diff --git a/phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-privileged--6vtijzy.json b/phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-privileged--6vtijzy.json new file mode 100644 index 0000000000000000000000000000000000000000..20de38d9f80cf7b0493f3d091e737bd38c902c85 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-privileged--7gpvyw6.json b/phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-privileged--7gpvyw6.json new file mode 100644 index 0000000000000000000000000000000000000000..f1d1fd18df4f4eee558eee0c027dbd0a07af2478 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-privileged--ecl3ftq.json b/phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-privileged--ecl3ftq.json new file mode 100644 index 0000000000000000000000000000000000000000..e60cd307734d566145befca3810f3a8f76443aef --- /dev/null +++ b/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（手持工具 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" + } + } +} diff --git a/phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-privileged--hjtxkur.json b/phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-privileged--hjtxkur.json new file mode 100644 index 0000000000000000000000000000000000000000..c897080f0c1ce32fd83f52510ff12a58a3d4390e --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-privileged--wmu8fxf.json b/phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-privileged--wmu8fxf.json new file mode 100644 index 0000000000000000000000000000000000000000..8b029adb62e1799444d12b9aadec779ed9555493 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-standard--3xxzsg6.json b/phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-standard--3xxzsg6.json new file mode 100644 index 0000000000000000000000000000000000000000..95eff498520f28770a40cb153774fce51024c45c --- /dev/null +++ b/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 红刷在小号局部管身旁，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": 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"29f442950e6225338ccfd97c4e5ac1a886676a67a27d2b5c7317550295c4208e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-standard--clczy5k.json b/phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-standard--clczy5k.json new file mode 100644 index 0000000000000000000000000000000000000000..d55f6a69f841ff94c6c589bc5224c300b6cf8772 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-standard--ggh3fbt.json b/phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-standard--ggh3fbt.json new file mode 100644 index 0000000000000000000000000000000000000000..539d219389a988a97d6f67a4a3dcd4b4c2c9436e --- /dev/null +++ b/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 夹爪空着继续运动。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" + } + } +} diff --git a/phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-standard--omjqfy5.json b/phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-standard--omjqfy5.json new file mode 100644 index 0000000000000000000000000000000000000000..667bc6c624d314fb9364b3b2be74c8768d5e1353 --- /dev/null +++ b/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": { 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"video_sha256": "c07c7ba8720f156af75e44e81087e6896193e46c66d6372250d1073ee7a9b4a2", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-standard--rnxrtmp.json b/phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-standard--rnxrtmp.json new file mode 100644 index 0000000000000000000000000000000000000000..085513fc9ea6d168a792bb6702a1b1f8e68b03aa --- /dev/null +++ b/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，视频直到 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" + } + } +} diff --git a/phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-standard--ti8kewn.json b/phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-standard--ti8kewn.json new file mode 100644 index 0000000000000000000000000000000000000000..8243ec5991286b2e7ff186f7753c4bacad0dbdff --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-standard--wkywjth.json b/phase2/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-standard--wkywjth.json new file mode 100644 index 0000000000000000000000000000000000000000..eb5baa97bbfd16395f02e707fd044d6aff43bdd3 --- /dev/null +++ b/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夹爪带动，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" + } + } +} diff --git a/phase2/behavior-1k/clean_your_rusty_garden_tools/trajectories/behavior-clean-your-rusty-garden-tools-i00-privileged--mpfstp9.json b/phase2/behavior-1k/clean_your_rusty_garden_tools/trajectories/behavior-clean-your-rusty-garden-tools-i00-privileged--mpfstp9.json new file mode 100644 index 0000000000000000000000000000000000000000..82c02f7bb1d1f4f79f814dc3cff9d54c0d60515f --- /dev/null +++ b/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 最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" + } + } +} diff --git a/phase2/behavior-1k/clean_your_rusty_garden_tools/trajectories/behavior-clean-your-rusty-garden-tools-i00-privileged--n3u2yd5.json b/phase2/behavior-1k/clean_your_rusty_garden_tools/trajectories/behavior-clean-your-rusty-garden-tools-i00-privileged--n3u2yd5.json new file mode 100644 index 0000000000000000000000000000000000000000..1f756a049e3c3b71dd235d9c507ac11bd7a4e833 --- /dev/null +++ b/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": "观察：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" + } + } +} diff --git a/phase2/behavior-1k/clean_your_rusty_garden_tools/trajectories/behavior-clean-your-rusty-garden-tools-i00-privileged--xeq6pcw.json b/phase2/behavior-1k/clean_your_rusty_garden_tools/trajectories/behavior-clean-your-rusty-garden-tools-i00-privileged--xeq6pcw.json new file mode 100644 index 0000000000000000000000000000000000000000..0d425dbe7930c6243fed2a65152a574e757d6ea5 --- /dev/null +++ b/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": 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"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" + } + } +} diff --git a/phase2/behavior-1k/clean_your_rusty_garden_tools/trajectories/behavior-clean-your-rusty-garden-tools-i00-standard--3b9spkx.json b/phase2/behavior-1k/clean_your_rusty_garden_tools/trajectories/behavior-clean-your-rusty-garden-tools-i00-standard--3b9spkx.json new file mode 100644 index 0000000000000000000000000000000000000000..52ab472284a7c17f9b9388acbc5b420107c09ec3 --- /dev/null +++ b/phase2/behavior-1k/clean_your_rusty_garden_tools/trajectories/behavior-clean-your-rusty-garden-tools-i00-standard--3b9spkx.json @@ -0,0 +1,295 @@ +{ + 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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": 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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条件，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；评分器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", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + 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null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/clean_your_rusty_garden_tools/trajectories/behavior-clean-your-rusty-garden-tools-i00-standard--eqoef4p.json b/phase2/behavior-1k/clean_your_rusty_garden_tools/trajectories/behavior-clean-your-rusty-garden-tools-i00-standard--eqoef4p.json new file mode 100644 index 0000000000000000000000000000000000000000..ad3a42d257a5262fb6c7e19cab6e1831b61671c2 --- /dev/null +++ b/phase2/behavior-1k/clean_your_rusty_garden_tools/trajectories/behavior-clean-your-rusty-garden-tools-i00-standard--eqoef4p.json @@ -0,0 +1,419 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-clean-your-rusty-garden-tools-i00-standard--eqoef4p", + "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, + 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"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", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/clean_your_rusty_garden_tools/trajectories/behavior-clean-your-rusty-garden-tools-i00-standard--g4t4nao.json b/phase2/behavior-1k/clean_your_rusty_garden_tools/trajectories/behavior-clean-your-rusty-garden-tools-i00-standard--g4t4nao.json new file mode 100644 index 0000000000000000000000000000000000000000..b559670ee1bdaf331beaa430e598c47a44f57401 --- /dev/null +++ b/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, + "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--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": [ + { + "stage": "traj", + "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": { + "run_json_sha256": "874c0de53e4df74b0d4a94316d5ef1d806b3a9e265c551b5501c041a44f80d5c", + "video_sha256": "7c8d8277813ba19efe6804e94e47ff938d30bab37f75a3e4c3d9c8264e504475", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/clean_your_rusty_garden_tools/trajectories/behavior-clean-your-rusty-garden-tools-i00-standard--kuwcv3x.json b/phase2/behavior-1k/clean_your_rusty_garden_tools/trajectories/behavior-clean-your-rusty-garden-tools-i00-standard--kuwcv3x.json new file mode 100644 index 0000000000000000000000000000000000000000..b742bf297c2112f147944ba08daf1bbbaa7bddfa --- /dev/null +++ b/phase2/behavior-1k/clean_your_rusty_garden_tools/trajectories/behavior-clean-your-rusty-garden-tools-i00-standard--kuwcv3x.json @@ -0,0 +1,401 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-clean-your-rusty-garden-tools-i00-standard--kuwcv3x", + "taskKey": "behavior-1k/clean_your_rusty_garden_tools", + "dag_sha256": "af817db290d8d169ff928c865c2e9fa0b2cf6c1d8a0bfe34e98149df4f4a1029", + "outcome": { + "success": 0, + "reward": 0.4, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "n_actions": 21874, + "sim_steps": 21874, + "physics_steps": 87496, + "steps": 21874, + "elapsed_s": 13798.2, + "video_rendered": 1, + "gpu_lost": 0, + "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": "手指/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": 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a/phase2/behavior-1k/clean_your_rusty_garden_tools/trajectories/behavior-clean-your-rusty-garden-tools-i00-standard--stvenkc.json b/phase2/behavior-1k/clean_your_rusty_garden_tools/trajectories/behavior-clean-your-rusty-garden-tools-i00-standard--stvenkc.json new file mode 100644 index 0000000000000000000000000000000000000000..8380016d53031ce9fa3ad988e07ba223b12eb91a --- /dev/null +++ b/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合评分器 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" + } + } +} diff --git a/phase2/behavior-1k/clean_your_rusty_garden_tools/trajectories/behavior-clean-your-rusty-garden-tools-i00-standard--wuuiyvr.json b/phase2/behavior-1k/clean_your_rusty_garden_tools/trajectories/behavior-clean-your-rusty-garden-tools-i00-standard--wuuiyvr.json new file mode 100644 index 0000000000000000000000000000000000000000..a374e40adb532d0c8b42491045d7bee20e9e0268 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-privileged--6kexdp2.json b/phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-privileged--6kexdp2.json new file mode 100644 index 0000000000000000000000000000000000000000..432451dad0dfbfb9238621c667a7b0343e4c2659 --- /dev/null +++ b/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 的实际输出在 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" + } + } +} diff --git a/phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-privileged--cspwmab.json b/phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-privileged--cspwmab.json new file mode 100644 index 0000000000000000000000000000000000000000..1b360ab9b58325695419950816d6ec2660000313 --- /dev/null +++ b/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根枝入桶，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" + } + } +} diff --git a/phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-privileged--fsykavh.json b/phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-privileged--fsykavh.json new file mode 100644 index 0000000000000000000000000000000000000000..297d1955f96de5758e3a36cb35618e9b502b329a --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-privileged--lpn4ldn.json b/phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-privileged--lpn4ldn.json new file mode 100644 index 0000000000000000000000000000000000000000..ec6e7693be0d85ca996e823d7ad6440086659839 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-privileged--pyq57cj.json b/phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-privileged--pyq57cj.json new file mode 100644 index 0000000000000000000000000000000000000000..0199218a3195f6ab2487d014c4aa9be6eb6e7e6b --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-privileged--refs6p3.json b/phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-privileged--refs6p3.json new file mode 100644 index 0000000000000000000000000000000000000000..ec1bae971780393a2cb9e2a5445ab0d45f4f8041 --- /dev/null +++ b/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" + }, + { + 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0000000000000000000000000000000000000000..54b4f260947db710a021a9ed4e793df17dd5879e --- /dev/null +++ b/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、此前未见任何拾枝放枝，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" + } + } +} diff --git a/phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-standard--k2yv335.json b/phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-standard--k2yv335.json new file mode 100644 index 0000000000000000000000000000000000000000..e98fcb126614eb02ac3a4446127c06ec42d26147 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-standard--rmxnvkm.json b/phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-standard--rmxnvkm.json new file mode 100644 index 0000000000000000000000000000000000000000..687bb2bd07773b50e651c4fc22a8422e849e9cbf --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-standard--uspk3dg.json b/phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-standard--uspk3dg.json new file mode 100644 index 0000000000000000000000000000000000000000..8e8dd7a1b4cc22815ffcb785a59935203bc6a615 --- /dev/null +++ b/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：首轮收集方案在尚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" + } + } +} diff --git a/phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-standard--va2vgkc.json b/phase2/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-standard--va2vgkc.json new file mode 100644 index 0000000000000000000000000000000000000000..035598b82c254abed31547d7e3ef59330749eb74 --- /dev/null +++ b/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，侧倒不另添加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" + } + } +} diff --git a/phase2/behavior-1k/cleaning_up_plates_and_food/trajectories/behavior-cleaning-up-plates-and-food-i00-privileged--3uirjk5.json b/phase2/behavior-1k/cleaning_up_plates_and_food/trajectories/behavior-cleaning-up-plates-and-food-i00-privileged--3uirjk5.json new file mode 100644 index 0000000000000000000000000000000000000000..795162e157af78384ea2446e535f113078bbf27c --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/cleaning_up_plates_and_food/trajectories/behavior-cleaning-up-plates-and-food-i00-privileged--faqwp5s.json b/phase2/behavior-1k/cleaning_up_plates_and_food/trajectories/behavior-cleaning-up-plates-and-food-i00-privileged--faqwp5s.json new file mode 100644 index 0000000000000000000000000000000000000000..40218e6264f7ef96d72f5aefea2b8f20d1f66d66 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/cleaning_up_plates_and_food/trajectories/behavior-cleaning-up-plates-and-food-i00-privileged--jfbksgr.json b/phase2/behavior-1k/cleaning_up_plates_and_food/trajectories/behavior-cleaning-up-plates-and-food-i00-privileged--jfbksgr.json new file mode 100644 index 0000000000000000000000000000000000000000..581f6d0ab9d8cd95d8464b11a62380edc60a6bcf --- /dev/null +++ b/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，但实际指尖在披萨及盘沿接触、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" + } + } +} diff --git a/phase2/behavior-1k/cleaning_up_plates_and_food/trajectories/behavior-cleaning-up-plates-and-food-i00-privileged--rq6wuye.json b/phase2/behavior-1k/cleaning_up_plates_and_food/trajectories/behavior-cleaning-up-plates-and-food-i00-privileged--rq6wuye.json new file mode 100644 index 0000000000000000000000000000000000000000..fa8f2b0df17a3f22a5faa435f1103871daa3b5cb --- /dev/null +++ b/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": "观察：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。" + } + ] + }, + "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，但第一轮披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" + } + } +} diff --git a/phase2/behavior-1k/cleaning_up_plates_and_food/trajectories/behavior-cleaning-up-plates-and-food-i00-standard--aiunzw9.json b/phase2/behavior-1k/cleaning_up_plates_and_food/trajectories/behavior-cleaning-up-plates-and-food-i00-standard--aiunzw9.json new file mode 100644 index 0000000000000000000000000000000000000000..13f8000f6decc9bc0cb79210e4e07954f9174164 --- /dev/null +++ b/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。" + } + ] + }, + "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进到 [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" + } + } +} diff --git a/phase2/behavior-1k/cleaning_up_plates_and_food/trajectories/behavior-cleaning-up-plates-and-food-i00-standard--ryjxzzy.json b/phase2/behavior-1k/cleaning_up_plates_and_food/trajectories/behavior-cleaning-up-plates-and-food-i00-standard--ryjxzzy.json new file mode 100644 index 0000000000000000000000000000000000000000..a220e517ce6662361e9ee50cb9b2d327b1b4237e --- /dev/null +++ b/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 右臂再次在冰箱附近活动，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" + } + } +} diff --git a/phase2/behavior-1k/cleaning_up_plates_and_food/trajectories/behavior-cleaning-up-plates-and-food-i00-standard--tymckv4.json b/phase2/behavior-1k/cleaning_up_plates_and_food/trajectories/behavior-cleaning-up-plates-and-food-i00-standard--tymckv4.json new file mode 100644 index 0000000000000000000000000000000000000000..7bdd31019206e5352961134ffe51694720cc2372 --- /dev/null +++ b/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；日志显示控制脚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" + } + } +} diff --git a/phase2/behavior-1k/cleaning_up_plates_and_food/trajectories/behavior-cleaning-up-plates-and-food-i00-standard--vzvrhtj.json b/phase2/behavior-1k/cleaning_up_plates_and_food/trajectories/behavior-cleaning-up-plates-and-food-i00-standard--vzvrhtj.json new file mode 100644 index 0000000000000000000000000000000000000000..6274991f0155440a210de2c9131ea84e2a5fd89f --- /dev/null +++ b/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, + "finalized": 1, + "missing_log": 0, + "n_actions": 59642, + "sim_steps": 59642, + "physics_steps": 238568, + "steps": 4396, + "elapsed_s": 13699.4, + "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--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竖把手处；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个碗，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" + } + } +} diff --git a/phase2/behavior-1k/cleaning_up_plates_and_food/trajectories/behavior-cleaning-up-plates-and-food-i00-standard--wjxzbza.json b/phase2/behavior-1k/cleaning_up_plates_and_food/trajectories/behavior-cleaning-up-plates-and-food-i00-standard--wjxzbza.json new file mode 100644 index 0000000000000000000000000000000000000000..61446550aeced081952167105b55513ae9f16f50 --- /dev/null +++ b/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，直到视频 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" + } + } +} diff --git a/phase2/behavior-1k/cook_a_frozen_pie/trajectories/behavior-cook-a-frozen-pie-i00-privileged--35pxdwd.json b/phase2/behavior-1k/cook_a_frozen_pie/trajectories/behavior-cook-a-frozen-pie-i00-privileged--35pxdwd.json new file mode 100644 index 0000000000000000000000000000000000000000..ee9696b57bad8af527324f74095ae9b0066ee625 --- /dev/null +++ b/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，将其从层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" + } + } +} diff --git a/phase2/behavior-1k/cook_a_frozen_pie/trajectories/behavior-cook-a-frozen-pie-i00-privileged--c8dnz8o.json b/phase2/behavior-1k/cook_a_frozen_pie/trajectories/behavior-cook-a-frozen-pie-i00-privileged--c8dnz8o.json new file mode 100644 index 0000000000000000000000000000000000000000..f8fe7e3c3deb0ddc935685068d5edfcfcb46e892 --- /dev/null +++ b/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=0，两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重现。