Add 105 trajectories (phase 2, remaining runs; batch S27)

phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-privileged--6vtijzy.json

@@ -0,0 +1,174 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-a-trumpet-i00-privileged--6vtijzy",
+ "taskKey": "behavior-1k/clean_a_trumpet",
+ "dag_sha256": "2bbd17ed97252e1f070d2dc8ee7fd090c0b4c81c70149c5404c42241513c02b9",
+ "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": 1121,
+   "sim_steps": 1121,
+   "fallen": 0,
+   "final_reward": 1.0,
+   "q_score": 1.0,
+   "replay_wall_s": 682.4,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 5,
+   "agent_resets": 0,
+   "agent_sim_steps": 5750,
+   "agent_records": 2,
+   "agent_replays": 3,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 12.83,
+   "peak_memory_gb": 17.58,
+   "peak_processes": 77,
+   "peak_disk_gb": 1.11,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-a-trumpet-i00-privileged--6vtijzy/replay.mp4",
+  "duration_s": 37.367,
+  "fps": 30.0,
+  "frames": 1121,
+  "sha256": "9f083c713e7196fe669608716ea5c84344ee5a248c5275bddb393137ae34ab7c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "cornet_clean": {
+    "method": "visual",
+    "intervals": [
+     [
+      37.33,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–2 s，机器人转向并靠近书桌，金黄色小号与红色刷子均在桌面上，尚未持刷清洁。"
+     },
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "观察：视频 4.5–6.5 s，左夹爪在红色刷子两侧合拢，刷子随后离开原来的桌面位置并随夹爪抬起；右夹爪未参与清洁。"
+     },
+     {
+      "t": 24.0,
+      "log_step": 38,
+      "text_zh": "观察：视频 7–35 s，机器人左夹爪持红色刷子反复接近、下探小号管身及喇叭口，期间小号在桌面上被推移；视频 8 s、17 s、24 s、28 s 的桌面和窗框相对视角逐渐改变。log step 38 的最终生成脚本包含持刷下探及沿桌边移动底盘的动作。"
+     },
+     {
+      "t": 37.33,
+      "log_step": 43,
+      "text_zh": "观察：视频 36.33–37.33 s 逐帧及末帧显示，左夹爪仍持红色刷子在小号喇叭口附近作最后下探，小号仍在桌面上；腕部画面被刷子遮挡，无法逐粒确认全部灰尘。评分器 reward 的 success=1、q_score=1、all_success=1、deterministic=1；log step 42 将新生成的 1121 步文件选为最终交付，log step 43 对该文件的两次新进程回放均报告 success=true、sim_steps=1121，且终态哈希一致。"
+     },
+     {
+      "t": 37.33,
+      "log_step": 41,
+      "text_zh": "推断：按本次运行的旧规则，全部除尘约在视频 37.3 s 的最后下探完成，故 cornet_clean 从此成立至录像结束，时间精度约 0.5 s。依据是视频末段动作、最终回放成功结果及 log step 41 中最终生成运行的 dust 1→0 与 success=true；不把此前 2387 步交互试验的进度并入本段，也不把 agent 工作时间换算成视频时间。"
+     },
+     {
+      "t": 37.33,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的 task_text 仅要求小号上无灰尘，并说明谓词成立立即结束；DAG open_questions_zh 说明该旧运行早于新增松手静置 30 步的验收版本。本标签依运行时规则记完成，未据此声称新版本的速度阈值和静置窗口已经验证。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 6–37.33 s，左夹爪握持红色清洁刷，以刷子反复下探、擦近小号管身及喇叭口的积尘区域；作用端为刷子，对象为小号上的灰尘。按本任务邻近除尘机制归为压/擦，画面不能测出刷毛压力；持刷抓握不重复列为另一条接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "推断：视频 8–35 s 的桌面、窗框视角变化与 log step 38 最终脚本的沿桌边驱动相符，轮式底盘在移动时支撑持刷左臂，帮助刷子覆盖小号不同位置。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "机器人左夹爪拿起红色刷子，配合底盘沿桌边移动清除小号上的灰尘，约在视频 37.3 s 完成唯一节点；最终交付的 1121 步轨迹两次回放均成功。规则版本差异：本次 task_text 和实际评分采用无灰尘即成功的旧规则，DAG 新增的松手、低速及连续 30 步静置窗口不用于否定这次成功。无状态日志，刷子遮挡且细小灰尘不能逐粒辨清，全部除尘与末段完成时刻结合最终评分器结果推断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "单节点 cornet_clean 在录像末帧（视频 37.33 s）达成，与评分器 success=1、q_score=1 及视频结束于成功一致；接触标注（手持工具 压/擦、底盘 支撑）合理，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": "2026-10-30T21:33:02Z",
+  "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-clean-a-trumpet-i00-privileged--6vtijzy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-a-trumpet-i00-privileged--6vtijzy/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "02aa74543dbe94e7e04b3b0567dd323e8d8e185898330d6cbdd729c70419ac7a",
+   "video_sha256": "9f083c713e7196fe669608716ea5c84344ee5a248c5275bddb393137ae34ab7c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-privileged--7gpvyw6.json

@@ -0,0 +1,164 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-a-trumpet-i00-privileged--7gpvyw6",
+ "taskKey": "behavior-1k/clean_a_trumpet",
+ "dag_sha256": "2bbd17ed97252e1f070d2dc8ee7fd090c0b4c81c70149c5404c42241513c02b9",
+ "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": 1247,
+   "sim_steps": 1247,
+   "fallen": 0,
+   "final_reward": 1.0,
+   "q_score": 1.0,
+   "replay_wall_s": 653.7,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 13,
+   "agent_resets": 0,
+   "agent_sim_steps": 8892,
+   "agent_records": 3,
+   "agent_replays": 3,
+   "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-a-trumpet-i00-privileged--7gpvyw6/replay.mp4",
+  "duration_s": 41.567,
+  "fps": 30.0,
+  "frames": 1247,
+  "sha256": "6bfdc18a75b06b23fba52de33b75ef7530abd49693d64028603213b5da10ef6d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "cornet_clean": {
+    "method": "visual",
+    "intervals": [
+     [
+      41.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.5,
+      "log_step": null,
+      "text_zh": "观察：视频 2.5 s，金黄色小号与红色清洁刷均在木色书桌上；视频 4.0–6.5 s，机器人左夹爪在刷子两侧合拢并将其提离原桌面位置，小号仍留在桌上。"
+     },
+     {
+      "t": 8.5,
+      "log_step": null,
+      "text_zh": "观察：视频 7.0–10.0 s，机器人左夹爪持红色刷子在小号吹嘴及管身附近反复升降；视频 23.0–26.0 s 和视频 35.0–41.53 s，刷头继续移向管身另一端及喇叭口附近。右夹爪未参与，小号没有被夹持提起；腕部画面大部分被刷子遮挡。"
+     },
+     {
+      "t": 41.5,
+      "log_step": 263,
+      "text_zh": "观察：视频 40.67–41.53 s，左腕画面仍见夹爪持刷靠近金黄色小号，头部画面中小号大部已在左侧画外；无法逐粒看清灰尘。log step 260 显示最终交付为 1247 行的 v7 轨迹；log step 263 的交付文件正式回放结果为 success=true、q_score=1.0、sim_steps=1247、instance_exact=true，与 inputs/run.json 的最终评分一致。"
+     },
+     {
+      "t": 41.5,
+      "log_step": 263,
+      "text_zh": "推断：本回合 task_text 的验收仅为全部灰尘清除，满足即结束；结合成功评分和视频末尾仍在清扫的画面，将小号除尘首次完成近似标在视频 41.5 s，终值为真。最后颗粒的消失被刷子遮挡，时刻是终止附近的估计，并非逐粒视觉测量；未把 agent 会话时间换算成视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 5.0–41.53 s，机器人左夹爪持红色清洁刷，刷头在小号管身、吹嘴及喇叭口附近升降擦过；作用端为刷子，对象为小号上的灰尘。按本任务的邻近除尘机制记录清扫，不据此声称存在持续压力或刷毛形变；夹爪持刷这条工具链不重复计为直接抓握小号。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–2.5 s，机器人底盘向书桌驶近，桌子和小号逐渐进入头部视野，底盘支撑后续持刷清洁的机械臂；不把底盘静止期间另计为移动接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "机器人驶近书桌，左夹爪拿起红色刷子并逐处清扫小号，唯一节点“小号除尘”在视频约 41.5 s 完成，评分器 success=1、q_score=1.0，无失败断点。规则版本差异：本回合 task_text 仅要求全部灰尘消失即成功，未要求 DAG 当前版本新增的离手、低速连续 30 控制步，按运行当时规则标为完成。无状态日志，刷子及画面边缘遮挡了末尾细小颗粒，最终全清由评分确认，精确消失时刻不可见。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "成功运行，唯一节点小号除尘 final=true 与评分器 q_score=1.0 一致；联系标注（手持工具 压/擦、底盘 支撑）与画面相符，时间已标明为终止附近估计，无失败断点。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:22:27Z",
+  "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-clean-a-trumpet-i00-privileged--7gpvyw6/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-a-trumpet-i00-privileged--7gpvyw6/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "cd1c70e62f9c68583135140aca057ad7dd545a152b627add50eb16cd8d8fdf55",
+   "video_sha256": "6bfdc18a75b06b23fba52de33b75ef7530abd49693d64028603213b5da10ef6d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-privileged--ecl3ftq.json

@@ -0,0 +1,159 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-a-trumpet-i00-privileged--ecl3ftq",
+ "taskKey": "behavior-1k/clean_a_trumpet",
+ "dag_sha256": "2bbd17ed97252e1f070d2dc8ee7fd090c0b4c81c70149c5404c42241513c02b9",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 868,
+   "sim_steps": 868,
+   "fallen": 0,
+   "final_reward": 1.0,
+   "q_score": 1.0,
+   "replay_wall_s": 607.8,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 26,
+   "agent_resets": 1,
+   "agent_sim_steps": 26275,
+   "agent_records": 4,
+   "agent_replays": 4,
+   "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
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-clean-a-trumpet-i00-privileged--ecl3ftq/replay.mp4",
+  "duration_s": 28.933,
+  "fps": 30.0,
+  "frames": 868,
+  "sha256": "01daebb55b166265be3e9d63951e13c1d07254ca211bc5faa1df73031ca4f746"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "cornet_clean": {
+    "method": "visual",
+    "intervals": [
+     [
+      28.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.0,
+      "log_step": 3,
+      "text_zh": "观察：视频 3.0 s，金黄色小号与红色刷子均在卧室书桌上；log step 3 读取的该实例任务文本说明小号初始带尘，要求清除全部灰尘。"
+     },
+     {
+      "t": 5.5,
+      "log_step": 239,
+      "text_zh": "观察：视频 4.5–5.5 s，红色刷子离开原来的桌面位置，出现在左夹爪下方并随机械臂抬升；视频 8.0–28.9 s，机器人持续持刷在小号不同部位上方下探、抬起，小号未被夹爪抓持。log step 239 的最终录制脚本指定左臂持刷，与这些画面一致。"
+     },
+     {
+      "t": 28.9,
+      "log_step": null,
+      "text_zh": "推断：视频 27.0–28.9 s 密集画面及视频 28.9 s 末帧显示机器人完成末次持刷下探，小号仍在桌边、部分被夹爪和腕部视角遮挡；细小灰尘及背面不能逐粒核验。该交付回放的评分器字段 success=1、all_success=1、q_score=1.0、deterministic=1，确认唯一除尘目标终态成立，首次完成约记为视频 28.9 s（约半秒精度），不是由 agent 自述赋值。"
+     },
+     {
+      "t": 28.9,
+      "log_step": 9,
+      "text_zh": "观察：log step 9 中该运行读取的 Session 代码说明“the BDDL goal still ends the episode the moment it holds”，log step 4 标明控制频率为 30 Hz；此运行采用目标成立即终止的旧规则。DAG 所写松手低速连续 30 个控制步是较新版本验收，当前视频未提供这个保持窗口的独立证明；依本次评分规则保留完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 5.5 s 后，机器人左夹爪持红色清洁刷；视频 8.0–28.9 s，刷子反复下降到小号管身及喇叭口邻近区域后抬起。作用端是刷子，对象是小号上的灰尘；按基准邻近除尘机制记压/擦，画面不能证明持续压力或刷毛形变。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–4.0 s 机器人转向并靠近书桌，视频约 7.5–9.0 s 持刷调整工作位置，头部画面中的书桌位置随之改变；log step 239 的最终录制脚本也包含取刷前及持刷后的两段底盘移动。轮式底盘在这些移动中支撑机械臂。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "机器人左夹爪持刷，对桌上小号反复下探除尘，唯一节点 cornet_clean 约在视频 28.9 s 完成，终态 1/1；评分器报告成功且回放确定。规则版本差异：log step 9 的运行时代码在 BDDL 目标成立时立即终止，本标签按当次规则判定，不追加 DAG 新版的连续 30 个控制步静置窗口。没有状态日志，末段视角遮挡且细尘不可逐粒核验，因此完成时刻为结合末次刷动和评分结果的近似定位。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "单节点 cornet_clean 终态 1/1，评分器 success/q_score=1.0，视频中机器人左夹爪持刷在桌上小号上方反复下探，小号始终留在桌面，未被抓持；接触标签（手持工��� 压/擦、底盘 支撑）与画面一致，无失败层，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": "2026-10-30T21:28:28Z",
+  "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-clean-a-trumpet-i00-privileged--ecl3ftq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-a-trumpet-i00-privileged--ecl3ftq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f8ee45b93ee38a8d409ad3cffcae33d5fa28c924d4e6cb1b5f050ca3fd254947",
+   "video_sha256": "01daebb55b166265be3e9d63951e13c1d07254ca211bc5faa1df73031ca4f746",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-privileged--hjtxkur.json

@@ -0,0 +1,164 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-a-trumpet-i00-privileged--hjtxkur",
+ "taskKey": "behavior-1k/clean_a_trumpet",
+ "dag_sha256": "2bbd17ed97252e1f070d2dc8ee7fd090c0b4c81c70149c5404c42241513c02b9",
+ "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": 1684,
+   "sim_steps": 1684,
+   "fallen": 0,
+   "final_reward": 1.0,
+   "q_score": 1.0,
+   "replay_wall_s": 690.8,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 2,
+   "agent_resets": 8,
+   "agent_sim_steps": 1684,
+   "agent_records": 8,
+   "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-clean-a-trumpet-i00-privileged--hjtxkur/replay.mp4",
+  "duration_s": 56.133,
+  "fps": 30.0,
+  "frames": 1684,
+  "sha256": "b1ded792c0a85897177a3074acb7cef576f03c0b77f097e89d3e7032c1eefa6e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "cornet_clean": {
+    "method": "visual",
+    "intervals": [
+     [
+      56.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.0,
+      "log_step": null,
+      "text_zh": "观察：视频 3–4 s 的头部视角显示木色书桌上的金黄色小号及其旁边的红色刷子；机器人已从卧室内驶近书桌。"
+     },
+     {
+      "t": 27.0,
+      "log_step": null,
+      "text_zh": "观察：视频 26–28 s，机器人左夹爪带红色刷子抬升、转动，刷子离开桌面原位置并保持在左腕相机前；视频 28–38 s 机器人持刷移动底盘，左腕视角可见刷子接近小号不同管段。"
+     },
+     {
+      "t": 52.0,
+      "log_step": null,
+      "text_zh": "观察：视频 42–53 s，机器人左臂反复把红色刷子降到小号管身附近再抬起，头部和左腕视角可互相核对；右臂未参与夹持小号，小号留在桌上。视频 55.1–56.1 s 的末段及最后一帧仍显示小号在桌上、刷子在左夹爪中，局部被刷子和画面边缘遮挡，不能逐粒确认背面灰尘。"
+     },
+     {
+      "t": 56.1,
+      "log_step": 117,
+      "text_zh": "推断：交付记录 log step 117 显示最终一次重跑 dust=0、covered=False、success=True，保存 1684 个动作；log step 118 核对文件为 1684×25，log step 121 的新进程回放报告成功，评分器 reward 的 all_success=1、deterministic=1、q_score=1.0 与 1684 帧视频一致。因此按本回合实际验收规则，将全部除尘在视频末端约 56.1 s 确认达成，final=true；此为末端确认锚点，细小颗粒不可辨，无法精确确定最后一粒消失的帧，未用 agent 工作时间换算视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 26–28 s 左夹爪拿起红色清洁刷；视频 28–53 s 左臂持刷贴近并擦过小号管身的不同区域，作用端为刷子、对象为小号积尘；不从画面推定接触力大小。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–4 s 底盘驶近书桌；视频 28–38 s 持刷过程中底盘继续平移、转向，改变机器人相对小号的位置并支撑持刷机械臂。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "机器人左夹爪拿起红色刷子，移动底盘并逐处贴近小号进行除尘；评分器确认成功，唯一节点小号除尘在视频末端约 56.1 s 确认达成，最终 1/1，无失败断点。规则版本差异：本回合 task_text 仅以 not covered 为成功条件，log step 117 在 dust=0 时记录成功；按 P19 使用本回合验收规则，不把 DAG 后增的松手低速连续 30 步要求另作未达。没有状态日志，细小及背面颗粒、首次完全清除的精确时刻和静置计数不能直接核实，完成结论结合末段画面、交付核验及成功评分。",
+ "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、log 和评分器字段一致：评分器 q_score=1.0、success，唯一目标节点在视频末端 56.1 s 确认 true，末端锚点和推断标注诚实；contact_actual（手持工具 压/擦 + 底盘 支撑）与画面相符；成功运行 failure 为 null 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": "2026-10-30T21:38:41Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-clean-a-trumpet-i00-privileged--hjtxkur/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-a-trumpet-i00-privileged--hjtxkur/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "10b619ac4487ac60db5bd5a5bf6db8b3f7c4b8c75035e00a44c3c1e40cdeaaea",
+   "video_sha256": "b1ded792c0a85897177a3074acb7cef576f03c0b77f097e89d3e7032c1eefa6e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-privileged--wmu8fxf.json

@@ -0,0 +1,166 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-a-trumpet-i00-privileged--wmu8fxf",
+ "taskKey": "behavior-1k/clean_a_trumpet",
+ "dag_sha256": "2bbd17ed97252e1f070d2dc8ee7fd090c0b4c81c70149c5404c42241513c02b9",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 6179,
+   "sim_steps": 6179,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1509.6,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 8,
+   "agent_resets": 15,
+   "agent_sim_steps": 54172,
+   "agent_records": 6,
+   "agent_replays": 7,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-clean-a-trumpet-i00-privileged--wmu8fxf/replay.mp4",
+  "duration_s": 205.967,
+  "fps": 30.0,
+  "frames": 6179,
+  "sha256": "56945116b831724953d6ff5b2aae80fa5b5514471d3a1a597764f696b4273112"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "cornet_clean": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": null,
+      "text_zh": "观察：视频 10.0 s 红色刷子仍在桌上，视频 10.5–13.0 s 刷子进入左腕相机的夹爪之间并随左臂抬起，原来的桌面位置已无刷子；随后机器人将持刷左臂移向小号。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：视频 24.0–47.0 s 头部画面可见持刷左臂多次向桌面小号下探、抬起；视频 96.0–201.5 s 左腕画面继续显示刷子与小号管身反复接近，关键表面常被刷子和夹爪遮挡。"
+     },
+     {
+      "t": 205.9,
+      "log_step": 653,
+      "text_zh": "观察：视频 202.0–203.0 s 刷子离开夹爪前方视野，小号仍在桌面；视频 204.9–205.9 s 末段画面稳定。log step 653 保存的交付文件为 6179 个动作，与录像帧数一致；评分器字段 deterministic=1、sim_steps=6179、success=0、q_score=0.0。"
+     },
+     {
+      "t": 205.9,
+      "log_step": null,
+      "text_zh": "推断：本任务只有一个初始为假的目标谓词 not covered，故评分器 q_score=0.0 决定终态仍未全部除尘，cornet_clean 为 false。视频全过程为持刷移除灰尘、未见重新施加灰尘，且未见完整清洁成功状态，因此不记任何完成区间；不以金色表面反光判定颗粒。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：机器人左夹爪持红色清洁刷，视频 24.0–47.0 s 及后续反复使刷子靠近、擦过桌面小号的管身区域；作用端是刷子，对象是小号上的灰尘。按该模拟器的邻近除尘方式记录，不主张可见刷毛形变或实测压力；握刷不重复计接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–4.0 s 机器人轮式底盘移动、转向并停靠书桌，支撑后续持刷左臂作业；只记录这一移动阶段。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "cornet_clean",
+   "t": 133.5,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 131.0–143.0 s 左腕画面中，机器人持刷左臂反复在小号管身一侧抬起、下探，后续至视频 201.5 s 仍在重复这一除尘操作；视频 203.0 s 后松刷结束，小号留在桌面。推断：结合评分器单目标 q_score=0.0，该除尘步骤未被修复完成；以视频 133.5 s 的一次重复下探作粗略导航锚点，不声称这是某粒灰尘首次漏刷的精确时刻。"
+  },
+  "unmet": {
+   "cornet_clean": false
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：生成交付动作的脚本在 log step 642 的 sweep 8 后记录剩余 2 粒，此后 log step 643–648 多次低位移动及位置修正仍记录 before 2 after 2，位置误差约 0.007–0.025 m，inside=False；log step 653 又给该动作文件追加松爪保持段并保存为 6179 行。该会话证据与视频 133.5–201.5 s 持刷反复下探、最终评分器 q_score=0.0 一致，支持刷子定位／执行控制未能完成余下除尘。没有足够证据区分接触几何、逆解还是跟踪问题，故仅标控制。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "无状态日志；头部相机在末段主要朝向窗户，左腕相机被刷子和夹爪遮住关键区域，右腕未提供灰尘近景。虽已检查末秒并对比成功参考录像，仍不能逐粒辨认本回合的残余灰尘，也不能可靠区分漏接触、位姿偏差或受阻���故现象层留空；不把会话中的粒数直接当成评分录像的逐帧粒数。根因只能定位到控制，断点时刻为重复作业段的粗略锚点。本回合 task_text 只要求全部除尘，早于 DAG 的松手静置规则；q_score=0.0 已否定除尘本身，因此规则差异不改变此处判定。"
+ },
+ "summary_zh": "机器人拿起红色刷子并反复擦刷桌面小号，最终仍未达到唯一的“小号除尘”节点，终态为 0/1。断点在持刷除尘操作中：生成脚本多次修正刷子位置后仍有残余，支持控制层面的失败；关键接触区域被遮挡，具体失败现象及逐粒清除时刻无法可靠判定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点 cornet_clean 终态 false 与 q_score=0.0 一致；视频 10–13 s 刷子被左夹爪取走、末段小号仍在桌面且夹爪已不持刷。断点为 cornet_clean（操作中）、现象层留空并给出 gap_zh、根因仅标控制（来自会话日志），证据合理，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": "2026-10-30T21:31:56Z",
+  "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-clean-a-trumpet-i00-privileged--wmu8fxf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-a-trumpet-i00-privileged--wmu8fxf/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b8d685a75c034866fc100bc925c5b26c05f3b2321d37fcb61ec0a7e9073c8933",
+   "video_sha256": "56945116b831724953d6ff5b2aae80fa5b5514471d3a1a597764f696b4273112",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-standard--3xxzsg6.json

@@ -0,0 +1,203 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-a-trumpet-i00-standard--3xxzsg6",
+ "taskKey": "behavior-1k/clean_a_trumpet",
+ "dag_sha256": "2bbd17ed97252e1f070d2dc8ee7fd090c0b4c81c70149c5404c42241513c02b9",
+ "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": 11427,
+   "sim_steps": 11577,
+   "physics_steps": 46308,
+   "steps": 5472,
+   "elapsed_s": 6919.6,
+   "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": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.19,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.243,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-clean-a-trumpet-i00-standard--3xxzsg6/replay.mp4",
+  "duration_s": 386.0,
+  "fps": 10.0,
+  "frames": 3860,
+  "sha256": "29f442950e6225338ccfd97c4e5ac1a886676a67a27d2b5c7317550295c4208e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "cornet_clean": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 60.0,
+      "log_step": null,
+      "text_zh": "观察：视频 55–65 s，头部视角可见书桌上的金黄色小号和旁边的红色刷子；机器人接近书桌，尚未持刷清洁。"
+     },
+     {
+      "t": 248.0,
+      "log_step": 87,
+      "text_zh": "观察：视频 245–248 s，左夹爪合拢在红刷两侧，随后刷子离开桌面并持续随左腕移动；此前多次抓刷未成的情况至此已修复。log step 87 的闭爪及抬升输出均为左爪开度 0.037 m，与画面持刷一致。"
+     },
+     {
+      "t": 325.0,
+      "log_step": null,
+      "text_zh": "观察：视频 323–325 s，机器人左臂持红刷在小号局部管身旁接触、滑动；视频 325.5–329 s 刷子随手臂向上移开。视频 330–373 s 仍反复接近又抬离，小号持续留在桌上，未见刷子沿整个管身完成覆盖。"
+     },
+     {
+      "t": 385.9,
+      "log_step": 157,
+      "text_zh": "观察：视频 380–385.9 s，左腕夹爪已张开，画面保持不动，小号被手臂遮住大部；log step 157 的服务状态仍为 done=False、reason=None。inputs/run.json 的最终评分器字段 success=0、settled_success=0、q_score=0.0，且 graded_by_live=1。"
+     },
+     {
+      "t": 385.9,
+      "log_step": null,
+      "text_zh": "推断：本任务仅有一个初始不成立的除尘目标，最终 q_score=0.0 排除终态全部除尘；结合视频所见局部接近和偏离的刷扫、全过程没有确认全部颗粒消失的片段，将小号除尘记为未达成、final=false。不能从遮挡终帧逐粒确认残尘位置，也不把局部金色反光或银色阀键判作灰尘。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 323–325 s、330 s 和 335 s，左夹爪持红色刷子，刷体贴近小号局部管身并作相对擦动；仅记录这一局部工具作用，未确认全部积尘区域均被刷过，刷毛形变不可辨。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–60 s 机器人轮式底盘在卧室转向并驶近书桌；视频 358–373 s 持刷时还伴随底盘转向。底盘在这些移动阶段支撑机械臂作业。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "cornet_clean",
+   "t": 326.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 323–325 s 左臂持刷接近小号局部，视频 325.5–329 s 随即向上离开管身，后续视频 330–373 s 的多次刷扫仍偏离小号表面，未修复为完成整体除尘；最终评分器 success=0、q_score=0.0。断点是持刷清洁中的小号除尘，导航锚点取这次明显抬离的时刻。"
+  },
+  "unmet": {
+   "cornet_clean": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 326.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 323–325 s 红刷在小号��部管身旁，视频 325.5–329 s 机器人却把刷子抬至小号上方并移开；视频 330–337 s 再次接近后又抬离，视频 358–373 s 刷子也多次处于管身侧方或上方，未形成覆盖小号的贴面刷扫。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：agent 的刷扫控制未能把末端保持在所生成的贴面航点上。log step 105 的模型表面高度为 0.818–0.868 m；log step 154 的脚本令刷扫末端目标为表面高度减 0.010 m 加刷端偏移约 0.028 m，收尾抬升航点约 0.938 m，但 log step 155 实测两次扫刷末端高度分别为 0.949–1.109 m 和 1.051–1.291 m，最后达到 1.288 m；视频 358–373 s 同样可见持刷手臂反复偏离管身。该日志与画面共同支持控制执行偏差，尚不足以把原因唯一细分为逆解分支、轨迹衔接或反馈跟踪。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "没有状态日志；三路相机中细小颗粒和小号背面不能逐粒辨认，末尾视频 380–385.9 s 又被手臂遮挡，无法确定每次局部刷擦清除了哪些颗粒、刷端的精确接触力以及静置保持计数。最终除尘节点由画面过程和单目标 q_score 总分共同判定；控制问题有执行数据支持，但具体控制子因不能唯一确定。成功参考录像可用于比较持刷覆盖动作，但其较早版本的结束时刻不能证明本次需要的静置窗口。"
+ },
+ "summary_zh": "机器人在视频约 248 s 成功拿起红刷，随后持刷多次接近、擦过小号局部，但未完成“小号除尘”，节点最终为 0/1。断点位于除尘操作中：刷扫反复抬离或偏离管身，日志的末端执行位置也明显偏离所生成的刷扫航点，支持控制问题。细尘与终帧遮挡妨碍逐粒确认，最终未除净由实时回合的 q_score=0.0 与画面过程共同判定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "单节点 cornet_clean final=false 与 q_score=0、画面一致；断点、位姿不准现象、控制根因均有帧和日志（step 154/155 末端高度远高于表面）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": "2026-10-30T21:36:06Z",
+  "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-clean-a-trumpet-i00-standard--3xxzsg6/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-a-trumpet-i00-standard--3xxzsg6/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0e493b3e344f96e31feb8762778392f68726a4f9783e44b953dd9e95c8f49b7f",
+   "video_sha256": "29f442950e6225338ccfd97c4e5ac1a886676a67a27d2b5c7317550295c4208e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-standard--clczy5k.json

@@ -0,0 +1,205 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-a-trumpet-i00-standard--clczy5k",
+ "taskKey": "behavior-1k/clean_a_trumpet",
+ "dag_sha256": "2bbd17ed97252e1f070d2dc8ee7fd090c0b4c81c70149c5404c42241513c02b9",
+ "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": 18782,
+   "sim_steps": 18932,
+   "physics_steps": 75728,
+   "steps": 1185,
+   "elapsed_s": 6839.4,
+   "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-a-trumpet-i00-standard--clczy5k/replay.mp4",
+  "duration_s": 631.1,
+  "fps": 10.0,
+  "frames": 6311,
+  "sha256": "bea3e952edcaab87a37321b1416a8ecbc9f207463b363f7c9a39eefa5c7e4c46"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "cornet_clean": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 35.0,
+      "log_step": 134,
+      "text_zh": "观察：视频 30.0 s 红刷仍在桌面，视频 35.0–40.0 s 右腕视角中红刷随机器人右夹爪抬离桌面，头部视角的原处不再留有刷子；随后机器人持刷移动到底桌另一侧，开始对准小号。"
+     },
+     {
+      "t": 197.0,
+      "log_step": 290,
+      "text_zh": "观察：视频 150.5–196.2 s，机器人右夹爪持红刷在小号旁反复往返，小号随接触改变位置和朝向；视频 196.8–198.0 s，机器人持刷回撤，小号从桌边翻落，停在凳旁地面。log step 290 的动作是将右手刷子移回桌前上方，log step 291 返回 control_steps=6002；此单次实时回合的控制率为 30 Hz（log step 19），6002/30≈视频 200.1 s，与画面回撤结束相符，未使用 agent 工作时间换算。"
+     },
+     {
+      "t": 250.0,
+      "log_step": 363,
+      "text_zh": "观察：视频 235.0–280.0 s，右腕视角可见机器人仍持红刷，在地面小号的金色管身旁降低并往返移动；视频 285.0–290.0 s 机器人移开并放下刷子，随后仍继续取刷和清扫。画面能证实清扫尝试，但细小灰尘及背面未完整可辨，不能据此确认全部除尘。"
+     },
+     {
+      "t": 613.5,
+      "log_step": 847,
+      "text_zh": "观察：视频 610.0–613.5 s，机器人右夹爪在地面红刷旁合拢后抬起，红刷仍留在地面；视频 614.0–615.5 s 右腕视角转向凳旁小号时夹爪中看不到刷子。视频 629.8–631.0 s 的末段画面停在夹爪与地面红刷相邻的位置，未显示随后持刷清扫。"
+     },
+     {
+      "t": 631.0,
+      "log_step": 854,
+      "text_zh": "推断：评分器字段 success=0、live_success=0、settled_success=0、q_score=0.0、goal_first_step=0；本任务仅有一个初态为假的除尘目标谓词，故 q_score=0 决定终态未全部除尘。log step 854 的服务状态仍为 done=false，此回合无恢复或重置（reward.resumes=0，sim_startups=1），结合视频内持续未完成的清扫过程，未记录到该节点成立的区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 150.5–196.2 s、235.0–280.0 s，机器人右夹爪持红色清洁刷，使刷子在小号管身附近接触、往返擦扫；视频 390.0–425.0 s 改由左夹爪持刷靠近地面小号继续清扫。作用端是刷子，对象是小号；不另计握刷这一工具链环节。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 35.0–40.0 s 机器人持刷移动靠近小号，视频 240.0–245.0 s 与390.0–425.0 s 等段又在持刷清扫时平移或转动轮式底盘，底盘支撑机械臂及刷子移动。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "cornet_clean",
+   "t": 197.0,
+   "log_step": 290,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 196.8–198.0 s，机器人右手仍持红刷，回撤时小号从桌边翻落至凳旁地面；视频 235.0–280.0 s 和390.0–425.0 s 机器人继续持刷靠近落地小号，后段又反复尝试捡刷，直到视频 631.0 s 仍无完成证据，评分器的唯一除尘目标终值为假。"
+  },
+  "unmet": {
+   "cornet_clean": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 197.0,
+    "log_step": 290,
+    "evidence_zh": "观察：视频 150.5–196.2 s，机器人持刷往返时小号被带着移动、转动，视频 196.8–198.0 s 在机器人回撤刷子的过程中，小号越过桌边翻落到凳旁地面。这是清扫时碰动目标导致其离开支承面的事件；机器人随后转为在凳脚附近尝试清扫，目标未完成。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 197.0,
+    "log_step": 290,
+    "source_zh": "视频",
+    "evidence_zh": "推断：视频 150.5–198.0 s 显示机器人持刷擦扫及回撤时未控制住工具与小号的相对运动，造成小号随动并翻落；视频 235.0–280.0 s 仍能持刷操作落地小号，之后又多次出现夹爪抬起而刷子留在地面（如视频 610.0–615.5 s）。这些实际动作支持清扫接触与取刷执行失效，尚不足以进一步区分接触几何设计、轨迹或反馈控制子类。"
+   }
+  ],
+  "gap_zh": "没有状态日志，也没有逐帧 covered 谓词、灰尘粒数或接触力记录；腕部画面常被刷子和家具遮挡，不能定位残留灰尘及其未被清除的具体原因，节点终态依据唯一目标的 q_score=0 约束。成功参考视频只用于比较持刷清扫的可见形态，不作为本回合的证据；其旧版验收不能证明本回合静置窗口满足。控制子类证据不足，根因保留在控制一级。"
+ },
+ "summary_zh": "机器人拿起刷子并反复清扫，但唯一目标“小号除尘”最终完成 0/1，评分器 q_score=0。视频约 197 s，机器人持刷回撤时小号从桌边翻落至凳旁地面，此后继续清扫和反复捡刷仍未修复，失败现象为碰动目标，根因保守归为控制。无状态日志，残留灰尘和具体控制子类无法确认，终态由评分器唯一目标总分确定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "已核对：视频 196.6 s 小号仍在桌上，197.4 s 已落在凳旁地面，与断点 ~197 s 一致；control_steps 6002/30≈200 s 的换算有帧印证；终态由 q_score=0 约束，现象（碰倒目标物）和根因（停在控制一级）都有证据，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": "2026-10-30T21:26:39Z",
+  "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-a-trumpet-i00-standard--clczy5k/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-a-trumpet-i00-standard--clczy5k/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "409607e5d032851c07c8ecc05e31b44315b7c986e2880d541fe1dee86b8ab334",
+   "video_sha256": "bea3e952edcaab87a37321b1416a8ecbc9f207463b363f7c9a39eefa5c7e4c46",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-standard--ggh3fbt.json

@@ -0,0 +1,217 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-a-trumpet-i00-standard--ggh3fbt",
+ "taskKey": "behavior-1k/clean_a_trumpet",
+ "dag_sha256": "2bbd17ed97252e1f070d2dc8ee7fd090c0b4c81c70149c5404c42241513c02b9",
+ "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": 50001,
+   "sim_steps": 50001,
+   "physics_steps": 200004,
+   "steps": 5866,
+   "elapsed_s": 13309.3,
+   "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-a-trumpet-i00-standard--ggh3fbt/replay.mp4",
+  "duration_s": 1666.7,
+  "fps": 30.0,
+  "frames": 50001,
+  "sha256": "0c421641602c1911ad992d7fd049fc86ff4deac09917355430aab5f9e90698a8"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "cornet_clean": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 83.5,
+      "log_step": null,
+      "text_zh": "观察：视频 83.5 s、88.5–97.5 s，机器人左夹爪持红色刷子，刷子下端贴近并扫过桌面上的金黄色小号；这只是局部刷洗，画面不能确认全部颗粒已消失。"
+     },
+     {
+      "t": 104.5,
+      "log_step": null,
+      "text_zh": "观察：视频 101.0–104.5 s，机器人空夹爪碰动小号，小号越过桌沿并落在地板上，红色刷子也在地板上；视频 123–130 s，刷子随后随左夹爪升起并离开原地，机器人继续持刷操作。"
+     },
+     {
+      "t": 1467,
+      "log_step": null,
+      "text_zh": "观察：视频 1466.0 s，红色刷子仍位于左夹爪两指之间；视频 1467.0 s，刷子与夹爪分离并横落在小号管身旁。视频 1473–1491 s，夹爪在刷子附近运动但未将它带走；视频 1630 s 刷子仍单独躺在地板上。"
+     },
+     {
+      "t": 1666.63,
+      "log_step": 376,
+      "text_zh": "观察：视频 1665.7–1666.63 s，小号仍在地板上，机器人夹爪为空，未见夹持小号；log step 376 中机器人实时服务（记录本次唯一回合的仿真接口）报告 control_steps=50001、done=False、resumes=0。评分器记录 success=0、q_score=0.0、live_matches_replay=1。"
+     },
+     {
+      "t": 1666.63,
+      "log_step": null,
+      "text_zh": "推断：本任务唯一目标是小号全部除尘，初态带尘，故评分器 q_score=0.0 决定终态 cornet_clean=false；结合本次服务从未因成功结束、全过程检查中仅见局部刷洗，未建立任何可确认的完成区间。小号的金色反光不作为无尘证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "机器人左夹爪持红色清洁刷，以刷子下端擦过小号管身；视频 88.5–97.5 s 可见桌面局部刷洗，视频 770 s、1170 s 附近可见持刷接近地板上的小号。不把握刷动作重复计为目标接触。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "视频 101.0–104.0 s，机器人左夹爪直接碰动小号管身，使其滑过桌沿并落地；未见夹爪合拢抓住小号。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘在接近书桌及地面小号、持刷换位时移动并支承机体；例如视频 123–135 s 抬刷后移动，以及视频 1322.5–1357.5 s 围绕地面小号换位。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "cornet_clean",
+   "t": 98.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 97.0–97.5 s，红色刷子仍在机器人左夹爪指间；视频 98.0 s，刷子已脱离夹爪、落在桌面小号旁，夹爪张开。随后视频 101.0–104.5 s，空夹爪碰动小号，使其滑出桌面并落地；此时正在进行小号除尘。其后虽重新拿刷并在地面继续操作，但视频 1467.0 s 刷子再次脱离夹爪，末段未恢复持刷清洁，log step 376 的服务状态仍为 done=False，评分器最终 success=0。"
+  },
+  "unmet": {
+   "cornet_clean": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 98.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 97.0–97.5 s，红色刷子仍在机器人左夹爪两指之间；视频 98.0 s，夹爪张开且刷子已与夹爪分离、落在桌面小号旁，视频 99.0–100.0 s 夹爪空着继续运���。log step 142 的服务读数为 opening=[0.1,0.1]（两夹爪全开）；agent 在 log step 143 自述夹爪张开、刷子掉落。之后机器人重新持刷，但视频 1466.0 s 刷子仍在左夹爪指间，视频 1467.0 s 再次脱离并落在小号附近；视频 1473–1491 s 夹爪移开时刷子留在原处，视频 1630 s 仍见刷子在地板上。机器人未恢复持刷清洁，末段重抓输出也报告空夹（log steps 372、374、375）。"
+   },
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 101.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 100.75–101.5 s，机器人左夹爪与小号管身相碰并将它推向桌沿；视频 103.75–104.5 s，小号翻过桌沿掉到地板上。此后清洁操作转到地面，未完成全部除尘。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：动作通道使用错误及后续末端执行偏差破坏了稳定持刷和刷洗。log step 7 的服务规格明确本体关节读数左右臂交错排列，log step 141 的脚本却将 now[6:28] 整段直接写入动作列 A[:,3:25]；log step 142 随即显示夹爪全开，log step 143 自述该错配导致掉刷，视频 98–104.5 s 确见失刷及小号被碰落。后续 log steps 328–329 的刷喇叭口动作又报告目标与实测末端偏差从 0.059 m 增至 0.364 m、1.144 m，log steps 343、375 的重抓也有 0.743 m、0.575 m 偏差；视频末段可见刷子再次脱手、空夹爪反复运动，未完成擦刷。证据支持控制层问题，但不能把全部偏差进一步唯一归为逆解、跟踪或接触设计。"
+   }
+  ],
+  "gap_zh": "观察：本目录没有状态日志；小号背面、细小残余颗粒及刷子与颗粒的精确接触在相机中不能持续辨清，故不能定位最后残尘或量化局部清洁比例；最终未完成由唯一目标的 q_score=0.0 约束。推断：末次脱刷的具体力学原因及轨迹偏差的内部成因无法由现有证据唯一确定。参考成功录像仅用于对照可见的持刷擦拭方式，其较早版本验收规则不能证明本回合的静置保持窗口。"
+ },
+ "summary_zh": "机器人拿到刷子并在桌面和地面的小号上进行过局部擦刷，但唯一节点“小号除尘”最终未达成（0/1，评分器 q_score=0.0）。视频约 98 s 机器人左夹爪张开、刷子脱手，随后视频约 101 s 空夹爪碰撞使小号落地；后续控制偏差反复打断刷洗，视频约 1466.5 s 再次失去刷子后也未恢复持刷操作。无状态日志，无法逐粒定位残尘或唯一确定脱刷力学原因；不能以末帧的金色反光代替无尘判据。",
+ "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（cornet_clean=false，q_score=0.0）、接触和根因（控制）基本成立；但首个失败是视频约 97.5–98 s 夹爪因动作通道错配张开、刷子脱手，而不是 101 s 的碰撞。标签把脱手只放在 1466.5 s，遗漏了真正的首个「没保持住」，断点时间和现象次序因此偏后。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "第 1 轮修改已落实：断点 t=98.0、没保持住在先、碰撞在后；cornet_clean=false 与评分器 q_score=0.0 一致，接触和控制根因有证据支持，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:43:47Z",
+  "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-clean-a-trumpet-i00-standard--ggh3fbt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-a-trumpet-i00-standard--ggh3fbt/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-a-trumpet-i00-standard--ggh3fbt/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-clean-a-trumpet-i00-standard--ggh3fbt/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c1646dfe90eab98bb73f64f38e492563ad31fa9bbe6886744cff685ca389a7d4",
+   "video_sha256": "0c421641602c1911ad992d7fd049fc86ff4deac09917355430aab5f9e90698a8",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-standard--omjqfy5.json

@@ -0,0 +1,208 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-a-trumpet-i00-standard--omjqfy5",
+ "taskKey": "behavior-1k/clean_a_trumpet",
+ "dag_sha256": "2bbd17ed97252e1f070d2dc8ee7fd090c0b4c81c70149c5404c42241513c02b9",
+ "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": 118050,
+   "sim_steps": 118050,
+   "physics_steps": 472200,
+   "steps": 39350,
+   "elapsed_s": 14073.3,
+   "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-clean-a-trumpet-i00-standard--omjqfy5/replay.mp4",
+  "duration_s": 3935.0,
+  "fps": 30.0,
+  "frames": 118050,
+  "sha256": "c07c7ba8720f156af75e44e81087e6896193e46c66d6372250d1073ee7a9b4a2"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "cornet_clean": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 35.0,
+      "log_step": null,
+      "text_zh": "观察：视频 30–40 s，红色刷子从书桌上进入机器人右夹爪，随后随右臂抬起；金黄色小号仍在桌面，机器人开始持刷接近小号。"
+     },
+     {
+      "t": 110.0,
+      "log_step": null,
+      "text_zh": "观察：视频 105–128 s 的连续抽帧中，右腕视角显示刷子仍被夹持，头部视角中小号位于桌面右侧，而持刷末端有多段运动经过其左侧空桌面，未持续沿管身覆盖。视频 975–1021 s 又可见持刷右臂贴近小号，伴随擦刷小号在桌面上平移、转动；这些局部动作不能证明全部灰尘已消失。"
+     },
+     {
+      "t": 3119.0,
+      "log_step": null,
+      "text_zh": "观察：视频 3095–3123 s，左夹爪在地面刷子周围反复开合，视频约 3114–3119 s 后刷子离开地面、随左臂升起；右腕视角中的小号继续随右夹爪移动。视频 3200–3250.5 s 显示机器人左手持刷、右手夹小号，转动小号并反复移动刷子。"
+     },
+     {
+      "t": null,
+      "log_step": 505,
+      "text_zh": "观察：机器人实时服务在 log step 505 返回 control_steps=113868、done=false、reason=null、resumes=0；这是服务的回合状态，未报告目标完成。log step 437 较早的服务状态同样为 done=false。"
+     },
+     {
+      "t": 3934.97,
+      "log_step": null,
+      "text_zh": "观察：视频 3934.0–3934.97 s，左腕画面仍显示夹持的红刷，右腕画面仍显示夹持的小号喇叭口，机器人继续调整姿态；细尘和背面不能完整辨认。评分器 reward 给出 q_score=0、live_success=0、replay_success=0、live_matches_replay=1。"
+     },
+     {
+      "t": null,
+      "log_step": 21,
+      "text_zh": "推断：log step 21 的服务说明规定本回合目标成立即结束，且评分器记录只有一次启动、无重置或恢复；结合全片抽帧、服务始终未完成及最终 q_score=0，唯一除尘目标从未达成，intervals=[]、final=false。最终假值由这个单目标的评分总分确定，并非仅凭画面遮挡判断；按该回合旧规则标注，不以较新 DAG 的松手静置窗口解释失败。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 975–1021 s，机器人右夹爪持红色刷子贴近桌面小号的管身移动，小号随接触发生平移和转动；后段视频 3119–3934.97 s 改由左臂持刷向右手夹持的小号扫刷。作用端为刷子，对象为小号；只记此工具作用链，不另重复标握刷。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 3119–3250.5 s 及视频末段，两臂同时参与：右夹爪直接夹住小号喇叭口附近并转动小号，左臂持刷配合擦拭。本项记录对小号的直接夹持及双臂配合，刷子作用另见手持工具项。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 130–500 s 等桌边操作段，机器人持刷时沿书桌移动并改变工作位置；log step 99、116、153 的实际清洁脚本也包含各工作站之间的底盘移动。轮式底盘在移动中支撑机器人及持刷机械臂。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "cornet_clean",
+   "t": 110.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 105–128 s，机器人已经拿着刷子执行扫刷，但小号留在画面右侧，多段刷子运动经过空桌面；后续虽继续多轮擦拭并改为双臂操作，视频 3934.0–3934.97 s 仍在夹持物体调整动作，评分器 live_success=0、replay_success=0、q_score=0。推断：首次清洁操作中就出现工具落点偏离目标的情况，此处用视频约 110 s 作导航锚点；整个除尘步骤此后始终未完成。"
+  },
+  "unmet": {
+   "cornet_clean": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 110.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 105–128 s，持刷右臂多段扫刷落在桌面小号的左侧空处；视频 3239–3250.5 s 的半秒抽帧中，左腕画面的刷子与右手小号的管身、喇叭口也多次明显分离，机器人仍在移动工具和转动小号。推断：工具与目标的相对落点没有稳定对准所需清洁表面；早期存在局部实际接触，故不标为全程没建立接触。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：agent 在 log step 99、530、543 编写并运行的控制器均以固定世界坐标生成夹爪末端扫刷栅格；循环没有根据刷毛相对当前管面的误差修正接触落点。视频 105–128 s、3239–3250.5 s 显示扫刷动作确实执行，却有明显离开目标表面的行程；log step 540 的 FK 检查还证实其先前用来转动小号的腕关节变化会同时平移末端，固定刷洗区域不能自动保持与小号对齐。结合后续仍未清洁完成，归因于工具与目标相对运动控制不足；现有证据不足以进一步区分接触几何设计与轨迹跟踪子类。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有独立模拟器状态日志或逐粒灰尘计数；腕部画面常被刷子、夹爪和喇叭口遮挡，不能定位最后残留灰尘、计算去尘比例或逐次确认擦刷效果。最终未全清可由唯一目标的 q_score=0 确定；控制子类、接触力及每处漏扫的具体成因不能可靠细分。"
+ },
+ "summary_zh": "机器人拿刷进行了多轮桌边擦拭，后段又以右夹爪夹持小号、左臂持刷协同操作，但小号除尘始终未完成，最终为 0/1。刷子多次偏离目标表面，固定坐标扫刷未形成完整有效覆盖，标为位姿不准与控制；本回合服务按目标成立即结束（log step 21），不把较新 DAG 的松手静置要求视为这次失败原因。无独立状态日志且细尘受遮挡，残尘具体位置与控制子类不能可靠判定。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "单目标 cornet_clean 未达成（q_score=0、live/replay_success=0）由评分器总分确定，intervals=[]、final=false 正确；断点、位姿不准与控制根因有帧和日志支撑，未发现需要改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:31:05Z",
+  "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-clean-a-trumpet-i00-standard--omjqfy5/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-a-trumpet-i00-standard--omjqfy5/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "973b47d8831da1a81c5faaf7f84c97ba25a66f4b6d91d9c22a93886aa0eaea03",
+   "video_sha256": "c07c7ba8720f156af75e44e81087e6896193e46c66d6372250d1073ee7a9b4a2",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-standard--rnxrtmp.json

@@ -0,0 +1,203 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-a-trumpet-i00-standard--rnxrtmp",
+ "taskKey": "behavior-1k/clean_a_trumpet",
+ "dag_sha256": "2bbd17ed97252e1f070d2dc8ee7fd090c0b4c81c70149c5404c42241513c02b9",
+ "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": 11091,
+   "sim_steps": 11091,
+   "physics_steps": 44364,
+   "steps": 3455,
+   "elapsed_s": 6838.4,
+   "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-clean-a-trumpet-i00-standard--rnxrtmp/replay.mp4",
+  "duration_s": 369.7,
+  "fps": 30.0,
+  "frames": 11091,
+  "sha256": "66b81927ae374c7ff1e167d70c9d218059c53bc9e176c033591034dce3a54990"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "cornet_clean": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 22.0,
+      "log_step": 37,
+      "text_zh": "观察：视频约 19–23 s，红色清洁刷离开原先桌面位置，随机器人左夹爪移动，左腕画面中刷子固定在夹指之间；随后机器人将刷子移向仍在桌上的金黄色小号，已开始除尘操作。"
+     },
+     {
+      "t": 46.0,
+      "log_step": 68,
+      "text_zh": "观察：视频 43.0–47.0 s，机器人左臂持刷在小号附近横移，小号随接触整体滑动、转向，并于视频约 46.0–46.5 s 越过桌沿落下；视频 47.0–49.5 s 桌面原位置已空，小号在桌下可见。"
+     },
+     {
+      "t": 67.0,
+      "log_step": 98,
+      "text_zh": "观察：视频约 62–69 s，机器人右夹爪夹住桌下的小号，小号随右手抬升并转至横向，左手仍持刷停在一旁；视频约 74–79 s 小号再次到地面，之后机器人继续尝试在地面清洁和翻动小号，未观察到全部除尘完成的时段。"
+     },
+     {
+      "t": 369.66,
+      "log_step": 305,
+      "text_zh": "观察：视频 368.0、368.5、369.0 和 369.66 s，小号横躺于桌旁、窗前的地面，红刷仍固定在左夹爪中；细小颗粒及背面在此视角无法逐一辨认。log step 305 的最后一次运动返回 done=False。"
+     },
+     {
+      "t": 369.66,
+      "log_step": null,
+      "text_zh": "推断：DAG 的唯一目标是初态不成立的小号除尘；本回合评分字段 q_score=0、live_success=0、replay_success=0，且 live_matches_replay=1，因此唯一目标在终态为 false，不能因末帧颗粒不清而标 unknown。结合视频中的连续清洁尝试和未触发成功的服务记录，未发现可记为达成的区间；零分不用于否认已发生的抓取与擦拭。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频约 22–46 s，机器人左夹爪持红色清洁刷擦过小号管身、阀部和喇叭口附近，视频约 46 s 的接触还把整件小号推离桌面；后续继续持同一刷子尝试清洁地面上的小号。此项记录刷子至小号的作用链，不另重复记录握刷。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人右夹爪在视频约 62–69 s 夹住小号管身并将其提起、转向；左手此时持刷停在一旁，随后才继续擦拭，未据此推定双手同时刷洗。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频开头机器人移动到底盘靠近书桌的位置；视频约 260 s 后及视频 367–369 s 又移动底盘，调整持刷机械臂相对地面小号的位置，轮式底盘在这些移动中支撑机器人。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "cornet_clean",
+   "t": 46.0,
+   "log_step": 68,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 43.0–47.0 s，机器人正在持刷清洁，小号被持刷末端的接触推动，于视频约 46.0–46.5 s 从桌沿落下。后续虽将小号抓起并继续清洁、翻动，���频直到 369.66 s 结束仍未完成唯一除尘目标，评分字段 live_success=0、q_score=0；抓起小号不等于修复除尘步骤。"
+  },
+  "unmet": {
+   "cornet_clean": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 46.0,
+    "log_step": 68,
+    "evidence_zh": "观察：视频 43.0–47.0 s，机器人持刷末端横向经过小号时，小号整体被带着滑动、转向，继而越过桌沿掉到桌下，原桌面位置随即空出。这是擦刷中碰动目标本身，未见此前夹持小号，故不作为抓持后滑脱。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频",
+    "evidence_zh": "推断：视频 43.0–47.0 s 的持刷动作实际推动了整件小号并使其丢失桌面支承，说明清洁接触的运动执行未限制住对小号整体的扰动；后续视频约 74–79 s 的回放置也未恢复稳定的桌面清洁工位，机器人转而反复在地面操作。依据这些可见操作失误归为控制；现有证据不足以进一步区分接触几何设计与运动跟踪问题。"
+   }
+  ],
+  "gap_zh": "本目录无状态日志，未提供逐颗灰尘、covered 谓词、接触对或原生静置计数的时间序列；腕部画面常被刷子遮挡，末帧不能逐颗确认灰尘，终态 false 由单目标 q_score=0 约束。无法定位剩余颗粒或把控制根因细分为接触设计、逆解或反馈控制；成功参考视频采用较早规则，不能用它的结束画面证明本回合静置窗口已满足。"
+ },
+ "summary_zh": "机器人拿起清洁刷并多次擦拭小号，也实际抓起、翻动过小号，但小号除尘节点始终未达成，终态为 0/1。视频约 46 s，持刷操作将小号碰离桌面，后续抓取和地面擦洗未完成除尘，归为控制问题。缺少逐颗灰尘与静置计数日志，终态依据单目标 q_score=0 和未成功的服务结果判定，无法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": "终态 false 有 q_score=0 约束，46 s 小号被持刷碰落桌沿、之后抓起仍未除尘，断点、接触与现象和帧相符；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": "2026-10-30T21:22:50Z",
+  "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-clean-a-trumpet-i00-standard--rnxrtmp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-a-trumpet-i00-standard--rnxrtmp/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b80fb63019ea9b4493cf349b8a90f0dad6542c98f0124dda5186233210e86c9e",
+   "video_sha256": "66b81927ae374c7ff1e167d70c9d218059c53bc9e176c033591034dce3a54990",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-standard--ti8kewn.json

