null, + "text_zh": "观察：视频 78.0–81.0 s 左夹爪中的第三节电池离开厨房台面，视频 82.0–92.0 s 随机器人运回客厅；视频 93.0–95.0 s 左夹爪在仍无可用开口的柜前松开，三节均留在柜外地板，未见第三节进入柜内。" + }, + { + "t": 97.6, + "log_step": null, + "text_zh": "推断：视频 96.5–97.6 s 机器人已空手且未重试，评分器 q_score=0.0 排除末态三节同柜，final=false。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 78.0–95.0 s 机器人左侧二指夹爪夹住并搬运按本次尝试顺序计的第3节电池，后在电视柜前松开；计数节点不固定电池实例。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：第3次存放尝试期间，轮式底盘承载机器人及左夹爪中的电池从取物处驶向电视柜。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "fraction", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "cabinet_drawer_opened", + "t": 6.0, + "log_step": 539, + "where": "操作中", + "evidence_zh": "观察：视频 2.0–8.0 s 机器人左夹爪在柜前执行闭合与后拉，视频 12.0 s 柜面仍贴合、无可用内腔；之后机器人三次送电池到柜前，均未补成开抽屉步骤。最早未修复的失败是打开柜抽屉，而非最后一节电池的放置。" + }, + "unmet": { + "batteries_in_cabinet_1": false, + "batteries_in_cabinet_2": false, + "batteries_in_cabinet_3": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 6.0, + "log_step": null, + "evidence_zh": "推断：视频 2.0–8.0 s 左夹爪闭合并移离柜面时，没有把手夹在两指间随手运动的画面，抽屉也未被带出；视频 12.0 s 柜面仍齐平。结合整个后拉过程，未建立开抽屉所需的有效夹持或勾拉接触；不排除曾有短暂单侧擦碰。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 539 的交付脚本明确以开抽屉为目标，命令左夹爪在固定末端位姿闭合，再后拉和底盘后退；视频 2.0–12.0 s 对应动作未使抽屉打开。问题发生在把开柜动作落实为有效接触的控制环节；现有证据不能进一步区分夹持几何、逆解误差或跟踪问题，因此保留控制大类。" + } + ], + "gap_zh": "没有状态日志或接触对记录，开柜时夹爪本体遮挡把手，无法确定短暂擦碰、夹持力及具体控制子因；“没建立接触”指未形成有效拉动接触，属于视频前后关系的推断。log step 547、551 是 agent 对已保存文件的会话内诊断，仅作辅助核对，不将其他测试中打开抽屉或存入电池的结果计入本次视频。末帧视频 97.6 s 视线离开柜前，但已检查视频 94.5–95.0 s 的三节柜外状态及之后空手动作，末态同时由 q_score=0.0 限定。" + }, + "summary_zh": "机器人先尝试打开电视柜抽屉，随后用左夹爪依次搬运茶几上的两节及厨房台面的一节电池，但三次均释放在柜前地板，四个节点最终均未达成。最早未修复的断点是视频约 6.0 s 的开抽屉尝试：未形成有效拉动接触，归因到控制大类；评分器 q_score=0.0 与柜外放置画面一致。缺少状态与接触日志，把手遮挡使具体控制子因仍不确定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频中抽屉始终未拉出，三节电池均落在柜前地板，四个节点 false、断点在开抽屉与证据一致；根因保留控制大类、不细分，处理保守合理。未发现需要改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:35:09Z", + "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-store-batteries-i00-privileged--fnngv63/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-store-batteries-i00-privileged--fnngv63/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f0fd9a809c170f9f9ceb3e8393ca717735c0415887e81f7d1cc579155b7d0fbc", + "video_sha256": "296e3324cfcfbffbe73f44eb4b8bdf50658fd90e1c6d3e81fea127d2457ec271", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/store_batteries/trajectories/behavior-store-batteries-i00-privileged--qquv3zu.json b/phase2/behavior-1k/store_batteries/trajectories/behavior-store-batteries-i00-privileged--qquv3zu.json new file mode 100644 index 0000000000000000000000000000000000000000..bdcc02fb314d955f5d5fd738119534a148cb5ee8 --- /dev/null +++ b/phase2/behavior-1k/store_batteries/trajectories/behavior-store-batteries-i00-privileged--qquv3zu.json @@ -0,0 +1,324 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-store-batteries-i00-privileged--qquv3zu", + "taskKey": "behavior-1k/store_batteries", + "dag_sha256": "84b6014bbaa8953a93cb6f1cd12059ba67bf4170c0810be551277e0d13859c5a", + "outcome": { + "success": 0, + "reward": 0.6666666666666666, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 3504, + "sim_steps": 3504, + "final_reward": 0.6666666666666666, + "q_score": 0.6666666666666666, + "replay_wall_s": 977.3, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 33, + "agent_resets": 0, + "agent_sim_steps": 27822, + "agent_records": 4, + "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-store-batteries-i00-privileged--qquv3zu/replay.mp4", + "duration_s": 116.8, + "fps": 30.0, + "frames": 3504, + "sha256": "6d83bddbec9f89dafc45a2a6e6f4896486478060bdca1aa9624f53e9ee454d71" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "cabinet_drawer_opened": { + "method": "visual", + "intervals": [ + [ + 27.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 17, + "log_step": null, + "text_zh": "观察：视频 16-24 s，左腕视角可见左夹爪两指夹住深棕色柜的抽屉把手并持续外拉；腕部近景遮住内腔。" + }, + { + "t": 27.5, + "log_step": null, + "text_zh": "观察：视频 27.5-29 s，头部视角明确显示沙发旁深棕色柜的底层抽屉伸出，盒状内腔敞开。以视频 27.5 s 首次清楚可确认内腔的画面记到达，实际开出可用开口可能更早；这是事件节点，之后抽屉关闭不撤销。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左侧二指夹爪夹住深棕色柜底层抽屉把手，向外拉后松开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘驶至沙发旁目标柜前，承载抽屉操作。" + } + ] + }, + "batteries_in_cabinet_1": { + "method": "visual", + "intervals": [ + [ + 54, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 36.5, + "log_step": null, + "text_zh": "观察：视频 33.5-36 s，第一节蓝黑电池仍在茶几上；视频 36.5-40 s，电池被左夹爪夹起并随手移动，茶几上仍留另一节。" + }, + { + "t": 54, + "log_step": null, + "text_zh": "观察：视频 51-53.5 s，机器人把左夹爪所持电池送到深棕色柜的敞开抽屉上方；视频 54-56 s，夹爪撤离后，蓝黑电池留在盒状内腔中。