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" + } + } +} diff --git a/phase2/behavior-1k/cook_a_frozen_pie/trajectories/behavior-cook-a-frozen-pie-i00-privileged--hbebddk.json b/phase2/behavior-1k/cook_a_frozen_pie/trajectories/behavior-cook-a-frozen-pie-i00-privileged--hbebddk.json new file mode 100644 index 0000000000000000000000000000000000000000..8e6a29eb0292c049ec9fc6ab33ba0dcf5cef2d27 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/cook_a_frozen_pie/trajectories/behavior-cook-a-frozen-pie-i00-privileged--sgfize3.json b/phase2/behavior-1k/cook_a_frozen_pie/trajectories/behavior-cook-a-frozen-pie-i00-privileged--sgfize3.json new file mode 100644 index 0000000000000000000000000000000000000000..9cba7be000700fe8b7487652db497a4c5bc88077 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/cook_a_frozen_pie/trajectories/behavior-cook-a-frozen-pie-i00-standard--3asscso.json b/phase2/behavior-1k/cook_a_frozen_pie/trajectories/behavior-cook-a-frozen-pie-i00-standard--3asscso.json new file mode 100644 index 0000000000000000000000000000000000000000..accc5e7bc8df32100f9414c069859bfc5264f61d --- /dev/null +++ b/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，机器人最终仍在冰箱旁。" + }, + { + "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" + } + } +} diff --git a/phase2/behavior-1k/cook_a_frozen_pie/trajectories/behavior-cook-a-frozen-pie-i00-standard--ajxdzxl.json b/phase2/behavior-1k/cook_a_frozen_pie/trajectories/behavior-cook-a-frozen-pie-i00-standard--ajxdzxl.json new file mode 100644 index 0000000000000000000000000000000000000000..142a52c8366ff393d4c225daa0d50399bd2c3006 --- /dev/null +++ b/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 两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" + } + } +} diff --git a/phase2/behavior-1k/cook_a_frozen_pie/trajectories/behavior-cook-a-frozen-pie-i00-standard--kpnfyrz.json b/phase2/behavior-1k/cook_a_frozen_pie/trajectories/behavior-cook-a-frozen-pie-i00-standard--kpnfyrz.json new file mode 100644 index 0000000000000000000000000000000000000000..f952911fea040c596a566bf1a626fa911b467f36 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/cook_a_frozen_pie/trajectories/behavior-cook-a-frozen-pie-i00-standard--n9hztqd.json b/phase2/behavior-1k/cook_a_frozen_pie/trajectories/behavior-cook-a-frozen-pie-i00-standard--n9hztqd.json new file mode 100644 index 0000000000000000000000000000000000000000..f50aaed7527de6f2036234fd8dae28f3651aac26 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/cook_a_frozen_pie/trajectories/behavior-cook-a-frozen-pie-i00-standard--y7nwnrd.json b/phase2/behavior-1k/cook_a_frozen_pie/trajectories/behavior-cook-a-frozen-pie-i00-standard--y7nwnrd.json new file mode 100644 index 0000000000000000000000000000000000000000..b9bfef982501973aa4762d516830a2da4a010dc7 --- /dev/null +++ b/phase2/behavior-1k/cook_a_frozen_pie/trajectories/behavior-cook-a-frozen-pie-i00-standard--y7nwnrd.json @@ -0,0 +1,236 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-cook-a-frozen-pie-i00-standard--y7nwnrd", + "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": 872, + "sim_steps": 872, + "physics_steps": 3488, + "steps": 279, + "elapsed_s": 366.2, + "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": 0.177, + "peak_processes": 6, + "peak_disk_gb": 0.248, + "resource_emergency_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--y7nwnrd/replay.mp4", + "duration_s": 29.067, + "fps": 30.0, + "frames": 872, + "sha256": "47aa218c6c8a642c22cf792792ee5b3e32d84596a20862a8f8c9b1d63c093b11" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": null, + "peak": null, + "final": null, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.0, + "log_step": null, + "text_zh": "观察：视频 1.0 s、12.0 s、17.5–18.75 s，过道尽头的黑框玻璃冰箱门仍贴着箱体；机器人空手接近，未见夹爪抓门或门板外摆。成功参考视频 150 s 可见外摆门板，本次没有出现该开门形态。" + }, + { + "t": 29.03, + "log_step": 93, + "text_zh": "观察：视频约 19–21 s 机器人侧翻，此后至视频 29.03 s 未恢复，也未执行开门；log step 93 的现场服务终态为 done=True、reason=failure: the robot fell over，且 resumes=0。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人空手沿过道向冰箱方向行驶，轮式底盘承载双臂；接近途中翻倒。未观察到夹爪与冰箱门的操作接触。" + } + ] + }, + "heat_source_on": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 3.0, + "log_step": null, + "text_zh": "观察：视频 2.0–4.5 s 的巡视可见排烟罩下方烹饪设备，但中间金属工作台遮住设备前面控制区域；其余视频中机器人没有伸手触按热源控制点。成功参考视频 320–330 s 的近距离腕部画面能看见控制标记由红变绿，本次未到达该观察位置。" + }, + { + "t": 29.03, + "log_step": null, + "text_zh": "推断：已检查的完整视频只显示巡视、空手移动和翻倒，没有新开启热源的操作；但缺少本次各热源的初始开关读数，控制标记未被清楚展示，不能排除初态已有热源开启，因此本节点的全程状态与终值未知。" + } + ] + }, + "pie_cooked": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 18.75, + "log_step": 15, + "text_zh": "观察：log step 15 的服务任务文本给出冷冻苹果派初始在冰箱内；视频 0–18.75 s 机器人巡视并空手移动，冰箱门没有打开，未见取派或把派送往热源。" + }, + { + "t": 29.03, + "log_step": 93, + "text_zh": "推断：视频约 19 s 后机器人翻倒，直到视频 29.03 s 都没有持派加热过程；run.json 的 q_score=0、live_matches_replay=1，两个目标为烤熟和派在托盘上，均非初始成立目标，故总分进一步限定烤熟终值为 false。熟度不由派的外观判定。" + } + ] + }, + "pie_on_tray": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 18.75, + "log_step": 15, + "text_zh": "观察：log step 15 的服务任务文本给出派在冰箱、托盘在台面上的初始布局；视频 0–18.75 s 没有开门、持派、搬派或向托盘放派的动作，两个腕部视角中均未出现夹爪持派。" + }, + { + "t": 29.03, + "log_step": null, + "text_zh": "推断：视频约 19 s 至视频 29.03 s 只见翻倒后的视角和恢复移动，没有派转移到托盘的过程；结合 run.json 的 q_score=0 及 live_matches_replay=1，非初始成立的派上托盘目标终值为 false。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "ratio", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "fridge_opened", + "t": 19.0, + "log_step": 73, + "where": "转场", + "evidence_zh": "观察：视频 17.5–18.75 s 机器人沿冰箱右侧台面方向空手接近，冰箱门仍关闭；视频约 19 s 开始明显侧翻，视频 20.75–21 s 视野进一步滚转，直到视频 29.03 s 未恢复。log step 73 的实际指令是向设备处导航，尚未执行开门；log step 93 的现场服务以机器人倒地终止。本断点归于正在接近的打开冰箱步骤。" + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 19.0, + "log_step": 93, + "evidence_zh": "观察：视频约 19–21 s，头部画面中的墙面、台面和地面明显滚转，腕部画面同步改变，随后保持侧倒视角至视频 29.03 s。log step 86 的本体感觉报告基座高度约 0.552 米且姿态严重倾斜；log step 89、90 的恢复后 up_z 分别约 -0.504、0.048，log step 93 的服务终态明确为 failure: the robot fell over。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "log_step": 50, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 50 定义并在 log step 73、79 实际调用的 drive_step，仅使用底盘平面位置和航向误差连续发送移动指令，没有利用倾斜、基座高度或障碍距离停止驱动；log step 72 只修改了躯干保持目标。视频约 19–21 s 接近台面时持续失衡，log step 78 已读到头部深度中位数约 0.078 米，随后仍以同一平面导航函数后退（log step 79）；log step 86、89、90 记录严重倾斜且恢复失败。这支持移动控制未根据实际失稳状态及时制动或切换恢复；不能由现有视角确定最先碰到的机器人部件。" + } + ], + "gap_zh": "没有逐帧状态日志；头部和腕部相机没有展示轮子与台面下部的接触点，故不另标碰撞，也不能确定最初失稳的精确接触机制。热源前面控制区在本次巡视中受工作台遮挡，且没有本次各热源的初始开关值，heat_source_on 保留未知；烤熟和上托盘终值结合视频过程与 q_score=0 推断。", + "unmet": { + "pie_cooked": false, + "pie_on_tray": false + } + }, + "summary_zh": "机器人只完成巡视和空手接近冰箱，未打开冰箱、取派加热或装盘；四个节点中没有确认达成的节点，热源开关因初态与控制区不可见保留未知。视频约 19 s，机器人在打开冰箱前的转场中侧翻，直到视频 29.03 s 未恢复，现场服务以倒地结束；实际导航代码缺少失稳反馈处理，支持控制·反馈控制根因。没有逐帧状态日志，底盘最初接触机制无法确认。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值、断点（fridge_opened，转场，视频约19 s 侧翻）、平衡现象和反馈控制根因均有视频与log支持；heat_source_on 保持未知合理。未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:24:18Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-cook-a-frozen-pie-i00-standard--y7nwnrd/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-cook-a-frozen-pie-i00-standard--y7nwnrd/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3a7691353910a5145cd83981e27c845045f1cafb86bda72cf4d1188c19df2a57", + "video_sha256": "47aa218c6c8a642c22cf792792ee5b3e32d84596a20862a8f8c9b1d63c093b11", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/make_gift_bags_for_baby_showers/trajectories/behavior-make-gift-bags-for-baby-showers-i00-privileged--e84xijx.json b/phase2/behavior-1k/make_gift_bags_for_baby_showers/trajectories/behavior-make-gift-bags-for-baby-showers-i00-privileged--e84xijx.json new file mode 100644 index 0000000000000000000000000000000000000000..ba712d03383455ec31ad2d0eba96d82854303f5a --- /dev/null +++ b/phase2/behavior-1k/make_gift_bags_for_baby_showers/trajectories/behavior-make-gift-bags-for-baby-showers-i00-privileged--e84xijx.json @@ -0,0 +1,343 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-make-gift-bags-for-baby-showers-i00-privileged--e84xijx", + "taskKey": "behavior-1k/make_gift_bags_for_baby_showers", + "dag_sha256": "7b0231203ecf0f8f40c0a0d2dedc737f77e9c9869a9ff9e143165a82dfa79100", + "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": 4673, + "sim_steps": 4673, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 1259.9, + "replay_timeout_s": 4315.3, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 5, + "agent_resets": 21, + "agent_sim_steps": 4719, + "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-make-gift-bags-for-baby-showers-i00-privileged--e84xijx/replay.mp4", + "duration_s": 155.767, + "fps": 30.0, + "frames": 4673, + "sha256": "ef0c9b02129e3b4313ec263382dc2843af74435e911e41e62130a02ec2a82d9a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 0, + "peak": 1, + "final": 0, + "nodes": { + "wafer_drawer_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 139, + "log_step": null, + "text_zh": "观察：视频139–155.6 s，机器人在木柜前移动并将左夹爪伸向柜体上沿，腕部及头部画面中的抽屉前板没有拉出，未出现可见内腔；成功参考视频70 s能清楚看到抽屉内腔及两片白色包装威化，本次没有这一开口。" + }, + { + "t": 155.6, + "log_step": null, + "text_zh": "观察：视频154.8–155.6 s的结束画面中，机器人仍停在关闭的木柜前，未取出威化饼。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频131–155.6 s轮式底盘移动到木柜前，并在抽屉尝试间调整位置。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频139–155.6 s左臂在抽屉附近伸展，但夹爪与抽屉前沿的具体接触区域被柜面和视角遮挡，不能确认抓握、勾或压擦。" + } + ] + }, + "sacks_on_table_1": { + "method": "visual", + "intervals": [ + [ + 43.5, + 114.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 43.5, + "log_step": 273, + "text_zh": "观察：视频15–43 s左夹爪夹持一只纸袋并随底盘搬到茶几；视频43.3–44.5 s夹爪退出，纸袋底部落在木色茶几桌面，随后视频45–95 s的可见茶几画面持续有这只袋。按首次达成顺序计为第1只袋，不绑定实例名。" + }, + { + "t": 114.5, + "log_step": null, + "text_zh": "观察：视频95 s袋仍立在茶几上；视频114.5–115.5 s头部及腕部视角显示茶几上已无袋、棕色袋躺在茶几前的地毯上，视频120–126.5 s及139 s再次见它在地毯。推断：将失去关系的可见边界约记视频114.5 s；视频95.5–114.3 s袋所在区域未持续可见，实际离桌时刻可能更早。" + }, + { + "t": 155.6, + "log_step": null, + "text_zh": "推断：评分器reward.q_score=0.0，且视频114.5–139 s显示袋落地后机器人没有拾回；初始两袋均在早餐桌，无初始目标关系可扣除，因此结束时不可能仍有任一袋满足茶几支承关系。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频15–43.5 s机器人左二指夹爪夹住纸袋壁，提离早餐桌并搬到茶几后松开；右夹爪未协同持袋。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频18–39 s底盘承载左臂及纸袋，从早餐桌附近驶向茶几。" + } + ] + }, + "sacks_on_table_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 54.5, + "log_step": 271, + "text_zh": "观察：视频51–54.2 s第二只纸袋仍在白色早餐桌上；视频54.3–54.8 s左夹爪接近后纸袋翻起、越过桌缘，夹爪没有稳定夹持它。视频55–65 s桌面已空、机器人随后空手离开，未把第二只袋搬上茶几。" + }, + { + "t": 155.6, + "log_step": null, + "text_zh": "推断：视频54.5 s以后未见第二只袋被拾回；评分器reward.q_score=0.0也排除最终两袋在茶几上的关系。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频54.3–54.8 s左夹爪的接近动作碰动早餐桌上的第二只纸袋，袋翻起并离开桌缘；未见夹爪两指稳定夹住袋壁。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频47–54 s及59–65 s底盘为第二只袋的抓取返回早餐桌、调整位置，之后空手离开。" + } + ] + }, + "dice_in_sacks_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 78, + "log_step": null, + "text_zh": "观察：视频75 s第一个被操作骰子还在木柜台面；视频78–97 s它已被左二指夹爪夹起并随机器人移动。视频84–94 s朝袋操作时骰子持续留在夹爪中，没有进入任何袋内。" + }, + { + "t": 129, + "log_step": 276, + "text_zh": "观察：视频108–128.5 s机器人又夹起另一骰子，视频129–130.5 s将其留在木柜台面而不是袋内；先前的骰子也未见入袋。推断：reward.q_score=0.0排除最终任一个骰子在袋内；未把抓起或搬近袋子算作放入。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频78–97 s左二指夹爪夹住第一个被操作的玩具骰子，搬运及朝袋移动时骰子均留在指间。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频81–85 s及91–99 s底盘携带左夹爪中的骰子在木柜、茶几和早餐桌附近移动。" + } + ] + }, + "dice_in_sacks_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 108, + "log_step": null, + "text_zh": "观察：视频99–105 s木柜台面仍有待取骰子；视频108–128.5 s第二个被操作骰子随左夹爪提离台面并移动，但未见进入纸袋。" + }, + { + "t": 130.5, + "log_step": 276, + "text_zh": "观察：视频129–130.5 s第二个被操作骰子已脱离左夹爪、停在木柜台面；视频131–155.6 s机器人转去抽屉，没有再将它装袋。推断：reward.q_score=0.0排除结束时两个骰子分别入袋。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频108–128.5 s左二指夹爪夹住另一个玩具骰子；视频129 s后骰子留在木柜台面。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频112–120 s以及127–131 s底盘承载夹有第二个骰子的左臂，往返茶几及木柜。" + } + ] + }, + "wafers_in_sacks_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 155.6, + "log_step": null, + "text_zh": "观察：视频0–155.6 s没有威化饼被取出或持至纸袋，末段抽屉未拉开；对照成功参考视频70 s可见抽屉内两片威化，参考视频118.7 s可见威化进入纸袋，本次均无此过程。推断：初始威化在关闭抽屉内，且评分器reward.q_score=0.0，故第1片威化入袋在结束时为假，不因遮挡而置为未知。" + } + ] + }, + "wafers_in_sacks_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 155.6, + "log_step": null, + "text_zh": "观察：视频0–155.6 s没有威化饼被取出或持至纸袋，末段抽屉未拉开；对照成功参考视频70 s可见抽屉内两片威化，参考视频118.7 s可见威化进入纸袋，本次均无此过程。推断：初始威化在关闭抽屉内，且评分器reward.q_score=0.0，故第2片威化入袋在结束时为假，不因遮挡而置为未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "sacks_on_table_2", + "t": 54.5, + "log_step": 271, + "where": "操作中", + "evidence_zh": "观察：视频54.3–54.8 s机器人左夹爪接近早餐桌上尚未搬运的纸袋，袋被碰翻并越出桌缘，随后夹爪空着、桌面无袋；log step 271的最终生成过程也记录该袋连续抓取失败、位置降到地面高度。推断：这是第2只袋上茶几步骤的未修复失败，后续骰子及抽屉动作没有补回此袋；第1只袋虽后来也失去桌面关系，但发生更晚。" + }, + "unmet": { + "sacks_on_table_1": false, + "sacks_on_table_2": false, + "dice_in_sacks_1": false, + "dice_in_sacks_2": false, + "wafers_in_sacks_1": false, + "wafers_in_sacks_2": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 54.5, + "log_step": 271, + "evidence_zh": "观察：视频54.3 s纸袋仍在早餐桌缘，视频54.5–54.8 s左夹爪伸入后袋翻起并飞离桌缘，夹爪张开而未持袋；视频55 s早餐桌上已经无袋。log step 271记录同一最终生成过程的袋抓取失败，随后袋位置为[1.677,-0.592,0.121]。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 54.5, + "log_step": 271, + "source_zh": "视频 / 日志", + "evidence_zh": "推断：视频54.3–54.8 s机器人朝正确纸袋执行抓取，但末端接近动作碰动袋而未形成稳定夹持，导致物体离桌；log step 231写入的袋壁夹取程序及log step 236的机械臂回位修改仍用于最终生成，log step 271确认该袋的重试均失败。这支持末端抓取执行的控制问题；现有证据不足以区分接触几何与轨迹跟踪，不细分控制子类。" + } + ], + "gap_zh": "观察：inputs/没有逐帧状态日志。视频95 s仍见第1只袋在茶几上，视频114.5 s再见时已在地毯，视频95.5–114.3 s的相关区域未持续可见；其丢失时间用首次明确离桌画面约记，不能确定具体碰撞者或脱离瞬间。抽屉尝试的夹爪接触点被柜体遮挡，contact_actual保留未知；断点处也没有接触力、关节跟踪误差，控制根因不细分。log step 224所述骰子入袋属于更早的会话测试，不是最终4673步评分轨迹，未计入进度。" + }, + "summary_zh": "评分轨迹曾完成第1只袋上茶几，最高进度1/7；视频54.5 s抓取第二只袋时夹爪将袋碰离早餐桌，该步骤未修复，断点为第2只袋上茶几，现象为被挡/碰撞，根因为控制执行失败。第1只袋随后也落到地毯，两个骰子虽被抓起但没有入袋，抽屉未打开、威化未取出，最终0/7，与q_score=0一致。没有状态日志，第1只袋离桌瞬间被遮挡，丢失边界约记视频114.5 s；本次任务文本沿用目标关系同时成立的旧验收描述，未用新版松手静置窗口追溯判错。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "标注与视频一致：第1只袋约43.5 s上茶几、约114.5 s后在地毯上，第2只袋约54.3–54.8 s被夹爪碰翻离桌，抽屉始终未开，断点取第2只袋合理；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": "2026-10-30T21:28:54Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-make-gift-bags-for-baby-showers-i00-privileged--e84xijx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-make-gift-bags-for-baby-showers-i00-privileged--e84xijx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b3733207494800a9644cfe79d558b4a1fe315961ad72b1baa9451b9863e4e8a4", + "video_sha256": "ef0c9b02129e3b4313ec263382dc2843af74435e911e41e62130a02ec2a82d9a", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/make_gift_bags_for_baby_showers/trajectories/behavior-make-gift-bags-for-baby-showers-i00-privileged--whwynwk.json b/phase2/behavior-1k/make_gift_bags_for_baby_showers/trajectories/behavior-make-gift-bags-for-baby-showers-i00-privileged--whwynwk.json new file mode 100644 index 0000000000000000000000000000000000000000..e7b67c87c1925bbd0f496ed3a0097a5b25f2d628 --- /dev/null +++ b/phase2/behavior-1k/make_gift_bags_for_baby_showers/trajectories/behavior-make-gift-bags-for-baby-showers-i00-privileged--whwynwk.json @@ -0,0 +1,412 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-make-gift-bags-for-baby-showers-i00-privileged--whwynwk", + "taskKey": "behavior-1k/make_gift_bags_for_baby_showers", + "dag_sha256": "7b0231203ecf0f8f40c0a0d2dedc737f77e9c9869a9ff9e143165a82dfa79100", + "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": 18761, + "sim_steps": 18761, + "fallen": 0, + "final_reward": 0.0, + "q_score": 1.0, + "replay_wall_s": 4991.5, + "replay_timeout_s": 10580.5, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 2, + "agent_resets": 0, + "agent_sim_steps": 18761, + "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, + "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-make-gift-bags-for-baby-showers-i00-privileged--whwynwk/replay.mp4", + "duration_s": 625.367, + "fps": 30.0, + "frames": 18761, + "sha256": "32529c233a3c8fd2c9732192c49deb99be0a61946f35e4fe304ea6f7e9eaea92" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 0, + "peak": 7, + "final": 7, + "nodes": { + "wafer_drawer_opened": { + "method": "visual", + "intervals": [ + [ + 228, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频0 s电视柜抽屉前板贴合柜体；视频224–232 s机器人左爪夹着上层抽屉前沿向外拉，前板移出并露出装有白红包装威化饼的内腔；视频236–240 s可见开口和两片威化。起点取视频约228 s，约1秒不确定。" + }, + { + "t": 238, + "log_step": 95, + "text_zh": "观察：视频238 s左爪已退出开口，抽屉仍打开；log step 95的会话查询记录上层抽屉关节约0.199 m，与该段录像的外拉动作一致。后续抽屉推回或再次打开不取消此事件节点。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左侧二指夹爪夹住上层抽屉前沿并向外拉开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘从茶几转向并驶近电视柜，承载双臂到开抽屉的位置。" + } + ] + }, + "sacks_on_table_1": { + "method": "visual", + "intervals": [ + [ + 20, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 20, + "log_step": 48, + "text_zh": "观察：视频0 s两只纸袋在早餐桌；视频12–21 s机器人左爪带第一只袋离开早餐桌、转向茶几并下放，视频20–21 s腕部视角可见袋子立在茶几上，左爪横向退出；视频30–625.333 s后续可见的茶几画面中该袋仍留在桌面。" + }, + { + "t": 21, + "log_step": 48, + "text_zh": "推断：第一只袋的支承关系约在视频20 s成立，精度约1秒；log step 48中同一次连续录制的646控制步检查为ontop=true。日志工具说明30 Hz，最终18761步对应视频625.367 s；646/30=21.53 s与已检查的视频21–22 s放袋完成位置一致，仅作时钟核对。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左二指夹爪夹住第一只纸袋上部，提起、搬运并下放，随后张爪侧向退出。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘从早餐桌驶向茶几，同时承载左爪中的第一只纸袋。" + } + ] + }, + "sacks_on_table_2": { + "method": "visual", + "intervals": [ + [ + 86, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 86, + "log_step": null, + "text_zh": "推断：视频75–82 s第二只袋仍随左爪移动；视频83–88 s左臂重新下放，随后视频97–105 s右爪靠近袋口协助脱离，视频109–117 s夹爪退出后袋子仍由茶几支承。