@@ -0,0 +1,191 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-a-trumpet-i00-standard--ti8kewn",
+ "taskKey": "behavior-1k/clean_a_trumpet",
+ "dag_sha256": "2bbd17ed97252e1f070d2dc8ee7fd090c0b4c81c70149c5404c42241513c02b9",
+ "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": 12475,
+   "sim_steps": 12475,
+   "physics_steps": 49900,
+   "steps": 9465,
+   "elapsed_s": 3229.1,
+   "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": 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-a-trumpet-i00-standard--ti8kewn/replay.mp4",
+  "duration_s": 415.833,
+  "fps": 30.0,
+  "frames": 12475,
+  "sha256": "456fa27df442a9e7d0714f9698a2f8f1b994d55d72311b81c00f50b7ca1f36ac"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "cornet_clean": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.0,
+      "log_step": null,
+      "text_zh": "观察：视频 17 s，金黄色小号和红色刷子均在书桌上；视频 24–25 s 左腕视角显示红刷随左夹爪升离桌面，原来的放刷位置空出。"
+     },
+     {
+      "t": 82.0,
+      "log_step": null,
+      "text_zh": "观察：视频 78–86 s，机器人左爪持续持红刷，刷子沿小号管身经过，腕部视角可见管身从刷旁移过；视频 120–400 s 的抽查画面显示机器人继续多次沿桌边移动持刷机械臂，小号在桌上的位置也改变。这些局部刷扫不等于全部除尘完成。"
+     },
+     {
+      "t": 415.7,
+      "log_step": 144,
+      "text_zh": "推断：本任务只有一个去尘目标谓词，初态带尘；inputs/run.json 的评分器字段 q_score=0、live_success=0、replay_success=0、live_matches_replay=1，故终态仍未全部除尘。任务服务在目标成立时立即结束，但本回合直到 log step 143–144 才以 failure: the robot fell over 结束，结合全程刷扫与末段倾倒画面，未见已完成的区间，节点终态为 false；视频 415.7 s 已无法看清小号背面，不能仅据该帧判断具体剩余颗粒。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 24–25 s 左夹爪持起红色刷子；视频 78–86 s 等刷扫中，左臂持刷贴近并沿小号管身擦过，右爪未见同时固定小号。作用端为红刷，对象为小号；腕部刷体遮挡接触细节，不据此声称具体刷毛压力。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 78–86 s 及后续多轮刷扫，轮式底盘带着持刷左臂沿书桌移动，提供支承和横向扫刷运动；视频 403–406 s 最后一轮移动中发生倾倒。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "cornet_clean",
+   "t": 405.5,
+   "log_step": 143,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 403–405.5 s 机器人仍持红刷在书桌旁移动，视频约 405.5–406 s 头部画面突然大幅倾斜并转向天花板；视频 407–415.7 s 始终未恢复直立。log step 143 的第三轮斜向刷扫收到服务返回 done=True、reason=failure: the robot fell over，log step 144 确认回合结束。失败发生在尚未完成的小号除尘操作中。"
+  },
+  "unmet": {
+   "cornet_clean": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 405.5,
+    "log_step": 143,
+    "evidence_zh": "观察：视频 405.5–406.5 s 桌面与窗框相对相机快速旋转，头部视野转向天花板；视频 410–415.7 s 维持倾斜，刷子仍在左爪中。log step 143–144 的机器人服务明确报告 failure: the robot fell over，与画面中的持续倾倒一致。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 405.5,
+    "log_step": 138,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 138 的 gpass2 将刷子路径减去固定臂偏移得到底盘位置，再用 goto 直线接近及 run_rows 扫刷；该段代码没有检查底盘占地与书桌的间隙，也未在扫刷中按倾角修正动作。log step 143 在固定斜向朝向下执行偏移 -0.10 m 的刷扫并收到跌倒终止；视频 403–406.5 s 显示机器人靠桌运动后失衡。因此可归到持刷移动的整机运动控制未处理桌旁几何与稳定性，具体碰撞和反馈环节尚不能细分。",
+    "note_zh": "观察：agent 在 log step 146 自述未检查底盘占地，且仅猜测撞到了书桌或凳子；不把其猜测当成已观测到的碰撞。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 提供完整视频和运行日志，但没有状态日志。腕部视角常被刷体遮挡，头部画面无法逐粒检查背面灰尘，除尘终态由单一目标的评分总量辅助判定；成功参考视频 36–37.3 s 也有同类遮挡，不能据其外观替代本回合的谓词。视频约 405.5 s 的底盘及桌下区域不可见，无法确认是书桌、凳子还是其他接触导致倾倒，也无法区分具体轨迹与反馈控制子因。"
+ },
+ "summary_zh": "机器人拿起红刷并沿小号多次刷扫，但唯一的小号除尘节点未完成，终态为 0/1；评分器 q_score=0 且实时与回放结果一致。视频约 405.5–406 s，机器人在桌旁持刷移动中失衡，持续倾倒至回合结束，根因归为桌旁持刷移动的控制问题。没有状态日志，剩余灰尘位置及导致倾倒的具体碰撞部位无法确认。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标签与视频和日志一致：唯一的除尘节点为 false（q_score=0），断点在小号除尘中；视频约 405–406 s 起倾倒并持续到结束，与 log step 143 的 failure: the robot fell over 吻合。平衡现象和控制根因有证据支持，且正确声明了碰撞对象无法确认。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:36:35Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-clean-a-trumpet-i00-standard--ti8kewn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-a-trumpet-i00-standard--ti8kewn/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "999f34e0063011ccb2e1d52d5f69ed5f8bc9004306f60beb577d39d929e662ca",
+   "video_sha256": "456fa27df442a9e7d0714f9698a2f8f1b994d55d72311b81c00f50b7ca1f36ac",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-standard--wkywjth.json

@@ -0,0 +1,242 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-a-trumpet-i00-standard--wkywjth",
+ "taskKey": "behavior-1k/clean_a_trumpet",
+ "dag_sha256": "2bbd17ed97252e1f070d2dc8ee7fd090c0b4c81c70149c5404c42241513c02b9",
+ "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": 10206,
+   "sim_steps": 10206,
+   "physics_steps": 40824,
+   "steps": 10206,
+   "elapsed_s": 2212.3,
+   "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": 0.443,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.255,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-clean-a-trumpet-i00-standard--wkywjth/replay.mp4",
+  "duration_s": 340.2,
+  "fps": 30.0,
+  "frames": 10206,
+  "sha256": "20c59115f97fe26cae4318fe274c3d90f249c3c1b30e2020acc82a5a346dc30b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "cornet_clean": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 45.0,
+      "log_step": null,
+      "text_zh": "观察：视频约 45–85 s 的左腕近景中，小号仍在书桌上，喇叭口和管身带有黑色颗粒团；机器人先用空夹爪在小号附近扫动，尚未拿起桌上的红色刷子。"
+     },
+     {
+      "t": 113.5,
+      "log_step": 278,
+      "text_zh": "观察：视频 109.5–112.5 s 红色刷子仍躺在桌面；视频 113.0–114.0 s 刷子离开原处，竖直夹在左夹爪两指之间并随手移动。log step 278 的服务状态为 control_steps=3439；推断：按 log step 45 给出的控制频率 30 Hz，3439/30=视频 114.63 s，与已检查的抓取抬升画面相符；全回合共 10206 步也与视频 340.2 s 一致，未使用 agent 工作时间换算。"
+     },
+     {
+      "t": 144.0,
+      "log_step": 293,
+      "text_zh": "观察：视频 116–152 s 左夹爪持红色刷子在小号上方及邻近管身处往返；视频 140–144 s 右腕近景仍能看到喇叭口上的多团黑色灰尘。log step 293 记录多轮扫动后的服务 done=False，不能将持刷经过等同于除尘完成。"
+     },
+     {
+      "t": 166.5,
+      "log_step": 314,
+      "text_zh": "观察：视频 164.8–166.3 s 红刷仍竖直位于左夹爪间，视频 166.5–166.8 s 滑转为横向；视频 168 s 及视频 192、196、200、204 s 的左腕近景仍可见红刷贴在夹爪处并随手移动，不能把滑转直接当成脱手。视频 212–220 s 刷子被手部局部遮挡；视频 222.3–222.6 s 可见红刷与手部分离并落向地面，视频 292–299 s 红刷留在地面、左夹爪为空。"
+     },
+     {
+      "t": 222.0,
+      "log_step": 320,
+      "text_zh": "观察：视频 221.6–222.1 s 左末端从小号旁向桌外移动，小号随之向桌边转动；视频 222.4–223.2 s 小号越过桌沿、喇叭口向下翻落，视频 224–226 s 已在书桌旁地面。log step 320 是机器人将左末端移往另一处桌面并逐步下压的测试。"
+     },
+     {
+      "t": 299.0,
+      "log_step": 378,
+      "text_zh": "观察：视频 292–303 s 左空夹爪沿地面小号的管身往返压扫，红刷留在其旁的地面，未重新拿起。log step 378 的服务状态在 control_steps=9758 时仍为 done=False；随后视频 330–340.16 s 相机明显翻转，log step 385 服务报告 done=True、reason=\"failure: the robot fell over\"。"
+     },
+     {
+      "t": 340.16,
+      "log_step": 385,
+      "text_zh": "推断：本任务仅一个初态不成立的除尘目标，inputs/run.json 的 q_score=0、live_success=0、replay_success=0 且 live_matches_replay=1，故该节点终值为 false；结合视频中持续残尘、工具滑脱及无成功终止的单次实时回合，未发现任何达成区间。末帧视频 340.16 s 目标被视角遮住，终值同时依据评分总数确定，而非仅凭末帧猜测。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 113–166 s 左夹爪持红色清洁刷，刷端在小号管身附近反复往返擦扫；实际作用端为刷子，对象为小号带尘区域。未据此认定每颗灰尘都被接触或清除；夹爪握刷不另重复计入工具链。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：机器人在持刷前用左空夹爪试扫小号，视频 292–303 s 又以左空夹爪沿落地小号往返压扫、推动；这些是直接作用于小号的非包夹接触，未见将小号抓起。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人底盘在视频约 20–35 s 接近书桌，视频约 260–292 s 又移动到落地小号附近，并在视频约 325–340 s 后退、转动寻找刷子；移动阶段由轮式底盘支撑操作机械臂。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "cornet_clean",
+   "t": 222.3,
+   "log_step": 320,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 166.5 s 红刷由竖直滑转为横置，但视频 168 s 及视频 192–204 s 仍可见刷子在夹爪处随手运动；视频 222.3–222.6 s 红刷脱离手部，视频 222.3–223.2 s 小号也在左臂向桌外移动时越过桌沿翻落。视频 292–299 s 机器人以空夹爪扫动地面小号，红刷留在其旁，未恢复持刷并完成除尘。视频约 330 s 起画面大幅翻转，末段直到视频 340.16 s 未恢复稳定，log step 385 服务报告 done=True、reason=\"failure: the robot fell over\"。推断：最早未修复的步骤仍为小号除尘，导航锚点取工具脱手与目标坠桌发生的约视频 222.3 s，而非将视频约 166.5 s 的滑转误作工具丢失。"
+  },
+  "unmet": {
+   "cornet_clean": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 222.3,
+    "log_step": 320,
+    "evidence_zh": "观察：视频 113–114 s 左夹爪已将红刷夹起；视频约 166.5 s 刷子滑转为横置，视频 168 s 及视频 192、196、200、204 s 仍可见它在夹爪处随手运动。视频 222.3–222.6 s 红刷脱离手部落向地面，视频 292–299 s 刷子留在地面、左夹爪为空并继续扫小号，未重新拿刷。推断：这是已建立的持刷最终丢失，时间锚点取可见脱手的约视频 222.3 s；此前滑转仅记作姿态变化。"
+   },
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 222.3,
+    "log_step": 320,
+    "evidence_zh": "观察：视频 221.5–222.0 s 小号仍在桌边，机器人左末端从小号旁向桌外移动，小号随之转动；视频 222.3–223.2 s 小号越过桌沿、喇叭口向下翻落，视频 224 s 已离开桌面，视频 292–299 s 可见其在桌旁地面。log step 320 的脚本把左末端移向另一处桌面并逐步下压。推断：移臂时的接触把小号本身带过桌沿，符合碰倒目标物本身的被挡/碰撞；这与红刷脱手是作用于不同物体的两个事件。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：证据支持控制层归因，尚不能唯一确定子类。观察：视频约 166.5 s 红刷滑转后仍被夹爪带动，机械臂继续扫动；视频 222.3–223.2 s 移臂时红刷脱手、小号越过桌沿。log step 317 的脚本按固定高度栅格生成轨迹，以至多 300 个控制步分段提交，段间仅检查 done，未据工具夹持或目标随动状态修正路径；log step 322 才检查并读出左夹爪 opening=0。log step 308 的脚本还计算出目标高度从 1.10 m 降到 0.84 m 时末端高度仍约 1.59–1.63 m，这只是脚本计算值，不能单凭它断定实际跟踪误差。推断：按 docs/03_trajectory.md Step 3.3 的判别次序，本次持续尝试除尘，未见此事件由错误任务目标或步骤顺序造成；但缺少接触几何、受力和可信的实际轨迹记录，不能排除握持布局或路径接触问题。固定路径缺乏夹持检查提示反馈不足，却不足以证明接触方案原本可行并将物理失效唯一归为反馈控制；也没有经证实的不当参数。依该规则在子类不明时保留控制。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "没有状态日志、逐粒 covered 谓词、抓握附着标志或接触力记录；相机不能始终看清刷子与小号的全部接触面，无法确定刷子滑脱的精确受力来源、清除了多少颗粒，或末段底盘究竟压到了哪件物体。节点终值由可见残尘和唯一目标的 q_score=0 共同确定，未将这些遮挡写成节点未知；也未把 agent 对底盘压到碎物的自述当作已证实原因。 根因子类分歧（DECISIONS.md D26 / CASES.md OPEN-17）：审查建议细分为反馈控制；当前处理要求按证据选择、分不清时停在控制。本文件保持该处理，固定轨迹缺少夹持修正已补入证据，但不据此排除抓取接触设计或轨迹问题。"
+ },
+ "summary_zh": "机器人拿起红刷并进行了多轮擦扫，但小号除尘始终未达成，节点终值为 0/1；视频约 166.5 s 刷子滑转为横置后仍被���爪带动，直到视频约 222.3–222.6 s 才可见脱手，同时小号被移臂带过桌沿坠地，之后空夹爪扫动仍未成功，最终视频约 330 s 起失衡并由服务判跌倒。证据支持控制层失败，固定轨迹缺乏夹持修正，但缺少接触力、附着状态和可信跟踪记录以确定唯一子类。本回合任务文本与 log step 47 描述原目标成立即结束，早于 DAG 新增的松手静置窗口；按当时规则仍未清完灰尘，评分 q_score=0，规则差异不改变本次结论。",
+ "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(false)、q_score 界定、底盘/手持工具接触基本可接受；但小号被机械臂带出桌沿摔落这一关键事件没有对应现象，没保持住的时间被提前到 166.5 s（刷子在夹爪中横置仍被夹到约 220 s），且根因条目 “控制/控制” 不是分类表中的有效条目。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "第2轮：节点 false、断点（小号除尘，约视频 222.3 s 脱刷并坠桌）、没保持住 + 被挡/碰撞两现象、控制根因均有帧和 log 证据支持，时钟均标注视频时间；未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:45:07Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-clean-a-trumpet-i00-standard--wkywjth/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-a-trumpet-i00-standard--wkywjth/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-a-trumpet-i00-standard--wkywjth/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-clean-a-trumpet-i00-standard--wkywjth/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c1d45ef247c282be1ea429a5eb54ef8aaec6b4bb942627f105668588e25e0024",
+   "video_sha256": "20c59115f97fe26cae4318fe274c3d90f249c3c1b30e2020acc82a5a346dc30b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_your_rusty_garden_tools/trajectories/behavior-clean-your-rusty-garden-tools-i00-privileged--mpfstp9.json

@@ -0,0 +1,340 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-your-rusty-garden-tools-i00-privileged--mpfstp9",
+ "taskKey": "behavior-1k/clean_your_rusty_garden_tools",
+ "dag_sha256": "af817db290d8d169ff928c865c2e9fa0b2cf6c1d8a0bfe34e98149df4f4a1029",
+ "outcome": {
+  "success": 0,
+  "reward": 0.8,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 3069,
+   "sim_steps": 3069,
+   "final_reward": 0.8,
+   "q_score": 0.8,
+   "replay_wall_s": 2386.3,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 3,
+   "agent_resets": 0,
+   "agent_sim_steps": 20016,
+   "agent_records": 3,
+   "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-your-rusty-garden-tools-i00-privileged--mpfstp9/replay.mp4",
+  "duration_s": 102.3,
+  "fps": 30.0,
+  "frames": 3069,
+  "sha256": "f80e4d131151cf4a28d3e8db3d7963cb9854d25a243a3ddb503999f21fd1163f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "toolbox_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      22.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 22.5,
+      "log_step": 64,
+      "text_zh": "观察：视频 20.0–22.0 s 机器人左夹爪夹着红色工具箱盖的黑色把手；视频 22.5–23.5 s 箱盖开始转离箱口，视频 24.0–28.0 s 内腔清楚露出。首次打开约为视频 22.5 s，时间误差约0.5秒。"
+     },
+     {
+      "t": 28.0,
+      "log_step": 71,
+      "text_zh": "观察：视频 28.0–31.0 s 工具箱已敞开，机器人左手伸向箱内的钢丝绒；视频 101.5–102.0 s 箱盖仍开着。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 20.0–27.0 s 左侧二指夹爪夹住工具箱盖的黑色把手并掀盖。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–18.0 s 轮式底盘行驶、绕过车辆并到达工具箱旁，支承开箱操作。"
+     }
+    ]
+   },
+   "trowel_rust_removed": {
+    "method": "visual",
+    "intervals": [
+     [
+      43.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 43.5,
+      "log_step": 84,
+      "text_zh": "观察：视频 42.5–43.5 s 左夹爪持钢丝绒降到地面园艺铲表面，随后抬离；视频 45.0–48.5 s 右手拿起园艺铲，腕部视角可见铲面。清洁处局部受夹爪遮挡，无法逐粒辨认锈粒。"
+     },
+     {
+      "t": 101.5,
+      "log_step": null,
+      "text_zh": "推断：视频 101.5–102.0 s 箱盖明显未关闭，两工具已在箱内；评分器 reward.q_score=0.8，即五个目标文字条件满足四项，故另四项（含园艺铲无锈）最终为真。结合视频 43.5 s 左手清洁后未再出现沾锈过程，把该次清洁结束近似作为无锈起点，误差约0.5秒；不是仅凭 agent 自述计完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 42.5–43.5 s 左夹爪持钢丝绒贴向并擦过地面支承的园艺铲表面。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 39.5–42.0 s 底盘携钢丝绒从工具箱驶至园艺铲旁。"
+     }
+    ]
+   },
+   "scraper_rust_removed": {
+    "method": "visual",
+    "intervals": [
+     [
+      71.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 71.5,
+      "log_step": 110,
+      "text_zh": "观察：视频 70.75–71.5 s 机器人左夹爪持钢丝绒下降到地面刮刀所在处并停留，视频 73.0 s 后左手退开、右手开始抓取刮刀；视频 74.0–75.5 s 腕部近景可见被拿起的刮刀。清洁接触区受手部遮挡，锈粒全消失的精确瞬间不可辨。"
+     },
+     {
+      "t": 101.5,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.8，视频 101.5–102.0 s 只见工具箱仍未关闭，且两工具均已入箱，因此刮刀无锈是四个最终成立目标之一。结合视频中唯一一次刮刀清洁过程，起点近似取视频 71.5 s，约有0.5秒误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：视频 70.75–71.5 s 左夹爪持钢丝绒降到地面刮刀表面进行清洁，右手随后另行拿起刮刀。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 57.0–70.0 s 底盘携钢丝绒沿车道行驶至远处刮刀旁。"
+     }
+    ]
+   },
+   "trowel_in_toolbox": {
+    "method": "visual",
+    "intervals": [
+     [
+      55.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 55.5,
+      "log_step": 97,
+      "text_zh": "观察：视频 45.0–48.5 s 园艺铲从地面离开并随右夹爪移动；视频 52.5–54.0 s 右手将铲降到打开的工具箱内，视频 54.5–55.5 s 夹爪张开并退离，园艺铲留在内腔。松手后静止的起点近似取视频 55.5 s。"
+     },
+     {
+      "t": 101.5,
+      "log_step": 128,
+      "text_zh": "观察：视频 93.5–96.0 s 另一件工具放入时园艺铲仍留在箱内；视频 101.5–102.0 s 双手已退离，两工具留在敞开的箱体内，未见园艺铲被取出或掉出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 45.0–55.5 s 右侧二指夹爪夹住园艺铲，将其从地面搬到箱内，再张开释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 48.5–52.5 s 底盘在右夹爪携带园艺铲时驶回工具箱旁。"
+     }
+    ]
+   },
+   "scraper_in_toolbox": {
+    "method": "visual",
+    "intervals": [
+     [
+      96.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 96.0,
+      "log_step": 128,
+      "text_zh": "观察：视频 73.5–76.0 s 刮刀离开原来的地面并随右夹爪抬升，随后由底盘运回；视频 93.0–94.5 s 右手把刮刀降进箱内，视频 95.0–96.0 s 夹爪张开、右手退出，刮刀留在园艺铲旁。松手后静止的起点近似取视频 96.0 s。"
+     },
+     {
+      "t": 101.5,
+      "log_step": null,
+      "text_zh": "观察：视频 100.5–102.0 s 双手已撤回，箱内能见两件工具，未见刮刀掉到箱外；评分器最终 q_score=0.8 与两工具入箱、两工具除锈而未关箱相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 73.5–96.0 s 右侧二指夹爪夹住刮刀并运到工具箱内，随后张开释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 77.0–91.0 s 底盘在右夹爪携带刮刀时沿车道返回工具箱。"
+     }
+    ]
+   },
+   "toolbox_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      22.5
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 18.5,
+      "log_step": 43,
+      "text_zh": "观察：视频 18.0–22.0 s 工具箱盖贴合箱体，顶部黑色把手可见，视频 22.5 s 开始掀起；视频开头机器人尚远离工具箱。推断：结合 DAG 初始关闭条件，关闭状态从视频 0.0 s 计至约视频 22.5 s。"
+     },
+     {
+      "t": 102.0,
+      "log_step": 483,
+      "text_zh": "观察：视频 96.5–100.0 s 左手将钢丝绒放回敞开的箱体，视频 100.5–102.0 s 双手退离，箱盖没有向关闭方向转回，最终内腔仍清楚可见。log step 129 保存的是归还钢丝绒、收臂之后的 prefix；log step 483 最终选择该前缀交付，关盖测试未收入评分视频。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.8,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "toolbox_closed",
+   "t": 102.0,
+   "log_step": 483,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 100.5–102.0 s 机器人归还钢丝绒后收回双手，工具箱盖仍完全敞开；评分轨迹没有开始关盖动作。log step 129 的脚本在归还钢丝绒并收臂后保存 prefix，log step 483 将该前缀选作最终轨迹，log step 486 验证交付动作形状为(3069,25)，与视频3069帧一致；后续会话中的关盖动作不属于本评分尝试。"
+  },
+  "unmet": {
+   "trowel_rust_removed": true,
+   "scraper_rust_removed": true,
+   "trowel_in_toolbox": true,
+   "scraper_in_toolbox": true,
+   "toolbox_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 102.0,
+    "log_step": 483,
+    "evidence_zh": "观察：视频 93.0–102.0 s 机器人完成刮刀及钢丝绒入箱、收回双手，始终没有抓住或推回箱盖；视频结束时箱口敞开。log step 129、483 说明交付的是关盖测试之前保存的前缀，故关盖步骤在评分尝试中未启动。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 215,
+    "source_zh": "日志",
+    "evidence_zh": "推断：会话测试暴露了关盖控制未能可靠完成的问题：log step 138 的左臂关盖接近报 no IK solution；log step 211 记录双臂操作误差约0.346米和0.051米，log step 215 测试结束仍为打开（关节2.9671、q_score=0.6）；log step 393 又记录盖与右夹爪掌部及两指同时接触，agent 随后在 log step 394 改用外推。log step 483 ��终交付关盖前的前缀，log step 489 明确承认箱盖仍开着。根因保守归为控制：这些仅为未交付的会话测试证据，不将其接触失误当作评分视频中的现象，也不据此断定唯一控制子类。"
+   }
+  ],
+  "gap_zh": "无状态日志，也无成功示范；两次清洁的接触区部分被手部遮挡，无法逐粒确认锈粒消失时刻。除锈最终值由视频中未关闭的箱盖、两件工具入箱与评分器q_score=0.8联合推断；起点取可见清洁过程结束附近，约有0.5秒误差。工具静止依据松手后的连续画面，无法测得0.05米/秒阈值。关盖根因来自未交付的会话测试，只能支持广义控制问题，不能把测试中的碰撞、逆解失败直接标到评分视频。"
+ },
+ "summary_zh": "评分视频中机器人打开工具箱，先后清洁园艺铲和刮刀并将两者放入箱内，最终完成5/6个节点；箱盖初始关闭，打开后未恢复。交付文件只保留关盖测试之前的前缀，断点为关上工具箱，评分尝试没有启动关盖；会话中的逆解和接触控制失败支持广义控制根因。无状态日志，除锈最终状态结合评分器q_score=0.8推断，清洁完成时间为视频近似定位。",
+ "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、日志一致：箱盖打开后至视频结束仍敞开，5/6节点、q_score=0.8 相符；断点 toolbox_closed / 首步前 / 没尝试 以及保守的控制根因（依据会话测试，未当作评分视频现象）符合 FAIL-22/23 的做法。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": "2026-10-30T21:17:13Z",
+  "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-clean-your-rusty-garden-tools-i00-privileged--mpfstp9/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-your-rusty-garden-tools-i00-privileged--mpfstp9/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "14e2c576356f9df2ce87438b2c3bc86104506c6c8f675b9fffa9a3c9e9e29f0f",
+   "video_sha256": "f80e4d131151cf4a28d3e8db3d7963cb9854d25a243a3ddb503999f21fd1163f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_your_rusty_garden_tools/trajectories/behavior-clean-your-rusty-garden-tools-i00-privileged--n3u2yd5.json

@@ -0,0 +1,317 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-your-rusty-garden-tools-i00-privileged--n3u2yd5",
+ "taskKey": "behavior-1k/clean_your_rusty_garden_tools",
+ "dag_sha256": "af817db290d8d169ff928c865c2e9fa0b2cf6c1d8a0bfe34e98149df4f4a1029",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 1991,
+   "sim_steps": 1991,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1202.5,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 1,
+   "agent_resets": 3,
+   "agent_sim_steps": 22432,
+   "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-clean-your-rusty-garden-tools-i00-privileged--n3u2yd5/replay.mp4",
+  "duration_s": 66.367,
+  "fps": 30.0,
+  "frames": 1991,
+  "sha256": "35d5dca3b0d1c12de8af2106a2673df0dd202d6ebfc647aafbabeae2fc136450"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 2,
+  "final": 1,
+  "nodes": {
+   "toolbox_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      35.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 35.6,
+      "log_step": 503,
+      "text_zh": "观察：视频 35.5–36.5 s，机器人左夹爪夹住红色工具箱盖的把手附近并抬起，头部画面可见箱盖与箱体分离、箱口露出。首次打开取视频约 35.6 s。"
+     },
+     {
+      "t": 38.5,
+      "log_step": 506,
+      "text_zh": "观察：视频 37.5–40.0 s，机器人仍抓着箱盖，整只工具箱随手臂姿态变化被带起并转动；这不撤销已经发生的打开事件。log step 489 开始最后一次重置后的录制，log step 532 保存最终轨迹，log step 538 自述最终文件为 1,991 控制步，与视频帧数一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左夹爪在箱盖把手处合拢并提盖，之后仍抓盖并带动整只工具箱；未把右爪靠近箱体等同于抓住钢丝绒。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频开始至约 30 s，轮式底盘沿车道绕行、接近红色工具箱，随后进行开盖。"
+     }
+    ]
+   },
+   "trowel_rust_removed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.5,
+      "log_step": 520,
+      "text_zh": "观察：已检查视频全段及视频 65.3–66.33 s 末段，机器人在工具箱附近开盖、调整手臂并尝试取钢丝绒，没有对园艺铲进行擦拭的画面。取钢丝绒是两件工具共用的准备过程，尚未出现针对本工具的独立清洁动作。"
+     },
+     {
+      "t": 66.33,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0；DAG 初态只有关箱目标成立，不计入新增目标得分，因此最终两项除锈和两项入箱均不成立。结合全段无擦拭动作，园艺铲除锈不记达成；不是仅凭零分推断机器人没有操作。"
+     }
+    ]
+   },
+   "scraper_rust_removed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.5,
+      "log_step": 520,
+      "text_zh": "观察：已检查视频全段及视频 65.3–66.33 s 末段，机器人在工具箱附近开盖、调整手臂并尝试取钢丝绒，没有对刮刀进行擦拭的画面。取钢丝绒是两件工具共用的准备过程，尚未出现针对本工具的独立清洁动作。"
+     },
+     {
+      "t": 66.33,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0；DAG 初态只有关箱目标成立，不计入新增目标得分，因此最终两项除锈和两项入箱均不成立。结合全段无擦拭动作，刮刀除锈不记达成；不是仅凭零分推断机器人没有操作。"
+     }
+    ]
+   },
+   "trowel_in_toolbox": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 38.5,
+      "log_step": null,
+      "text_zh": "观察：视频全段机器人搬动的是红色工具箱，未见夹爪拿起园艺铲、把它移到箱口并放入。视频 35.6–40.0 s 开箱期间也未见该工具进入内腔。"
+     },
+     {
+      "t": 66.33,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，且园艺铲入箱属于初态未满足的目标，故最终入箱为假；视频中的手臂动作没有提供与此相反的搬入证据。"
+     }
+    ]
+   },
+   "scraper_in_toolbox": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 38.5,
+      "log_step": null,
+      "text_zh": "��察：视频全段机器人搬动的是红色工具箱，未见夹爪拿起刮刀、把它移到箱口并放入。视频 35.6–40.0 s 开箱期间也未见该工具进入内腔。"
+     },
+     {
+      "t": 66.33,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，且刮刀入箱属于初态未满足的目标，故最终入箱为假；视频中的手臂动作没有提供与此相反的搬入证据。"
+     }
+    ]
+   },
+   "toolbox_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      35.6
+     ],
+     [
+      41.0,
+      45.0
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：视频 29.0–35.5 s 可见工具箱盖贴合箱体；结合 DAG 给定初态关闭和此前仅有空手导航，关闭状态从视频 0 s 计入。视频约 35.6 s 盖体分离，关闭失去。"
+     },
+     {
+      "t": 41.0,
+      "log_step": 508,
+      "text_zh": "推断：视频 40.3–41.5 s，机器人左爪松开，工具箱落回地面；视频 42.5 s 腕部画面可见箱盖贴合。log step 508 命令松开左爪并等待，log step 509 返回 open=False，与画面一致，恢复关闭时间估为视频 41.0 s。"
+     },
+     {
+      "t": 45.0,
+      "log_step": 513,
+      "text_zh": "推断：视频 43.0–47.5 s，左爪重新靠近把手、闭合并抬盖；log step 513 对应再次抓盖上提。第二次失去关闭取视频约 45.0 s，因箱体大部分在画外，边界约有 1 s 不确定性。视频 47.5–66.33 s 机器人持续持盖、另一只手绕箱活动，箱盖未重新落回贴合位置，故最终关闭为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左夹爪此前抓着箱盖，视频约 40.4 s 松开，箱体下落后盖合拢；记录实际抓持与松开造成的恢复，未见专门压盖关闭动作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": 38.0,
+   "log_step": 506,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 37.5–40.0 s，机器人左爪仍抓箱盖，右臂调整时整只箱体被带起并旋转，未取出钢丝绒；视频 47.5–66.33 s 再次伸手后也没有形成可见的钢丝绒搬离。推断：失败停在两件工具除锈共用的取钢丝绒准备过程，开盖事件已完成，但此后没有转向园艺铲或刮刀，不能唯一归属到两项除锈节点之一，故 ref 填 unknown。"
+  },
+  "unmet": {
+   "trowel_rust_removed": false,
+   "scraper_rust_removed": false,
+   "trowel_in_toolbox": false,
+   "scraper_in_toolbox": false,
+   "toolbox_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "带动本体",
+    "t": 38.0,
+    "log_step": 506,
+    "evidence_zh": "观察：视频 36.5 s 箱盖已打开；视频 37.5–40.0 s 左爪继续抓盖时，箱体随机器人手臂调整被一并抬离地面并明显转动，右爪未能从原箱口完成取物。log step 507 返回箱体中心高度约 0.967 米，log step 509 松手后约 0.057 米，支持画面中的整箱提起与落地；这里是箱体被带动，不是机器人倒地。"
+   },
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 58.0,
+    "log_step": 522,
+    "evidence_zh": "观察：视频 47.0–66.33 s，机器人左爪持续持盖，右臂多次向箱边及下方调整，未见钢丝绒随右爪被取走。log step 489 重置后开始录制，至 log step 532 停止并保存，中间无重置；这一录制的导航、提箱、松手落箱、再次抓盖及右臂下探顺序与视频相符，评分器报告最终轨迹为 1,991 控制步。该段服务读数在 log step 522 返回右末端 z≈0.082 m、钢丝绒 z≈0.152 m，右夹爪 contacts=(set(), {})、raycast=set()；log step 525 返回右末端 z≈0.182 m、钢丝绒 z≈-0.012 m，接触与射线集合仍为空；log step 529 再次为空，log step 531 在右爪闭合并等待后返回 heldR=None。推断：右爪未建立取走钢丝绒所需的有效抓取接触，钢丝绒最终落至地面高度；空集合是采样时刻的读数，不证明动作全程没有任何瞬时碰撞。视频 58.0 s 仅作为后段取物失败的导航锚点，未将 agent 时间换算为视频时间。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频 35.6–40.0 s 可见机器人只用左爪抓盖，箱体没有被另一作用端固定，右臂调整时盖与箱体一起摆移，使箱内取物目标不能保持原位；log step 503 抓盖上提后，log step 506 直接调整右臂，未包含固定箱体的动作，log step 507 的箱体位置变化与视频一致。这支持箱体支承与抓盖接触布局不适配的控制根因；没有成功示范，不能确认某一替代支承方案可行。 观察：再次抓盖的命令在 log step 513；其后 log step 519 的服务读数为箱体 z≈0.095 m、钢丝绒 z≈0.021 m，右臂下探后的 log step 522 钢丝绒移至 z≈0.152 m，再调整后的 log step 525 降至 z≈-0.012 m。log step 522、525、529 的右夹爪接触与射线集合为空，log step 531 闭爪后 heldR=None。推断：结合视频 47.0–66.33 s 的持盖和手臂调整，这些读数支持未稳定箱体时箱内目标随操作移位、滑离原抓取位置并导致抓取落空，因而该接触布局问题也解释了未取到钢丝绒；不能据此认定右爪直接推开钢丝绒的具体接触链条。"
+   }
+  ],
+  "gap_zh": "无状态日志、无成功示范。钢丝绒及箱内局部在多个动作中被箱壁和机器人遮挡，日志只在若干动作结束时给出夹爪接触、射线与持物读数，不能排除未采样时刻的短暂碰撞，也不能确定钢丝绒移位究竟由箱体倾摆还是右臂的哪一处接触直接造成；但这些读数与视频共同支持右爪未建立有效抓取接触。不能确定先清洁哪件工具，断点保留 unknown。第二次开盖及末尾闭合状态依据连续画面和持盖构型推断，关节是否跨过全行程5%的精确时刻不可直接测量。两项除锈及入箱的终值由初态、全段行为和评分器总分共同决定。"
+ },
+ "summary_zh": "评分轨迹完成了打开工具箱事件，两件工具均未除锈、未入箱；工具箱曾落地闭合，随后再次被打开，最终节点为 1/6。机器人在取钢丝绒的准备过程中抓盖带起了箱体，缺少稳定箱体的支承布局，后段目标移位且右爪未建立有效抓取接触，之后未进入实际擦拭或收纳。该准备过程无法唯一归属某一项除锈，断点记 unknown；无状态日志，后段开合边界及钢丝绒移位的具体接触链条仍需推断，置信度保留6。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值与时间（开盖 35.6 s、落回关闭 ~41 s、再开 ~45 s、最终 1/6）与帧和 log 基本吻合；断点 unknown 可接受。主要缺漏：右爪始终没有抓到钢丝绒这一接触现象被 gap_zh 以遮挡为由排除，但评分会话的夹爪接触读数已能判定。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "第二轮：节点值与时间（开盖约35.6 s、约41 s 落回关闭、约45 s 再开、最终1/6）、断点 unknown、接触现象与根因均与帧和 log 读数相容；上轮意见已落实，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": "2026-10-30T21:44:20Z",
+  "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-clean-your-rusty-garden-tools-i00-privileged--n3u2yd5/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-your-rusty-garden-tools-i00-privileged--n3u2yd5/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-your-rusty-garden-tools-i00-privileged--n3u2yd5/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-clean-your-rusty-garden-tools-i00-privileged--n3u2yd5/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4ff2205eeda71eb899394a1c1d61b38fbee8f9cfc4fb63b073a2517be23dded0",
+   "video_sha256": "35d5dca3b0d1c12de8af2106a2673df0dd202d6ebfc647aafbabeae2fc136450",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_your_rusty_garden_tools/trajectories/behavior-clean-your-rusty-garden-tools-i00-privileged--xeq6pcw.json

@@ -0,0 +1,311 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-your-rusty-garden-tools-i00-privileged--xeq6pcw",
+ "taskKey": "behavior-1k/clean_your_rusty_garden_tools",
+ "dag_sha256": "af817db290d8d169ff928c865c2e9fa0b2cf6c1d8a0bfe34e98149df4f4a1029",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 2505,
+   "sim_steps": 2505,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 3548.6,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 8,
+   "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-clean-your-rusty-garden-tools-i00-privileged--xeq6pcw/replay.mp4",
+  "duration_s": 83.5,
+  "fps": 30.0,
+  "frames": 2505,
+  "sha256": "ac179ce06da513db50c6bb195aca1d856cc5b038dab96dfd7a5baacd60186472"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "toolbox_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.5,
+      "log_step": 281,
+      "text_zh": "观察：视频 8.0–23.0 s 机器人停在工具箱附近，头部画面主要朝向路面、腕部画面受机体遮挡；视频 23.5–25.5 s 转动时露出的红色工具箱盖仍贴合箱体，没有露出内腔。"
+     },
+     {
+      "t": 65.0,
+      "log_step": 282,
+      "text_zh": "推断：最终生成进程在 log step 281–282 对左右臂的多组开盖目标均收到 move_ee: no IK solution，随后跳过开盖；视频 43.0–74.5 s 再次可见闭合箱盖，未见掀盖或后来补开，故不计打开事件。日志中的脚本用时不换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–8.0 s 场景相对机器人相机移动，机器人底盘驶近工具箱；开盖步骤的接近阶段有底盘移动支承。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 8.0–23.0 s 腕部视角被机器人自身遮挡，无法辨认夹爪是否碰到箱盖、碰到哪一面；不把脚本中的按压目标当作已发生的按压接触。"
+     }
+    ]
+   },
+   "trowel_rust_removed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 44.0,
+      "log_step": 283,
+      "text_zh": "观察：视频 24.5 s 可见机器人末端在闭合工具箱外，未携带可辨认的工具；视频 43.0–59.0 s 仍无可见钢丝绒擦拭或持工具清洁，近处腕部交互区受遮挡。最终生成进程在 log step 283、285 的抓铲检查均返回 in_hand: None。"
+     },
+     {
+      "t": 83.467,
+      "log_step": null,
+      "text_zh": "推断：结合初态园艺铲有锈、回放未见拿铲后进行清洁、生成脚本未通过抓铲检查，以及评分器 q_score=0，园艺铲除锈未达成。q_score 不计初始就成立的关箱条件；其余四个初始为假的目标在终态均不得为真。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "推断：视频 23.5–28.0 s 机器人空手离开开盖停留位置并转向；log step 282 的最终生成记录已进入抓园艺铲阶段，该移动属于取得待清洁工具的接近过程。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 28.0–41.0 s 等抓取停留段，腕部画面被机体挡住，无法核实手指与园艺铲的接触；未见钢丝绒与铲面接触，不能标实际抓握或擦拭。"
+     }
+    ]
+   },
+   "scraper_rust_removed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 65.0,
+      "log_step": null,
+      "text_zh": "观察：视频 63.0–74.5 s 红色工具箱仍关闭，未见机器人持钢丝绒擦拭刮刀；视频 74.5–83.467 s 相机转向木栅栏及天空，刮刀表面未进入可检查锈粒的近景。"
+     },
+     {
+      "t": 83.467,
+      "log_step": 293,
+      "text_zh": "推断：评分器 q_score=0 排除刮刀除锈这一初始为假的目标在终态成立；结合回放中没有持刮刀清洁的可见过程，不记除锈区间。log step 293 的 agent 自述“neither tool was ever grasped”仅与该判断相互印证，不用其会话测试替代回放。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 74.5–83.467 s 只见机器人相机转动和栅栏、地面，无法确认是否已接近刮刀或发生任何手指接触；log step 289 仅显示后续导航未到位，无法把刮刀抓取或擦拭标为实际接触。"
+     }
+    ]
+   },
+   "trowel_in_toolbox": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.5 s 工具箱盖闭合，画面中的末端未夹有可辨认的园艺铲；视频 43.0–74.5 s 箱盖仍闭合，未见把园艺铲送入内腔并松手的过程。"
+     },
+     {
+      "t": 83.467,
+      "log_step": null,
+      "text_zh": "推断：初态园艺铲在箱外，回放没有可见的取起、入箱和松手过程；评分器 q_score=0 进一步决定园艺铲入箱终值为假，不计入箱区间。"
+     }
+    ]
+   },
+   "scraper_in_toolbox": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 65.0,
+      "log_step": null,
+      "text_zh": "观察：视频 43.0–74.5 s 可见的工具箱保持闭合，没有刮刀进入箱内的可见过程；视频 83.467 s 末帧朝向栅栏和天空，不能直接看箱内。"
+     },
+     {
+      "t": 83.467,
+      "log_step": null,
+      "text_zh": "推断：结合刮刀初始在箱外、回放未见抓起并送入箱内，以及评分器 q_score=0 对初始为假目标的上界，刮刀入箱未达成，终值为假。"
+     }
+    ]
+   },
+   "toolbox_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 278,
+      "text_zh": "观察：最终生成进程在 log step 278 记录 recording started; lid0 -0.0，与 DAG 的初始关箱状态一致；视频 24.5 s、44.0 s、65.0 s 和 74.5 s 可见箱盖贴合箱体，未露出内腔。"
+     },
+     {
+      "t": 83.467,
+      "log_step": null,
+      "text_zh": "推断：开盖未成功，之后回放也没有可见的掀盖动作；视频 74.5 s 最后清楚可见时箱盖仍关闭，视频 82.5–83.467 s 虽离开箱体视野但没有返回操作箱盖的过程，故关箱状态从视频 0.0 s 保持至结束。该初始条件不计入 q_score，q_score=0 不否定它。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "toolbox_opened",
+   "t": 23.5,
+   "log_step": 282,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 8.0–23.0 s 机器人在工具箱旁停留，视频 23.5–25.5 s 转离时可见箱盖仍关闭；视频 43.0–74.5 s 再次看到的箱盖也一直闭合。最终生成记录 log step 281–282 显示左右臂开盖目标连续逆解失败后脚本跳过开盖。推断：打开工具箱是最先失败且随后从未修复的步骤；后续抓铲检查为空并不修复该步骤，视频 23.5 s 仅作离开该失败操作的粗略导航锚点。"
+  },
+  "unmet": {
+   "trowel_rust_removed": false,
+   "scraper_rust_removed": false,
+   "trowel_in_toolbox": false,
+   "scraper_in_toolbox": false,
+   "toolbox_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 23.5,
+    "log_step": 282,
+    "evidence_zh": "观察：inputs/run.json 的 log step 281–282 中，最终生成进程的左右臂开盖目标连续返回 move_ee: no IK solution，脚本输出 open_lid: nothing engaged; giving up on the lid；log step 272 的 open_lid 代码显示预位调用异常后直接 continue，未进入该目标的下压与掀盖动作。视频 8.0、12.0、16.0、20.0–23.0 s 的交互区受遮挡，视频 23.5–25.5 s 转离时及视频 43.0、50.0、74.5 s 可见箱盖仍闭合。推断：机器人未建立开盖所需的有效接触；不据此断言不存在任何偶然轻触。视频 23.5 s 是转离失败操作的导航锚点，不由日志用时换算。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 23.5,
+    "log_step": 281,
+    "source_zh": "日志",
+    "evidence_zh": "观察：最终生成进程的 log step 281、282 显示右臂及左臂在多个半径、高度的开盖 move_ee 调用均返回 PrimitiveError: move_ee: no IK solution，随后脚本输出 giving up on the lid；log step 283、285 的抓铲预位与下降误差均为 1.0，持物检查为空。log step 289、290 确认该进程的 watchdog 保存了 2505×25 动作，与评分器 n_actions=2505、视频帧数 2505 一致；回放确未展示成功掀盖。推断：控制程序未能生成使末端到达开盖目标的动作，是该步骤失败的直接控制层原因。",
+    "note_zh": "逆解异常有实际运行输出，但尚未验证最终开盖接触方案的可行性，也不能确认异常来自初始关节种子还是目标姿态；因此停在控制类，不把 log step 282、293 的 agent 种子解释当作已证实的更深根因。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 只有运行记录、视频及元数据，没有状态日志或成功示范。视频 8.0–23.0 s 开盖停留段的双腕被机体挡住，两工具的细小锈粒、手指接触和箱内情况也缺少可核查近景。推断：交付进程的逆解异常、脚本退出分支及前后闭盖画面支持未建立开盖所需有效接触，但不能确定是否有偶然轻触；也未验证所选开盖目标与接触方案可行，故不能排除接触设计等控制子类，根因保留控制。除锈与入箱终值由 q_score=0 和初态共同限定。视频 74.5–83.467 s 相机大幅转动，但缺少本体外视角及姿态记录，不据此另判倒地。"
+ },
+ "summary_zh": "评分轨迹没有可确认的新完成步骤：工具箱初始关闭并保持关闭，终态为 1/6；两工具除锈及入箱均未达成，终值同时受评分器 q_score=0 限定。最先未修复的步骤是打开工具箱，视频 23.5 s 转离后仍见闭盖，交付进程 log step 281–282 的左右臂目标逆解失败，结合脚本退出分支推断未建立开盖所需接触。根因保留控制：尚无证据验证接触方案可行，不能确定逆解异常的更深来源；未能决定性排除审阅提出的轨迹或逆解子类，置信度由 6 降至 5，且不计会话测试中的进展。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "进度（1/6，仅初始关箱）和断点步骤（打开工具箱）与视频、log 相符；问题在根因条目：root_causes[0] 的 item 写成“控制”，不是分类表中的条目，日志证据（逆解全部失败）对应“轨迹或逆解”；现象层留空也过于保守，没建立接触有日志与视频支持。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "进度 1/6（仅初始关箱）、断点（打开工具箱）、没建立接触现象均与视频和日志相符；第一轮争议的根因条目按 docs 规则保留“控制”可接受，无新证据，不重复。",
+    "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": "2026-10-30T21:43:40Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-clean-your-rusty-garden-tools-i00-privileged--xeq6pcw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-your-rusty-garden-tools-i00-privileged--xeq6pcw/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-your-rusty-garden-tools-i00-privileged--xeq6pcw/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-clean-your-rusty-garden-tools-i00-privileged--xeq6pcw/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "11ff5f36d5ffe16dc2483cd3ba38ca29b55f713cdbcd8dd904e63ac58a3a5931",
+   "video_sha256": "ac179ce06da513db50c6bb195aca1d856cc5b038dab96dfd7a5baacd60186472",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_your_rusty_garden_tools/trajectories/behavior-clean-your-rusty-garden-tools-i00-standard--3b9spkx.json