到达时刻取视频 54 s，容积边界无法像原生谓词那样精确测量。" + }, + { + "t": 82.5, + "log_step": null, + "text_zh": "观察：视频 79.5-82.5 s，同一抽屉内可见两节蓝黑电池，未见先前电池被取走。" + }, + { + "t": 116.7, + "log_step": 214, + "text_zh": "推断：评分器 reward.q_score=2/3，初态三节均未入柜；结合视频 54 s 与视频 79.5 s 的两次落入同一抽屉，以及视频 116.7 s 第三节仍在夹爪中，可确定最终至少一节入柜。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左侧二指夹爪夹住茶几上的第一节电池，搬至深棕色柜底层抽屉，松手落入内腔。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘往返茶几与目标柜，搬运时承载机器人及所持电池。" + } + ] + }, + "batteries_in_cabinet_2": { + "method": "visual", + "intervals": [ + [ + 79.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 65.5, + "log_step": null, + "text_zh": "观察：视频 63-65 s，第二节电池位于茶几上；视频 65.5-70 s，左夹爪夹住并提离桌面，电池随腕部移动。" + }, + { + "t": 79.5, + "log_step": null, + "text_zh": "观察：视频 77-79 s，左夹爪将第二节电池送入同一深棕色柜抽屉上方；视频 79.5-82.5 s，夹爪移开，腕部及头部视角可见两节蓝黑电池留在敞开内腔。到达时刻取视频 79.5 s。" + }, + { + "t": 116.7, + "log_step": 214, + "text_zh": "推断：评分器最终 q_score=0.6666666666666666，即最佳同柜目标满足三条 inside 中的两条；视频 82.5 s 两节在同一抽屉，视频 116.7 s 第三节仍被左夹爪持有，故本计数节点最终为真。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左侧二指夹爪夹住茶几剩余电池，搬至与第一节相同的抽屉内并松开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘往返茶几与深棕色柜，搬运时承载所持第二节电池。" + } + ] + }, + "batteries_in_cabinet_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 101, + "log_step": null, + "text_zh": "观察：视频 98-100 s，左夹爪接近厨房台面上的电池；视频 101-103 s，蓝黑圆柱电池已在两指之间并被提离原台面位置。" + }, + { + "t": 104.5, + "log_step": null, + "text_zh": "观察：视频 104-109 s，机器人持电池移动时，厨房窗框、墙面与椅子在头部视角中大幅倾转；机器人未回到目标柜，腕部视角始终显示第三节仍被夹住。" + }, + { + "t": 116.7, + "log_step": null, + "text_zh": "观察：视频 115.8-116.7 s 逐帧抽查，机器人仍停在厨房附近的倾斜姿态，第三节电池仍在左夹爪中；没有进入客厅柜抽屉的画面。" + }, + { + "t": 116.7, + "log_step": 214, + "text_zh": "推断：最终 q_score=2/3 将最佳柜内电池数限制为两节，与第三节仍在厨房的画面相符，故三节同柜节点最终为假。log step 214 保存的 3504 步动作数与评分视频帧数及评分器 n_actions 一致；log step 216-218 的后续修改与测试未作为本次节点进度。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左侧二指夹爪夹住厨房台面第三节电池并提起，末段始终持有，未送入目标柜。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘驶往厨房取第三节电池；接近并夹取时已倾斜，持物后尝试返回柜前，倾斜加剧并停滞。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.6666666666666666, + "unit": "fraction", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "batteries_in_cabinet_3", + "t": 104.5, + "log_step": 212, + "where": "操作中", + "evidence_zh": "观察：视频约 88-103 s，机器人接近并夹取厨房电池时头部视角已明显倾斜；视频 101-103 s 已夹起电池，视频 104-109 s 持物移动时倾转进一步加剧，直到视频 116.7 s 仍持电池停在厨房附近，未到柜前。log step 212 的对应生成记录显示，抓取前站位底盘高度已为 0.081 m，重新开抽屉导航后约为 0.409 m，平面位置也未达到柜前目标；log step 214 保存 3504 步，最终评分 q_score=2/3。视频 104.5 s 保留为持物导航时倾斜加剧的定位锚点，不表示倾斜始于此时。" + }, + "unmet": { + "batteries_in_cabinet_1": true, + "batteries_in_cabinet_2": true, + "batteries_in_cabinet_3": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 104.5, + "log_step": 212, + "evidence_zh": "推断：视频约 87-88 s 机器人接近厨房台面时，头部视角已明显转向天花板；视频 90-103 s 接近并夹取电池期间，台面与窗框持续倾斜，视频 104-109 s 持电池移动时倾转进一步加剧，至视频 116.7 s 未恢复。log step 212 同一已保存生成过程显示，厨房较早路点底盘高度约 0.01 m，抓取前站位已升至 0.081 m，重开抽屉导航后又升至约 0.409 m 且未到柜前目标。结合画面与高度变化，判断机器人在厨房接近阶段已抬高倾斜，随后失衡加剧并卡住；具体支承接触未见，不能确认爬上哪件家具，也不宣称评分器触发了跌倒终止。视频 104.5 s 仅作为持物导航时倾斜加剧的定位锚点。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "source_zh": "日志", + "evidence_zh": "推断：log step 214 显示第二节入柜前抽屉开度为 0.2467，log step 212 显示第三节夹起后抽屉读数为 0.0000，并触发“drawer closed again -> reopening”；log step 214 最终抽屉读数为 2.6095e-5。抽屉在第二节入柜后重新关闭，可能被机器人接触推关，但具体接触与原因未证实（log step 216 的 agent 自述也承认原因不明）。log step 205 的 place_battery 在 nav(pre_wps) 之前调用 open_drawer；log step 204 的 open_drawer 直接执行柜前两个导航目标，因此重开分支跳过了 log step 209 配置的厨房返回路点。log step 212 中该分支导航后底盘高度由 0.081 m 升至约 0.409 m，视频 104-109 s 持物倾转加剧且未回柜前，支持跨阶段路径衔接可能加剧失败的规划类归因。但抓取前站位已抬高、视频约 88-103 s 已倾斜，不能把失衡起因全部归于此分支；按原返回路点行驶是否能避免爬升没有对照验证，此归因为有限确定性的推断。" + } + ], + "gap_zh": "没有状态日志或外部全身视角，无法精确识别轮子与哪件家具接触、测量基座倾角，或确认原生跌倒阈值；失衡由视频连续倾转和对应生成记录推断。抽屉内腔在最初外拉期间被腕部近景遮住，开抽屉到达时刻采用视频 27.5 s 首次清楚可确认的画面，实际可能更早；两次入柜的精确容积边界时刻也约有半秒误差。视频末段柜内不可见，前两节最终保持由此前画面和评分总数共同确定。日志中的生成耗时属于 agent 工作时钟，未换算为视频时间。 抽屉重新关闭的具体接触和时刻未被日志直接记录，不能将 agent 对肘部推关的猜测当作事实。厨房接近阶段已有倾斜与底盘抬高，重开分支与既有失衡各自的因果贡献无法分离；按原返回路点是否能避免进一步爬升未经对照验证。" + }, + "summary_zh": "评分轨迹打开了沙发旁深棕色柜的抽屉，并在视频约 54 s、79.5 s 将两节电池放入同一抽屉，最终完成 3/4 个节点，q_score=2/3。机器人在视频约 88-103 s 接近并夹取第三节时已倾斜，抓取前底盘高度为 0.081 m；抽屉重新关闭触发直接导航至柜前的重开分支，视频 104-109 s 倾斜加剧，结尾仍持电池停在厨房附近。跨阶段路径衔接可能加剧失败，但缺少状态日志、具体接触证据及返回路线对照，无法确认重开分支是唯一原因，conf 从 7 降至 6。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "节点值、时间（开抽屉 27.5 s、入柜 54/79.5 s、第三节未入柜）、接触标签和 q_score 界定与视频及日志一致，断点节点与 where 合理。