支承起点估在视频86 s；袋底被袋壁和夹爪遮住，首次接触有数秒不确定，不能把后来的松手时刻当作首次上桌。" + }, + { + "t": 115, + "log_step": 75, + "text_zh": "观察：视频113–120 s第二只袋立在茶几上，两爪先后撤走；log step 75的连续录制检查记录3477控制步、两袋ontop=true，与视频约115.9 s的双袋摆放一致。视频375–380 s其中一袋侧倒，视频418 s及625.333 s仍在桌面，未见离桌。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左二指夹爪抓住第二只侧倒的袋子，搬运并转正，多次调整下放位置。" + }, + { + "who": "双臂协作", + "how": "压/擦", + "note_zh": "脱离阶段左爪张开后仍卡在袋口，右爪贴住袋口/袋壁限制袋子随动，左爪侧向退出；两爪共同接触袋子协助释放。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘承载第二只袋从早餐桌驶至茶几。" + } + ] + }, + "dice_in_sacks_1": { + "method": "visual", + "intervals": [ + [ + 189.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 189.5, + "log_step": null, + "text_zh": "观察：视频160–180 s柜面上的两个浅绿骰子先后离开原处，并分别随两只夹爪移动；视频188.5–191 s左爪在靠近花盆的袋口上方松开，骰子向下进入袋腔，左爪随后空手撤开，右爪仍持另一骰子。首次入袋约视频189.5 s，约0.5秒不确定。" + }, + { + "t": 204, + "log_step": 90, + "text_zh": "观察：视频199–204 s机器人完成另一袋的投放后，两个骰子均不再留在原柜面或夹爪中；log step 90的会话检查为两个不同骰子分别inside两只袋、q_score=4/6。评分器最终q_score=1，与视频625.333 s前没有再取出骰子的过程一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左二指夹爪夹住一个骰子，携至靠近花盆的袋口上方后张爪，使骰子落入袋内。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘承载夹爪中的骰子从电视柜驶向茶几。" + } + ] + }, + "dice_in_sacks_2": { + "method": "visual", + "intervals": [ + [ + 200.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 200.5, + "log_step": null, + "text_zh": "观察：视频180–195 s另一骰子一直夹在右爪中；视频196–201 s右爪将它移至另一只袋口上方并张开，骰子从右爪消失进入袋腔，视频201–204 s右爪空手退出。按不同骰子进入不同袋累计，第2个入袋约视频200.5 s，约0.5秒不确定。" + }, + { + "t": 204, + "log_step": 90, + "text_zh": "推断：视频189.5 s与200.5 s的两次投放分别对应不同纸袋，之后未见机器人取出骰子；结合log step 90的两组inside=true和评分器最终q_score=1，两骰子的一一配对在终态成立。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人右二指夹爪夹住另一骰子，搬到与第一个不同的袋口上方，松爪投入。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘从电视柜驶向茶几时承载右爪中的第二个骰子。" + } + ] + }, + "wafers_in_sacks_1": { + "method": "visual", + "intervals": [ + [ + 412.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 380, + "log_step": 148, + "text_zh": "观察：视频270–360 s左爪持第一片白红包装威化离开柜内，随后送往茶几；视频375–380 s原定目标袋侧倒，威化落在袋外桌面，视频385–400 s机器人重新抓起并改向仍直立的另一袋；因此不能把第一次放下计作入袋。" + }, + { + "t": 412.5, + "log_step": 160, + "text_zh": "推断：视频408–413 s左爪把威化竖直降入直立纸袋，视频413–416 s张爪并撤出，威化留在袋中；以视频约412.5 s中心降入袋内为达成锚点，约1秒不确定。log step 160记录该威化inside=true、左手空、q_score=5/6；其12511控制步对应视频约417 s，与已检查的撤手画面一致。" + }, + { + "t": 625.333, + "log_step": null, + "text_zh": "推断：视频418–625.333 s机器人转去取第二片威化，未再提起直立袋中的第一片；终态q_score=1支持第一片仍在袋内。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左二指夹爪夹住第一片威化并从上层抽屉取出；第一次放在倒袋旁后重新抓起，转向另一只直立袋，竖直插入后松手。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘承载左爪中的第一片威化从电视柜转向并驶近茶几。" + } + ] + }, + "wafers_in_sacks_2": { + "method": "visual", + "intervals": [ + [ + 625.333, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 570, + "log_step": null, + "text_zh": "观察：视频440–550 s机器人右爪抵住抽屉前沿、左爪深入柜内调整剩余威化；视频560–600 s威化离开柜内原位置并随左爪上升取出，视频605–625.333 s机器人携它回到茶几，向侧倒纸袋的水平开口插入。" + }, + { + "t": 625.333, + "log_step": 230, + "text_zh": "推断：视频624.4–625.333 s左爪将第二片威化沿倒袋开口继续推入，末帧仍夹着包装。log step 230记录控制步18760时q_score=5/6、18761时q_score=1，并给出两片威化分别inside不同袋；18761/30=625.367 s与录像终点一致。结合最后插入画面和评分器q_score=1，第二片入袋关系在视频最后一帧成立；夹持不屏蔽此节点的裸关系。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左二指夹爪最终夹住第二片威化，从柜内取出、搬运并插入倒袋；末帧仍夹持。" + }, + { + "who": "双臂协作", + "how": "推/扫", + "note_zh": "机器人右爪保持抽屉开口，左爪闭合手指伸入抽屉内部前后拨拖剩余威化；视频480–510 s可见手指在柜内移动，威化随后移至下层抽屉，之后改用夹取。" + }, + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "取第二片威化时右爪抓住抽屉前沿保持开口，左爪抓住威化进行抽取；视频560–580 s可见威化随左爪离开原位置。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘承载左爪中的第二片威化从电视柜返回茶几。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 1.0, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "wafers_in_sacks_2", + "t": 625.333, + "log_step": 230, + "where": "终态验收", + "evidence_zh": "观察：视频625.0–625.333 s最后一片威化被送入侧倒袋，左爪仍夹住它，录像随即结束；log step 230同一次录制最终状态为inside=true、左手持wafer.n.02_2，旧服务success=true。评分器reward记录q_score=1、all_success=1、deterministic=1，但regrade_0154明确old=1、new=0、why=\"stricter rule\"；目录success=0。推断：七个节点的关系均已达成，第二片威化的最终联合验收未满足新增的全体释放及静置1秒条件。" + }, + "unmet": { + "sacks_on_table_1": true, + "sacks_on_table_2": true, + "dice_in_sacks_1": true, + "dice_in_sacks_2": true, + "wafers_in_sacks_1": true, + "wafers_in_sacks_2": true + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "任务设计问题：inputs/run.json的task_text明确说明所有目标关系一成立episode就自动结束，并未要求释放、静置；log step 225的脚本仅在episode尚未结束时才执行张爪等待，log step 230显示服务恰在最后入袋时自动成功终止。reward.regrade_0154又因stricter rule由1改为0；因此保留目录失败，按S9不把新增验收条件造成的失败归作机器人现象或根因。没有逐帧状态日志和此次严格重评分的逐项诊断，不能细分除未释放以外的静置判定；第二只袋首次接触桌面及第一片威化中心过袋口的时刻受腕部遮挡，时间为上下文估计。会话中的新进程自检在log step 291停止，但评分器已重放并给出确定性及q_score，不能把自检停止当成此次失败原因。" + }, + "summary_zh": "机器人打开装威化的抽屉，把两只袋搬上茶几，并将两个骰子、两片威化分别装入不同袋，七个节点终态均成立，原生q_score=1。任务设计问题：原指令和服务在目标关系刚成立时自动结束，视频625.333 s最后一片威化仍由左爪夹持；后续重评分因新增释放与静置窗口将原成功改判失败，断点记在第二片威化的终态验收，不归因于机器人失败。无逐帧状态日志，少数首次达成时间受遮挡而作上下文估计。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "七个节点的达成时间与帧一致，末帧左爪仍夹着第二片威化插入倒袋；目录 success=0 来自 regrade_0154 的更严规则（old=1,new=0），与 task_text 的“关系成立即结束”不符，按 S9 记为任务设计问题并留空现象/根因，我认可。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:37:42Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-make-gift-bags-for-baby-showers-i00-privileged--whwynwk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-make-gift-bags-for-baby-showers-i00-privileged--whwynwk/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "142c2ac9dbf0683392d6ebaa80de548375af0f477b32cf96a58d28d9607a7bcc", + "video_sha256": "32529c233a3c8fd2c9732192c49deb99be0a61946f35e4fe304ea6f7e9eaea92", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/make_gift_bags_for_baby_showers/trajectories/behavior-make-gift-bags-for-baby-showers-i00-standard--7rubnvj.json b/phase2/behavior-1k/make_gift_bags_for_baby_showers/trajectories/behavior-make-gift-bags-for-baby-showers-i00-standard--7rubnvj.json new file mode 100644 index 0000000000000000000000000000000000000000..69541db3191cd1701d9a108a14412f83086c4970 --- /dev/null +++ b/phase2/behavior-1k/make_gift_bags_for_baby_showers/trajectories/behavior-make-gift-bags-for-baby-showers-i00-standard--7rubnvj.json @@ -0,0 +1,320 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-make-gift-bags-for-baby-showers-i00-standard--7rubnvj", + "taskKey": "behavior-1k/make_gift_bags_for_baby_showers", + "dag_sha256": "7b0231203ecf0f8f40c0a0d2dedc737f77e9c9869a9ff9e143165a82dfa79100", + "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": 15455, + "sim_steps": 15455, + "physics_steps": 61820, + "steps": 2315, + "elapsed_s": 5987.0, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 0, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 1, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-make-gift-bags-for-baby-showers-i00-standard--7rubnvj/replay.mp4", + "duration_s": 515.2, + "fps": 10.0, + "frames": 5152, + "sha256": "30dc4d835a05fab7f1015cc5a22ed1824f60b961ea7041c6b89bb46365bb7287" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "wafer_drawer_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频0.0 s头部视角中，电视下木柜的抽屉前板贴合柜体。全片粗看及视频300–339 s、488–515.1 s的复查中，机器人一直围绕早餐桌取袋或靠近翻倒的桌椅，没有拉开木柜抽屉；未出现参考成功视频75.0 s所示的抽屉内腔开口。" + } + ] + }, + "sacks_on_table_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 29, + "log_step": 85, + "text_zh": "观察：视频27.5–33.5 s机器人左夹爪回撤后，纸袋仍由白色早餐桌支承，没有随手离桌；agent在log step 85也自述首次夹取未成功。" + }, + { + "t": 162, + "log_step": null, + "text_zh": "观察：视频147–161 s左夹爪在较大纸袋的袋沿附近移动；视频162–168 s该袋侧倒在另一只袋旁，两只袋均留在早餐桌上。" + }, + { + "t": 337, + "log_step": 273, + "text_zh": "观察：视频302–308 s夹爪靠近纸袋后抬起，视频311 s头部回看仍见两袋在早餐桌；视频327–337 s又一次接近、抬臂后，两袋仍在原桌区域。log step 273的“袋随手抬起”及log step 354的携袋说法没有被这些帧证实。" + }, + { + "t": 514.5, + "log_step": 729, + "text_zh": "观察：视频488–501 s可见翻倒的白色早餐桌、散乱椅子及桌旁低处的棕色袋状物；视频504.5–515.1 s机器人明显倾斜，未把袋子送到茶几。log step 729服务返回failure: the robot fell over；评分器q_score=0.0。" + }, + { + "t": 515.1, + "log_step": null, + "text_zh": "推断：初始两袋都在早餐桌，全片没有袋子到达茶几的可见转移；终态q_score=0.0也排除任何新增茶几支承目标成立，因此本节点终态为false。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频147–168 s机器人左二指夹爪接近较大纸袋的袋沿并将袋子推倾，袋子留在早餐桌；其他重试也只见接近或触推，没有可确认的对向夹持和携带。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人为取首只袋多次在早餐桌周围行驶、转向，并往返茶几方向；视频310–324 s可见底盘运动带来的整机视角变化，视频488–504 s又在翻倒桌椅旁移动。" + } + ] + }, + "sacks_on_table_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 337, + "log_step": null, + "text_zh": "观察：视频0.0 s两袋都在白色早餐桌；视频162–168 s及337 s两袋仍在该桌上。机器人换着两只袋重试首只袋的取运，未出现首只袋到达茶几后继续搬运第二只的动作。" + }, + { + "t": 515.1, + "log_step": null, + "text_zh": "推断：视频全程没有两只纸袋由茶几支承的画面；初态不满足该关系，评分器终态q_score=0.0也不容许两袋上茶几成立，故终态false。" + } + ] + }, + "dice_in_sacks_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频0.0 s纸袋在早餐桌、玩具骰子在电视下木柜台面；机器人此后反复取袋，未出现把骰子从柜面拿走并送入纸袋的动作。参考成功视频35–45 s中可见的夹持骰子及朝袋口转运在本次视频中未出现。" + }, + { + "t": 515.1, + "log_step": null, + "text_zh": "推断：未见至少一个骰子进入纸袋的转移；该目标初态不成立，评分器终态q_score=0.0排除相应新增入袋目标成立，因此终态false。" + } + ] + }, + "dice_in_sacks_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频0.0 s纸袋在早餐桌、玩具骰子在电视下木柜台面；机器人此后反复取袋，未出现把骰子从柜面拿走并送入纸袋的动作。参考成功视频35–45 s中可见的夹持骰子及朝袋口转运在本次视频中未出现。" + }, + { + "t": 515.1, + "log_step": null, + "text_zh": "推断：未见两个骰子分别进入纸袋的转移；该目标初态不成立，评分器终态q_score=0.0排除相应新增入袋目标成立，因此终态false。" + } + ] + }, + "wafers_in_sacks_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 337, + "log_step": null, + "text_zh": "观察：本次视频机器人围绕纸袋和早餐桌操作，没有拉开电视下木柜抽屉，也没有夹持白色红边威化包装并向袋口搬运；参考成功视频75.0 s可见威化饼所在抽屉内腔，本次未见该开口或取出包装。" + }, + { + "t": 515.1, + "log_step": null, + "text_zh": "推断：未见至少一片威化饼进入纸袋的过程；该目标初态不成立，评分器终态q_score=0.0也排除相应新增入袋目标成立，因此终态false。" + } + ] + }, + "wafers_in_sacks_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 337, + "log_step": null, + "text_zh": "观察：本次视频机器人围绕纸袋和早餐桌操作，没有拉开电视下木柜抽屉，也没有夹持白色红边威化包装并向袋口搬运；参考成功视频75.0 s可见威化饼所在抽屉内腔，本次未见该开口或取出包装。" + }, + { + "t": 515.1, + "log_step": null, + "text_zh": "推断：未见两片威化饼分别进入纸袋的过程；该目标初态不成立，评分器终态q_score=0.0也排除相应新增入袋目标成立，因此终态false。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "sacks_on_table_1", + "t": 29.0, + "log_step": 85, + "where": "操作中", + "evidence_zh": "观察：视频27.5–33.5 s首轮夹取后纸袋仍在早餐桌，左手回撤未携袋；log step 85中agent承认首轮夹取失败。视频147–168 s、302–339 s的重试仍未把任一袋送到茶几，后续早餐桌翻倒，视频504.5–515.1 s机器人失衡，log step 729服务因倒地结束episode。推断：首只袋搬运始终没有修复，是最早未完成的操作步骤；视频29 s仅为首轮失败的导航锚点。" + }, + "unmet": { + "sacks_on_table_1": false, + "sacks_on_table_2": false, + "dice_in_sacks_1": false, + "dice_in_sacks_2": false, + "wafers_in_sacks_1": false, + "wafers_in_sacks_2": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 29.0, + "log_step": 85, + "evidence_zh": "观察：视频27.5–33.5 s夹爪回撤时袋子仍在早餐桌；视频147–168 s手指虽碰动较大袋子并使其侧倒，袋子却未随夹爪离桌；视频302–311 s、327–337 s的抬臂也没有带走袋子。推断：这里缺少的是搬运所需的有效抓握接触，触推袋壁不能算建立抓握。" + }, + { + "cat": "全身", + "item": "平衡", + "t": 504.5, + "log_step": 729, + "evidence_zh": "观察：视频503.5–506.5 s机器人在翻倒的桌椅旁进一步倾斜，头部视角中的房间大幅旋转，视频514.2–515.1 s保持严重侧倾。log step 712服务输出的base姿态已明显倾斜，log step 729随后直接返回failure: the robot fell over；此时机器人仍在取回首只袋。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频 / 日志 / agent 自述", + "evidence_zh": "推断：视频147–168 s手指接近袋沿后仅把袋子推倒，视频302–339 s重复出现夹爪抬起而袋留桌面的情况，支持取袋末端运动未形成有效夹持。agent在log step 508明确自述指尖偏移方向的符号弄反，在log step 689自述纠正关节映射后才到达落地目标上方；这些记录支持控制实现存在位姿或动作映射问题。视频488–506.5 s机器人又在翻倒桌椅间伸臂、移动并逐渐失衡。缺少逐帧关节与接触状态，故不细分为抓取设计、逆解或反馈控制。" + } + ], + "gap_zh": "没有逐帧状态日志，头部和腕部视角有时被机器人本体或桌板遮挡，不能确定各次夹爪与袋壁的精确接触点、作用力及导致末次失衡的具体碰撞链路。两次agent声称携袋均未得到物体离开原桌并到达目标的画面支持，按视频判定；终态六个目标关系由画面和q_score=0.0共同约束。" + }, + "summary_zh": "机器人反复尝试从早餐桌取袋，但两次疑似搬运后袋子仍留在原桌，没有纸袋到达茶几，打开抽屉、骰子入袋及威化入袋也未发生，最终达成0/7节点。首只袋搬运始终未修复：夹爪未建立有效抓握，后续取袋过程中桌椅被碰乱、早餐桌翻倒，机器人最终失衡并由服务判为倒地失败。没有状态日志且部分接触被遮挡，控制根因仅能结合可见动作与agent记录判到大类。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点全部false与q_score=0.0一致；视频抽查（0、29、150–340、350–515 s三路视角）未见纸袋到达茶几、抽屉被拉开或骰子/威化入袋。断点（首只袋搬运）、接触（没建立接触）、平衡（服务返回倒地）及控制根因均有证据，且已在gap_zh说明局限。未发现需改动内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:37:51Z", + "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-make-gift-bags-for-baby-showers-i00-standard--7rubnvj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-make-gift-bags-for-baby-showers-i00-standard--7rubnvj/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "4a3b47db4bac251531cf4982b23b4f445b3b16882047a8b34c1e5b9ad850b1b0", + "video_sha256": "30dc4d835a05fab7f1015cc5a22ed1824f60b961ea7041c6b89bb46365bb7287", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/make_gift_bags_for_baby_showers/trajectories/behavior-make-gift-bags-for-baby-showers-i00-standard--agrfacw.json b/phase2/behavior-1k/make_gift_bags_for_baby_showers/trajectories/behavior-make-gift-bags-for-baby-showers-i00-standard--agrfacw.json new file mode 100644 index 0000000000000000000000000000000000000000..f4f8d94855912f7db58f8eabd78f55b3614545ef --- /dev/null +++ b/phase2/behavior-1k/make_gift_bags_for_baby_showers/trajectories/behavior-make-gift-bags-for-baby-showers-i00-standard--agrfacw.json @@ -0,0 +1,260 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-make-gift-bags-for-baby-showers-i00-standard--agrfacw", + "taskKey": "behavior-1k/make_gift_bags_for_baby_showers", + "dag_sha256": "7b0231203ecf0f8f40c0a0d2dedc737f77e9c9869a9ff9e143165a82dfa79100", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 0, + "live_matches_replay": 0, + "finalized": 1, + "n_actions": 11840, + "sim_steps": 11839, + "physics_steps": 47356, + "steps": 7515, + "elapsed_s": 4035.0, + "video_rendered": 1, + "gpu_lost": 0, + "q_score": 0.0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-make-gift-bags-for-baby-showers-i00-standard--agrfacw/replay.mp4", + "duration_s": 389.467, + "fps": 30.0, + "frames": 11684, + "sha256": "031c9d01a673584c9d3ddbe00d0cb6a9c75c81224d4101c7d46d2ec24806cf3d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "wafer_drawer_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 电视下木柜抽屉前板贴合柜体；视频 28 s、124 s 及全程粗查均未见机器人拉出抽屉或暴露内腔。与成功示例可见开口的画面比较，本次没有出现可取出威化饼的开口。" + } + ] + }, + "sacks_on_table_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 两只棕色纸袋在白色早餐桌上；视频 44 s 仍可见两袋留在该桌，视频 56 s 茶几上只有原有白纸和花盆，没有纸袋。" + }, + { + "t": 74.5, + "log_step": null, + "text_zh": "观察：视频 74.5 s 机器人空手靠近早餐桌并开始倾倒，视频 75.5 s 至结束主要为侧倒、滑移和空手恢复动作；未见任何纸袋从早餐桌被夹起或搬到茶几。" + }, + { + "t": 389.4, + "log_step": null, + "text_zh": "推断：视频 389.4 s 机器人仍倾斜，未形成纸袋搬运；评分器 q_score=0.0、live_matches_replay=0，实时总分在本视频无目标放置的观察下相容，支持终态没有新增目标关系。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人空手向早餐桌纸袋所在工作区行驶时，轮式底盘承载机体并与地面支承交互，随后倾倒；未见夹爪抓握纸袋。" + } + ] + }, + "sacks_on_table_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 44, + "log_step": null, + "text_zh": "观察：视频 44 s 两只纸袋仍在早餐桌；视频 56 s 茶几无纸袋，随后机器人倾倒并持续恢复，未见第一只或第二只袋上茶几。" + }, + { + "t": 389.4, + "log_step": null, + "text_zh": "推断：视频全程未见纸袋转移，结合评分器 q_score=0.0（实时结果，live_matches_replay=0），终态不可能有两只袋在茶几上。" + } + ] + }, + "dice_in_sacks_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 木柜顶面可见浅色绿色面的玩具骰子，纸袋另在早餐桌；全程粗查和视频 73.5–76.25 s、388.4–389.4 s 密查未见机器人夹起骰子或将骰子送入袋口。" + }, + { + "t": 389.4, + "log_step": null, + "text_zh": "推断：未见骰子搬运，且评分器 q_score=0.0；这些装袋关系初始不成立，实时总分为零在视频无相反证据时决定本步终态为假（live_matches_replay=0）。" + } + ] + }, + "dice_in_sacks_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 389.4, + "log_step": null, + "text_zh": "推断：视频 0 s 两袋与骰子分置在早餐桌和木柜上，全程未见机器人把任何骰子搬入纸袋；评分器 q_score=0.0（实时结果，live_matches_replay=0）亦不允许终态有两个骰子分别装袋。" + } + ] + }, + "wafers_in_sacks_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 124, + "log_step": null, + "text_zh": "观察：视频 124 s 木柜抽屉前板仍贴合柜体；全程未见抽屉拉出、机器人取出白红长条威化包装或将其送入纸袋的动作。" + }, + { + "t": 389.4, + "log_step": null, + "text_zh": "推断：威化饼初始在关闭柜内，视频无取出或装袋动作；评分器 q_score=0.0（实时结果，live_matches_replay=0）与这些观察相容，决定终态没有威化入袋关系。" + } + ] + }, + "wafers_in_sacks_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 389.4, + "log_step": null, + "text_zh": "推断：视频全程未见机器人开抽屉后取出威化并装袋，视频 124 s 抽屉仍关闭；评分器 q_score=0.0（实时结果，live_matches_replay=0）不允许终态有两片威化分别入袋。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "sacks_on_table_1", + "t": 74.5, + "log_step": null, + "where": "转场", + "evidence_zh": "观察：视频 73.5–74 s 机器人空手位于早餐桌旁，视频 74.25–75.5 s 三路相机随整机快速倾转，头部视角从房间转向天花板，纸袋仍在白桌上；此后没有完成任何纸袋搬运。推断：机器人在取第一只纸袋的空手转场中倾倒，该步骤始终未修复；log step 135–137 的接近早餐桌、失衡和恢复记录只作会话背景，不据其 agent 时间换算视频时刻。" + }, + "unmet": { + "sacks_on_table_1": false, + "sacks_on_table_2": false, + "dice_in_sacks_1": false, + "dice_in_sacks_2": false, + "wafers_in_sacks_1": false, + "wafers_in_sacks_2": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 74.5, + "log_step": null, + "evidence_zh": "观察：视频 74.25–75.5 s 机器人整机倾倒，三路视角共同旋转，头部相机最终仰向天花板；视频 116 s、200 s 及389.4 s 仍为明显侧倾视角，后续滑移与摆臂未使第一只纸袋上茶几。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "观察：视频 74.25–75.5 s 空手行驶时机体失稳，后续摆臂和底盘滑移没有恢复可执行取袋的姿态。log step 107 的导航脚本在 NOT LEVEL 分支仍反复发送固定倒退位移，log step 136 的执行反馈连续报告 NOT LEVEL 且底座高度从约0.02米升至约0.40米；这些为会话中底盘与姿态控制未能稳定机体的证据。推断：支持控制层面的稳定性失败；没有足够证据区分参数、轨迹或具体接触几何。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "没有逐帧状态日志，机体与家具的具体碰撞点被自身和桌椅遮挡，无法确定首次倾倒的接触几何及控制子类。评分器 deterministic=0、live_matches_replay=0；实时日志后段的数值爆炸与NaN终止（log step 207–209）没有在视频结尾呈现，故不作为本回放的第二现象，也不把日志姿态或control_steps映射成视频时间；节点按视频操作与相容的实时q_score总分判断。" + }, + "summary_zh": "本次轨迹七个节点均未达成：两袋未搬上茶几，未见骰子或威化装袋，抽屉也未打开。机器人在视频约74.5 s 空手接近早餐桌取第一只袋时倾倒，后续恢复没有完成该步，证据支持控制层面的机体稳定性失败。缺少状态日志且实时与回放不一致，具体碰撞点与控制子类不能确定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "七节点均未达成与视频一致；约74 s 起机体倾倒、此后未取袋，断点 sacks_on_table_1 与 平衡/控制 有帧支持。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": "2026-10-30T21:36:03Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-make-gift-bags-for-baby-showers-i00-standard--agrfacw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-make-gift-bags-for-baby-showers-i00-standard--agrfacw/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "cfbf6dc8192162d0a34cb146e26b513805deb84358b299707202b37a56ccc95e", + "video_sha256": "031c9d01a673584c9d3ddbe00d0cb6a9c75c81224d4101c7d46d2ec24806cf3d", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/make_gift_bags_for_baby_showers/trajectories/behavior-make-gift-bags-for-baby-showers-i00-standard--ehgih5x.json b/phase2/behavior-1k/make_gift_bags_for_baby_showers/trajectories/behavior-make-gift-bags-for-baby-showers-i00-standard--ehgih5x.json new file mode 100644 index 0000000000000000000000000000000000000000..6bbf59d9d8fa290e7f5593618878c390541f645e --- /dev/null +++ b/phase2/behavior-1k/make_gift_bags_for_baby_showers/trajectories/behavior-make-gift-bags-for-baby-showers-i00-standard--ehgih5x.json @@ -0,0 +1,287 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-make-gift-bags-for-baby-showers-i00-standard--ehgih5x", + "taskKey": "behavior-1k/make_gift_bags_for_baby_showers", + "dag_sha256": "7b0231203ecf0f8f40c0a0d2dedc737f77e9c9869a9ff9e143165a82dfa79100", + "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": 754, + "sim_steps": 754, + "physics_steps": 3016, + "steps": 252, + "elapsed_s": 704.8, + "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-make-gift-bags-for-baby-showers-i00-standard--ehgih5x/replay.mp4", + "duration_s": 25.133, + "fps": 30.0, + "frames": 754, + "sha256": "b7feadab6baea83d24fb9f4ec9f2ff9aef7f9191e7dd6ae860b677da5d4b68f9" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "wafer_drawer_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.4, + "log_step": 74, + "text_zh": "观察：本次视频 9.5–14.4 s 中，机器人面对电视下方木柜，上层抽屉前板仍贴合柜体，未出现可取物的内腔开口；两侧腕部视角未见夹爪夹住或拉动抽屉。