@@ -0,0 +1,295 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-your-rusty-garden-tools-i00-standard--3b9spkx",
+ "taskKey": "behavior-1k/clean_your_rusty_garden_tools",
+ "dag_sha256": "af817db290d8d169ff928c865c2e9fa0b2cf6c1d8a0bfe34e98149df4f4a1029",
+ "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": 26894,
+   "sim_steps": 26894,
+   "physics_steps": 107576,
+   "steps": 25112,
+   "elapsed_s": 13702.4,
+   "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-clean-your-rusty-garden-tools-i00-standard--3b9spkx/replay.mp4",
+  "duration_s": 896.467,
+  "fps": 30.0,
+  "frames": 26894,
+  "sha256": "96ddbe573bf97609b82b018c513e704e6974e6ad69cb59b9293638f411b6068e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "toolbox_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的头部视角是围栏和车道，双腕视角主要被自身夹爪遮挡；全程每约8秒粗查，另细查视频 0–32 s、110–230 s、550–720 s、850–896.43 s，未见机器人接近可辨认的工具箱并掀动箱盖。"
+     },
+     {
+      "t": 896.43,
+      "log_step": 228,
+      "text_zh": "推断：DAG记载工具箱初始关闭，视频所见行动为场景搜索、相机调整和倾倒恢复，未出现开箱操作；结合agent自述“never located ... toolbox”（log step 228），判定打开事件未发生。该判定不单凭q_score=0。"
+     }
+    ]
+   },
+   "trowel_rust_removed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 896.43,
+      "log_step": 228,
+      "text_zh": "观察：视频全程抽查及视频 850–896.43 s 加密检查均未见机器人持清洁物擦拭园艺铲，视频 896.43 s 仍是草地、围栏和空夹爪，无法近看工具表面的锈粒；agent在log step 228自述未找到两件工具。"
+     },
+     {
+      "t": 896.43,
+      "log_step": null,
+      "text_zh": "推断：DAG记载园艺铲初始有锈，视频未见清洁动作，因而不给任何已除锈区间；评分器reward.q_score=0.0且live_matches_replay=1，除锈属于初始不成立的目标文字，故总量也决定其终值为false。保留初始成立的关箱不占此新增目标总量。"
+     }
+    ]
+   },
+   "scraper_rust_removed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 896.43,
+      "log_step": 228,
+      "text_zh": "观察：视频全程抽查及视频 850–896.43 s 加密检查均未见机器人持清洁物擦拭刮刀，视频 896.43 s 仍是草地、围栏和空夹爪，无法近看工具表面的锈粒；agent在log step 228自述未找到两件工具。"
+     },
+     {
+      "t": 896.43,
+      "log_step": null,
+      "text_zh": "推断：DAG记载刮刀初始有锈，视频未见清洁动作，因而不给任何已除锈区间；评分器reward.q_score=0.0且live_matches_replay=1，除锈属于初始不成立的目标文字，故总量也决定其终值为false。保留初始成立的关箱不占此新增目标总量。"
+     }
+    ]
+   },
+   "trowel_in_toolbox": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 896.43,
+      "log_step": 228,
+      "text_zh": "观察：视频全程抽查及关键段加密检查未见园艺铲被夹起、离开原处或进入工具箱，双腕画面没有携带可辨认的目标工具；视频 895.4–896.43 s 仍在草地旁，没有放入或释放工具的动作。log step 228仅为agent自述未找到工具，不作抓取证据。"
+     },
+     {
+      "t": 896.43,
+      "log_step": null,
+      "text_zh": "推断：DAG记载园艺铲初始在工具箱外，结合视频未出现搬运/入箱，判定无成立区间；评分器q_score=0.0、live_matches_replay=1也排除了该初始不成立的入箱目标在终点成立。"
+     }
+    ]
+   },
+   "scraper_in_toolbox": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 896.43,
+      "log_step": 228,
+      "text_zh": "观察：视频全程抽查及关键段加密检查未见刮刀被夹起、离开原处或进入工具箱，双腕画面没有携带可辨认的目标工具；视频 895.4–896.43 s 仍在草地旁，没有放入或释放工具的���作。log step 228仅为agent自述未找到工具，不作抓取证据。"
+     },
+     {
+      "t": 896.43,
+      "log_step": null,
+      "text_zh": "推断：DAG记载刮刀初始在工具箱外，结合视频未出现搬运/入箱，判定无成立区间；评分器q_score=0.0、live_matches_replay=1也排除了该初始不成立的入箱目标在终点成立。"
+     }
+    ]
+   },
+   "toolbox_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "推断：DAG对初始目标位串的说明明确记载工具箱初始关闭；视频 0.0 s 工具箱不在可辨认视野，故此处不是直接测得箱盖角度。"
+     },
+     {
+      "t": 896.43,
+      "log_step": 228,
+      "text_zh": "推断：全程可见的是机器人空手搜索和恢复姿态，未见对工具箱的操作，agent在log step 228也自述从未找到工具箱；据初始关闭及未见改变它的行动，保留视频 0–896.43 s 的关闭状态。q_score=0.0不否定保留的初始目标，不能据此把关箱判false。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": 896.43,
+   "log_step": 228,
+   "where": "探索",
+   "evidence_zh": "观察：视频全程按约12秒抽查，另加密检查视频 10–25.5 s 和 888–896.43 s，机器人始终在围栏、车道、房屋与草地区域空手搜索；视频 896.43 s 仍见草地、围栏和空夹爪，没有可辨认的目标操作。log step 228中agent自述未找到园艺铲、刮刀和工具箱。推断：失败停在目标定位与接近阶段，以视频末尾作为整段搜索未果的导航锚点；视频约 14–20 s 的倾倒之后机器人恢复并继续搜索，倾倒不是全程失败的唯一解释。搜索同时服务于多件工具和工具箱，无法唯一确定正在为哪个DAG步骤定位，按03 Step 3.1保留unknown，不仅按节点排序指定toolbox_opened。"
+  },
+  "unmet": {
+   "trowel_rust_removed": false,
+   "scraper_rust_removed": false,
+   "trowel_in_toolbox": false,
+   "scraper_in_toolbox": false,
+   "toolbox_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "搜索未定位目标",
+    "t": 896.43,
+    "log_step": 228,
+    "evidence_zh": "观察：视频 0–888 s 的约12秒间隔抽查，以及视频 888–896.43 s 的加密检查，机器人反复移动和调整相机，所见主要为车道、房屋、围栏、草地与天空，未见机器人对可辨认的工具或工具箱开始操作；log step 228中agent也自述从未找到目标。推断：本次尝试停在场景搜索，未形成针对某个目标的操作。",
+    "note_zh": "候选名称：搜索未定位目标。DECISIONS.md D25(d)当前规定搜索/导航未找到目标用其他并注明候选名称；此处已开展探索，不能标没尝试，也没有目标接触尝试支持没建立接触。"
+   },
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 14.0,
+    "log_step": 35,
+    "evidence_zh": "观察：视频约 14–20 s 三个相机视角随机器人明显侧转，视频 22–25.5 s 地面视角恢复；视频约 132–204 s 头部视角长时间贴近地面，视频 216–228 s 再次转动并恢复。log step 35的服务本体读数在恢复前为roll约−1.356弧度，倒车后约0；log step 70另读出roll约−3.14、pitch约1.53弧度。推断：这些是搜索期间妨碍移动与观察的失衡，之后仍继续搜索；不把倾倒单独当作整段失败原因，也不据此宣称倒地约束已被评分器触发。",
+    "note_zh": "按03 Step 3.1、DECISIONS.md S14及CASES.md FAIL-21，恢复站立不等于修复未完成的任务步骤，因此保留搜索期间有直接证据的平衡现象，并与搜索未果区分。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "evidence_zh": "观察：log step 26脚本按预设方向连续执行10段行驶并记录头部相机，log step 31中agent已指出行驶时看到天空；之后log step 51、56仍编写并执行基于头部相机的长条扫描。log step 93的路径又在朝西扫描后向东移回，循环中没有南北换行，log step 102输出首条路径已到西侧近障处，log step 106才改为逐条向南推进。log step 114才切换为逐点停稳观察；log step 228中agent自述应先用可靠的定向扫描建立场地认识再系统搜索。推断：在未确认移动中能有效观察目标区域时就推进成片扫描，以及未正确安排覆盖路径，是搜索策略与顺序的问题，减少了有效搜索覆盖；视频全程空手搜索和末帧未见目标操作与之相符。不是由预算耗尽或零进度单独反推规划错误。",
+    "source_zh": "日志 / 视频 / agent 自述"
+   },
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：搜索脚本的相机姿态命令妨碍了有效成像。log step 39的nav.row把双臂关节列固定为0，log step 159才改为保留已瞄准的双臂目标；log step 184的look在瞄准后仍用固定躯干角度settle，log step 207才改为保持当前躯干姿态。视频 240–600 s 多个抽查帧显示头部朝向天空、腕部画面含自身夹爪，支持这些控制问题限制地面观察。此项依据具体代码，与搜索策略的选择分开；不声称它单独解释未找到目标，也没有足够证据细分为反馈控制或逆解。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频，且目标工具、钢丝绒和工具箱始终没有可确认的操作近景；锈粒及箱盖角度不能直接测量。除锈与入箱终值由初始条件、未见相关动作及评分总量共同推断，持续关闭由初始条件及未见开箱动作推断。探索失败无法唯一对应某个DAG节点，故断点ref为unknown。搜索策略和相机控制各有日志证据，但各自对未找到目标的贡献无法定量区分；agent在log step 228所称早期约40个工作分钟无可用图像及“约60%”没有完整覆盖统计支持，不当作测量值。搜索现象归类仍属DECISIONS.md D25(d)开放点，按Now使用其他及候选名称，保留对现有类别是否足以描述搜索失败的分歧。"
+ },
+ "summary_zh": "机器人在视频 0–896.43 s 持续空手搜索，未见开箱、除锈或工具入箱；仅推断保留工具箱初始关闭，终态1/6，评分q_score=0.0与此相容。失败停在目标搜索，未先验证有效观测就扩展扫描及覆盖路径安排有规划问题，相机姿态命令另有控制错误；倾倒后虽恢复并继续搜索，仍没有完成目标步骤。没有状态日志或目标操作近景，无法唯一指定断点节点或量化两项根因的贡献，关键判断包含推断，置信度保留6。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "进度节点（0/5新增目标未达成，仅保留初始关箱，终态1/6）与视频、q_score=0 相容；时钟合法。问题在失败归因：断点锚在 14 s 已恢复的倾倒，而整段 896 s 的失败是始终没找到工具和工具箱；根因只给“控制”，与日志中 agent 自述的搜索策略问题不匹配。",
+    "n_issues": 2,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "进度节点（新增目标均未达成，仅保留初始关闭的工具箱，终态1/6，与q_score=0相容）、断点ref=unknown（共同搜索无法唯一指定步骤）、其他·搜索未定位目标（按D25(d) Now）、平衡及规划/控制根因均有视频与日志依据，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": "2026-10-30T21:44:14Z",
+  "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-clean-your-rusty-garden-tools-i00-standard--3b9spkx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-your-rusty-garden-tools-i00-standard--3b9spkx/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-your-rusty-garden-tools-i00-standard--3b9spkx/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-clean-your-rusty-garden-tools-i00-standard--3b9spkx/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "28126be360fa11bdb6b6f309a5b09828c72db55a9b43b2811b82a05151e06136",
+   "video_sha256": "96ddbe573bf97609b82b018c513e704e6974e6ad69cb59b9293638f411b6068e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_your_rusty_garden_tools/trajectories/behavior-clean-your-rusty-garden-tools-i00-standard--dx6n9ix.json

@@ -0,0 +1,298 @@
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+ "taxonomy": "v2",
+ "runId": "behavior-clean-your-rusty-garden-tools-i00-standard--dx6n9ix",
+ "taskKey": "behavior-1k/clean_your_rusty_garden_tools",
+ "dag_sha256": "af817db290d8d169ff928c865c2e9fa0b2cf6c1d8a0bfe34e98149df4f4a1029",
+ "outcome": {
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+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
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+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 13535,
+   "sim_steps": 13685,
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+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-clean-your-rusty-garden-tools-i00-standard--dx6n9ix/replay.mp4",
+  "duration_s": 456.2,
+  "fps": 10.0,
+  "frames": 4562,
+  "sha256": "8fef64b229079bd6429c077893e3f80f2341beec636a68b425d1d9ef71ab0794"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "toolbox_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 225.5,
+      "log_step": 479,
+      "text_zh": "观察：视频224.0–226.5 s，机器人左夹爪在黑色提手附近闭合、上提，工具箱仍在车道上，箱盖没有离开箱口；视频244.0–248.5 s机器人又用双手接近箱盖和箱体边缘，仍未露出内腔。"
+     },
+     {
+      "t": 454.0,
+      "log_step": null,
+      "text_zh": "观察：视频250–454 s的后续箱体操作反复接近提手、箱沿及黑色锁扣，未见箱盖相对箱体掀开；视频455.2–456.1 s腕部近景仍显示贴合的箱盖和前侧锁扣。"
+     },
+     {
+      "t": 225.5,
+      "log_step": 483,
+      "text_zh": "观察：agent 自述“lifting raised the whole box”（log step 483），但视频224.0–226.5 s没有显示整箱随夹爪离地；不据此记抓握成功或开盖进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "压/擦",
+      "note_zh": "观察：视频244.5–246.0 s，左夹爪指端抵着提手附近的红色盖面，右夹爪指端同时抵住另一侧箱体/箱沿；未见两爪分别形成稳定对向夹持。此前视频224.0–226.5 s以及后续视频326–335 s、448–454 s主要由左夹爪单独在盖面、把手或锁扣处抵压及闭爪试探。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频184–222 s，机器人底盘沿车道驶近红色工具箱并转向停靠；视频304–306 s再次向工具箱靠近后继续操作。"
+     }
+    ]
+   },
+   "trowel_rust_removed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 214.0,
+      "log_step": 460,
+      "text_zh": "推断：任务初态给定园艺铲有锈；视频212–216 s可见车道上的一件细长工具，但不足以分辨两工具的细小锈粒。视频222–454 s机器人操作对象始终是红色工具箱，未见拿取钢丝绒或擦拭任一工具，故不记除锈达成。"
+     },
+     {
+      "t": 456.1,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0、success=0；扣除从初态保持的关箱条件后，没有新增满足的目标文字条件，故园艺铲无锈的终态为假。该终态推断与全片未见清洁操作一致，不单凭零分推断动作未做。"
+     }
+    ]
+   },
+   "scraper_rust_removed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 214.0,
+      "log_step": 460,
+      "text_zh": "推断：任务初态给定刮刀有锈；视频212–216 s可见车道上的一件细长工具，但不足以分辨两工具的细小锈粒。视频222–454 s机器人操作对象始终是红色工具箱，未见拿取钢丝绒或擦拭任一工具，故不记除锈达成。"
+     },
+     {
+      "t": 456.1,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0、success=0；扣除从初态保持的关箱条件后，没有新增满足的目标文字���件，故刮刀无锈的终态为假。该终态推断与全片未见清洁操作一致，不单凭零分推断动作未做。"
+     }
+    ]
+   },
+   "trowel_in_toolbox": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 214.0,
+      "log_step": 460,
+      "text_zh": "观察：视频212–216 s机器人驶近车道上一件细长工具后转回工具箱，未见夹爪拿起该工具；agent 在log step 460明确计划先留工具原地、回去开箱。"
+     },
+     {
+      "t": 454.0,
+      "log_step": null,
+      "text_zh": "推断：任务初态园艺铲在箱外；视频222–454 s仅见机器人试开工具箱，没有工具离开地面、被携带或进入箱腔的可见过程，箱盖也未打开；结合评分器 q_score=0.0，园艺铲入箱终态为假。"
+     }
+    ]
+   },
+   "scraper_in_toolbox": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 214.0,
+      "log_step": 460,
+      "text_zh": "观察：视频212–216 s机器人驶近车道上一件细长工具后转回工具箱，未见夹爪拿起该工具；agent 在log step 460明确计划先留工具原地、回去开箱。"
+     },
+     {
+      "t": 454.0,
+      "log_step": null,
+      "text_zh": "推断：任务初态刮刀在箱外；视频222–454 s仅见机器人试开工具箱，没有工具离开地面、被携带或进入箱腔的可见过程，箱盖也未打开；结合评分器 q_score=0.0，刮刀入箱终态为假。"
+     }
+    ]
+   },
+   "toolbox_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG给定工具箱初始关闭；视频192 s、222 s的头部视角和视频224–226.5 s的腕部近景显示箱盖贴合箱体，后续未见开盖，故关闭状态从视频0 s计入。"
+     },
+     {
+      "t": 454.0,
+      "log_step": null,
+      "text_zh": "观察：视频448–454 s腕部近景显示箱盖与箱体接缝保持贴合；视频455.2–456.1 s逐帧检查仍无开口。机器人始终试图开盖，没有在装入工具后执行关箱动作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "toolbox_opened",
+   "t": 225.5,
+   "log_step": 479,
+   "where": "操作中",
+   "evidence_zh": "观察：视频224.0–226.5 s机器人左夹爪在提手附近闭合并上提，却空手离开，箱盖仍贴合箱体；视频244.0–248.5 s改为双手接近箱体，之后直至视频456.1 s反复试开仍未露出内腔。最早持续未修复的是打开工具箱，后续清洁和入箱没有开始。"
+  },
+  "unmet": {
+   "trowel_rust_removed": false,
+   "scraper_rust_removed": false,
+   "trowel_in_toolbox": false,
+   "scraper_in_toolbox": false,
+   "toolbox_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 225.5,
+    "log_step": 479,
+    "evidence_zh": "观察：视频224.0–226.5 s，夹爪在提手旁闭合后抬离，提手及箱盖没有随其打开；视频326–335 s指端再次在把手旁闭合、退开，工具箱仍留在原处。视频448–454 s指端继续在锁扣附近开合，盖缝未张开。接触到外表面，但未建立能夹持并带动开合部件的有效接触。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 225.5,
+    "log_step": 867,
+    "evidence_zh": "推断：视频224.0–226.5 s、326–335 s显示夹爪闭合位置落在把手旁的盖面，退开时未夹住把手；视频448–454 s指端抵着锁扣表面，未形成抬盖所需的对向夹持。agent 自述锁扣是窄立杆、夹爪先前沿杆方向对齐，需要转到跨杆方向（log step 867），支持接触位置和夹爪朝向不适配；不是仅由开盖未完成反推。没有成功示范或状态接触对，未验证替代握法能否奏效。",
+    "source_zh": "视频；agent 自述"
+   }
+  ],
+  "gap_zh": "观察：inputs/提供完整视频与run.json，但没有状态日志或成功示范。两件工具大部分时间不在近景，不能逐粒核验锈；其终态依据初始有锈、全片未见清洁/入箱以及评分器q_score=0.0共同推断。箱盖细小开合角度和接触力无测量；按可见盖缝及内腔判据判断未打开，不把agent的整箱提升或抓住把手自述直接当作事实。"
+ },
+ "summary_zh": "机器人找到工具箱并反复尝试开盖，但未建立对把手或锁扣的有效夹持，打开工具箱始终未达成；两件工具未见除锈或入箱，最终仅初始关闭状态保持，进度1/6。视频224.0–226.5 s和326–335 s可见闭爪后空手退开，末段视频455.2–456.1 s箱盖仍关闭；��分器success=0、q_score=0.0。无状态日志和成功示范，锈粒终态由初态、操作过程及评分总量共同推断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "逐帧抽查视频100/190/224/226/246/330/400/455 s：箱盖全程贴合，未见开盖、工具被拿起或入箱；打开工具箱为断点、工具节点为假、关箱初始成立并保持，q_score=0 与之相容。接触、现象（没建立接触）与根因（抓取和接触设计，alt_feasible 未知，引用 log step 867 的锁扣自述且已标推断）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",
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+  "engine": "codex",
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+  "effort": "high",
+  "created": "2026-10-30T21:33:53Z",
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+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
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+  "calls": [
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+    "space": "work/runs/behavior-clean-your-rusty-garden-tools-i00-standard--dx6n9ix/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-your-rusty-garden-tools-i00-standard--dx6n9ix/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
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+   "video_sha256": "8fef64b229079bd6429c077893e3f80f2341beec636a68b425d1d9ef71ab0794",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_your_rusty_garden_tools/trajectories/behavior-clean-your-rusty-garden-tools-i00-standard--eqoef4p.json

@@ -0,0 +1,419 @@
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+ "outcome": {
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+  "source": "catalog",
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+   "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-your-rusty-garden-tools-i00-standard--eqoef4p/replay.mp4",
+  "duration_s": 445.933,
+  "fps": 30.0,
+  "frames": 13378,
+  "sha256": "179568d9ca644f8ddc458c065383c886c262abf7f38982fc021be57806b6b634"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 2,
+  "final": 1,
+  "nodes": {
+   "toolbox_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      174.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 164.5,
+      "log_step": 347,
+      "text_zh": "观察：视频162.0–173.0 s，机器人左夹爪夹住工具箱把手，箱体也随之抬起；不能把这段整体抬箱直接算作开盖。"
+     },
+     {
+      "t": 175.5,
+      "log_step": null,
+      "text_zh": "观察：视频174.5–177.5 s，机器人左爪仍夹把手，右爪抵近箱体；右腕画面露出红色内壁，箱盖与箱体分离，头部画面也可见两者间隙。首次打开锚点取视频174.5 s，约有0.5–1 s误差。"
+     },
+     {
+      "t": 345.5,
+      "log_step": null,
+      "text_zh": "观察：视频334.0–345.5 s及视频365.0–370.0 s，腕部及头部视角再次清楚显示敞开的工具箱，确认打开事件确实发生。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频174.5–177.5 s左夹爪夹住工具箱把手，右臂靠近箱体配合操作；后续有右夹爪单独夹持箱体边缘/把手的操作。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "推/扫",
+      "note_zh": "观察：视频174.5–177.5 s左爪夹把手时，右夹爪抵推箱体，与左臂共同使盖、箱分离。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在视频约90–162 s驶近并调整到工具箱旁，后续也多次移动底盘重新对准箱体。"
+     }
+    ]
+   },
+   "trowel_rust_removed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 245.5,
+      "log_step": 584,
+      "text_zh": "观察：视频213.0–243.0 s的多次闭爪和抬臂之间，园艺铲仍反复出现在原地；视频约244.5 s之后左爪夹住其黑色带黄色环的柄，视频245.0–258.0 s铲随机器人移动。只计实际持铲，不把前几次抓取指令算成除锈。"
+     },
+     {
+      "t": 375.5,
+      "log_step": 1005,
+      "text_zh": "观察：视频373.0–383.0 s机器人右爪在箱体附近移动，左爪持铲后下移；所见画面没有显示清洁器贴住铲面反复擦拭，也没有显示铲面锈粒全部消失。log step 1003仅写入gen.py（sim.submit=0），log step 1004启动该版本，后台执行的后续22次提交记录在log step 1005；脚本在重复抓钢丝绒之后安排预设擦拭动作。这是动作意图，不是除锈完成记录。"
+     },
+     {
+      "t": 435.5,
+      "log_step": null,
+      "text_zh": "观察：视频424.0–441.0 s右腕视角出现带灰色刷面、黑色柄及红色连接部的清洁器，但左腕视角被红色工具箱占据；未见清洁器与园艺铲贴合。"
+     },
+     {
+      "t": 445.8,
+      "log_step": null,
+      "text_zh": "推断：评分器reward.q_score=0.0，且两项除锈目标初始均未满足，因此最终园艺铲除锈为假。结合全程未见有效擦拭或明确的全无锈状态，不记录已达成区间；这一终值不是仅凭画面中难以辨认的细小锈粒判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约244.5–383.0 s左夹爪夹持园艺铲柄，作为清洁准备；未据脚本补记钢丝绒与铲面的压/擦接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频245.0–258.0 s底盘携左爪持有的园艺铲返回工具箱旁。"
+     }
+    ]
+   },
+   "scraper_rust_removed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 375.5,
+      "log_step": 1005,
+      "text_zh": "观察：log step 1003写入的gen.py把右臂在箱内的往返动作称为清理刮刀，该版本由log step 1004启动，后续执行提交记录于log step 1005；视频373.0–380.0 s只见机器人在箱体附近动作，没有辨认到被清洁器擦拭的刮刀，不能把agent假定刮刀在箱内当作事实。"
+     },
+     {
+      "t": 445.8,
+      "log_step": null,
+      "text_zh": "推断：评分器reward.q_score=0.0，两项除锈目标初始均未满足，故最终刮刀仍不满足无锈目标；视频未显示刮刀表面全部无锈的时段，不记录达成区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频373.0–380.0 s和后段可见机器人执行面向箱体的清洁尝试，但目标刮刀及其与清洁器的接触未能辨认；不能照搬脚本的钢丝绒擦刮刀方案。"
+     }
+    ]
+   },
+   "trowel_in_toolbox": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 245.5,
+      "log_step": 592,
+      "text_zh": "观察：视频约244.5 s后园艺铲离开原地并随左夹爪移动，视频245.0–258.0 s机器人持铲返回工具箱旁；搬运是入箱尝试的准备，尚不满足放入且松手静止的条件。"
+     },
+     {
+      "t": 395.5,
+      "log_step": 1005,
+      "text_zh": "观察：视频383.0 s前后左爪下移并松开；视频395.0–396.0 s右腕可见黑色铲状部件留在红色箱体的外表面附近，没有显示它在敞开内腔中松手静置。log step 1003写入的gen.py将松爪段称为释放入箱，实际执行由log step 1004启动、后续提交记录于log step 1005；画面不支持完成。"
+     },
+     {
+      "t": 418.5,
+      "log_step": 1031,
+      "text_zh": "观察：log step 1029–1031要求从箱盖上重新拿园艺铲；视频414.0–421.0 s左腕却被随爪抬起的整片红色工具箱占满，没有可确认的铲重新入箱过程。"
+     },
+     {
+      "t": 445.8,
+      "log_step": null,
+      "text_zh": "推断：reward.q_score=0.0，园艺铲入箱在初态不成立，因此终态入箱必为假；视频也未显示一次可确认的内腔放置并松手静止。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左爪在视频约244.5 s后实际夹起园艺铲并搬运，后段下移松爪；视频414.0–421.0 s重新拿取尝试实际抬动了红色工具箱，不能记作成功重抓铲。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频245.0–258.0 s底盘在持铲状态下驶回工具箱，视频407.0–414.0 s又重新调整与箱体的相对位置。"
+     }
+    ]
+   },
+   "scraper_in_toolbox": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 375.5,
+      "log_step": 1039,
+      "text_zh": "观察：log step 1003及1039的动作说明把刮刀当作已在工具箱内；本视频未见机器人从原处夹起刮刀并将其放入内腔的过程，不能用这一假定补记放入动作。"
+     },
+     {
+      "t": 445.8,
+      "log_step": null,
+      "text_zh": "推断：reward.q_score=0.0，刮刀入箱在初态不成立，故最终刮刀入箱为假；未见可确认的中途入箱、松手静止区间。"
+     }
+    ]
+   },
+   "toolbox_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      174.5
+     ],
+     [
+      188.0,
+      269.0
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 120.0,
+      "log_step": null,
+      "text_zh": "推断：视频约120.0 s首次近看工具箱时盖与箱体贴合；此前机器人一直在扫描、行驶，没有接触箱体，结合DAG的初始关闭信息，关闭状态从视频0 s计。"
+     },
+     {
+      "t": 175.5,
+      "log_step": null,
+      "text_zh": "观察：视频174.5–177.5 s盖与箱体分离，右腕可见内壁，因此初始关闭状态失去。"
+     },
+     {
+      "t": 193.0,
+      "log_step": null,
+      "text_zh": "推断：视频183.0–185.0 s机器人放下/释放工具箱，随后箱体一度离开视野；视频192.0–199.0 s重新见到的箱体、以及视频250.0–258.0 s的近景呈盖、箱贴合状态。将恢复关闭的时间估在视频188.0 s，受遮挡影响约有±4 s不确定性。"
+     },
+     {
+      "t": 272.0,
+      "log_step": null,
+      "text_zh": "推断：视频262.0–270.0 s右爪再次抬动、翻转箱体；视频270.0–273.0 s箱沿出现明显间隙，视频293.5–299.0 s右腕明确显示敞开的内腔。第二次失去关闭取视频269.0 s，约有1–2 s误差。"
+     },
+     {
+      "t": 345.5,
+      "log_step": null,
+      "text_zh": "观察：视频334.0–345.5 s及365.0–370.0 s箱盖、箱体明显分开；视频311.0–330.0 s有些头部画面只见红色外面/箱底，不能据此增记一次关盖。"
+     },
+     {
+      "t": 395.5,
+      "log_step": 1005,
+      "text_zh": "观察：视频389.0–399.0 s机器人压动、翻转工具箱，未见可靠的盖、箱贴合。log step 1003写入的gen.py包含关盖扫动及下压段，log step 1004启动该版本，后续执行提交记录于log step 1005。推断：按视频中随后调整底盘（视频407.0–414.0 s）、重新抓取并抬箱（视频414.0–421.0 s）的顺序核对，此处压箱对应第一次脚本执行，不能归到后续版本的log step 1039。"
+     },
+     {
+      "t": 445.8,
+      "log_step": 1039,
+      "text_zh": "观察：视频414.0–441.0 s机器人又抬起箱体；视频442.0 s及444.8–445.8 s腕部近景仍露出分离的红色内壁，未见盖回到箱口贴合。日志中后续版本gen.py在log step 1037重新写入，由log step 1038启动，后续17次执行提交记录于log step 1039。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频389.0–399.0 s右夹爪/掌部在箱体上施压并使箱体移动、翻转；这是gen.py第一版（log step 1003写入、log step 1004启动、后续执行提交记录于log step 1005）所安排的关盖尝试，未形成可靠的盖、箱贴合终态。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "trowel_rust_removed",
+   "t": 375.0,
+   "log_step": 1005,
+   "where": "操作中",
+   "evidence_zh": "观察：机器人实际拿铲后，在视频约275.0–371.0 s反复向箱体附近伸右爪、闭爪取清洁器；视频373.0–383.0 s出现与gen.py第一版预设擦拭序列相符的动作（log step 1003仅写脚本，log step 1004启动、后续执行提交记录于log step 1005），却未见清洁器与所持园艺铲建立有效擦拭接触。此除锈步骤后来也未完成，reward.q_score=0.0；视频约375.0 s作为该持续未修复失败的导航锚点。早期拿铲失败后来已修复，开箱事件也确已达成，因此不选那些步骤为断点。"
+  },
+  "unmet": {
+   "trowel_rust_removed": false,
+   "scraper_rust_removed": false,
+   "trowel_in_toolbox": false,
+   "scraper_in_toolbox": false,
+   "toolbox_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 375.0,
+    "log_step": 1005,
+    "evidence_zh": "观察：视频373.0–383.0 s机器人右爪在箱体附近往返，左爪持铲后下移，没有显示钢丝绒/清洁器接触铲面并随之擦拭；视频424.0–441.0 s右腕虽出现清洁器，左爪旁却是被抬起的红色工具箱。推断：除锈所需的清洁器—园艺铲有效接触没有建立，不能把闭爪或空扫当作除锈。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 375.0,
+    "log_step": 1005,
+    "evidence_zh": "观察：log step 987在一次所谓钢丝绒抓取后记录右爪总开度约0.0000017 m；log step 1003写入的脚本又安排闭爪、打印开度，随后直接安排预设箱内扫动和持铲擦拭序列；该版本由log step 1004启动，后续22次执行提交记录于log step 1005，没有以实际持有清洁器、清洁器贴合铲面为继续条件。视频373.0–383.0 s没有出现相应的工具贴合擦拭。推断：抓取与擦拭控制在未确认有效接触时继续执行，导致这次清洁尝试空转；证据不足以再细分为逆解、跟踪或接触几何问题。",
+    "source_zh": "日志"
+   },
+   {
+    "cat": "认知",
+    "item": "感知",
+    "t": 418.0,
+    "log_step": 1031,
+    "evidence_zh": "观察：log step 1016–1017把箱盖附近的像素选为金属工具，log step 1029–1031据此执行“从盖上拿园艺铲”；视频414.0–421.0 s左腕实际随爪移动的是大片红色工具箱，视频424.0–441.0 s仍持续占据左腕视野。推断：后续补救时对被抓目标的识别/定位有误，实际抬箱被当成拿铲，使同一除锈步骤继续无法组织清洁器与铲面的接触。",
+    "source_zh": "视频"
+   }
+  ],
+  "gap_zh": "无状态日志、无成功示范，三路相机中的物体经常被夹爪、箱体或视野边缘遮挡，细小锈粒不可逐粒核实；两项除锈与两项入箱的最终假值由初态和q_score=0.0共同限定，不能据此虚构具体接触。关箱的恢复锚点视频188.0 s约有±4 s误差，第二次打开锚点视频269.0 s约有1–2 s误差；后段部分外表面/箱底画面不能精确恢复每次盖关节的小幅变化。缺少力、关节跟踪及接触对数据，控制根因保留在大类。"
+ },
+ "summary_zh": "机器人打开了工具箱，并最终拿起园艺铲运回箱旁；关箱状态初始成立、途中曾恢复，但结束时仅打开事件仍计为达成，五项终态目标均未满足。园艺铲除锈尝试未建立可确认的有效擦拭接触，预设控制在未确认抓到清洁器时继续执行，后续又把工具箱当作拿铲目标抬起。无状态日志且物体多处遮挡，除锈和入箱终值结合q_score=0.0判定，若干开合时间为有注明误差的视觉估计。",
+ "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、终值（开箱为真、其余四项由q_score=0.0限定为假）、关箱区间与断点步骤（除锈）总体与画面及日志一致，未发现需改变节点值的错误。仅发现一处证据引用错误：多处把视频373–399 s的动作归到log step 1003，但该步只是编辑gen.py（sim submit=0），并未执行，应改引实际执行的步骤。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "第二轮复核：节点终值（仅开箱为真，其余由q_score=0.0限定为假）、关箱区间、除锈步骤断点及log step引用与画面、日志一致；上轮引用问题已修复，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-clean-your-rusty-garden-tools-i00-standard--eqoef4p/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-your-rusty-garden-tools-i00-standard--eqoef4p/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-your-rusty-garden-tools-i00-standard--eqoef4p/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-clean-your-rusty-garden-tools-i00-standard--eqoef4p/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "868fbf16bab40edc9c6d76767ba54df68834f0fcd433d1b024469b0c48dae3e7",
+   "video_sha256": "179568d9ca644f8ddc458c065383c886c262abf7f38982fc021be57806b6b634",
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+   "video_choice": "HF replay.mp4"
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phase2/behavior-1k/clean_your_rusty_garden_tools/trajectories/behavior-clean-your-rusty-garden-tools-i00-standard--g4t4nao.json

@@ -0,0 +1,273 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-your-rusty-garden-tools-i00-standard--g4t4nao",
+ "taskKey": "behavior-1k/clean_your_rusty_garden_tools",
+ "dag_sha256": "af817db290d8d169ff928c865c2e9fa0b2cf6c1d8a0bfe34e98149df4f4a1029",
+ "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": 4786,
+   "sim_steps": 4786,
+   "physics_steps": 19144,
+   "steps": 4296,
+   "elapsed_s": 1006.1,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "q_score": 0.0,
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+   "resume_max_tcp_dev_m": 0.0,
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+   "gave_up": 0,
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+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
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+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
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+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-your-rusty-garden-tools-i00-standard--g4t4nao/replay.mp4",
+  "duration_s": 159.533,
+  "fps": 30.0,
+  "frames": 4786,
+  "sha256": "7c8d8277813ba19efe6804e94e47ff938d30bab37f75a3e4c3d9c8264e504475"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "toolbox_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 54,
+      "log_step": 19,
+      "text_zh": "观察：视频 0–58 s 的头部及双腕视角中，机器人只在车道上转向扫描，未见夹爪接近箱盖或露出的工具箱内腔；视频 62–159.5 s 机器人继续移动、扫描并最终倾倒，未见任何开箱动作。"
+     },
+     {
+      "t": 159.5,
+      "log_step": 41,
+      "text_zh": "推断：结合视频中的完整搜索过程、未见箱盖操作，以及 agent 在 log step 41 自述“未找到工具或工具箱”，打开工具箱事件未发生；该自述只作辅助证据。"
+     }
+    ]
+   },
+   "trowel_rust_removed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 110,
+      "log_step": 32,
+      "text_zh": "观察：视频 0–110 s 的转向扫描和视频 114–159.5 s 的移动、倾倒过程中，未见机器人拿取钢丝绒或对园艺铲进行擦拭；双腕视角没有携带目标工具。"
+     },
+     {
+      "t": 159.5,
+      "log_step": 38,
+      "text_zh": "推断：DAG记载园艺铲初始有锈，视频未显示清洁操作，且 inputs/run.json 的评分器终值 q_score=0、live_matches_replay=1；除初始已成立的关箱条件外，没有新增目标文字条件满足，因此园艺铲除锈终值为假。全程未见可使初始锈层消失的动作，区间记为空。"
+     }
+    ]
+   },
+   "scraper_rust_removed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 110,
+      "log_step": 32,
+      "text_zh": "观察：视频 0–110 s 的转向扫描和视频 114–159.5 s 的移动、倾倒过程中，未见机器人拿取钢丝绒或对刮刀进行擦拭；双腕视角没有携带目标工具。"
+     },
+     {
+      "t": 159.5,
+      "log_step": 38,
+      "text_zh": "推断：DAG记载刮刀初始有锈，视频未显示清洁操作，且 inputs/run.json 的评分器终值 q_score=0、live_matches_replay=1；除初始已成立的关箱条件外，没有新增目标文字条件满足，因此刮刀除锈终值为假。全程未见可使初始锈层消失的动作，区间记为空。"
+     }
+    ]
+   },
+   "trowel_in_toolbox": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 110,
+      "log_step": 32,
+      "text_zh": "观察：视频 0–110 s 机器人反复扫描围栏、车道、车棚和车辆，未见夹爪将园艺铲从原处提起或搬入箱内；视频 114–159.5 s 两腕仍没有携带工具，最后随机器人翻倒。"
+     },
+     {
+      "t": 159.5,
+      "log_step": 38,
+      "text_zh": "推断：DAG记载园艺铲初始在箱外，视频没有抓取或入箱过程；评分器 q_score=0、live_matches_replay=1 也排除了该新增入箱文字条件在终态成立。结合始终无工具搬运，园艺铲入箱未达到。"
+     }
+    ]
+   },
+   "scraper_in_toolbox": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 110,
+      "log_step": 32,
+      "text_zh": "观察：视频 0–110 s 机器人反复扫描围栏、车道、车棚和车辆，未见夹爪将刮刀从原处提起或搬入箱内；视频 114–159.5 s 两腕仍没有携带工具，最后随机器人翻倒。"
+     },
+     {
+      "t": 159.5,
+      "log_step": 38,
+      "text_zh": "推断：DAG记载刮刀初始在箱外，视频没有抓取或入箱过程；评分器 q_score=0、live_matches_replay=1 也排除了该新增入箱文字条件在终态成立。结合始终无工具搬运，刮刀入箱未达到。"
+     }
+    ]
+   },
+   "toolbox_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务 DAG 的初始目标位串说明工具箱初始关闭；视频 0 s 箱体未入镜，不能直接量取箱盖角度。视频全程仅见机器人扫描、移动和倾倒，未见手部或机体操作工具箱，因此初始关闭状态保持至视频 159.5 s；此 state 节点从视频 0 s 计入，不受 after 边门控。"
+     },
+     {
+      "t": 159.5,
+      "log_step": 38,
+      "text_zh": "推断：评分器 q_score=0 不否定初始已满足的关箱条件，该指标不计保持的初始目标；另外四项新增目标均未满足。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": 149.4,
+   "log_step": 32,
+   "where": "探索",
+   "evidence_zh": "观察：视频 0–149.2 s 机器人在车道转向扫描和移动，未见对任何工具或工具箱开始操作；视频 149.2–150.2 s 双腕画面中的车道、车棚随机器人明显侧翻，之后没有恢复直立，视频 159.5 s 仍侧倒。log step 32 的脚本是在新位置做环视扫描，log step 37–38 的实时机器人服务返回 failure: the robot fell over。推断：失败发生在寻找目标的探索阶段；由于尚未选定或接近任何一个目标，无法唯一归到开箱、除锈或入箱节点，ref 记 unknown。"
+  },
+  "unmet": {
+   "trowel_rust_removed": false,
+   "scraper_rust_removed": false,
+   "trowel_in_toolbox": false,
+   "scraper_in_toolbox": false,
+   "toolbox_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 149.4,
+    "log_step": 34,
+    "evidence_zh": "观察：视频 149.2–150.2 s 机器人双腕视角的地平线明显侧转，视频 156.6–159.5 s 仍近乎横置，恢复动作没有使机器人直立。log step 34 的服务本体读数给出基座上轴 z 分量约 -0.331；log step 37–38 服务终止原因为 failure: the robot fell over。推断：同一实时局的 control_steps=4786（log step 38）除以控制频率30 Hz（log step 7）为159.533 s，与视频时长一致；control_steps=4704（log step 34）对应视频156.8 s，已用该时刻侧倒画面核对。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：移动控制未维持躯干姿态，使机器人在继续转向搜索时失稳。log step 12 的 drive 代码在每段开始读取实测关节作为保持目标，并从首个控制步直接施加恒定底盘位移增量，没有启动渐变；log step 24 的 goto 默认速度为0.4米/秒。视频 62.5–64.5 s 首次移动中头部视角快速仰向天空，log step 27 测得第一躯干关节约 -0.644 rad，log step 28–29 才主动恢复姿态；log step 32 随后继续复用相同移动和转向函数，视频 113.5–116 s 头部再次上仰，视频 149.2–150.2 s 整机侧翻。log step 34 实测第一躯干关节约 -0.205 rad，基座已倾覆。代码、两次姿态偏离及最终翻倒支持控制层归因，但未独立验证具体加速度或力矩参数的因果作用，故保留在“控制”。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "无状态日志，也无成功参考视频；机器人始终未把目标工具和工具箱带入可判定的近景，无法直接查看锈粒、箱内位置或箱盖角度。除锈和入箱终值由初态、无相应操作的视频过程及评分器 q_score=0 联合推断；关箱沿用未被操作破坏的初态。探索面向整个场景，无法将其唯一分配到某个操作节点，所以断点 ref 为 unknown；各节点均未开始目标接触操作，contact_actual 不列搜索底盘运动，也不虚构抓握或擦拭。失稳的具体动力学机制未经独立验证。"
+ },
+ "summary_zh": "机器人全程在车道上扫描、移动，未见开箱、除锈或工具入箱；终态仅保留初始已满足的关箱条件，节点为1/6。视频约149.4 s 机器人在搜索中侧翻，至视频159.5 s 仍未恢复，实时服务以倒地判负；代码和重复躯干姿态偏离支持控制层归因。目标始终缺少可判定近景，节点终值部分依赖初态及评分器总分推断，搜索也无法唯一归入某个DAG操作节点。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点终值（仅关箱保持初态，1/6）、断点（探索中侧翻，ref unknown）、平衡现象与控制根因均与视频和服务读数一致；未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:19:30Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
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+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-clean-your-rusty-garden-tools-i00-standard--g4t4nao/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-your-rusty-garden-tools-i00-standard--g4t4nao/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
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+   "video_sha256": "7c8d8277813ba19efe6804e94e47ff938d30bab37f75a3e4c3d9c8264e504475",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_your_rusty_garden_tools/trajectories/behavior-clean-your-rusty-garden-tools-i00-standard--kuwcv3x.json

@@ -0,0 +1,401 @@
+{
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+ "runId": "behavior-clean-your-rusty-garden-tools-i00-standard--kuwcv3x",
+ "taskKey": "behavior-1k/clean_your_rusty_garden_tools",
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+ "outcome": {
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+  "reward": 0.4,
+  "source": "catalog",
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+   "q_score": 0.4,
+   "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-your-rusty-garden-tools-i00-standard--kuwcv3x/replay.mp4",
+  "duration_s": 729.133,
+  "fps": 30.0,
+  "frames": 21874,
+  "sha256": "7f98e6062251e2215ee7d17af1ddf733c1a91f2a48e4d8ed67a2e47fe85dd907"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "toolbox_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      126.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 90,
+      "log_step": null,
+      "text_zh": "观察：视频 90 s，机器人面前的红色工具箱盖与箱体贴合。"
+     },
+     {
+      "t": 127,
+      "log_step": null,
+      "text_zh": "观察：视频 126–138 s，机器人夹爪提转箱盖，盖与下部箱体分离，视频 132 s 和视频 138 s 可见两部分之间的开口；首次打开约为视频 126.5 s，随后多次合回和重开。"
+     },
+     {
+      "t": 524,
+      "log_step": null,
+      "text_zh": "观察：视频 518–531 s，箱盖打开，腕部和头部视角可见红色内腔；视频 597–609 s，两件工具从开口进入。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：机器人早期用单侧夹爪夹住把手或箱盖边缘提转；视频 375–449 s 又用两爪分别夹住箱沿及把手协同操作，并多次带动整个箱体。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 254–268 s 附近，机器人以张开的手指探入把手下及箱沿处拨抬；未据此认定钢丝绒被抓到。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–90 s 机器人驱动底盘接近工具箱，随后操作期间多次调整底盘位置。"
+     }
+    ]
+   },
+   "trowel_rust_removed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 580,
+      "log_step": null,
+      "text_zh": "观察：视频 552–578 s，园艺铲仍在地面；视频 580 s 左夹爪已将其提离原位，视频 580–599 s 可见铲头深色表面，随后直接入箱，未见擦拭工具接触铲面。"
+     },
+     {
+      "t": 729.0,
+      "log_step": null,
+      "text_zh": "推断：评分器报告 q_score=0.4（五个目标文字条件中两个新增条件成立），live_matches_replay=1；视频确认两件工具均已入箱，初始已成立的关闭条件不计新增得分，因此终态两项除锈均为假。此结论不是仅由零分推断未做。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在视频 340–540 s 及视频 665–729 s 移动底盘、用相机检查箱旁地面，为寻找两件工具除锈所需的钢丝绒作共同准备；未见钢丝绒与园艺铲接触。"
+     }
+    ]
+   },
+   "scraper_rust_removed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 543,
+      "log_step": null,
+      "text_zh": "观察：视频 538–542 s 红柄刮刀已被右夹爪提离地面；视频 542–548 s 机器人转动并检查刮刀，刃部仍有灰黑色覆盖，未见钢丝绒或其他清洁件擦过刃面。"
+     },
+     {
+      "t": 609,
+      "log_step": null,
+      "text_zh": "观察：视频 598–609 s 机器人把该刮刀直接降入工具箱并放手，之后只操作工具箱和扫描地面；未见刮刀除锈动作。"
+     },
+     {
+      "t": 729.0,
+      "log_step": null,
+      "text_zh": "推断：评分器报告 q_score=0.4（五个目标文字条件中两个新增条件成立），live_matches_replay=1；视频确认两件工具均已入箱，初始已成立的关闭条件不计新增得分，因此终态两项除锈均为假。此结论不是仅由零分推断未做。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手���/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 538–548 s，机器人右夹爪夹住刮刀红色柄并转动检查；这是检查工具的接触，没有观察到钢丝绒压擦刮刀。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 340–540 s 及视频 665–729 s 机器人移位扫描地面，寻找供除锈使用的材料；视频 542–562 s 还持刮刀移动检查。"
+     }
+    ]
+   },
+   "trowel_in_toolbox": {
+    "method": "visual",
+    "intervals": [
+     [
+      597.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 580,
+      "log_step": null,
+      "text_zh": "观察：视频 578 s 园艺铲仍在地面，视频 580 s 已随左夹爪抬起；视频 588–596 s 机器人带回开口工具箱并降低园艺铲。"
+     },
+     {
+      "t": 600,
+      "log_step": 614,
+      "text_zh": "观察：视频 597–600 s 左夹爪张开后退出，园艺铲留在箱内底面，未随手离开；视频 607–609 s 园艺铲与随后放下的刮刀并排位于箱沿内。入箱静置起点约为视频 597.5 s。"
+     },
+     {
+      "t": 680,
+      "log_step": null,
+      "text_zh": "推断：视频 609–656 s 工具仍在内腔，视频 657–680 s 机器人合盖、提放工具箱，没有看到工具掉到箱外；视频 728.15–729.0 s 箱体仍闭合静置，结合 q_score=0.4，终态园艺铲入箱成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左夹爪夹住园艺铲柄，搬到开口工具箱并松手；右臂同期持刮刀避让，未观察到右爪共同夹持园艺铲。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 580–589 s，机器人用底盘把所持园艺铲运回工具箱。"
+     }
+    ]
+   },
+   "scraper_in_toolbox": {
+    "method": "visual",
+    "intervals": [
+     [
+      609.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 542,
+      "log_step": null,
+      "text_zh": "观察：视频 538–542 s 红柄刮刀离开地面并随右夹爪运动，原位置没有留下该刮刀。"
+     },
+     {
+      "t": 609,
+      "log_step": 627,
+      "text_zh": "观察：视频 605–608 s 右夹爪降低、微调刮刀后松开；视频 609–614 s 腕部视角可见刮刀与园艺铲均躺在箱内，夹爪退出而刮刀未跟随，约视频 609 s 起静置。"
+     },
+     {
+      "t": 680,
+      "log_step": null,
+      "text_zh": "推断：视频 614–656 s 刮刀留在内腔；后续合盖及视频 673–680 s 提放整箱没有可见工具掉出，视频 728.15–729.0 s 箱体闭合静置；结合 q_score=0.4，终态刮刀入箱成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人右夹爪夹住刮刀红柄，将其运回、降低到箱内并张开释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 542–589 s 机器人持刮刀移动，最后运回工具箱。"
+     }
+    ]
+   },
+   "toolbox_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      126.5
+     ],
+     [
+      156.5,
+      183.0
+     ],
+     [
+      198.5,
+      286.0
+     ],
+     [
+      289.5,
+      307.0
+     ],
+     [
+      310.5,
+      323.5
+     ],
+     [
+      328.0,
+      331.5
+     ],
+     [
+      358.5,
+      373.0
+     ],
+     [
+      441.5,
+      443.5
+     ],
+     [
+      461.5,
+      470.5
+     ],
+     [
+      657.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 90,
+      "log_step": null,
+      "text_zh": "观察：视频 80–100 s 初见工具箱时箱盖贴合；结合任务初态，关闭条件从视频 0 s 起成立。视频 120–127 s 提转过程中开始露出开口，约视频 126.5 s 失去关闭。"
+     },
+     {
+      "t": 200,
+      "log_step": null,
+      "text_zh": "观察：视频 127–155 s 盖与箱体分离；视频 156–182 s 盖回合，视频 183–198 s 再次掀开，视频 199–204 s 又合回。开合边界为按画面估读的近似时间。"
+     },
+     {
+      "t": 330,
+      "log_step": null,
+      "text_zh": "观察：视频 204–285 s 多次提转整箱，未见持续露出的内腔；视频 286–289 s、视频 307–310 s、视频 324–327 s、视频 332–358 s 可见箱体与盖分离，间隔中箱盖回贴；视频 329–330 s 腕部视角可见盖合在箱口。"
+     },
+     {
+      "t": 463,
+      "log_step": null,
+      "text_zh": "观察：视频 359–372 s 箱体落地且盖贴合，视频 373–440 s 再次分离；视频 442–443 s 盖合在落地箱体上，随后重新打开，视频 462–470 s 再次贴合。视频 471–656 s 的后续视角重新显示开口和内腔。边缘遮挡及箱体整体转动使部分5%阈值边界约有1–2秒不确定性。"
+     },
+     {
+      "t": 658,
+      "log_step": 665,
+      "text_zh": "观察：视频 654–657 s 机器人用张开的手指推转箱盖，视频 657–664 s 箱口已被带把手的盖板覆盖。视频 673–680 s 再次提放整箱后仍闭合；视频 728.15–729.0 s 最后一秒箱盖保持贴合。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 618–644 s 机器人左夹爪夹住开盖边缘尝试翻回，过程中整箱也被带动；随后释放并重新调整接触。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 650–657 s 机器人以张开手指从盖边下方抬拨，再推盖越过铰链方向使盖回合。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.4,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "scraper_rust_removed",
+   "t": 543.0,
+   "log_step": 559,
+   "where": "探索",
+   "evidence_zh": "观察：视频 538–548 s 机器人先提起红柄刮刀并转动检查，随后携带、直接放入工具箱；没有出现对刃面的清洁接触。agent 在 log step 561 称灰色材料随刃部移动、在 log step 595 承认除锈仍未解决，之后视频 665–729 s 机器人仍在扫描地面寻找钢丝绒。推断：以先被拿起检查的刮刀除锈作为未修复步骤的锚点；早先打开工具箱的困难后来已解决，两件工具的除锈准备共用同一次材料搜索。"
+  },
+  "unmet": {
+   "trowel_rust_removed": false,
+   "scraper_rust_removed": false,
+   "trowel_in_toolbox": true,
+   "scraper_in_toolbox": true,
+   "toolbox_closed": true
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/提供运行记录和完整三视角视频，但没有状态日志或成功示范。已检查的箱内及地面视角未能确定钢丝绒的位置，也未捕捉到其从箱中掉出的事件；agent 在 log step 341、494 所说“可能掉出”只是猜测。推断：两件工具的未达项可由已确认的入箱事实及评分总量确定，但细小锈粒不能逐粒视觉验清；机器人没有形成一次可分析的擦拭尝试，因此现象层留空，无法区分材料定位、接触方案或其他原因，根因层留空。刮刀与园艺铲共用的材料搜索无法分出更早的工具专属失败时刻，断点以视频 543 s 的首次刮刀近景检查定位；箱盖部分开合边界只能估读，不能由视频精确测量5%关节阈值。"
+ },
+ "summary_zh": "机器人打开了工具箱，将园艺铲和刮刀抓起、运回并松手放在箱内，最后合上箱盖，终态达到4/6个节点（包含打开事件）。两项除锈均未完成：首次检查刮刀后仍没有进入擦拭，后续持续寻找钢丝绒，收纳没有修复除锈缺口。钢丝绒位置及未找到的原因缺少直接证据，故现象和根因留空；部分箱盖开合时间为视觉近似。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点时间与终态（开箱、两件入箱、关盖）与视频一致；钢丝绒在视频与腕部画面中始终未见，现象/根因留空并写明 gap_zh 可接受，断点落在除锈步骤合理。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": "2026-10-30T21:20:05Z",
+  "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-clean-your-rusty-garden-tools-i00-standard--kuwcv3x/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-your-rusty-garden-tools-i00-standard--kuwcv3x/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4d5b0f2ece1ccc17ed0a4566ccbde162f106f74e5ff8a3690996f96516191f2f",
+   "video_sha256": "7f98e6062251e2215ee7d17af1ddf733c1a91f2a48e4d8ed67a2e47fe85dd907",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_your_rusty_garden_tools/trajectories/behavior-clean-your-rusty-garden-tools-i00-standard--stvenkc.json

@@ -0,0 +1,280 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-your-rusty-garden-tools-i00-standard--stvenkc",
+ "taskKey": "behavior-1k/clean_your_rusty_garden_tools",
+ "dag_sha256": "af817db290d8d169ff928c865c2e9fa0b2cf6c1d8a0bfe34e98149df4f4a1029",
+ "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": 9517,
+   "sim_steps": 9517,
+   "physics_steps": 38068,
+   "steps": 4191,
+   "elapsed_s": 6386.5,
+   "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": 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-your-rusty-garden-tools-i00-standard--stvenkc/replay.mp4",
+  "duration_s": 317.233,
+  "fps": 30.0,
+  "frames": 9517,
+  "sha256": "c9003609b42d85703bd17e07aef3a65913bf77ee3701517e8f5341608d662ef8"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "toolbox_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 300,
+      "log_step": 250,
+      "text_zh": "观察：视频 299.0–302.0 s 的头部及腕部画面可见地上的红色工具箱，黑色提手仍在闭合箱盖上，没有露出内腔；机器人调整视角和接近位置，没有掀盖动作。"
+     },
+     {
+      "t": 317.2,
+      "log_step": 276,
+      "text_zh": "观察：视频 307.5–317.2 s 机器人倾倒后未恢复，也没有完成开盖；log step 276 的机器人服务状态为 done=True、reason=\"failure: the robot fell over\"，resumes=0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 294.0–307.5 s 轮式底盘载着机器人接近红色工具箱并调整观察位置；未见夹爪抓住或推开箱盖，不补标箱盖抓握。"
+     }
+    ]
+   },
+   "trowel_rust_removed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 300,
+      "log_step": null,
+      "text_zh": "观察：抽查视频全程并加密查看视频 0–79 s、290–317.2 s，机器人主要移动、转身及倾倒，夹爪未见持钢丝绒擦拭园艺铲；视频 299.0–302.0 s 工具箱仍闭合，未见取出其中的钢丝绒。"
+     },
+     {
+      "t": 317.2,
+      "log_step": null,
+      "text_zh": "推断：DAG 和任务文本给出的初态为园艺铲生锈，视频未见清洁过程；评分器 reward.q_score=0.0 且 live_matches_replay=1，使这一初始不成立的目标在终态不能为真。因此园艺铲除锈 final=false；锈粒没有可供逐粒核对的近景，时间线上未记已完成区间。"
+     }
+    ]
+   },
+   "scraper_rust_removed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 300,
+      "log_step": null,
+      "text_zh": "观察：抽查视频全程并加密查看视频 0–79 s、290–317.2 s，机器人主要移动、转身及倾倒，夹爪未见持钢丝绒擦拭刮刀；视频 299.0–302.0 s 工具箱仍闭合，未见取出其中的钢丝绒。"
+     },
+     {
+      "t": 317.2,
+      "log_step": null,
+      "text_zh": "推断：DAG 和任务文本给出的初态为刮刀生锈，视频未见清洁过程；评分器 reward.q_score=0.0 且 live_matches_replay=1，使这一初始不成立的目标在终态不能为真。因此刮刀除锈 final=false；锈粒没有可供逐粒核对的近景，时间线上未记已完成区间。"
+     }
+    ]
+   },
+   "trowel_in_toolbox": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 301,
+      "log_step": null,
+      "text_zh": "观察：视频 299.0–302.0 s 工具箱保持闭合，机器人未将园艺铲带到箱口，也未见工具离开地面后进入箱内的搬运或释放。视频 307.5–317.2 s 机器人持续倾倒，未出现后续放入。"
+     },
+     {
+      "t": 317.2,
+      "log_step": null,
+      "text_zh": "推断：任务文本与 DAG 的初态为园艺铲在箱外；结合视频无入箱动作，以及评分器 reward.q_score=0.0、live_matches_replay=1��这一初始不成立的入箱目标终态为假，不能因箱内被盖遮住而留为未知。"
+     }
+    ]
+   },
+   "scraper_in_toolbox": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 301,
+      "log_step": null,
+      "text_zh": "观察：视频 299.0–302.0 s 工具箱保持闭合，机器人未将刮刀带到箱口，也未见工具离开地面后进入箱内的搬运或释放。视频 307.5–317.2 s 机器人持续倾倒，未出现后续放入。"
+     },
+     {
+      "t": 317.2,
+      "log_step": null,
+      "text_zh": "推断：任务文本与 DAG 的初态为刮刀在箱外；结合视频无入箱动作，以及评分器 reward.q_score=0.0、live_matches_replay=1，这一初始不成立的入箱目标终态为假，不能因箱内被盖遮住而留为未知。"
+     }
+    ]
+   },
+   "toolbox_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG 的初态说明工具箱关闭；视频开头机器人在车道上观察，未见箱盖操作，视频 299.0–302.0 s 清楚看到红箱盖贴合箱体、黑色提手在上方，未露出内腔；其后至视频 317.2 s 未见开盖，故关闭状态从视频 0 s 延续至结束。"
+     },
+     {
+      "t": 301,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0 不否定这一始终保持的关闭状态；BEHAVIOR 的该指标不累计仍保持的初始已满足文字目标。关闭是 state 节点，DAG 的 after 边不门控其初始计分。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "toolbox_opened",
+   "t": 307.5,
+   "log_step": 274,
+   "where": "转场",
+   "evidence_zh": "观察：视频 299.0–302.0 s 机器人已来到闭合的红色工具箱附近，随后视角转向木墙；视频约 307.5 s 地面在腕部画面中接近竖直，头部画面朝向天空，机器人此后到视频 317.2 s 均未恢复直立或打开箱盖。log step 265、274 的脚本仍在空手驶向箱旁观察位置，log step 276 的机器人服务确认倒地终止。推断：这是打开工具箱前接近工作位置时未恢复的失衡，故断点归打开工具箱，位置为转场；不把倒地约束当作步骤。"
+  },
+  "unmet": {
+   "trowel_rust_removed": false,
+   "scraper_rust_removed": false,
+   "trowel_in_toolbox": false,
+   "scraper_in_toolbox": false,
+   "toolbox_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 307.5,
+    "log_step": 276,
+    "evidence_zh": "观察：视频 307.25–310.75 s 画面明显翻斜，腕部视角的地面变为近竖直，头部视角持续朝天空与木墙；视频 316.5 s 和 317.2 s 仍是倾倒姿态，未恢复支撑。log step 276 的服务返回 control_steps=9517、done=True、reason=\"failure: the robot fell over\"。推断：log step 21 给出控制频率 30 Hz，9517/30=317.23 s 与视频末帧相合；log step 272 的 control_steps=9335 对应视频 311.17 s，也已在视频 311.0–311.5 s 的持续侧倾画面核对。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "观察：log step 265 的 close.py 驶近脚本按当前位置直接发送底盘平移，倾斜读数低于阈值才调用 right_self，调用返回后没有确认直立就继续下一次行驶；log step 274 仍运行同一脚本，服务随后报倒地。视频 303.5–307.5 s 机器人连续滚转，视频 307.5–317.2 s 姿态未恢复。推断：这次驶近与纠偏控制没有维持或恢复机体支撑，导致打开工具箱前的转场中断；现有证据不能区分具体接触布局、轨迹或反馈环节，保留控制大类。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 没有状态日志或成功示范视频，头部与腕部画面没有两工具锈粒及箱内的连续近景，无法逐项直接读取清洁或 inside 状态；四个初始不成立的目标终态由未见相关操作与评分器 q_score=0.0 联合判定。推断：toolbox_closed 从视频 0 s 成立依据 DAG 初态及视频后段闭合外观和未开盖过程；约视频 307.5 s 为失衡导航锚点，具体致倾的机器人部位与环境接触，以及控制子类型无法确认。"
+ },
+ "summary_zh": "机器人在车道上反复观察、移动并多次失衡，最终来到仍闭合的工具箱附近，未完成开盖、两工具除锈或入箱；仅初始关闭状态保持，终态为 1/6 个节点。视频约 307.5 s 起机器人持续倾倒至视频 317.2 s，服务确认倒地终止，断点为打开工具箱前的转场，根因保守归为控制。缺少状态日志和工具锈粒近景，四个初始不成立目标的终态结��评分器 q_score=0.0 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": "节点值（仅工具箱关闭保持，其余四个终态为假、开箱未达成）、断点（打开工具箱·转场）、平衡现象与控制根因均与视频及服务读数（control_steps=9517、done、fell over）一致；时钟换算 9335/30=311.17 s 与持续倾斜画面相符。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": "2026-10-30T21:17:06Z",
+  "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-clean-your-rusty-garden-tools-i00-standard--stvenkc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-your-rusty-garden-tools-i00-standard--stvenkc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "af0f8fcffaf259a128d864ad2372d99985bf8a3a061e7f3ab6598bc3b7030564",
+   "video_sha256": "c9003609b42d85703bd17e07aef3a65913bf77ee3701517e8f5341608d662ef8",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_your_rusty_garden_tools/trajectories/behavior-clean-your-rusty-garden-tools-i00-standard--wuuiyvr.json