问题在失衡证据：画面倾斜并非始于视频 104 s，而是在视频约 88-103 s 接近并夹取厨房电池时就已出现，且 log 显示站位处底盘高度 0.081 m 已异常；根因把全部后果归于“重开抽屉分支绕过返回路点”，对此缺少对照证据。", + "n_issues": 2, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值与时间（开抽屉约 27.5 s、两节入柜 54/79.5 s、第三节未入柜）、q_score=2/3 的界定、断点（第三节入柜，操作中）以及带限定的平衡现象与规划推断均与视频和日志一致；上一轮问题已妥善处理，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": "2026-10-30T21:49:28Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-store-batteries-i00-privileged--qquv3zu/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-store-batteries-i00-privileged--qquv3zu/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-store-batteries-i00-privileged--qquv3zu/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-store-batteries-i00-privileged--qquv3zu/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b60bb4d436a82cced40282deca5719b090ad3042d7f656edd63d2d186cdbf950", + "video_sha256": "6d83bddbec9f89dafc45a2a6e6f4896486478060bdca1aa9624f53e9ee454d71", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/store_batteries/trajectories/behavior-store-batteries-i00-standard--3fxdjqd.json b/phase2/behavior-1k/store_batteries/trajectories/behavior-store-batteries-i00-standard--3fxdjqd.json new file mode 100644 index 0000000000000000000000000000000000000000..d6557cdc62d1823e707fdb5f81e4dba9d3ff1211 --- /dev/null +++ b/phase2/behavior-1k/store_batteries/trajectories/behavior-store-batteries-i00-standard--3fxdjqd.json @@ -0,0 +1,244 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-store-batteries-i00-standard--3fxdjqd", + "taskKey": "behavior-1k/store_batteries", + "dag_sha256": "84b6014bbaa8953a93cb6f1cd12059ba67bf4170c0810be551277e0d13859c5a", + "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": 1178, + "sim_steps": 1178, + "physics_steps": 4712, + "steps": 1178, + "elapsed_s": 1040.9, + "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-store-batteries-i00-standard--3fxdjqd/replay.mp4", + "duration_s": 39.267, + "fps": 30.0, + "frames": 1178, + "sha256": "9e33bb205349804ac542dd57840e70b7561e63241889e1ad86b9d2413fd99d9e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "cabinet_drawer_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 电视下方橙棕色柜的抽屉面板与柜体齐平；视频 18–27 s 再次看到柜体时仍无抽屉盒状内腔露出，机器人未向把手伸手外拉。" + }, + { + "t": 27.0, + "log_step": null, + "text_zh": "观察：已检查全片逐秒画面及视频 25.5–33 s、38.3–39.23 s 的密集画面，未见任一目标柜形成可放入电池的抽屉开口；成功参考视频 10–15 s 的腕部与头部视角可见面板外移及盒状内腔，本次无此变化。" + } + ] + }, + "batteries_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.5, + "log_step": null, + "text_zh": "观察：视频 4–10 s 机器人靠近茶几并改变观察姿态，蓝黑色电池仍在茶几上；全片未见夹爪带电池离开原处并送入柜内。视频 38.3–39.23 s 腕部视角仍可见柜外的蓝黑色电池，头部视角朝向天花板。" + }, + { + "t": 27.5, + "log_step": 144, + "text_zh": "观察：视频约 27.5 s 机器人在桌区附近移动时视角急剧上翻，之后一直未恢复正常朝向；log step 142、144 的机器人指令是在接近深色桌区并俯身查看，并无抓取或入柜指令。" + }, + { + "t": 39.23, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，且 live_matches_replay=1、三个 inside 目标初始均不成立，因此终态任一目标柜内都没有已满足 inside 的电池；结合全片无搬入动作，本节点从未达成。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 4–27.5 s 机器人由轮式底盘承载，在客厅转向、前后移动及绕行桌区以寻找并接近电池；未见夹爪夹住电池，不标抓握。" + } + ] + }, + "batteries_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 39.23, + "log_step": null, + "text_zh": "观察：已检查视频 0–39.23 s 的完整动作次序，机器人仅在客厅观察、移动及倾倒后尝试恢复，未见任何电池被搬入目标柜，也未开始第2节电池的独立搬运。" + }, + { + "t": 39.23, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0 且 live_matches_replay=1，初始 inside 目标均为假，故终态不可能有同柜至少2节电池；全片无入柜动作支持区间为空。" + } + ] + }, + "batteries_in_cabinet_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 39.23, + "log_step": null, + "text_zh": "观察：已检查视频 0–39.23 s 的完整动作次序，机器人仅在客厅观察、移动及倾倒后尝试恢复，未见任何电池被搬入目标柜，也未开始第3节电池的独立搬运。" + }, + { + "t": 39.23, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0 且 live_matches_replay=1，初始 inside 目标均为假，故终态不可能有同柜至少3节电池；全片无入柜动作支持区间为空。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "fraction", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "batteries_in_cabinet_1", + "t": 27.5, + "log_step": 144, + "where": "探索", + "evidence_zh": "观察：视频 25.5–27.25 s 机器人空手在桌区附近转向移动，视频约 27.5 s 视角开始明显上翻，视频 28–39.23 s 持续朝向天花板并倾斜；log step 142、144 的实际指令是绕行接近深色桌区并俯身查看。推断：机器人仍在为第一节电池的收纳搜索和接近物体，尚未操作抽屉或搬运电池，倾倒后未修复该步，因此断点取第1节电池入柜的探索阶段。" + }, + "unmet": { + "batteries_in_cabinet_1": false, + "batteries_in_cabinet_2": false, + "batteries_in_cabinet_3": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 27.5, + "log_step": 163, + "evidence_zh": "观察：视频约 27.5 s 机器人视角快速上翻，视频 28–39.23 s 持续倾倒，最后一秒仍未恢复；log step 144 返回基座高度约 0.245 m、四元数中 qx≈-0.152、qy≈-0.530，log step 157 的服务本体读数 cos(rx)·cos(ry)=0.424；log step 163 服务最终报告 control_steps=1178、done=true、reason=\"failure: the robot fell over\"。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "观察：log step 37、48 的移动函数把固定底盘增量连续发送整批控制步，仅在整批结束后读取姿态；log step 109 的 go_to 只根据平面位置和偏航调整，代码无倾斜闭环保护。log step 142、144 在保持弯曲躯干姿态时继续行驶；log step 147、152、155、157 已返回明显倾斜，随后 log step 159 仍连续发出前行及横移命令，基座上轴 z 分量降至负值，log step 161、163 最终因跌倒终止。推断：该次底盘与躯干控制没有维持或恢复整体稳定，导致探索过程中失衡未被修复；现有证据不足以将初始诱因细分为某个参数或具体接触设计。" + } + ], + "gap_zh": "无状态日志或接触对记录，头部和腕部视角未直接呈现轮地支承及最初倾倒的接触点，无法确认是否由地毯、家具接触、加速度或躯干承载布局中的某一项触发；因此仅归因到控制，不将 agent 在 log step 197 自述的具体倾倒机制当作已证实原因。