log step 74 的实际命令是后退以观察柜体正面。" + }, + { + "t": 20, + "log_step": 80, + "text_zh": "观察：本次视频 14.8–20.0 s 中机器人倾倒，柜体随视角转至侧面，但抽屉未被拉出；成功参考视频 75.0 s 中明显可见的抽屉内腔及两片威化饼，在本次观察中始终未出现。log step 80 的服务读数报告底座向上轴竖直分量为 -0.1399。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频约 7.0–14.6 s，机器人以轮式底盘转向并移动到柜前、随后后退观察抽屉；底盘承载双臂与躯干。视频约 14.8 s 起支撑失稳；未见夹爪接触抽屉前沿，不记抓握。" + } + ] + }, + "sacks_on_table_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.5, + "log_step": null, + "text_zh": "观察：视频 0.0 s、4.5 s 和 7.5 s，两只棕色纸袋都立在白色早餐桌上；视频 2.5 s 和 6.0 s 的木色茶几上没有纸袋。机器人仅转向巡视，没有把纸袋夹起或搬向茶几，未达到至少1只袋受茶几支承的条件。" + }, + { + "t": 15.2, + "log_step": 94, + "text_zh": "推断：视频 15.2 s 仍可见早餐桌上的两只纸袋，之后至视频 25.1 s 机器人持续倾倒且双爪未携带纸袋；结合评分器 q_score=0.0、live_matches_replay=1，终态没有纸袋上茶几。log step 94 的服务状态已为倒地失败；其后 log step 96 才写出的搬运脚本不是本次已执行动作。" + } + ] + }, + "sacks_on_table_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.5, + "log_step": null, + "text_zh": "观察：视频 0.0 s、4.5 s 和 7.5 s，两只棕色纸袋都立在白色早餐桌上；视频 2.5 s 和 6.0 s 的木色茶几上没有纸袋。机器人仅转向巡视，没有把纸袋夹起或搬向茶几，未达到至少2只袋受茶几支承的条件。" + }, + { + "t": 15.2, + "log_step": 94, + "text_zh": "推断：视频 15.2 s 仍可见早餐桌上的两只纸袋，之后至视频 25.1 s 机器人持续倾倒且双爪未携带纸袋；结合评分器 q_score=0.0、live_matches_replay=1，终态没有纸袋上茶几。log step 94 的服务状态已为倒地失败；其后 log step 96 才写出的搬运脚本不是本次已执行动作。" + } + ] + }, + "dice_in_sacks_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.4, + "log_step": 68, + "text_zh": "观察：视频 9.5–14.4 s，两个浅色带绿色面的骰子仍在电视柜顶，机器人夹爪没有伸向骰子、合拢抓住或带走它们。log step 68 只调用逆运动学查询 r.ik，没有提交该抓取动作；全片未见1个骰子进入纸袋的过程。" + }, + { + "t": 25.1, + "log_step": 94, + "text_zh": "推断：视频 14.8–25.1 s 机器人倾倒、尝试移动后仍斜躺，未发生骰子搬运；结合评分器 q_score=0.0、live_matches_replay=1，终态无骰子入袋。" + } + ] + }, + "dice_in_sacks_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.4, + "log_step": 68, + "text_zh": "观察：视频 9.5–14.4 s，两个浅色带绿色面的骰子仍在电视柜顶，机器人夹爪没有伸向骰子、合拢抓住或带走它们。log step 68 只调用逆运动学查询 r.ik，没有提交该抓取动作；全片未见2个骰子进入纸袋的过程。" + }, + { + "t": 25.1, + "log_step": 94, + "text_zh": "推断：视频 14.8–25.1 s 机器人倾倒、尝试移动后仍斜躺，未发生骰子搬运；结合评分器 q_score=0.0、live_matches_replay=1，终态无骰子入袋。" + } + ] + }, + "wafers_in_sacks_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.4, + "log_step": 74, + "text_zh": "观察：视频 0.0–14.4 s 的巡视及柜前观察中，装威化饼的抽屉保持关闭；视频 14.8–25.1 s 机器人倾倒，没有打开抽屉、取出白色红边长条包装或向纸袋搬运的动作，未见1片威化饼入袋。" + }, + { + "t": 25.1, + "log_step": 94, + "text_zh": "推断：威化饼初始位于关闭抽屉内，视频中既无取出也无装袋；结合评分器 q_score=0.0、live_matches_replay=1，终态没有威化饼入袋。成功参考视频 75.0 s 的敞开内腔和视频 119.8 s 的入袋外观仅用于辨认判据，不作为本次进展。" + } + ] + }, + "wafers_in_sacks_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.4, + "log_step": 74, + "text_zh": "观察：视频 0.0–14.4 s 的巡视及柜前观察中，装威化饼的抽屉保持关闭；视频 14.8–25.1 s 机器人倾倒，没有打开抽屉、取出白色红边长条包装或向纸袋搬运的动作，未见2片威化饼入袋。" + }, + { + "t": 25.1, + "log_step": 94, + "text_zh": "推断：威化饼初始位于关闭抽屉内，视频中既无取出也无装袋；结合评分器 q_score=0.0、live_matches_replay=1，终态没有威化饼入袋。成功参考视频 75.0 s 的敞开内腔和视频 119.8 s 的入袋外观仅用于辨认判据，不作为本次进展。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "wafer_drawer_opened", + "t": 14.8, + "log_step": 74, + "where": "探索", + "evidence_zh": "观察：视频 9.5–14.4 s 机器人停在柜前观察关闭的抽屉，视频约 14.8 s 后退时视野开始持续倾斜，视频 15.2–21.0 s 进一步侧翻，直到视频 25.1 s 仍未恢复直立或操作抽屉。log step 69、72 检查抽屉图像，log step 74 明确执行后退以查看柜体正面；故断点对应打开抽屉前的现场探索。log step 94 的服务最终状态为 failure: the robot fell over。" + }, + "unmet": { + "sacks_on_table_1": false, + "sacks_on_table_2": false, + "dice_in_sacks_1": false, + "dice_in_sacks_2": false, + "wafers_in_sacks_1": false, + "wafers_in_sacks_2": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 14.8, + "log_step": 80, + "evidence_zh": "观察：视频约 14.8 s 起，机器人头部与两腕视角随机体一起持续旋转，视频 17.0–21.0 s 场景接近横置，视频 24.0–25.1 s 仍斜向天花板；机器人未恢复稳定直立。log step 80 的服务读数 up_z=-0.1399，log step 94 最终返回倒地失败，证实是机体失衡而非单独移动相机。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "evidence_zh": "推断：log step 60 中实际使用的导航器只根据平面位置和偏航误差输出连续底盘位移，每次重复两行 dt=0.1 s 的指令，不根据底座高度或倾斜反馈限制移动；log step 74 使用该导航器后退时，视频约 14.8 s 开始持续侧翻。log step 80 已测得 up_z=-0.1399 后，log step 81 仍以固定 vx=-0.05、vy=0.08 的三行突发命令尝试恢复；log step 85 服务读数底座高度达 1.8667 m，后续 log step 90–91 改为零位移等待，也未在视频 25.1 s 前恢复直立。这些实际控制与反馈表明底盘运动及恢复控制未稳定机体姿态。", + "source_zh": "日志", + "t": 14.8, + "log_step": 60 + } + ], + "gap_zh": "没有逐帧状态日志，视频的头部和腕部视角遮住底座与家具的局部接触，无法确定引起倾倒的首个碰撞部位或接触力；不据此追加被挡/碰撞或参数调试。断点时间取视频可见的持续倾斜起点，精度约半秒。" + }, + "summary_zh": "评分局只完成了巡视和柜前探索，7个节点均未达成；两只纸袋仍在早餐桌、骰子未离柜顶、威化饼未取出。机器人在为打开抽屉而后退观察时，于视频约 14.8 s 持续倾倒，导航与恢复控制未稳定机体，最终服务判定倒地失败；log step 96 才保存的搬运脚本不计入本局进展。底座接触被遮挡且没有状态日志，不能确定最初触发失稳的具体家具接触。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "逐帧核对：0–14 s 机器人巡视并停在电视柜前，抽屉关闭、纸袋仍在早餐桌、骰子在柜顶；约 14.8 s 起持续倾倒至 25.1 s，与标注一致。节点全部未达成、断点 wafer_drawer_opened（探索）、平衡现象与反馈控制根因均有证据支持，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:40:12Z", + "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-make-gift-bags-for-baby-showers-i00-standard--ehgih5x/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-make-gift-bags-for-baby-showers-i00-standard--ehgih5x/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "4a563d5255d45047e09491978288e7346ad3c7f49ad4ca0644ef32bec4fda746", + "video_sha256": "b7feadab6baea83d24fb9f4ec9f2ff9aef7f9191e7dd6ae860b677da5d4b68f9", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/make_gift_bags_for_baby_showers/trajectories/behavior-make-gift-bags-for-baby-showers-i00-standard--fjxjkar.json b/phase2/behavior-1k/make_gift_bags_for_baby_showers/trajectories/behavior-make-gift-bags-for-baby-showers-i00-standard--fjxjkar.json new file mode 100644 index 0000000000000000000000000000000000000000..e2a08f438281d75d3db3ff30231ae7d6e6486e2a --- /dev/null +++ b/phase2/behavior-1k/make_gift_bags_for_baby_showers/trajectories/behavior-make-gift-bags-for-baby-showers-i00-standard--fjxjkar.json @@ -0,0 +1,353 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-make-gift-bags-for-baby-showers-i00-standard--fjxjkar", + "taskKey": "behavior-1k/make_gift_bags_for_baby_showers", + "dag_sha256": "7b0231203ecf0f8f40c0a0d2dedc737f77e9c9869a9ff9e143165a82dfa79100", + "outcome": { + "success": 0, + "reward": 0.16666666666666666, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 7212, + "sim_steps": 7212, + "physics_steps": 28848, + "steps": 3869, + "elapsed_s": 2653.9, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 1, + "q_score": 0.16666666666666666, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 1.185, + "peak_processes": 11, + "peak_disk_gb": 0.32, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-make-gift-bags-for-baby-showers-i00-standard--fjxjkar/replay.mp4", + "duration_s": 240.4, + "fps": 30.0, + "frames": 7212, + "sha256": "a00597143721c78449ab733cbd775f531f9713168e23698428043611b9b91ead" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "wafer_drawer_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8, + "log_step": null, + "text_zh": "观察：视频 8.0 s 可见电视下木柜抽屉前板贴合柜体；全片机器人只在早餐桌、椅子及茶几之间操作，未见拉抽屉动作，也未出现成功参照视频 66–78 s 所示的抽屉内腔开口。" + }, + { + "t": 240.3, + "log_step": 152, + "text_zh": "观察：视频 239.3–240.3 s 机器人已侧倒在椅子旁；log step 152 的服务状态为 done=True、reason=\"failure: the robot fell over\"，没有后续开柜操作。" + } + ] + }, + "sacks_on_table_1": { + "method": "visual", + "intervals": [ + [ + 182.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 139, + "log_step": 116, + "text_zh": "观察：视频 137–140 s 右夹爪带着棕色纸袋离开椅面，原椅面随即空出；视频 144–148 s 底盘向茶几移动时纸袋仍随右夹爪运动。" + }, + { + "t": 182.5, + "log_step": 135, + "text_zh": "观察：视频 178–182.5 s 机器人右夹爪将袋子转正并下放，约视频 182.5 s 袋底与木色茶几桌面接合（视觉估计误差约0.5秒）；视频 186.5–191.5 s 右夹爪张开退走，纸袋仍独立直立在桌面。" + }, + { + "t": 196, + "log_step": null, + "text_zh": "观察：视频 196.0 s 转离茶几前仍可见一只袋留在桌面；未见机器人随后返回搬走它。" + }, + { + "t": 240.3, + "log_step": null, + "text_zh": "推断：终帧茶几不在视野内，但此前唯一搬上茶几的袋子未被再次操作，且评分器 q_score=1/6、live_matches_replay=1 与这一件目标关系一致，因此本节点终值为真。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "视频 137–148 s 右二指夹爪夹住从椅面取起的纸袋边角，搬运并转正下放；视频 186.5–191.5 s 张爪退离。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘先向取袋位置移动，视频 140–148 s 承载右臂及所持纸袋驶向茶几，后靠近茶几调整放置位置。" + } + ] + }, + "sacks_on_table_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 35.5, + "log_step": 54, + "text_zh": "观察：视频 33.1–34.9 s 两只袋仍在白色早餐桌上；视频 35.2–36.0 s 双臂接近桌边时袋子移出桌面，视频 60–68 s 可见一只袋落在椅面，另一只在门旁地面。" + }, + { + "t": 112, + "log_step": 98, + "text_zh": "观察：视频 112.0 s 腕部视图仍可见门边地面上的横躺纸袋；另一只袋此后被右夹爪取走，只有这一只被搬到茶几。" + }, + { + "t": 230.5, + "log_step": 151, + "text_zh": "观察：视频 208–224 s 机器人左夹爪夹住倒椅的腿并用底盘拖移，随后松开椅子；视频 228–230.5 s 机器人空手驶向门旁纸袋，画面开始显著倾斜，视频 239.3–240.3 s 机器人侧倒在椅子旁，未带回第二只袋。" + }, + { + "t": 240.3, + "log_step": null, + "text_zh": "推断：已见一只袋留在茶几，另一只从未被取回；评分器 q_score=1/6 也不允许两只袋均在茶几上，故第2只袋上茶几始终未达成，终值为假。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "视频 35.2–36.0 s 双臂接近引起两只袋离开早餐桌，但桌面与机械臂遮挡了瞬间接触点，无法确定碰落地面袋的是哪只夹爪或哪段臂体；未见对这只袋建立抓握。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "为取门边地面袋清路，视频 208–224 s 左二指夹爪夹住倒椅的腿并拖移；这里的已确认抓握对象是椅腿。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘向早餐桌及地面袋位置移动；视频 216–224 s 配合左臂拖椅，视频 228–230.5 s 再向第二只袋驶去，随后失衡。" + } + ] + }, + "dice_in_sacks_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8, + "log_step": null, + "text_zh": "观察：视频 8.0 s 柜顶可见两个浅色玩具骰子，初始两只纸袋在早餐桌上；全片未见机器人在柜顶夹取骰子或携骰子向袋口移动，视频 186.5–196.0 s 茶几上的袋口未见骰子投入。" + }, + { + "t": 240.3, + "log_step": null, + "text_zh": "推断：视频显示的唯一目标进展是一只袋上茶几，评分器 q_score=1/6 且 live_matches_replay=1；在该关系已占唯一目标计数的情况下，没有余量支持骰子入袋，故本计数节点终值为假。" + } + ] + }, + "dice_in_sacks_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8, + "log_step": null, + "text_zh": "观察：视频 8.0 s 柜顶可见两个浅色玩具骰子，初始两只纸袋在早餐桌上；全片未见机器人在柜顶夹取骰子或携骰子向袋口移动，视频 186.5–196.0 s 茶几上的袋口未见骰子投入。" + }, + { + "t": 240.3, + "log_step": null, + "text_zh": "推断：视频显示的唯一目标进展是一只袋上茶几，评分器 q_score=1/6 且 live_matches_replay=1；在该关系已占唯一目标计数的情况下，没有余量支持骰子入袋，故本计数节点终值为假。" + } + ] + }, + "wafers_in_sacks_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 196, + "log_step": null, + "text_zh": "观察：从视频 0–196.0 s 的取袋和放袋过程到视频 239.3–240.3 s 的倒地终段，机器人从未打开木柜抽屉，未见红边白色长条威化包装离柜或进入任何袋子；成功参照视频 78–114 s 可见的手持威化包装在本片中未出现。" + }, + { + "t": 240.3, + "log_step": null, + "text_zh": "推断：初始威化在关闭抽屉内，抽屉未打开也没有取出或投入动作；结合唯一目标关系已由茶几上一只袋占用、评分器 q_score=1/6，本计数节点始终未达成且终值为假。" + } + ] + }, + "wafers_in_sacks_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 196, + "log_step": null, + "text_zh": "观察：从视频 0–196.0 s 的取袋和放袋过程到视频 239.3–240.3 s 的倒地终段，机器人从未打开木柜抽屉，未见红边白色长条威化包装离柜或进入任何袋子；成功参照视频 78–114 s 可见的手持威化包装在本片中未出现。" + }, + { + "t": 240.3, + "log_step": null, + "text_zh": "推断：初始威化在关闭抽屉内，抽屉未打开也没有取出或投入动作；结合唯一目标关系已由茶几上一只袋占用、评分器 q_score=1/6，本计数节点始终未达成且终值为假。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.16666666666666666, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "sacks_on_table_2", + "t": 35.5, + "log_step": 54, + "where": "操作中", + "evidence_zh": "观察：视频 35.2–36.0 s 机器人双臂向早餐桌上的袋子接近时把袋子碰离桌面，视频 60–68 s 两只袋分别在椅面和门旁地面；后来右夹爪只取回椅面袋并放上茶几，地面袋的搬运一直未完成。推断：按数量节点，取回的袋子算第1只，未取回的算第2只；早期碰落对第1只的影响已修复，对第2只始终未修复，故以视频约 35.5 s 为断点，而不是以抽屉或最终倒地规则作断点。视频 230.5–240.3 s 的转场倒地进一步终止了取回第二只袋的机会。" + }, + "unmet": { + "sacks_on_table_1": true, + "sacks_on_table_2": false, + "dice_in_sacks_1": false, + "dice_in_sacks_2": false, + "wafers_in_sacks_1": false, + "wafers_in_sacks_2": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 35.5, + "log_step": 54, + "evidence_zh": "观察：视频 33.1–34.9 s 袋子仍立于早餐桌，视频 35.2–36.0 s 机器人双臂经过桌边时袋子移出桌面，视频 60–68 s 可见袋子落到椅面和门旁地面。log step 54 执行张爪状态的双臂预抓取关节移动；未见先夹持袋子再丢失的过程，因此这里记录碰落目标，而非持物脱落。" + }, + { + "cat": "全身", + "item": "平衡", + "t": 230.5, + "log_step": 151, + "evidence_zh": "观察：视频 228–230.5 s 机器人空手向第二只袋行驶，随后机身及各相机视野逐渐侧翻，视频 239.3–240.3 s 椅架贴近头部画面，机器人未恢复直立。log step 151 的本体反馈 tilt 从1.0000降至0.5452、0.2798、0.0207及-0.2811，服务最终返回 failure: the robot fell over。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "轨迹或逆解", + "evidence_zh": "推断：取袋目标和抓取预备姿态本身可行，但移动路径未避开场景。log step 53 仅为双臂预抓取、抓取和抬升姿态求逆解，log step 54 直接以 move_q 插值驶向预抓取关节姿态；视频 35.2–36.0 s 该接近过程碰落袋子。agent 在 log step 155 自述“arms passed through the tabletop on the way”，与可见的碰落结果一致；归因于接近轨迹的碰撞处理，不据此声称目标不可达。", + "source_zh": "日志 / 视频 / agent 自述" + }, + { + "cat": "控制", + "item": "反馈控制", + "evidence_zh": "推断：机器人在取回第二只袋的转场中已明显倾斜，却没有停止驱动或恢复支撑。log step 21 定义的 go_to 循环把 tilt 仅用于打印，退出条件检查位置、偏航和 done；log step 22 的修改只增加先旋转。log step 151 在反馈 tilt=0.5452 后仍继续多轮 go_to，直到 tilt=-0.2811，视频 230.5–240.3 s 与其持续翻倒一致。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "无逐帧状态日志。视频 35.2–36.0 s 桌边接触点被桌面和臂体遮挡，能确定袋子被碰离桌面，不能确定具体碰撞连杆或接触力，因此第二只袋的该次接触标未知；第一只袋接触茶几的时刻按视频估计约182.5 s、误差约0.5秒。末段茶几不在相机视野内，第一只袋的终值结合最后可见状态、无再次搬运和评分器总分推断。" + }, + "summary_zh": "机器人仅完成第1只袋上茶几，最终1/7个DAG节点成立，原生目标得分为1/6；抽屉、骰子入袋和威化入袋均未完成。第2只袋在视频约35.5 s 的双臂接近碰撞中落离早餐桌，始终未取回；机器人随后在视频约230.5 s 前往该袋的转场中失衡，日志支持接近轨迹避碰不足及倾斜反馈未触发停止。无状态日志，早期具体接触部位及末段茶几状态有遮挡；本运行task_text采用目标关系成立即成功的旧规则，未追溯要求DAG所述新增松手静置窗口。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽查视频关键帧：35 s 前后袋子被碰离早餐桌、60–112 s 袋在椅面和地面、182 s 袋下放到茶几、190–196 s 袋留在茶几，均与标注一致；q_score=1/6 支持仅第1只袋节点成立。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": "2026-10-30T21:30:11Z", + "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-make-gift-bags-for-baby-showers-i00-standard--fjxjkar/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-make-gift-bags-for-baby-showers-i00-standard--fjxjkar/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0718c1ab10f22ea4b961b31d7d7eadd018094bcdd1aa116bc318e600d977ca40", + "video_sha256": "a00597143721c78449ab733cbd775f531f9713168e23698428043611b9b91ead", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/make_gift_bags_for_baby_showers/trajectories/behavior-make-gift-bags-for-baby-showers-i00-standard--gjohswh.json b/phase2/behavior-1k/make_gift_bags_for_baby_showers/trajectories/behavior-make-gift-bags-for-baby-showers-i00-standard--gjohswh.json new file mode 100644 index 0000000000000000000000000000000000000000..1a0c5cf134fd10ec682a8dec502c5f84d7e8bf16 --- /dev/null +++ b/phase2/behavior-1k/make_gift_bags_for_baby_showers/trajectories/behavior-make-gift-bags-for-baby-showers-i00-standard--gjohswh.json @@ -0,0 +1,457 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-make-gift-bags-for-baby-showers-i00-standard--gjohswh", + "taskKey": "behavior-1k/make_gift_bags_for_baby_showers", + "dag_sha256": "7b0231203ecf0f8f40c0a0d2dedc737f77e9c9869a9ff9e143165a82dfa79100", + "outcome": { + "success": 0, + "reward": 0.8333333333333334, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "n_actions": 33157, + "sim_steps": 33157, + "physics_steps": 132628, + "steps": 32921, + "elapsed_s": 14183.3, + "video_rendered": 1, + "gpu_lost": 0, + "q_score": 0.8333333333333334, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-make-gift-bags-for-baby-showers-i00-standard--gjohswh/replay.mp4", + "duration_s": 1105.233, + "fps": 30.0, + "frames": 33157, + "sha256": "d3a4a36970beaa9e73010da06c10aac07aa52f020d2215b1b735848b8c9846d7" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 0, + "peak": 6, + "final": 6, + "nodes": { + "wafer_drawer_opened": { + "method": "visual", + "intervals": [ + [ + 600.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 600.5, + "log_step": 370, + "text_zh": "观察：视频 600.2–604.7 s，机器人左夹爪拉出电视柜左侧最上方浅抽屉，前板与柜体分离，内腔和两片白色红边包装威化显露；先前视频 420–595 s 打开的其他抽屉不计本节点。" + }, + { + "t": 618.5, + "log_step": 378, + "text_zh": "观察：视频 616.9–622.7 s，机器人左夹爪夹住其中一片威化并将其带离抽屉，印证此前开口已足以取物；本节点为开过即保留的事件。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左二指夹爪夹住目标浅抽屉细把手并向外拉；末段为取剩余威化又多次重新夹持、拉动把手。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "取物期间轮式底盘在柜前调整站位，视频约 1043–1046 s 还在夹爪闭合于把手附近时后退拉抽屉。" + } + ] + }, + "sacks_on_table_1": { + "method": "visual", + "intervals": [ + [ + 27.0, + 50.5 + ], + [ + 57.5, + 60.0 + ], + [ + 151.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 27.5, + "log_step": 68, + "text_zh": "观察：视频 24.2–31.7 s，机器人左夹爪将第一只袋降到茶几后张开，袋子倒在桌面；视频 43.2–49.7 s 它仍在桌面，约视频 50.5 s 被左夹爪重新提起，因而结束第一段关系。" + }, + { + "t": 58.5, + "log_step": 96, + "text_zh": "观察：视频 56.1–59.9 s，机器人再次放下的袋子短暂直立在茶几边沿，左腕视角可见其下方桌面；视频约 60.0 s 袋子离开桌沿，视频 63.7 s 已落到地毯。第二段边界取约视频 57.5–60.0 s。" + }, + { + "t": 153.5, + "log_step": 155, + "text_zh": "观察：视频 147.2–153.9 s，机器人把从地毯捡起的袋子降到茶几并松手，袋子随后侧倒但继续由桌面支承；关系恢复锚点约视频 151.5 s。" + }, + { + "t": 904.0, + "log_step": 565, + "text_zh": "观察：视频 282.5 s 后有两袋在桌上；视频约 676 s 其中一袋掉落期间，另一只直立袋始终留在茶几，视频 754.5 s 后还可见其中的威化。视频 848–906 s 两袋均重新留在桌面；此后机器人转向柜子，末段右腕背景仍可见茶几与袋子。至少一袋在桌面的计数未再次降为零。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左夹爪夹住第一只纸袋的袋壁或袋沿，搬运、重新夹持调姿，并从地毯捡回。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘承载所持纸袋，从早餐桌驶向茶几，并在地毯取袋与茶几放袋时调整位置。" + } + ] + }, + "sacks_on_table_2": { + "method": "visual", + "intervals": [ + [ + 282.5, + 353.0 + ], + [ + 361.0, + 676.0 + ], + [ + 847.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 283.0, + "log_step": 226, + "text_zh": "观察：视频 274.2–283.7 s，机器人右夹爪携带的第二只袋在茶几上方下降，约视频 282.5 s 袋底到达桌面，随后松手；另一只侧躺袋仍在桌面。" + }, + { + "t": 355.5, + "log_step": 268, + "text_zh": "推断：视频 353–357 s，右夹爪放下骰子后上撤，袋沿挂在张开的手指上，袋子随右腕上移；log step 268 的机器人服务反馈末端由约 0.578 米升到 0.900 米，腕部画面仍被同一袋内壁包围。计数短暂降为一袋；视频 359–361.5 s 右臂回降，随后视频 367–374 s 手指退出而袋子留在桌上，恢复锚点约视频 361.0 s。" + }, + { + "t": 676.0, + "log_step": 420, + "text_zh": "观察：视频 670–673 s，两只袋仍在茶几；视频 675–677 s，机器人左臂带威化转向侧躺袋时，该袋从桌沿滑下，之后桌面只剩另一袋。视频 780.7–783.7 s 可见地毯上的袋子和散落骰子。" + }, + { + "t": 848.0, + "log_step": 538, + "text_zh": "观察：视频 842.9–849.7 s，机器人左夹爪将捡回的空袋降至茶几并释放，腕部可见袋体底部与桌面相接，约视频 847.5 s 恢复两袋支承；视频 855.2–865.7 s 夹爪退出，两袋继续在桌面，视频 904–906 s 仍成立。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右夹爪从早餐桌抓住另一纸袋并搬至茶几；计数丢失后，左夹爪从地毯夹住掉落袋的袋沿，重新搬回桌面。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在早餐桌、茶几及地毯取袋位置间行驶，搬运时支承所持纸袋。" + } + ] + }, + "dice_in_sacks_1": { + "method": "visual", + "intervals": [ + [ + 349.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 349.5, + "log_step": 265, + "text_zh": "观察：视频 340–345 s，两夹爪各带一个骰子从柜前驶到茶几；视频 348–351 s，右夹爪把其骰子降入直立袋口以下，随后张开，右腕可见绿色面骰子处在袋内壁之间。首次中心进入袋腔取约视频 349.0 s，持物不屏蔽本节点。" + }, + { + "t": 374.0, + "log_step": 276, + "text_zh": "推断：视频 353–361 s 直立袋随右夹爪短暂升降，但未见该骰子脱离袋子；视频 367–374 s 右爪退出、袋子仍在桌上，随后对侧袋的操作和掉落也没有移走这只直立袋内的骰子。" + }, + { + "t": 896.5, + "log_step": 566, + "text_zh": "观察：视频 892–896.5 s，另一骰子也被放回另一袋；视频 904–906 s 两袋仍在桌面，之后机器人只在柜前取剩余威化。评分器 q_score=5/6 与两袋、两骰子及一片威化的最终关系相符。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右二指夹爪夹住一个玩具骰子，带到直立袋上方后降入袋口并释放；左爪同时携带另一个骰子，未共同夹持此骰子。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘承载双臂所持骰子，从柜前驶至茶几。" + } + ] + }, + "dice_in_sacks_2": { + "method": "visual", + "intervals": [ + [ + 391.5, + 676.5 + ], + [ + 893.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 392.0, + "log_step": 289, + "text_zh": "观察：视频 388.2–391.7 s，左夹爪带第二个骰子斜向进入侧躺纸袋的开口，视频 392–398.7 s 左腕可见骰子被棕色袋内壁围住；视频 398.7–405 s 左爪撤出，骰子留在袋中。另一骰子先已在不同的直立袋内。" + }, + { + "t": 676.5, + "log_step": 420, + "text_zh": "推断：视频 675–677 s 侧躺袋滑落桌沿后，视频 780.7–783.7 s 首次清楚看到其骰子散落在地毯上、位于袋外，至视频 870 s 仍在地毯；将关系丢失约记在同次掉落的视频 676.5 s，骰子脱袋的精确帧被桌沿遮挡。" + }, + { + "t": 893.5, + "log_step": 563, + "text_zh": "观察：视频 870–876 s，机器人左夹爪把地毯上的骰子夹起，旧位置不再留有该骰子；视频 891.5–893.7 s 骰子下降进入已捡回的空袋，视频 894–896.7 s 松手后留在袋腔，视频 899–906 s 手撤出而两袋留在桌上。恢复时刻约视频 893.0 s。