@@ -0,0 +1,258 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-your-rusty-garden-tools-i00-standard--wuuiyvr",
+ "taskKey": "behavior-1k/clean_your_rusty_garden_tools",
+ "dag_sha256": "af817db290d8d169ff928c865c2e9fa0b2cf6c1d8a0bfe34e98149df4f4a1029",
+ "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": 696,
+   "sim_steps": 696,
+   "physics_steps": 2784,
+   "steps": 232,
+   "elapsed_s": 1064.1,
+   "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-clean-your-rusty-garden-tools-i00-standard--wuuiyvr/replay.mp4",
+  "duration_s": 23.2,
+  "fps": 30.0,
+  "frames": 696,
+  "sha256": "11e970ee4ba7768a01f383187286bc1c91c81bc57fdc93bc7420e140ce31f654"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "toolbox_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": 20,
+      "text_zh": "观察：视频 0.0–23.17 s 的三路画面呈现车道、围栏、车辆及机器人自身，机器人反复转动视角，没有可见的接近箱盖、掀盖或露出工具箱内腔动作；log step 20、28、34、40、49 的执行脚本为躯干扫描及底盘原地转向。"
+     },
+     {
+      "t": 23.17,
+      "log_step": 58,
+      "text_zh": "推断：DAG 记载工具箱初始关闭，结合整段视频未出现开箱操作及 log step 58 的过滤中断，本事件未达到；并非由 q_score=0 单独判定。"
+     }
+    ]
+   },
+   "trowel_rust_removed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.17,
+      "log_step": 49,
+      "text_zh": "观察：视频 0.0–23.17 s 没有机器人持钢丝绒擦拭园艺铲或移动园艺铲的可见过程，目标表面也没有可辨认的近景；log step 49 最后一组实际执行动作仍为水平扫描。"
+     },
+     {
+      "t": 23.17,
+      "log_step": null,
+      "text_zh": "推断：DAG 初态园艺铲带锈，评分器 reward.q_score=0 且 live_matches_replay=1；除初始已成立的关箱条件外，任何新满足的目标文字条件都会贡献正分，因此园艺铲无锈在终态为假。结合全程仅扫描、没有清洁过程，记为从未达到。"
+     }
+    ]
+   },
+   "scraper_rust_removed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.17,
+      "log_step": 49,
+      "text_zh": "观察：视频 0.0–23.17 s 没有机器人持工具擦拭刮刀的可见过程，也没有足以逐粒检查锈的刮刀近景；log step 49 执行的仍为躯干水平扫描。"
+     },
+     {
+      "t": 23.17,
+      "log_step": null,
+      "text_zh": "推断：DAG 初态刮刀带锈，reward.q_score=0、live_matches_replay=1 排除终态新增刮刀无锈目标；全程没有可见清洁或后续重新沾锈过程，故本节点记为未达到。"
+     }
+    ]
+   },
+   "trowel_in_toolbox": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.17,
+      "log_step": 57,
+      "text_zh": "观察：视频 0.0–23.17 s 未显示园艺铲离开原位、进入夹爪或被放入箱内；log step 57 仅定义底盘行驶函数，随后 log step 58 过滤中断，没有调用该函数或执行搬运。"
+     },
+     {
+      "t": 23.17,
+      "log_step": null,
+      "text_zh": "推断：DAG 初态园艺铲在箱外，视频全程没有搬运证据，且 reward.q_score=0、live_matches_replay=1 排除终态新增园艺铲入箱条件；本节点未达到。"
+     }
+    ]
+   },
+   "scraper_in_toolbox": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.17,
+      "log_step": 57,
+      "text_zh": "观察：视频 0.0–23.17 s 未显示机器人抓起刮刀、携带刮刀或将其放入工具箱，末尾视频 22.2–23.17 s 仍在转动视角观看围栏和车道；log step 57 仅添加导航辅助函数。"
+     },
+     {
+      "t": 23.17,
+      "log_step": null,
+      "text_zh": "推断：DAG 初态刮刀在箱外，整段视频没有相应搬运过程，且 reward.q_score=0、live_matches_replay=1 排除终态新增刮刀入箱条件；本节点未达到。"
+     }
+    ]
+   },
+   "toolbox_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：task/task_dag.json 记载初始目标位串为 00001，工具箱初始关闭；视频 0.0–23.17 s 仅显示机器人扫描环境，未出现箱盖操作或任何工具搬运，结合 log step 20、28、34、40、49 的扫描脚本，判断初始关箱状态一直保留。此为初态与动作过程的推断，箱盖未获得可辨认近景。"
+     },
+     {
+      "t": 23.17,
+      "log_step": null,
+      "text_zh": "推断：reward.q_score=0 不否定保留的初始关箱条件，BEHAVIOR 总分不计仍保持的初始真目标；本节点按 state 条件从视频 0.0 s 计入，不受入箱 after 边门控。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 58,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 58 最终消息明确为“This request was blocked by Gemini’s filters”；此前 log step 57 只编写行驶辅助函数，没有后续执行或任务完成记录。视频 0.0–23.17 s 及末尾视频 22.2–23.17 s 显示机器人仍在扫描环境，未启动任何目标物操作，也未见不可恢复的物理失败。"
+  },
+  "unmet": {
+   "trowel_rust_removed": false,
+   "scraper_rust_removed": false,
+   "trowel_in_toolbox": false,
+   "scraper_in_toolbox": false,
+   "toolbox_closed": true
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：log step 58 记录模型供应商过滤中断，发生在实际任务操作及成功验收之前；run.json 的 wall_s=1696、time_limit_s=7200，且没有主动完成或保存验证成功结果的记录。按外因中断规则保留目录 success=0，但不归为机器人失败，不标没尝试或其他现象、根因。视频中三路视角主要覆盖周围车道和机器人自身，目标箱盖及工具表面无可辨认近景；inputs/ 无状态日志、无成功示范。各节点区间结合 DAG 初态、仅扫描的动作记录与视频推断，四个新增目标的终态另由 q_score=0 约束；无法直接逐帧验证箱盖角度或锈粒。过滤发生时没有可定位的物理失败时刻，故 breakpoint.t=null。"
+ },
+ "summary_zh": "机器人在视频 0.0–23.17 s 仅扫描环境并原地转向，未打开工具箱、未清洁或收纳两件工具；依据 DAG 初态与全程无箱盖操作，关箱状态保留，节点终态为1/6。log step 58 的模型供应商过滤在任务完成前中断运行，按外因中断处理，保留目录 success=0，断点未知，现象和根因留空。无状态日志和目标近景，状态区间依赖初态、动作过程及评分总量的推断。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "标注符合外因中断规则：log step 58 为供应商过滤中断，任务操作未开始，现象与根因留空并有 gap_zh，状态节点与终态 1/6（仅初始关箱）一致。未发现需要修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:24:14Z",
+  "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-clean-your-rusty-garden-tools-i00-standard--wuuiyvr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-your-rusty-garden-tools-i00-standard--wuuiyvr/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "61ec2af3a4ae3806bf899c24f8730286038c8f98894e3f49f57da16fe33358ee",
+   "video_sha256": "11e970ee4ba7768a01f383187286bc1c91c81bc57fdc93bc7420e140ce31f654",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-privileged--6kexdp2.json

@@ -0,0 +1,308 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cleaning-up-branches-and-twigs-i00-privileged--6kexdp2",
+ "taskKey": "behavior-1k/cleaning_up_branches_and_twigs",
+ "dag_sha256": "dc7c6d3b2cde4ee06a95f0cc7fab8566cf593822410d33282e547a0d8d5455f7",
+ "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": 418,
+   "sim_breakdown": 0,
+   "goal": 0,
+   "settle_steps": 150,
+   "goal_first_step": -1,
+   "sim_steps": 568,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 669.9,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "video_replay_matches": 1,
+   "agent_sessions": 4,
+   "agent_resets": 10,
+   "agent_sim_steps": 2077,
+   "agent_records": 11,
+   "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-cleaning-up-branches-and-twigs-i00-privileged--6kexdp2/replay.mp4",
+  "duration_s": 18.933,
+  "fps": 30.0,
+  "frames": 568,
+  "sha256": "330b465b670dc2a6bf62ded74f3478bb870f5027513fa54ec26203bb53e72e9c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "branches_in_bin_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–6.5 s 中机器人在回收桶周围行驶、近距离侧擦桶体，夹爪没有夹取树枝，也没有树枝从地面被搬至桶内的过程。"
+     },
+     {
+      "t": 18.9,
+      "log_step": 98,
+      "text_zh": "推断：视频 7.0–18.9 s 中机器人转离桶、明显倾斜后停住，至末帧均无抓取或放枝动作；log step 98 确认最终保存的是跳过树枝阶段的418步轨迹。评分器 q_score=0.0，且树枝入桶不是初始已满足目标，因此终态合格树枝数为0，第1根枝入桶为假；不是仅由失败总分推断未尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "推断：视频 0.0–11.5 s 机器人轮式底盘移动，绕回收桶前进、侧擦并回退；结合 log step 96 的 TOPPLE 扫碰指令及 log step 99 的策略说明，这是有意撞桶、试图撞倒桶以弹开盖子后再装枝的策略。视频未见夹爪抓握树枝。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 3.8–5.1 s 回收桶紧邻机器人并发生偏转；直接碰桶的机器人连杆及接触点被机身与桶遮挡，不能确定是底盘、躯干还是臂部，不能标为夹爪抓握。"
+     }
+    ]
+   },
+   "branches_in_bin_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–6.5 s 中机器人在回收桶周围行驶、近距离侧擦桶体，夹爪没有夹取树枝，也没有树枝从地面被搬至桶内的过程。"
+     },
+     {
+      "t": 18.9,
+      "log_step": 98,
+      "text_zh": "推断：视频 7.0–18.9 s 中机器人转离桶、明显倾斜后停住，至末帧均无抓取或放枝动作；log step 98 确认最终保存的是跳过树枝阶段的418步轨迹。评分器 q_score=0.0，且树枝入桶不是初始已满足目标，因此终态合格树枝数为0，第2根枝入桶为假；不是仅由失败总分推断未尝试。"
+     }
+    ]
+   },
+   "branches_in_bin_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–6.5 s 中机器人在回收桶周围行驶、近距离侧擦桶体，夹爪没有夹取树枝，也没有树枝从地面被搬至桶内的过程。"
+     },
+     {
+      "t": 18.9,
+      "log_step": 98,
+      "text_zh": "推断：视频 7.0–18.9 s 中机器人转离桶、明显倾斜后停住，至末帧均无抓取或放枝动作；log step 98 确认最终保存的是跳过树枝阶段的418步轨迹。评分器 q_score=0.0，且树枝入桶不是初始已满足目标，因此终态合格树枝数为0，第3根枝入桶为假；不是仅由失败总分推断未尝试。"
+     }
+    ]
+   },
+   "branches_in_bin_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–6.5 s 中机器人在回收桶周围行驶、近距离侧擦桶体，夹爪没有夹取树枝，也没有树枝从地面被搬至桶内的过程。"
+     },
+     {
+      "t": 18.9,
+      "log_step": 98,
+      "text_zh": "推断：视频 7.0–18.9 s 中机器人转离桶、明显倾斜后停住，至末帧均无抓取或放枝动作；log step 98 确认最终保存的是跳过树枝阶段的418步轨迹。评分器 q_score=0.0，且树枝入桶不是初始已满足目标，因此终态合格树枝数为0，第4根枝入桶为假；不是仅由失败总分推断未尝试。"
+     }
+    ]
+   },
+   "bin_on_garden_floor": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.0,
+      "log_step": null,
+      "text_zh": "推断：DAG明确初态桶已在花园地面；视频 1.75–4.0 s 首次看清回收桶时，桶立在花园铺地上，未见先被机器人抬起。故桶在地面的区间从视频 0.0 s 开始。"
+     },
+     {
+      "t": 6.5,
+      "log_step": 98,
+      "text_zh": "推断：视频 3.8–6.5 s 机器人贴近桶行驶，桶偏转、移位，但可见阶段没有清楚的整桶离地或换支承物过程；log step 98 的最终交付运行输出 bin ontop floor: True，且418步保存记录与交付一致。视频 7.0–18.9 s 桶离开相机视野，机器人没有再伸臂搬桶，结合前后证据维持桶在地面区间；未把侧倾本身当作本节点失去。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "推断：视频 0.0–11.5 s 机器人轮式底盘移动，绕回收桶前进、侧擦并回退；结合 log step 96 的 TOPPLE 扫碰指令及 log step 99 的策略说明，这是有意撞桶、试图撞倒桶以弹开盖子后再装枝的策略。视频未见夹爪抓握树枝。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 3.8–5.1 s 回收桶紧邻机器人并发生偏转；直接碰桶的机器人连杆及接触点被机身与桶遮挡，不能确定是底盘、躯干还是臂部，不能标为夹爪抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "branches_in_bin_1",
+   "t": 4.3,
+   "log_step": 98,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 4.1–4.8 s 机器人贴近回收桶行驶时，头部与双腕视图同时大幅倾转；视频 7.5–11.0 s 回退时再次接近侧翻，之后停住而未抓取任何树枝。推断：log step 96 的 TOPPLE 扫碰指令及 log step 99 的策略说明表明，这是有意用底盘撞桶、期望撞倒桶并弹开盖子再从侧面装枝的策略；log step 98 输出 TUMBLED 后 lid: -0.0，盖子仍关，并确认健康检查中止后续树枝阶段、保存418步。首次入桶已按该策略开始操作，此后整步未完成。"
+  },
+  "unmet": {
+   "branches_in_bin_1": false,
+   "branches_in_bin_2": false,
+   "branches_in_bin_3": false,
+   "branches_in_bin_4": false,
+   "bin_on_garden_floor": true
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 4.3,
+    "log_step": 98,
+    "evidence_zh": "观察：视频 4.1–4.8 s 以及视频 7.5–11.0 s 中，机器人头部及两腕相机里的地面、树干和车库同时旋转，地平线一度接近竖直，随后摇回，显示轮式机身明显失稳。log step 98 记载行驶后基座高度0.210米、回退后0.258米并输出 ROBOT UNHEALTHY，随即跳过树枝阶段；评分器 fallen=0，因此这里标短时失衡，不声称触发了持续跌倒判负。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 96 的最终脚本以连续 move_base 指令执行有意撞桶的扫碰和回退；log step 98 记录干净初态基座高度0.005米，行驶后抬高至0.210米、回退后0.258米并触发健康检查，最终树枝阶段完全未运行，且 TUMBLED 后 lid: -0.0，盖子仍关。视频 4.1–4.8 s、视频 7.5–11.0 s 的整机倾转独立支持底盘运动未保持机身稳定，使首次放枝操作无法继续；证据不足以进一步区分接触布局、轨迹跟踪或参数问题。",
+    "source_zh": "日志"
+   },
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 99 的脚本文档 Strategy (deliberate topple) 及 log step 102 的 agent 自述说明，agent 因认为桶盖难以原位打开，选择用底盘撞倒桶、期待撞击弹开盖子并使桶口转向侧面，再抓枝作横向插入；log step 96 的 TOPPLE 扫碰指令印证这一策略已执行。该跨阶段策略把后续装枝依赖于撞击形成可用桶口的结果，但 log step 98 的实际��出在 TUMBLED 后仍为 lid: -0.0（盖子未开），并因基座抬高/倾斜触发 ROBOT UNHEALTHY 而中止树枝阶段。由此判断，所选撞桶开盖策略未可靠建立后续装枝条件，与失败直接相关；不将 agent 所称其他测试开盖成功或重置导致异常当作本次事实。"
+   }
+  ],
+  "gap_zh": "无状态日志及成功参考视频。桶在视频 7.0 s 后离开全部相机视野，末段地面支承关系由可见前段、无后续搬桶动作及交付运行日志综合推断，无法排除遮挡期间短暂离地；具体碰桶连杆、轮地支撑及失衡的控制子因不可直接测得。会话其他测试的抓枝、开盖和跌倒不属于最终418步交付，未用于计入节点进度；agent对重置进程造成问题的解释未经独立验证。"
+ },
+ "summary_zh": "评分轨迹只完成并保留初始的回收桶在地面关系，终态进度1/5，四个树枝入桶节点均未达成。agent 选择有意撞桶、期望撞倒桶弹开盖子后从侧面装枝的跨阶段策略，但最终运行盖子仍关，机器人在扫碰和回退时多次失衡，健康检查随后跳过树枝阶段；根因包括推理/规划与底盘控制。桶在视频后段被遮挡，支承关系及具体碰桶作用端仍有证据限制。",
+ "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、断点和平衡现象与视频及 log 一致；但根因漏掉了 agent 有意用底盘撞倒回收桶这一跨阶段策略（log step 98 的 TUMBLED/lid 仍为 0），文件只把它当作『准备操作』并归为控制。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "第二轮：节点值（1/5，四个树枝入桶为假，桶在地面从0起）、断点、平衡现象及控制+推理/规划根因均与视频、log 和 q_score=0 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": "2026-10-30T21:40:29Z",
+  "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-cleaning-up-branches-and-twigs-i00-privileged--6kexdp2/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-branches-and-twigs-i00-privileged--6kexdp2/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-branches-and-twigs-i00-privileged--6kexdp2/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-branches-and-twigs-i00-privileged--6kexdp2/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "02a026e2c45c537361eaeaa05535bf3573b4cc52fa369f72c2ab971b67df911a",
+   "video_sha256": "330b465b670dc2a6bf62ded74f3478bb870f5027513fa54ec26203bb53e72e9c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-privileged--cspwmab.json

@@ -0,0 +1,272 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cleaning-up-branches-and-twigs-i00-privileged--cspwmab",
+ "taskKey": "behavior-1k/cleaning_up_branches_and_twigs",
+ "dag_sha256": "dc7c6d3b2cde4ee06a95f0cc7fab8566cf593822410d33282e547a0d8d5455f7",
+ "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": 3073,
+   "sim_steps": 3073,
+   "fallen": 1,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1452.2,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 13,
+   "agent_resets": 0,
+   "agent_sim_steps": 3173,
+   "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-cleaning-up-branches-and-twigs-i00-privileged--cspwmab/replay.mp4",
+  "duration_s": 102.433,
+  "fps": 30.0,
+  "frames": 3073,
+  "sha256": "17b7d51c8b884017afc08a870bf68059c6198a11beee6e8887b9baf26c2c243d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "branches_in_bin_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–23.5 s 中机器人空手接近并操作回收桶；视频 24.0–102.4 s 中相机随机器人反复倾倒、翻转，没有可见的树枝从地面被夹起、搬运并释放入桶。"
+     },
+     {
+      "t": 102.4,
+      "log_step": 249,
+      "text_zh": "推断：评分器 q_score=0.0，结合开局树枝均在桶外及视频未见入桶动作，结束时合格树枝数量为0，故第1根枝入桶为假。log step 249 的交付运行终态为 success=False、fallen=True、sim_steps=3073，per branch 为空；其他会话的抓枝结果不计入本轨迹。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 3.0–23.5 s，机器人左夹爪端部抵压回收桶盖及上沿，进行入桶前的开盖、桶口可达性探查；未见夹爪围夹树枝，也未确认围夹桶盖。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–2.5 s 及后续调整观察方向时，机器人底盘移动接近回收桶；机器人全程未携带树枝。"
+     }
+    ]
+   },
+   "branches_in_bin_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–23.5 s 中机器人空手接近并操作回收桶；视频 24.0–102.4 s 中相机随机器人反复倾倒、翻转，没有可见的树枝从地面被夹起、搬运并释放入桶。"
+     },
+     {
+      "t": 102.4,
+      "log_step": 249,
+      "text_zh": "推断：评分器 q_score=0.0，结合开局树枝均在桶外及视频未见入桶动作，结束时合格树枝数量为0，故第2根枝入桶为假。log step 249 的交付运行终态为 success=False、fallen=True、sim_steps=3073，per branch 为空；其他会话的抓枝结果不计入本轨迹。"
+     }
+    ]
+   },
+   "branches_in_bin_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–23.5 s 中机器人空手接近并操作回收桶；视频 24.0–102.4 s 中相机随机器人反复倾倒、翻转，没有可见的树枝从地面被夹起、搬运并释放入桶。"
+     },
+     {
+      "t": 102.4,
+      "log_step": 249,
+      "text_zh": "推断：评分器 q_score=0.0，结合开局树枝均在桶外及视频未见入桶动作，结束时合格树枝数量为0，故第3根枝入桶为假。log step 249 的交付运行终态为 success=False、fallen=True、sim_steps=3073，per branch 为空；其他会话的抓枝结果不计入本轨迹。"
+     }
+    ]
+   },
+   "branches_in_bin_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–23.5 s 中机器人空手接近并操作回收桶；视频 24.0–102.4 s 中相机随机器人反复倾倒、翻转，没有可见的树枝从地面被夹起、搬运并释放入桶。"
+     },
+     {
+      "t": 102.4,
+      "log_step": 249,
+      "text_zh": "推断：评分器 q_score=0.0，结合开局树枝均在桶外及视频未见入桶动作，结束时合格树枝数量为0，故第4根枝入桶为假。log step 249 的交付运行终态为 success=False、fallen=True、sim_steps=3073，per branch 为空；其他会话的抓枝结果不计入本轨迹。"
+     }
+    ]
+   },
+   "bin_on_garden_floor": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–2.0 s 回收桶立在花园铺砖地面，地面位于桶下方；视频 32.5–41.0 s 可见桶已倾侧、盖子打开，桶体仍落在铺砖地面上。"
+     },
+     {
+      "t": 41,
+      "log_step": null,
+      "text_zh": "推断：已查看的视频中没有机器人把桶提离地面、搬到其他支承物上的动作，后段机器人空手在旁翻倒，故将桶接触花园地面的初始关系延续到结束；桶的倾侧本身不违反本节点判据。视频 41.0 s 后桶底不再持续可见，关系延续含视觉推断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 3.0–23.5 s 左夹爪抵压桶盖、上沿，伴随桶姿态变化；这是准备入桶时对桶的实际接触，未见专门提桶后重新放地的动作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "branches_in_bin_1",
+   "t": 32.0,
+   "log_step": 245,
+   "where": "探索",
+   "evidence_zh": "观察：视频 21.5–23.7 s 机器人仍空手在回收桶上沿操作，视频 24.0 s 后头部视野明显俯仰；视频约 32.0–33.0 s 多相机视野突然大幅侧转，之后视频 34.5–41.0 s 及 101.4–102.4 s 持续出现侧倒、贴近地面的旋转视野，没有随后完成任何树枝入桶。log step 245 记录交付的 solve12 正在开盖及探查桶腔，log step 249 记录 per branch 为空并以 fallen=True 保存3073步。推断：这是第1根枝入桶之前准备桶口时未修复的失败，位置记探索；以明显侧翻的视频约 32.0 s 作导航锚点。"
+  },
+  "unmet": {
+   "branches_in_bin_1": false,
+   "branches_in_bin_2": false,
+   "branches_in_bin_3": false,
+   "branches_in_bin_4": false,
+   "bin_on_garden_floor": true
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 32.0,
+    "log_step": 249,
+    "evidence_zh": "观察：视频 31.8–32.8 s，机器人头部与腕部画面迅速大幅侧转，铺砖地面和围墙在视野中翻至侧向；视频 34.5–41.0 s 继续翻转，视频 101.4–102.4 s 最后一秒仍为贴近地面的侧倒视野。log step 249 的已保存运行状态及评分器字段均报告 fallen=True/1。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 32.0,
+    "log_step": 247,
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频 3.0–23.5 s 显示机器人以左臂接触桶口，随后约视频 32.0 s 明显侧翻且未完成入桶；log step 245 显示 solve12 的桶腔探查存在下降误差及未能到达的反馈，log step 247 显示脚本继续多次驱动底盘接近桶、位置误差反复增大，最终 log step 249 报告跌倒。合并这些证据，将导致操作无法继续的运动稳定性问题归于控制；证据不足以进一步区分接触布局、轨迹或底盘反馈子类。"
+   }
+  ],
+  "gap_zh": "无状态日志，也无成功参考视频。视频只能看到头部和双腕视图，不能精确确定首次失去底盘支撑的接触点、支撑力或具体控制子类；断点以视频约 32.0 s 的明显侧翻作粗略锚点。视频 41.0 s 后桶底未持续可见，桶留地面按先后画面及未见提桶动作推断。log step 264 关于枝条尺寸与卡桶的最终自述混合了其他会话的结果，本次交付在准备桶口时已失败，不用该自述证明本次树枝接触或卡阻；日志中的脚本运行秒数未换算为视频时间。"
+ },
+ "summary_zh": "评分轨迹保留了回收桶接触花园地面的初始关系，最终进度1/5，四个树枝入桶节点均未达到（评分器 q_score=0.0）。机器人在第1根枝入桶前空手开盖、探查桶口，视频约 32.0 s 明显侧翻，此后反复翻转且未进入抓枝搬运，评分器最终记录跌倒；根因仅能定位到控制层。无状态日志，首次失稳的接触机制和后段桶底支承关系存在视觉证据缺口。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（四枝未入桶、桶在地面初态保持、q_score=0 与 final=1 一致）、断点（第1���枝入桶，约视频32 s 侧翻）、平衡现象与 log step 249 的 fallen=True 相符；未发现需要改动的错误。根因仅为控制层且已标推断，证据不足以细分，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": "2026-10-30T21:09:26Z",
+  "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-cleaning-up-branches-and-twigs-i00-privileged--cspwmab/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-branches-and-twigs-i00-privileged--cspwmab/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "496512fd4ce9b90224d3efc780eada246eecde89b07549ad9c305fbe80d079df",
+   "video_sha256": "17b7d51c8b884017afc08a870bf68059c6198a11beee6e8887b9baf26c2c243d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-privileged--fsykavh.json

@@ -0,0 +1,284 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cleaning-up-branches-and-twigs-i00-privileged--fsykavh",
+ "taskKey": "behavior-1k/cleaning_up_branches_and_twigs",
+ "dag_sha256": "dc7c6d3b2cde4ee06a95f0cc7fab8566cf593822410d33282e547a0d8d5455f7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 1349,
+   "sim_steps": 1349,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 2129.8,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 10,
+   "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-cleaning-up-branches-and-twigs-i00-privileged--fsykavh/replay.mp4",
+  "duration_s": 44.967,
+  "fps": 30.0,
+  "frames": 1349,
+  "sha256": "eaad15fa6f3777cbb80774b98067157a4b5d14bf365341be9778e8c61d83da0b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "branches_in_bin_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.5,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5–10.0 s 左腕视图出现树枝，随后树枝与左夹爪一同抬起、移动；视频 14.5 s、32.0 s 和44.93 s 仍可见树枝横在左夹爪处。机器人搬持该枝靠近桶，但未见它脱离夹爪落入桶内。"
+     },
+     {
+      "t": 19.2,
+      "log_step": null,
+      "text_zh": "观察：视频 13.0–19.2 s 机器人持枝移动，回收桶在近处翻动；视频 19.1–19.3 s 近处画面短暂被遮挡并骤然横倾，随后桶离开近处视野，不能据此确认桶离地。视频 20.0–44.93 s 机器人仍持枝往返，没有完成向桶内释放。"
+     },
+     {
+      "t": 44.93,
+      "log_step": null,
+      "text_zh": "推断：结合全段视频没有完成入桶释放、末帧树枝仍被夹持，以及评分器 q_score=0、success=0，终态满足入桶验收的树枝数量为0，第1根枝入桶为假；并非仅从零分推断未抓取。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 7.5–10.0 s 起，左二指夹爪夹住一根树枝并抬起，视频 32.0 s、44.93 s 左腕视图仍见树枝处于两指之间；右夹爪未协同抓枝。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–7.5 s 底盘移动接近树枝，视频 10.0–44.93 s 机器人持枝移动、转向，底盘承载搬运中的机械臂。"
+     }
+    ]
+   },
+   "branches_in_bin_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 44.93,
+      "log_step": null,
+      "text_zh": "观察：已检查视频 0–44.93 s，机器人只拿持一根树枝绕桶移动，视频 32.0 s、44.93 s 左夹爪仍夹着该枝；没有第2根树枝被送入桶内并释放的画面。"
+     },
+     {
+      "t": 44.93,
+      "log_step": null,
+      "text_zh": "推断：视频中第1根枝尚未释放入桶，也未见机器人取运其余枝；结合评分器 q_score=0，终态不能满足至少2根枝入桶，第2根枝入桶为假。"
+     }
+    ]
+   },
+   "branches_in_bin_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 44.93,
+      "log_step": null,
+      "text_zh": "观察：已检查视频 0–44.93 s，机器人只拿持一根树枝绕桶移动，视频 32.0 s、44.93 s 左夹爪仍夹着该枝；没有第3根树枝被送入桶内并释放的画面。"
+     },
+     {
+      "t": 44.93,
+      "log_step": null,
+      "text_zh": "推断：视频中第1根枝尚未释放入桶，也未见机器人取运其余枝；结合评分器 q_score=0，终态不能满足至少3根枝入桶，第3根枝入桶为假。"
+     }
+    ]
+   },
+   "branches_in_bin_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 44.93,
+      "log_step": null,
+      "text_zh": "观察：已检查视频 0–44.93 s，机器人只拿持一根树枝绕桶移动，视频 32.0 s、44.93 s 左夹爪仍夹着该枝；没有第4根树枝被送入桶内并释放的画面。"
+     },
+     {
+      "t": 44.93,
+      "log_step": null,
+      "text_zh": "推断：视频中第1根枝尚未释放入桶，也未见机器人取运其余枝；结合评分器 q_score=0，终态不能满足至少4根枝入桶，第4根枝入桶为假。"
+     }
+    ]
+   },
+   "bin_on_garden_floor": {
+    "method": "visual",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 1.5,
+      "log_step": null,
+      "text_zh": "观察：视频 1.5 s 回收桶直立在花园灰色铺砖地面；视频 15.0–19.0 s 桶虽已侧倒，仍贴着附近铺砖地面，不因侧倒本身扣除本节点。初态关系可确认，但这不证明整段始终保持。"
+     },
+     {
+      "t": 19.3,
+      "log_step": null,
+      "text_zh": "观察：视频 19.1 s 近处画面短暂被遮挡，视频 19.2–20.0 s 头部视角大幅横倾，桶出现在房屋木墙一侧，随后离开近处视野；这些帧没有清楚显示桶与地面之间的空隙或新的支承物。视频 24.0–44.93 s 所检查画面未再清楚显示桶及其支承面，不能将相机中的相对位移直接记作桶离地。"
+     },
+     {
+      "t": 44.93,
+      "log_step": 156,
+      "text_zh": "推断：log step 17 的场景几何及 log step 156 的 fillable center y=5.351 是会话中脚本的几何读数；log step 157 确认最终文件含1349个动作，与回放动作数相符，但没有可信逐帧状态日志或终态原生支承谓词来核验这些几何读数对应的支承关系。评分器 q_score=0 也不能判定初始已成立的桶在地面关系是否保留（03 Step 2 / CASES.md PROG-10）。因此终值为未知，完整区间置 null；已确认的初态及侧倒后贴地事实保留在证据中，不再把视频 19.1 s 当作失去时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 13.0–19.3 s 机器人贴近回收桶移动，桶被碰倒并移走；腕部相机被机械臂遮挡，无法确定碰桶的是底盘、臂部还是所持树枝，未见夹爪抓桶或将桶归位。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "branches_in_bin_1",
+   "t": 13.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 7.5–10.0 s 机器人已拿起一根树枝；视频 13.0–15.0 s 搬持靠近回收桶时，桶与机器人近处部位相碰、翻动并侧倒。视频 19.1–19.3 s 近处画面骤变，桶随后离开近处视野，但是否离地无法确认。到视频 44.93 s 树枝仍在左夹爪，第一次入桶未完成，故断点是第1根枝入桶的搬运操作。"
+  },
+  "unmet": {
+   "branches_in_bin_1": false,
+   "branches_in_bin_2": false,
+   "branches_in_bin_3": false,
+   "branches_in_bin_4": false,
+   "bin_on_garden_floor": null
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 13.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 13.0–15.0 s 机器人持枝转向并靠近桶，桶紧贴机器人前侧随接近动作翻动、侧倒；视频 19.1–19.3 s 近处画面短暂被遮挡并大幅横倾，桶随后离开近处视野，未据此判定桶离地。机器人此后仍未将所持枝送入桶内。该事件为搬运时碰动目标容器，非树枝松手后失稳。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：机器人未能在持枝接近桶时控制无碰撞运动：视频 13.0–19.0 s 多次贴桶移动，桶翻动侧倒；与交付动作数相符的最终生成会话 log step 155–156 反复记录 drive: blocked short of waypoint 和 drive to bin blocked，而脚本仍尝试其他接近路径。证据支持靠桶导航及接触控制失败；具体碰撞连杆、路径几何与跟踪误差不足以区分控制子类。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频；腕部画面遮挡了初始闭爪与桶碰撞的具体接触部位，故不能确定碰桶的作用端或细分控制根因。桶初始在地面，侧倒后仍可见贴地，但视频 19.1 s 之后无法确定精确支承关系，视频末段也看不到桶；会话脚本几何不等于评分回放的原生支承谓词，不能据此断言终态失去或恢复，故完整区间和终值均未知，汇总计数依工具规则为 null。观察：视频约 19.2–21.7 s 头部画面大幅横倾，地面近景、墙与天空方向明显改变，视频约 21.8–22.5 s 恢复接近平常视角；姿态变化原因未明，不能只写作普通转向。推断：该段异常视角持续不足10秒，本身不足以证明满足 task/task_dag.json 中连续300个控制步的跌倒条件；相机姿态不等同于基座姿态，按03 Step 2 / S15不人工判定约束。日志包含多次调试运行，只将 log step 151–157 识别的最终1349动作生成过程用于会话辅助证据，未把其他调试结果计入节点。"
+ },
+ "summary_zh": "机器人拿起一根树枝并持续搬持，四个入桶节点均未达成；回收桶初态在地面，可确认初始1/5，但视频后段的支承关系与终态未知，不能再报最终0/5。断点为第1根枝入桶：机器人持枝靠桶移动时碰倒桶���反复接近仍未完成释放，证据支持控制失败。视频约 19.2–22.5 s 还出现明显横倾后恢复的视角变化；无状态日志，桶的完整区间和终值无法核验，因此置信度由7降至6。",
+ "conf": 6,
+ "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根枝入桶，搬运时碰倒回收桶）与四个入桶节点为假基本成立；但 bin_on_garden_floor 在视频 19.1 s 被判“离地并永久失去”缺乏帧证据：桶一直在铺砖地面上，19.1 s 后只是头部相机急转，桶在房屋墙边仍贴地。该节点终值/失去时间依赖会话日志几何（不能作为图形证据），应改为 unknown 或去掉该失去区间的断言。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "第2轮：bin_on_garden_floor 已改为 unknown，四个入桶节点为假、断点为第1根枝入桶的搬运操作均与帧一致（全程树枝仍在左夹爪、未见入桶）；被挡/碰撞与控制根因有视频和日志支持，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": "2026-10-30T21:41:49Z",
+  "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-cleaning-up-branches-and-twigs-i00-privileged--fsykavh/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-branches-and-twigs-i00-privileged--fsykavh/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-branches-and-twigs-i00-privileged--fsykavh/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-branches-and-twigs-i00-privileged--fsykavh/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b350bdb52314459ef94ce95844a960621bcc66519b05042a15a38a08c34bc8cc",
+   "video_sha256": "eaad15fa6f3777cbb80774b98067157a4b5d14bf365341be9778e8c61d83da0b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-privileged--lpn4ldn.json

@@ -0,0 +1,278 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cleaning-up-branches-and-twigs-i00-privileged--lpn4ldn",
+ "taskKey": "behavior-1k/cleaning_up_branches_and_twigs",
+ "dag_sha256": "dc7c6d3b2cde4ee06a95f0cc7fab8566cf593822410d33282e547a0d8d5455f7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 4182,
+   "sim_steps": 4182,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 3229.5,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 2,
+   "agent_resets": 13,
+   "agent_sim_steps": 41914,
+   "agent_records": 14,
+   "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-cleaning-up-branches-and-twigs-i00-privileged--lpn4ldn/replay.mp4",
+  "duration_s": 139.4,
+  "fps": 30.0,
+  "frames": 4182,
+  "sha256": "e5cef5eea9e9598beaacccf176fda4db429fc5d12eeb1222d52d79daabef5c77"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "branches_in_bin_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": null,
+      "text_zh": "观察：视频 9.0–14.0 s，机器人左夹爪在回收桶旁下降并闭合，但夹爪与桶盖边缘未形成可见夹持，桶盖保持闭合。"
+     },
+     {
+      "t": 43.0,
+      "log_step": null,
+      "text_zh": "观察：视频 30.0–46.0 s，机器人左夹爪贴近桶盖边缘后向上移开，桶盖没有随夹爪掀起；视频 75.0–120.0 s 的后续取放动作中未见树枝随夹爪抬起或进入桶内，视频 138.0–139.367 s 桶盖仍闭合。"
+     },
+     {
+      "t": 139.367,
+      "log_step": 540,
+      "text_zh": "推断：评分器 reward.q_score=0.0，且 log step 540 的独立新进程重放在4182个控制步后同样报告 success=false、q_score=0.0；按该任务初始桶在地面不贡献新目标分数的规则，终态没有任何树枝满足入桶关系，因此本节点 final=false。log step 421 的入桶读数来自多次 reset 后的交互会话，不能替代评分视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 30.0–43.0 s，左夹爪贴压、掠过闭合桶盖的边缘，随后空手移开；未确认双指夹紧桶盖，亦未确认抓住树枝。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在视频 2.0–10.0 s 接近回收桶，随后在视频 58.0–98.0 s 驶离、转向并返回，支承本次首根树枝入桶尝试的机械臂运动。"
+     }
+    ]
+   },
+   "branches_in_bin_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 139.367,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程，机器人只执行一轮取枝、返回桶边的动作，未见第2根树枝被取起、搬运并松手入桶；视频 138.0–139.367 s 回收桶仍在地面且桶盖闭合。"
+     },
+     {
+      "t": 139.367,
+      "log_step": 540,
+      "text_zh": "推断：评分器 reward.q_score=0.0，log step 540 的4182控制步新进程重放也报告 q_score=0.0；初始桶在地面不增加该分数，所以终态合格入桶树枝数为0，少于2根，本计数节点 final=false。"
+     }
+    ]
+   },
+   "branches_in_bin_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 139.367,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程，机器人只执行一轮取枝、返回桶边的动作，未见第3根树枝被取起、搬运并松手入桶；视频 138.0–139.367 s 回收桶仍在地面且桶盖闭合。"
+     },
+     {
+      "t": 139.367,
+      "log_step": 540,
+      "text_zh": "推断：评分器 reward.q_score=0.0，log step 540 的4182控制步新进程重放也报告 q_score=0.0；初始桶在地面不增加该分数，所以终态合格入桶树枝数为0，少于3根，本计数节点 final=false。"
+     }
+    ]
+   },
+   "branches_in_bin_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 139.367,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程，机器人只执行一轮取枝、返回桶边的动作，未见第4根树枝被取起、搬运并松手入桶；视频 138.0–139.367 s 回收桶仍在地面且桶盖闭合。"
+     },
+     {
+      "t": 139.367,
+      "log_step": 540,
+      "text_zh": "推断：评分器 reward.q_score=0.0，log step 540 的4182控制步新进程重放也报告 q_score=0.0；初始桶在地面不增加该分数，所以终态合格入桶树枝数为0，少于4根，本计数节点 final=false。"
+     }
+    ]
+   },
+   "bin_on_garden_floor": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "推断：DAG说明桶在花园地面为初始目标关系；视频 5.0–14.0 s 桶逐渐进入头部视野，直立在花园铺地上，未见此前被提起，故区间从视频 0.0 s 开始。"
+     },
+     {
+      "t": 139.367,
+      "log_step": null,
+      "text_zh": "观察：视频 30.0–74.0 s 及视频 93.0–139.367 s 的可见画面中，回收桶始终由同一铺地支承，没有被机械臂提离地面；末帧视频 139.367 s 可见桶底仍落在花园铺地上。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "branches_in_bin_1",
+   "t": 43.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 9.0–14.0 s，机器人左夹爪在桶盖边缘附近闭合；视频 30.0–43.0 s 左夹爪从桶盖旁上移，直到视频 46.0 s 夹爪移开，桶盖仍未掀起。视频后续未见树枝入桶，评分器 q_score=0.0。推断：评分尝试正在进行的第1根枝入桶未完成，故断点仍为 branches_in_bin_1，DAG没有单列开盖节点；不能由盖未打开确认具体抓持故障，恢复会话与交付重放的差异见交付根因。"
+  },
+  "unmet": {
+   "branches_in_bin_1": false,
+   "branches_in_bin_2": false,
+   "branches_in_bin_3": false,
+   "branches_in_bin_4": false,
+   "bin_on_garden_floor": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 43.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 11.4–14.0 s 左夹爪闭合时没有包住桶盖边缘，视频 39.0–46.0 s 左夹爪向上、向外运动时桶盖不随动，盖板一直覆盖桶口。推断：虽有盖边的贴擦，开盖所需的有效夹持接触没有建立；未见先抓稳桶盖再滑脱的过程。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "交付",
+    "item": "交付操作出错",
+    "t": null,
+    "log_step": 540,
+    "source_zh": "日志 / 评分器字段",
+    "evidence_zh": "观察：log step 385 中 agent 停止录制、reset、重新录制，并逐行动作重放 open_good.npy；log step 401/403 的会话输出 OPENREPLAYDONE，桶盖关节读数为3.1241；log step 397 的脚本保存当前录制并继续转运，log step 421 在4182控制步时报告一根入桶、q_score=0.2、resets=13。log step 529 的会话终态仍为一根入桶；但 log step 540 对同一交付文件的新进程重放完成4182步，报告 success=false、q_score=0.0、resets=0，agent 在 log step 541/542 记录该失败结果后仍保留并交付此文件。评分器字段 agent_replays=0、deterministic=1、instance_exact=1。推断：按 docs/DECISIONS.md N10，交付选用恢复会话的检查点，完整重放已确认不能复现其会话进度，仍作为最终文件交付，属于交付操作出错；这里并非声称没有做过任何重放，也不能仅凭 reset 次数断言跨快照拼接。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频；腕部视图部分被夹爪、机身和植被遮挡，无法核实取枝阶段是否发生短暂接触，也不能获得评分尝试的桶盖接触对、辅助抓取附着及关节跟踪误差。log step 385 的恢复方式是 reset 后从录制起点逐行执行旧动作，再继续录制，未见跨未录制快照直接拼接的证据；agent_replays=0 不能否定 log step 424–540 已完成的独立新进程逐步重放。按 docs/DECISIONS.md N10 当前规则记录交付根因，但会话 q_score=0.2 与评分及新进程重放 q_score=0.0 的具体物理差异来源仍未确定，不把盖未打开进一步归因于已证实的控制故障；对评审“从未重放、跨快照拼接”的解释保留上述证据限定。"
+ },
+ "summary_zh": "评分轨迹只保留回收桶在花园地面的初始关系，最终为1/5，四个树枝入桶计数节点均未达成，断点仍为首根枝入桶，视频中准备操作未掀开桶盖。agent 将多次 reset 后恢复会话中报告一根入桶的检查点留作交付，新进程完整重放已报告 q_score=0.0，最终仍交付该文件，按 N10 标注交付操作出错。无状态日志，评分视频的有效抓持情况及会话与交付重放出现差异的物理原因仍有推断，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": 8,
+    "summary_zh": "进度（1/5，仅初始桶在地面）与评分器 q=0 一致，无异议。但根因错：agent 的一根入桶读数来自 13 次 reset/OPENREPLAY 恢复拼接的会话，交付轨迹从未被同一进程复现，新进程重放 q=0 且 agent 仍保存交付；这正是 N10 的 交付·交付操作出错，而标注者明确拒绝了它，改给了证据不足的“控制”猜测。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "进度1/5（仅初始桶在地面）与评分器 q=0 一致；断点 branches_in_bin_1、没建立接触、交付·交付操作出错均有视频与日志证据支持，未发现需修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:41:51Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-branches-and-twigs-i00-privileged--lpn4ldn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-branches-and-twigs-i00-privileged--lpn4ldn/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-branches-and-twigs-i00-privileged--lpn4ldn/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-branches-and-twigs-i00-privileged--lpn4ldn/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bd239b16af308cf49a4541004cb88b16eba2a10631ee9f67c08384196f7c392b",
+   "video_sha256": "e5cef5eea9e9598beaacccf176fda4db429fc5d12eeb1222d52d79daabef5c77",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-privileged--pyq57cj.json

@@ -0,0 +1,249 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cleaning-up-branches-and-twigs-i00-privileged--pyq57cj",
+ "taskKey": "behavior-1k/cleaning_up_branches_and_twigs",
+ "dag_sha256": "dc7c6d3b2cde4ee06a95f0cc7fab8566cf593822410d33282e547a0d8d5455f7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 812,
+   "sim_steps": 812,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 724.6,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 36,
+   "agent_resets": 0,
+   "agent_sim_steps": 28788,
+   "agent_records": 16,
+   "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-cleaning-up-branches-and-twigs-i00-privileged--pyq57cj/replay.mp4",
+  "duration_s": 27.067,
+  "fps": 30.0,
+  "frames": 812,
+  "sha256": "5836327ca9fbd441e995c4857568439f3e586f9d45559c0e3067a1cdb7502134"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "branches_in_bin_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.5,
+      "log_step": null,
+      "text_zh": "观察：视频3.2–5.95 s，机器人左夹爪靠近地面树枝、双指合拢，树枝随后随夹爪抬升并离开原地；视频6–27.03 s树枝持续可见于左腕视图的夹爪内，没有落入桶内并松手静置。"
+     },
+     {
+      "t": 27.03,
+      "log_step": 625,
+      "text_zh": "推断：视频27.03 s第一根树枝仍夹在左夹爪中，且评分器q_score=0.0（与log step 625的新进程重放结果一致），因此终态没有合格入桶的树枝；初始已满足的桶在地面关系不计入该分数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约4.2–27.03 s，左二指夹爪夹住第一根树枝并抬起、搬运；右夹爪未共同操作树枝。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0–3 s底盘驶向第一根树枝，视频约6–19 s持枝向回收桶及不同接近位置移动，承载机械臂和树枝，其间机器人明显侧倾。"
+     }
+    ]
+   },
+   "branches_in_bin_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.03,
+      "log_step": 625,
+      "text_zh": "观察：视频0–27.03 s机器人只夹起并持续持有一根树枝，未出现第2根树枝的抓取或入桶操作。"
+     },
+     {
+      "t": 27.03,
+      "log_step": 625,
+      "text_zh": "推断：评分器q_score=0.0，且视频末帧仍显示第一根树枝在左夹爪中，没有已放入的树枝；合格数量不可能达到2根，故本节点终态为假。"
+     }
+    ]
+   },
+   "branches_in_bin_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.03,
+      "log_step": 625,
+      "text_zh": "观察：视频0–27.03 s机器人只夹起并持续持有一根树枝，未出现第3根树枝的抓取或入桶操作。"
+     },
+     {
+      "t": 27.03,
+      "log_step": 625,
+      "text_zh": "推断：评分器q_score=0.0，且视频末帧仍显示第一根树枝在左夹爪中，没有已放入的树枝；合格数量不可能达到3根，故本节点终态为假。"
+     }
+    ]
+   },
+   "branches_in_bin_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.03,
+      "log_step": 625,
+      "text_zh": "观察：视频0–27.03 s机器人只夹起并持续持有一根树枝，未出现第4根树枝的抓取或入桶操作。"
+     },
+     {
+      "t": 27.03,
+      "log_step": 625,
+      "text_zh": "推断：评分器q_score=0.0，且视频末帧仍显示第一根树枝在左夹爪中，没有已放入的树枝；合格数量不可能达到4根，故本节点终态为假。"
+     }
+    ]
+   },
+   "bin_on_garden_floor": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.5,
+      "log_step": null,
+      "text_zh": "观察：视频1.5–3 s可见绿色回收桶直立于花园铺装地面，桶底由地面支承。"
+     },
+     {
+      "t": 27.03,
+      "log_step": null,
+      "text_zh": "观察：视频9–11.5 s、16–18.75 s及26.8–27.03 s的头部或左腕视图仍可见回收桶留在地面；全过程没有夹持、抬起或搬走回收桶的动作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "branches_in_bin_1",
+   "t": 14.0,
+   "log_step": 607,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约14–18.75 s，机器人仍持第一根树枝调整桶边位置，画面相对地面和栅栏持续大幅侧转，随后视线朝向天空；直到视频27.03 s树枝仍未松入桶内。log step 607所示本次生成记录依次出现桶上方移动误差0.504 m、后续基座高度升至0.233 m和0.291 m及明显倾斜的四元数；log step 610–612确认保存该次部分录制，log step 625确认812步重放失败。"
+  },
+  "unmet": {
+   "branches_in_bin_1": false,
+   "branches_in_bin_2": false,
+   "branches_in_bin_3": false,
+   "branches_in_bin_4": false,
+   "bin_on_garden_floor": true
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 14.0,
+    "log_step": 607,
+    "evidence_zh": "观察：视频13–18.75 s机器人持枝移动和调姿时，地面、栅栏及树干在机载画面中逐渐侧转至接近横向，视频19–27.03 s持续明显歪斜并大幅晃动，第一根树枝始终留在左夹爪。推断：结合log step 607本次录制的基座姿态四元数由近直立变为[0.379,0.030,-0.011,0.925]、再到[0.527,-0.197,0.097,0.821]，可确认机器人失去正常直立支承，而非仅相机俯仰。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 593的脚本在持枝状态下先移动底盘，再执行树枝定向及桶上方末端移动；log step 607记录末端误差约0.504 m后继续更换底盘接近位置，基座高度和侧倾不断增大，视频14–27.03 s也显示失衡而未完成放置。证据支持持物移动与机械臂调姿时未维持机器人稳定，尚不足以细分为接触设计、轨迹逆解或反馈控制。"
+   }
+  ],
+  "gap_zh": "没有状态日志、接触力记录或外部全身视角，不能确定最初导致侧倾的碰撞部位或承载几何，因此不标被挡/碰撞，也不细分控制根因；断点时间仅为视频约14 s的导航锚点。log step 608有生成进程崩溃，agent在log step 610称其发生于关闭阶段；这里只标已保存且经log step 625重放确认的物理失败，不将崩溃当作失衡原因。"
+ },
+ "summary_zh": "评分轨迹仅完成初始已满足的回收桶留地面，四个树枝入桶节点均未达到，最终进度1/5，q_score为0。机器人夹起第一根树枝后，在桶边持物移动及调姿时明显失衡，直到视频27.03 s仍未松手入桶；断点为第1根枝入桶，根因证据仅支持控制层面。缺少状态及接触记录，无法确定触发侧倾的具体接触或控制子类，日志中的其他试验不计入本次进度。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "进度1/5（桶在地面初始即满足，四根枝入桶均未达成）、q_score=0、断点为第1根枝入桶（操作中）、全身·平衡现象与停在“控制”的根因，均与视频帧和log step 607/608/610/625一致；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": "2026-10-30T21:11:37Z",
+  "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-cleaning-up-branches-and-twigs-i00-privileged--pyq57cj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-branches-and-twigs-i00-privileged--pyq57cj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "eb6bb9d1986a429cb1ee690aff725490e41961c2d3c43779b7e07de80cb9f935",
+   "video_sha256": "5836327ca9fbd441e995c4857568439f3e586f9d45559c0e3067a1cdb7502134",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-privileged--refs6p3.json