断点时刻由视频密集画面约定，误差约半秒。" + }, + "summary_zh": "评分轨迹未打开目标柜抽屉，也未将任何电池放入柜内，节点历史最高及终态均为 0/4，评分器 q_score=0。机器人寻找第一节电池、绕行桌区查看时于视频约 27.5 s 开始倾倒，后续恢复动作未使其恢复稳定，服务最终以跌倒结束；失败现象为全身平衡，根因保守归为控制。缺少状态和接触日志，最初失衡的具体接触与动力学诱因不能确定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点全为 0、q_score=0 与视频一致；断点取第1节电池入柜（探索，约 27.5 s 开始倾倒）、现象全身·平衡、根因保守归控制，均有视频和服务读数支持，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": "2026-10-30T21:44:22Z", + "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-store-batteries-i00-standard--3fxdjqd/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-store-batteries-i00-standard--3fxdjqd/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "9f88761dc223b275e279c9ee76224bf6813e65f368d532520c056dd1c629c98e", + "video_sha256": "9e33bb205349804ac542dd57840e70b7561e63241889e1ad86b9d2413fd99d9e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/store_batteries/trajectories/behavior-store-batteries-i00-standard--bgpt9m8.json b/phase2/behavior-1k/store_batteries/trajectories/behavior-store-batteries-i00-standard--bgpt9m8.json new file mode 100644 index 0000000000000000000000000000000000000000..cf4697982306c5e7567f55eea8da6ab16731233c --- /dev/null +++ b/phase2/behavior-1k/store_batteries/trajectories/behavior-store-batteries-i00-standard--bgpt9m8.json @@ -0,0 +1,307 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-store-batteries-i00-standard--bgpt9m8", + "taskKey": "behavior-1k/store_batteries", + "dag_sha256": "84b6014bbaa8953a93cb6f1cd12059ba67bf4170c0810be551277e0d13859c5a", + "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, + "missing_log": 0, + "n_actions": 7306, + "sim_steps": 7306, + "physics_steps": 29224, + "steps": 4521, + "elapsed_s": 2604.5, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 1, + "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, + "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-store-batteries-i00-standard--bgpt9m8/replay.mp4", + "duration_s": 243.533, + "fps": 30.0, + "frames": 7306, + "sha256": "facc12c8b1a65f94627a854882bba3196c2107f11bee0c893ba7b78487818ff4" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "cabinet_drawer_opened": { + "method": "visual", + "intervals": [ + [ + 66.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 66.5, + "log_step": 63, + "text_zh": "观察：视频 64.0–65.0 s 深色柜顶层抽屉面板尚接近柜体；视频 66.5–69.0 s，机器人左夹爪外拉面板，露出盒状内腔和可从上方投放的开口，首次达到时刻约为视频 66.5 s（误差约 0.5 s）。log step 62–65 为夹住把手、外拉和松手；视频 202.0 s 抽屉仍打开。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左二指夹爪合拢夹住深色柜顶层抽屉横把手后外拉，随后松手退出。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人轮式底盘承载本体移动、后退并重新靠近沙发和落地灯旁的深色柜，建立开抽屉的操作位置。" + } + ] + }, + "batteries_in_cabinet_1": { + "method": "visual", + "intervals": [ + [ + 190.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 160.0, + "log_step": 118, + "text_zh": "观察：视频 140.0–145.0 s，右爪夹起第一节电池，原桌面位置空出；视频 139.0–156.0 s 另一节仍留在茶几上，视频 157.0–160.0 s 被左爪夹起，原位置也空出；视频 160.0–187.0 s 两个腕部视角持续可见各爪夹着一节电池随底盘运向同一深色柜。" + }, + { + "t": 190.5, + "log_step": 127, + "text_zh": "观察：视频 190.0 s 右爪中的电池仍在抽屉上方；视频 190.5–191.0 s 右爪张开，电池向下落入已打开的深色柜抽屉，右腕视角可见电池停留在木质内底上，夹爪随后空出。首次入柜约为视频 190.5 s（误差约 0.5 s）。" + }, + { + "t": 202.0, + "log_step": 130, + "text_zh": "观察：视频 202.0–202.5 s 左腕视角清楚显示两节蓝黑色电池留在同一抽屉内部，机器人双爪为空并离开。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：评分器 q_score=2/3、live_matches_replay=1，与视频 202.0–202.5 s 两节同柜及之后机器人未再接近该柜相符，终态至少一节入柜成立。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "机器人先用右爪、再用左爪分别夹起茶几上的一节电池；搬运时两爪同时各夹一节，随后右爪将先入柜的一节送至抽屉开口并松开，左爪继续持另一节。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘驶向茶几，之后承载机器人及双爪中的两节电池返回深色柜。" + } + ] + }, + "batteries_in_cabinet_2": { + "method": "visual", + "intervals": [ + [ + 196.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 160.0, + "log_step": 118, + "text_zh": "观察：视频 140.0–145.0 s，右爪夹起第一节电池，原桌面位置空出；视频 139.0–156.0 s 另一节仍留在茶几上，视频 157.0–160.0 s 被左爪夹起，原位置也空出；视频 160.0–187.0 s 两个腕部视角持续可见各爪夹着一节电池随底盘运向同一深色柜。" + }, + { + "t": 196.0, + "log_step": 129, + "text_zh": "观察：视频 195.5 s 左腕视角仍见左爪夹着另一节电池；视频 196.0 s 电池脱离左爪并落入相同抽屉，视频 196.5–197.5 s 留在内底上。视频 202.0–202.5 s 随机器人双爪撤离，左腕视角同时露出抽屉内的两节电池。首次达到至少两节约为视频 196.0 s（误差约 0.5 s）。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：评分器 q_score=2/3、live_matches_replay=1，结合视频 202.0–202.5 s 两节同柜和之后没有再次搬动这些电池，终态至少两节在同一柜内成立；按达到数量的先后计数，不固定电池实例身份。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "机器人右爪与左爪先后各夹起一节电池，搬运中同时各持一节；右爪先放入并松开后，左爪单独将第二节电池送到同一抽屉开口并松开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘承载机器人及双爪中的两节电池从茶几移动回深色柜。" + } + ] + }, + "batteries_in_cabinet_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 215.0, + "log_step": 139, + "text_zh": "观察：视频 205.0–223.0 s 机器人双爪为空，转向厨房台面与吧椅区域观察；视频 215.0 s 头部视角可见厨房台面上剩余电池的蓝色端部，机器人未夹取它。" + }, + { + "t": 231.5, + "log_step": 146, + "text_zh": "观察：视频 228.5–231.0 s 机器人驶向厨房侧通道，左腕画面被近处墙面遮住；视频 231.5–234.5 s 头部视角快速倾斜至侧倒，此后直至视频 243.49 s 仍未恢复。