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左二指夹爪持另一骰子，从侧向袋口插入后释放；掉落后再夹起地毯上的骰子，降入捡回的袋内。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘载着两臂所持骰子到茶几；补救时移动到地毯取物位置，再携骰子回到袋口。" + } + ] + }, + "wafers_in_sacks_1": { + "method": "visual", + "intervals": [ + [ + 754.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 620.5, + "log_step": 378, + "text_zh": "观察：视频 616.9–622.7 s，左夹爪夹起第一片威化，白色红边包装离开抽屉并随夹爪移动；第二片仍可见于抽屉。" + }, + { + "t": 720.5, + "log_step": 455, + "text_zh": "观察：视频 700–717 s，左夹爪先将威化靠在直立袋外侧，松手后视频 720.2 s 包装平躺在袋旁桌面，未把这次靠袋释放记为入袋。" + }, + { + "t": 755.5, + "log_step": 480, + "text_zh": "观察：视频 748–754.7 s，机器人重新夹起威化，倾斜其长轴并向袋内下送，约视频 754.5 s 包装中部降入袋腔；视频 755–759 s 松手退爪，视频 762–777 s 包装下部留在袋内，上端从袋口露出。后续视频 820.9 s 腕部可见威化仍在该袋中；机器人再未取走它。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左二指夹爪从抽屉夹出第一片威化，搬至茶几；首次放在袋外桌面后重新夹起，倾斜并降入直立袋。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘载着左爪所持威化从柜前驶向茶几，并在袋口放置前调整站位。" + } + ] + }, + "wafers_in_sacks_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 649.0, + "log_step": 405, + "text_zh": "观察：视频 625–658 s，左爪仍持第一片威化，机器人右臂多次从抽屉前伸向剩余威化；视频 647–649.5 s 右手及前臂停在柜前板附近，包装仍躺在抽屉内，没有随手出来。" + }, + { + "t": 962.5, + "log_step": 596, + "text_zh": "观察：视频 955.2–958.7 s，机器人改用左爪在剩余包装旁闭合；视频 959.7–962.7 s 左手抬离时包装仍在抽屉原处，夹爪未带物。视频 965–1007 s 后续换角度、闭合尝试也没有将它取出。" + }, + { + "t": 1104.7, + "log_step": 681, + "text_zh": "观察：视频 1009–1104.7 s，机器人继续在柜前调整夹爪、推拉抽屉并伸手，末段右腕背景仍显示两只袋在茶几；最后一秒没有第二片威化随爪带出或被运往纸袋的画面。" + }, + { + "t": 1104.7, + "log_step": null, + "text_zh": "推断：评分器报告 q_score=0.8333333333333334、live_matches_replay=1、deterministic=1；初始六个目标关系均不成立，视频支持最终两袋上桌、两骰各入一袋和一片威化入袋，共五个目标关系。因此第二片威化入另一袋最终为假，不能因末帧抽屉内部被遮挡而记未知。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "右手取物时接触柜前板附近而未形成对威化的夹持；后续左夹爪手指在抽屉内拨动剩余威化，使包装沿抽屉底滑动，尤其视频 969–1007 s 与 1018–1023 s；闭爪抬手均未带出包装，未记为成功抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人为了伸入抽屉多次在柜前平移、前后移动和转向，底盘支承取物中的机械臂。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.8333333333333334, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "wafers_in_sacks_2", + "t": 649.0, + "log_step": 405, + "where": "操作中", + "evidence_zh": "观察：视频 625–658 s 机器人已在取第二片威化；视频约 649 s 右臂伸入时停在柜前，包装留在抽屉内。视频 916–1104.7 s 换左手反复尝试仍未取出；早先袋子和骰子落地分别在视频约 848 s 和 893 s 得到恢复，第二片威化入袋是首个尝试后始终未完成的步骤。" + }, + "unmet": { + "sacks_on_table_1": true, + "sacks_on_table_2": true, + "dice_in_sacks_1": true, + "dice_in_sacks_2": true, + "wafers_in_sacks_1": true, + "wafers_in_sacks_2": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 649.0, + "log_step": 405, + "evidence_zh": "观察：视频 647–649.5 s，机器人右臂伸向浅抽屉中的威化，手及前臂停靠柜前板，右腕仍看见包装在前方抽屉底，未到达可夹持位置。log step 405 的机器人服务返回右末端目标 z=0.624 米、实际 z=0.7575 米，位置误差约 0.147 米；log step 408 的再次下探仍停在 z≈0.7566 米。" + }, + { + "cat": "接触", + "item": "没建立接触", + "t": 962.5, + "log_step": 596, + "evidence_zh": "观察：视频 955.2–958.7 s 机器人左手在威化旁闭爪，视频 959.7–962.7 s 抬手后包装仍留在抽屉底，未建立能带走包装的夹持；log step 596 的服务读数显示左爪开度约 3.5e-7 米。随后视频 991–1007 s 的闭爪尝试也只使包装留在或滑动于抽屉内，未见它先被持稳再滑脱。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频 / 日志", + "evidence_zh": "推断：机器人已找到正确的剩余威化，却没有执行出避开柜体并使两指夹住薄包装的取物动作。视频 647–658 s 的柜前受阻与 log step 405、408 中目标/实际末端位置的大偏差相符；视频 955–962.7 s、991–1007 s 换左手靠近后又空夹抬起。log step 403、406、581、594、613、618、630、633 显示 agent 持续改变末端路径、朝向及闭爪顺序，视频仍无取出结果，支持操作控制层面的失败；具体是接触几何、碰撞路径还是跟踪能力占主导，现有证据不足以细分。" + } + ], + "gap_zh": "无逐帧状态日志，腕部近景与柜板、桌沿存在遮挡；袋子在视频约 353–361 s 被带起及放回的边界结合腕部画面和服务末端反馈推断，计时约有一秒误差。视频约 676 s 的落袋遮住骰子脱袋瞬间，以同次掉落作丢失锚点，视频 780.7 s 才有清楚的袋外骰子画面；不能保证这一边界精确到半秒。缺少接触对和力反馈，根因保留在“控制”，不进一步区分接触设计、轨迹与反馈问题；末段袋内细节由最后清楚画面、后续操作范围及评分器五个目标关系总数共同判定。" + }, + "summary_zh": "机器人打开了装威化的浅抽屉，最终把两袋放在茶几上、两骰分别装入不同袋，并装入一片威化，完成 DAG 的 6/7 节点，与评分器五个目标关系成立（q_score=5/6）一致。早期袋子和骰子的掉落均被修复；第二片威化从视频约 649 s 的取物受阻起，历经换臂、空夹和拨动仍未离开抽屉，断点为“第2片威化入袋”，根因支持控制失败。无逐帧状态及接触力记录，部分短暂关系变化的边界靠视频与服务反馈推断，尤其落袋时骰子脱袋的准确时刻有遮挡。", + "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（第2片威化入袋）与评分器 q=5/6 相符；649 s 帧与 log step 405 一致（左手持第一片威化，右臂伸向第二片受阻），根因“控制”有日志支持。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": 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replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/make_gift_bags_for_baby_showers/trajectories/behavior-make-gift-bags-for-baby-showers-i00-standard--wgnojfh.json b/phase2/behavior-1k/make_gift_bags_for_baby_showers/trajectories/behavior-make-gift-bags-for-baby-showers-i00-standard--wgnojfh.json new file mode 100644 index 0000000000000000000000000000000000000000..5e341de6ea215671741957343c82235ab0622ffe --- /dev/null +++ b/phase2/behavior-1k/make_gift_bags_for_baby_showers/trajectories/behavior-make-gift-bags-for-baby-showers-i00-standard--wgnojfh.json @@ -0,0 +1,332 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-make-gift-bags-for-baby-showers-i00-standard--wgnojfh", + "taskKey": "behavior-1k/make_gift_bags_for_baby_showers", + "dag_sha256": "7b0231203ecf0f8f40c0a0d2dedc737f77e9c9869a9ff9e143165a82dfa79100", + "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": 22603, + "sim_steps": 22603, + "physics_steps": 90412, + "steps": 2072, + "elapsed_s": 4368.0, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 1, + "q_score": 0.0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-make-gift-bags-for-baby-showers-i00-standard--wgnojfh/replay.mp4", + "duration_s": 753.433, + "fps": 30.0, + "frames": 22603, + "sha256": "d9572949802a02ad97245c94a1ff1c506aee44c2deede9f7dc907f36f5bdb3c5" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "wafer_drawer_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 木柜各抽屉前板贴合柜体；视频 34–45 s、230–245 s、395–419 s 再次看到柜体时，未见上层抽屉拉出形成内腔开口。全程机器人主要围绕早餐桌、地上纸袋及椅子活动，未见开抽屉动作；对照成功参考视频约 70 s 的明显抽屉开口，本次不满足判据。" + } + ] + }, + "sacks_on_table_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 23.5, + "log_step": null, + "text_zh": "观察：视频 0–23 s 两只纸袋在白色早餐桌上；视频 23.5–24.5 s 机器人空手靠近时桌椅被碰动，两袋倾倒并离开桌面，视频 27–36 s 可见两袋落在桌旁地面。" + }, + { + "t": 425, + "log_step": 219, + "text_zh": "观察：视频 250–395 s 左腕视角反复可见夹爪旁的棕色开口纸袋，视频 410–425 s 机器人移向客厅；视频 420–439 s 茶几桌面可见且没有纸袋，未见纸袋落到茶几上。之后机器人返回早餐桌附近继续够取地面纸袋，直至视频 753.3 s 的倾斜终态仍未完成搬袋。" + }, + { + "t": 753.3, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0、live_matches_replay=1，且这些目标关系初始均不成立，因此最终没有任何纸袋上茶几关系成立；与视频中未见放袋到茶几相符。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 120–147 s 左夹爪在地上纸袋表面附近向下接触、挤压并反复闭合，随后抬起时纸袋仍留在地面；这里不把空闭合计作抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人为取袋驶近早餐桌、后退及绕椅移动；视频 23.5–24.5 s 接近时桌椅被碰动、纸袋掉落，后续仍多次驱动底盘寻找取袋位置。" + } + ] + }, + "sacks_on_table_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 250, + "log_step": null, + "text_zh": "观察：视频 27–36 s 两袋均落到地面；机器人随后对不同位置的纸袋先后取抓，视频 250–395 s 左腕画面可见一只纸袋随机械臂改变位置，但全程没有两只纸袋受到茶几桌面支承的画面。计数节点按不同纸袋的实际尝试记录接触，不由夹起推出放置完成。" + }, + { + "t": 753.3, + "log_step": null, + "text_zh": "推断：初始两袋均在早餐桌；视频 420–439 s 茶几无纸袋，之后机器人返回地面取袋且未完成搬运。评分器 reward.q_score=0.0、live_matches_replay=1 也排除最终两袋上茶几。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 250–395 s 左二指夹爪夹住另一位置的棕色纸袋，纸袋贴近左腕相机并随手臂升高、转向；这是单臂抓握，没有双手共同夹持同袋。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人驶到另一只地面纸袋旁取物，并在视频 410–425 s 移向客厅；搬运过程中底盘承载机械臂与纸袋，未形成茶几放置关系。" + } + ] + }, + "dice_in_sacks_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 395, + "log_step": null, + "text_zh": "观察：视频 0 s、230–245 s 和 395–419 s 木柜台面仍可见浅色绿色面的玩具骰子，机器人操作对象是纸袋，未见把骰子从柜顶夹起并送进纸袋的动作。" + }, + { + "t": 753.3, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0、live_matches_replay=1；骰子初始在柜顶、袋子在早餐桌，初始没有入袋关系，故最终“第1个骰子入袋”为假。" + } + ] + }, + "dice_in_sacks_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 395, + "log_step": null, + "text_zh": "观察：视频 0 s、230–245 s 和 395–419 s 木柜台面仍可见浅色绿色面的玩具骰子，机器人操作对象是纸袋，未见把骰子从柜顶夹起并送进纸袋的动作。" + }, + { + "t": 753.3, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0、live_matches_replay=1；骰子初始在柜顶、袋子在早餐桌，初始没有入袋关系，故最终“第2个骰子入袋”为假。" + } + ] + }, + "wafers_in_sacks_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 425, + "log_step": null, + "text_zh": "观察：机器人未把上层抽屉拉开，也未见从柜内取出白色红边长条包装再放入纸袋的动作；视频 420–439 s 茶几未见已装配的礼品袋。" + }, + { + "t": 753.3, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0、live_matches_replay=1；威化初始在柜内而非袋中，因此最终“第1片威化入袋”为假。" + } + ] + }, + "wafers_in_sacks_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 425, + "log_step": null, + "text_zh": "观察：机器人未把上层抽屉拉开，也未见从柜内取出白色红边长条包装再放入纸袋的动作；视频 420–439 s 茶几未见已装配的礼品袋。" + }, + { + "t": 753.3, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0、live_matches_replay=1；威化初始在柜内而非袋中，因此最终“第2片威化入袋”为假。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "sacks_on_table_1", + "t": 23.5, + "log_step": 113, + "where": "转场", + "evidence_zh": "观察：视频 23.5–24.5 s 机器人空手驶近早餐桌取袋，桌椅移动，两只纸袋倾倒落地；log step 113 的导航输出在接近桌子后才报告障碍并停止。此后虽反复抓取且一度举起纸袋，视频 420–439 s 茶几仍无纸袋，直至视频 753.3 s 未完成本步，故这是最早未修复的步骤失败。 视频 743.5–753.3 s 视野持续侧倾；log step 265 报 EpisodeOver，log step 267 的服务状态为 done=true、reason=\"failure: the robot fell over\"，确认评分因倒地结束；该终止事实仅作为本步未完成的证据。" + }, + "unmet": { + "sacks_on_table_1": false, + "sacks_on_table_2": false, + "dice_in_sacks_1": false, + "dice_in_sacks_2": false, + "wafers_in_sacks_1": false, + "wafers_in_sacks_2": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 23.5, + "log_step": 113, + "evidence_zh": "观察：视频 23 s 两袋直立于早餐桌，视频 23.5–24.5 s 机器人靠近后桌椅被碰动，两袋倾倒滑离桌面；视频 27–36 s 袋子留在地面，机器人没有建立茶几支承关系。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 113 的导航脚本每次先发送底盘位移、再读取前向深度决定是否停止，实际输出在靠近早餐桌后才报障碍；视频 23.5–24.5 s 同时显示桌椅被碰动、纸袋掉落，支持接近与避碰控制失败。此后机器人反复低位伸手和绕椅行驶；视频 743.5–753.3 s 视野持续侧倾，log step 264–267 记录绕椅导航尚未完成即被服务倒地判定中断。倒地仅作为终止事实保留，缺少其受力链路与独立平衡控制失败的证据，不据此追加本体稳定控制归因；控制根因不进一步细分。" + } + ], + "gap_zh": "没有逐帧状态日志或接触力记录，腕部近景部分遮住夹爪与纸袋，不能精确确定每次闭合的对向接触、搬运中失去纸袋的具体时刻及最终倒地的受力链路；故不凭夹爪开度或 agent 最终自述补记放置，不进一步细分控制根因。六个目标最终值结合已检查的画面及评分器零总分推断。" + }, + "summary_zh": "评分尝试反复取抓两只纸袋，并一度夹起搬运，但七个 DAG 节点均未达成，最终为 0/7（q_score=0）。最早未修复的失败在“第1只袋上茶几”：机器人于视频约 23.5–24.5 s 接近早餐桌时碰动桌椅、使纸袋落地，后续恢复未成功，最终在视频 743.5–753.3 s 倒地结束；证据支持控制层面的失败。缺少状态与接触力日志，无法确认各次夹持及失物的精确过程；本次任务文本采用目标关系同时成立即结束的旧验收表述，但本次没有达到任何目标关系，规则窗口差异不影响结论。", + "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（0/7、断点 sacks_on_table_1、约 23.5 s 桌椅被碰动致纸袋落地、时钟与 log step 113 对应）经帧核对成立；问题在第二个现象：把评分器因倒地结束的事件标成独立的“平衡”现象，违反 S14/S15。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "七节点均未达成、断点 sacks_on_table_1（约 23.5 s 视频时钟，桌椅被碰动、纸袋落地）与被挡/碰撞现象经帧核对成立；第1轮的倒地现象已删除，终止事实只留在证据中。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:43:42Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-make-gift-bags-for-baby-showers-i00-standard--wgnojfh/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-make-gift-bags-for-baby-showers-i00-standard--wgnojfh/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-make-gift-bags-for-baby-showers-i00-standard--wgnojfh/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-make-gift-bags-for-baby-showers-i00-standard--wgnojfh/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "61c7c3101c944fb7a7ea3cb8966b79fb03a534b13a7360df742683dd232d4a7e", + "video_sha256": "d9572949802a02ad97245c94a1ff1c506aee44c2deede9f7dc907f36f5bdb3c5", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/rearrange_your_room/trajectories/behavior-rearrange-your-room-i00-privileged--92kv4iu.json b/phase2/behavior-1k/rearrange_your_room/trajectories/behavior-rearrange-your-room-i00-privileged--92kv4iu.json new file mode 100644 index 0000000000000000000000000000000000000000..736d02cd2ec4f95dfc1f83623a297c72c9b5ccbf --- /dev/null +++ b/phase2/behavior-1k/rearrange_your_room/trajectories/behavior-rearrange-your-room-i00-privileged--92kv4iu.json @@ -0,0 +1,257 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-rearrange-your-room-i00-privileged--92kv4iu", + "taskKey": "behavior-1k/rearrange_your_room", + "dag_sha256": "70f0904f1b16483ad518f0a5db5d80d7e537e1442fcfe1c08c6afb0a8657f110", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 0, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 3623, + "sim_steps": 3623, + "fallen": 0, + "final_reward": 1.0, + "q_score": 1.0, + "replay_wall_s": 1002.1, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 3, + "agent_resets": 12, + "agent_sim_steps": 7246, + "agent_records": 4, + "agent_replays": 1, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 8.326, + "peak_memory_gb": 13.413, + "peak_processes": 48, + "peak_disk_gb": 0.968, + "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": 0, + "new": 1, + "why": "now passes", + "at": "2026-10-18 02:08:19" + } + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-rearrange-your-room-i00-privileged--92kv4iu/replay.mp4", + "duration_s": 120.767, + "fps": 30.0, + "frames": 3623, + "sha256": "cc10084324db60b7123d9ca86c7201c547d88c4a04b3cd8591b090128967769d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "tissue_on_stand": { + "method": "visual", + "intervals": [ + [ + 120.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 100.0, + "log_step": null, + "text_zh": "观察：视频 96.0–100.0 s 露出白色纸巾的小盒仍在黑色扶手椅座面上；视频 101.0–104.0 s 机器人左夹爪夹住其顶部突出部分并抬升，盒子随爪上移；视频 110.0 s 可见原椅座已空。" + }, + { + "t": 120.7, + "log_step": null, + "text_zh": "观察：视频 112.0–120.733 s 机器人携纸巾盒转至电视下木色长台旁并降低左臂，最后一秒盒子及台面接触区逐渐落出相机下边缘；没有可见的落地或返回椅座。推断：首次上台记在视频约 120.7 s 的末尾下降处，结合本次评分器 success=1、q_score=1.0 判最终成立；上台接触的精确时刻与最后松手未被画面直接显示。" + }, + { + "t": null, + "log_step": 109, + "text_zh": "观察：log step 104–106 记录 agent 从新进程连续生成 3623 步轨迹；log step 108 的独立回放报告 success=true、q_score=1.0，log step 109 将该验证文件复制为最终交付。评分记录 reward 同为 success=1、q_score=1.0，但 deterministic=0，不能把会话回放的 deterministic=true 当成本次评分的确定性结论。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的 task_text 规定目标关系成立即结束，未要求当前 DAG 的松手静置连续30控制步；按此次受评版本标上台成立，不从遮挡的末帧断言其达到新版静置验收。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左二指夹爪夹住纸巾盒顶部露出的白色突出部分并提起整盒，携到电视下长台旁下降；夹点见视频 101.0–104.0 s 左腕近景。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘携带左爪中的纸巾盒从扶手椅旁行驶并转向电视下长台。" + } + ] + }, + "pillows_on_beds_1": { + "method": "visual", + "intervals": [ + [ + 33.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 两只浅色枕头位于地毯上，两张床面尚无这两只枕头；本节点初始不成立。" + }, + { + "t": 33.0, + "log_step": null, + "text_zh": "观察：视频 14.0–20.0 s 左腕相机中出现被机器人单爪夹持的枕头，机器人随后携物转向床；视频 32.5–33.5 s 枕头从左腕近景脱离并平落在第一张床面，视频 34.0–42.0 s 夹爪撤离后枕头仍留在床上。以视频约 33.0 s 记首次放妥，时间精度约半秒。" + }, + { + "t": 84.0, + "log_step": null, + "text_zh": "观察：视频 74.0–84.0 s 两床同时进入头部视野，先放的枕头仍在较远的另一张床上，机器人没有再次搬动它。推断：结合末尾评分器 success=1、q_score=1.0，该关系保持至视频结束。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左二指夹爪夹住第一个枕头的边缘，抬起、搬运并松开放到第一张床；右夹爪未参与夹持。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘沿地面行驶并转向，携带左爪中的第一个枕头到第一张床旁。" + } + ] + }, + "pillows_on_beds_2": { + "method": "visual", + "intervals": [ + [ + 83.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 43.0, + "log_step": null, + "text_zh": "观察：视频 41.0–43.0 s 第一只枕头已在床上，第二只仍在地毯上；视频 44.0–49.0 s 第二只出现在机器人左腕近景并随夹爪升起，头部画面中可见夹爪持着枕头离开地面。" + }, + { + "t": 83.5, + "log_step": null, + "text_zh": "观察：视频 48.0–78.0 s 机器人持第二只枕头沿床外侧通道移动、转向另一张床；视频 82.0–83.3 s 左腕近景仍有枕头，视频 83.7–84.0 s 左爪撤离，枕头留在近侧床面，远侧床上仍有第一只，形成一床一个。以视频约 83.5 s 记放妥，时间精度约半秒。" + }, + { + "t": 86.0, + "log_step": null, + "text_zh": "观察：视频 84.0–86.0 s 机器人空爪离开，第二只枕头保持在床面；此后机器人转去搬纸巾盒。推断：结合评分器 success=1、q_score=1.0，两枕头分床关系保持至视频末尾。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左二指夹爪夹住第二只枕头的边缘，抬起并放到另一张床；未见双臂共同夹持。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘携带第二只枕头沿两床外侧通道行驶，转向后停在另一张床旁进行放置。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 1.0, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": null, + "summary_zh": "评分轨迹将两只枕头分别放到两张床上（视频约 33.0 s、83.5 s），随后把扶手椅上的纸巾盒搬向电视下长台，在视频约 120.7 s 结束，按本次 success=1、q_score=1.0 标三节点最终达成。规则版本差异：本次 task_text 为目标关系成立即结束，沿用该受评规则，不额外要求当前 DAG 的松手静置30控制步；调试会话中的跌倒与重置不属于本视频。无状态日志，末尾纸巾盒与台面的接触及松手被下方视野遮挡，纸巾盒达成时刻为近似推断；评分记录 deterministic=0，与 log step 108 的会话回放结论不同。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "三节点时间与接触标注与画面一致；纸巾盒末尾被遮挡处已明确标为推断，并有评分器 success=1、q_score=1.0 支撑，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": "2026-10-30T21:30:04Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-rearrange-your-room-i00-privileged--92kv4iu/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-rearrange-your-room-i00-privileged--92kv4iu/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b3d100d0ae251e36fa2ea075e073ab486d74342f1e31fd91fe8cb32d33f03cc4", + "video_sha256": "cc10084324db60b7123d9ca86c7201c547d88c4a04b3cd8591b090128967769d", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/rearrange_your_room/trajectories/behavior-rearrange-your-room-i00-privileged--hxtbrmb.json b/phase2/behavior-1k/rearrange_your_room/trajectories/behavior-rearrange-your-room-i00-privileged--hxtbrmb.json new file mode 100644 index 0000000000000000000000000000000000000000..dfda0db6f5dfb460f7365c188271333e51c05ba0 --- /dev/null +++ b/phase2/behavior-1k/rearrange_your_room/trajectories/behavior-rearrange-your-room-i00-privileged--hxtbrmb.json @@ -0,0 +1,197 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-rearrange-your-room-i00-privileged--hxtbrmb", + "taskKey": "behavior-1k/rearrange_your_room", + "dag_sha256": "70f0904f1b16483ad518f0a5db5d80d7e537e1442fcfe1c08c6afb0a8657f110", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 0, + "instance_ok": 1, + "instance_exact": 0, + "n_actions": 258, + "sim_steps": 258, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 815.3, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 4, + "agent_resets": 1, + "agent_sim_steps": 258, + "agent_records": 1, + "agent_replays": 0, + "agent_cost_self_reported": 1 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-rearrange-your-room-i00-privileged--hxtbrmb/replay.mp4", + "duration_s": 8.6, + "fps": 30.0, + "frames": 258, + "sha256": "fe5e26313fa00f956327ec916920e716ec616c296953b7bb142acf524101b16a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "tissue_on_stand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.55, + "log_step": null, + "text_zh": "观察：视频全程0.0–8.57 s仅见机器人调整姿态、转向并移动，未见纸巾盒被夹持或搬放；视频8.55 s头部画面中的电视下长台为空，其他台柜与原扶手椅位置未持续入镜。" + }, + { + "t": 8.55, + "log_step": 151, + "text_zh": "推断：log step 148、151的交付生成脚本只有静置、右臂收拢、两段底盘移动及末尾静置，没有操作纸巾盒；log step 155记录保存258行动且success=false，log step 202确认最终仍为该文件。结合评分器q_score=0及录像未出现搬放，纸巾盒上台从未达成，终态为假；并非仅由零分推定未操作。" + } + ] + }, + "pillows_on_beds_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频0.0 s两只浅色枕头分别位于床脚附近地毯和右侧床旁地毯，两张白色床面均无目标枕头；视频0.0–2.4 s未见枕头离开地毯或进入夹爪。" + }, + { + "t": 8.55, + "log_step": 151, + "text_zh": "推断：视频2.4–8.57 s机器人视线转向电视长台，腕部视角未见夹持枕头，末段7.6–8.57 s无新增搬放；与log step 148、151交付脚本完全不含枕头抓取或放置、评分器q_score=0相符。因此无枕头上床区间，终态为假。会话log step 33起的抓取实验没有进入最终258行动交付。" + } + ] + }, + "pillows_on_beds_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频0.0 s两只目标枕头都在地毯上，尚未形成两床各一只的关系；视频0.0–8.57 s没有出现任何枕头从地毯到床面的转移。" + }, + { + "t": 8.55, + "log_step": 151, + "text_zh": "推断：交付脚本（log step 148、151）无任何枕头搬放，视频7.6–8.57 s仍无操作；结合评分器q_score=0，终态不可能满足两枕头与两床的一一匹配。第1个枕头也从未上床，因此本节点全程未达成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": 0.0, + "log_step": 151, + "where": "首步前", + "evidence_zh": "观察：视频0.0–8.57 s机器人仅调整姿态并移向电视长台，没有对纸巾盒或枕头开展抓取、搬运或放置；log step 148、151写出的交付脚本只包含静置、右臂收拢和底盘移动，log step 155确认保存258行动，log step 202确认最终文件未替换。