@@ -0,0 +1,283 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cleaning-up-branches-and-twigs-i00-privileged--refs6p3",
+ "taskKey": "behavior-1k/cleaning_up_branches_and_twigs",
+ "dag_sha256": "dc7c6d3b2cde4ee06a95f0cc7fab8566cf593822410d33282e547a0d8d5455f7",
+ "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": 188,
+   "sim_steps": 188,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 732.4,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 2,
+   "agent_resets": 9,
+   "agent_sim_steps": 188,
+   "agent_records": 1,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 11.822,
+   "peak_memory_gb": 16.459,
+   "peak_processes": 31,
+   "peak_disk_gb": 1.36,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-cleaning-up-branches-and-twigs-i00-privileged--refs6p3/replay.mp4",
+  "duration_s": 6.267,
+  "fps": 30.0,
+  "frames": 188,
+  "sha256": "ae63633405ba984c08f70e7e6b8b77da58da32cf028259e0503a4f1e453dea54"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "branches_in_bin_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.9,
+      "log_step": null,
+      "text_zh": "观察：视频1.7–1.9 s，左腕视图中机器人左夹爪两指闭合夹住地面树枝；视频2.5–3.0 s树枝随左臂抬起，原位置不再留有该树枝。"
+     },
+     {
+      "t": 6.233,
+      "log_step": 70,
+      "text_zh": "观察：视频5.0–6.233 s，机器人驶近回收桶，左夹爪仍夹持树枝，桶盖保持闭合；未见树枝送入桶腔或松手。log step 70记录的交付动作仅为重置、录制左手抓枝、两段驶向桶前、保持10步后停止录制；评分器q_score=0.0。"
+     },
+     {
+      "t": 6.233,
+      "log_step": 77,
+      "text_zh": "推断：视频全程无入桶释放，且log step 77对同一188动作文件的重放也给出success=false、q_score=0.0，故第1根枝入桶从未达成，终值为false；桶留地面是初始关系，不贡献q_score。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频1.9–6.233 s，机器人左二指夹爪夹住并持续持有一根树枝，未释放；右夹爪未参与搬枝。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约3.0–6.0 s，轮式底盘支承机械臂并携带左夹爪中的树枝驶到回收桶前。"
+     }
+    ]
+   },
+   "branches_in_bin_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.233,
+      "log_step": 70,
+      "text_zh": "观察：视频0–6.233 s仅见机器人抓起并持有一根树枝驶向闭合回收桶，未见任何枝入桶，也未开始收集后续树枝；log step 70交付录制内容止于第一根枝搬运。"
+     },
+     {
+      "t": 6.233,
+      "log_step": 77,
+      "text_zh": "推断：视频未出现放枝，评分器及log step 77的同文件重放均给出q_score=0.0，未满足任何新增树枝入桶目标，故第2根枝入桶终值为false；非仅由零分推断未尝试。"
+     }
+    ]
+   },
+   "branches_in_bin_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.233,
+      "log_step": 70,
+      "text_zh": "观察：视频0–6.233 s仅见机器人抓起并持有一根树枝驶向闭合回收桶，未见任何枝入桶，也未开始收集后续树枝；log step 70交付录制内容止于第一根枝搬运。"
+     },
+     {
+      "t": 6.233,
+      "log_step": 77,
+      "text_zh": "推断：视频未出现放枝，评分器及log step 77的同文件重放均给出q_score=0.0，未满足任何新增树枝入桶目标，故第3根枝入桶终值为false；非仅由零分推断未尝试。"
+     }
+    ]
+   },
+   "branches_in_bin_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.233,
+      "log_step": 70,
+      "text_zh": "观察：视频0–6.233 s仅见机器人抓起并持有一根树枝驶向闭合回收桶，未见任何枝入桶，也未开始收集后续树枝；log step 70交付录制内容止于第一根枝搬运。"
+     },
+     {
+      "t": 6.233,
+      "log_step": 77,
+      "text_zh": "推断：视频未出现放枝��评分器及log step 77的同文件重放均给出q_score=0.0，未满足任何新增树枝入桶目标，故第4根枝入桶终值为false；非仅由零分推断未尝试。"
+     }
+    ]
+   },
+   "bin_on_garden_floor": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.667,
+      "log_step": null,
+      "text_zh": "观察：视频约4.3 s回收桶进入头部视野，视频4.667–5.7 s可见桶立于花园铺砖地面；至视频6.233 s桶仍处于原地，盖子闭合，机器人没有抓桶、抬桶或碰倒桶。"
+     },
+     {
+      "t": 0,
+      "log_step": 70,
+      "text_zh": "推断：DAG判据明确桶在地面初态已满足；视频前段桶在画外，log step 70所保存录制从重置开始且仅抓枝、驶向桶前，与视频后段桶保持原位相符，故该关系从视频0 s延续至结束。q_score=0.0不否定这一初始已满足关系。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "branches_in_bin_1",
+   "t": 6.2,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约1.9 s机器人左夹爪夹住一根树枝，随后持枝驶向回收桶；视频5.8–6.233 s仍持枝面对闭合桶盖，未见树枝入桶、松手或夹盖动作。推断：第1根枝入桶已开始但最终未达成，断点属于操作中；视频6.2 s作为末段持枝到桶前的导航锚点，不表示该时刻发生失手或开盖失败。"
+  },
+  "unmet": {
+   "branches_in_bin_1": false,
+   "branches_in_bin_2": false,
+   "branches_in_bin_3": false,
+   "branches_in_bin_4": false,
+   "bin_on_garden_floor": true
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "source_zh": "日志 / agent 自述",
+    "evidence_zh": "观察：会话测试的log step 64中机器人左末端到目标误差约0.00123米，但闭爪后inhand=None、桶盖角度约0；log step 67诊断只有左指2触及盖连杆且辅助抓取射线命中集合为空；log step 68改为盖角斜夹，两指均接触盖连杆仍inhand=None、盖角约0。log step 70中agent自述桶盖仍未打开，随后明确保存仅抓枝并驶到桶前的部分轨迹；log step 79也自述开盖失败是停止在此的原因。推断：会话中所试夹盖接触配置未建立可用抓持，使开盖前置未解决，解释了交付止于第1根枝搬运；这些测试不是交付轨迹中的接触或失败现象，尚无经验证可行的替代夹盖方案。"
+   }
+  ],
+  "gap_zh": "交付视频只有6.267秒的抓枝及搬运片段，结束时树枝仍稳定夹持；开盖夹取失败仅存在于未录入交付的会话测试，不能将其标为评分尝试的没建立接触、碰撞或其他现象，因此现象层留空。无状态日志和成功oracle；视频前段回收桶在画外，初始桶留地面区间结合DAG初态、交付录制代码及后段画面推断，精确物理接触无日志复核。"
+ },
+ "summary_zh": "评分轨迹中机器人用左夹爪抓起一根树枝并驶至闭合回收桶前，未将任何树枝放入桶内；仅回收桶留地面关系从初态保持，终态进度1/5，q_score=0.0。断点为第1根枝入桶的操作中，视频6.2 s为导航锚点；会话诊断支持夹盖接触设计未能建立有效抓持，交付视频没有开盖失败或放置失败动作，现象层留空。根因与交付止步的联系仍由会话诊断及交付内容推断，未在交付片段内复现，故置信度由7降至6；无状态日志，桶在地面的前段区间由初态与后段画面推断。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "进度节点（1/5，桶留地面从0 s起，四个入桶节点为false）与视频一致；但根因“抓取和接触设计”完全建立在会话测试（log 64/67/68）和agent自述（70、79）上，而交付轨迹里没有任何开盖/夹盖动作，这些不是被评分episode的观测，不能支持该根因。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "进度节点（1/5，桶留地面自0 s、四个入桶节点false）、断点（第1根枝入桶，操作中，6.2 s锚点）与视频一致；会话诊断作为根因证据符合03文档与FAIL-22，现象层留空有gap_zh，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": "2026-10-30T21:41:32Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-branches-and-twigs-i00-privileged--refs6p3/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-branches-and-twigs-i00-privileged--refs6p3/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-branches-and-twigs-i00-privileged--refs6p3/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-branches-and-twigs-i00-privileged--refs6p3/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c18aa70d87d8ad548f304cb5640fec3cad8ae823560a22047a0b398c2e20f539",
+   "video_sha256": "ae63633405ba984c08f70e7e6b8b77da58da32cf028259e0503a4f1e453dea54",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-standard--bfc2lgq.json

@@ -0,0 +1,292 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cleaning-up-branches-and-twigs-i00-standard--bfc2lgq",
+ "taskKey": "behavior-1k/cleaning_up_branches_and_twigs",
+ "dag_sha256": "dc7c6d3b2cde4ee06a95f0cc7fab8566cf593822410d33282e547a0d8d5455f7",
+ "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": 8231,
+   "sim_steps": 8231,
+   "physics_steps": 32924,
+   "steps": 537,
+   "elapsed_s": 3369.1,
+   "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-cleaning-up-branches-and-twigs-i00-standard--bfc2lgq/replay.mp4",
+  "duration_s": 274.4,
+  "fps": 10.0,
+  "frames": 2744,
+  "sha256": "2913fa0dc21820abcecfad23631adfeea76f24c7e9dbfcb0ab49f4245b168bef"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "branches_in_bin_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 160.0,
+      "log_step": null,
+      "text_zh": "观察：视频 12–27 s、156–173 s，机器人从回收桶旁经过，桶盖保持合上；全程粗查及结尾密查未见夹爪持枝、树枝搬运或向桶内释放，未见至少1根枝入桶的状态。"
+     },
+     {
+      "t": 273.8,
+      "log_step": 456,
+      "text_zh": "推断：评分器 reward.q_score=0.0，结合视频 273.8 s 机器人翻倒、此前未见任何拾枝放枝，可判终态没有合格入桶树枝，故第1根枝入桶为假；初态已有的桶在地面关系不计入该原生分数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–259 s，轮式底盘支承机器人沿花园铺装通道、草地边缘前进、后退和转向，以搜索首根待收集树枝；未见夹爪夹住树枝。视频 259–274.3 s 的退行及恢复动作中底盘继续移动，机器人最终翻倒。"
+     }
+    ]
+   },
+   "branches_in_bin_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 160.0,
+      "log_step": null,
+      "text_zh": "观察：视频 12–27 s、156–173 s，机器人从回收桶旁经过，桶盖保持合上；全程粗查及结尾密查未见夹爪持枝、树枝搬运或向桶内释放，未见至少2根枝入桶的状态。"
+     },
+     {
+      "t": 273.8,
+      "log_step": 456,
+      "text_zh": "推断：评分器 reward.q_score=0.0，结合视频 273.8 s 机器人翻倒、此前未见任何拾枝放枝，可判终态没有合格入桶树枝，故第2根枝入桶为假；初态已有的桶在地面关系不计入该原生分数。"
+     }
+    ]
+   },
+   "branches_in_bin_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 160.0,
+      "log_step": null,
+      "text_zh": "观察：视频 12–27 s、156–173 s，机器人从回收桶旁经过，桶盖保持合上；全程粗查及结尾密查未见夹爪持枝、树枝搬运或向桶内释放，未见至少3根枝入桶的状态。"
+     },
+     {
+      "t": 273.8,
+      "log_step": 456,
+      "text_zh": "推断：评分器 reward.q_score=0.0，结合视频 273.8 s 机器人翻倒、此前未见任何拾枝放枝，可判终态没有合格入桶树枝，故第3根枝入桶为假；初态已有的桶在地面关系不计入该原生分数。"
+     }
+    ]
+   },
+   "branches_in_bin_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 160.0,
+      "log_step": null,
+      "text_zh": "观察：视频 12–27 s、156–173 s，机器人从回收桶旁经过，桶盖保持合上；全程粗查及结尾密查未见夹爪持枝、树枝搬运或向桶内释放，未见至少4根枝入桶的状态。"
+     },
+     {
+      "t": 273.8,
+      "log_step": 456,
+      "text_zh": "推断：评分器 reward.q_score=0.0，结合视频 273.8 s 机器人翻倒、此���未见任何拾枝放枝，可判终态没有合格入桶树枝，故第4根枝入桶为假；初态已有的桶在地面关系不计入该原生分数。"
+     }
+    ]
+   },
+   "bin_on_garden_floor": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 14.0,
+      "log_step": null,
+      "text_zh": "观察：视频 12–25 s 可见绿色回收桶底部落在花园通道地面，视频 156–173 s 再次经过时桶仍在原区域接触地面；未见机器人将桶提起或改放到其他支承物。"
+     },
+     {
+      "t": 273.8,
+      "log_step": null,
+      "text_zh": "推断：DAG给出的初态桶在地面，与视频 12–25 s、156–173 s 的两次可见状态一致；机器人随后离桶继续探索，未见搬桶动作，故将该关系从视频 0 s 延续至终态。视频 273.8 s 桶已在视野外，终态支承关系由前后场景及未搬动推断。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "branches_in_bin_1",
+   "t": 264.5,
+   "log_step": 435,
+   "where": "探索",
+   "evidence_zh": "观察：机器人在寻找第一根树枝期间沿花园边缘往返，尚未持枝；视频 259.5–274.3 s 的头部和腕部视图明显倾转，最后仍未恢复。log step 435 的退行动作后，服务本体读数 tilt_cos=0.278；log step 436 为0.0069，log step 456 的服务状态为 done=True、reason=\"failure: the robot fell over\"。推断：断点是第1根枝入桶的场景探索阶段，最后一次持续失衡使其无法继续；视频锚点由该单一现场局的 control_steps/30 得到（log step 435：7935/30=视频 264.5 s），并以 log step 447 的8030/30=视频 267.67 s与视频 267.5–267.8 s 的再次翻转核对；8231/30=274.37 s亦与片长相符。"
+  },
+  "unmet": {
+   "branches_in_bin_1": false,
+   "branches_in_bin_2": false,
+   "branches_in_bin_3": false,
+   "branches_in_bin_4": false,
+   "bin_on_garden_floor": true
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 264.5,
+    "log_step": 435,
+    "evidence_zh": "观察：视频 259.5–274.3 s，机器人相机视图从前方花园转为朝天、朝墙并侧倾，视频 267.5–267.8 s 又发生明显翻转，视频 273.8 s 仍处于倒伏视角。服务在 log step 435–448 报告底盘严重倾斜且未恢复，log step 456 明确以机器人跌倒终止现场局。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "t": 264.5,
+    "log_step": 435,
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 415、419 中 agent 分别自述前进受阻、窄道通到墙；log step 427 又自述机器人位于低矮悬挑下、房屋边缘与种植带之间。这些是 agent 对场景的判断。脚本在 log step 427、430、432、433 依次命令底盘横移、前进、撤销前进、撤销横移，服务 tilt_cos 依次为0.874、0.818、0.914、0.830；log step 435 再命令底盘每控制步后退0.1米、执行5步，读数降至0.278，log step 436 反向5步后降至0.0069。视频 255–259 s 可见机器人沿房屋与种植区边缘接近，视频 260–274.3 s 视图持续倾转且未恢复直立；log step 451 中 agent 自述底盘爬上凸起边缘，精确接触物仍不可见。此前视频粗查显示机器人反复往返搜索；log step 27 的运动函数保持臂部姿态并张开夹爪，后续未记录拾枝指令，log step 451 的伸臂用于翻倒后的支撑恢复。推断：搜索路线与后续脱困动作的规划未避开边缘的不平整支撑，在反复移动中加重倾斜，未进入拾枝操作便导致本局失败；按 docs/03_trajectory.md:300-309 的判别顺序归为认知·推理/规划，现有证据未证明所选路线本身可行而仅有跟踪失稳。"
+   }
+  ],
+  "gap_zh": "没有仿真状态日志或成功示范。腕部相机在大部分视频中被机器人本体遮住，四根枝的具体位置与机器人底盘的精确接触点不可见，因此不标抓取接触或具体碰撞物；最终桶在地面由两次可见状态和后续未搬动推断。control_steps仅用于同一现场局的时刻定位，未将agent工作时间换算为视频时间；路线及脱困规划失误由动作指令、姿态读数与视频结合推断，低矮悬挑和爬上凸起边缘的描述仅为agent自述，无法据此确定具体碰撞几何或控制参数。"
+ },
+ "summary_zh": "机器人一直在花园通道及种植区边缘移动搜索，未见拾起或放入任何树枝，四个入桶节点均未达成；回收桶保留初始地面支承关系，进度为1/5。寻找第一根枝期间，搜索路线及脱困动作的规划未避开不平整边缘，底盘反复移动后持续失衡，最终由服务判定跌倒结束，根因归为认知·推理/规划。无状态日志��底盘精确接触点受遮挡，路线归因由指令、读数与视频结合推断，桶的终态关系依可见前后状态推断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "WHERE 标签（时钟映射 7935/30=264.5 s、进度 1/5、桶在地面、断点 ref=branches_in_bin_1 · 探索、平衡现象）与视频和日志一致，control_steps 映射在 8231/30=274.4 s 与片长吻合。问题在根因：把倾倒归为「控制」缺少反馈控制失效的证据，日志显示是 agent 自己指令底盘进入低矮悬挑的窄道并爬上凸起边缘；整局 3300 s 漫游未找到任何树枝，也未提交任何拾取尝试，应归为认知·推理/规划。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "进度1/5、桶在地面、断点（探索，ref=branches_in_bin_1，control_steps/30 时钟映射）、平衡现象和认知·推理/规划根因均与视频和日志一致；第1轮的根因问题已修正，未发现新错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:42:00Z",
+  "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-cleaning-up-branches-and-twigs-i00-standard--bfc2lgq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-branches-and-twigs-i00-standard--bfc2lgq/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-branches-and-twigs-i00-standard--bfc2lgq/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-branches-and-twigs-i00-standard--bfc2lgq/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a5f6fd77ba55c5356ae21eca0f96a183695f8ca1186ff7c5ea1711a3db0d315a",
+   "video_sha256": "2913fa0dc21820abcecfad23631adfeea76f24c7e9dbfcb0ab49f4245b168bef",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-standard--k2yv335.json

@@ -0,0 +1,264 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cleaning-up-branches-and-twigs-i00-standard--k2yv335",
+ "taskKey": "behavior-1k/cleaning_up_branches_and_twigs",
+ "dag_sha256": "dc7c6d3b2cde4ee06a95f0cc7fab8566cf593822410d33282e547a0d8d5455f7",
+ "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": 28149,
+   "sim_steps": 28149,
+   "physics_steps": 112596,
+   "steps": 14725,
+   "elapsed_s": 8674.9,
+   "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": 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-cleaning-up-branches-and-twigs-i00-standard--k2yv335/replay.mp4",
+  "duration_s": 938.3,
+  "fps": 30.0,
+  "frames": 28149,
+  "sha256": "17febd707484f1ed19bdc0f30e7a61edf0800af73c5f8eb4136166046df634b1"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "branches_in_bin_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 276,
+      "log_step": 119,
+      "text_zh": "观察：视频 260–286 s 的右腕与头部视图中，树枝先在铺砖上，随后被右夹爪夹起、离开原地并随手抬高；视频 300–324 s 机器人携枝驶近回收桶，桶盖仍闭合。这里只完成抓取搬运，未满足入桶验收。"
+     },
+     {
+      "t": 374,
+      "log_step": 173,
+      "text_zh": "观察：视频 350–378 s 左夹爪在桶盖边缘附近下降、闭合后抬走，盖子仍覆在桶口；log step 163、167 的服务夹爪开度均为零，log step 172 单指停在约0.045米后，log step 173 上抬时又完全闭合。后续视频仍反复尝试盖沿和盖顶，未见树枝送入。"
+     },
+     {
+      "t": 938.26,
+      "log_step": null,
+      "text_zh": "推断：视频全程粗查及视频 260–470 s、760–798 s、908–938.26 s 的加密帧未见树枝进入桶内；视频 276–324 s 仅一根树枝随右夹爪搬运，视频 330 s 右腕视图已见它落在桶外铺砖上，随后机器人持续操作关闭的桶盖。因此未达到至少1根枝入桶。评分器 reward.q_score=0.0、live_matches_replay=1；桶在地面是初始目标，不计入该原生新增目标得分，故总分也约束本节点终值为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 276–324 s 右二指夹爪夹持一根树枝，随抬臂及底盘移动搬到桶旁；视频 330 s 树枝已放在桶外铺砖上。抓握标签只指树枝，不指未夹住的桶盖。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：为准备第1根枝入桶，左右夹爪先后在盖沿和盖顶接触、抵压及滑动；例如视频 364–378 s 的左夹爪盖沿操作、视频 760–780 s 的左夹爪盖顶操作。未见双指有效包夹桶盖。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：轮式底盘在视频 288–324 s 支承机器人携右手所持树枝驶向回收桶，之后绕桶换位以操作桶盖。"
+     }
+    ]
+   },
+   "branches_in_bin_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 938.26,
+      "log_step": null,
+      "text_zh": "推断：视频全程粗查及视频 260–470 s、760–798 s、908–938.26 s 的加密帧未见树枝进入桶内；视频 276–324 s 仅一根树枝随右夹爪搬运，视频 330 s 右腕视图已见它落在桶外铺砖上，随后机器人持续操作关闭的桶盖。因此未达到至少2根枝入桶。评分器 reward.q_score=0.0、live_matches_replay=1；桶在地面是初始目标，不计入该原生新增目标得分，故总分也约束本节点终值为假。"
+     }
+    ]
+   },
+   "branches_in_bin_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 938.26,
+      "log_step": null,
+      "text_zh": "推断：视频全程粗查及视频 260–470 s、760–798 s、908–938.26 s 的加密帧未见树枝进入桶内；视��� 276–324 s 仅一根树枝随右夹爪搬运，视频 330 s 右腕视图已见它落在桶外铺砖上，随后机器人持续操作关闭的桶盖。因此未达到至少3根枝入桶。评分器 reward.q_score=0.0、live_matches_replay=1；桶在地面是初始目标，不计入该原生新增目标得分，故总分也约束本节点终值为假。"
+     }
+    ]
+   },
+   "branches_in_bin_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 938.26,
+      "log_step": null,
+      "text_zh": "推断：视频全程粗查及视频 260–470 s、760–798 s、908–938.26 s 的加密帧未见树枝进入桶内；视频 276–324 s 仅一根树枝随右夹爪搬运，视频 330 s 右腕视图已见它落在桶外铺砖上，随后机器人持续操作关闭的桶盖。因此未达到至少4根枝入桶。评分器 reward.q_score=0.0、live_matches_replay=1；桶在地面是初始目标，不计入该原生新增目标得分，故总分也约束本节点终值为假。"
+     }
+    ]
+   },
+   "bin_on_garden_floor": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG明确此目标在初态已满足；视频早段巡查可见桶底及蓝色轮子由花园铺砖支承，后续未见机器人抬离整桶，故该关系从视频 0 s 起保持。"
+     },
+     {
+      "t": 938.26,
+      "log_step": null,
+      "text_zh": "观察：视频 330 s、350–470 s、760–798 s 和视频 928.3–938.26 s，回收桶均由花园地面支承；末帧仍立在铺砖上，桶盖闭合。机器人操作的是桶盖，未把整桶放到别的支承物上。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "branches_in_bin_1",
+   "t": 374,
+   "log_step": 173,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 276–324 s 机器人已夹起并运来一根枝，视频 330 s 却将它留在桶外地面；视频 350–378 s 左夹爪试图夹盖沿并上抬，桶盖未随手打开，之后到视频 938.26 s 仍未完成任何入桶。推断：第1根枝入桶的开盖准备失败且未修复，断点归入该放入步骤；没有另造开盖节点。"
+  },
+  "unmet": {
+   "branches_in_bin_1": false,
+   "branches_in_bin_2": false,
+   "branches_in_bin_3": false,
+   "branches_in_bin_4": false,
+   "bin_on_garden_floor": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 374,
+    "log_step": 173,
+    "evidence_zh": "观察：视频 364–378 s 左夹爪在桶盖边缘附近闭合并抬走时，桶盖仍留在桶口，手中没有盖沿；log step 163、167 夹爪完全闭合，log step 172–173 从单指受阻变为上抬后的完全闭合。推断：存在碰擦，但始终未建立能夹住或托起桶盖的有效接触，故不能把树枝送入；这不是已持住盖子后脱落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "推断：机器人采用的盖沿接触位置和进指方向未形成相对的夹持面或盖下承托。视频 364–378 s 见手沿盖外侧移动后空手抬离；log step 171 的实测末端已接近所设目标，log step 172 却只有单指受阻，log step 173 手按上抬目标移动而盖不随动；log step 178–179 的另一盖下上扫也达到所设末端目标却未带起盖子。后续视频 760–780 s 又见手指落在盖顶而未抓住盖沿，log step 293、296 同期接触尝试报告下降受阻和高关节力矩。这些支持接触布置不适配；本运行未验证成功的替代握法。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "无状态日志、无成功示范；三相机均为低分辨率局部视图，桶内被关闭的盖子遮挡，精确接触对及是否存在可行替代握法不能核实。入桶节点的全过程未达由搬运后落在桶外、持续闭盖且没有后续投放的可见过程判定，终值另受评分器q_score=0约束；不从agent最终自述单独认定进展或故障原因。断点时间是视频中盖沿失败操作的近似导航锚点。"
+ },
+ "summary_zh": "观察：机器人只把一根树枝夹起并搬到桶旁，随后放回桶外地面；四个入桶节点均未达到，回收桶留在地面的初始目标始终保持，终态进度为1/5。推断：第1根枝入桶卡在开盖准备，盖沿夹持与盖下承托均未形成有效接触，反复尝试后仍未打开桶盖。观察：评分器q_score=0且现场与回放一致；无状态日志和成功示范，精确接触几何及替代握法可行性仍缺证据。",
+ "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（四个入桶节点为假、桶在地面从0 s保持）、q_score=0 的约束、断点（第1根枝入桶，操作中）与现象/根因（没建立接触、抓取和接触设计）均与帧和日志一致，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": "2026-10-30T21:09:48Z",
+  "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-cleaning-up-branches-and-twigs-i00-standard--k2yv335/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-branches-and-twigs-i00-standard--k2yv335/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5fb56d6705e92edd12094d46178d4344e4182bc0a72996303c2b55e8e64aedd4",
+   "video_sha256": "17febd707484f1ed19bdc0f30e7a61edf0800af73c5f8eb4136166046df634b1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-standard--rmxnvkm.json

@@ -0,0 +1,268 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cleaning-up-branches-and-twigs-i00-standard--rmxnvkm",
+ "taskKey": "behavior-1k/cleaning_up_branches_and_twigs",
+ "dag_sha256": "dc7c6d3b2cde4ee06a95f0cc7fab8566cf593822410d33282e547a0d8d5455f7",
+ "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": 36348,
+   "sim_steps": 36348,
+   "physics_steps": 145392,
+   "steps": 21404,
+   "elapsed_s": 7338.9,
+   "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-cleaning-up-branches-and-twigs-i00-standard--rmxnvkm/replay.mp4",
+  "duration_s": 1211.6,
+  "fps": 30.0,
+  "frames": 36348,
+  "sha256": "ff474977e3edd9a8d2f17608c66d04078a15ca6bc12ba902484732b4c5745282"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "branches_in_bin_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.3,
+      "log_step": 34,
+      "text_zh": "观察：视频0–12.2 s机器人空手旋转巡视并靠近回收桶，视频12.3–14.2 s视角剧烈滚转、机器人侧倾；视频17.5–22 s恢复较正的视角后继续巡视，仍未抓到树枝。log step 31、34记录的现场操作分别为寻找树枝的环视和调整头部朝向的躯干测试。"
+     },
+     {
+      "t": 1211.35,
+      "log_step": 202,
+      "text_zh": "观察：视频从初始巡视到视频约400 s的反复翻倒、自救，未见夹爪包夹、抬起或向桶口释放树枝；视频400–1211.35 s机器人长期侧倒，末秒双腕视图也无持枝或投放。评分器reward.q_score=0.0、live_matches_replay=1。推断：本次没有达到至少1根松手静止入桶；零分排除终态任何新增树枝入桶目标，初始已成立的桶在地面关系不计入该原生分数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0–12.2 s轮式底盘支承机器人旋转巡视、驶近桶以寻找第一根树枝；后续自救也有底盘移动。未见夹爪实际抓握树枝，故不标抓握。"
+     }
+    ]
+   },
+   "branches_in_bin_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1211.35,
+      "log_step": 202,
+      "text_zh": "观察：视频从初始巡视到视频约400 s的反复翻倒、自救，未见夹爪包夹、抬起或向桶口释放树枝；视频400–1211.35 s机器人长期侧倒，末秒双腕视图也无持枝或投放。评分器reward.q_score=0.0、live_matches_replay=1。推断：本次没有达到至少2根松手静止入桶；零分排除终态任何新增树枝入桶目标，初始已成立的桶在地面关系不计入该原生分数。"
+     },
+     {
+      "t": 90,
+      "log_step": null,
+      "text_zh": "观察：视频22.5–90 s机器人围绕已侧倒的桶观察，双夹爪未持树枝；后续为自救动作，未见开始收取第2根树枝。"
+     }
+    ]
+   },
+   "branches_in_bin_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1211.35,
+      "log_step": 202,
+      "text_zh": "观察：视频从初始巡视到视频约400 s的反复翻倒、自救，未见夹爪包夹、抬起或向桶口释放树枝；视频400–1211.35 s机器人长期侧倒，末秒双腕视图也无持枝或投放。评分器reward.q_score=0.0、live_matches_replay=1。推断：本次没有达到至少3根松手静止入桶；零分排除终态任何新增树枝入桶目标，初始已成立的桶在地面关系不计入该原生分数。"
+     },
+     {
+      "t": 90,
+      "log_step": null,
+      "text_zh": "观察：视频22.5–90 s机器人围绕已侧倒的桶观察，双夹爪未持树枝；后续为自救动作，未见开始收取第3根树枝。"
+     }
+    ]
+   },
+   "branches_in_bin_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1211.35,
+      "log_step": 202,
+      "text_zh": "观察：视频从初始巡视到视频约400 s的反复翻倒、自救，未见夹爪包夹、抬起或向桶口释放树枝；视频400–1211.35 s机器人长期侧倒，末秒双腕视图也无持枝或投放。评分器reward.q_score=0.0、live_matches_replay=1。推断：本次没有达到至少4根松手静止入桶；零分排除终态任何新增树枝入桶目标，初始已成立的桶在地面关系不计入该原生分数。"
+     },
+     {
+      "t": 90,
+      "log_step": null,
+      "text_zh": "观察：视频22.5–90 s机器人围绕已侧倒的桶观察，双夹爪未持树枝；后续为自救动作，未见开始收取第4根树枝。"
+     }
+    ]
+   },
+   "bin_on_garden_floor": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1,
+      "log_step": null,
+      "text_zh": "观察：视频约1 s、5–8 s、11.5–12.2 s可见回收桶直立落在室外铺装地面，桶下没有其他支承物。推断：结合DAG所列初态，桶在花园地面关系从视频0 s即成立。"
+     },
+     {
+      "t": 28,
+      "log_step": null,
+      "text_zh": "观察：视频12.3–14.2 s机器人失衡时桶改变位置和朝向；视频22.5–90 s可见桶侧躺于草坪边缘及铺装地面，视频150–192 s桶已移到车库门前，仍由室外地面支承，未见被夹爪悬持。推断：翻倒本身不破坏本节点；按criterion_zh只验收地面支承，不增加桶直立角度要求，未观察到可确定且持续的离地区间。"
+     },
+     {
+      "t": 1211.35,
+      "log_step": 202,
+      "text_zh": "观察：视频192 s以后机器人远离桶，视频400–1211.35 s困在另一处草坪边，末秒未恢复移动，桶已不在相机视野。推断：结合视频192 s最后可见的落地状态和机器人之后未返回，桶在地面的关系保持到终态；末段属于上下文推断，并非末帧直接可见。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频12.3–14.2 s机器人急动时桶移位并翻倒，之后自救中桶又移到车库门前；最初受力处被机器人和相机视角遮挡，无法判定是底盘、躯干还是夹爪接触桶，未见对桶的包夹抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频27–92 s机器人围绕侧倒的回收桶行驶并换向观察；轮式底盘在这些移动中支承机体，未见成功抬桶或归正桶。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "branches_in_bin_1",
+   "t": 12.3,
+   "log_step": 34,
+   "where": "探索",
+   "evidence_zh": "观察：视频0–12.2 s机器人空手环视、接近桶，尚在寻找第一根树枝；视频12.3–14.2 s突发侧倾翻滚，桶也被移位。此后机器人反复自救，视频约352 s一度站正后又翻倒，视频约403 s起长期侧倒直至视频1211.35 s末秒，未见任何树枝抓取、搬运或入桶。推断：最早出错且没有完成的任务节点是第1根枝入桶；恢复站立未修复这个节点，断点锚定首次失衡而非视频终点。"
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 12.3,
+    "log_step": 35,
+    "evidence_zh": "观察：视频12.3–14.2 s头部及双腕画面中的地面、围栏和房屋大幅滚转，机器人失去原有直立支承；视频17.5–22 s曾恢复，之后视频约92 s及约354 s再次翻倒，视频403–1211.35 s一直保持明显侧倒视角。log step 35的现场机器人本体读数也显示底盘高度升至0.323 m、姿态倾斜；log step 129、196分别返回约107.9度、107.7度倾角，支持后段倒地未恢复。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 12.3,
+    "log_step": 34,
+    "note_zh": "控制脚本动作列索引错误；未细分为参数调试或逆解失败。",
+    "evidence_zh": "观察：log step 34的现场躯干测试将[0.5,-1.2,-0.6,0]和[1.0,-1.9,-0.6,0]写入25维joint_position数组的A[:,0:4]；log step 187展示服务动作布局，第0–2列实际是每控制步重复施加的底盘x/y/yaw位移，躯干列为3–6。agent在log step 35也自述列索引用错；视频12.3–14.2 s随即出现剧烈运动及侧倾。推断：本应改变观察俯角的命令变成持续底盘平移、旋转，造成首个未修复树枝节点探索期间的失衡，属于动作编码与控制实现错误。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "观察：inputs/中没有states.jsonl，且无oracle视频；碰撞瞬间桶底和机器人触桶位置被遮挡，不能精确确定接触连杆、是否有短暂离地或原生ontop谓词的变化。视频约192 s以后桶离开视野，桶的终态及支承连续性由最后可见状态和机器人随后远离、长期倒地推断；四根树枝未逐一定位，终态入桶数由零分总量与未见抓取投放共同确定。未把agent关于“全部自由度被卡死、再无任何合法动作”的自述升级为任务或环境根因。",
+  "unmet": {
+   "branches_in_bin_1": false,
+   "branches_in_bin_2": false,
+   "branches_in_bin_3": false,
+   "branches_in_bin_4": false,
+   "bin_on_garden_floor": true
+  }
+ },
+ "summary_zh": "机器人始终没有完成任何树枝入桶，终态保留桶在地面的初始关系，进度为1/5；桶虽侧倒并移到车库门前，按DAG不另要求直立。寻找第一根树枝时，视频约12.3 s因控制脚本把躯干目标写入底盘动作列而失衡，之后反复翻倒、自救，最终长期侧倒而停止。无状态日志和成功示范，桶末段离开视野及碰撞瞬间的接触细节只能结合上下文推断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标签与视频、日志一致：视频12.3–14.2 s因列索引错误的躯干测试命令失衡（control_steps 424≈14.1 s印证映射），之后长期倒地，没有树枝入桶；桶在地面节点从0 s成立并保持，进度1/5，断点、现象、根因均有证据支持。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:13:26Z",
+  "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-cleaning-up-branches-and-twigs-i00-standard--rmxnvkm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-branches-and-twigs-i00-standard--rmxnvkm/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1c4c07c0e8a391bc13c6d83dc6d708cf80339cda01045ddc6360341f59330e58",
+   "video_sha256": "ff474977e3edd9a8d2f17608c66d04078a15ca6bc12ba902484732b4c5745282",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-standard--uspk3dg.json

@@ -0,0 +1,309 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cleaning-up-branches-and-twigs-i00-standard--uspk3dg",
+ "taskKey": "behavior-1k/cleaning_up_branches_and_twigs",
+ "dag_sha256": "dc7c6d3b2cde4ee06a95f0cc7fab8566cf593822410d33282e547a0d8d5455f7",
+ "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": 29698,
+   "sim_steps": 29698,
+   "physics_steps": 118792,
+   "steps": 29264,
+   "elapsed_s": 13552.5,
+   "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": 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-cleaning-up-branches-and-twigs-i00-standard--uspk3dg/replay.mp4",
+  "duration_s": 989.933,
+  "fps": 30.0,
+  "frames": 29698,
+  "sha256": "422c45f984753c6c1d6fde96479c61ab3f45f61b9cbaa53cca8a52b30db25a10"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "branches_in_bin_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 468,
+      "log_step": null,
+      "text_zh": "观察：视频 436–450 s 机器人右夹爪在桶盖前沿试探、推拨；视频 468 s 桶盖仍覆盖桶口，桶体仍在地面。"
+     },
+     {
+      "t": 625,
+      "log_step": 349,
+      "text_zh": "观察：视频 622–623.5 s 机器人将右臂移到回收桶上方；视频 624–626.5 s 腕部视图可见关闭的绿色盖面及其上的细长浅色物，未见树枝落入桶内腔；视频 627–642 s 机器人收臂、转身离开。log step 349 的执行脚本在此处张开右夹爪。"
+     },
+     {
+      "t": 625,
+      "log_step": null,
+      "text_zh": "推断：结合释放前后的画面，盖面细长物应为本轮搬来的树枝；释放发生在盖外，未满足入桶关系。视频后续没有再对该盖面物实施取回、开盖或送入操作，首轮失误未修复。"
+     },
+     {
+      "t": 989.8,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0、live_matches_replay=1，且视频所见唯一投放停在闭合盖面，故最终合格入桶数量为0；桶在地面的初始目标不计入该原生增量得分。此结论结合画面与总分，不由零分单独推导过程。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 436–448 s 右夹爪接触、推拨回收桶盖的前沿，未将盖打开；这是首根树枝入桶的准备尝试。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频 544–552 s 右夹爪伸入植被附近后抬起，视频 624–626.5 s 又在桶盖上方释放；树枝与指垫的局部被植被、末端和低分辨率遮蔽，不能从画面确认具体夹持接触，不将脚本的抓取命令直接标成实际抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人底盘在视频 558–622 s 沿花园铺装通道移动，从取枝位置返回回收桶，支承躯干和机械臂。"
+     }
+    ]
+   },
+   "branches_in_bin_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 554,
+      "log_step": 338,
+      "text_zh": "观察：视频 551.5–555 s 机器人在右臂抬起后，另将左夹爪向花坛伸出并抬回；画面没有显示第二根树枝进入回收桶。log step 338 是该次左臂取枝脚本，不能据其取枝命令认定抓取成功。"
+     },
+     {
+      "t": 934,
+      "log_step": 383,
+      "text_zh": "观察：视频 930–939 s 机器人再次向花坛伸出两臂并回收，随后视野持续大幅倾斜；视频 940–989.8 s 未见机器人返回回收桶投放。log step 383 为先左后右的取枝脚本，log step 396 的机器人服务状态为 done=True，reason 为机器人跌倒。"
+     },
+     {
+      "t": 989.8,
+      "log_step": null,
+      "text_zh": "推断：视频全程没有两根枝入桶的可见结果；首轮停在关闭的桶盖上，后轮未返回桶边。评分器 q_score=0.0 也排除最终存在至少两根合格入桶树枝，故本节点未达到、最终为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "左夹爪在视频 551.5–555 s、两臂在视频 930–939 s 进行取枝动作；植被和机器人自身遮挡了指垫与小树枝的接触，无法确认实际抓握或双臂共同持物。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：底盘在视频 630–929 s 从回收桶附近返回花坛，后段取枝动作后继续转动、移动；这些动作服务于后续树枝的取放尝试。"
+     }
+    ]
+   },
+   "branches_in_bin_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 936,
+      "log_step": 383,
+      "text_zh": "观察：视频 930–939 s 机器人在花坛前先后伸出、收回两臂；随后翻转的视野中未见树枝被送到回收桶。log step 383、392 分别是两臂取枝和返桶投放脚本，脚本意图不等于画面证实的抓取或入桶。"
+     },
+     {
+      "t": 989.8,
+      "log_step": null,
+      "text_zh": "推断：视频仅有首轮在闭合桶盖上方的释放，后轮没有完成返桶投放，且评分器 q_score=0.0，排除最终至少三根枝入桶；本节点没有成立区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 930–939 s 两臂向花坛取枝并抬回，但小树枝和夹爪接触区受遮挡，实际是否各夹住一根、是否保持住均无法确认。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人底盘在花坛前取枝后转动、移动，视频 939 s 后相机视野明显倾斜并持续翻转；这是该批取放尝试中的移动支承。"
+     }
+    ]
+   },
+   "branches_in_bin_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 989.8,
+      "log_step": null,
+      "text_zh": "观察：粗看视频全程并细查视频 544–558 s、622–628 s、924–989.8 s，机器人只有首轮单臂投放及后轮两臂取枝动作，没有第四根树枝的独立搬送或第四根入桶结果。"
+     },
+     {
+      "t": 989.8,
+      "log_step": null,
+      "text_zh": "推断：首轮在盖外释放，后轮未返桶，评分器 q_score=0.0 排除最终四根枝入桶；本节点未达到。"
+     }
+    ]
+   },
+   "bin_on_garden_floor": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 20,
+      "log_step": null,
+      "text_zh": "观察：视频 20 s 回收桶直立于花园铺装地面；视频 436–450 s 机器人在盖沿推拨时桶底没有离开地面，视频 468 s、624–642 s 桶仍由同一地面支承。"
+     },
+     {
+      "t": 989.8,
+      "log_step": null,
+      "text_zh": "推断：DAG给定桶在地面的初态，视频首次清楚看到桶时亦如此；整个可见操作中未抬桶或转移支承，视频 642 s 后机器人远离桶且未返回，因此将这一初始目标关系保留为视频 0 s 至结束。末尾相机朝向倒伏机器人和地面，终态延续是结合前后过程判断。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "branches_in_bin_1",
+   "t": 624.0,
+   "log_step": 349,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 624–626.5 s 机器人右臂在闭合回收桶盖上方完成释放动作，腕部视图显示细长物位于绿色盖面，未进入内腔；视频 627–642 s 机器人离开，之后没有取回修复。推断：这是最早未修复的第1根枝入桶失败，故断点取此处；后轮视频 939–989.8 s 的失衡及 log step 396 服务报告的跌倒终止，不替代这一步的早期断点。"
+  },
+  "unmet": {
+   "branches_in_bin_1": false,
+   "branches_in_bin_2": false,
+   "branches_in_bin_3": false,
+   "branches_in_bin_4": false,
+   "bin_on_garden_floor": true
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 624.0,
+    "log_step": 349,
+    "evidence_zh": "观察：视频 623.5–626.5 s 机器人将右夹爪置于关闭的桶盖上方并释放，细长物留在盖面外侧，未处于桶内；视频 627–628 s 夹爪撤离、盖仍关闭。推断：释放时尚未满足目标容纳位置，属于位姿不准。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "evidence_zh": "观察：log step 18 的服务任务文字要求将四根树枝放在桶内；机器人视频 436–450 s 的开盖试探没有使桶盖保持打开，视频 468 s 仍为闭盖。log step 349 的后续脚本直接采用桶上方位姿并张开夹爪，没有在投放前建立开放入口；视频 624–626.5 s 实际在盖面外释放，随后离开。推断：首轮收集方案在��未建立可进入内腔的条件时继续执行投放，将盖面上方释放当作入桶路径，前置条件与放置策略不匹配。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "无模拟器状态日志，也无成功示范视频；树枝很小，花坛植被、末端和机体遮挡取枝接触，故未凭 agent 自述确定各次辅助抓取、持物和滑脱。首轮盖面细长物的树枝身份依释放前后画面推断；后轮是否确实双手各持一枝无法确认。视频末尾未正视回收桶，桶在地面的终态依据可见操作的延续判断；入桶计数的最终值另结合评分器 q_score=0.0 约束。"
+ },
+ "summary_zh": "四个树枝入桶节点均未达到，初始的回收桶留地面关系保持，进度始终为1/5。最早未修复的失败在视频约624 s：机器人在仍关闭的桶盖上方释放，未先建立通往桶内的放置路径；后轮取枝后又失衡，机器人服务最终以跌倒结束运行。缺少状态日志及成功示范，部分取枝接触受遮挡，实际夹持方式保留未知。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "四个入桶节点均未达成、桶在地面保持，与视频及 q_score=0 一致；断点取视频约 624 s 在闭合桶盖上方释放（盖面可见细长浅色物，未入桶），后续未修复，位姿不准与推理/规划有视频和 log 支撑；后轮倾倒为评分终止规则，未另记为断点是对的。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": "2026-10-30T21:19:53Z",
+  "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-cleaning-up-branches-and-twigs-i00-standard--uspk3dg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-branches-and-twigs-i00-standard--uspk3dg/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6a5a715db1c696863eec5110ea6b27b4f204808df2d959c8ec68194b07f6699f",
+   "video_sha256": "422c45f984753c6c1d6fde96479c61ab3f45f61b9cbaa53cca8a52b30db25a10",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-standard--va2vgkc.json

@@ -0,0 +1,301 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cleaning-up-branches-and-twigs-i00-standard--va2vgkc",
+ "taskKey": "behavior-1k/cleaning_up_branches_and_twigs",
+ "dag_sha256": "dc7c6d3b2cde4ee06a95f0cc7fab8566cf593822410d33282e547a0d8d5455f7",
+ "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": 1968,
+   "sim_steps": 1968,
+   "physics_steps": 7872,
+   "steps": 133,
+   "elapsed_s": 6693.0,
+   "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-cleaning-up-branches-and-twigs-i00-standard--va2vgkc/replay.mp4",
+  "duration_s": 65.6,
+  "fps": 30.0,
+  "frames": 1968,
+  "sha256": "27bd91b4dd1c15610f76cb9350bc0fde0d25d4eda07dec5d113812645af15317"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "branches_in_bin_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 129,
+      "text_zh": "观察：视频22.5–24.5 s中机器人右夹爪合拢后，树枝从地面升到右腕相机前；视频24.5–65.56 s树枝持续随右夹爪移动，未见树枝在桶内松手停稳。"
+     },
+     {
+      "t": 65.56,
+      "log_step": null,
+      "text_zh": "推断：视频65.56 s右腕视图仍见夹持的树枝；评分器q_score=0.0、live_matches_replay=1，结合桶在地面的关系初态已满足且不计新增得分，终态合格入桶数量为0，故“第1根枝入桶”为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频约24.5 s起右二指夹爪夹持树枝；视频约33–43 s及53.5–55 s，右爪持续持枝，左二指夹爪同时夹住回收桶前沿尝试开盖，为同一次入桶操作配合。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约28–31 s及50–53 s，轮式底盘支承机械臂并驶近回收桶，右爪仍携带树枝；视频59–65.56 s又携枝绕到倒桶侧面。"
+     }
+    ]
+   },
+   "branches_in_bin_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 129,
+      "text_zh": "观察：视频22.5–24.5 s中机器人右夹爪合拢后，树枝从地面升到右腕相机前；视频24.5–65.56 s树枝持续随右夹爪移动，未见树枝在桶内松手停稳。"
+     },
+     {
+      "t": 65.56,
+      "log_step": null,
+      "text_zh": "推断：视频65.56 s右腕视图仍见夹持的树枝；评分器q_score=0.0、live_matches_replay=1，结合桶在地面的关系初态已满足且不计新增得分，终态合格入桶数量为0，故“第2根枝入桶”为假。"
+     },
+     {
+      "t": 65.56,
+      "log_step": null,
+      "text_zh": "观察：全片未见首次搬运以外的后续独立取枝、入桶松手动作；相机不能可靠数清右爪所持树枝的实例数量，不把同一抓取重复记成后续计数节点的独立尝试。"
+     }
+    ]
+   },
+   "branches_in_bin_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 129,
+      "text_zh": "观察：视频22.5–24.5 s中机器人右夹爪合拢后，树枝从地面升到右腕相机前；视频24.5–65.56 s树枝持续随右夹爪移动，未见树枝在桶内松手停稳。"
+     },
+     {
+      "t": 65.56,
+      "log_step": null,
+      "text_zh": "推断：视频65.56 s右腕视图仍见夹持的树枝；评分器q_score=0.0、live_matches_replay=1，结合桶在地面的关系初态已满足且不计新增得分，终态合格入桶数量为0，故“第3根枝入桶”为假。"
+     },
+     {
+      "t": 65.56,
+      "log_step": null,
+      "text_zh": "观察：全片未见首次搬运以外的后续独立取枝、入桶松手动作；相机不能可靠数清右爪所持树枝的实例数量，不把同一抓取重复记成后续计数节点的独立尝试。"
+     }
+    ]
+   },
+   "branches_in_bin_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 129,
+      "text_zh": "观察：视频22.5–24.5 s中机器人右夹爪合拢后，树枝从地面升到右腕相机前；视频24.5–65.56 s树枝持续随右夹爪移动，未见树枝在桶内松手停稳。"
+     },
+     {
+      "t": 65.56,
+      "log_step": null,
+      "text_zh": "推断：视频65.56 s右腕视图仍见夹持的树枝；评分器q_score=0.0、live_matches_replay=1，结合桶在地面的关系初态已满足且不计新增得分，终态合格入桶数量为0，故“第4根枝入桶”为假。"
+     },
+     {
+      "t": 65.56,
+      "log_step": null,
+      "text_zh": "观察：全片未见首次搬运以外的后续独立取枝、入桶松手动作；相机不能可靠数清右爪所持树枝的实例数量，不把同一抓取重复记成后续计数节点的独立尝试。"
+     }
+    ]
+   },
+   "bin_on_garden_floor": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      54.5
+     ],
+     [
+      56.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6,
+      "log_step": null,
+      "text_zh": "推断：DAG给定桶接触花园地面的初态，视频6 s、18 s及30–43 s可见回收桶由花园铺装地面支承，未见此前整桶离地，因此首段从视频0 s计。"
+     },
+     {
+      "t": 55.5,
+      "log_step": 207,
+      "text_zh": "观察：视频54.5–56.5 s开盖尝试中，整桶离开原地向前上方移动并翻转，桶下缘与地面阴影出现间隙；视频约56.8 s桶身侧面落到铺装地面。离地和落地边界为视觉估计，约有0.5 s误差。"
+     },
+     {
+      "t": 65.56,
+      "log_step": null,
+      "text_zh": "观察：视频57–65.56 s回收桶侧倒在花园铺装地面，左腕视图可见桶轮与桶身侧面；DAG本节点不要求直立，侧倒落地后仍满足地面支承关系。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频33–43 s及约53.5–55 s，机器人左二指夹爪在桶前沿合拢并牵动桶，后一次使整桶离地翻倒；此处记录实际触桶动作，侧倒本身不按直立要求扣本节点。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "branches_in_bin_1",
+   "t": 54.5,
+   "log_step": 207,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约24.5 s机器人已右爪持枝，随后一直为首次入桶操作开盖、调臂和靠近桶；视频54.5–57 s左爪的开盖动作带动整桶离地翻倒，右爪仍持树枝，直到视频65.56 s也未完成任何入桶松手。桶后来落回地面，首次入桶步骤本身没有完成，故断点为第1根枝入桶。"
+  },
+  "unmet": {
+   "branches_in_bin_1": false,
+   "branches_in_bin_2": false,
+   "branches_in_bin_3": false,
+   "branches_in_bin_4": false,
+   "bin_on_garden_floor": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "带动本体",
+    "t": 54.5,
+    "log_step": 207,
+    "evidence_zh": "观察：视频53.5–54.5 s机器人左爪靠近桶前沿尝试开盖，视频54.5–56.8 s运动的却是整个桶身，整桶向前上方移动、转倒后落地，盖与桶身没有形成所需的稳定相对开合；右爪树枝仍未放入。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 54.5,
+    "log_step": 207,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 207中agent脚本令左爪在桶前沿闭合，再按预设铰链圆弧依次执行开盖目标，同时保持右爪夹枝；视频54.5–57 s却显示整桶随操作离地翻倒，表明此次开盖接触与运动控制没有实现盖相对桶身的运动。缺少接触力和附着对象记录，不能进一步区分抓取位置、辅助抓取或轨迹跟踪的具体责任。"
+   }
+  ],
+  "gap_zh": "无状态日志及成功参考视频；腕部视图可确认持枝，但难以可靠数清所持树枝实例数量，终态四个入桶节点结合评分器总分判定。桶离地与落地时刻由视频54.5–57 s桶身、地面与阴影的相对位置估计；缺少逐帧接触对和力反馈，根因仅标到控制，不猜测具体子类。日志最后的agent自述是准备到倒桶侧面扶正（log step 215），后续log step 217–230均为观测分析，未见扶正执行或完成报告。"
+ },
+ "summary_zh": "机器人右爪夹起树枝并搬至回收桶旁，四个入桶节点均未达成，最终仅桶在花园地面的关系成立，进度1/5。首次入桶操作中，机器人左爪尝试开盖却带动整桶离地翻倒（视频约54.5–56.8 s），随后桶侧落回地面，右爪直到视频65.56 s仍持枝；失败归于控制，��倒不另添加DAG没有要求的直立判据。无状态日志，持枝实例数量和接触控制的具体子类无法确认，终态入桶数量结合q_score=0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": "抽查帧与标注一致：右爪约24.5 s起持枝，54.5–57 s左爪开盖带动整桶翻倒，桶落地、右爪仍持枝；四个入桶节点为假、桶接地节点终态为真，断点与根因（控制，已声明不确定）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": "2026-10-30T21:13:52Z",
+  "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-cleaning-up-branches-and-twigs-i00-standard--va2vgkc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-branches-and-twigs-i00-standard--va2vgkc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "69ca8c3ac2ca769d435374a44d7d05b7a973e1ce9d598cfe4924a876b18c2a3e",
+   "video_sha256": "27bd91b4dd1c15610f76cb9350bc0fde0d25d4eda07dec5d113812645af15317",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cleaning_up_plates_and_food/trajectories/behavior-cleaning-up-plates-and-food-i00-privileged--3uirjk5.json