两爪未携带第三节电池，也未再返回目标柜。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：评分器 q_score=2/3、live_matches_replay=1，初始三节均不在目标柜内；该总分排除终态同柜三节。结合视频中的两次入柜、第三节留在厨房及空手转场后跌倒，本节点全程未达到。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人轮式底盘空手离开已存入两节电池的柜子，绕吧椅寻找厨房侧路线并驶向通道；未发生对第三节电池的抓握接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.6666666666666666, + "unit": "fraction", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "batteries_in_cabinet_3", + "t": 231.5, + "log_step": 146, + "where": "转场", + "evidence_zh": "观察：视频 202.0–202.5 s 两节电池已留在同一深色柜抽屉中；机器人随后空手驶向厨房取剩余电池，视频 231.5–234.5 s 在厨房侧通道附近失衡侧倒，直到视频 243.49 s 都没有恢复或夹取第三节。log step 147 的机器人服务终态为 done=True、reason=\"failure: the robot fell over\"、resumes=0。" + }, + "unmet": { + "batteries_in_cabinet_1": true, + "batteries_in_cabinet_2": true, + "batteries_in_cabinet_3": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 231.5, + "log_step": 146, + "evidence_zh": "观察：视频 231.5 s 头部画面明显倾斜，视频 234.5–243.49 s 墙壁、椅子和厨房窗口横转在画面中，机器人持续侧倒；log step 146–148 的本体读数 tilt_up 从 0.873 降至 0.531、约 0.040，随后为负，机器人服务最终报告因跌倒失败。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "t": 231.5, + "log_step": 19, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 8 的 drive 把位移与转角编成整段底盘命令，log step 19 的 goto 只按位置及航向误差重复驱动，没有倾角或受阻停机判断。log step 146 调用同一 goto 前往厨房通道，log step 148 记录倾角恶化到 tilt_up=0.531、0.040 后仍继续提交平移和旋转命令；视频 228.5–231.0 s 近墙停滞后，视频 231.5–243.49 s 持续旋转、翻倒。结合代码和实际动作，可归因为导航控制器缺少受阻及失稳反馈，未在失衡初期停止或退让。" + } + ], + "gap_zh": "没有状态日志或碰撞对记录，近墙时腕部画面遮挡，不能确认首先碰墙的是左臂的哪一部件；agent 在 log step 151 自述“左臂卡住门口墙壁”只作为其归因，不当作已直接观测的碰撞对。入柜时刻按视频下落及后续留在抽屉的画面估计，误差约 0.5 s；终态柜内数量另由评分器 q_score=2/3 约束。" + }, + "summary_zh": "观察：机器人打开沙发旁深色柜的顶层抽屉，并在视频约 190.5 s、196.0 s 将茶几上的两节电池先后放入同一抽屉，最终完成 3/4 个节点，评分器 q_score=2/3。推断：第三节电池仍留在厨房，机器人空手前往厨房的转场中于视频约 231.5 s 失衡，持续驱动而未及时停机退让，最终侧倒失败。具体碰墙部件缺少碰撞对记录，入柜时刻为视觉估计。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点时间（抽屉约66.5 s、入柜190.5/196 s）、第三节未达、断点在转场中失衡跌倒，均与视频和 q_score=2/3 相符；平衡现象与反馈控制根因有帧和日志支持，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:41:50Z", + "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-store-batteries-i00-standard--bgpt9m8/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-store-batteries-i00-standard--bgpt9m8/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "34cca13307f4ac1c9b850608a0b3f44917c98051ad1f6158f5d2319256b65974", + "video_sha256": "facc12c8b1a65f94627a854882bba3196c2107f11bee0c893ba7b78487818ff4", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/store_batteries/trajectories/behavior-store-batteries-i00-standard--cqnq77h.json b/phase2/behavior-1k/store_batteries/trajectories/behavior-store-batteries-i00-standard--cqnq77h.json new file mode 100644 index 0000000000000000000000000000000000000000..744ac87edbd64dbb3e3f0eefbcd6a2984770737b --- /dev/null +++ b/phase2/behavior-1k/store_batteries/trajectories/behavior-store-batteries-i00-standard--cqnq77h.json @@ -0,0 +1,224 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-store-batteries-i00-standard--cqnq77h", + "taskKey": "behavior-1k/store_batteries", + "dag_sha256": "84b6014bbaa8953a93cb6f1cd12059ba67bf4170c0810be551277e0d13859c5a", + "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": 4096, + "sim_steps": 4095, + "physics_steps": 16380, + "steps": 4096, + "elapsed_s": 674.8, + "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-store-batteries-i00-standard--cqnq77h/replay.mp4", + "duration_s": 134.567, + "fps": 30.0, + "frames": 4037, + "sha256": "54d199ae30c888d5bba4e20a0fc63bba79fac4dd5423bbc044e983ee2af28139" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "cabinet_drawer_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0–5.5 s，机器人转动视野观察客厅，橙棕色电视柜抽屉面板贴合柜体，双腕视角夹爪未夹住把手。" + }, + { + "t": 56.0, + "log_step": null, + "text_zh": "观察：视频 42–66 s，机器人翻滚经过电视柜，视频 55–58 s 可见柜面与把手，未见抽屉外拉形成盒状内腔；全程抽查至视频 134.5 s 未见开柜操作。参考成功视频 12 s 同样相机可清楚看到抽屉外拉后的内腔，仅用作完成形态对照。" + } + ] + }, + "batteries_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.0, + "log_step": null, + "text_zh": "观察：视频 0–15.5 s，机器人仅转动、移动并翻倒，双腕视角没有夹住蓝黑色电池；后续视频至 134.5 s 反复翻滚或贴地，未见夹爪抓取电池、搬向柜内或将电池送入抽屉内腔，第1节电池入柜没有可见达成。" + }, + { + "t": 134.5, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.0，三节电池入柜均非初始已满足目标，故终态不足一节，亦不足1节。live_matches_replay=0，不能用在线运行总分推定视频中间时刻；但视频未见任何电池搬运，与零终态计数不矛盾。" + } + ] + }, + "batteries_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.0, + "log_step": null, + "text_zh": "观察：视频 0–15.5 s，机器人仅转动、移动并翻倒，双腕视角没有夹住蓝黑色电池；后续视频至 134.5 s 反复翻滚或贴地，未见夹爪抓取电池、搬向柜内或将电池送入抽屉内腔，第2节电池入柜没有可见达成。" + }, + { + "t": 134.5, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.0，三节电池入柜均非初始已满足目标，故终态不足一节，亦不足2节。