推断：交付轨迹在任何目标放置开始前即结束；DAG纸巾盒与枕头放置无必需顺序，视频也没有明确选取其中一步，故不强行指定某个节点为断点。" + }, + "unmet": { + "tissue_on_stand": false, + "pillows_on_beds_1": false, + "pillows_on_beds_2": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 0.0, + "log_step": 151, + "evidence_zh": "观察：视频0.0 s枕头在地毯上，视频全程0.0–8.57 s无取物或放物动作，末尾7.6–8.57 s画面保持不动；log step 148、151的交付脚本未调用任何目标抓取或放置，log step 206中agent也自述交付只做静置、收臂、底盘移位。推断：评分轨迹没有启动任何目标放置；会话中的失败抓取不作为本轨迹的接触现象。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / agent 自述", + "evidence_zh": "观察：会话log step 34–35中agent脚本命令夹爪接近枕头并闭合，返回in hand: None；log step 38再次下压闭合仍返回None，log step 54中脚本查询到枕头接触候选但辅助抓取射线命中为空。log step 109多轮接近后始终inhand None，log step 127再次闭爪及保持后仍未持物；随后log step 147转为生成回退交付，log step 148、151删除了全部抓取工作，仅保留姿态和底盘运动，log step 206明确将回退交付归因于未建立可用抓取流程。推断：反复未能建立可用取物控制流程解释了为何交付未启动放置；这些是会话根因证据，不代表评分视频发生了相同接触失败。具体是接触设计、逆解还是跟踪问题尚不能分清，保留在控制大类。" + } + ], + "gap_zh": "无状态日志；纸巾盒原位及部分台柜未持续出现在评分画面中，故终态结合交付脚本和评分器q_score=0判定。交付没有明确开始任何目标步骤，且纸巾盒与枕头放置无必需先后，无法唯一指定断点节点。控制根因来自未交付的会话实验，缺少足以区分接触设计、逆解和跟踪问题的独立证据；agent关于所有合法抓法均不可行的自述未获验证，不能据此归因任务或环境。" + }, + "summary_zh": "评分轨迹只完成姿态调整和底盘移位，未启动纸巾盒上台或任一枕头上床，三个节点始终未达成，评分器q_score=0。断点为首步前，但视频未明确选定哪一个放置步骤，故节点记unknown；会话中反复抓取不成立支持控制大类根因，后续实验没有写入最终258行动交付。无状态日志且纸巾盒等区域存在遮挡，节点终态结合录像、交付脚本和评分总量判定；成功参考仅用于识别床面放置的可见形态。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "三个节点终态为假、交付脚本只含静置/收臂/底盘移动（log 148、151、155，258行动，q_score=0）与视频一致；首步前/没尝试合规，控制根因来自会话抓取失败（log 34、38、109、127），按FAIL-22可接受且已声明非评分视频所见。断点ref=unknown有争议但可辩护（三步无先后）。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:28:25Z", + "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-rearrange-your-room-i00-privileged--hxtbrmb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-rearrange-your-room-i00-privileged--hxtbrmb/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "084f64cd9e608e361525a205afa154cd79c4073bc19a7bd395611b437f76d3b0", + "video_sha256": "fe5e26313fa00f956327ec916920e716ec616c296953b7bb142acf524101b16a", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/rearrange_your_room/trajectories/behavior-rearrange-your-room-i00-privileged--mzwtnxx.json b/phase2/behavior-1k/rearrange_your_room/trajectories/behavior-rearrange-your-room-i00-privileged--mzwtnxx.json new file mode 100644 index 0000000000000000000000000000000000000000..43ac2d69dc221d3d046436a41d6e9c25dedee495 --- /dev/null +++ b/phase2/behavior-1k/rearrange_your_room/trajectories/behavior-rearrange-your-room-i00-privileged--mzwtnxx.json @@ -0,0 +1,267 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-rearrange-your-room-i00-privileged--mzwtnxx", + "taskKey": "behavior-1k/rearrange_your_room", + "dag_sha256": "70f0904f1b16483ad518f0a5db5d80d7e537e1442fcfe1c08c6afb0a8657f110", + "outcome": { + "success": 0, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 0, + "instance_ok": 1, + "instance_exact": 0, + "n_actions": 8433, + "sim_steps": 8433, + "final_reward": 1.0, + "q_score": 1.0, + "replay_wall_s": 1268.4, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 6, + "agent_resets": 0, + "agent_sim_steps": 50598, + "agent_records": 2, + "agent_replays": 4, + "agent_cost_self_reported": 1 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-rearrange-your-room-i00-privileged--mzwtnxx/replay.mp4", + "duration_s": 281.1, + "fps": 30.0, + "frames": 8433, + "sha256": "2053ef8eacea83146949ee337a6b8b712a66f860fe96a4225f28952dcc7d927e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "tissue_on_stand": { + "method": "visual", + "intervals": [ + [ + 281.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 240.0, + "log_step": null, + "text_zh": "观察：视频 240 s 露出白色纸巾的小盒仍在黑色扶手椅座面；视频 245–255 s 左爪调整接触，纸巾盒翻动，随后随左爪离开椅座。" + }, + { + "t": 269.0, + "log_step": null, + "text_zh": "观察：视频 263–265 s 纸巾盒遮住左腕相机近景，视频 267–269 s 左爪已空、俯向地毯；视频 273–276 s 同一盒体重新出现在左爪两指之间并被抬离地面，机器人随后携盒移向电视下长台。早先的落地未形成上台节点，随后已重新抓起处理。" + }, + { + "t": 281.0, + "log_step": null, + "text_zh": "观察：视频 277–280.8 s 左爪携纸巾盒到长台木色表面旁并下降，视频 280.9–281.06 s 近景盒体相对爪尖下移，支承接触处被盒体和夹爪遮挡；已检查录像最后一秒。" + }, + { + "t": 281.06, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=1.0、final_reward=1.0，且两只枕头已经在不同床上，因此本条录像末态的纸巾盒上台关系也被原生目标检查接受；结合最后的下降与松爪线索，将达成锚点记为视频约 281.0 s（接近片尾，精确接触与速度不可直接测定）。本次 task_text 记载目标关系成立即结束，按该次规则判进度；不据此声称新版联合松手静置30控制步已经验证。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 245–255 s 左夹爪在扶手椅上调整抓点时碰动、翻转纸巾盒；随后才夹持搬运。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左二指夹爪夹住纸巾盒，视频 255–265 s 将它带离椅座；落地后在视频 273–281 s 再次夹住、抬起并搬至长台处。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘驶近扶手椅，在持盒离椅后向长台移位，并于视频 276–278 s 携重新抓起的纸巾盒沿长台调整站位。" + } + ] + }, + "pillows_on_beds_1": { + "method": "visual", + "intervals": [ + [ + 148.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 两只浅色枕头均在地毯上，两张床的白色床面均无目标枕头。" + }, + { + "t": 148.0, + "log_step": null, + "text_zh": "观察：视频 122–136 s 左夹爪先沿地面推动近侧枕头，随后枕头离开原地并随左臂抬升；视频 140–147 s 机器人持枕头移到床面上方并松爪，视频 147.5–148.5 s 枕头落在白色床面，夹爪与它分离。达成时刻取视频约 148.0 s，误差约 0.5 s。" + }, + { + "t": 231.0, + "log_step": null, + "text_zh": "观察：视频 151–155 s 第一只枕头平放在床上，机器人移开空爪；视频 223.5–231.0 s 转向两床时该枕头仍在原床，随后另一只也落在另一张床上。视频 235 s 以后机器人转去操作纸巾盒，没有再搬动床上的枕头。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：机器人左夹爪在抓起近侧枕头前多次沿地毯推移枕头，视频 122–134 s 可见枕头向床尾方向滑动；这是先于抓握的接触。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 134–147 s 左二指夹爪夹住该枕头的一处边缘，抬起、搬到床面上方后松开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘在取近侧枕头时调整站位，并在视频 136–144 s 携带左爪所持枕头驶向床边。" + } + ] + }, + "pillows_on_beds_2": { + "method": "visual", + "intervals": [ + [ + 227.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 208.0, + "log_step": null, + "text_zh": "观察：视频 165–208 s 机器人左夹爪对另一只仍在地面的枕头调整接触并推移，视频 208–214 s 该枕头离地，随左爪升起和移动，原地毯位置腾空。" + }, + { + "t": 227.5, + "log_step": null, + "text_zh": "观察：视频 222–226.5 s 左爪把第二只枕头送至另一张白色床面上方；视频约 227.0 s 松爪后，枕头停在该床上，取视频约 227.5 s 为落稳时刻（误差约 0.5 s）。视频 230.5–231.5 s 头部视角同时看见两张床各有一只枕头，左爪空手移开；第一只枕头没有被搬离。" + }, + { + "t": 281.06, + "log_step": null, + "text_zh": "推断：视频 235–281.06 s 机器人只在扶手椅和长台旁处理纸巾盒，未再接触两只枕头；结合评分器 reward.q_score=1.0，两只枕头与不同床的一一配对关系在本条录像末态保留。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 185–208 s 左夹爪在低位接近剩余枕头并把它沿地毯向床边推移，随后才建立抓握。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 210–227 s 左二指夹爪夹住第二只枕头的角部，将其抬离地面并送到另一张床上后松开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：轮式底盘为第二只枕头的抓取多次换位，并在视频 214–224 s 携枕头跨过床前通道到另一张床旁。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 1.0, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "tissue_on_stand", + "t": null, + "log_step": null, + "where": "终态验收", + "evidence_zh": "观察：本条录像在视频约 281.0 s 完成最后的纸巾盒放置动作，两枕头已分别在床上，评分器 reward.q_score=1.0；但 reward.success=0、all_success=0、deterministic=0，instance_ok=1、grader_error=0。推断：断点归在最后完成的纸巾盒上台步骤的终态回放验收，无法定位一次未修复的物理操作失败；验收差异没有可对应的视频时刻，故 t=null。" + }, + "unmet": { + "tissue_on_stand": true, + "pillows_on_beds_1": true, + "pillows_on_beds_2": true + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 中没有状态日志，也没有评分阶段各次回放的逐次结果、初末态或另一条评分回放视频；评分器只汇总 all_success=0、deterministic=0。纸巾盒最后支承面被夹爪与盒体遮挡，视频末尾未展示新版30控制步静置窗口。日志中的自测属于会话证据：log step 182、186 的两次并发自测分别成功与失败，初态哈希也不同；log step 206、229 的后续顺序自测均成功且末态哈希相同，log step 212 检查脚本与保存动作一致。推断：这些自测不能替代评分回放，也不足以确定评分差异来自抓取控制、交付操作或初始化；未发现能解释终态验收失败的直接物理现象或确定根因，所以两层均留空。" + }, + "summary_zh": "观察：机器人经过多次推动和抓取调整，在视频约 148.0 s、227.5 s 把两只枕头分别放到两张床上，纸巾盒落地后重新抓起，在视频末尾约 281.0 s 完成上台动作；结合评分器 q_score=1.0，本条录像末态进度为3/3。观察：总评分仍为 success=0、all_success=0、deterministic=0，断点归最后纸巾盒步骤的终态回放验收；会话自测成功不替代该判定。推断：按本次 task_text 的原生关系验收记录进度，新版联合松手静置窗口未验证，且缺少评分阶段逐次回放状态，无法将验收差异归因于具体控制或交付错误。", + "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、时间与断点（tissue_on_stand，终态验收）与评分器 q_score=1.0、success=0、deterministic=0 一致；视频末尾纸巾盒仍在爪中、支承面被遮挡，标注已如实说明并以 q_score 推断；agent 的顺序自测成功、并发自测失败不能归为交付错误，两层留空并附 gap_zh 合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:33:52Z", + "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-rearrange-your-room-i00-privileged--mzwtnxx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-rearrange-your-room-i00-privileged--mzwtnxx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0d73b9354cc3027280e7013a8838872cecf74b44179b54c972a050cf46018cc2", + "video_sha256": "2053ef8eacea83146949ee337a6b8b712a66f860fe96a4225f28952dcc7d927e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/rearrange_your_room/trajectories/behavior-rearrange-your-room-i00-privileged--q3k6ngp.json b/phase2/behavior-1k/rearrange_your_room/trajectories/behavior-rearrange-your-room-i00-privileged--q3k6ngp.json new file mode 100644 index 0000000000000000000000000000000000000000..11834a2abdfec873047ac053f06aeab0ce5b8c39 --- /dev/null +++ b/phase2/behavior-1k/rearrange_your_room/trajectories/behavior-rearrange-your-room-i00-privileged--q3k6ngp.json @@ -0,0 +1,215 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-rearrange-your-room-i00-privileged--q3k6ngp", + "taskKey": "behavior-1k/rearrange_your_room", + "dag_sha256": "70f0904f1b16483ad518f0a5db5d80d7e537e1442fcfe1c08c6afb0a8657f110", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 0, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 370, + "sim_steps": 370, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 483.7, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 1, + "agent_resets": 22, + "agent_sim_steps": 0, + "agent_records": 3, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-rearrange-your-room-i00-privileged--q3k6ngp/replay.mp4", + "duration_s": 12.333, + "fps": 30.0, + "frames": 370, + "sha256": "73bad503f773ecf9904c38203cef33d0bfacf0aa75ac3887291312b022ca5341" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "tissue_on_stand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.2, + "log_step": null, + "text_zh": "观察：视频0.0–12.3 s，机器人只在床边移动、摆动并侧倒；没有驶到房间远端扶手椅旁取纸巾盒，也没有把小盒搬放到电视下长台或床边柜面的动作。视频3.2 s可见电视下长台，未见本次搬上的纸巾盒。" + }, + { + "t": 12.3, + "log_step": null, + "text_zh": "推断：纸巾盒初在扶手椅上，本次视频没有取盒或搬放，评分器reward.q_score=0.0亦不允许任何新增目标放置在终态成立；故纸巾盒上台final=false。纸巾盒原处并非全程可见，不能单凭台面局部视图判断其位置。" + } + ] + }, + "pillows_on_beds_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频0.0 s，两床的白色床面没有目标浅色矩形枕头，近处一只枕头躺在地毯上，另一只在画面右下方床边地毯处；本节点初始不成立。" + }, + { + "t": 5.6, + "log_step": null, + "text_zh": "观察：视频0.0–6.8 s，机器人空手移动，床边地毯上的枕头未被提走；视频5.6 s一只枕头仍在床尾软凳旁地面，机器人开始明显向侧方倒下。视频7.0–12.3 s，相机持续侧斜，没有恢复或把枕头放上床的动作。" + }, + { + "t": 12.3, + "log_step": null, + "text_zh": "推断：视频全程未见枕头离开地毯并到达床面，评分器reward.q_score=0.0与没有任何新增床面放置一致；第1个枕头上床始终未达成。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频0.0–5.6 s，轮式底盘承载机器人空手行驶、转向，朝首个枕头的取物区域移动；未见夹爪夹住枕头，故不标抓握。" + } + ] + }, + "pillows_on_beds_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频0.0 s，两床尚无目标枕头，两只浅色矩形枕头在地毯上。视频0.0–12.3 s没有任何一只枕头被搬到床面，末段机器人一直侧倒，未开展第二次搬放。" + }, + { + "t": 12.3, + "log_step": null, + "text_zh": "推断：视频没有达到两床各放一枕的可见结果；结合评分器reward.q_score=0.0，两个枕头与两张床的一一放置关系在终态不成立。成功示例视频40.0 s及80.0 s展示枕头落在白色床面时的可见形态，仅作视图参照，不作为本次进度证据。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "pillows_on_beds_1", + "t": 5.5, + "log_step": null, + "where": "转场", + "evidence_zh": "观察：视频0.0–5.4 s，机器人空手在床边移动并反复俯仰；视频5.4–6.8 s视野急剧向侧方翻转，随后至视频12.3 s一直贴近床尾软凳、侧斜不恢复，枕头仍在地上。推断：这是去取首个枕头时未修复的失衡，归于第1个枕头上床的转场；log step 159的生成脚本也以驶向pillow.n.01_1的取物位开始，但不采用log step 168关于已驶往放置位的自述作为本次动作证据。" + }, + "unmet": { + "tissue_on_stand": false, + "pillows_on_beds_1": false, + "pillows_on_beds_2": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 5.5, + "log_step": null, + "evidence_zh": "观察：视频5.4–6.8 s，机器人头部及腕部视图共同持续向侧方旋倒，床沿与墙面在画面中接近竖直；视频7.0–12.3 s一直保持该侧倒姿态，没有起身。此前视频1.4–2.8 s亦有大幅俯仰，但短暂回正；所标锚点是后续未恢复的侧倒。" + } + ], + "root_causes": [], + "gap_zh": "观察：inputs中没有状态日志；视频看不到底盘与家具、地面的具体接触，无法确认侧倒由哪一接触、底盘动作或躯干控制引起，因此根因留空，不把侧倒本身当作控制根因。log step 165的生成会话返回fallen=True，而评分器reward.fallen=0、deterministic=0、instance_exact=0；本次仅依据回放画面标失衡，不声称评分回放触发连续10 s跌倒终止。agent在log step 168自述放置位落在软凳范围内，但本次画面没有先成功抓起枕头或持物驶向放置位，不能据此确认碰撞原因。纸巾盒原处有遮挡，其终态由全程未搬放与q_score总分共同判断。" + }, + "summary_zh": "本次评分视频中三项放置均未达成，最终为0/3；机器人空手驶向首个枕头时反复摇摆，约视频5.5 s侧倒，直到视频12.3 s末帧未恢复，断在第1个枕头上床的转场。没有可核实的抓握或搬放，纸巾盒和第二个枕头均未开始处理；评分器q_score=0.0与此一致。无状态日志，生成会话的跌倒报告与评分字段存在差异，无法确定具体失衡根因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "三节点均未达成、final=0、断点在第1个枕头上床的转场、现象为全身·平衡（视频约5.5 s侧倒不恢复）与视频一致；根因留空并写明gap_zh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": "2026-10-30T21:24:33Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-rearrange-your-room-i00-privileged--q3k6ngp/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-rearrange-your-room-i00-privileged--q3k6ngp/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1a591d300b01813dd2ef378c7c3d2900185b0d3fc41ed76c4d8bcffe0d7039d8", + "video_sha256": "73bad503f773ecf9904c38203cef33d0bfacf0aa75ac3887291312b022ca5341", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/rearrange_your_room/trajectories/behavior-rearrange-your-room-i00-privileged--wt67wee.json b/phase2/behavior-1k/rearrange_your_room/trajectories/behavior-rearrange-your-room-i00-privileged--wt67wee.json new file mode 100644 index 0000000000000000000000000000000000000000..8c399d134cf2aaeab5189016ad6bda1499d52495 --- /dev/null +++ b/phase2/behavior-1k/rearrange_your_room/trajectories/behavior-rearrange-your-room-i00-privileged--wt67wee.json @@ -0,0 +1,239 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-rearrange-your-room-i00-privileged--wt67wee", + "taskKey": "behavior-1k/rearrange_your_room", + "dag_sha256": "70f0904f1b16483ad518f0a5db5d80d7e537e1442fcfe1c08c6afb0a8657f110", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 1430, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 3, + "goal_first_step": -1, + "sim_steps": 1433, + "fallen": 1, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 417.2, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 2, + "agent_resets": 10, + "agent_sim_steps": 1430, + "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-rearrange-your-room-i00-privileged--wt67wee/replay.mp4", + "duration_s": 47.767, + "fps": 30.0, + "frames": 1433, + "sha256": "16bf6909a053ad237445ed242f32541a17fe1d7077963c926f61b6a9fbb9305b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "tissue_on_stand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 30.7, + "log_step": null, + "text_zh": "观察：视频全程机器人只在地毯枕头处抓取并向床边搬运；视频30.7 s可见电视下长台，未见机器人向台面放入纸巾盒，也没有前往扶手椅搬盒的过程。" + }, + { + "t": 47.7, + "log_step": 110, + "text_zh": "推断：视频47.7 s机器人仍侧倒于床边；log step 110所读交付脚本输出显示纸巾盒仍在初始坐标[1.657,-4.419,0.483]，且评分器q_score=0、video_replay_matches=1。结合全程未搬盒，纸巾盒上台末态为假；末态盒子不在镜头内，未以零分单独推断没有尝试。" + } + ] + }, + "pillows_on_beds_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.23, + "log_step": null, + "text_zh": "观察：视频0.23 s两张白色床面上均没有目标浅色枕头，近处目标枕头在地毯上，节点初始不成立。" + }, + { + "t": 32.7, + "log_step": null, + "text_zh": "观察：视频28.7–34.7 s左腕画面中枕头随左夹爪抬起、转向并移到另一张床旁，原地毯抓取处离开视野；视频32.7 s腕部视角可见枕头保持在夹爪旁，主视角可见床面仍空，没有松手落床。" + }, + { + "t": 47.7, + "log_step": 109, + "text_zh": "观察：视频35.3–38.2 s机器人持枕头靠近床沿时倾倒，视频46.7–47.7 s仍未恢复，也未见枕头松手静置在床面；log step 109中本次录制脚本的放置输出仍为ih=pillow.n.01_2。" + }, + { + "t": 47.7, + "log_step": null, + "text_zh": "推断：评分器q_score=0、goal=0、video_replay_matches=1，与录像没有完成松手上床一致，排除末态遮挡处另有已放妥的枕头；因此该节点全程未达成、末态为假。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频28.7–34.7 s机器人左二指夹爪夹住一只浅色枕头的边缘并抬起、搬运；左腕画面可见枕头随夹爪运动。按计数节点，此为第1个枕头的放置尝试，虽日志实例名为pillow.n.01_2。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频29.7–35.7 s轮式底盘经地面支承，携带左夹爪中的枕头行驶并转向床边，随后机体倾倒。" + } + ] + }, + "pillows_on_beds_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 30.7, + "log_step": null, + "text_zh": "观察：视频0.23 s和30.7 s可见两床床面未各有一只枕头；本次录像只显示一只枕头被搬运，未显示另一只由地毯移到另一床面。" + }, + { + "t": 47.7, + "log_step": 110, + "text_zh": "推断：视频末段仍侧倒且没有一床一个枕头的结果；log step 110交付输出中另一只枕头保持初始地面坐标[-1.155,1.122,0.034]，下一次move_ee报无逆解，评分器q_score=0。结合视频全程未见第二次成功搬运，两枕头分床的节点从未成立、末态为假。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "pillows_on_beds_1", + "t": 35.3, + "log_step": 109, + "where": "操作中", + "evidence_zh": "观察：视频约35.3 s机器人正用左夹爪携枕头接近床边，主视角开始大幅俯倾，随后向侧面滚转；视频38.2–47.7 s仍明显侧倒，枕头未完成松手上床。log step 109本次录制输出显示最后一段向床边行驶后倾角由76.5度至78.7度且枕头仍在左手，log step 110保存1430行部分轨迹，评分器fallen=1。最先未修复的是第1个枕头放置。" + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 35.3, + "log_step": 109, + "evidence_zh": "观察：视频35.3–38.2 s机器人在床沿附近持物行驶时，头部和腕部视角随整机剧烈翻转；视频38.2–47.7 s房间持续斜置，机器人未重新直立。log step 109交付录制输出记录床边移动后倾角78.7度，评分器fallen=1，支持机体失衡翻倒。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 35.3, + "log_step": 109, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 103交付脚本在夹持枕头后收臂，再调用底盘运动前往床边；log step 109显示前两段载物行驶、转向后倾角均回到约0度，最后从(0.78,-2.40)移向(0.40,-2.40)后倾角升到78.7度，枕头仍在左手。视频35.3–38.2 s对应可见床边整机失稳，之后放置未完成；支持载物接近床边的底盘与全身运动控制未维持稳定，但无法进一步区分接触布局、轨迹或反馈子类。" + } + ], + "gap_zh": "没有状态日志；相机未覆盖底盘轮缘与床体的直接接触，不能确认是碰床、支承变化还是跟踪失稳，故根因仅标到控制，不追加碰撞现象。视频末段纸巾盒、另一只枕头及夹持枕头的完整末态有遮挡；结合全程操作、交付日志和q_score=0判定三个末态均不成立。log step 82会话测试曾报告枕头落床，但该测试不是log step 103–110生成的交付录制，不能计入本次节点进展。", + "unmet": { + "tissue_on_stand": false, + "pillows_on_beds_1": false, + "pillows_on_beds_2": false + } + }, + "summary_zh": "本次评分轨迹夹起并搬运了一只枕头，但三个放置节点均未达成，最终为0/3，纸巾盒和另一只枕头未完成搬放。机器人约在视频35.3 s持枕头靠近床边时失衡翻倒，之后没有修复第1个枕头上床，评分器报告fallen=1、q_score=0。无状态日志且底盘接触区不可见，根因仅支持控制层面，不能确定具体碰撞或失稳机制；会话测试的落床结果未计入评分轨迹。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "三个节点均未达成、最终0/3与q_score=0、fallen=1一致；视频约35 s携枕头靠近床边后整机倾倒，断点定在第1个枕头放置、平衡现象与控制根因均有证据支持，会话测试未被计入。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:34:05Z", + "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-rearrange-your-room-i00-privileged--wt67wee/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-rearrange-your-room-i00-privileged--wt67wee/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "fbc30f3c9a5347b7a8fa7db39a014dc1026bddb93347543fbd21b36d632c14e8", + "video_sha256": "16bf6909a053ad237445ed242f32541a17fe1d7077963c926f61b6a9fbb9305b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/rearrange_your_room/trajectories/behavior-rearrange-your-room-i00-standard--mqphvcw.json b/phase2/behavior-1k/rearrange_your_room/trajectories/behavior-rearrange-your-room-i00-standard--mqphvcw.json new file mode 100644 index 0000000000000000000000000000000000000000..49e39723e5fe55eec08253537f03d0e00a2fc79b --- /dev/null +++ b/phase2/behavior-1k/rearrange_your_room/trajectories/behavior-rearrange-your-room-i00-standard--mqphvcw.json @@ -0,0 +1,249 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-rearrange-your-room-i00-standard--mqphvcw", + "taskKey": "behavior-1k/rearrange_your_room", + "dag_sha256": "70f0904f1b16483ad518f0a5db5d80d7e537e1442fcfe1c08c6afb0a8657f110", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 0, + "live_matches_replay": 0, + "finalized": 0, + "n_actions": 51363, + "sim_steps": 51363, + "physics_steps": 205452, + "steps": 22106, + "elapsed_s": 13837.0, + "video_rendered": 0, + "gpu_lost": 0, + "q_score": 0.0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-rearrange-your-room-i00-standard--mqphvcw/replay.mp4", + "duration_s": 1712.1, + "fps": 30.0, + "frames": 51363, + "sha256": "0fb8fb99f3916cbb237d0efc812827bebb912e1c12691ed108931bd37da35407" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "tissue_on_stand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 230, + "log_step": 93, + "text_zh": "观察：视频 228–236 s，机器人空手在床与台柜附近行驶、转向，随后头部画面大幅侧倒；视频 236–260 s 持续歪斜。