@@ -0,0 +1,287 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cleaning-up-plates-and-food-i00-privileged--3uirjk5",
+ "taskKey": "behavior-1k/cleaning_up_plates_and_food",
+ "dag_sha256": "4390d52c232c8e81af0f654f0ec8aa4dc44a121bf0f5b36cb4eec4e4dab264ef",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 349,
+   "sim_steps": 349,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 609.0,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 4,
+   "agent_resets": 41,
+   "agent_sim_steps": 698,
+   "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-cleaning-up-plates-and-food-i00-privileged--3uirjk5/replay.mp4",
+  "duration_s": 11.633,
+  "fps": 30.0,
+  "frames": 349,
+  "sha256": "434b57e31d19e8be51869eef47cb73a575059896f99b90e23c4d86e1689e7b47"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 8,
+  "base": 3,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "pizzas_on_plates_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的头部视角可见两份披萨分别贴在两个白盘盘面上；视频0.0–11.6 s连续抽帧中，至少远侧一组始终保留承托关系，未见披萨离盘。"
+     }
+    ]
+   },
+   "pizzas_on_plates_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 11.6,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s已有两组不同盘承托披萨；视频4.0、6.0、8.0、9.0、10.0、11.0、11.6 s，近侧被机器人操作的盘上也仍有披萨，远侧一组未被操作，未见任何一份脱离盘面。两组初始关系保留，不能用评分器q_score=0否定它们。"
+     }
+    ]
+   },
+   "refrigerator_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1,
+      "log_step": 100,
+      "text_zh": "观察：视频0.0–2.0 s可见厨房双门冰箱门板关闭；视频全程机器人只靠近餐桌并用左臂在盘边操作，没有驶向冰箱或触门。log step 100、103的交付脚本仅录制到餐盘抓取及末端上移，不含开门动作；log step 76、84、88的门操作是其他会话测试，不是本评分回放。"
+     }
+    ]
+   },
+   "pizzas_in_fridge_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.6,
+      "log_step": 103,
+      "text_zh": "观察：视频0.0 s两盘披萨均在餐桌；视频8.5–11.6 s加密检查及视频11.6 s末帧，两份披萨仍在餐桌区域的各自盘上，机器人没有把任一份运到冰箱。log step 100、103交付的动作序列不含向冰箱运输或放入动作，评分器q_score=0与没有新增入箱关系相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频约5.5–8.5 s左夹爪指端落在近侧白色餐盘的边缘/上表面处，随后末端上移；可见盘边接触，不能据此认定二指已对向夹住餐盘。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–约1.7 s轮式底盘驶向餐桌的取盘位置并支承机器人，此时尚未搬运餐盘。"
+     }
+    ]
+   },
+   "pizzas_in_fridge_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.6,
+      "log_step": 103,
+      "text_zh": "观察：视频0.0 s两盘披萨均在餐桌；视频8.5–11.6 s加密检查及视频11.6 s末帧，两份披萨仍在餐桌区域的各自盘上，机器人没有把任一份运到冰箱。log step 100、103交付的动作序列不含向冰箱运输或放入动作，评分器q_score=0与没有新增入箱关系相符。"
+     }
+    ]
+   },
+   "bowls_in_sink_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1,
+      "log_step": 100,
+      "text_zh": "观察：视频0.0–2.0 s头部视角可见两个白碗均在早餐桌上，机器人随后只对披萨盘动作，未拾取或搬运碗；log step 100、103的最终脚本没有操作碗。推断：结合评分器q_score=0，没有新增碗入槽关系，第1个碗入水槽终态为假。"
+     }
+    ]
+   },
+   "bowls_in_sink_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1,
+      "log_step": 103,
+      "text_zh": "观察：视频0.0–2.0 s两个白碗均在桌上，评分视频内没有碗离桌或被送到水槽的动作；log step 100、103的最终动作序列也无碗操作。推断：结合评分器q_score=0，两个碗入同一水槽的条件没有成立。"
+     }
+    ]
+   },
+   "refrigerator_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": 100,
+      "text_zh": "观察：视频0.0–2.0 s冰箱双门贴近柜体；本评分视频全程没有机器人触门或开门动作，交付脚本（log step 100、103）也没有冰箱操作。推断：结合DAG已核实的关闭初态，冰箱关闭关系从视频0.0 s保留至结束；该初始关系不贡献q_score。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pizzas_in_fridge_1",
+   "t": null,
+   "log_step": 103,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约2.0–11.6 s机器人用左臂接近近侧披萨盘，在盘边闭爪并执行上移动作，未把盘上披萨运到冰箱；log step 100、103的交付脚本明确只保存这段餐桌取盘前缀，log step 107核对交付共349行且回放success=false。推断：按本评分局实际在做的动作，断点是第1份披萨入箱的取盘阶段；没有可靠可见的单一出错瞬间，故视频锚点留空。"
+  },
+  "unmet": {
+   "pizzas_on_plates_1": true,
+   "pizzas_on_plates_2": true,
+   "pizzas_in_fridge_1": false,
+   "pizzas_in_fridge_2": false,
+   "bowls_in_sink_1": false,
+   "bowls_in_sink_2": false,
+   "refrigerator_closed": true
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / agent 自述",
+    "evidence_zh": "观察：会话测试log step 76的末端接近及外拉后，输出in hand None、门关节始终[0.0,0.0]；log step 84改变接近深度后仍in_hand=None、门关节约[0.012,0.0]；log step 88改变腕姿后仍未附着且门关节[0.0,0.0]。agent在log step 100说明门抓取未解决，改为只交付取盘前缀；log step 110明确报告未完成并将障碍归于门抓取。推断：会话中未能实现有效的门操作控制，解释了为何交付没有继续完成入箱；不将这些测试当作评分视频中的接触现象，也不据此断言所有合法开门方案不可行。"
+   }
+  ],
+  "gap_zh": "观察：inputs/没有状态日志或成功参考视频；视频中的左夹爪与盘边接触区部分被手部遮挡，末段头部视角也随躯干运动，无法可靠确认盘是否被有效夹持并离桌，故不从agent在log step 110的抬盘自述补认成功抓取。交付在取盘/上移前缀后结束，没有可确认的掉落、失握或放置偏差，现象层留空；门抓取测试仅用于会话层根因。缺少接触力、附着状态及末端跟踪记录，控制根因不细分。"
+ },
+ "summary_zh": "评分轨迹仅在餐桌旁执行一盘披萨的抓取与末端上移动作，未将披萨送入冰箱，也未将碗送入水槽；两组披萨在盘及冰箱关闭的初始条件全程保留，节点终态为3/8。断点为第1份披萨入箱，日志中的多次开门控制未奏效解释了为何只交付取盘前缀，但这些开门测试不属于评分视频。无状态日志，盘边夹持及实际离桌难以可靠确认，故不填具体接触失败现象。",
+ "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3/8基本可信，但断点选在pizzas_in_fridge_1不对：DAG顺序里首个未达成的步骤是refrigerator_opened，评分回放全程没有任何开门动作；根因'控制'完全建立在会话测试(log 76/84/88)与agent自述上，不能当作评分回合的因果，且现象层为空而回放其实没有尝试开门。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（3/8，初始保留的披萨在盘及冰箱关闭为真，其余为假）与视频一致；回放全程只在餐桌取盘、未开冰箱、未碰碗。第1轮已就断点与根因讨论，标注者的回应有docs依据，我没有新证据推翻，故不重复。",
+    "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": "2026-10-30T21:42:12Z",
+  "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-cleaning-up-plates-and-food-i00-privileged--3uirjk5/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-plates-and-food-i00-privileged--3uirjk5/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-plates-and-food-i00-privileged--3uirjk5/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-plates-and-food-i00-privileged--3uirjk5/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8ca8bdd14a56d28e3a9078567f459b1e01cbdc067b71d3783b368caeea5f06e3",
+   "video_sha256": "434b57e31d19e8be51869eef47cb73a575059896f99b90e23c4d86e1689e7b47",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cleaning_up_plates_and_food/trajectories/behavior-cleaning-up-plates-and-food-i00-privileged--faqwp5s.json

@@ -0,0 +1,345 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cleaning-up-plates-and-food-i00-privileged--faqwp5s",
+ "taskKey": "behavior-1k/cleaning_up_plates_and_food",
+ "dag_sha256": "4390d52c232c8e81af0f654f0ec8aa4dc44a121bf0f5b36cb4eec4e4dab264ef",
+ "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": 995,
+   "sim_steps": 995,
+   "fallen": 1,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 880.2,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 2,
+   "agent_resets": 0,
+   "agent_sim_steps": 995,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 9.592,
+   "peak_memory_gb": 9.269,
+   "peak_processes": 22,
+   "peak_disk_gb": 1.466,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-cleaning-up-plates-and-food-i00-privileged--faqwp5s/replay.mp4",
+  "duration_s": 33.167,
+  "fps": 30.0,
+  "frames": 995,
+  "sha256": "f28f2456b5c8b12eda6b81068f991355ab3101ed9d4b6c7a2ee502b3588c4bf2"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 8,
+  "base": 3,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "pizzas_on_plates_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 两份披萨各平放在桌上的白色餐盘上；视频 12.0 s 和 15.8 s 仍可见披萨由盘承托。"
+     },
+     {
+      "t": 15.8,
+      "log_step": null,
+      "text_zh": "推断：机器人取碗后空手离开餐桌，余下视频至 33.13 s 未搬运餐盘或披萨，未见披萨离盘；至少一组在盘关系保留到结束。"
+     }
+    ]
+   },
+   "pizzas_on_plates_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 可见前后两个不同白盘各承托一份披萨，视频 15.8 s 两组仍留在餐桌上。"
+     },
+     {
+      "t": 15.8,
+      "log_step": null,
+      "text_zh": "推断：视频 16.0–33.13 s 机器人离桌并翻倒，未再操作披萨或餐盘；两组初始承托关系保留。末段餐桌在画面外，末值结合离桌前后过程判断。"
+     }
+    ]
+   },
+   "refrigerator_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 冰箱双门贴合柜体；视频 16.0–23.0 s 机器人从餐桌驶向厨房时仍可见门板关闭，未见夹爪拉门。"
+     },
+     {
+      "t": 33.13,
+      "log_step": 51,
+      "text_zh": "推断：视频约 23.0 s 后机器人翻倒，至视频 33.13 s 未进行开门操作；交付视频没有日志交互测试中的开门动作。"
+     }
+    ]
+   },
+   "pizzas_in_fridge_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.8,
+      "log_step": null,
+      "text_zh": "观察：视频 15.8 s 两组盘上披萨仍在餐桌，机器人随后空手离开，未向冰箱搬盘。"
+     },
+     {
+      "t": 33.13,
+      "log_step": 51,
+      "text_zh": "推断：视频至 33.13 s 无披萨或餐盘进入冰箱的过程；评分器 q_score=0.0 也排除了新增披萨入箱字面量，因此“至少一份披萨入箱”末值为假。"
+     }
+    ]
+   },
+   "pizzas_in_fridge_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.8,
+      "log_step": null,
+      "text_zh": "观察：视频 15.8 s 两组盘上披萨仍在餐桌，机器人随后空手离开，未向冰箱搬盘。"
+     },
+     {
+      "t": 33.13,
+      "log_step": 51,
+      "text_zh": "推断：视频至 33.13 s 无披萨或餐盘进入冰箱的过程；评分器 q_score=0.0 也排除了新增披萨入箱字面量，因此“两份披萨入箱”末值为假。"
+     }
+    ]
+   },
+   "bowls_in_sink_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.5,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0–9.8 s 机器人进行首次取碗动作后，两个碗仍留在桌面；视频 12.0 s、15.8 s 又可见两碗，未见任何碗被夹爪抬离桌面。"
+     },
+     {
+      "t": 33.13,
+      "log_step": 51,
+      "text_zh": "推断：视频 16.0–33.13 s 无碗随机器人移动或到达水槽，机器人随后翻倒；评分器 q_score=0.0 与无新增碗入槽关系一致。两次取碗尝试按目标碗的尝试顺序说明，不代表已完成第一个计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "第1次取碗尝试：机器人左臂动作时，腕部视角主要朝向椅子，头部视角未显示夹爪与碗的局部接触；无法确认哪一连杆碰碗及碰触方式，不据空夹反馈标抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人先驱动轮式底盘靠近餐桌取碗，视频约 16.0 s 后又空手驶向水槽方向；底盘在移动中承重，两个碗未随行。"
+     }
+    ]
+   },
+   "bowls_in_sink_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.8,
+      "log_step": null,
+      "text_zh": "观察：视频 10.5–15.8 s 机器人右夹爪伸到盘、碗附近后收回，两个碗仍留在桌面；视频约 16.0 s 机器人空手离桌。"
+     },
+     {
+      "t": 33.13,
+      "log_step": 51,
+      "text_zh": "推断：视频 16.0–33.13 s 无碗随机器人移动或到达水槽，机器人随后翻倒；评分器 q_score=0.0 与无新增碗入槽关系一致。两次取碗尝试按目标碗的尝试顺序说明，不代表已完成第一个计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "第2次取碗尝试：机器人右夹爪伸至餐盘和两个碗附近，腕部画面主要为盘上披萨及旁边碗沿；无法辨清夹爪是否单侧碰碗或由其他连杆推移，未观察到对向夹持。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人先驱动轮式底盘靠近餐桌取碗，视频约 16.0 s 后又空手驶向水槽方向；底盘在移动中承重，两个碗未随行。"
+     }
+    ]
+   },
+   "refrigerator_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 冰箱两门均贴近柜体；视频 16.0–23.0 s 驶近厨房期间仍可见关闭的冰箱，没有拉门或推门操作。"
+     },
+     {
+      "t": 33.13,
+      "log_step": null,
+      "text_zh": "推断：机器人随后翻倒且未操作冰箱，初始关闭状态保留到视频 33.13 s；这是初始满足的状态，q_score=0.0 不否定它。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bowls_in_sink_1",
+   "t": 8.5,
+   "log_step": 50,
+   "where": "操作中",
+   "evidence_zh": "推断：视频约 6.0–9.8 s 机器人首次取碗后没有带起碗，视频 12.0 s、15.8 s 两个碗仍在桌上；该入槽步骤此后从未完成，故选最早未修复的第1个碗入水槽。log step 50 的交付生成日志记录两次 object_in_hand 均为 None；视频约 23.0 s 后的翻倒进一步终止了这一步，而非把断点改为后续开冰箱。"
+  },
+  "unmet": {
+   "pizzas_on_plates_1": true,
+   "pizzas_on_plates_2": true,
+   "pizzas_in_fridge_1": false,
+   "pizzas_in_fridge_2": false,
+   "bowls_in_sink_1": false,
+   "bowls_in_sink_2": false,
+   "refrigerator_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 8.5,
+    "log_step": 50,
+    "evidence_zh": "推断：视频 6.0–9.8 s 首次取碗动作未让碗随末端离开桌面，视频 12.0 s 和 15.8 s 两个碗仍可见，机器人随后空手驶离；结合 log step 50 生成本次交付时两次持物查询均为 None，判断所需夹持从未建立，不能把碗在桌面上的位移当作抓起后掉落。"
+   },
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 23.0,
+    "log_step": 52,
+    "evidence_zh": "观察：视频约 23.0–24.0 s 机器人向厨房移动时视角突然大幅倾斜，随后画面翻转并落低，至视频 33.13 s 仍未恢复直立；log step 52 记录本次生成回合在 sim_steps=995 因 fallen 结束，评分器亦给出 fallen=1。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 42 的交付脚本按碗位姿加固定偏移执行夹爪下降、闭合和抬升，持物查询仅输出而不触发重抓；log step 50 的实际生成反馈两次均为 None，视频 12.0 s、15.8 s 确认碗未离桌。抓取动作没有建立有效夹持，脚本仍继续空手运送流程，支持控制层失败；现有证据不足以细分接触设计、轨迹执行或反馈控制。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "未提供状态日志或成功参考视频。首次取碗的夹爪与碗接触区被遮挡，第二次虽可见夹爪靠近餐盘及碗，仍不能确定实际接触连杆、夹持几何和接触力，因此两次取碗的局部接触填未知；无已建立抓握的证据。机器人翻倒附近有椅子，但无法确认首先触发翻倒的接触对，不将 agent 在 log step 53 对碰撞和停靠距离的猜测当成已证实根因。视频末段不再显示餐桌，初始两组在盘关系的末值结合离桌前观察和后续无操作推断。"
+ },
+ "summary_zh": "交付轨迹仅保留开局两份披萨在不同餐盘上及冰箱关闭，共3/8节点，没有完成新增入箱或入槽关系。最早未修复的失败是第1个碗入水槽：取碗未建立夹持，第二次尝试后两碗仍在桌上，机器人空手驶离后于视频约23.0 s 翻倒，评分器以 fallen=1 结束。局部接触被遮挡且无状态日志，根因只判为控制，不能确定具体抓取几何或翻倒的碰撞对象。",
+ "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（开局两组披萨在盘+冰箱关闭=3/8，其余未达）、断点（第1个碗入水槽，操作中）、现象（没建立接触、平衡）与根因（控制，未细分）均有视频和日志支持；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": "2026-10-30T21:21:29Z",
+  "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-cleaning-up-plates-and-food-i00-privileged--faqwp5s/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-plates-and-food-i00-privileged--faqwp5s/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a6c786ff1f5e1e7174e9c0d6e32f024d3bd6c5cafac6226e079d20676f598e85",
+   "video_sha256": "f28f2456b5c8b12eda6b81068f991355ab3101ed9d4b6c7a2ee502b3588c4bf2",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cleaning_up_plates_and_food/trajectories/behavior-cleaning-up-plates-and-food-i00-privileged--jfbksgr.json

@@ -0,0 +1,386 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cleaning-up-plates-and-food-i00-privileged--jfbksgr",
+ "taskKey": "behavior-1k/cleaning_up_plates_and_food",
+ "dag_sha256": "4390d52c232c8e81af0f654f0ec8aa4dc44a121bf0f5b36cb4eec4e4dab264ef",
+ "outcome": {
+  "success": 0,
+  "reward": 0.2857142857142857,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 4895,
+   "sim_steps": 4895,
+   "final_reward": 0.2857142857142857,
+   "q_score": 0.2857142857142857,
+   "replay_wall_s": 1646.4,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 32,
+   "agent_resets": 0,
+   "agent_sim_steps": 54384,
+   "agent_records": 24,
+   "agent_replays": 11,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-cleaning-up-plates-and-food-i00-privileged--jfbksgr/replay.mp4",
+  "duration_s": 163.167,
+  "fps": 30.0,
+  "frames": 4895,
+  "sha256": "255d5bb25588a5c8a91e311a025685826d490f0cbae4c619674538b49b61b7cf"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 8,
+  "base": 3,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "pizzas_on_plates_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，两份披萨分别放在餐桌上的两个白盘内；计数第1份对应后续未被操作的远侧一组。"
+     },
+     {
+      "t": 163.1,
+      "log_step": null,
+      "text_zh": "观察：视频 134.5–163.1 s，机器人操作近侧一组时，远侧披萨仍平放在自己的白盘上；视频 163.1 s 左腕视图仍可见这一组。"
+     }
+    ]
+   },
+   "pizzas_on_plates_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，可见第二组披萨与不同的白盘，开局两组承托关系成立。"
+     },
+     {
+      "t": 137,
+      "log_step": null,
+      "text_zh": "观察：视频 136.5–143.0 s，右夹爪拨动近侧盘和披萨，披萨偏到盘沿，部分伸出盘面，但其右后侧仍覆盖白盘；另一组未动。"
+     },
+     {
+      "t": 163.1,
+      "log_step": null,
+      "text_zh": "推断：视频 137.0–163.1 s 的头部和左腕视图中，近侧披萨仍与下方盘沿重叠，未见完全分离，按仍有部分盘面承托保留第2组；此处原生 ontop 接触判据无状态日志可核对。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "视频 135.5–163.1 s，右夹爪指尖在近侧披萨、餐盘边缘拨移，盘与披萨产生相对位移；未见夹住餐盘后稳定搬运。"
+     }
+    ]
+   },
+   "refrigerator_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      94.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 92.5,
+      "log_step": null,
+      "text_zh": "观察：视频 89.0–93.0 s，机器人左夹爪在冰箱门把手附近闭合并牵拉；视频 94.0–98.0 s 门板明显向外转开，露出内部层架，随后另一扇门也打开。开门阈值时刻取视频约 94.0 s。"
+     },
+     {
+      "t": 163.1,
+      "log_step": null,
+      "text_zh": "观察：视频 163.1 s，冰箱仍明显敞开；本节点为曾打开的事件，末态保持已达。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人先用左夹爪夹持门把手向外拉开一扇门，随后用右夹爪操作另一扇门；两臂先后操作。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约 77.0–89.0 s，轮式底盘从水槽区域驶向冰箱并定位，支承机器人进行开门。"
+     }
+    ]
+   },
+   "pizzas_in_fridge_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 135.5,
+      "log_step": null,
+      "text_zh": "观察：视频 134.5–163.1 s，机器人在餐桌近侧盘沿反复闭合右夹爪，盘和披萨被拨动但没有被搬到冰箱；视频 163.1 s 左腕视图仍显示两份披萨在餐桌处。"
+     },
+     {
+      "t": 163.1,
+      "log_step": 588,
+      "text_zh": "观察：log step 588 记录未夹住 plate.n.04_2（held None）、接触对象为披萨，随后保存 4895 行动作并报 q_score=2/7；评分器同为 4895 动作、q_score=2/7，与视频末段停在抓盘动作一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "右夹爪尝试夹取餐盘，但实际指���在披萨及盘沿接触、拨移，没有形成持盘抓握；视频末段与 log step 588 的单指接触披萨、held None 一致。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约 126.0–134.5 s，底盘从已打开的冰箱驶回餐桌，支承机器人接近第一组盘上披萨并尝试取盘。"
+     }
+    ]
+   },
+   "pizzas_in_fridge_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 163.1,
+      "log_step": null,
+      "text_zh": "观察：视频 130.0–163.1 s，两份披萨都留在餐桌区域；机器人未成功搬运第一组，也没有开始另一组入箱动作。"
+     },
+     {
+      "t": 163.1,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=2/7 与两碗入槽相符；初始已成立的披萨在盘关系不增加该分数，不能用此总分给任何披萨入箱记功。"
+     }
+    ]
+   },
+   "bowls_in_sink_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      19.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": null,
+      "text_zh": "观察：视频 6.5–7.5 s，机器人左夹爪夹起一只碗，碗离开餐桌并随夹爪移动；另一只碗留在桌上。"
+     },
+     {
+      "t": 19.0,
+      "log_step": null,
+      "text_zh": "推断：视频 17.0–22.0 s，左腕视图中水槽凹槽和排水口进入画面，所持碗被移入并降低，随后夹爪张开撤出；视频 24.0 s 可见碗留在槽内。以视频约 19.0 s 作为碗中心进入槽内的锚点，遮挡使时刻约有 1–2 s 不确定性。"
+     },
+     {
+      "t": 74.5,
+      "log_step": null,
+      "text_zh": "观察：视频 74.0–75.0 s，左腕视图可见两只白碗同处水槽凹槽，之后机器人离开；视频末段没有再操作水槽。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左二指夹爪夹住第一只碗的碗沿，抬离餐桌，送入水槽后松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘携带左夹爪所持碗从餐桌驶向厨房水槽，在柜台前转向定位。"
+     }
+    ]
+   },
+   "bowls_in_sink_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      70.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 44.5,
+      "log_step": null,
+      "text_zh": "观察：视频 39.0–44.5 s，左夹爪再次伸向餐桌上剩余的白碗；视频 44.5–52.0 s，碗离开原位置随左手移动，桌上只剩两组披萨餐盘。"
+     },
+     {
+      "t": 70.0,
+      "log_step": null,
+      "text_zh": "推断：视频 68.0–71.5 s，所持第二只碗在左腕近景中被降入水槽，随后机器人张开夹爪撤出；视频 74.0–75.0 s 可见两碗留在同一槽内。以视频约 70.0 s 作为第二只碗进入的锚点，碗遮住槽沿使时刻约有 1–2 s 不确定性。"
+     },
+     {
+      "t": 163.1,
+      "log_step": null,
+      "text_zh": "推断：视频 75.0 s 后机器人离开水槽且未再取碗；评分器最终 q_score=2/7，与两项新建立的碗入槽关系一致，结合视频确认末态两碗仍在槽内。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人仍用左夹爪夹取第二只碗，带往同一水槽，降入后松手；右夹爪没有同时协作持碗。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘载着第二只碗从餐桌驶回水槽，支承机器人绕过柜台并定位放碗。"
+     }
+    ]
+   },
+   "refrigerator_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      94.0
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 冰箱两扇门均贴合柜体；视频 88.0–93.0 s 接近门把手时仍未明显敞开。"
+     },
+     {
+      "t": 94.0,
+      "log_step": null,
+      "text_zh": "观察：视频约 94.0 s 门板转离柜体并露出层架，关闭状态失去；视频 98.0–163.1 s 可见冰箱持续敞开，机器人随后转去抓盘，没有实施关门。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.2857142857142857,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pizzas_in_fridge_1",
+   "t": 135.5,
+   "log_step": 588,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 134.5–137.0 s，机器人右夹爪在第一组目标餐盘上闭合并拨动披萨、餐盘，未建立能把餐盘带走的夹持；视频 139.0–163.1 s 反复调整仍未搬离餐桌。log step 588 的生成程序因 could not grasp plate.n.04_2 停止并保存 4895 行动作，与评分器及视频长度相符���此入箱步骤一直未修复。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 135.5,
+    "log_step": 588,
+    "evidence_zh": "观察：视频 135.5–163.1 s，右夹爪反复开合，却未把餐盘稳定夹起并带离桌面，实际拨到披萨和盘沿；log step 588 保存本次轨迹前的读数为 held None，接触集合仅列披萨与右夹爪一根手指。这里缺少的是搬盘所需的有效抓握，不是完全没有碰到物体。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "推断：视频 135.5–163.1 s 显示右夹爪的闭合位置反复落在披萨边缘、盘面上方，产生拨移而非两指夹住盘沿。log step 588 对本次保存轨迹报告末端位置误差约 0.019 m、姿态对齐约 0.9997，但仅右夹爪单指接触披萨且 held None；目标末端位姿大体到达，选定接触几何没有形成持盘夹持。没有已验证成功的替代握法。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "无状态日志或成功参考视频。两次碗中心进入水槽的瞬间受碗体和夹爪遮挡，视频锚点约有 1–2 s 误差；末段近侧披萨已偏至盘沿，其部分承托关系按多视图重叠作视觉推断，不能精确核对原生 ontop 谓词。q_score 不计仍保持的初始关系，不能单靠 2/7 决定这份披萨是否仍在盘上。",
+  "unmet": {
+   "pizzas_on_plates_1": true,
+   "pizzas_on_plates_2": true,
+   "pizzas_in_fridge_1": false,
+   "pizzas_in_fridge_2": false,
+   "bowls_in_sink_1": true,
+   "bowls_in_sink_2": true,
+   "refrigerator_closed": false
+  }
+ },
+ "summary_zh": "评分回放完成两碗入同一水槽并打开冰箱，两份披萨在盘关系按可见的部分承托保留，最终为 5/8 个节点，冰箱未关、披萨均未入箱。机器人在第一份披萨入箱所需的取盘动作中反复碰到披萨和盘沿，却未形成持盘夹持，生成程序报抓盘失败后保存该轨迹；主要根因为抓取接触几何不适配。无状态日志，碗入槽时刻与偏到盘沿的披萨承托关系有视觉推断成分。",
+ "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（第1份披萨入箱，取盘失败）与根因均与视频和 log step 588（held None、仅右指接触披萨、4895 步、q_score 2/7）相符；碗入槽时刻因遮挡无法逐帧精确核对，但未见矛盾。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:19:50Z",
+  "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-cleaning-up-plates-and-food-i00-privileged--jfbksgr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-plates-and-food-i00-privileged--jfbksgr/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "960016eb89f5926bf5389015ef707953e47c9288f7d066baece626f54a72fa35",
+   "video_sha256": "255d5bb25588a5c8a91e311a025685826d490f0cbae4c619674538b49b61b7cf",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cleaning_up_plates_and_food/trajectories/behavior-cleaning-up-plates-and-food-i00-privileged--rq6wuye.json

@@ -0,0 +1,465 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cleaning-up-plates-and-food-i00-privileged--rq6wuye",
+ "taskKey": "behavior-1k/cleaning_up_plates_and_food",
+ "dag_sha256": "4390d52c232c8e81af0f654f0ec8aa4dc44a121bf0f5b36cb4eec4e4dab264ef",
+ "outcome": {
+  "success": 0,
+  "reward": 0.2857142857142857,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 4212,
+   "sim_steps": 4212,
+   "fallen": 0,
+   "final_reward": 0.2857142857142857,
+   "q_score": 0.2857142857142857,
+   "replay_wall_s": 1428.9,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 2,
+   "agent_resets": 96,
+   "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": 9.544,
+   "peak_memory_gb": 9.076,
+   "peak_processes": 28,
+   "peak_disk_gb": 1.551,
+   "resource_emergency_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-cleaning-up-plates-and-food-i00-privileged--rq6wuye/replay.mp4",
+  "duration_s": 140.4,
+  "fps": 30.0,
+  "frames": 4212,
+  "sha256": "68b4206f6eb9748b9bcb79639cee4593b01fce19022e7c974a11d5bba602f01d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 8,
+  "base": 3,
+  "peak": 5,
+  "final": 4,
+  "nodes": {
+   "pizzas_on_plates_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      121.0
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 餐桌上有两份披萨，分别贴在不同白色餐盘上。"
+     },
+     {
+      "t": 94.5,
+      "log_step": null,
+      "text_zh": "观察：视频 94.5–99 s 一份披萨已在餐桌旁地面，另一份仍在桌上的餐盘中，因此至少一组在盘关系仍成立。"
+     },
+     {
+      "t": 121.0,
+      "log_step": null,
+      "text_zh": "推断：视频 119.7–120.3 s 第二轮操作的披萨仍贴着白盘；视频约 120.5–121.3 s 左腕画面中披萨退出盘面，随后只见空白盘。视频 124–132 s 搬向冰箱的是空盘，直至视频 140.37 s 没有把披萨重新放回盘上的动作；最后一组承托关系约在视频 121 s 丢失，时刻误差约半秒。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：机器人左夹爪夹持餐盘边缘，由餐盘承托披萨；第一轮搬运后披萨离盘，夹爪仍带着空盘。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人携盘退出餐桌并驶向冰箱，轮式底盘支承机器人及载荷。"
+     }
+    ]
+   },
+   "pizzas_on_plates_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      88.0
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 两份披萨分别在两个不同餐盘上，初始即可组成两组配对。"
+     },
+     {
+      "t": 88.0,
+      "log_step": null,
+      "text_zh": "推断：视频 87 s 左腕画面仍见第一轮搬运餐盘上的披萨，视频 88.25 s 左腕已只见空白盘面，随后视频约 89–94 s 的逐秒抽帧均见空盘；视频 94.5 s 主画面清楚显示披萨在餐桌旁地面，另一个盘上披萨仍留在桌面。两组承托关系约在视频 88 s 降为一组，边界误差约半秒；之后未恢复第二组。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：机器人左夹爪夹持餐盘边缘，由餐盘承托披萨；第一轮搬运后披萨离盘，夹爪仍带着空盘。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人携盘退出餐桌并驶向冰箱，轮式底盘支承机器人及载荷。"
+     }
+    ]
+   },
+   "refrigerator_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      70.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 70.5,
+      "log_step": null,
+      "text_zh": "观察：视频 69–70.25 s 机器人左夹爪位于冰箱把手，视频 70.5–71.5 s 门板向外转动，视频 73–78 s 可清楚看到门后层架和大开口；取视频约 70.5 s 为超过关闭小缝的开门事件，开度阈值时刻约有半秒误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左二指夹爪夹住冰箱门把手，随手臂运动向外带开门板。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "���察：开门过程中机器人底盘同步向后挪动。"
+     }
+    ]
+   },
+   "pizzas_in_fridge_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 94.5,
+      "log_step": null,
+      "text_zh": "观察：视频 87–94.5 s 第一轮取盘后披萨掉到餐桌旁地面；视频 101–106 s 机器人把空盘带到冰箱附近，没有盘上披萨进入箱内。"
+     },
+     {
+      "t": 129.8,
+      "log_step": null,
+      "text_zh": "观察：视频 120.3 s 第二轮操作的披萨尚在盘面，视频 121.3–129.8 s 左腕视角只见空盘，机器人继续驶向冰箱；视频 131–140.37 s 没有看到任何盘上披萨进入箱内。两次搬运均未建立节点要求的箱内承托关系。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：机器人左夹爪夹持餐盘边缘，由餐盘承托披萨；第一轮搬运后披萨离盘，夹爪仍带着空盘。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人携盘退出餐桌并驶向冰箱，轮式底盘支承机器人及载荷。"
+     }
+    ]
+   },
+   "pizzas_in_fridge_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 129.8,
+      "log_step": null,
+      "text_zh": "观察：视频 94.5–99 s 第一轮搬运的披萨留在地面且之后没有捡回；视频 111–121 s 机器人又操作另一份盘上披萨，随后携空盘回到冰箱前。视频 131–140.37 s 未见两组盘上披萨入箱。"
+     },
+     {
+      "t": 140.37,
+      "log_step": null,
+      "text_zh": "推断：完整视频中连第一组箱内承托关系也未建立，因此两份各在不同盘上并同时入箱的条件始终不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：机器人左夹爪夹持餐盘边缘，由餐盘承托披萨；第一轮搬运后披萨离盘，夹爪仍带着空盘。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人携盘退出餐桌并驶向冰箱，轮式底盘支承机器人及载荷。"
+     }
+    ]
+   },
+   "bowls_in_sink_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      25.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 25.5,
+      "log_step": null,
+      "text_zh": "观察：视频 6–10 s 左夹爪取走餐桌上的一个白碗；视频 25–26.5 s 左腕俯视画面中白碗落入水槽凹槽，视频 28.5 s 主画面仍见该碗在水槽中。取视频约 25.5 s 为首次入槽，精度约半秒。"
+     },
+     {
+      "t": 140.37,
+      "log_step": null,
+      "text_zh": "推断：视频 57–60 s 第二个碗也被放到同一水槽，此后机器人不再取碗；评分回放 q_score=2/7，结合两份披萨均未入箱、在盘关系已失去及冰箱关闭为初始保留条件，新增的两个满足字面量对应两碗入槽，因此终态至少一个碗在槽内。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左二指夹爪夹住碗沿，将白碗从餐桌提起，运到水槽上方后松开；两个碗依次由同一只夹爪搬运。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人持碗从餐桌驶向水槽，轮式底盘支承机器人及碗。"
+     }
+    ]
+   },
+   "bowls_in_sink_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      57.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 57.5,
+      "log_step": null,
+      "text_zh": "观察：视频 39–42 s 左夹爪把餐桌上剩下的白碗提起，视频 56.8–58.4 s 左腕画面显示第二个碗落向同一水槽，白色碗沿轮廓重叠；视频 60 s 主画面中白碗留在水槽区域。"
+     },
+     {
+      "t": 140.37,
+      "log_step": null,
+      "text_zh": "推断：视频中两次碗搬运后没有再取碗；回放评分 q_score=0.2857142857142857=2/7，而两份披萨均离盘且未入箱，初始在盘及关门条件不贡献新增 q 分，因此终态两碗入槽。以第二次落碗的可见动作将到达锚点置于视频约 57.5 s，精确入槽及堆叠深度受遮挡。"
+     },
+     {
+      "t": null,
+      "log_step": 2860,
+      "text_zh": "观察：log step 2860 保存 4212 个动作的会话测试报告 Bowl 1 inside Sink=False、Bowl 2=True、q_score=1/7；评分回放同为 4212 帧却给 q_score=2/7。该会话读数不能替代评分视频和评分字段的终态；本节点采用回放证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左二指夹爪夹住碗沿，将白碗从餐桌提起，运到水槽上方后松开；两个碗依次由同一只夹���搬运。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人持碗从餐桌驶向水槽，轮式底盘支承机器人及碗。"
+     }
+    ]
+   },
+   "refrigerator_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      70.5
+     ],
+     [
+      106.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 冰箱两扇门处于贴近柜体的关闭位置。"
+     },
+     {
+      "t": 70.5,
+      "log_step": null,
+      "text_zh": "观察：视频约 70.5 s 门板向外打开，视频 73–84 s 门后层架持续可见，关闭状态中断。"
+     },
+     {
+      "t": 106.0,
+      "log_step": null,
+      "text_zh": "观察：视频 103.5–105.25 s 冰箱门板仍呈外开姿态；视频 105.5–106.25 s 视角转向冰箱正面后，两扇门板已回到相邻贴合位置，取视频约 106 s 为恢复关闭，精度约半秒。"
+     },
+     {
+      "t": 140.37,
+      "log_step": null,
+      "text_zh": "观察：视频 129.8–133 s 两扇门仍关闭，视频 134–138 s 左夹爪向门板推进；视频 139.4–140.37 s 末秒逐帧可见两门保持关闭，无再次打开。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 134–138 s 机器人左夹爪向冰箱门板推进并抵住门板；门在这次推进前已归位。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在冰箱前调整底盘位置并配合左臂向门板推进。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.2857142857142857,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pizzas_on_plates_2",
+   "t": 88.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "推断：机器人在视频 87 s 搬动第一只餐盘时披萨仍在盘上，视频 88.25 s 腕相机已见空盘，视频 94.5 s 主画面显示披萨留在餐桌旁地面；直到视频 140.37 s 都没有捡回或恢复两组在盘关系。该初始成立状态是最早丢失且未修复的节点，锚点取视频约 88 s，边界误差约半秒。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 88.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 87 s 左腕画面可见第一轮搬运的白盘及盘上披萨；视频 88.25 s 左腕已见空白盘面，随后视频约 89–94 s 的逐秒抽帧仍为空盘。视频 94.5 s 披萨已经在地面，而白盘仍随左夹爪移动。搬运中盘对披萨的承托丢失，发生在送入冰箱之前。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 88.0,
+    "log_step": 2825,
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：log step 2825 的执行脚本以夹持盘沿、搬盘进入冰箱并保留披萨在盘为目标；视频 87 s 盘上仍见披萨，视频 88.25 s 盘面已空，视频 94.5 s 披萨在地面而餐盘仍随机器人移动。目标与搬盘方案明确，实际搬运没有维持载荷承托，归为控制；画面及日志不足以分清抓取接触几何、搬运轨迹或反馈控制中的具体原因。"
+   }
+  ],
+  "gap_zh": "无状态日志及成功参考视频。两次披萨离盘的瞬间位于腕相机画面边缘，视频约 88 s 与 121 s 的边界由前后帧推断；不能细分控制根因。第二只碗落下时两碗轮廓重叠，终态两碗入槽由落点画面和评分回放 q_score=2/7 联合推断；log step 2860 的会话测试为 1/7 且第一碗不在槽内，与回放评分不同，未将该会话终态直接套入回放。冰箱关节无数值，开关阈值时刻仅按视频门板外观估计。",
+  "unmet": {
+   "pizzas_on_plates_1": false,
+   "pizzas_on_plates_2": false,
+   "pizzas_in_fridge_1": false,
+   "pizzas_in_fridge_2": false,
+   "bowls_in_sink_1": true,
+   "bowls_in_sink_2": true,
+   "refrigerator_closed": true
+  }
+ },
+ "summary_zh": "开局两份披萨均在不同盘上且冰箱关闭；机器人依次将两碗送到水槽并打开冰箱，终态两碗入槽及冰箱关闭成立，加上开门事件，共4/8节点成立。视频约88 s 第一轮搬盘使披萨离盘落地，最早丢失的“两份披萨在盘”关系未修复，第二轮也未维持承托，最终没有盘上披萨入箱。无状态日志，碗的终态结合评分回放2/7推断，且会话测试读数与回放不同；控制根因仅能定到大类。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "总体结构（碗两个入槽、开冰箱、披萨未入箱、控制类根因）可接受，但第一轮��萨离盘时刻标为视频约92 s，逐秒帧显示约88 s 已空盘，差超过1秒，应同步改节点区间与断点/现象时间。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "已逐帧核对：视频约88 s 第一轮搬盘披萨离盘、94.5 s 披萨在地面、约121 s 第二轮离盘、约106 s 冰箱门回到关闭位、两碗入槽及终态计数4/8均与证据相符；断点取最早丢失且未修复的 pizzas_on_plates_2，现象“没保持住”、根因“控制”（大类）有帧和日志支撑，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:43:09Z",
+  "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-cleaning-up-plates-and-food-i00-privileged--rq6wuye/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-plates-and-food-i00-privileged--rq6wuye/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-plates-and-food-i00-privileged--rq6wuye/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-plates-and-food-i00-privileged--rq6wuye/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1ee579e95ce31022736ce8470ff1c058b31b8789f97282a90b9044aedfc7b7a2",
+   "video_sha256": "68b4206f6eb9748b9bcb79639cee4593b01fce19022e7c974a11d5bba602f01d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cleaning_up_plates_and_food/trajectories/behavior-cleaning-up-plates-and-food-i00-standard--aiunzw9.json

@@ -0,0 +1,509 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cleaning-up-plates-and-food-i00-standard--aiunzw9",
+ "taskKey": "behavior-1k/cleaning_up_plates_and_food",
+ "dag_sha256": "4390d52c232c8e81af0f654f0ec8aa4dc44a121bf0f5b36cb4eec4e4dab264ef",
+ "outcome": {
+  "success": 0,
+  "reward": 0.2857142857142857,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 22584,
+   "sim_steps": 22584,
+   "physics_steps": 90336,
+   "steps": 22581,
+   "elapsed_s": 6730.6,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "q_score": 0.2857142857142857,
+   "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-cleaning-up-plates-and-food-i00-standard--aiunzw9/replay.mp4",
+  "duration_s": 752.8,
+  "fps": 30.0,
+  "frames": 22584,
+  "sha256": "7f88d726d2fb8092ccfb4a1c29b3735b6bd88932efc882ba4643fb576b9c2600"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 8,
+  "base": 3,
+  "peak": 5,
+  "final": 4,
+  "nodes": {
+   "pizzas_on_plates_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 两份披萨分别放在桌上两个白盘上。"
+     },
+     {
+      "t": 639,
+      "log_step": null,
+      "text_zh": "观察：视频 310 s、490 s、597 s、639 s 的桌面视角显示，未搬运的另一份披萨始终留在原盘上；搬运披萨掉落期间仍至少保留一组承托关系。"
+     },
+     {
+      "t": 752.6,
+      "log_step": null,
+      "text_zh": "推断：视频 639 s 后机器人一直在冰箱前恢复落地披萨、尝试推门，没有返回搬走桌上的另一盘；至少一份披萨在盘的条件保留到结束。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 263–285 s 右夹爪持餐盘、视频 594–597 s 左夹爪持餐盘，餐盘从下方承托披萨；盘倾斜后承托失效。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 462–483 s 右夹爪夹住落地披萨边缘，将其提起并放回桌上餐盘。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 270–280 s 携盘转向冰箱，视频 470–478 s 携披萨返回桌旁，轮式底盘移动承重。"
+     }
+    ]
+   },
+   "pizzas_on_plates_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      287
+     ],
+     [
+      483,
+      632
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s、10 s 可见两组不同餐盘承托披萨。"
+     },
+     {
+      "t": 287,
+      "log_step": 184,
+      "text_zh": "观察：视频 284–288 s 右夹爪持盘在冰箱门口逐渐倾斜，披萨从盘沿滑下；视频 289 s 盘已空，视频 298–320 s 可见披萨落在冰箱前地面。离盘时刻约为视频 287 s。"
+     },
+     {
+      "t": 483,
+      "log_step": 281,
+      "text_zh": "观察：视频 470–482 s 右夹爪将拾回的披萨送到桌上空盘；视频 483–490 s 两份披萨再次各由不同盘承托。"
+     },
+     {
+      "t": 632,
+      "log_step": 335,
+      "text_zh": "观察：视频 594–597 s 左夹爪抬起的盘仍托着披萨；随后盘面被相机和门板遮挡，视频 632–650 s 再看到该披萨已离盘、竖靠冰箱底部，箱内为白色空盘。视频 632 s 是本次失去关系的首次明确可见上界，实际离盘发生于视频 597–632 s 之间。"
+     },
+     {
+      "t": 752.6,
+      "log_step": null,
+      "text_zh": "观察：视频 746–752.76 s 箱内空盘与箱外地面上的披萨仍分离，未恢复两组承托关系。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 263–285 s 右夹爪持餐盘、视频 594–597 s 左夹爪持餐盘，餐盘从下方承托披萨；盘倾斜后承托失效。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 462–483 s 右夹爪夹住落地披萨边缘，将其提起并放回桌上餐盘。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 270–280 s 携盘转向冰箱，视频 470–478 s 携披萨返回桌旁，轮式底盘移动承重。"
+     }
+    ]
+   },
+   "refrigerator_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      203.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 203.5,
+      "log_step": 142,
+      "text_zh": "观察：视频 202–203 s 冰箱门仍贴近柜体；视频 203.5 s 右夹爪拉把手后门板明显离开关闭位置，视频 206–210 s 箱内层架清楚露出。开门事件约在视频 203.5 s 达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 200–210 s 右二指夹爪夹住冰箱门把手并向外拉，门随夹爪转开；视频 504–530 s 又抓把手扩大开度。"
+     }
+    ]
+   },
+   "pizzas_in_fridge_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 285,
+      "log_step": 184,
+      "text_zh": "观察：视频 282–285 s 右夹爪把盘上披萨移向箱口右侧，餐盘随即在门边倾斜；视频 288–298 s 披萨掉到箱外，未见盘上披萨进入箱内。"
+     },
+     {
+      "t": 639,
+      "log_step": 335,
+      "text_zh": "推断：视频 594–597 s 第二次携盘搬运后，视频 632–650 s 披萨已在箱外底部，箱内只留下空盘；这次仅送入餐盘，不满足盘上披萨入箱。"
+     },
+     {
+      "t": 752.6,
+      "log_step": null,
+      "text_zh": "观察：视频 746–752.76 s 空盘位于箱内下层架，脱盘披萨仍在箱外地面；另一份盘上披萨此前留在桌上，没有后续搬运。"
+     },
+     {
+      "t": 752.6,
+      "log_step": null,
+      "text_zh": "推断：run.json 的 q_score=2/7，且视频已确认两碗入槽占满两个新增满足条件；初始披萨在盘及冰箱关闭不增加此分数，故最终没有新增披萨入箱关系。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 263–287 s 右夹爪持盘搬运披萨；视频 594–597 s 换左夹爪持盘，披萨由盘承托，随后脱离。"
+     },
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频 282–288 s 夹爪所持餐盘的边缘接触冰箱门，推进时门向关闭方向摆动；这里记餐盘对门的推动。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 462–483 s 右夹爪拾起披萨并送回盘上，继续尝试首份披萨入箱。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 330–460 s 多次低位接近时夹爪手指触动地上披萨，使其在地面滑动。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 270–280 s、597–616 s 携盘转向并驶近冰箱，底盘移动承重。"
+     }
+    ]
+   },
+   "pizzas_in_fridge_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 639,
+      "log_step": null,
+      "text_zh": "观察：视频 639 s 另一份盘上披萨还在餐桌，机器人仍处理冰箱前的脱盘披萨；没有开始搬运桌上剩余那份。"
+     },
+     {
+      "t": 752.6,
+      "log_step": null,
+      "text_zh": "推断：视频 746–752.76 s 箱内只见空盘，首份披萨入箱尚未成立，且 q_score=2/7 的两个新增满足条件均由两碗入槽占据；两份盘上披萨同箱的终态不成立。"
+     }
+    ]
+   },
+   "bowls_in_sink_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      149,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 99,
+      "log_step": 95,
+      "text_zh": "观察：视频 95–103 s 第一只碗从桌面移到右夹爪中，桌上只剩另一只碗；视频 120–143 s 双臂携碗驶到水槽。"
+     },
+     {
+      "t": 149,
+      "log_step": 121,
+      "text_zh": "观察：视频 147–149 s 右夹爪把第一只碗降到水槽凹槽内，视频 153–156 s 右夹爪撤离而碗留在槽内；到达时间约为视频 149 s，持物期间按 DAG 也计入。"
+     },
+     {
+      "t": 172,
+      "log_step": null,
+      "text_zh": "观察：视频 168–180 s 两只碗留在同一槽内，机器人空手离开；后续没有返回取碗。"
+     },
+     {
+      "t": 752.6,
+      "log_step": null,
+      "text_zh": "推断：两碗放入后的状态与最终 q_score=2/7 相符，至少一碗入槽保持到结束。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 115–143 s 左右二��夹爪分别夹持一个碗的碗沿，双臂同时携带两碗去水槽。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 147–154 s 右夹爪先将一个碗降入槽并松开，视频 159–167 s 左夹爪再降下并释放另一个碗。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 120–143 s 底盘携带双臂所持的两碗驶到水槽前。"
+     }
+    ]
+   },
+   "bowls_in_sink_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      164,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 115,
+      "log_step": 106,
+      "text_zh": "观察：视频 107–115 s 第二只碗离开桌面并随左夹爪抬起，右夹爪仍带着第一只碗。"
+     },
+     {
+      "t": 164,
+      "log_step": 126,
+      "text_zh": "观察：视频 159–164 s 左夹爪将第二只碗降到已放有第一只碗的槽内，视频 167–172 s 松开撤手后可见两个碗并排留在同一凹槽内；约视频 164 s 达成。"
+     },
+     {
+      "t": 752.6,
+      "log_step": null,
+      "text_zh": "推断：机器人此后没有返回水槽，最终 q_score=2/7 与两碗入槽这两个新增目标一致，故两碗入槽的终态为真。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 115–143 s 左右二指夹爪分别夹持一个碗的碗沿，双臂同时携带两碗去水槽。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 147–154 s 右夹爪先将一个碗降入槽并松开，视频 159–167 s 左夹爪再降下并释放另一个碗。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 120–143 s 底盘携带双臂所持的两碗驶到水槽前。"
+     }
+    ]
+   },
+   "refrigerator_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      203.5
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 的厨房远景、视频 190–202 s 的冰箱近景显示门板贴合柜体。"
+     },
+     {
+      "t": 203.5,
+      "log_step": 142,
+      "text_zh": "观察：视频 203.5–210 s 右夹爪把门拉开，关闭状态失去。"
+     },
+     {
+      "t": 500,
+      "log_step": null,
+      "text_zh": "观察：视频 288–300 s 门被搬运中的盘臂带回较小开度，但视频 320 s、350 s、400 s、470 s、500 s 仍可见门与箱体分开；没有归位贴合。"
+     },
+     {
+      "t": 752.76,
+      "log_step": 382,
+      "text_zh": "观察：视频 744–752.76 s 右夹爪接触门内侧并尝试推动，最终门仍大幅敞开，所有门归位的条件未恢复。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 740–752.76 s 右夹爪推冰箱门内侧及储物格附近，门有摆动但没有关闭。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 729–735 s 机器人驶近冰箱门以开始关门操作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.2857142857142857,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pizzas_in_fridge_1",
+   "t": 285,
+   "log_step": 184,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 282–288 s 机器人正用右夹爪持盘向冰箱内送披萨，盘臂在门边受阻，门随之回摆，盘由近水平转为陡倾，披萨滑下；log step 184 的执行回读也显示末端偏离目标。此后虽在视频 483 s 恢复披萨在盘，首份披萨入箱这一步一直未完成，视频 746–752.76 s 箱内仍只有空盘。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 285,
+    "log_step": 184,
+    "evidence_zh": "观察：视频 282–288 s 右夹爪持盘推进时，盘臂与敞开的冰箱门边接触，门向关闭方向回摆，盘在接触处明显转斜，未沿箱口中心进入。log step 182 的 agent 自述也称盘擦到门内沿，log step 184 执行后画面与此一致。"
+   },
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 287,
+    "log_step": 184,
+    "evidence_zh": "观察：视频 284 s 披萨仍由右夹爪所持餐盘承托，视频 286–288 s 盘倾斜时披萨滑出，视频 289 s 夹爪仍持空盘，视频 298–320 s 披萨在箱外地面；这是搬运中失去承托，并非在目标内计划松手后的不稳。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：视频 282–288 s 的推进没有避开门板并保持载盘水平。log step 182 的脚本在已报告擦门后仍直接将右末端推���到 [5.05,0.2,1.10]、目标四元数 [0,1,0,0]；log step 184 的服务执行回读为约 [5.262,0.261,1.294]、[0.025,0.757,0.178,0.629]，与目标明显不同，与画面中受阻、盘倾斜及披萨滑落相符。因此支持搬运控制失败；现有证据不足以区分碰撞处理、轨迹/逆解或跟踪控制的独立责任。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "无状态日志和成功参考视频。第二次搬运时盘面及披萨被腕相机近景、机臂和门板遮挡：视频 597 s 仍见披萨在盘，视频 632 s 首次明确见其落在箱外，故第2份披萨在盘的第二段结束记视频 632 s（首次确认失去的上界，实际离盘在视频 597–632 s）。水槽与冰箱的精确包围盒关系、门关节5%阈值仅能按可见几何近似判断；最终两碗状态由视频及评分总量共同支持。",
+  "unmet": {
+   "pizzas_on_plates_1": true,
+   "pizzas_on_plates_2": false,
+   "pizzas_in_fridge_1": false,
+   "pizzas_in_fridge_2": false,
+   "bowls_in_sink_1": true,
+   "bowls_in_sink_2": true,
+   "refrigerator_closed": false
+  }
+ },
+ "summary_zh": "机器人把两个碗放入同一水槽并打开冰箱，最终仍有一份披萨在桌上餐盘中，8个节点有4个保持为真。首份披萨入箱时在视频约 285 s 与冰箱门发生阻挡，餐盘倾斜使披萨滑落；恢复到盘上后再次搬运仍脱盘，结尾箱内只有空盘、门未关。无状态日志，第二次离盘时刻受遮挡，只能给出视频 597–632 s 的范围；控制根因不进一步细分。",
+ "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、接触、断点（首份披萨入箱，视频约285 s 持盘受门阻、披萨滑落）与现象/根因均与帧一致；q_score=2/7 与最终4/8（两碗+开门事件+披萨在盘）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": "2026-10-30T21:21:56Z",
+  "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-cleaning-up-plates-and-food-i00-standard--aiunzw9/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-plates-and-food-i00-standard--aiunzw9/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5e8504d5ace5d81bffbecf3ad9acd498bde5bd66fc79d40485b74f21828c1183",
+   "video_sha256": "7f88d726d2fb8092ccfb4a1c29b3735b6bd88932efc882ba4643fb576b9c2600",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cleaning_up_plates_and_food/trajectories/behavior-cleaning-up-plates-and-food-i00-standard--ryjxzzy.json