live_matches_replay=0，不能用在线运行总分推定视频中间时刻；但视频未见任何电池搬运，与零终态计数不矛盾。" + } + ] + }, + "batteries_in_cabinet_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.0, + "log_step": null, + "text_zh": "观察：视频 0–15.5 s，机器人仅转动、移动并翻倒，双腕视角没有夹住蓝黑色电池；后续视频至 134.5 s 反复翻滚或贴地，未见夹爪抓取电池、搬向柜内或将电池送入抽屉内腔，第3节电池入柜没有可见达成。" + }, + { + "t": 134.5, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.0，三节电池入柜均非初始已满足目标，故终态不足一节，亦不足3节。live_matches_replay=0，不能用在线运行总分推定视频中间时刻；但视频未见任何电池搬运，与零终态计数不矛盾。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "fraction", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "cabinet_drawer_opened", + "t": 7.0, + "log_step": 19, + "where": "首步前", + "evidence_zh": "观察：视频 0–5.5 s 机器人只扫描场景并移动，尚未伸手操作抽屉；视频 6–8 s 头部画面急剧倾斜、翻转，视频 12–15.5 s 视野转向近处地面。后续反复翻滚且从未完成开抽屉，至视频 134.5 s 仍无任务进展。log step 19 的脚本是在测试底盘前移、侧移及转向，未执行开柜动作；因此断在打开柜抽屉的首步前，时间锚点取视频约 7 s，不将日志控制步直接换算成视频时间。" + }, + "unmet": { + "batteries_in_cabinet_1": false, + "batteries_in_cabinet_2": false, + "batteries_in_cabinet_3": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 7.0, + "log_step": 19, + "evidence_zh": "观察：视频 6–8 s，机器人移动时头部与双腕视野一起剧烈翻转；视频 12–15.5 s 视野降至地面，视频 42–66 s 继续翻滚，视频 84–114 s 长时间侧倒贴地，未恢复到可操作柜子的姿态。log step 19 的服务本体读数也记录底盘被动姿态从接近零变为 rx=-1.381、ry=2.055 rad；此日志只支持失衡事实，不提供视频时刻。" + }, + { + "cat": "没尝试", + "item": "没尝试", + "t": 5.5, + "log_step": 19, + "evidence_zh": "观察：视频 0–5.5 s 双夹爪空置，机器人仅扫描场景，随后翻倒；后续至视频 134.5 s 始终没有夹住抽屉把手、勾拉前沿或拉出抽屉的动作。log step 13、15、19 的调用分别为躯干试姿、扫描和底盘测试，开抽屉这一物理步骤未启动。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：log step 5 的服务规格明确底盘命令按每个控制步累加；log step 19 的脚本连续执行 30 步一组的 0.05 m 平移、0.05/0.2 rad 转向及 0.15 m 平移，即使组间服务读数已显示明显倾斜也没有中止分支。log step 29、36、37、42 又执行往返摇动、随机推动与快速转向，服务姿态读数持续异常，视频 6–15.5 s 及 42–66 s 也显示翻倒与持续翻滚。底盘运动与恢复控制未能维持支撑，导致机器人在任务操作前丧失可用姿态；不足以细分具体接触几何或控制器内部故障。" + } + ], + "gap_zh": "无状态日志，不能确定具体碰撞接触对、目标容积边界或翻倒的精确动力学原因。评分器 deterministic=0、live_matches_replay=0，在线日志与视频不保证逐步一致，节点与断点时刻均取视频，日志仅提供会话控制代码及服务反馈证据，不作时钟换算。log step 42–44 记录后续底盘姿态 NaN 与服务 reason=error；视频中早已出现妨碍全部任务操作的物理失衡，因此仍按既有物理失败标注，不能仅以最终服务错误解释此前失败。所有节点均未开始目标操作，故未附上从任务典型方案复制的接触。" + }, + "summary_zh": "本次四个节点均未达成：未打开可用抽屉，也未见任何电池被抓取或存入柜内，评分器 q_score=0。机器人在视频约 6–8 s 的底盘运动中失衡，此时开柜操作尚未开始，后续恢复控制仍使机体反复翻滚，直到结尾未恢复任务进度。无状态日志，且在线运行与回放匹配字段为 0，具体碰撞原因及逐步对应关系无法确认。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点全 false、断点在打开柜抽屉（首步前）、平衡 + 没尝试、控制根因均与视频一致：视频 0–5 s 扫描，6–8 s 翻倒，之后至 134 s 一直翻滚/贴地，未见抽屉或电池操作。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:41:20Z", + "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-store-batteries-i00-standard--cqnq77h/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-store-batteries-i00-standard--cqnq77h/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b14cd57faa0fb4d6ac5b8bd7c7842d7447797fe8bcc5a9fdd2dc6353107da3a4", + "video_sha256": "54d199ae30c888d5bba4e20a0fc63bba79fac4dd5423bbc044e983ee2af28139", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/store_batteries/trajectories/behavior-store-batteries-i00-standard--qbda7pb.json b/phase2/behavior-1k/store_batteries/trajectories/behavior-store-batteries-i00-standard--qbda7pb.json new file mode 100644 index 0000000000000000000000000000000000000000..f8f3d5a701d20527831b1d849336f823f38d7ce5 --- /dev/null +++ b/phase2/behavior-1k/store_batteries/trajectories/behavior-store-batteries-i00-standard--qbda7pb.json @@ -0,0 +1,268 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-store-batteries-i00-standard--qbda7pb", + "taskKey": "behavior-1k/store_batteries", + "dag_sha256": "84b6014bbaa8953a93cb6f1cd12059ba67bf4170c0810be551277e0d13859c5a", + "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": 2377, + "sim_steps": 2377, + "physics_steps": 9508, + "steps": 747, + "elapsed_s": 2685.1, + "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, + "peak_memory_gb": 0.247, + "peak_processes": 10, + "peak_disk_gb": 0.261, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-store-batteries-i00-standard--qbda7pb/replay.mp4", + "duration_s": 79.233, + "fps": 30.0, + "frames": 2377, + "sha256": "379b7aece77bff0f5579e829f441e3f18acf8e9ed6cd8d0eddd257ec72965328" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "cabinet_drawer_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 橙棕色电视柜面板闭合；整段粗看及视频 31.2–41.7 s 操作段密集帧显示，机器人实际靠近的是餐桌旁的高层架，双手只向层板送入电池，没有拉出任一目标柜的抽屉。" + }, + { + "t": 40.2, + "log_step": null, + "text_zh": "推断：参考成功视频 14.0 s 的电视柜有明显外拉面板和盒状内腔，参考视频 52.0 s 腕部视角可见电池在该内腔；本运行未出现这种开口，故打开抽屉事件未达到。