log step 80、84、91 的脚本是在接近装有纸巾盒的扶手椅，log step 98 的服务本体读数为底座高度约0.36 m、四元数约(0.20,-0.66,-0.27,0.68)，与严重倾斜相符。" + }, + { + "t": 497, + "log_step": 147, + "text_zh": "观察：视频 437–537 s，窗前黑色扶手椅上仍可见露出白纸巾的盒子；机器人多次驶近、后退，未见夹爪接近或搬走盒子。视频 552–612 s，机器人侧倾、转离后，左腕视角仍能看到盒子留在椅面。" + }, + { + "t": 1696, + "log_step": null, + "text_zh": "观察：视频 1694–1696 s 转向窗边时，黑色扶手椅上的白色纸巾盒仍在原处；所检全片未见盒子被搬至台柜，纸巾盒上台没有可记入的达成区间。" + }, + { + "t": 1712.06, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，且三项目标初态均未成立，因此最终不能有任何一项新增目标关系成立；live_matches_replay=0，故此总分只作现场回合末态的约束，并与视频中盒子留椅的观察结合使用。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 200–270 s、437–567 s，轮式底盘在地面支承下驶向扶手椅并多次后退、转向；属于取纸巾盒的接近阶段，未见夹爪与纸巾盒接触，不记抓握。" + } + ] + }, + "pillows_on_beds_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s，两只浅色矩形枕头都在床脚地毯上，两张白色床面没有目标枕头。" + }, + { + "t": 845, + "log_step": null, + "text_zh": "观察：视频 801–831 s 左腕视角中夹爪反复下探枕头，枕头仍由地毯承托；视频 841–865 s 夹爪退开后，两只枕头仍在地面。视频 1181–1239 s 又见夹爪在地面枕头边反复开闭、下探及抬回，没有枕头随爪离地。" + }, + { + "t": 1677.3, + "log_step": 349, + "text_zh": "观察：agent 在 log step 347、349 自述已抓住枕头，但视频 1675–1677.3 s 左腕视角清楚显示两只枕头并排留在床脚地面；视频 1688–1696 s 头部及左腕视角仍见两只枕头在床沿下方的地毯上，两床床面空着。不能将自述或夹爪闭合当作抓起、搬运或上床。" + }, + { + "t": 1712.06, + "log_step": 359, + "text_zh": "观察：视频 1701–1706 s 机器人翻倒，视频 1711.15–1712.06 s 仍从地面附近歪斜看向白色家具，未见任何枕头上床。log step 359 的服务 control_steps=51171；按30 Hz换算为视频 1705.7 s，已用该处倒地画面核对，且51363控制步与视频1712.1 s相符；这里未使用agent工作时间。" + }, + { + "t": 1712.06, + "log_step": null, + "text_zh": "推断：初态没有枕头在床上，视频未显示后来形成上床关系；reward.q_score=0.0 进一步约束最终连一个枕头上床也不成立（live_matches_replay=0，总分仅用于与视频不矛盾的现场末态推断）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 811–831 s 左夹爪下探并碰推地面枕头，随后退开；视频 841–865 s 两只枕头仍在地毯上。此后继续对枕头边缘下探、开闭，未见可靠的包夹离地，不将log step 347的抓取自述记为抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 602–750 s 机器人驶回两只地面枕头旁并调整接近位置；视频 1678–1702 s 又行驶、转动直至侧翻。底盘在这些移动阶段由地面承托；画面未证实机器人实际携带枕头。" + } + ] + }, + "pillows_on_beds_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 两只目标枕头均在地毯上，初态没有一床一个的配对。" + }, + { + "t": 1677.3, + "log_step": 349, + "text_zh": "观察：视频 1675–1677.3 s 左腕视角及视频 1688–1696 s 头部视角仍能看到两只枕头一起留在床脚地面；未见完成第一个上床之后再搬另一个的独立操作，也未见两床各放一只枕头。枕头按数量计数，不依靠实例身份判定。" + }, + { + "t": 1712.06, + "log_step": null, + "text_zh": "推断：视频最后一秒没有新增放置动作，且初态三项均未成立、评分器 q_score=0.0，最终两枕头与两床的一一匹配为false；总分虽带live_matches_replay=0，仍与所检画面一致，不用它反推中途抓取。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "tissue_on_stand", + "t": 230.0, + "log_step": 93, + "where": "转场", + "evidence_zh": "观察：视频 228–236 s，机器人在床边空手行驶、转向后侧翻，视频 236–260 s 持续歪斜；log step 80、84、91 明确记录向放有纸巾盒的扶手椅接近，log step 93 继续执行转向扫描，log step 98 的服务底座姿态证实严重倾斜。推断：这是已经开始的纸巾盒上台步骤的接近失败；虽在log step 99起身，并在视频 437–552 s再次接近椅子，纸巾盒直到视频1696 s仍未被搬走，随后转去处理枕头，故最早未修复节点仍是纸巾盒上台。末段枕头尝试与翻倒不替代这一断点。" + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 230.0, + "log_step": 98, + "evidence_zh": "观察：视频 230–260 s 房间的床、墙和天花板持续横斜，机器人侧倒在床边；log step 98 服务本体位置/四元数约(-0.234,1.087,0.360,0.201,-0.655,-0.270,0.676)，底座向上轴z分量约0.06，支持真实侧翻而非单纯头部俯仰。这发生在取纸巾盒的接近过程中，之后没有完成该节点。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：取纸巾盒时的底盘、躯干和手臂控制未保持可通行且稳定的姿态。log step 84、91 的脚本以固定躯干/手臂目标配合分段前进、旋转；log step 86–89 的本体读数显示躯干偏离目标并由agent执行退车，log step 93 的扫描循环直接提交七次转向且未调用倾斜检查，实际输出航向大多停留在约-93至-74度；视频 230–260 s 机器人因此停在侧倒状态。随后log step 126自述左爪拖地并在log step 127–131重设行驶臂姿，提供执行姿态仍在调试的独立记录；这些证据支持控制问题，尚不足以区分接触几何、轨迹求解和反馈控制子类。", + "source_zh": "日志" + } + ], + "gap_zh": "无状态日志，无法精确确定床边首先阻挡机器人的部件或底盘/手臂接触链，断点时间取视频约230 s侧翻的导航锚点。已比较oracle视频36 s、84 s的枕头落在床面线索及116 s的纸巾盒上台线索；本回合没有这些达成画面。腕部相机不能在每次闭爪时完整显示指垫接触，故不根据agent抓取自述添加抓握；视频1675–1696 s两枕头仍在地面，优先于log step347、349的持物叙述。评分器live_matches_replay=0且没有状态复现资料，q_score仅用于与画面不矛盾的最终值约束。", + "unmet": { + "tissue_on_stand": false, + "pillows_on_beds_1": false, + "pillows_on_beds_2": false + } + }, + "summary_zh": "三个放置节点均未达到，最终为0/3：纸巾盒留在扶手椅，两只枕头仍在床脚地面。最早未修复的失败是取纸巾盒时在床边失衡侧翻（视频约230 s），行驶及转向姿态控制未能维持稳定；随后起身、改做枕头和末段再次翻倒都没有补完纸巾盒上台。无状态日志，具体阻挡部件不明；agent自述抓住枕头与视频1675–1696 s两枕头仍在地面的画面不符，未据此计入抓握或搬运成功。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "三个节点全为 false、断点取纸巾盒上台（视频约230 s 侧翻）、平衡现象与停在“控制”的根因均与所检画面和证据一致；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": "2026-10-30T21:37:29Z", + "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-rearrange-your-room-i00-standard--mqphvcw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-rearrange-your-room-i00-standard--mqphvcw/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "16651fc37f82421e58222fc69e707d20e4617d0d681e0bd5f6ec81821edf992e", + "video_sha256": "0fb8fb99f3916cbb237d0efc812827bebb912e1c12691ed108931bd37da35407", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/rearrange_your_room/trajectories/behavior-rearrange-your-room-i00-standard--rut4qsa.json b/phase2/behavior-1k/rearrange_your_room/trajectories/behavior-rearrange-your-room-i00-standard--rut4qsa.json new file mode 100644 index 0000000000000000000000000000000000000000..a0c0265df84615df539fe6fc95bd1fcf574f40f7 --- /dev/null +++ b/phase2/behavior-1k/rearrange_your_room/trajectories/behavior-rearrange-your-room-i00-standard--rut4qsa.json @@ -0,0 +1,238 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-rearrange-your-room-i00-standard--rut4qsa", + "taskKey": "behavior-1k/rearrange_your_room", + "dag_sha256": "70f0904f1b16483ad518f0a5db5d80d7e537e1442fcfe1c08c6afb0a8657f110", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 0, + "live_matches_replay": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 612, + "sim_steps": 612, + "physics_steps": 2448, + "steps": 204, + "elapsed_s": 1641.2, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 0, + "q_score": 0.0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-rearrange-your-room-i00-standard--rut4qsa/replay.mp4", + "duration_s": 20.4, + "fps": 30.0, + "frames": 612, + "sha256": "01f98dd406079b001087d20b8667205869426cf89e833e88ffbe4c9bd75614ef" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "tissue_on_stand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 的远处扶手椅区域可见浅色纸巾盒；视频 0–20.36 s 机器人始终在床脚的地毯枕头附近活动，没有到扶手椅取盒或向任何台柜放盒。" + }, + { + "t": 20.36, + "log_step": null, + "text_zh": "推断：视频全程没有纸巾盒搬运或柜面放置，初始目标未成立，故本节点全程未达成；reward.q_score=0.0 与此一致。live_matches_replay=0，评分总数仅作与视频不冲突的旁证。" + } + ] + }, + "pillows_on_beds_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 两只浅色矩形枕头位于地毯上，两张白色床面均没有目标枕头。" + }, + { + "t": 5.6, + "log_step": 36, + "text_zh": "观察：视频约 3–5.6 s 机器人左爪下探到近处枕头边缘并闭合，视频 6.6–7.5 s 手臂抬回时爪中为空，枕头仍在地毯原处；log step 36 的提交代码将这段动作命名为 002_grasp_pillow1。" + }, + { + "t": 12.6, + "log_step": 54, + "text_zh": "观察：视频约 8–12.8 s 机器人换用侧缘接近，再次闭爪、抬臂；枕头仍由地毯承托，没有随爪上升。log step 54 提交 003_grasp_pillow1_side。" + }, + { + "t": 20.36, + "log_step": 68, + "text_zh": "观察：视频约 13–20.36 s 机器人第三次下探、闭爪并空手抬回，末秒连续检查至视频 20.36 s，枕头仍在地毯上，未发生床面放置；log step 68 提交 004_grasp_pillow1_clean。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频约 0–2.5 s 机器人轮式底盘在地面支撑下驶近近处地毯枕头并转向，为本次抓取就位。" + }, + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "观察：视频约 5.5 s、11.2 s、17.8 s 左二指夹爪在枕头边缘附近闭合，随后均空手抬回。候选名称：空夹；现有抓握要求夹住物体，本次未见夹住，推/扫或压/擦也没有足够清晰的接触证据。右爪未共同夹持枕头。" + } + ] + }, + "pillows_on_beds_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 两只目标枕头均在地毯上，视频 0–20.36 s 机器人只对近处的一只枕头反复下探，没有搬取另一只；两张床没有出现成功参考视频约 35 s、80 s 那样的目标枕头落在床面上的变化。" + }, + { + "t": 20.36, + "log_step": null, + "text_zh": "推断：视频 20.36 s 连第一只枕头也未上床，因此两只枕头分占不同床的一一匹配始终未建立，第二个计数节点为假；本节点未被实际尝试。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "pillows_on_beds_1", + "t": 5.5, + "log_step": 36, + "where": "操作中", + "evidence_zh": "观察：视频约 5.5 s 机器人第一次闭合左爪后，视频 6.6–7.5 s 空手抬回，地毯枕头没有被提起；视频约 8–12.8 s 和 13–20.36 s 的两次重试仍未搬起它。log step 36、54、68 分别提交这三次抓取动作。推断：第1个枕头上床是首次操作失败且后续一直未修复的步骤，断点取首次空夹附近。" + }, + "unmet": { + "tissue_on_stand": false, + "pillows_on_beds_1": false, + "pillows_on_beds_2": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 5.5, + "log_step": 36, + "evidence_zh": "观察：视频约 5.5–7.5 s 左爪闭合后空手抬回，枕头仍留在地毯上；视频约 11.2–12.8 s、17.8–20.36 s 也未见枕头被双指夹住并随手上升。推断：搬运所需的有效抓取接触从未建立；不能把近距离接近或可能的轻触当成抓牢后滑落。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 43, + "evidence_zh": "观察：log step 43 中 agent 脚本对首次抓取的命令与读取的关节位置作比较，左肘关节 left_arm_joint4 命令为 -0.046 rad，实测为 +0.332 rad；log step 42 同批实测关节的正运动学得到左 TCP 在底座坐标系约 [0.471,0.173,0.041] m，而 log step 36 的闭爪目标为 [0.545,0.05,0.045] m。log step 71、74 的第三次抓取诊断还记录下探停在约 0.087 m 高、目标约 0.036 m，躯干关节输出约 100 Nm。推断：执行姿态未跟随所求目标，使闭爪未形成有效抓取，与视频约 5.5–7.5 s 及 17.8–20.36 s 的空手抬回一致；具体是干涉还是驱动/跟踪不足无法区分，根因保留在控制层级。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "无状态日志；相机可确认枕头未搬起，但不能精确判定指尖是否短暂擦碰枕头，也不能确认造成关节跟踪偏差的具体接触对。reward.live_matches_replay=0，现场 q_score=0.0 与录像零进展一致，未用现场诊断替代录像判定节点。log step 85 显示会话被 Gemini 过滤器中断；该中断使后续修复不可观察，但此前录像已展示三次失败抓取，故标注中断前实际发生的物理失败，不把过滤器当作机器人根因。" + }, + "summary_zh": "机器人驶近地毯枕头并三次尝试左爪抓取，均空手抬回，纸巾盒和另一只枕头未搬运，三项放置终态均未达成（0/3）。断点为第1个枕头上床的首次空夹（视频约 5.5 s），现象为未建立有效抓取接触；日志中的命令/实测姿态偏差支持控制层级归因，具体阻滞机制缺少状态与接触记录。会话最后被供应商过滤器中断（log step 85），没有观察到后续修复。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "三个节点均未达成、q_score=0，与视频一致：视频 4.5–20.3 s 枕头始终在地毯上。断点、没建立接触、控制根因均有 log step 43/71/74 的指令-实测偏差支撑，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": "2026-10-30T21:36:31Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-rearrange-your-room-i00-standard--rut4qsa/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-rearrange-your-room-i00-standard--rut4qsa/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3eeeec212309f202b4ca2a682cb65750a344a31ce935e3bf0df7ecc0a7a45555", + "video_sha256": "01f98dd406079b001087d20b8667205869426cf89e833e88ffbe4c9bd75614ef", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/rearrange_your_room/trajectories/behavior-rearrange-your-room-i00-standard--ytjbfry.json b/phase2/behavior-1k/rearrange_your_room/trajectories/behavior-rearrange-your-room-i00-standard--ytjbfry.json new file mode 100644 index 0000000000000000000000000000000000000000..1e3dedf5267aa9c09d87317cf7ea2f24cb0da00f --- /dev/null +++ b/phase2/behavior-1k/rearrange_your_room/trajectories/behavior-rearrange-your-room-i00-standard--ytjbfry.json @@ -0,0 +1,218 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-rearrange-your-room-i00-standard--ytjbfry", + "taskKey": "behavior-1k/rearrange_your_room", + "dag_sha256": "70f0904f1b16483ad518f0a5db5d80d7e537e1442fcfe1c08c6afb0a8657f110", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 0, + "live_matches_replay": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 3347, + "sim_steps": 3347, + "physics_steps": 13388, + "steps": 3347, + "elapsed_s": 554.0, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 1, + "q_score": 0.0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.36, + "peak_processes": 15, + "peak_disk_gb": 1.015, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-rearrange-your-room-i00-standard--ytjbfry/replay.mp4", + "duration_s": 111.567, + "fps": 30.0, + "frames": 3347, + "sha256": "27733707f2f8442d19bd6cc1e7267fddc1d47492680abf0158467af1ce019ac4" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "tissue_on_stand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 34.97, + "log_step": null, + "text_zh": "观察：视频 0–58.9 s 的扫描画面中，腕部视角反复可见黑色扶手椅上的白色纸巾，夹爪没有夹起或携带纸巾盒；头部视角扫过电视下长台时未见纸巾盒落到台面。" + }, + { + "t": 111.53, + "log_step": 78, + "text_zh": "推断：视频 60.9–111.53 s 为机器人失衡翻滚，未见纸巾盒搬放；评分器 q_score=0，且初始三项放置关系均不成立，因此纸巾盒上台末态为假。live_matches_replay=0，分数来自现场回合；它与本录像未见搬放的过程一致，未用于推定一次被遮挡的成功搬运。" + } + ] + }, + "pillows_on_beds_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 的头部画面同时显示两只浅色枕头分别躺在两床外侧的地毯上，两张白色床面都没有这两只枕头。视频 32.97–48.97 s 再次扫过两床，两只枕头仍在原来的地毯位置，夹爪没有持枕头。" + }, + { + "t": 111.03, + "log_step": null, + "text_zh": "观察：视频 58.1–65.87 s 的密集帧及视频 110.63–111.53 s 的末秒画面中，机器人持续转动并倾斜，床边浅色枕头仍在地毯上；全段未见枕头离开地面被放上床。" + } + ] + }, + "pillows_on_beds_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 44.97, + "log_step": null, + "text_zh": "观察：视频 0 s、42.97–48.97 s 能同时辨认两床与两只地面枕头，没有出现一床一个枕头的状态；成功参考录像的视频 34.97 s、84.97 s 则可清楚看到浅色枕头落在白色床面上，本录像缺少这一可见线索。" + }, + { + "t": 111.53, + "log_step": 78, + "text_zh": "推断：本录像全程没有一次枕头搬放，末秒仍可见地面枕头，故两枕头分别上两床也未达到；现场评分器 q_score=0 与此相符。因 live_matches_replay=0，不用现场日志中的姿态值替代本录像的物品位置判断。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": 62.0, + "log_step": 76, + "where": "探索", + "evidence_zh": "观察：视频 0–58.9 s 机器人空手原地反复转向查看房间；视频约 60.9–62.9 s 起头部与腕部画面出现大幅侧倾并快速翻转，随后反复失衡至视频 111.53 s，未开展目标物搬放。log step 75–76 执行的是整屋多角度深度扫描，log step 78 的服务状态为 done=true、reason=\"failure: the robot fell over\"。推断：失败发生于整屋探索，不能从实际动作唯一确定正在处理纸巾盒还是某个枕头，故 ref 为 unknown。" + }, + "unmet": { + "tissue_on_stand": false, + "pillows_on_beds_1": false, + "pillows_on_beds_2": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 62.0, + "log_step": 76, + "evidence_zh": "观察：视频 61.1–65.87 s 机器人相机从正常房间视角快速滚转，天花板、墙面和地毯交替占满画面；视频 66.97–111.53 s 仍反复大幅侧倾，末秒也未形成稳定操作姿态。log step 76 的执行返回 EpisodeOver: failure: the robot fell over，log step 78 的服务状态确认回合已因翻倒结束。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "t": 62.0, + "log_step": 73, + "source_zh": "日志", + "evidence_zh": "推断：log step 52 的接口说明 base_yaw 是逐控制步重复施加的角位移；log step 73 的 spin_to 根据当前观测的航向误差反复调用 move_base，wmax=0.25，按误差改变方向，却没有检查倾斜并中止。log step 69 已打印正负 0.250 反复切换，log step 76 在扫描时继续大量 -0.250 转向命令直至服务判翻倒。结合视频约 61–66 s 开始的剧烈滚转，说明原地扫描的转向反馈未稳定机体；扫描目标本身并不要求翻转。", + "note_zh": "agent 在 log step 135、208 将失稳进一步归于高速转向叠加观测延迟；该精确动力学解释为 agent 自述，未据此额外标参数调试或任务环境问题。" + } + ], + "gap_zh": "没有状态日志，不能确定倾倒阈值首次越界或具体支承接触；视频约 62 s 只是明显失衡的导航锚点。扫描针对整个房间，尚无面向单个目标物的操作，无法把断点及扫描时的底盘支撑分配到某一个放置节点，各节点不填 contact_actual。评分器 live_matches_replay=0、deterministic=0，现场末态姿态不能视为录像逐帧事实；但录像失衡、全程没有搬放与现场翻倒及 q_score=0 一致。高速命令、反馈循环和失稳可核对，观测延迟及驱动刚度如何造成翻倒的精确机制只有 agent 自述，仍待核实。" + }, + "summary_zh": "三项放置节点均未达到：纸巾盒未从扶手椅搬上台柜，两只枕头始终没有被搬上床，最终为 0/3。机器人在整屋原地扫描期间于视频约 62 s 明显失衡，此后反复翻转，现场服务确认因翻倒终止；转向反馈持续施加大幅纠偏而未稳定机体。无状态日志且现场与回放不完全一致，扫描也无法归属单个放置节点，故断点为 unknown／探索，具体失稳动力学机制未定。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "三节点均未达成、0/3、失衡时间约 62 s 与帧一致；断点 unknown/探索、平衡现象、反馈控制根因均有日志与视频支撑且已标为推断，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:32:43Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-rearrange-your-room-i00-standard--ytjbfry/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-rearrange-your-room-i00-standard--ytjbfry/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "92e0c04a224b46b5159b5ce2d9b361a804dfba8f91e9099cbba2ada62bb962a1", + "video_sha256": "27733707f2f8442d19bd6cc1e7267fddc1d47492680abf0158467af1ce019ac4", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-privileged--dmh6ww4.json b/phase2/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-privileged--dmh6ww4.json new file mode 100644 index 0000000000000000000000000000000000000000..ead2ec9de5a0a1e30aecc65268c72fc0cf7551b8 --- /dev/null +++ b/phase2/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-privileged--dmh6ww4.json @@ -0,0 +1,376 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-setting-the-table-i00-privileged--dmh6ww4", + "taskKey": "behavior-1k/setting_the_table", + "dag_sha256": "6a5f1eba95ccc5ad25db2527a55c61eff05dce14bb67bf276b11bab2a1d89016", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 6004, + "sim_steps": 3161, + "fallen": 1, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 1884.0, + "replay_timeout_s": 4202.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 2, + "agent_resets": 0, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-setting-the-table-i00-privileged--dmh6ww4/replay.mp4", + "duration_s": 105.367, + "fps": 30.0, + "frames": 3161, + "sha256": "809c0112e93a53003864a12d6f30ee040cab7ada0a307fde36a192a9e1c43626" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 10, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [ + [ + 7.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.5, + "log_step": null, + "text_zh": "观察：视频 4.0–7.5 s，机器人右夹爪夹住上方橱柜右门下缘并向外拉，门板明显转离柜体；视频 7.5–21.5 s 可见完整下层柜口及内部置物空间，开口足以通过盘子。此项为锁存事件，后续门回摆不撤销。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 4.0–7.5 s，右二指夹爪夹住橱柜右门下缘的薄边并拉开门板。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0–2 s，轮式底盘承载机器人向橱柜前移动、对正。" + } + ] + }, + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 87, + "log_step": 177, + "text_zh": "观察：全片机器人主要在上方橱柜和厨房台面附近活动，视频 86–92 s 为厨房水槽及邻近台面视图，未见机器人操作冰箱门或出现冰箱内部；视频 105.3 s 结束前也无冰箱开门操作。log step 183–188 的冰箱尝试发生在 log step 177 保存交付文件之后，不能作为本次视频的开门证据。" + } + ] + }, + "plates_on_table_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 23.5, + "log_step": null, + "text_zh": "观察：视频 21.5–24.5 s，机器人右臂朝已打开的橱柜伸出，夹爪落在柜底下方的红色背板前，未见盘子离开柜内或进入夹爪；视频 25–74 s 姿态长期停滞，视频 75–94 s 空手移动，未见任何盘子送到早餐桌。" + }, + { + "t": 105.3, + "log_step": 137, + "text_zh": "推断：视频 95.5–105.3 s 机器人倾倒后未恢复摆盘；评分器 reward.q_score=0，结合所有目标关系初始均不成立，终态不可能有一只盘满足上桌目标。log step 137 的上桌反馈来自开发会话，不能替代本次视频。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 17–23 s 及视频 75–94 s，底盘带动机器人在橱柜和厨房台面附近移动，取盘及送盘目标未完成。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 21.5–24.5 s 右夹爪朝柜口取盘，但盘沿与指尖局部被遮挡；没有可确认的盘子对向夹持，无法确定是否曾短暂擦碰盘子，不标抓握。" + } + ] + }, + "plates_on_table_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 21.5, + "log_step": null, + "text_zh": "观察：视频 7.5–24.5 s 柜口打开后未见两只盘子依次被取出，全片没有第二次可辨认的盘子搬上早餐桌。" + }, + { + "t": 105.3, + "log_step": 149, + "text_zh": "推断：评分器 reward.q_score=0，且盘上桌关系初始不成立，排除终态两盘上桌；log step 149、151 的开发会话反馈不作为本次视频的进度。" + } + ] + }, + "cupcakes_on_plates_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 87, + "log_step": null, + "text_zh": "观察：全片未见机器人操作冰箱、取出纸杯蛋糕或将蛋糕放上盘子；视频 86–92 s 机器人仍在厨房水槽及邻近台面活动，视频 105.3 s 结束时已倾倒。" + }, + { + "t": 105.3, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0，蛋糕上盘关系初始不成立，故终态不存在至少1对不同蛋糕与盘的合格配对。" + } + ] + }, + "cupcakes_on_plates_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 87, + "log_step": null, + "text_zh": "观察：全片未见机器人操作冰箱、取出纸杯蛋糕或将蛋糕放上盘子；视频 86–92 s 机器人仍在厨房水槽及邻近台面活动，视频 105.3 s 结束时已倾倒。" + }, + { + "t": 105.3, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0，蛋糕上盘关系初始不成立，故终态不存在至少2对不同蛋糕与盘的合格配对。" + } + ] + }, + "forks_next_to_plates_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 90, + "log_step": null, + "text_zh": "观察：视频 75–94 s 机器人在厨房台面及水槽附近空手移动，未见叉子离开水槽、被夹持搬运或摆到盘旁；视频 95.5–105.3 s 倾倒后亦未完成摆放。" + }, + { + "t": 105.3, + "log_step": 168, + "text_zh": "推断：评分器 reward.q_score=0，叉子邻盘关系初始不成立，因此终态不存在至少1对合格配对。log step 168 的餐具邻盘反馈属于开发会话，与本次评分视频不一致。" + } + ] + }, + "forks_next_to_plates_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 90, + "log_step": null, + "text_zh": "观察：视频 75–94 s 机器人在厨房台面及水槽附近空手移动，未见叉子离开水槽、被夹持搬运或摆到盘旁；视频 95.5–105.3 s 倾倒后亦未完成摆放。" + }, + { + "t": 105.3, + "log_step": 168, + "text_zh": "推断：评分器 reward.q_score=0，叉子邻盘关系初始不成立，因此终态不存在至少2对合格配对。log step 168 的餐具邻盘反馈属于开发会话，与本次评分视频不一致。" + } + ] + }, + "knives_next_to_plates_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 90, + "log_step": null, + "text_zh": "观察：视频 75–94 s 机器人在厨房台面及水槽附近空手移动，未见餐刀离开水槽、被夹持搬运或摆到盘旁；视频 95.5–105.3 s 倾倒后亦未完成摆放。" + }, + { + "t": 105.3, + "log_step": 168, + "text_zh": "推断：评分器 reward.q_score=0，餐刀邻盘关系初始不成立，因此终态不存在至少1对合格配对。log step 168 的餐具邻盘反馈属于开发会话，与本次评分视频不一致。" + } + ] + }, + "knives_next_to_plates_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 90, + "log_step": null, + "text_zh": "观察：视频 75–94 s 机器人在厨房台面及水槽附近空手移动，未见餐刀离开水槽、被夹持搬运或摆到盘旁；视频 95.5–105.3 s 倾倒后亦未完成摆放。" + }, + { + "t": 105.3, + "log_step": 168, + "text_zh": "推断：评分器 reward.q_score=0，餐刀邻盘关系初始不成立，因此终态不存在至少2对合格配对。