@@ -0,0 +1,399 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cleaning-up-plates-and-food-i00-standard--ryjxzzy",
+ "taskKey": "behavior-1k/cleaning_up_plates_and_food",
+ "dag_sha256": "4390d52c232c8e81af0f654f0ec8aa4dc44a121bf0f5b36cb4eec4e4dab264ef",
+ "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": 49397,
+   "sim_steps": 49397,
+   "physics_steps": 197588,
+   "steps": 12357,
+   "elapsed_s": 12964.4,
+   "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-cleaning-up-plates-and-food-i00-standard--ryjxzzy/replay.mp4",
+  "duration_s": 1646.567,
+  "fps": 30.0,
+  "frames": 49397,
+  "sha256": "2e92fe6c439f8aed7880516062f3b6b160c4f30e60528743f0069b08313cd02d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 8,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "pizzas_on_plates_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 两份披萨分别贴在两个白色餐盘上；视频 846 s、1068 s、1238.5 s 仍可见两组披萨由各自餐盘承托。"
+     },
+     {
+      "t": 1239,
+      "log_step": null,
+      "text_zh": "观察：视频 1238.75–1239.5 s 餐桌迅速翻转，披萨和餐盘转到桌板背面及椅子后方；视频 1240–1446 s 的多方向查看及视频 1645.6–1646.53 s 的末段画面未重新显露两组完整关系。"
+     },
+     {
+      "t": 1646,
+      "log_step": null,
+      "text_zh": "推断：可以确认初始及翻桌前的在盘关系，但翻桌后的配对数无法判断，故不把遮挡时刻当作离盘时刻，完整区间及终态留空。评分器 q_score=0 不否定初始就成立的在盘字面量。"
+     }
+    ]
+   },
+   "pizzas_on_plates_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 两份披萨分别贴在两个白色餐盘上；视频 846 s、1068 s、1238.5 s 仍可见两组披萨由各自餐盘承托。"
+     },
+     {
+      "t": 1239,
+      "log_step": null,
+      "text_zh": "观察：视频 1238.75–1239.5 s 餐桌迅速翻转，披萨和餐盘转到桌板背面及椅子后方；视频 1240–1446 s 的多方向查看及视频 1645.6–1646.53 s 的末段画面未重新显露两组完整关系。"
+     },
+     {
+      "t": 1646,
+      "log_step": null,
+      "text_zh": "推断：可以确认初始及翻桌前的在盘关系，但翻桌后的配对数无法判断，故不把遮挡时刻当作离盘时刻，完整区间及终态留空。评分器 q_score=0 不否定初始就成立的在盘字面量。"
+     }
+    ]
+   },
+   "refrigerator_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      550.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 550.5,
+      "log_step": 134,
+      "text_zh": "观察：视频 548.5–556 s 机器人左夹爪握住冰箱门把手，门板从与柜体贴合的位置向外转动；约视频 550.5 s 已可见开缝，视频 582–597 s 白色门内搁架清晰露出。首次超过5%行程的时刻按外观估计，约有1秒误差。"
+     },
+     {
+      "t": 742,
+      "log_step": 136,
+      "text_zh": "观察：视频 740–750 s 冰箱门进一步张开，箱内与门内搁架完全显露；开门是已发生事件，后续尝试关门不撤销。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人先用右夹爪试探把手，随后左二指夹爪夹住把手并拉门；视频 550.5 s、717–725 s 可见左手与把手相连。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 717–742 s 机器人夹住门把手时底盘后退，支承机身并配合拉门。"
+     }
+    ]
+   },
+   "pizzas_in_fridge_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 894,
+      "log_step": 183,
+      "text_zh": "观察：视频 846–918 s 两盘披萨仍在餐桌上；机器人返回桌边，右臂伸到盘上方查看，未见披萨或餐盘离开桌面随夹爪搬走。"
+     },
+     {
+      "t": 1238.5,
+      "log_step": null,
+      "text_zh": "观察：视频 1238.5 s 两份披萨仍分别在桌上餐盘中，随后餐桌翻转；此前开门后的冰箱查看未显示任何装入披萨的动作。"
+     },
+     {
+      "t": 1646,
+      "log_step": null,
+      "text_zh": "推断：全片未见披萨由桌边送入冰箱；末段视频 1569–1575 s 仍可见空的箱内搁架。评分器 live_matches_replay=1、q_score=0，排除了最终新增披萨入箱字面量，故终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 834–906 s 底盘从冰箱返回餐桌并调整取盘位置，支承执行查看和接近动作的机器人。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频 894–918 s 右夹爪接近餐盘上方，但没有可确认的夹盘或托盘接触；不据日志中的预抓取目标臆造抓握。"
+     }
+    ]
+   },
+   "pizzas_in_fridge_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1238.5,
+      "log_step": null,
+      "text_zh": "观察：视频 1238.5 s 两份披萨都还在餐桌上，未见第一份或第二份随盘送入冰箱。"
+     },
+     {
+      "t": 1646,
+      "log_step": null,
+      "text_zh": "推断：视频中没有两盘披萨的搬运或装入过程，评分器 q_score=0 且 live_matches_replay=1 也排除了最终两个新增入箱字面量；第2份入箱从未成立。"
+     }
+    ]
+   },
+   "bowls_in_sink_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1046,
+      "log_step": 214,
+      "text_zh": "观察：视频 1044–1053 s 机器人右二指夹爪夹住桌上一个碗的边缘并抬动，碗在右腕相机中近距离随手移动；碗未到水槽。"
+     },
+     {
+      "t": 1067.5,
+      "log_step": 218,
+      "text_zh": "观察：视频 1066.75–1068 s 机器人右臂迅速回收、头部视角改变，碗离开夹爪并落回餐桌；视频 1068–1070.75 s 可见碗留在桌面。"
+     },
+     {
+      "t": 1195,
+      "log_step": 229,
+      "text_zh": "观察：视频 1147–1165 s 机器人再次抬动同一个桌边碗；视频 1171–1195 s 腕部视角重新看见碗留在桌上，未送往水槽。"
+     },
+     {
+      "t": 1646,
+      "log_step": null,
+      "text_zh": "推断：之后机器人在翻倒的桌椅附近继续够取碗，再转回冰箱；没有把碗搬到水槽的可见过程。评分器 q_score=0、live_matches_replay=1 决定最终没有新增碗入槽字面量。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人右二指夹爪从碗沿两侧夹住一个碗并抬动，视频 1044–1053 s 及1147–1165 s 可见；随后松手，碗留回桌上。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 1165–1195 s 底盘在取碗与转向期间移动，支承机器人；未形成到水槽的搬运。"
+     }
+    ]
+   },
+   "bowls_in_sink_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1238.5,
+      "log_step": 235,
+      "text_zh": "观察：视频 1216–1238.5 s 可在腕部视角看到地面上的另一只白碗，机器人向桌边地面伸臂；接着桌板翻起遮住物体，未见碗被稳定拿起。"
+     },
+     {
+      "t": 1446,
+      "log_step": 269,
+      "text_zh": "观察：视频 1280–1291 s、1422–1446 s 机器人仍在倒桌和椅子旁寻找及够取地面白色物体，没有碗进入水槽的画面。"
+     },
+     {
+      "t": 1646,
+      "log_step": null,
+      "text_zh": "推断：视频中没有第二个碗的入槽过程，评分器 q_score=0、live_matches_replay=1 排除了最终第二个新增入槽字面量。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人在视频 1195–1235 s 以及1280–1291 s 移动底盘，绕桌边地面碗和倒下的椅子调整够取位置。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "机器人向地面碗伸臂、合爪，但桌板和机身遮挡接触区域，未见可靠的夹住或搬起，不能把脚本的闭爪动作记作已发生抓握。"
+     }
+    ]
+   },
+   "refrigerator_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      550.5
+     ]
+    ],
+    "final": null,
+    "evidence": [
+     {
+      "t": 42,
+      "log_step": null,
+      "text_zh": "观察：视频 42 s、126 s、422–547 s 冰箱门板贴近柜体，起初关闭；视频约 550.5 s 门板打开，因此初始成立的区间结束。"
+     },
+     {
+      "t": 1505,
+      "log_step": 297,
+      "text_zh": "观察：视频 1489–1507 s 冰箱右门仍明显张开，可见门内白色搁架；视频 1537–1565 s 机器人右手在门边推压，视频 1569–1575 s 仍可直接看见敞开的箱内。"
+     },
+     {
+      "t": 1605,
+      "log_step": 305,
+      "text_zh": "观察：视频 1595–1613 s 右臂再次在冰箱��近活动，但头部和双腕视角不能同时显示门板与柜体的闭合关系；视频 1645.6–1646.53 s 末段主要看到餐桌椅及地面。"
+     },
+     {
+      "t": 1646,
+      "log_step": null,
+      "text_zh": "推断：末次关门动作后的所有门关节是否回到5%范围无法确认，终态留为未知；q_score=0 不能判定初始就已成立的关门字面量。区间只保留能确认的初始关闭段，未声称后段始终打开。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "视频 1537–1565 s 机器人右手在冰箱门边接触推压，尝试将门板推回柜体；未见夹住把手完成关门。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 1489–1525 s、1567–1579 s 底盘在冰箱附近转向、移位，支承机器人调整推门位置。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bowls_in_sink_1",
+   "t": 1067,
+   "log_step": 218,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 1044–1053 s 机器人右夹爪夹住并抬动碗；视频 1066.75–1068 s 姿态恢复时碗离手回到餐桌，未到水槽。后续虽然重新抓取并抬动，该入槽步骤始终未完成；视频 1238.75–1239.5 s 继续够取地面碗时餐桌又翻倒。推断：最早未修复的是第1个碗入水槽，而非后段关冰箱。"
+  },
+  "unmet": {
+   "pizzas_on_plates_1": null,
+   "pizzas_on_plates_2": null,
+   "pizzas_in_fridge_1": false,
+   "pizzas_in_fridge_2": false,
+   "bowls_in_sink_1": false,
+   "bowls_in_sink_2": false,
+   "refrigerator_closed": null
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 1067,
+    "log_step": 218,
+    "evidence_zh": "观察：视频 1046–1053 s 碗已由机器人右夹爪夹住并抬动；视频 1066.75–1068 s 碗在机器人收臂时离手，落回取物的餐桌，后续重新抓起也没有送入水槽。这是到达目标前失去持物，不是水槽内释放后不稳。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 218 的实际调用为 restore_trunk(..., grip=0.05, wait_s=1.0)，log step 64 中该函数会把双手的指令列一并设成 grip，并让双臂回零；任务接口说明两指均达到0.05即释放。log step 218 返回右指位置[0.05,0.05]；视频 1066.75–1068 s 同时显示收臂和碗落回桌上。推断：agent 的姿态恢复控制未保持持物夹爪闭合，导致运送前掉碗；这一代码证据足以归控制，但不足以进一步认定抓取几何或反馈律的专门子类。"
+   }
+  ],
+  "gap_zh": "无状态日志、无成功参考视频。两组披萨在盘可确认从视频 0 s 延续到1238.5 s，但视频1238.75–1239.5 s 翻桌后盘与披萨持续被桌板、椅子和机身遮挡，无法确定有几组仍配对，故两个在盘节点的完整时间线与终态未知；不能由q_score=0否定初始字面量。关冰箱节点保留初始关闭区间，但视频1595–1613 s最后推门及视频1645.6–1646.53 s末段不能显示完整闭合关系，终态未知。开门5%阈值仅能按门板外观估计，时间约有1秒误差。agent 在log step 324所称“本体状态损坏”和“物品困在桌下”是自述，没有独立状态日志支持，未据此归因仿真故障。"
+ },
+ "summary_zh": "观察：开局两组披萨在盘且冰箱关闭，机器人随后打开冰箱；未见任何披萨入箱或碗入水槽，评分器q_score=0。推断：第1个碗入水槽是最早未修复的失败步骤，视频约1067 s恢复躯干时脚本同时松爪使碗落回桌面，后续重抓及翻桌后的搜取均未完成搬运。观察：翻桌后两组在盘关系及末次推门后的关闭状态被遮挡，三个终态保留未知。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "断点（第1个碗入水槽，视频约1067 s 收躯干时松爪掉碗）与log step 218/219及视频帧一致；控制根因有代码和返回值支持；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": "2026-10-30T21:24:46Z",
+  "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-cleaning-up-plates-and-food-i00-standard--ryjxzzy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-plates-and-food-i00-standard--ryjxzzy/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d6825858066108cd23175af88e4eea1a2e87d9d8f82e3fcead9337b486f9407f",
+   "video_sha256": "2e92fe6c439f8aed7880516062f3b6b160c4f30e60528743f0069b08313cd02d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cleaning_up_plates_and_food/trajectories/behavior-cleaning-up-plates-and-food-i00-standard--tymckv4.json

@@ -0,0 +1,465 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cleaning-up-plates-and-food-i00-standard--tymckv4",
+ "taskKey": "behavior-1k/cleaning_up_plates_and_food",
+ "dag_sha256": "4390d52c232c8e81af0f654f0ec8aa4dc44a121bf0f5b36cb4eec4e4dab264ef",
+ "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": 9422,
+   "sim_steps": 9422,
+   "physics_steps": 37688,
+   "steps": 8959,
+   "elapsed_s": 3682.8,
+   "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-cleaning-up-plates-and-food-i00-standard--tymckv4/replay.mp4",
+  "duration_s": 314.067,
+  "fps": 30.0,
+  "frames": 9422,
+  "sha256": "56878138a1c180caa29b3b079d5825dc11409a42ddfff074398ecaddb9cd0f11"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 8,
+  "base": 3,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "pizzas_on_plates_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频0 s，餐桌上可见两份披萨，各有白色餐盘从下方承托。"
+     },
+     {
+      "t": 245,
+      "log_step": 156,
+      "text_zh": "观察：视频242–245 s，近处餐盘随左夹爪升起，披萨仍贴在盘面，原桌面位置空出；视频245–255 s另一份披萨仍留在桌上的餐盘内。"
+     },
+     {
+      "t": 289,
+      "log_step": null,
+      "text_zh": "观察：视频288.5–292.5 s，左夹爪退出后，搬运的披萨与白盘一起留在水槽左侧台面，未见披萨滑离餐盘。"
+     },
+     {
+      "t": 314.03,
+      "log_step": null,
+      "text_zh": "推断：结合视频0–292.5 s的承托与搬运画面，以及视频293–314.03 s机器人空手返回冰箱、未再操作披萨，至少一组披萨在盘关系持续到结尾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约242–289 s，左夹爪夹持餐盘边缘，餐盘从下方承托披萨，随夹爪抬离餐桌并放到水槽旁台面；按餐盘到披萨的接触链记录。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约246–280 s，轮式底盘载着左手所持的披萨盘从餐桌驶向厨房台面。"
+     }
+    ]
+   },
+   "pizzas_on_plates_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频0 s，两份披萨分别放在两个不同白盘内，已形成两组配对。"
+     },
+     {
+      "t": 185,
+      "log_step": null,
+      "text_zh": "观察：视频169–185 s和218–245 s，餐桌虽被机器人带动改变位置，两份披萨仍各留在自己的餐盘上，两个碗也在桌面。"
+     },
+     {
+      "t": 253,
+      "log_step": null,
+      "text_zh": "观察：视频242–255 s，机器人左手抬起近侧披萨盘，远侧披萨与另一个盘仍在餐桌；没有看到任何一份离盘。"
+     },
+     {
+      "t": 314.03,
+      "log_step": null,
+      "text_zh": "推断：视频288.5–292.5 s确认所搬披萨仍在台面白盘上；另一组最后在视频约255 s可见于餐桌，此后机器人未返回餐桌或再接触它。两组承托关系延续至结尾；q_score=0不否定开局已成立并保留的关系。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约242–289 s，左夹爪夹持餐盘边缘，餐盘从下方承托披萨，随夹爪抬离餐桌并放到水槽旁台面；按餐盘到披萨的接触链记录。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约246–280 s，轮式底盘载着左手所持的披萨盘从餐桌驶向厨房台面。"
+     }
+    ]
+   },
+   "refrigerator_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      27.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 27.5,
+      "log_step": 38,
+      "text_zh": "观察：视频约27.5–29 s，机器人右夹爪夹住冰箱右侧门把手向外拉，门板离开柜体，门缝中开始露出内部层架；视频30–35 s开口更清楚。首次超过5%行程的时刻按画面估为视频约27.5 s，误差约0.5 s。"
+     },
+     {
+      "t": 85,
+      "log_step": 76,
+      "text_zh": "观察：视频约70–85 s，机器人右夹爪从门板内侧推门，冰箱内部及门上搁架大幅露出，开门事件明确完成。"
+     },
+     {
+      "t": 304,
+      "log_step": 168,
+      "text_zh": "观察：视频300–303.5 s冰箱已关闭；视频约304 s机器人再次伸向把手的过程中画面快速倾斜，至视频314.03 s未见门再次打开。log step 168的动作目标为右夹爪接近把手，随后服务报告倒地；早先完成的开门事件按event规则保留。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约24–32 s，机器人右二指夹爪包夹冰箱门把手并向外带动门板。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约65–78 s，机器人改用右夹爪从门板内侧推开门，没有把该次推门记为抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约10–21 s机器人驶近冰箱，视频约40–60 s及293–303.5 s又移动底盘调整开门站位，车轮支承机器人。"
+     }
+    ]
+   },
+   "pizzas_in_fridge_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 85,
+      "log_step": null,
+      "text_zh": "观察：视频约85–95 s冰箱已打开，内部可见而没有披萨，两个披萨盘仍同时在餐桌上。"
+     },
+     {
+      "t": 289,
+      "log_step": 165,
+      "text_zh": "观察：视频242–289 s，机器人只搬运一组披萨盘并把它放在水槽左侧台面；视频288.5–292.5 s披萨盘在冰箱外，水槽凹槽旁边。"
+     },
+     {
+      "t": 314.03,
+      "log_step": null,
+      "text_zh": "推断：视频293–314.03 s，机器人空手返回仍关闭的冰箱并倾倒，没有把台面上的披萨盘送入箱内；评分器q_score=0也排除了新增的披萨inside目标，故终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约242–289 s，左夹爪夹持餐盘边缘，餐盘从下方承托披萨，随夹爪抬离餐桌并放到水槽旁台面；按餐盘到披萨的接触链记录。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约246–280 s，轮式底盘载着左手所持的披萨盘从餐桌驶向厨房台面。"
+     }
+    ]
+   },
+   "pizzas_in_fridge_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 253,
+      "log_step": null,
+      "text_zh": "观察：视频245–255 s，第二组披萨盘仍在餐桌上，机器人只持近侧那一组离开。"
+     },
+     {
+      "t": 314.03,
+      "log_step": null,
+      "text_zh": "推断：结合视频288.5–292.5 s所搬的第一组仅放在厨房台面、视频293–314.03 s机器人空手返回冰箱后倾倒，以及评分器q_score=0，终态不满足两份披萨入同箱；没有观察到第二组的搬运尝试。"
+     }
+    ]
+   },
+   "bowls_in_sink_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频0 s，两个白碗均在餐桌上；视频169–185 s及245–255 s仍可见两碗留在桌面。"
+     },
+     {
+      "t": 289,
+      "log_step": null,
+      "text_zh": "观察：视频约277–292.5 s，水槽凹槽可见且没有碗，机器人在凹槽左侧台面放下的是披萨盘。"
+     },
+     {
+      "t": 314.03,
+      "log_step": null,
+      "text_zh": "推断：此后视频293–314.03 s机器人空手返回冰箱并倾倒，全程未见抓取或搬运碗；评分器q_score=0排除新增的碗inside目标，故最终没有碗在水槽内。"
+     }
+    ]
+   },
+   "bowls_in_sink_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 253,
+      "log_step": null,
+      "text_zh": "观察：视频245–255 s，两只碗仍并列留在餐桌上，未随机器人所持餐盘离开。"
+     },
+     {
+      "t": 289,
+      "log_step": null,
+      "text_zh": "观察：视频288.5–292.5 s，水槽凹槽为空，披萨盘停在凹槽左侧台面。"
+     },
+     {
+      "t": 314.03,
+      "log_step": null,
+      "text_zh": "推断：视频293–314.03 s没有后续取碗或投放动作，评分器q_score=0也排除两碗入槽；该计数节点始终未达到。"
+     }
+    ]
+   },
+   "refrigerator_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      27.5
+     ],
+     [
+      157.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频0 s及视频15–24 s，冰箱两扇门处于归位位置，没有敞开的内腔；开局关闭状态成立。"
+     },
+     {
+      "t": 30,
+      "log_step": null,
+      "text_zh": "观察：视频约27.5–35 s，右门被机器人拉开；视频35–142 s及144–153 s的开口、门板前凸和关门画面显示这一段尚未恢复关闭。"
+     },
+     {
+      "t": 157,
+      "log_step": 111,
+      "text_zh": "观察：视频约153–158 s，机器人右夹爪继续推门外侧，门缝缩小、门板归位；视频159–162 s撤手后两门仍贴合柜体。恢复5%以内关闭位置按视觉估为视频约157 s，误差约1 s；该state节点不受after边门控。"
+     },
+     {
+      "t": 314.03,
+      "log_step": null,
+      "text_zh": "观察：视频300–303.5 s机器人再次到达冰箱前时两门仍闭合，视频304–314.03 s倾斜后的画面也未见箱内层架或门板被拉开。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约118–158 s，机器人右夹爪接触门板外侧并逐段向关闭方向推门；最后松手前门板已归位。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约100–118 s，机器人移动底盘回到冰箱前并调整站位以推门关闭。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pizzas_in_fridge_1",
+   "t": 304.0,
+   "log_step": 168,
+   "where": "操作中",
+   "evidence_zh": "观察：视频288.5–292.5 s机器人将第一组披萨盘暂放水槽旁台面后，空手返回冰箱；视频300–303.5 s门仍闭合，视频约304–304.5 s机器人再次接近门把手时三路视野快速旋转，之后持续倾斜直到视频314.03 s。log step 167执行收回左臂并返回冰箱，log step 168的右手接近把手动作返回服务终止原因“failure: the robot fell over”，log step 169确认done=True、resumes=0。推断：结合披萨盘已从餐桌搬至厨房台面、尚未入箱及机器人返回冰箱伸向把手，机器人正在推进第1份披萨入箱；重新打开自己先前关上的冰箱是该步的准备子动作。早先完成的refrigerator_opened事件按event规则保留，入箱步骤始终未达且未恢复。"
+  },
+  "unmet": {
+   "pizzas_on_plates_1": true,
+   "pizzas_on_plates_2": true,
+   "pizzas_in_fridge_1": false,
+   "pizzas_in_fridge_2": false,
+   "bowls_in_sink_1": false,
+   "bowls_in_sink_2": false,
+   "refrigerator_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 304.0,
+    "log_step": 168,
+    "evidence_zh": "观察：视频303.5 s前机器人面向闭合冰箱，视频304–304.5 s头部和两腕视野突然大幅倾转，此后视频305–314.03 s厨房柜体与地面始终倾斜，没有恢复正常支撑姿态；该单次现场回合的服务在log step 168–169报告“failure: the robot fell over”并结束。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 51的cart_path代码在keep_trunk=True且逆解改变躯干时只打印警告，随后仍将逆解插值并执行；solve的trunk_tol参数也未实施限制。log step 168再次接近冰箱把手时，首个逆解把躯干从[1.022,-1.446,-0.470,0]改为[1.523,0.248,1.555,-0.242]，躯干两个关节变化约1.7与2.0弧度，仍被执行，随后服务报告倒地。视频约304–314.03 s的突然倾转及持续倾倒与这一失稳相符，支持未约束躯干的逆解轨迹导致失衡；没有证据需要另加感知或任务理解根因。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频，三路机载相机不能直接显示基座支撑及精确门关节角度；开门约视频27.5 s、重新关闭约视频157 s为视觉估计，关闭阈值时刻约有1 s不确定性。结尾不再同时看见餐桌与台面，两组披萨仍在盘上的终值由最后可见承托关系和之后没有再操作它们推断；倒地判定由该单次现场回合的服务状态支持，不能仅凭相机转动区分躯干旋转与基座倾斜。"
+ },
+ "summary_zh": "机器人保留了两组披萨在不同餐盘上的关系，打开过冰箱并重新关好，最终为4/8节点成立；一个披萨盘仅从餐桌搬到水槽旁台面，两份披萨均未入箱、两个碗均未入槽。视频约304 s机器人再次伸向冰箱把手时失衡并持续倾倒，服务以倒地结束；日志显示控制��本执行了大幅改变躯干的逆解而未限制，断点为第1份披萨入箱，重新开门是该步的准备子动作。没有状态日志，门的阈值时刻及结尾被遮挡的承托关系含视觉与上下文推断；q_score=0不计开局已成立并保留的关系，因此不与这些终值冲突。",
+ "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、时间与倒地根因（躯干逆解未约束）基本有据；但断点 ref 落在已达成的事件节点 refrigerator_opened 上，应为正在推进的第一个未达成步骤 pizzas_in_fridge_1。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "第1轮意见已采纳，断点现为 pizzas_in_fridge_1（视频约304 s，log step 168，操作中）；节点值、倒地现象（平衡）和根因（躯干逆解未约束，step 168 日志可见躯干大幅变化后服务报告倒地）与视频和日志一致，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": "2026-10-30T21:43:12Z",
+  "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-cleaning-up-plates-and-food-i00-standard--tymckv4/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-plates-and-food-i00-standard--tymckv4/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-plates-and-food-i00-standard--tymckv4/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-plates-and-food-i00-standard--tymckv4/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4c29a10cdc398ae78837bf228179ad9dba659849c9338405af56211cdc280034",
+   "video_sha256": "56878138a1c180caa29b3b079d5825dc11409a42ddfff074398ecaddb9cd0f11",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cleaning_up_plates_and_food/trajectories/behavior-cleaning-up-plates-and-food-i00-standard--vzvrhtj.json

@@ -0,0 +1,421 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cleaning-up-plates-and-food-i00-standard--vzvrhtj",
+ "taskKey": "behavior-1k/cleaning_up_plates_and_food",
+ "dag_sha256": "4390d52c232c8e81af0f654f0ec8aa4dc44a121bf0f5b36cb4eec4e4dab264ef",
+ "outcome": {
+  "success": 0,
+  "reward": 0.2857142857142857,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
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+   "missing_log": 0,
+   "n_actions": 59642,
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+   "physics_steps": 238568,
+   "steps": 4396,
+   "elapsed_s": 13699.4,
+   "video_rendered": 1,
+   "gpu_lost": 0,
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+   "q_score": 0.2857142857142857,
+   "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-cleaning-up-plates-and-food-i00-standard--vzvrhtj/replay.mp4",
+  "duration_s": 1988.067,
+  "fps": 30.0,
+  "frames": 59642,
+  "sha256": "43181bc23d6ff0a71246bb5cc9a9154382c7cbe789b66c2b2ef8364a8d09b10a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 8,
+  "base": 3,
+  "peak": 5,
+  "final": 3,
+  "nodes": {
+   "pizzas_on_plates_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      540
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s，早餐桌上两份披萨各贴在一个白色餐盘上；视频 530–538 s 仍可见盘上披萨。"
+     },
+     {
+      "t": 540,
+      "log_step": null,
+      "text_zh": "推断：视频约 538–568 s，机器人在桌旁换位后桌板倾斜、披萨与盘分离；视频 568 s 可见披萨在桌板后方的地面附近，视频 670–705 s 两个空盘和盘外披萨分开可见。两份承托关系的消失被桌板遮挡，统一以视频约 540 s 作估计锚点，不能精确区分先后。"
+     },
+     {
+      "t": 1245,
+      "log_step": null,
+      "text_zh": "观察：视频 1117 s、1245 s、1335 s，白盘与地面披萨分开；视频 1390–1775 s，机器人夹持空盘并用另一夹爪扫向披萨，盘面仍为空，未见披萨随盘抬起。"
+     },
+     {
+      "t": 1947,
+      "log_step": null,
+      "text_zh": "观察：视频 1937–1957 s，机器人仍持空盘，披萨在盘外；视频 1987–1988 s 的末段没有新的装盘动作。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "推/扫",
+      "note_zh": "视频约 1390–1775 s，左夹爪夹住空盘边缘调整盘面，右夹爪在披萨旁作扫推动作，尝试将披萨推上盘；未见两份披萨恢复在盘。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人在餐桌旁及厨房地面行驶、换位，轮式底盘支承机身；取盘时的靠近和转向可见。"
+     }
+    ]
+   },
+   "pizzas_on_plates_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      540
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s，两份披萨各由不同白色餐盘承托；视频 536–538 s，两组仍在早餐桌上。"
+     },
+     {
+      "t": 540,
+      "log_step": null,
+      "text_zh": "推断：视频约 538–568 s 桌旁换位和桌板倾斜后，两组原有配对被破坏；视频 670–705 s 两盘均露出空白盘面，披萨另在盘外，故两组在盘状态已丢失。丢失时刻受桌板遮挡，估记视频约 540 s。"
+     },
+     {
+      "t": 1957,
+      "log_step": null,
+      "text_zh": "观察：视频 1117–1377 s 多次俯视均见两只空盘及旁边的披萨；视频 1382–1957 s 后续只反复尝试将一份披萨扫到手持盘上，没有恢复两组不同盘的配对。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人在餐桌旁及厨房地面行驶、换位，轮式底盘支承机身；取盘时的靠近和转向可见。"
+     }
+    ]
+   },
+   "refrigerator_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      413.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 413.5,
+      "log_step": 167,
+      "text_zh": "观察：视频 408–412 s，机器人右夹爪合在冰箱���把手处；视频 413–416 s，夹爪向外带动门板，门板明显离开柜体，视频 430 s 可见内部层架。开门阈值越过时刻估计为视频 413.5 s，误差约一秒。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右二指夹爪夹住冰箱竖把手并向外拉动门板；视频 408–424 s 可见把手与夹爪随门一起移动。"
+     }
+    ]
+   },
+   "pizzas_in_fridge_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 510,
+      "log_step": 192,
+      "text_zh": "观察：视频 490–538 s，机器人从敞开的冰箱返回早餐桌并向盘上披萨靠近；盘与披萨仍留在桌上，没有随夹爪运走。"
+     },
+     {
+      "t": 1245,
+      "log_step": null,
+      "text_zh": "观察：视频 568–1377 s，操作区域一直在倾斜餐桌、椅子和地面披萨附近；视频 1382–1988 s 机器人继续在此处抓盘和扫推，没有携带盘上披萨返回冰箱或把披萨送入箱内。"
+     },
+     {
+      "t": 1988,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.2857142857142857，且 live_matches_replay=1；视频已确认两个碗入槽，本回合没有披萨入箱动作，故第1份披萨入箱最终为假。开局在盘及关闭冰箱的关系不用于额外增加此评分。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人在餐桌旁及厨房地面行驶、换位，轮式底盘支承机身；取盘时的靠近和转向可见。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "取第1盘的早期夹爪动作部分被腕部和桌板遮挡，不能确认手指是否形成有效夹盘接触；不能把日志中的抓取命令当作实际抓住。"
+     }
+    ]
+   },
+   "pizzas_in_fridge_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1988,
+      "log_step": null,
+      "text_zh": "观察：视频 0–1988 s 的全程概览及视频 780–1988 s 的加密检查，均没有两份盘上披萨被运进冰箱；末段机器人仍在桌椅旁操作空盘。"
+     },
+     {
+      "t": 1988,
+      "log_step": null,
+      "text_zh": "推断：未见任何披萨入箱，两个碗入槽已解释评分器 q_score=2/7；第2份披萨入箱最终为假。"
+     }
+    ]
+   },
+   "bowls_in_sink_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      273.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 160,
+      "log_step": null,
+      "text_zh": "观察：视频 120–180 s，机器人分别用左右夹爪夹住碗沿，将碗从桌面提起；视频 180–240 s 底盘移向水槽，两个腕部视图可见各自携带的碗。"
+     },
+     {
+      "t": 273.5,
+      "log_step": 156,
+      "text_zh": "观察：视频 270–273 s，机器人右夹爪把第一个碗下降到水槽凹槽内；视频 274–281 s，右爪已撤离而碗留在槽内。进入时刻约为视频 273.5 s，误差约一秒。"
+     },
+     {
+      "t": 340,
+      "log_step": null,
+      "text_zh": "推断：视频 325–345 s 两碗均留在同一槽内，此后机器人离开水槽、没有再取碗；结合评分器 q_score=2/7，判定第1个碗入槽关系保留到视频结束。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "搬运阶段左右二指夹爪各夹住一个碗沿并同时携带；到水槽后右爪先下降并松开第一个碗，左爪仍持第二个碗。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约 180–240 s，底盘在地面行驶，将双爪持有的两个碗从早餐桌运至水槽。"
+     }
+    ]
+   },
+   "bowls_in_sink_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      321.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 321.5,
+      "log_step": 156,
+      "text_zh": "观察：视频 317–320 s，机器人左夹爪将第二个碗送到槽上方并下放；视频 321–325 s 碗下降到同一凹槽内，视频 325–340 s 可见两个碗均留在槽内，夹爪撤开。第2个中心进入槽内估记视频 321.5 s，误差约两秒。"
+     },
+     {
+      "t": 340,
+      "log_step": null,
+      "text_zh": "推断：视频 340–345 s 两碗留在同一水槽，后续机器人没有返回取碗；结合最终评分器 q_score=2/7，判定两个碗入槽关系保持到结束。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "左右夹爪各夹持一个碗沿共同搬运；右爪先放第一个碗，随后左爪将第二个碗下放到同一水槽并松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘行驶时支承双臂和两���碗，从早餐桌移到水槽前。"
+     }
+    ]
+   },
+   "refrigerator_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      413.5
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s、360–410 s，冰箱门板归位贴合；视频 413–416 s 右夹爪拉开一扇门，关闭关系丢失，估记视频 413.5 s。"
+     },
+     {
+      "t": 490,
+      "log_step": null,
+      "text_zh": "观察：视频 430–490 s，可见冰箱内部层架及打开的门板；随后机器人离开冰箱去取盘，后续直到视频 1988 s 未见返回关门。"
+     },
+     {
+      "t": 1988,
+      "log_step": 994,
+      "text_zh": "推断：末段机器人仍在餐桌区域，没有执行关门；结合早先可见的开门状态及评分器 q_score=2/7，关闭关系最终为假。log step 992 虽写出含关门动作的脚本，log step 991 与994 的服务 control_steps 均为59642，说明该新脚本未在此回合继续执行。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.2857142857142857,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pizzas_on_plates_2",
+   "t": 540,
+   "log_step": 220,
+   "where": "转场",
+   "evidence_zh": "推断：视频 536–538 s，两份披萨仍各在盘上；机器人空手在餐桌边靠近、换位，之后桌板倾斜，视频 568 s 披萨已在桌板后方地面附近，视频 670–705 s 两盘为空且披萨与盘分离。最早未修复的节点是两组披萨在盘关系，后续到视频 1988 s 仍未恢复；视频约 540 s 仅为受遮挡的粗略导航锚点。log step 220 的现场控制脚本确实命令底盘贴近餐桌，非后来写出的未执行脚本。"
+  },
+  "unmet": {
+   "pizzas_on_plates_1": false,
+   "pizzas_on_plates_2": false,
+   "pizzas_in_fridge_1": false,
+   "pizzas_in_fridge_2": false,
+   "bowls_in_sink_1": true,
+   "bowls_in_sink_2": true,
+   "refrigerator_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 540,
+    "log_step": 220,
+    "evidence_zh": "推断：视频 530–568 s，机器人向餐桌靠近、转向期间，桌板和桌上物体发生大幅移位，随后桌板倾斜；视频 670–705 s 可见盘与披萨分离散落在椅子及地面附近。结合 log step 213、220 连续命令底盘沿桌边移动，判断机器人与桌椅发生干涉并破坏了原有承托关系；接触点被机身和桌板遮挡。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 207、213、220 的底盘控制脚本直接按目标位置误差生成平移和转向命令，保留当时的上肢关节，未检查机器人整身与桌椅的间隙；视频 530–568 s 的靠近过程中桌板及目标物发生位移、倾斜并丢失承托关系。该现场换位控制未保持安全通行间隙；具体是哪一机体部件接触、是路径还是姿态跟踪占主因，证据不足，故只归控制。"
+   }
+  ],
+  "gap_zh": "无状态日志和成功参考视频。视频约 538–568 s 的桌板遮挡了披萨离盘的瞬间，两个在盘节点的失去统一估记视频约 540 s，无法精确区分先后；机器人具体碰撞部件也不可见，因此不细分控制子类。两个碗入槽的包围盒中心和冰箱5%开度阈值均只能从画面估计，误差约一至两秒；碗的最终保持依据后续无取回动作和评分器总分共同推断。log step 995 的最终报告及 log step 992 新写脚本不替代视频中的实际动作。"
+ },
+ "summary_zh": "开局两份披萨在盘、冰箱关闭，进度为3/8；机器人将两个碗送入同一水槽并打开冰箱，最高达到5/8。随后在餐桌旁取盘换位时发生干涉、桌板倾斜，两份披萨离盘，后续抓取和双臂扫入未修复两组承托关系，也没有披萨入箱或再次关门，最终保留两个碗入槽及开门事件，共3/8。无状态日志，离盘瞬间及碰撞部件被遮挡，视频约540 s 的断点和离盘时间为粗略推断。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值与 q_score=2/7、视频一致：碗入槽、开门、冰箱门开着、披萨在约 538–568 s 离盘且此后未恢复。断点（在盘关系丢失，转场，被挡/碰撞→控制）有视频支撑，且标注已明示为遮挡下的推断，未发现需要改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:27:11Z",
+  "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-cleaning-up-plates-and-food-i00-standard--vzvrhtj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-plates-and-food-i00-standard--vzvrhtj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3d900bcd7c7d8b3abc248d08ccc8af12c570d347b61876ded8718495e2e21071",
+   "video_sha256": "43181bc23d6ff0a71246bb5cc9a9154382c7cbe789b66c2b2ef8364a8d09b10a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cleaning_up_plates_and_food/trajectories/behavior-cleaning-up-plates-and-food-i00-standard--wjxzbza.json

@@ -0,0 +1,346 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cleaning-up-plates-and-food-i00-standard--wjxzbza",
+ "taskKey": "behavior-1k/cleaning_up_plates_and_food",
+ "dag_sha256": "4390d52c232c8e81af0f654f0ec8aa4dc44a121bf0f5b36cb4eec4e4dab264ef",
+ "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": 10411,
+   "sim_steps": 10411,
+   "physics_steps": 41644,
+   "steps": 3471,
+   "elapsed_s": 3104.3,
+   "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": 0.399,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.029,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-cleaning-up-plates-and-food-i00-standard--wjxzbza/replay.mp4",
+  "duration_s": 347.033,
+  "fps": 30.0,
+  "frames": 10411,
+  "sha256": "24e20533b4d2f8d57bd8e961281633ef58d5fb03b0b432a38b4dc7b2ab281df1"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 8,
+  "base": 3,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "pizzas_on_plates_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 40,
+      "log_step": null,
+      "text_zh": "观察：视频 40 s、125–145 s 的头部视图可见餐桌上两份披萨分别贴在白色餐盘内；视频 148–154 s 的右腕近景也可见目标披萨由盘承托。"
+     },
+     {
+      "t": 306.5,
+      "log_step": null,
+      "text_zh": "推断：视频 140–220 s 的抓盘尝试未把盘提离餐桌，视频 300–306.5 s 再次看见两份披萨仍各自在盘内，随后机器人携碗离开且未再操作披萨。结合 DAG 给定初态，至少一组在盘关系从视频 0 s 保留到视频结束。"
+     }
+    ]
+   },
+   "pizzas_on_plates_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 130,
+      "log_step": null,
+      "text_zh": "观察：视频 125–145 s 可分别看见两张不同白盘及其各自承托的披萨，机器人未成功提起任何一盘。"
+     },
+     {
+      "t": 306.5,
+      "log_step": null,
+      "text_zh": "推断：视频 170–220 s 的连续重试中没有披萨离盘，视频 300–306.5 s 携碗转身前仍见两份披萨各在不同盘上；之后机器人不再接近餐盘。结合初态，两组配对均保留，区间从视频 0 s 延续到结束。"
+     }
+    ]
+   },
+   "refrigerator_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 90,
+      "log_step": null,
+      "text_zh": "观察：视频 0–140 s 机器人转向、巡看厨房并靠近餐桌，冰箱可见时门板均贴合柜体；机器人没有抓门把手或拉门动作。"
+     },
+     {
+      "t": 334,
+      "log_step": null,
+      "text_zh": "观察：视频 305–334 s 机器人右手携碗驶到冰箱旁，冰箱门仍关闭，右手没有操作门；随后视频 335–347 s 机器人倾倒。全段未见冰箱门或抽屉离开关闭位置，开门事件未达到。"
+     }
+    ]
+   },
+   "pizzas_in_fridge_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 151.7,
+      "log_step": 278,
+      "text_zh": "观察：视频 147–151.3 s 右夹爪接近桌上披萨餐盘，视频约 151.7–152.3 s 两指在盘沿旁空合，视频 153–155 s 手臂抬回而餐盘仍留桌。log step 278 的脚本命令右爪闭合并上提，输出开度为 0；视频确认这次未夹起盘。"
+     },
+     {
+      "t": 219,
+      "log_step": null,
+      "text_zh": "观察：视频 167–219 s 的下探、闭爪与探测重试没有使餐盘随手移动；随后机器人转而操作碗。视频 300–306.5 s 两份盘上披萨仍在桌面，未出现携盘到冰箱或盘上披萨进入箱内的过程。"
+     },
+     {
+      "t": 347,
+      "log_step": 370,
+      "text_zh": "推断：评分记录 q_score=0、live_matches_replay=1，且视频末段机器人携碗翻倒，没有搬运披萨；初始在盘和关闭关系不计入 BEHAVIOR 的新增字面量得分，因此该总分与披萨从未入箱一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 147–154 s 右二指夹爪对餐盘实施下探、闭合、上提；盘沿在腕相机边缘，未形成可见的相向夹持，不能确认是否曾有指尖轻擦盘沿，故不把计划抓盘记成实际抓握，也没有持盘托披萨的接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 115–145 s 轮式底盘行驶到餐桌及桌侧，为首次抓盘尝试调整工作位置，车轮支承机器人；没有成功携盘行驶。"
+     }
+    ]
+   },
+   "pizzas_in_fridge_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 306.5,
+      "log_step": null,
+      "text_zh": "观察：视频 300–306.5 s 两份披萨仍各在餐桌上的盘中，机器人右手处理的是碗；全段没有运送第二份披萨的动作，也未把任何盘上披萨送入冰箱。"
+     },
+     {
+      "t": 347,
+      "log_step": null,
+      "text_zh": "推断：评分字段 q_score=0 且 live_matches_replay=1，排除任何新增的披萨 inside 冰箱字面量在终态成立；两个披萨入箱节点终态均为假，不能因初始在盘而计入入箱进度。"
+     }
+    ]
+   },
+   "bowls_in_sink_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 294.5,
+      "log_step": 347,
+      "text_zh": "观察：视频约 294.5 s 右腕视图开始出现随夹爪运动的白碗；视频 300–308 s 碗随右臂及底盘转向离开原来的桌面位置，桌上仍留另一碗。log step 347 对应一次右爪闭合后上提并返回开度 0.0135 的动作，视频支持确实夹起了一个碗。"
+     },
+     {
+      "t": 334,
+      "log_step": null,
+      "text_zh": "观察：视频 309–334 s 碗一直出现在右腕近景，机器人驶到冰箱与餐椅附近，没有把碗送到水槽凹槽或松手入槽；视频 335–347 s 机器人翻倒，最后一秒及视频 347.0 s 的右腕图仍见近处白碗。"
+     },
+     {
+      "t": 347,
+      "log_step": 370,
+      "text_zh": "推断：log step 370 的服务状态为 done=True、reason=failure: the robot fell over；评分字段 q_score=0、live_matches_replay=1。结合视频未到水槽的搬运路径，终态没有碗满足 inside 水槽。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 294.5 s 后右二指夹爪夹住一只碗的碗沿并提起，视频 300–334 s 腕相机中的碗随右手及机身移动；左手没有同时抓另一只碗。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 305–334 s 轮式底盘承载机器人及右手中的碗转向、前行、后退并绕行餐椅，未到达水槽；视频约 335 s 起机身失衡翻倒。"
+     }
+    ]
+   },
+   "bowls_in_sink_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 306.5,
+      "log_step": null,
+      "text_zh": "观察：视频 300–306.5 s 右手携走一只碗时，另一只碗仍在餐桌上；没有第二只手夹碗或第二次运碗入槽的过程。"
+     },
+     {
+      "t": 347,
+      "log_step": null,
+      "text_zh": "推断：评分字段 q_score=0、live_matches_replay=1，没有新增的碗 inside 水槽字面量；结合一碗留桌、另一碗在未到水槽时随机器人翻倒，两个碗共同入槽的终态为假。"
+     }
+    ]
+   },
+   "refrigerator_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 90,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 起的厨房视图、视频 80–95 s 的巡看视图中冰箱门板贴近柜体，没有开启动作；与 DAG 给定的冰箱初始关闭条件一致。"
+     },
+     {
+      "t": 334,
+      "log_step": null,
+      "text_zh": "推断：视频 305–334 s 机器人携碗驶近冰箱时，门板仍贴合柜体；之后视频 335–347 s 只有机身倾倒及后退，没有操作冰箱门。末帧不能完整看见所有门缝，但全段没有开门过程，故关闭状态从视频 0 s 保留到结束；这是保留初始状态，不代表机器人完成过一次关门动作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pizzas_in_fridge_1",
+   "t": 151.7,
+   "log_step": 278,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 151.7–152.3 s 右夹爪在目标盘沿旁空合，上提后盘仍在桌上；log step 274、278 明确执行抓盘和抬盘，log step 286 再次抓盘仍空合。视频 167–219 s 的探测也未取起餐盘，之后转去抓碗，直��视频 306.5 s 两份盘上披萨仍留桌。推断：这是首次未修复的披萨入箱步骤失败；后续视频约 335 s 的携碗翻倒及 log step 370 的倒地终止没有补完先前的抓盘失败，因此不把断点换到后来的碗步骤。"
+  },
+  "unmet": {
+   "pizzas_on_plates_1": true,
+   "pizzas_on_plates_2": true,
+   "pizzas_in_fridge_1": false,
+   "pizzas_in_fridge_2": false,
+   "bowls_in_sink_1": false,
+   "bowls_in_sink_2": false,
+   "refrigerator_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 151.7,
+    "log_step": 278,
+    "evidence_zh": "观察：视频 151.7–152.3 s 的右腕近景中，两指合拢处在白色盘沿旁，盘沿没有进入两指之间；视频 153–155 s 手臂抬回，餐盘没有离开原桌面。log step 278 返回闭合及抬起后右爪开度均为 0，log step 286 的重试仍为 0。这里缺少的是可搬起餐盘的夹持接触，并非持盘后滑落。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 提供完整视频和运行日志，但没有 states.jsonl 或成功参考视频。抓盘时腕图可确认空合，部分盘沿及接触深度处在画面边缘；log step 274、278 的末端到位输出及 log step 295–305 的相机几何诊断不足以独立确认餐盘真实位姿。推断：尚不能区分目标定位偏差、盘沿抓取几何不合适或接触执行问题，因此根因留空，不把 agent 在 log step 375 自述的相机误差或倒地原因直接当作该抓盘断点的根因。视频末段已检查至视频 347.0 s，但餐桌和水槽不在末帧内，其终态由此前动作连续性及 q_score=0 共同限定。log step 375 先称两碗都留桌，后又称携碗倒地，两者不一致；采用视频中确实夹起一碗且未入槽的过程。"
+ },
+ "summary_zh": "该回合始终保留两份披萨在不同盘上及冰箱关闭，初始、峰值和最终进度均为 3/8，未完成披萨入箱或碗入水槽。最早未修复的失败发生在视频约 151.7 s 的第一盘抓取：夹爪空合，餐盘留桌；随后机器人虽夹起一碗，却在视频约 335 s 携碗驶行时翻倒，服务以倒地失败结束。没有状态日志或成功参考视频，抓盘的定位与接触执行原因无法区分，根因留空；q_score=0 不否定保留的三项初始条件。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "抽查视频帧后，披萨在盘与冰箱关闭保留、入箱与碗入槽未达成、断点为首次抓盘空合，均与帧一致；根因留空有 gap_zh 说明，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": "2026-10-30T21:21:58Z",
+  "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-cleaning-up-plates-and-food-i00-standard--wjxzbza/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cleaning-up-plates-and-food-i00-standard--wjxzbza/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "2b4041434849a14fce381e1a1b84e7219e38e9d820300fa21e1487ef7b76d14b",
+   "video_sha256": "24e20533b4d2f8d57bd8e961281633ef58d5fb03b0b432a38b4dc7b2ab281df1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_a_frozen_pie/trajectories/behavior-cook-a-frozen-pie-i00-privileged--35pxdwd.json

@@ -0,0 +1,286 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-a-frozen-pie-i00-privileged--35pxdwd",
+ "taskKey": "behavior-1k/cook_a_frozen_pie",
+ "dag_sha256": "d00050bfce362a5142c45adf0c68a6b7072f4aa5bda1d9b540421c39c788325f",
+ "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": 5100,
+   "sim_steps": 5010,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 1.0,
+   "replay_wall_s": 1345.4,
+   "replay_timeout_s": 3750.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 2,
+   "agent_resets": 0,
+   "agent_sim_steps": 5010,
+   "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,
+   "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-cook-a-frozen-pie-i00-privileged--35pxdwd/replay.mp4",
+  "duration_s": 167.0,
+  "fps": 30.0,
+  "frames": 5010,
+  "sha256": "55187d6c7f4ff21eb073ce2e26915f95106ec2a7b70e426f33026a19ad3b4b3d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      20.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 20.0,
+      "log_step": 43,
+      "text_zh": "推断：视频约 16–35 s，机器人左臂持续拉动黑框冰箱门，门板逐渐外转；约视频 20 s 已形成取物通路，首次可通行时刻因夹爪和机身遮挡估计有数秒误差。视频 42–55 s 明确显示门板与箱体分离，随后右爪从箱内取派，故开门已完成。"
+     },
+     {
+      "t": 100.0,
+      "log_step": null,
+      "text_zh": "观察：视频 98–101 s，右夹爪夹着圆派从冰箱层架前缘移出，原层架上的派已离开；并非仅凭 agent 自述判定冰箱可通行。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左侧二指夹爪夹住冰箱门把手，沿门的转动方向外拉，随后松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘先驶到冰箱前并调整朝向，承载左臂实施开门。"
+     }
+    ]
+   },
+   "heat_source_on": {
+    "method": "visual",
+    "intervals": [
+     [
+      116.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 116.5,
+      "log_step": 66,
+      "text_zh": "观察：视频 115–116 s，左腕视角中左夹爪指端压住平顶烤炉前面的红色控制标记；视频约 116.3–116.5 s 标记转绿，视频 117–119 s 左爪撤开后仍绿。此标记是模拟器显示的设备开关状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "左夹爪闭合后以指端按压平顶烤炉前侧控制点，使红色开关标记变绿。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘从冰箱驶至平顶烤炉前并调整站位以接近控制点。"
+     }
+    ]
+   },
+   "pie_cooked": {
+    "method": "visual",
+    "intervals": [
+     [
+      153.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 153.0,
+      "log_step": null,
+      "text_zh": "观察：视频 150–152.5 s，右夹爪将派移到已开启的平顶烤炉加热区域；视频约 153 s 派的表面由浅色变为较深的金黄色，随后持派离开热源。"
+     },
+     {
+      "t": 166.97,
+      "log_step": 84,
+      "text_zh": "推断：评分字段 q_score=1.0、原始重放 all_success=1，且开局派在冰箱内、未熟、未上托盘，故两个目标文字条件在重放终态均成立；这确认熟度，不能仅由颜色判熟。视频 153 s 作为受热变色的近似达成锚点，缺少逐帧 Cooked/温度，阈值跨越时刻不能精确核定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "取派准备时，右夹爪闭合，以指端接触派的后侧并将派推向冰箱层架前缘；这时未形成环抱夹持。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右侧二指夹爪随后上下夹住派的边缘，将其从���架移出并持续持在烤炉有效加热区域；受热由设备完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘载着右臂所夹的派从冰箱移到烤炉前，期间又调整站位以把派送到加热区域。"
+     }
+    ]
+   },
+   "pie_on_tray": {
+    "method": "visual",
+    "intervals": [
+     [
+      166.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 166.9,
+      "log_step": null,
+      "text_zh": "观察：视频 162.5–166.97 s，右夹爪将派从台面前方移到深色方形托盘上方并下降；末帧中派位于托盘上，夹爪仍贴着派边，录像未显示松爪后撤及静置一秒。"
+     },
+     {
+      "t": 166.97,
+      "log_step": 84,
+      "text_zh": "推断：末帧托盘直接位于派下方，结合重放 q_score=1.0、all_success=1，确认本节点要求的接触支承关系最终成立；关系首次接触保守定位在视频约 166.9 s，前段悬空不计入。DAG 本节点 freeze_held=false，联合释放和静置归入最终成功验收，不能因此抹去已达到的支承关系。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右侧二指夹爪持续夹住派边缘，移到托盘上并下降，末帧尚未可见完全撤离。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约 159–163 s，底盘承载持派的右臂从烤炉处驶至放托盘的厨房台面前。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 1.0,
+   "unit": "ratio",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pie_on_tray",
+   "t": 166.9,
+   "log_step": 84,
+   "where": "终态验收",
+   "evidence_zh": "推断：视频 166.9–166.97 s 派已在托盘上，重放原始结果 all_success=1、q_score=1.0；但 reward.regrade_0154 明确记录 old=1、new=0、why=\"stricter rule\"，故断点位于装盘后的联合终态验收。运行当时 task_text 明说两项目标同时成立即自动结束，log step 84 的新进程重放也报告 success=true、sim_steps=5010；视频在该终态结束，未展示释放后连续静置一秒。"
+  },
+  "unmet": {
+   "pie_cooked": true,
+   "pie_on_tray": true
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "任务设计问题：该次运行收到的 task_text 仅要求 cooked 与 ontop，并声明一成立即自动结束；原始重放成功后，评分字段记录因 stricter rule 从 1 改为 0。DAG 当前联合验收额外要求派及托盘释放、速度不超过 0.05 米每秒并连续保持 30 控制步，故保留目录失败而不把规则变化虚构成机器人现象或根因。无状态日志，重评也未报告具体未通过的子条件；末帧可见夹爪贴派但无法核实附着状态和速度，不据此断言没松开或放后不稳。熟度阈值跨越、开门通路形成及最终支承首次接触时间分别依据受热画面、遮挡上下文和终态总分近似定位。"
+ },
+ "summary_zh": "机器人完成开冰箱、开启平顶烤炉、持派加热及把熟派放到托盘上的四个节点；视频约 153 s 派受热变色，视频 166.97 s 末帧与 q_score=1.0 支持两个目标终值为真。任务设计问题：当时文本和原始新进程重放按目标成立即结束判为成功，后续因更严格的释放静置规则改判失败，断点记在装盘后的终态验收，不赋予机器人失败现象或根因。没有状态日志及重评子条件，无法核实末帧的附着、速度和连续窗口，节点首次达成时间为视觉近似。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "四个节点与视频一致（开门、烤炉标记变红转绿、持派受热、末帧派在托盘上），q_score=1.0 与 all_success=1 支持终值；断点记在终态验收并按任务设计问题处理（regrade 记录 stricter rule，视频在目标成立时结束，机器人无机会释放），不赋予机器人现象或根因，符合 S9。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:42:00Z",
+  "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-cook-a-frozen-pie-i00-privileged--35pxdwd/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-a-frozen-pie-i00-privileged--35pxdwd/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bab6c823bb9d03e6e6d2c91ac03f58ab867c709de675f0a89d8b36428e0e120e",
+   "video_sha256": "55187d6c7f4ff21eb073ce2e26915f95106ec2a7b70e426f33026a19ad3b4b3d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_a_frozen_pie/trajectories/behavior-cook-a-frozen-pie-i00-privileged--c8dnz8o.json