参考视频仅用于辨认完成形态。" + } + ] + }, + "batteries_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.7, + "log_step": 49, + "text_zh": "观察：视频 14.2–17.7 s 左夹爪包夹一节蓝黑电池并把它从茶几提起，右腕视角仍可见另一节留在茶几；视频 19.2–21.7 s 右夹爪再拿起另一节，随后两节分别随左右夹爪移动。" + }, + { + "t": 35.7, + "log_step": 63, + "text_zh": "观察：视频 34.2–35.7 s 左夹爪把第一节电池送到餐桌旁高层架的层板上，松手并撤离，腕部视角可见电池留在层板上；该处没有目标柜的抽屉内腔。视频 40.2 s 电池仍在层架，机器人随后离开且未返回取回。" + }, + { + "t": 79.2, + "log_step": null, + "text_zh": "推断：目标柜内初始没有电池，本运行两次送放均发生在另一高层架，后续没有再向目标柜送放；评分器 q_score=0.0、live_matches_replay=1 进一步限定终态没有 inside 目标成立，故第1节入柜 final=false，不能采信 log step 73 自述已存好的结论。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：左右二指夹爪各夹住一节电池共同搬运；左夹爪先向层架松手放下第一节。实际送放对象是餐桌旁高层架，目标柜内关系未成立。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：轮式底盘承载机器人移动到茶几，随后载着左右夹爪中的两节电池驶向餐桌旁高层架。" + } + ] + }, + "batteries_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 38.7, + "log_step": 63, + "text_zh": "观察：视频 36.7–38.7 s 右夹爪把第二节电池送到同一高层架的同一层板，张开并撤回；视频 39.2–40.7 s 可见两节蓝黑电池分开放在层板上，双夹爪已空，目标柜抽屉没有打开。" + }, + { + "t": 79.2, + "log_step": null, + "text_zh": "推断：视频中没有两节电池进入任一目标柜的操作，末段机器人在厨房入口附近倾倒而未回到存放处；评分器 q_score=0.0 且 live_matches_replay=1，排除终态任一柜内有两节，故 final=false。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：左右二指夹爪各夹住一节电池共同搬运；右夹爪随后向同一层架松手放下第二节。实际送放对象是餐桌旁高层架，目标柜内关系未成立。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：轮式底盘承载机器人移动到茶几，随后载着左右夹爪中的两节电池驶向餐桌旁高层架。" + } + ] + }, + "batteries_in_cabinet_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 58.0, + "log_step": 85, + "text_zh": "观察：视频约 55–61 s 第三节蓝黑电池仍位于厨房传递窗台面，机器人在窗外空手移动观察；随后视频 66.2–70.0 s 头部画面明显倾倒，视频 78.1–79.2 s 仍大幅歪斜，未见第三节被提离台面或运往柜内。" + }, + { + "t": 79.2, + "log_step": 115, + "text_zh": "推断：本运行没有第三节入柜的可见操作，log step 115 的机器人服务返回 failure: the robot fell over；评分器 q_score=0.0、live_matches_replay=1，终态不可能满足同柜三节，故 final=false。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：放下前两节后，轮式底盘空手驶向厨房传递窗并绕行入口寻找第三节电池；尚未接触第三节就倾倒。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "fraction", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "batteries_in_cabinet_1", + "t": 35.5, + "log_step": 63, + "where": "操作中", + "evidence_zh": "观察：视频 34.2–35.7 s 机器人左夹爪把第一节电池放到餐桌旁高层架，而非两个目标柜的内部；视频 39.2–40.7 s 两节均留在该层架，机器人随后离开且没有取回修正。推断：最早启动后始终未修复的是第1节入柜；目标抽屉未曾尝试打开，后续去找第三节时的跌倒不是更早这次放错位置的修复。" + }, + "unmet": { + "batteries_in_cabinet_1": false, + "batteries_in_cabinet_2": false, + "batteries_in_cabinet_3": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 35.5, + "log_step": 63, + "evidence_zh": "观察：视频 35.7 s 左腕视角显示已松手的第一节电池落在高层架的水平层板上；视频 40.2 s 两节电池均在该层架，目标抽屉并未打开。推断：电池送放到了错误家具的位置，没有进入任务指定容器，属于目标位置不对。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "感知", + "evidence_zh": "观察：log step 36 的脚本分别量出 Tall brown unit A、Orange unit 和 Dark brown box，却在 log step 63 将 Tall brown unit A 的层板设为 Cabinet A 存放点；log step 73 自述两节已存入 Cabinet A，log step 116 保存脚本仍称目标是 living room open-shelf cabinet。视频 31.2–40.7 s 显示机器人确实准确向高层架送放，而参考成功视频 14.0 s、52.0 s 显示目标柜的抽屉结构。推断：agent 将非目标的开层架错误识别为任务目标柜，执行所选位置的动作没有弥补对象识别错误，导致入柜关系未成立。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "inputs/ 中没有物体状态日志，inputs/run.json 的 task_text 为空；后半段目标柜与两节已放电池离开视野，不能逐帧测量 inside 容积边界。三个入柜节点终态由所见错误送放、无后续修复与评分器 q_score=0.0 联合判定；根因中的目标家具识别错误是结合脚本与画面的推断。" + }, + "summary_zh": "机器人从茶几抓起两节电池并搬运，但在视频约 35.5 s、38.5 s 将它们放到餐桌旁高层架，未打开目标柜抽屉，四个节点均未达到，q_score=0.0。最早未修复的断点是第1节电池入柜，证据指向将非目标层架识别为目标柜；随后空手寻找第三节时倾倒，直到视频 79.2 s 仍未恢复，服务最终以跌倒结束。无物体状态日志且末段存放区不在视野内，终态判断结合视频与评分器总分。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频帧显示两节电池确实被放到餐桌旁高层架而非目标柜，抽屉未打开，第三节未被取用，末段机器人倾倒；四节点均未达到与 q_score=0.0 一致，断点、现象和根因有证据支持，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": "2026-10-30T21:42:45Z", + "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-store-batteries-i00-standard--qbda7pb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-store-batteries-i00-standard--qbda7pb/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "4ae363382fafe8d0c36f96bad967e98a6eb7a5cdc46bd65f54b94f0c9b095e4c", + "video_sha256": "379b7aece77bff0f5579e829f441e3f18acf8e9ed6cd8d0eddd257ec72965328", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/store_batteries/trajectories/behavior-store-batteries-i00-standard--xnlcd8q.json b/phase2/behavior-1k/store_batteries/trajectories/behavior-store-batteries-i00-standard--xnlcd8q.json new file mode 100644 index 0000000000000000000000000000000000000000..579976a6f35fb6fdeb8873321322457b0895b121 --- /dev/null +++ b/phase2/behavior-1k/store_batteries/trajectories/behavior-store-batteries-i00-standard--xnlcd8q.json @@ -0,0 +1,278 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-store-batteries-i00-standard--xnlcd8q", + "taskKey": "behavior-1k/store_batteries", + "dag_sha256": "84b6014bbaa8953a93cb6f1cd12059ba67bf4170c0810be551277e0d13859c5a", + "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": 2479, + "sim_steps": 2479, + "physics_steps": 9916, + "steps": 269, + "elapsed_s": 1175.4, + "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-store-batteries-i00-standard--xnlcd8q/replay.mp4", + "duration_s": 82.633, + "fps": 30.0, + "frames": 2479, + "sha256": "ecf001554a30afa1672bcbf3ecdd87b9eb1328fccf1df9ea0de7132707ae65eb" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "cabinet_drawer_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：本次视频开头电视下方橙棕色长柜的抽屉面板贴合柜体；机器人随后转向茶几。" + }, + { + "t": 66.5, + "log_step": 156, + "text_zh": "观察：本次视频 0–66.5 s 机器人扫描、抓取电池并驶向靠墙的开放式多层架，没有夹持抽屉把手并向外拉出的动作；视频 66.5–72.5 s 双手伸向层架后撤回，没有出现抽屉盒状内腔。参考成功视频 10–14 s 则能看到电视柜抽屉面板外移，参考视频 54–55 s 腕部视角显示其盒状内腔；参考仅用于辨认达成外观。" + }, + { + "t": 82.6, + "log_step": null, + "text_zh": "观察：本次视频 72.5–82.6 s 画面倾斜并靠近地面，机器人没有再执行开抽屉动作，故整个回合未达到此事件。" + } + ] + }, + "batteries_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.0, + "log_step": 99, + "text_zh": "观察：本次视频 15.5–17 s 右夹爪夹住茶几上的蓝黑色电池并抬离桌面；视频 46–51 s 左夹爪也从地毯处夹起另一节，随后两节都随双手离开茶几区域。拿起本身没有满足入柜关系。" + }, + { + "t": 67.25, + "log_step": 156, + "text_zh": "观察：本次视频 65–69 s 机器人将两节电池送向靠墙开放式多层架并张开夹爪；视频 68.75–71 s 可见一节留在层板处，另一节在层架前下方地面，均没有进入目标抽屉。agent 在 log step 156 编写向其所称“cabinet”层板放置并松手的脚本，log step 157 执行。" + }, + { + "t": 82.6, + "log_step": 177, + "text_zh": "推断：本次视频 69–82.6 s 没有重新抓取并送入目标柜的动作；评分器 q_score=0、live_matches_replay=1，且三项 inside 初始均未成立，因此最终目标柜中至少一节电池的关系为假。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：本次视频 46–67 s 左右二指夹爪各夹住一节电池，配合携带并向开放式层架送放，之后先后松手；此前右爪单独从茶几夹起一节，左爪随后从地毯夹起另一节。两项计数节点对应同一次双物体送放尝试，不固定电池实例。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：本次视频 51–66 s 轮式底盘承载机器人和双手中的两节电池，从茶几附近移动到靠墙开放式层架前。" + } + ] + }, + "batteries_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 51.0, + "log_step": 113, + "text_zh": "观察：本次视频 46–51 s 左夹爪抬起地毯上的电池，右夹爪持续夹住先前从茶几拿起的一节；视频 51–66 s 两节由双手携带到开放式层架前。" + }, + { + "t": 69.0, + "log_step": 156, + "text_zh": "观察：本次视频 67.25–69 s 双手先后松开，两节电池分别出现在开放式层架的层板处和前下方地面，没有两节进入同一个目标柜抽屉的画面。" + }, + { + "t": 82.6, + "log_step": null, + "text_zh": "推断：本次视频 69–82.6 s 未修复这次错误放置；评分器 q_score=0 且初始 inside 均为假，决定最终同柜至少两节的关系为假。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：本次视频 46–67 s 左右二指夹爪各夹住一节电池，配合携带并向开放式层架送放，之后先后松手；此前右爪单独从茶几夹起一节，左爪随后从地毯夹起另一节。两项计数节点对应同一次双物体送放尝试，不固定电池实例。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：本次视频 51–66 s 轮式底盘承载机器人和双手中的两节电池，从茶几附近移动到靠墙开放式层架前。" + } + ] + }, + "batteries_in_cabinet_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 69.0, + "log_step": 165, + "text_zh": "观察：本次视频 0–69 s 机器人只抓取客厅的两节电池；agent 在 log step 165 声称接下来转向厨房，但本次视频 70–82.6 s 机器人仍在客厅层架附近，未到厨房抓取第三节，也没有第三节入柜动作。" + }, + { + "t": 82.6, + "log_step": 177, + "text_zh": "推断：最终同柜三节关系为假；本次视频未出现任何目标柜内存入电池的过程，评分器 q_score=0 与此一致。log step 177 的机器人服务状态为 done=True、reason=“failure: the robot fell over”、control_steps=2479，确认单回合已经结束。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：本次视频 70–72.5 s 轮式底盘承载机器人回撤并转向，随后画面倾倒；log step 164、165 表明此段导航意在转向厨房取下一节电池，实际没有到厨房，也没有与第三节电池建立夹爪接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "fraction", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "batteries_in_cabinet_1", + "t": 67.25, + "log_step": 157, + "where": "操作中", + "evidence_zh": "观察：本次视频 65–69 s 机器人携两节电池向开放式多层架送放，约视频 67.25 s 起松手；电池被留在层板处及前下方地面，没有进入目标柜抽屉，视频 69–82.6 s 也未重新入柜。推断：这是第1节入柜的首次未修复失败；后续约视频 72 s 起倾倒、log step 177 服务报告跌倒终止，不能将这个更晚的终止事件替代已经失败的放置步骤。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 67.25, + "log_step": 157, + "evidence_zh": "观察：本次视频 67.25–69 s 机器人在开放式层架前松开两节电池，视频 69–71 s 一节在层板处、另一节在其前下方地面，松手地点没有目标抽屉内腔；这是放入目标柜之前就在错误位置释放。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "感知", + "evidence_zh": "推断：agent 将靠墙的开放式多层架误认成任务目标柜。log step 42 把全景图中的两个窄层架区域裁成“two cabinets”，log step 130、154 继续将同一物体的层板称作“Unit 1”并测量；log step 156、158 明确以其层板作为柜内放置目标。本次视频 64–69 s 机器人实际到达并朝这个开放式层架送放，与该错误对象识别一致；DAG 的目标是带抽屉的两个柜，成功参考视频 10–14 s、54–55 s 可辨认电视柜抽屉及内腔。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "本次无模拟器状态日志，无法逐帧核对 inside 的精确容积边界、接触力或倾倒的动力学成因；对象识别错误的归因来自日志选区与视频目标的对照。最终三个入柜关系由可见错误放置和评分器 q_score=0 共同确定，不由 agent 的抓取成功或最终放置总结直接赋值。", + "unmet": { + "batteries_in_cabinet_1": false, + "batteries_in_cabinet_2": false, + "batteries_in_cabinet_3": false + } + }, + "summary_zh": "本次机器人确实夹起并携带了两节客厅电池，但未打开任何目标柜抽屉，四个节点均未达成，最终为 0/4。约视频 67.25–69 s，机器人把误认作目标柜的开放式层架作为放置位置，第1节入柜失败且未修复；之后机器人倾倒，服务在 log step 177 报告跌倒终止。无状态日志，精确容积边界和跌倒动力学无法核实，但视频与 q_score=0 一致支持没有电池最终入柜。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点全为未达成、q_score=0 与帧一致；断点选在实际正在做的放置步骤，位姿不准与感知（误认开放层架）有日志和视频支持，未发现需要改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:34:51Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + 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