@@ -0,0 +1,295 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-a-frozen-pie-i00-privileged--c8dnz8o",
+ "taskKey": "behavior-1k/cook_a_frozen_pie",
+ "dag_sha256": "d00050bfce362a5142c45adf0c68a6b7072f4aa5bda1d9b540421c39c788325f",
+ "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": 5165,
+   "sim_steps": 5165,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1195.4,
+   "replay_timeout_s": 4643.3,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 1,
+   "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-cook-a-frozen-pie-i00-privileged--c8dnz8o/replay.mp4",
+  "duration_s": 172.167,
+  "fps": 30.0,
+  "frames": 5165,
+  "sha256": "0b59badbdaf0f8271a53ad981720af027fe22c27f0a9f95f022b9c2e0504fbb3"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      24.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：视频 18.0–22.0 s 黑框玻璃门仍靠近箱体；视频 23.5–25.0 s 机器人左夹爪拉着门把，底盘后退转向，门板向外旋开形成取物通路。以视频约 24.0 s 作为达到时刻，精度约一秒。"
+     },
+     {
+      "t": 33.0,
+      "log_step": null,
+      "text_zh": "观察：视频 32.5–35.0 s 门板已大幅外转；视频 40.0–67.0 s 可直接看到冰箱搁架及派。此为曾打开的事件节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 20.0–35.0 s 左侧二指夹爪夹住冰箱门的竖直把手并拉门。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–18.0 s 底盘驶向冰箱，视频 23.5–35.0 s 配合拉门后退和转向。"
+     }
+    ]
+   },
+   "heat_source_on": {
+    "method": "visual",
+    "intervals": [
+     [
+      128.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 128.5,
+      "log_step": null,
+      "text_zh": "观察：视频 125.0–127.5 s 烤箱控制标记为红色；视频 128.0 s 右夹爪指端抵向控制点，视频 128.5 s 标记变为绿色，视频 129.0–133.0 s 仍绿，确认热源已开启。"
+     },
+     {
+      "t": 160.0,
+      "log_step": null,
+      "text_zh": "观察：视频 160.0 s 机器人离开烤箱时控制标记仍绿；这是曾开启事件，不要求末帧仍在视野内。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "压/擦",
+      "note_zh": "观察：视频 128.0–128.5 s 右夹爪指端按压烤箱前面的控制点使其由红变绿，左臂同时在炉门处维持关门。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 125.0–129.0 s 左夹爪夹持烤箱门把手，右夹爪同时完成开关按压；左手抓握对象为炉门把手。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 68.0–84.0 s 底盘从冰箱处驶到烤箱前，右夹爪没有携带派。"
+     }
+    ]
+   },
+   "pie_cooked": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 54.8,
+      "log_step": null,
+      "text_zh": "观察：视频 48.5–53.8 s 右腕视角可见派在冰箱金属搁架上，视频 54.0–54.8 s 右夹爪两指在派的近侧边缘合拢；视频 55.0–59.0 s 夹爪撤回而派仍在搁架上，视频 60.0–67.0 s 头部和右腕视角继续显示派留在箱内。未见派随手离架。"
+     },
+     {
+      "t": 112.0,
+      "log_step": null,
+      "text_zh": "观察：视频约 70.0–84.0 s 机器人空手驶向烤箱，视频 100.0–116.0 s 右臂伸入并退出打开的炉膛，但夹爪内没有派；视频 128.5 s 热源才开启，视频 140.0–152.0 s 再次伸入炉膛也没有带出派。"
+     },
+     {
+      "t": 172.1,
+      "log_step": null,
+      "text_zh": "推断：派初始为冷冻且未见从冰箱取出或进入任何热源；结合评分器 q_score=0，��个初始均不成立的目标中熟度终值为 false。没有逐帧温度记录，不能由金黄色外观判熟；会话 log step 193、249 的持派和入炉读数与本视频不符，仅作会话证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 54.0–54.8 s 右侧二指夹爪在派的近侧边缘两侧合拢，随后撤回未带动派离架；只记录可见夹持动作，不认定建立了有效搬运抓持。随后左夹爪抓炉门把手开关门，右臂空手进出炉膛。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人底盘在冰箱前调整位置并于视频约 60.0–84.0 s 后退、转向、驶到烤箱前；派没有随机器人移动。"
+     }
+    ]
+   },
+   "pie_on_tray": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 166.5,
+      "log_step": null,
+      "text_zh": "观察：视频 160.5–166.5 s 机器人驶到放有深色方形托盘的台面前，双手均未带派；视频 166.5–169.0 s 右腕视角接近托盘，盘底为空。"
+     },
+     {
+      "t": 172.1,
+      "log_step": null,
+      "text_zh": "观察：视频 169.0–172.1 s 右腕画面清楚显示空托盘，右夹爪张开；没有派落到托盘上的过程。与参考视频 351.0–354.0 s 可见夹爪携派接近托盘的画面不同。"
+     },
+     {
+      "t": null,
+      "log_step": 289,
+      "text_zh": "推断：评分器 q_score=0 且两个目标初始均不成立，与末帧空托盘一致；派在托盘上的终值为 false。log step 289 仅为会话中的放置脚本，不能代替评分视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 155.0–166.0 s 底盘从烤箱驶向托盘台面；右夹爪空手执行接近和张开动作，未见派与夹爪或托盘接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pie_cooked",
+   "t": 55.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 54.0–54.8 s 机器人右夹爪对冰箱内的派做夹持动作，但视频 55.0–67.0 s 撤手和退离后派仍在原搁架，之后空手完成入炉、加热及取出动作。推断：为烤熟而取派的抓持没有建立，且评分轨迹内从未修复；取派未单列节点，故断在 pie_cooked。"
+  },
+  "unmet": {
+   "pie_cooked": false,
+   "pie_on_tray": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 55.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 54.0–54.8 s 右夹爪两指合向派边缘，视频 55.0–59.0 s 手退开而派继续由搁架承托，视频 60.0–67.0 s 派仍留在冰箱内。推断：没有建立能将派带离搁架的有效抓持；未见先成功持起再掉落的过程。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "交付",
+    "item": "交付操作出错",
+    "log_step": 293,
+    "evidence_zh": "观察：log step 5 的自定义 load_ckpt 同时恢复模拟器快照和截回动作录制；log step 190/193 从 pie_in_hand_inside_fridge 恢复后继续录制并报告已取出派，log step 272 又恢复 pie_placed_in_oven，log step 286、289 继续从后续持派快照恢复，log step 293 直接保存 5165 行动作。评分器字段 agent_replays=0、deterministic=1、infra_error=0、success=0；评分视频 55.0–67.0 s 却显示派始终留在冰箱，且视频 172.1 s 托盘为空。推断：交付动作跨恢复快照生成且未作完整重放验收，会话中的持派状态没有被交付重现；这是录制和验收操作的问题，不能将会话中读到的结果视为交付成功。",
+    "source_zh": "日志 / 评分器字段 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志或评分轨迹的接触力、附着状态、温度序列；腕部低分辨率画面可见合爪和撤回，但不能进一步区分指端接触几何、抓力或恢复快照后的微小状态差异如何使抓持失效，故不追加控制子类。会话 log step 183、193、249 的持派与入炉读数与评分视频不符，未用于节点赋真；评分总分与可见过程共同确定两个目标终值。log step 294 的模型过滤发生在 log step 293 已保存轨迹之后，不将此已交付失败归为外部中断。"
+ },
+ "summary_zh": "评分轨迹完成打开冰箱（视频约 24.0 s）和开启烤箱热源（视频约 128.5 s），最终进度为 2/4，派烤熟及派上托盘均未达成。最早未修复的失败在为烤熟而取派：右夹爪撤回后派仍在冰箱搁架，随后空手执行入炉和装盘动作，视频 172.1 s 托盘仍空；跨检查点恢复生成的动作未经完整重放验收，会话的持派结果未被交付��现。缺少状态日志，无法进一步确定抓持失效的具体接触机制，熟度终值结合过程与 q_score=0 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": "节点值、时间、断点（取派抓持未建立，派留在冰箱）与根因均有视频支持；冰箱开启时刻（约24 s）在一秒量级内可接受，烤箱热源 128.5 s 绿标可见，末帧托盘为空，q_score=0 与之相符。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:42:07Z",
+  "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-cook-a-frozen-pie-i00-privileged--c8dnz8o/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-a-frozen-pie-i00-privileged--c8dnz8o/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "51e2c0e71b708050da0c9d5bb3a76f9c97279d83da011829bd2a71113a05a741",
+   "video_sha256": "0b59badbdaf0f8271a53ad981720af027fe22c27f0a9f95f022b9c2e0504fbb3",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_a_frozen_pie/trajectories/behavior-cook-a-frozen-pie-i00-privileged--hbebddk.json

@@ -0,0 +1,243 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-a-frozen-pie-i00-privileged--hbebddk",
+ "taskKey": "behavior-1k/cook_a_frozen_pie",
+ "dag_sha256": "d00050bfce362a5142c45adf0c68a6b7072f4aa5bda1d9b540421c39c788325f",
+ "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": 994,
+   "sim_steps": 994,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 634.6,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 5,
+   "agent_resets": 11,
+   "agent_sim_steps": 3009,
+   "agent_records": 2,
+   "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-cook-a-frozen-pie-i00-privileged--hbebddk/replay.mp4",
+  "duration_s": 33.133,
+  "fps": 30.0,
+  "frames": 994,
+  "sha256": "ca3563a89ec3b36442b12a003e29bba41a29d5b5df0eb1cd54c3797bf8b5363b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10,
+      "log_step": null,
+      "text_zh": "观察：视频 0–11.5 s，机器人底盘穿过厨房过道并驶近存放派的黑框玻璃冰箱；视频 12.5–15.75 s，左夹爪在门前闭合、移动并撤离，门板未随夹爪外摆形成取物通路。"
+     },
+     {
+      "t": 24,
+      "log_step": null,
+      "text_zh": "观察：视频 16–31 s，机器人继续在冰箱前伸臂、改变躯干姿态，黑框门未出现与箱体分离的明显外摆；视频 32.1–33.1 s，派仍在冰箱层架内。对照成功参考视频 170 s，可见外摆门板与箱体之间有清楚的通路，本次没有该完成线索。"
+     },
+     {
+      "t": null,
+      "log_step": 241,
+      "text_zh": "观察：log step 238 的最终生成结果为 994 个动作、无 reset；log step 241 重放同一文件，终态哈希相同、deterministic=true、success=false。会话中 log step 122 直接设置门关节的诊断不属于本次交付轨迹，未计为开门。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–11.5 s，轮式底盘承载机械臂驶到冰箱前并调整朝向。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 12.5–15.75 s，左夹爪在冰箱门前闭合和扫动；指尖与黑色门框、玻璃局部重叠且遮挡，无法确定是否短暂擦碰或压到门板，未见门边被双指夹住，故不记为抓握。"
+     }
+    ]
+   },
+   "heat_source_on": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 33.1,
+      "log_step": null,
+      "text_zh": "观察：视频 0–33.1 s，机器人从过道到冰箱前后一直围绕冰箱伸臂，没有走到烤箱、平顶烤炉或炉灶前操作开关，也未见控制标记由红变绿。"
+     },
+     {
+      "t": null,
+      "log_step": 105,
+      "text_zh": "推断：log step 102、105 对冻结实例初态的会话检查记录烤箱、两台平顶烤炉和炉灶均关闭；结合视频 0–33.1 s 未发生热源开关操作，判定本次没有开启热源。这些检查用于核对初态，不把会话试验当作评分轨迹。"
+     }
+    ]
+   },
+   "pie_cooked": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 33.1,
+      "log_step": null,
+      "text_zh": "观察：视频 12.5–14 s 的左腕视角以及视频 32.1–33.1 s 的头部视角仍可见圆派在冰箱层架内；全片未见机器人把派带到热源的有效加热区域。派的原有金黄色外观不作为烤熟证据。"
+     },
+     {
+      "t": null,
+      "log_step": 241,
+      "text_zh": "推断：任务初态为冷冻派，视频 0–33.1 s 无取出加热过程；评分器 reward.q_score=0.0，log step 241 的最终文件重放也为 q_score=0.0。两个目标初态均不成立，零目标总分排除终态 Cooked 为真；结合全片判定本节点未达。"
+     }
+    ]
+   },
+   "pie_on_tray": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 33.1,
+      "log_step": null,
+      "text_zh": "观察：视频 12.5–14 s、19.5 s 和 32.1–33.1 s 可见派仍在冰箱层架内；机器人多次撤回的夹爪未携带派，全片没有把派搬到台面深色方形托盘上并由托盘承托的过程。"
+     },
+     {
+      "t": null,
+      "log_step": 241,
+      "text_zh": "推断：派上托盘不属于初态已成立目标；评分器 reward.q_score=0.0，log step 241 的最终重放同样为零目标总分，进一步排除终态派上托盘成立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fridge_opened",
+   "t": 14.5,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 12.5–15.75 s，机器人左夹爪在冰箱门前闭合后扫动、撤离，门板没有随动打开；视频 16–33.1 s 的后续伸臂也未形成取物通路，派始终留在层架内。打开冰箱是本次首先尝试且之后一直没有修复的步骤，视频 14.5 s 为失败尝试的粗略定位。"
+  },
+  "unmet": {
+   "pie_cooked": false,
+   "pie_on_tray": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 14.5,
+    "log_step": null,
+    "evidence_zh": "推断：视频 12.5–14.25 s，左夹爪在冰箱门前闭合；视频 14.5–17.25 s，夹爪扫过门前后空手撤回，门板没有被夹爪带动外摆，未见双指包夹门边或勾住门边。因此未建立开门所需的有效夹持／勾挂接触；此判断不排除指尖曾短暂擦碰玻璃。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：视频 12.5–17.25 s，机器人已到冰箱前并执行闭爪和拉动，但夹爪未与门形成有效连接，门未随动。log step 228 的最终生成脚本用随机 FK 搜索近似门前位姿后闭爪，随后直接沿铰链圆弧移动，没有在拉动前验证门已夹住；log step 236 仅去掉重置后生成最终文件。会话诊断 log step 194、196、226 也反复记录闭爪后 in_hand=None、拉动后门仍关闭，支持开门操控未解决；这些诊断只用于根因，不用于节点计分。证据尚不能细分为接触几何还是位姿执行问题，故保留在控制类别。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "没有逐帧状态、门关节、接触对或力记录。左腕近景中门框、玻璃和夹爪有遮挡，能判断未形成有效开门夹持，但不能确定是否短暂擦碰、具体接触力或控制子类型，手部 contact_actual 因而为未知；不以 agent 在 log step 246 中关于所有合法方案都不可行的自述认定任务或环境问题。热源初态由同一冻结实例的会话检查辅助核对，终态熟度由视频过程和评分器总分共同推断。"
+ },
+ "summary_zh": "评分轨迹驶到冰箱前并尝试开门，但未形成可取派的通路，四个节点均未达成；末秒仍可见派留在冰箱层架内，评分器 q_score=0.0。首个未修复步骤为打开冰箱：夹爪闭合、扫动后未带动门板，推断未建立有效开门接触，根因保留为控制。无逐帧状态与接触力记录，短暂擦碰和控制子类型不能确定；会话中的诊断开门未计入本次进度。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "四个节点均未达成、断点为打开冰箱、q_score=0 的判断与视频一致；接触未知、控制根因停在大类，均保守且有依据。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": "2026-10-30T21:41:15Z",
+  "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-cook-a-frozen-pie-i00-privileged--hbebddk/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-a-frozen-pie-i00-privileged--hbebddk/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9f4d165367f2b12c574ee76575bbd663bc013cf2377b5efd0181e23a9fb57243",
+   "video_sha256": "ca3563a89ec3b36442b12a003e29bba41a29d5b5df0eb1cd54c3797bf8b5363b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_a_frozen_pie/trajectories/behavior-cook-a-frozen-pie-i00-privileged--sgfize3.json

@@ -0,0 +1,244 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-a-frozen-pie-i00-privileged--sgfize3",
+ "taskKey": "behavior-1k/cook_a_frozen_pie",
+ "dag_sha256": "d00050bfce362a5142c45adf0c68a6b7072f4aa5bda1d9b540421c39c788325f",
+ "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": 2347,
+   "sim_breakdown": 0,
+   "goal": 0,
+   "settle_steps": 150,
+   "goal_first_step": -1,
+   "sim_steps": 2497,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 759.2,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "video_replay_matches": 1,
+   "agent_sessions": 3,
+   "agent_resets": 5,
+   "agent_sim_steps": 5796,
+   "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-cook-a-frozen-pie-i00-privileged--sgfize3/replay.mp4",
+  "duration_s": 83.233,
+  "fps": 30.0,
+  "frames": 2497,
+  "sha256": "7015222d8e25c86c030efe311f3099f3813572160f32d712cc9a7ba839dcb692"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.5,
+      "log_step": 82,
+      "text_zh": "观察：视频 8.5–12.0 s，机器人左夹爪抵到右侧黑框玻璃冰箱门的自由边附近，随后机械臂向外扫移，门板仍贴着箱体；视频约 25–57 s 的后续多次正面视图仍无取派通路。log step 82 的录制进程输出 P1 press 和多次 wipe，door_ang 均约 -0.001 rad，与这一可见结果一致。"
+     },
+     {
+      "t": 57,
+      "log_step": null,
+      "text_zh": "观察：本次视频约 57 s，冰箱门仍关闭；已检查至视频 83.2 s 末帧，之后机器人移臂并停住，没有出现开门。参考成功视频约 145 s 可见门板向外伸出并露出箱内通路，该线索在本次未出现。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 9–12 s，机器人左夹爪指端抵住冰箱门自由边附近的正面，随后沿门前扫移，未见两指夹住门板；结合 log step 76 的按擦开门方案，按实际抵压、擦移记录。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0–8 s，轮式底盘载着机械臂驶到冰箱前，随后机器人开始左夹爪开门操作。"
+     }
+    ]
+   },
+   "heat_source_on": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 64,
+      "log_step": 23,
+      "text_zh": "观察：视频全程机器人主要在冰箱前移臂，视频约 60–72 s 仍在此处，未见夹爪操作烤箱、平顶烤炉或炉灶控制点。log step 23 的会话初态检查列出两台平顶烤炉、烤箱、炉灶 heat=False、tog=False。"
+     },
+     {
+      "t": 83.2,
+      "log_step": null,
+      "text_zh": "推断：结合初态热源均关闭、视频未见机器人前往并操作热源，判定本次未开启热源；视频 83.2 s 末帧也没有新的设备操作。"
+     }
+    ]
+   },
+   "pie_cooked": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 57,
+      "log_step": null,
+      "text_zh": "观察：视频约 9–12 s 及 25–57 s 的冰箱视图显示门未打开，机器人夹爪未携派离开冰箱；后续至视频 83.2 s 未见把派送往热源或受热。"
+     },
+     {
+      "t": 83.2,
+      "log_step": 18,
+      "text_zh": "推断：log step 18 读出的固定实例初态中派的 MaxTemperature=23 摄氏度、当前温度约 -40.8 摄氏度；视频没有取派和加热过程。评分器 q_score=0、video_replay_matches=1，且两个目标均非初始成立，故最终 Cooked 为 false；熟度依据这些证据判定，不能由派的金黄色外观判熟。"
+     }
+    ]
+   },
+   "pie_on_tray": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 57,
+      "log_step": null,
+      "text_zh": "观察：视频约 25–57 s 反复呈现关闭的冰箱与空夹爪，没有派被取出或移至托盘的动作；视频 74–83.2 s 机器人停在冰箱旁，夹爪没有托盘或苹果派。"
+     },
+     {
+      "t": 83.2,
+      "log_step": null,
+      "text_zh": "推断：派初始在冰箱中、托盘在另一处台面，本次未见派离开冰箱。两个目标均非初始成立，评分器 q_score=0 且 video_replay_matches=1，进一步限定最终派在托盘上的目标关系为 false。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fridge_opened",
+   "t": 12.0,
+   "log_step": 82,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 9–12 s 机器人左夹爪抵住冰箱门前部并开始扫移，门未随手外转；后续视频约 25–57 s 多次重新看到冰箱时仍关闭，至视频 83.2 s 未修复。log step 82 的录制进程也报告门角约 -0.001 rad；这是第一个实际操作而始终未完成的 DAG 步骤。"
+  },
+  "unmet": {
+   "pie_cooked": false,
+   "pie_on_tray": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "接触力异常",
+    "t": 12.0,
+    "log_step": 82,
+    "evidence_zh": "观察：视频 9–12 s 机器人夹爪在冰箱门自由边附近抵压，随后机械臂扫向外侧，门板却仍与箱体贴合，没有被带开；后续视频约 34 s、46 s、56 s 仍可见关闭门板。log step 82 的 P1 press/wipe 反馈也显示手目标误差约 0–0.001 m 而门角维持约 -0.001 rad，表现为抵压扫动未产生开门所需的相对运动。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "已验证有",
+    "evidence_zh": "推断：log step 76 的脚本明确采用指端压入门正面、沿铰链圆弧扫动并依靠摩擦拖门的接触方案；log step 82 中末端目标误差很小而门角不变，视频 9–13 s 也显示手移开而门未动，支持开门接触方式未能有效带动门板。会话诊断 log step 64、66 仅检测到单个左指与门接触，未形成双指夹持，作为接触设计问题的补充证据；不把该调试接触当成本次逐帧事实。参考成功视频约 145 s 实际打开同一冰箱，验证存在可行的开门替代方案。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 没有状态日志；腕部局部被夹爪及门板遮挡，缺少本次逐帧接触对和受力记录，无法区分具体摩擦、法向力或接触持续性问题。log step 75、76 的生成脚本中段被输入记录截短，log step 84 输出为空，没有完整终止、最终保存反馈或最终口头报告；log step 83 是运行后修改脚本的记录，未见再次启动，故不据此认定本次执行了新握法。节点与现象以交付视频为准，熟度最终值另由初态、无加热过程及评分总分共同推断。"
+ },
+ "summary_zh": "本次交付录像中四个节点均未达成，机器人驶至冰箱后反复移臂，但未打开冰箱，也未见取派、开启热源、烤熟或装盘。断点为打开冰箱：视频约 9–13 s 的抵压扫动未带开门板，脚本及门角反馈支持抓取和接触设计问题。没有状态和接触力日志，熟度最终值由初态、视频过程与 q_score=0 共同推断，生成脚本的后续修改不能视为已执行动作。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "四个节点均未达成、断点为打开冰箱的判断与视频一致：冰箱门在视频约 12、16–24、48、56 s 的帧中始终关闭，后段（约 64–83 s）头部相机朝向天花板/墙面，没有取派、开热源或装盘；根因（推压/擦拭式开门的接触设计）有 log step 76、82 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": "2026-10-30T21:28:14Z",
+  "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-cook-a-frozen-pie-i00-privileged--sgfize3/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-a-frozen-pie-i00-privileged--sgfize3/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4a3a77819deea6741f2e42a8ac2012da6651aa30968ef97fea3c1e3ba38fe3b4",
+   "video_sha256": "7015222d8e25c86c030efe311f3099f3813572160f32d712cc9a7ba839dcb692",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_a_frozen_pie/trajectories/behavior-cook-a-frozen-pie-i00-standard--3asscso.json

@@ -0,0 +1,246 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-a-frozen-pie-i00-standard--3asscso",
+ "taskKey": "behavior-1k/cook_a_frozen_pie",
+ "dag_sha256": "d00050bfce362a5142c45adf0c68a6b7072f4aa5bda1d9b540421c39c788325f",
+ "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": 42292,
+   "sim_steps": 42292,
+   "physics_steps": 169168,
+   "steps": 16063,
+   "elapsed_s": 13722.6,
+   "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-cook-a-frozen-pie-i00-standard--3asscso/replay.mp4",
+  "duration_s": 1409.733,
+  "fps": 30.0,
+  "frames": 42292,
+  "sha256": "143d0c6f2ab7b124bcd7061f57756b1ab7419bb7ee94a57ca3e72f867defd1a2"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 690,
+      "log_step": 340,
+      "text_zh": "观察：log step 340 中 agent 向机器人发送门缝处闭爪外拉的指令；视频 683–703 s 右夹爪在玻璃门前移动、开合和回撤，未见门边被双指夹住，黑框门板仍贴着箱体。"
+     },
+     {
+      "t": 813,
+      "log_step": 349,
+      "text_zh": "观察：视频 813 s 退远后的正面视图仍见两扇玻璃门在箱体前沿闭合，视频 1100 s 及 1408.7–1409.7 s 的近景也未见可取派的开口。参考成功录像的视频 60 s 则清楚显示门框向外转出；agent 在 log step 349、370 自述门已开，与本次图像不符，不能据此计完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 683–703 s，机器人右夹爪在冰箱玻璃门面及中缝附近贴压、开合并回撤；未见双指包住门边或把手，故不记抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人以轮式底盘承载双臂，移动、转向并多次调整冰箱前的工作位置。"
+     }
+    ]
+   },
+   "heat_source_on": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 398,
+      "log_step": 277,
+      "text_zh": "观察：视频 392–419 s 机器人靠近灶台和平顶烤炉时，可见的设备控制标记仍为红色，夹爪没有按动控制点；log step 277 仅记录机器人拍摄灶台几何，随后继续去冰箱。"
+     },
+     {
+      "t": 1409.7,
+      "log_step": null,
+      "text_zh": "推断：全片粗看及冰箱操作段密查未见热源标记由红变绿或机器人执行开机操作，后半段始终在冰箱前尝试取物；结合视频 392–419 s 的关闭提示，未达到开启热源判据。"
+     }
+    ]
+   },
+   "pie_cooked": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1100,
+      "log_step": 392,
+      "text_zh": "观察：视频 1080–1140 s 机器人右夹爪在冰箱门前反复接近和闭合，腕部及头部画面未见圆形苹果派随手抬起；log step 392 的“手已到派边缘”为 agent 自述，不能证明取派。"
+     },
+     {
+      "t": 1409.7,
+      "log_step": 450,
+      "text_zh": "推断：任务初态是冷冻派，录像未显示派离开冰箱或进入任何热源的有效加热区；评分器 q_score=0 且 live_matches_replay=1，在两个初始未满足的目标文字中不能包含已熟这一项，因此最终 Cooked=false。熟度一旦成立不会因冷却丢失，故本片不存在烤熟区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：为取派进行后续加热，机器人先后用右、左夹爪探向冰箱；视频 1100 s 等近景显示末端贴压玻璃门或门框附近并空合，未见直接夹持苹果派。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在反复取派尝试之间驱动底盘调整距离和朝向；没有携派运输。"
+     }
+    ]
+   },
+   "pie_on_tray": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1409.7,
+      "log_step": 450,
+      "text_zh": "观察：全片粗看、视频 1080–1380 s 的反复取物近景以及视频 1408.7–1409.7 s 尾段均未出现苹果派被夹起后搬往台面托盘，夹爪保持空手，机器人最终仍在冰���旁。"
+     },
+     {
+      "t": 1409.7,
+      "log_step": null,
+      "text_zh": "推断：初始派在冰箱中且未见搬出或装盘，评分器 q_score=0、live_matches_replay=1 进一步排除最终派在托盘上的目标关系；未观察到任何暂时成立后又失去的装盘状态。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fridge_opened",
+   "t": 690,
+   "log_step": 340,
+   "where": "操作中",
+   "evidence_zh": "观察：log step 340 发出盲夹门缝并外拉的动作；视频 683–703 s 右夹爪在玻璃前开合、回撤，门框没有随手向外转开。视频 813 s 的退远全景和视频 1100 s、1409.7 s 的近景仍显示门板贴着箱体，未形成取派通路；agent 随后自述门开并反复取派，但未修复开门步骤，因此断点为打开冰箱。"
+  },
+  "unmet": {
+   "pie_cooked": false,
+   "pie_on_tray": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 690,
+    "log_step": 340,
+    "evidence_zh": "观察：视频 683–703 s，机器人右夹爪在玻璃门前开合和回撤，双指未包住门边或把手，门板也未被带动外转。所需的可拉门夹持接触未建立；视频 813 s 仍可见闭合的门板，后续未修复。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：log step 340 的目标是夹住门缝后外拉，而视频 683–703 s 末端主要在门面前方移动，未形成能牵引门板的夹持。log step 343 的逆解返回 38/38 成功仅是服务的求解反馈，视频中的门板未随之打开；指令目标与实际接触效果不符，支持控制失败，缺少接触和关节跟踪记录以细分子类。"
+   },
+   {
+    "cat": "认知",
+    "item": "感知",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：agent 在 log step 349、370 明确把左门判断为已打开，并在 log step 350、359 转入伸手取派；但视频 683–703 s 未见门转开，视频 813 s 退远后的全景仍显示两门闭合，视频 1100 s 也保留中缝和贴箱的玻璃面。错误的门状态估计使 agent 把未完成的开门当作前置已满足，持续对着门面尝试取派。"
+   }
+  ],
+  "gap_zh": "没有状态日志，缺少逐帧门角、接触对、关节目标跟踪及温度/Cooked 读数；玻璃前的局部贴压可见，但无法确定每次停滞具体由哪一指、臂段或门框接触造成，因此控制根因不细分。烤熟终值由初态、未加热的可见过程与 q_score=0 联合推断，未使用 agent 的“门开”“已到派边缘”自述代替节点证据。"
+ },
+ "summary_zh": "机器人进行了导航、拉门和反复取派尝试，但冰箱门始终未形成取派通路，四个节点最终均未达到（0/4），评分器 q_score=0。最早未修复的步骤是打开冰箱：夹爪未建立可牵引门板的夹持，agent 又把闭门误判为已开，随后持续空手取派，未开启热源或装盘。无状态日志，具体阻挡接触和温度不可直接读取，烤熟终值由评分总量与录像联合判断。",
+ "conf": 8,
+ "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 690/813/900/1100/1200-1409 s 与 log step 340、349、450：813 s 退远全景确见两扇玻璃门贴着箱体，未见门框向外转开（对比参考录像 60 s 门板明显转出），终值 0/4 与 q_score=0 一致。1100–1409 s 的近景中派清晰可见，不能完全排除左门曾部分打开，但无明确门转开证据，标注保守可接受；断点与现象无可证伪处。",
+    "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": "2026-10-30T21:31:21Z",
+  "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-cook-a-frozen-pie-i00-standard--3asscso/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-a-frozen-pie-i00-standard--3asscso/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "15bb33b5b40a4a29e9dd455260eca244c79c60d68289b84860021f9608948539",
+   "video_sha256": "143d0c6f2ab7b124bcd7061f57756b1ab7419bb7ee94a57ca3e72f867defd1a2",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_a_frozen_pie/trajectories/behavior-cook-a-frozen-pie-i00-standard--ajxdzxl.json

@@ -0,0 +1,276 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-a-frozen-pie-i00-standard--ajxdzxl",
+ "taskKey": "behavior-1k/cook_a_frozen_pie",
+ "dag_sha256": "d00050bfce362a5142c45adf0c68a6b7072f4aa5bda1d9b540421c39c788325f",
+ "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": 10732,
+   "sim_steps": 10732,
+   "physics_steps": 42928,
+   "steps": 327,
+   "elapsed_s": 5638.2,
+   "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-cook-a-frozen-pie-i00-standard--ajxdzxl/replay.mp4",
+  "duration_s": 357.8,
+  "fps": 10.0,
+  "frames": 3578,
+  "sha256": "1712f4803a3dec5c2e57054a756e0f1b50250440525512fa2ceb28650d902f02"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.9,
+      "log_step": 111,
+      "text_zh": "观察：视频 24.5–29.0 s，右夹爪在黑框玻璃冰箱前闭合、退回，玻璃门仍贴着箱体，没有外摆形成通路；log step 111 的现场服务读数为右夹爪开度约 0。"
+     },
+     {
+      "t": 180,
+      "log_step": 385,
+      "text_zh": "观察：视频 171.0–194.5 s，左夹爪多次在门缝前闭合和回拉，头部视角中的两块玻璃门仍在箱体正面；agent 自述“左玻璃门已打开”（log step 385），但画面未见这一变化。"
+     },
+     {
+      "t": 255,
+      "log_step": 474,
+      "text_zh": "观察：视频 195.0–255.0 s 的后续左右手拉门尝试仍没有使门板明显向外转开；视频 255.0 s 两扇门仍贴合箱体。成功参考视频 60.0 s、170.0 s 可见门板大幅外摆，说明本机位能呈现判据中的开门通路；参考仅用于辨认视觉线索。"
+     },
+     {
+      "t": 317,
+      "log_step": 583,
+      "text_zh": "观察：视频 310.0–323.5 s，机器人右夹爪拉开的是带窄窗的白色房间门，门后可见另一间带窗和柜台的房间，不是黑框玻璃冰箱；此后直到视频 357.7 s 结束都没有再回到冰箱完成开门。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "视频 24.5–29.0 s、171.0–255.0 s，机器人先用右夹爪、后交替用左和右夹爪抵触黑框玻璃门前面及中缝并尝试闭合回拉；未见稳定夹住门板的相向接触。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频 310.0–323.5 s，右二指夹爪夹住并拉动白色房间门的金属执手；这是寻找冰箱过程中对错误目标的实际抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘承载机器人在冰箱前接近、退让、转向，随后驶向白色房间门，并在持门执手时尝试穿过门口。"
+     }
+    ]
+   },
+   "heat_source_on": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 240,
+      "log_step": null,
+      "text_zh": "观察：视频 235.0–250.0 s 腕部视角可见对面热源设备的红色控制标记，机器人两臂仍在黑框冰箱门前工作；视频全程检查未见夹爪操作这些热源开关，也未见控制标记变绿。"
+     },
+     {
+      "t": 357.7,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–357.7 s 机器人始终进行场景搜索、拉冰箱门和拉白色房间门的动作，以及可见热源控制标记未开启，未达到开启热源判据；没有把靠近设备计作开启。"
+     }
+    ]
+   },
+   "pie_cooked": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 255,
+      "log_step": null,
+      "text_zh": "观察：视频 24.5–255.0 s 冰箱前的操作没有显示苹果派离开原处或随夹爪搬运；视频 310.0–357.7 s ��手操作房间门并随机器人失衡，未见派进入任何热源的加热区域。"
+     },
+     {
+      "t": 357.7,
+      "log_step": null,
+      "text_zh": "推断：本次现场评分 reward.q_score=0.0，两个目标为新增的熟度与派在托盘上的关系，均非初始已满足项，因此终态 Cooked 为假；结合未取派、未操作热源的录像，没有可支持中途烤熟的片段。"
+     }
+    ]
+   },
+   "pie_on_tray": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.5,
+      "log_step": null,
+      "text_zh": "观察：视频 25.5 s，冰箱旁金属桌上的深色方形托盘可见，托盘上没有圆形苹果派；此时右夹爪在冰箱门前工作。"
+     },
+     {
+      "t": 357.7,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–357.7 s 未见机器人取出派并搬到托盘，也没有放派动作；现场评分 reward.q_score=0.0 对两个新增目标的总分约束确认终态派在托盘上的关系为假。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fridge_opened",
+   "t": 25.9,
+   "log_step": 111,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 25.9 s 首轮右夹爪闭合后未夹住可外拉的门部件，视频 29.0 s 回拉后冰箱门仍闭合；视频 171.0–255.0 s 重试也未修复开门步骤。随后机器人转去拉白色房间门，视频 332.0–335.0 s 穿门动作中明显翻倒，末帧视频 357.7 s 仍侧倾；log step 723 的现场服务终止原因为 failure: the robot fell over。"
+  },
+  "unmet": {
+   "pie_cooked": false,
+   "pie_on_tray": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 25.9,
+    "log_step": 111,
+    "evidence_zh": "推断：视频 24.5–26.0 s 右夹爪在冰箱玻璃前闭合，未形成包夹门把手或自由边的有效拉门抓握，随后空手移开且门未随动；log step 111 服务实测右夹爪开度约 0 支持首轮为空夹。这里指所需抓握未建立，夹爪与门前面的抵触另记在 contact_actual。"
+   },
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 332.5,
+    "log_step": 651,
+    "evidence_zh": "观察：视频 332.0–335.0 s，机器人在白色房间门口前进时画面快速侧翻，随后恢复动作未消除失衡，视频 356.8–357.7 s 最后一秒仍明显侧倾。log step 651 的现场本体读数给出底盘上轴竖直分量约 -0.15；log step 723 的服务状态为倒地终止。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频 24.5–29.0 s、171.0–255.0 s 机器人已到正确的黑框玻璃冰箱前，但夹爪闭合和回拉不能建立有效的拉门交互；log steps 110–122 记录在当前门前位姿闭合并后拉，log step 111 开度接近零，门仍未开。视频 332.0–335.0 s 还显示持房间门前进时失衡；log steps 644、651 的脚本在保持右手执手目标时驱动底盘前进，服务读数确认姿态失稳。证据支持控制失败，无法进一步确定接触几何、轨迹或反馈的具体子类。"
+   },
+   {
+    "cat": "认知",
+    "item": "感知",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：agent 在 log step 474 明确把白色窄窗房间门改选为冰箱候选，log step 555 又自述“冰箱门已打开”；视频 310.0–323.5 s 实际显示被拉开的是通往另一房间的白门。对设备身份的错误判断使机器人离开尚未打开的黑框冰箱，继续操作并穿越错误目标，未再修复开冰箱步骤。"
+   }
+  ],
+  "gap_zh": "没有状态日志和逐帧接触对，无法判定每次门前闭合是否发生极短暂的夹持、或测出接触力，也不能细分控制根因；苹果派温度没有原生记录，终态熟度与上托盘由视频动作过程和现场 q_score 总分联合判断。视频能呈现冰箱门板外摆，故开冰箱判为未达，而非因腕部局部遮挡留未知。日志与视频的对照使用现场 control_steps / 30：log step 581 的 9544 步约对应视频 318.1 s 已打开的白色房间门，末次 10732 步约为视频 357.7 s；未使用 agent 工作时间换算视频时间。"
+ },
+ "summary_zh": "本次现场评分轨迹四个节点均未达到：机器人反复在黑框玻璃冰箱前闭合和拉动夹爪，但没有形成开门通路，也未取派、开启热源或将派放上托盘。首个未修复断点为打开冰箱，存在有效抓握未建立的控制问题；随后又把白色房间门当作冰箱操作，并在视频约 332.5 s 穿门时翻倒，最终由服务判定倒地失败。缺少逐帧接触和温度状态，具体控制子类不能确定，两个目标终态由录像与 q_score=0.0 联合确认。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "四个节点均未达到与视频一致：冰箱玻璃门在 24–255 s（视频时钟）各帧门缝始终贴合，310–323 s 拉开的是白色房间门，末段侧翻。断点、现象与根因有证据支持，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:38:47Z",
+  "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-cook-a-frozen-pie-i00-standard--ajxdzxl/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-a-frozen-pie-i00-standard--ajxdzxl/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b06d22d1bd2cda5881c540866bb110fa7a65b2b456342ef5a731527351aad5dd",
+   "video_sha256": "1712f4803a3dec5c2e57054a756e0f1b50250440525512fa2ceb28650d902f02",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_a_frozen_pie/trajectories/behavior-cook-a-frozen-pie-i00-standard--kpnfyrz.json

@@ -0,0 +1,223 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-a-frozen-pie-i00-standard--kpnfyrz",
+ "taskKey": "behavior-1k/cook_a_frozen_pie",
+ "dag_sha256": "d00050bfce362a5142c45adf0c68a6b7072f4aa5bda1d9b540421c39c788325f",
+ "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": 5914,
+   "sim_steps": 5914,
+   "physics_steps": 23656,
+   "steps": 5914,
+   "elapsed_s": 1706.1,
+   "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": 0.385,
+   "peak_processes": 12,
+   "peak_disk_gb": 1.006,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-cook-a-frozen-pie-i00-standard--kpnfyrz/replay.mp4",
+  "duration_s": 197.133,
+  "fps": 30.0,
+  "frames": 5914,
+  "sha256": "473770853684ab174714b80956fcda598daf6deb1079f09c216d85958a3c6b46"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 165.0,
+      "log_step": 45,
+      "text_zh": "观察：视频 159–168.5 s，机器人空手转向并行驶到台面和墙边，头部画面逐渐倾斜；黑框玻璃冰箱门没有向外转开的可取物通路。log step 45 的操作是向深色双门设备导航，尚非夹爪拉门。"
+     },
+     {
+      "t": 197.0,
+      "log_step": 75,
+      "text_zh": "观察：视频 183–197.0 s，机器人再次倾斜后停在歪斜姿态，夹爪空着，冰箱门未被拉开；log step 75 的现场服务状态为 control_steps=5914、done=true、reason=\"failure: the robot fell over\"、resumes=0。参考视频 170 s 可见成功取派时玻璃门明显外翻，本次没有出现该开门形态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 161–168.5 s 和 182–187.5 s，轮式底盘承载双臂空手行驶、转向及后退，试图接近冰箱；未见夹爪抓住冰箱把手或门边。"
+     }
+    ]
+   },
+   "heat_source_on": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 175.0,
+      "log_step": 73,
+      "text_zh": "观察：视频 0–197.0 s 的三相机画面显示机器人扫描厨房及空手行驶，没有向烤炉、烤箱或炉灶控制点按压的动作，也没有控制标记由红变绿；视频 175 s 的远处设备控制点仍红。参考视频 320 s 与 330 s 可见开启平顶烤炉前后的红、绿控制标记，本次未出现相应变化。"
+     }
+    ]
+   },
+   "pie_cooked": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 197.0,
+      "log_step": 75,
+      "text_zh": "推断：任务初态是冷冻派在关闭的冰箱中，视频 0–197.0 s 未出现开门取派、持派移向热源或放派受热的过程，机器人倒地时夹爪仍为空，故没有达到烤熟状态。评分器 q_score=0.0、live_matches_replay=1 进一步限定终态两个新增目标均不成立；熟度不是按派的颜色判断。"
+     }
+    ]
+   },
+   "pie_on_tray": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 196.9,
+      "log_step": 75,
+      "text_zh": "观察：视频 0–197.0 s 没有圆形派离开冰箱或随夹爪搬运、落到托盘的动作；视频 196.133–196.933 s 的末秒画面中，台上方形托盘上未见圆形派。推断：结合派的初始位置及评分器 q_score=0.0，终态派在托盘上的目标不成立，且全程没有形成该支承关系。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fridge_opened",
+   "t": 165.0,
+   "log_step": 45,
+   "where": "转场",
+   "evidence_zh": "观察：视频约 163–165.5 s，机器人空手接近冰箱方向时在台面、墙边发生倾斜，尚未抓门；log step 55 记录底座升高及姿态倾斜，log step 61 的后退使倾斜指标从 0.711 恢复至 1.000，但此后仍未打开冰箱。视频约 183–187.5 s 再次行驶时持续侧倾，直至视频 197.0 s 未恢复；log step 73、75 记录现场服务以倒地结束。推断：首次出问题而始终未完成的步骤是打开冰箱，定位在空手接近它的转场阶段；后退恢复姿态没有完成该步骤。"
+  },
+  "unmet": {
+   "pie_cooked": false,
+   "pie_on_tray": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 165.0,
+    "log_step": 73,
+    "evidence_zh": "观察：视频约 163–165.5 s，机器人接近墙边时相机画面倾斜；视频约 183–187.5 s 再次出现明显侧倾，视频 188–197.0 s 保持歪斜姿态。log step 73 记录本次底座倾斜指标依次为 0.495、0.377、0.450，并由服务返回 \"failure: the robot fell over\"；log step 75 确认评分局已结束。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "evidence_zh": "观察：log step 45 的 goto 在各次行驶返回最小净空 0.51、0.06、0.09 m 后仍继续调用下一段 drive_leg，直到移动量小于 0.1 m；其中没有倾斜停止条件。log step 73 虽加入倾斜检测和后退 recover，外层仍在每次 why=\"tilt\" 后重试前行，recover 也仅以恢复直立或循环次数为出口；实际一次要求 1.0 m 的调用报告移动 6.82 m，后续倾斜指标仍为 0.495、0.377、0.450。视频 183–197.0 s 显示机器人持续失衡。推断：导航和恢复闭环未能用净空、实际位移及倾斜反馈及时终止无效行驶并恢复支撑，最终触发倒地；不能仅据此确定某个速度参数或逆解有错。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 未提供状态日志，底盘与具体障碍的接触点被机载视角遮住，不能确认究竟是哪一表面阻挡底盘；派在冰箱内也没有温度读数。推断：节点未达由全程无相应操作、门和托盘的可见形态以及终态 q_score 共同判断；不把 agent 关于爬上障碍或反馈滞后的自述当成已验证的物理原因。"
+ },
+ "summary_zh": "观察：评分录像中机器人主要扫描厨房并空手导航，没有打开冰箱、开启热源、烤熟派或把派放上托盘，终态为 0/4，q_score=0.0。推断：断点是打开冰箱的转场阶段，机器人在接近途中倾斜，后续导航与恢复闭环未能制止持续失衡，最终由服务判定倒地；结束后编写的脚本未进入该评分局。观察：没有状态日志，底盘碰撞位置和派的温度不可见，但门、取派和加热的完成线索均未出现。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点均未达成、断点在打开冰箱的转场阶段、倒地（平衡）与反馈控制根因均与视频和 log 相符；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": "2026-10-30T21:41:25Z",
+  "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-cook-a-frozen-pie-i00-standard--kpnfyrz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-a-frozen-pie-i00-standard--kpnfyrz/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bab7ec811793ebd275993442ed1b4474a081b1ec0e7949aa804ec227fd29d7da",
+   "video_sha256": "473770853684ab174714b80956fcda598daf6deb1079f09c216d85958a3c6b46",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_a_frozen_pie/trajectories/behavior-cook-a-frozen-pie-i00-standard--n9hztqd.json

@@ -0,0 +1,234 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-a-frozen-pie-i00-standard--n9hztqd",
+ "taskKey": "behavior-1k/cook_a_frozen_pie",
+ "dag_sha256": "d00050bfce362a5142c45adf0c68a6b7072f4aa5bda1d9b540421c39c788325f",
+ "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": 1104,
+   "sim_steps": 1104,
+   "physics_steps": 4416,
+   "steps": 1104,
+   "elapsed_s": 178.2,
+   "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": 0.183,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.209,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-cook-a-frozen-pie-i00-standard--n9hztqd/replay.mp4",
+  "duration_s": 36.8,
+  "fps": 30.0,
+  "frames": 1104,
+  "sha256": "04df470150a3f1a30b7795c2b85944397efba50cd71729a1716dddd7ba758bad"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s、2 s、20–26.5 s 的头部视角均可见过道尽头的黑框玻璃冰箱门贴合箱体；机器人未到门前伸手，未见门板外转形成取物通路。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 16,
+      "text_zh": "观察：视频 21–26 s 机器人空手沿过道朝黑框冰箱方向移动，视频约 26.5–27 s 画面随本体明显翻转，至视频 36.77 s 未恢复，也未开门。log step 16 的服务返回 failure: the robot fell over。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支承机器人原地转向观察，并沿厨房过道驶向冰箱；在接触冰箱门前翻倒，未见夹爪抓握或勾拉门。"
+     }
+    ]
+   },
+   "heat_source_on": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4,
+      "log_step": 16,
+      "text_zh": "观察：视频 0–20 s 机器人原地转向巡视厨房，视频 4 s 可见岛台及其后的烹饪设备；随后视频 21–27 s 机器人驶向冰箱方向并翻倒。全过程未见机械臂伸向热源控制点，也未出现参考成功录像视频 325–330 s 那样的控制标记由红变绿；log step 8、10、14、16 的执行代码只有观察、底盘转向与行驶，没有开启设备动作。"
+     }
+    ]
+   },
+   "pie_cooked": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.5,
+      "log_step": 16,
+      "text_zh": "观察：视频 0–26.5 s 机器人只巡视及空手行驶，冰箱门保持关闭，未见派被取出或送入加热区域；视频约 27–36.77 s 机器人持续倒伏。"
+     },
+     {
+      "t": 36.77,
+      "log_step": null,
+      "text_zh": "推断：run.json 的评分器字段 q_score=0，两个目标是烤熟和派在托盘上；任务初态为冷冻派在冰箱内，两项目标均非初始已满足目标，因此最终烤熟必为 false。结合全程未取派、未操作热源，将本节点记为从未达成，而非凭派的颜色判断熟度。"
+     }
+    ]
+   },
+   "pie_on_tray": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 22,
+      "log_step": null,
+      "text_zh": "观察：视频 0–22 s 的巡视和视频 22–26.5 s 的行驶中，双侧腕部视角未出现持派，冰箱门未被打开，未见派离开冰箱或被搬到台面托盘；视频 35.8–36.77 s 机器人仍倒伏，未恢复搬放。"
+     },
+     {
+      "t": 36.77,
+      "log_step": null,
+      "text_zh": "推断：run.json 的 q_score=0，且任务初态派在冰箱中、托盘在台面上，该支承关系不是初始已满足目标；故最终派在托盘上必为 false。录像也没有任何取派、转移或装盘动作，记为从未达成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fridge_opened",
+   "t": 26.5,
+   "log_step": 16,
+   "where": "转场",
+   "evidence_zh": "观察：视频 21–26 s 机器人空手沿过道驶向仍关闭的黑框冰箱，视频约 26.5–27 s 本体翻倒，至视频 36.77 s 未恢复，未到开门操作。log step 16 的脚本调用 turn_to 后 go_to 前往冰箱区域，服务以 failure: the robot fell over 结束该局；log step 17 确认 done=True、resumes=0。"
+  },
+  "unmet": {
+   "pie_cooked": false,
+   "pie_on_tray": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 26.5,
+    "log_step": 17,
+    "evidence_zh": "观察：视频约 26.5–27 s 头部及腕部画面一起明显翻转，随后持续以倾倒姿态朝向墙面和天花板，视频 35.8–36.77 s 仍未恢复。log step 17 的现场服务状态为 control_steps=1104、sim_time_s=36.8、done=True，reason=failure: the robot fell over；按 log step 6 的 30 Hz，1104/30=视频 36.8 s，与已检查的倒伏末帧相符。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 16,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 8 的 drive 将底盘位移指令预先重复为整段动作，段内不读取姿态或倾斜反馈；log step 16 的 go_to 每次可一次执行最长约 1 米的平移，随后才读底盘位置与朝向。视频 21–27 s 显示这段实际行驶未保持本体稳定并最终翻倒，服务随即判负，支持底盘运动控制失败；尚不能细分为碰撞、动力学跟踪或其他控制子类。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志或接触对，腕部与头部相机也不直接展示底盘与岛台的接触点，无法确认翻倒是否由撞岛台引起。agent 在 log step 22 也只将撞岛台作为猜测，未据此标注碰撞或感知根因；派在冰箱内部不可见且无温度读数，最终两项目标的 false 由 q_score=0 结合初态和全程未取派推断。"
+ },
+ "summary_zh": "机器人完成两轮原地巡视后空手驶向冰箱，视频约 26.5–27 s 翻倒，至视频 36.77 s 未恢复，服务因倒地结束该局；开冰箱、开热源、烤熟与装盘四个节点均未达成。断点为打开冰箱前的转场，现象为全身平衡失败，执行脚本采用整段底盘指令且段内没有姿态纠偏，根因保留为控制。无状态日志或底盘接触视角，无法确认具体致倒接触；两个最终目标未满足同时受 q_score=0 约束。",
+ "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、log 一致：空手驶向冰箱途中视频约26.5–27 s 翻倒并持续至结束，四节点均未达成，断点、平衡现象与控制根因有证据支持。",
+    "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": "2026-10-30T21:40:04Z",
+  "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-cook-a-frozen-pie-i00-standard--n9hztqd/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-a-frozen-pie-i00-standard--n9hztqd/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "863a3a1c030173387a0c41a812a288784561d1d569d670832d5ccb5efb7662ae",
+   "video_sha256": "04df470150a3f1a30b7795c2b85944397efba50cd71729a1716dddd7ba758bad",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}