log step 168 的餐具邻盘反馈属于开发会话，与本次评分视频不一致。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "plates_on_table_1", + "t": 23.5, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 21.5–24.5 s，机器人已在打开的橱柜前尝试取盘，右夹爪却停在柜底下方，未见盘子被取出；视频 25–74 s 长时间停滞，随后空手移开，始终未完成第一只盘上桌。视频约 94–95 s 餐厅桌面入镜，视频约 95.5 s 起视图明显倾斜，视频 97–105.3 s 未恢复直立；inputs/run.json 的 reward.fallen=1、reward.sim_steps=3161。推断：倾倒是放弃取盘后的转场中发生的终止判定事件，仅作为证据提及；第一只盘上桌步骤仍未修复，断点保持 plates_on_table_1。" + }, + "unmet": { + "plates_on_table_1": false, + "plates_on_table_2": false, + "cupcakes_on_plates_1": false, + "cupcakes_on_plates_2": false, + "forks_next_to_plates_1": false, + "forks_next_to_plates_2": false, + "knives_next_to_plates_1": false, + "knives_next_to_plates_2": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 23.5, + "log_step": null, + "evidence_zh": "观察：视频 21.5–24.5 s，机器人右臂伸向橱柜，但末端在柜内盘子所在底层下方的红色背板前，没有对准柜内取盘位置；视频 25–74 s 仍保持偏离柜口的姿态，未见盘子离柜或被带走。" + } + ], + "root_causes": [ + { + "cat": "交付", + "item": "交付操作出错", + "log_step": 177, + "source_zh": "日志", + "evidence_zh": "观察：log step 124 的 restore 直接调用模拟器 load_state，并把 s._recording 替换成快照的动作前缀；log step 131、134、148、168 多次恢复快照后继续录制，log step 177 从 CK[\"trip1placed\"][\"rec\"] 保存 6004 行交付文件。log step 195 中 agent 明确自述该文件跨多次近似恢复录制且从未做新进程回放，评分器 agent_replays=0、deterministic=1；开发会话 log step 137、168 的盘和餐具摆放在视频中未重现。推断：agent 交付了未经完整回放验证、跨快照拼接的动作序列，未发现其在新进程执行中取盘偏离并倾倒。" + } + ], + "gap_zh": "观察：inputs/ 有完整评分视频和运行日志，但无状态日志及成功参考视频。柜内盘沿与夹爪接触局部受遮挡，无法确认短暂擦碰或精确抓取状态；节点终值结合视频与评分器 q_score=0 判断。开发会话与评分视频不一致，不能将会话中的盘上桌、餐具邻盘及保存后的冰箱尝试计入进度；缺少逐步关节、接触和底座状态，无法进一步区分交付后偏离的具体动力学或控制子因。" + }, + "summary_zh": "评分轨迹仅在视频约 7.5 s 打开橱柜，最终完成 1/10 个节点，八个摆放目标均未达成（q_score=0）。机器人在第一只盘的取盘操作中末端偏离柜口，未见盘子被取出，放弃取盘后的转场中于视频约 95.5 s 倾倒；日志支持跨快照拼接且未经完整回放验证的交付操作出错。无状态日志，局部接触及具体控制失稳机制无法确定，开发会话所述摆放成果未计入。", + "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（仅开橱柜、其余未达成）、断点 plates_on_table_1 和交付操作出错的根因与视频、日志一致；问题在于把评分器以 fallen 终止运行的倾倒单列为 全身·平衡 现象，且证据把它说成发生在取盘步骤内。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值（仅开橱柜）、断点 plates_on_table_1、位姿不准与交付操作出错均与视频和日志一致；倾倒已按 S14/S15 降为证据提及，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": "2026-10-30T21:40:17Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-setting-the-table-i00-privileged--dmh6ww4/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-setting-the-table-i00-privileged--dmh6ww4/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-setting-the-table-i00-privileged--dmh6ww4/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-setting-the-table-i00-privileged--dmh6ww4/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "30ce98c6a98552bfa71c0429528037ddd7381e1d2e2601260c3adf450549e9b2", + "video_sha256": "809c0112e93a53003864a12d6f30ee040cab7ada0a307fde36a192a9e1c43626", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-privileged--f4sfeg2.json b/phase2/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-privileged--f4sfeg2.json new file mode 100644 index 0000000000000000000000000000000000000000..0873858fc8ba722a5b5f9244d1d911ba0f4245c5 --- /dev/null +++ b/phase2/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-privileged--f4sfeg2.json @@ -0,0 +1,406 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-setting-the-table-i00-privileged--f4sfeg2", + "taskKey": "behavior-1k/setting_the_table", + "dag_sha256": "6a5f1eba95ccc5ad25db2527a55c61eff05dce14bb67bf276b11bab2a1d89016", + "outcome": { + "success": 0, + "reward": 0.25, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 5081, + "sim_steps": 5081, + "fallen": 0, + "final_reward": 0.25, + "q_score": 0.25, + "replay_wall_s": 2608.4, + "replay_timeout_s": 3740.5, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 1, + "agent_resets": 1, + "agent_sim_steps": 15913, + "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-setting-the-table-i00-privileged--f4sfeg2/replay.mp4", + "duration_s": 169.367, + "fps": 30.0, + "frames": 5081, + "sha256": "5febe18ee0137bf93bedd578e06eb14f437d63d74041c5377189df7196358efb" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 10, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [ + [ + 14.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 14.0, + "log_step": 64, + "text_zh": "观察：视频 11.5–15.0 s，机器人左夹爪夹住吊柜门板下沿并向外拉，视频约 14.0 s 门板明显转离柜体、柜内搁板及盘子露出，随后左夹爪可伸入。开门时间约有0.5秒误差。" + }, + { + "t": 115.0, + "log_step": 162, + "text_zh": "观察：视频 113.0–116.0 s，机器人又拉开另一扇吊柜门；两次开门均在交付视频内。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 11.5–15.0 s，左二指夹爪夹住吊柜门板下沿拉开；视频 113.0–116.0 s 再夹住另一扇门的下沿拉开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0–2.0 s 机器人底盘转动并靠近吊柜；视频 89.0–113.0 s 返回柜前并调整工作位置。" + } + ] + }, + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 169.3, + "log_step": 319, + "text_zh": "观察：视频 0–169.3 s 机器人只操作吊柜和两只盘，末尾仍停在早餐桌前，未出现机器人操作冰箱门的动作。log step 319、320 明确保留的交付文件只有命令0至43形成的5081步前缀；开冰箱命令44及以后未交付。" + }, + { + "t": null, + "log_step": 243, + "text_zh": "推断：该开门事件在交付片段内未发生。log step 243 的冰箱开门是重置后的会话实验，不能据此把本节点记为完成。" + } + ] + }, + "plates_on_table_1": { + "method": "visual", + "intervals": [ + [ + 85.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 62.0, + "log_step": null, + "text_zh": "观察：视频约 58.0–64.0 s，机器人左夹爪将第一只盘拨出吊柜，盘子落下；视频 69.0–77.0 s 机器人重新靠近并从低处夹起盘子，盘随左夹爪离开原处。" + }, + { + "t": 85.5, + "log_step": 146, + "text_zh": "观察：视频 82.5–86.3 s，左夹爪在早餐桌上方张开，第一只盘落到桌面并停止明显移动；视频约 85.5 s 可见盘与退开的夹爪分离。此后机器人返回厨房，没有再搬动这只盘。" + }, + { + "t": 169.3, + "log_step": null, + "text_zh": "推断：视频 169.3 s 的终帧及此前第二次放盘显示桌上已有两只盘；评分器 q_score=0.25，即八个目标字面量中的两项，与两个盘上桌一致。视觉无法量测0.05米/秒边界，按盘离手后的稳定画面判断。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频约 58.0–64.0 s，左夹爪指端沿盘沿拨动、拖出第一只盘，盘随后落离搁板。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 73.0–84.5 s，左二指夹爪夹住第一只盘的边缘，从低处抬起并搬到早餐桌上方后释放。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频约 69.0–82.0 s，底盘调整取盘位置并承载机器人与被夹住的第一只盘从厨房驶向早餐桌。" + } + ] + }, + "plates_on_table_2": { + "method": "visual", + "intervals": [ + [ + 168.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 145.0, + "log_step": 187, + "text_zh": "观察：视频 119.0–145.5 s，左夹爪多次接近第二只盘，最后将盘从吊柜拨出并落到下面的台面；视频 150.0–161.0 s 可见盘被左夹爪夹住、抬离台面并随机器人移动。" + }, + { + "t": 168.0, + "log_step": 190, + "text_zh": "观察：视频 166.5–169.3 s，机器人把第二只盘降到早餐桌上，左夹爪张开并上移，白盘留在桌面；视频约 168.0 s 起盘已离手并无明显位移，视频最后一秒仍保持。到达时刻约有0.5秒误差。" + }, + { + "t": 169.3, + "log_step": null, + "text_zh": "推断：视频中两次实际搬盘和释放与评分器 q_score=0.25 相符，两只盘均满足上桌；视频末尾没有再提起任何一只盘。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 119.0–145.5 s，左夹爪指端拨动第二只盘的边缘，将盘移出吊柜，盘落在下方台面。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 150.0–168.0 s，左二指夹爪夹持第二只盘的边缘、提起并搬到早餐桌，随后张开释放。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频约 160.5–166.0 s，底盘承载机器人与左夹爪夹持的第二只盘从厨房驶到早餐桌前。" + } + ] + }, + "cupcakes_on_plates_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 169.3, + "log_step": 320, + "text_zh": "观察：视频 0–169.3 s，机器人搬运的是两只盘，没有取出或搬放纸杯蛋糕、叉子、餐刀；视频末尾桌上的盘旁及盘面没有相应摆放。交付到第二次放盘即结束。" + }, + { + "t": 169.3, + "log_step": null, + "text_zh": "推断：本项“第1个纸杯蛋糕上盘”终值为假。评分器 q_score=0.25 只容许八项目标中的两项成立，视频已证实两只盘上桌，因此其余六项摆放关系均未成立；初始物品分置厨房且未随盘形成所需关系，交付片段内没有建立本项。" + } + ] + }, + "cupcakes_on_plates_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 169.3, + "log_step": 320, + "text_zh": "观察：视频 0–169.3 s，机器人搬运的是两只盘，没有取出或搬放纸杯蛋糕、叉子、餐刀；视频末尾桌上的盘旁及盘面没有相应摆放。交付到第二次放盘即结束。" + }, + { + "t": 169.3, + "log_step": null, + "text_zh": "推断：本项“第2个纸杯蛋糕上盘”终值为假。评分器 q_score=0.25 只容许八项目标中的两项成立，视频已证实两只盘上桌，因此其余六项摆放关系均未成立；初始物品分置厨房且未随盘形成所需关系，交付片段内没有建立本项。" + } + ] + }, + "forks_next_to_plates_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 169.3, + "log_step": 320, + "text_zh": "观察：视频 0–169.3 s，机器人搬运的是两只盘，没有取出或搬放纸杯蛋糕、叉子、餐刀；视频末尾桌上的盘旁及盘面没有相应摆放。交付到第二次放盘即结束。" + }, + { + "t": 169.3, + "log_step": null, + "text_zh": "推断：本项“第1个叉子邻盘”终值为假。评分器 q_score=0.25 只容许八项目标中的两项成立，视频已证实两只盘上桌，因此其余六项摆放关系均未成立；初始物品分置厨房且未随盘形成所需关系，交付片段内没有建立本项。" + } + ] + }, + "forks_next_to_plates_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 169.3, + "log_step": 320, + "text_zh": "观察：视频 0–169.3 s，机器人搬运的是两只盘，没有取出或搬放纸杯蛋糕、叉子、餐刀；视频末尾桌上的盘旁及盘面没有相应摆放。交付到第二次放盘即结束。" + }, + { + "t": 169.3, + "log_step": null, + "text_zh": "推断：本项“第2个叉子邻盘”终值为假。评分器 q_score=0.25 只容许八项目标中的两项成立，视频已证实两只盘上桌，因此其余六项摆放关系均未成立；初始物品分置厨房且未随盘形成所需关系，交付片段内没有建立本项。" + } + ] + }, + "knives_next_to_plates_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 169.3, + "log_step": 320, + "text_zh": "观察：视频 0–169.3 s，机器人搬运的是两只盘，没有取出或搬放纸杯蛋糕、叉子、餐刀；视频末尾桌上的盘旁及盘面没有相应摆放。交付到第二次放盘即结束。" + }, + { + "t": 169.3, + "log_step": null, + "text_zh": "推断：本项“第1个餐刀邻盘”终值为假。评分器 q_score=0.25 只容许八项目标中的两项成立，视频已证实两只盘上桌，因此其余六项摆放关系均未成立；初始物品分置厨房且未随盘形成所需关系，交付片段内没有建立本项。" + } + ] + }, + "knives_next_to_plates_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 169.3, + "log_step": 320, + "text_zh": "观察：视频 0–169.3 s，机器人搬运的是两只盘，没有取出或搬放纸杯蛋糕、叉子、餐刀；视频末尾桌上的盘旁及盘面没有相应摆放。交付到第二次放盘即结束。" + }, + { + "t": 169.3, + "log_step": null, + "text_zh": "推断：本项“第2个餐刀邻盘”终值为假。评分器 q_score=0.25 只容许八项目标中的两项成立，视频已证实两只盘上桌，因此其余六项摆放关系均未成立；初始物品分置厨房且未随盘形成所需关系，交付片段内没有建立本项。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.25, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "fridge_opened", + "t": null, + "log_step": 319, + "where": "首步前", + "evidence_zh": "观察：视频 168.0–169.3 s，机器人在早餐桌释放第二只盘后结束，尚未开始开冰箱。log step 190 保存5081步，log step 191 才编写下一段开冰箱命令44；log step 319、320 最终明确只交付命令0至43的两盘前缀。推断：接下来的开冰箱步骤未在评分尝试内启动，断点取 fridge_opened；没有可定位的物理失败瞬间，t留空。" + }, + "unmet": { + "plates_on_table_1": true, + "plates_on_table_2": true, + "cupcakes_on_plates_1": false, + "cupcakes_on_plates_2": false, + "forks_next_to_plates_1": false, + "forks_next_to_plates_2": false, + "knives_next_to_plates_1": false, + "knives_next_to_plates_2": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": null, + "log_step": 319, + "evidence_zh": "观察：检查视频全段及视频 168.37–169.3 s 的末秒，机器人完成第二次放盘即停，未驶向冰箱或触碰冰箱门；log step 319、320 确认提交的是开冰箱之前的保存片段。会话后续的冰箱碰撞、倾倒和取蛋糕均不在交付视频内。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "log_step": 319, + "evidence_zh": "推断：未交付后续动作的原因有会话控制失败支持。log step 193、196 的开冰箱续段两次返回左臂无逆解；log step 200、206 的会话输出记录底盘受阻并最终倾倒。重置后虽在 log step 243 打开冰箱，log step 311 的双臂求解失败、log step 314、317 的夹爪及手臂与冰箱本体接触且蛋糕未抓起，后续流程仍未完成；agent 在 log step 319 明言冰箱取物仍受阻并保留两盘前缀，log step 320 确认该选择。这些是解释停止的会话证据，不是交付轨迹的物理失败现象；不足以唯一细分接触设计或轨迹控制。" + } + ], + "gap_zh": "未提供状态日志和成功参考视频，不能量测盘的原生线速度或精确接触力；摆放时间由连续帧估计，约有0.5秒误差。冰箱不在全程视野中，其事件未完成依据完整交付片段的动作范围及保存边界推断；后续冰箱实验没有交付，只能支持控制类根因，不能给交付轨迹补记开门、抓蛋糕、碰撞或倾倒。" + }, + "summary_zh": "交付轨迹完成打开橱柜及两只盘上桌，共3/10个节点；两次放盘约在视频 85.5 s、168.0 s，评分器 q_score=0.25 与两个摆放目标相符。轨迹在开冰箱步骤启动前结束，现象为没尝试；日志中的后续冰箱取物控制失败解释了为何最终仅保留两盘前缀。无状态日志及成功参考视频，速度阈值和根因细分不能直接验证。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点进度（柜门、两只盘上桌，q=0.25 相符）、时间和断点（fridge_opened/首步前/没尝试）与视频一致；根因“控制”依据会话证据并明确标注，符合 FAIL-22 的处理方式。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": "2026-10-30T21:16:14Z", + "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-setting-the-table-i00-privileged--f4sfeg2/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-setting-the-table-i00-privileged--f4sfeg2/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "dd13ebcbb8ded76806396db5fbd7ce29bb5a015353db09f27df79eda3c655c79", + "video_sha256": "5febe18ee0137bf93bedd578e06eb14f437d63d74041c5377189df7196358efb", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-privileged--fgpxymd.json b/phase2/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-privileged--fgpxymd.json new file mode 100644 index 0000000000000000000000000000000000000000..906ac35762cb19ddf062f5484a1221d810b55857 --- /dev/null +++ b/phase2/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-privileged--fgpxymd.json @@ -0,0 +1,284 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-setting-the-table-i00-privileged--fgpxymd", + "taskKey": "behavior-1k/setting_the_table", + "dag_sha256": "6a5f1eba95ccc5ad25db2527a55c61eff05dce14bb67bf276b11bab2a1d89016", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 0, + "n_actions": 572, + "sim_steps": 572, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 1660.5, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 5, + "agent_resets": 5, + "agent_sim_steps": 662, + "agent_records": 1, + "agent_replays": 0, + "agent_cost_self_reported": 1 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-setting-the-table-i00-privileged--fgpxymd/replay.mp4", + "duration_s": 19.067, + "fps": 30.0, + "frames": 572, + "sha256": "00aa2be80bfd2f4a4e25499f2af704c0522e4c9346aba210d677f3d23aac2c7f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 10, + "base": null, + "peak": null, + "final": null, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s，机器人位于厨房，灶台上方灰色橱柜门板合拢，未见可取盘的开口。" + }, + { + "t": 17.75, + "log_step": 239, + "text_zh": "观察：视频 16.75–19.03 s，机器人末端移到灶台前下方，橱柜门仍合拢，没有夹爪握门、拉门或门板摆开的动作；log step 239 的交付脚本仅有收臂、底盘移动和预备伸臂，log step 255 只补充位姿辅助函数及修正保存调用，没有加入开门动作。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0.0–6.5 s，轮式底盘承载机器人转向并移动，作为接近橱柜的准备；未见夹爪与柜门建立接触。" + } + ] + }, + "fridge_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 19.033, + "log_step": null, + "text_zh": "观察：检查视频 0.0–19.03 s 的头部及双腕视图，未获得可判定冰箱门开度的视角；没有冰箱操作画面。缺少状态日志，不能由未操作或总分为零判定该非目标开门事件，保留未知。" + } + ] + }, + "plates_on_table_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 19.033, + "log_step": 239, + "text_zh": "推断：log step 3 读取的冻结初态中，盘位于橱柜、蛋糕位于冰箱、刀叉位于水槽，彼此尚未形成目标摆放；视频 0.0–19.03 s 只见机器人调整姿态和移动，没有目标物离开原处、进入夹爪或摆放到位的过程，log step 239、255 的最终脚本也只有接近橱柜的前缀。因此未形成至少一只盘上早餐桌。评分器 reward.q_score=0.0 与 final_reward=0.0 进一步限定该目标的终值为假；没有仅由零分反推未尝试。" + } + ] + }, + "plates_on_table_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 19.033, + "log_step": 239, + "text_zh": "推断：log step 3 读取的冻结初态中，盘位于橱柜、蛋糕位于冰箱、刀叉位于水槽，彼此尚未形成目标摆放；视频 0.0–19.03 s 只见机器人调整姿态和移动，没有目标物离开原处、进入夹爪或摆放到位的过程，log step 239、255 的最终脚本也只有接近橱柜的前缀。因此未形成两只盘上早餐桌。评分器 reward.q_score=0.0 与 final_reward=0.0 进一步限定该目标的终值为假；没有仅由零分反推未尝试。" + } + ] + }, + "cupcakes_on_plates_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 19.033, + "log_step": 239, + "text_zh": "推断：log step 3 读取的冻结初态中，盘位于橱柜、蛋糕位于冰箱、刀叉位于水槽，彼此尚未形成目标摆放；视频 0.0–19.03 s 只见机器人调整姿态和移动，没有目标物离开原处、进入夹爪或摆放到位的过程，log step 239、255 的最终脚本也只有接近橱柜的前缀。因此未形成至少一组蛋糕与盘的在上关系。评分器 reward.q_score=0.0 与 final_reward=0.0 进一步限定该目标的终值为假；没有仅由零分反推未尝试。" + } + ] + }, + "cupcakes_on_plates_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 19.033, + "log_step": 239, + "text_zh": "推断：log step 3 读取的冻结初态中，盘位于橱柜、蛋糕位于冰箱、刀叉位于水槽，彼此尚未形成目标摆放；视频 0.0–19.03 s 只见机器人调整姿态和移动，没有目标物离开原处、进入夹爪或摆放到位的过程，log step 239、255 的最终脚本也只有接近橱柜的前缀。因此未形成两组不复用盘的蛋糕在上关系。评分器 reward.q_score=0.0 与 final_reward=0.0 进一步限定该目标的终值为假；没有仅由零分反推未尝试。" + } + ] + }, + "forks_next_to_plates_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 19.033, + "log_step": 239, + "text_zh": "推断：log step 3 读取的冻结初态中，盘位于橱柜、蛋糕位于冰箱、刀叉位于水槽，彼此尚未形成目标摆放；视频 0.0–19.03 s 只见机器人调整姿态和移动，没有目标物离开原处、进入夹爪或摆放到位的过程，log step 239、255 的最终脚本也只有接近橱柜的前缀。因此未形成至少一组叉与盘的邻接关系。评分器 reward.q_score=0.0 与 final_reward=0.0 进一步限定该目标的终值为假；没有仅由零分反推未尝试。" + } + ] + }, + "forks_next_to_plates_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 19.033, + "log_step": 239, + "text_zh": "推断：log step 3 读取的冻结初态中，盘位于橱柜、蛋糕位于冰箱、刀叉位于水槽，彼此尚未形成目标摆放；视频 0.0–19.03 s 只见机器人调整姿态和移动，没有目标物离开原处、进入夹爪或摆放到位的过程，log step 239、255 的最终脚本也只有接近橱柜的前缀。因此未形成两组不复用盘的叉邻接关系。评分器 reward.q_score=0.0 与 final_reward=0.0 进一步限定该目标的终值为假；没有仅由零分反推未尝试。" + } + ] + }, + "knives_next_to_plates_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 19.033, + "log_step": 239, + "text_zh": "推断：log step 3 读取的冻结初态中，盘位于橱柜、蛋糕位于冰箱、刀叉位于水槽，彼此尚未形成目标摆放；视频 0.0–19.03 s 只见机器人调整姿态和移动，没有目标物离开原处、进入夹爪或摆放到位的过程，log step 239、255 的最终脚本也只有接近橱柜的前缀。因此未形成至少一组刀与盘的邻接关系。评分器 reward.q_score=0.0 与 final_reward=0.0 进一步限定该目标的终值为假；没有仅由零分反推未尝试。" + } + ] + }, + "knives_next_to_plates_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 19.033, + "log_step": 239, + "text_zh": "推断：log step 3 读取的冻结初态中，盘位于橱柜、蛋糕位于冰箱、刀叉位于水槽，彼此尚未形成目标摆放；视频 0.0–19.03 s 只见机器人调整姿态和移动，没有目标物离开原处、进入夹爪或摆放到位的过程，log step 239、255 的最终脚本也只有接近橱柜的前缀。因此未形成两组不复用盘的刀邻接关系。评分器 reward.q_score=0.0 与 final_reward=0.0 进一步限定该目标的终值为假；没有仅由零分反推未尝试。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "cabinet_opened", + "t": null, + "log_step": 239, + "where": "首步前", + "evidence_zh": "观察：视频 0.0–19.03 s，机器人只有收臂、底盘移动和预备伸臂，灰色橱柜始终未出现取盘开口；视频 17.75–19.03 s 的末端仍在灶台前，未执行柜门操作。log step 239 明确将交付脚本缩成 door-approach prefix，log step 255 的修正未增加开门动作；log step 259 检查的交付文件为572条动作，与视频572帧一致。首个开门步骤尚未启动，不能把其他会话里的开门测试当成本次失败时刻，故视频锚点留空。" + }, + "unmet": { + "plates_on_table_1": false, + "plates_on_table_2": false, + "cupcakes_on_plates_1": false, + "cupcakes_on_plates_2": false, + "forks_next_to_plates_1": false, + "forks_next_to_plates_2": false, + "knives_next_to_plates_1": false, + "knives_next_to_plates_2": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": null, + "log_step": 239, + "evidence_zh": "观察：视频 0.0–19.03 s 没有夹爪夹住、勾住或推动橱柜门的动作，末段门板仍合拢；log step 239 的最终脚本仅保留收臂、移底盘、伸臂预备动作，log step 255 没有补上柜门操作。本评分轨迹没有开始开门，不能用会话测试里的接触失败描述该视频。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "log_step": 234, + "evidence_zh": "推断：缩短交付前，agent 的会话测试反复未解决柜门操作：log step 104 的手指压门后滑动未带开门，log step 108 只有单指接触且辅助抓取为空；log step 219 的门边接近误差约0.114米，log step 234 再次接近失败且两扇柜门角度回到近零。log step 239 随后只保留接近前缀，log step 260 自述始终没打开右柜门。这些会话记录支持开门控制能力未解决导致最终未进入开门动作；并非用预算或停止本身作原因。会话中同时存在接触设计、逆解及跟踪问题，不能为本交付确定更细的控制子类。" + } + ], + "gap_zh": "观察：inputs/ 没有状态日志或成功参照视频；冰箱门的开度区域在评分视频中不可判定，因此 fridge_opened 的时间与终值保留未知。盘和蛋糕的原位置多被容器遮挡，摆放节点的空区间由冻结初态、视频中无取放过程和最终脚本交叉推断，终值再受评分器 q_score=0.0 约束。头部视角虽倾斜，但没有底座姿态或落地证据，不能据此认定机器人摔倒；控制归因来自会话测试，不能将这些测试的接触或门角度移植为评分轨迹事实。log step 258 在报告保存成功之后出现进程退出码139，log step 259 能完整加载572条动作，且评分器正常回放，故该保存后的退出不构成评分前的外部中断。" + }, + "summary_zh": "评分轨迹仅完成接近橱柜的准备动作，没有确认达成任何节点；橱柜未打开，八项摆放目标终值均为假，冰箱开门事件未知。断点为打开橱柜的首步前：交付脚本省去了开门操作，会话测试支持尚未解决开门控制，但不能把会话中的接触失败当作评分视频现象。无状态日志及成功参照，遮挡使冰箱开度和更细控制原因无法确认。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点全为 false/unknown、断点 cabinet_opened 首步前 + 没尝试均与视频一致：视频 0–19 s 只见底盘转向移动和收臂，橱柜始终合拢；log step 239 明确把交付缩成门接近前缀，step 259 的 572 条动作与 572 帧一致。根因“控制”仅依据会话测试（log 234 的 tcp_err≈0.057、march failed），属弱证据但已按会话证据标注且未移植为评分轨迹事实，不构成必须修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:13:44Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-setting-the-table-i00-privileged--fgpxymd/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-setting-the-table-i00-privileged--fgpxymd/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "fe169e41c4be4f92e00044fb73beb2beb52bce4aa2d37fe8c261bdfb16cc5eae", + "video_sha256": "00aa2be80bfd2f4a4e25499f2af704c0522e4c9346aba210d677f3d23aac2c7f", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-privileged--zertmmn.json b/phase2/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-privileged--zertmmn.json new file mode 100644 index 0000000000000000000000000000000000000000..d3929853c289aef20fd8dd29fe4b72431fd280bf --- /dev/null +++ b/phase2/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-privileged--zertmmn.json @@ -0,0 +1,325 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-setting-the-table-i00-privileged--zertmmn", + "taskKey": "behavior-1k/setting_the_table", + "dag_sha256": "6a5f1eba95ccc5ad25db2527a55c61eff05dce14bb67bf276b11bab2a1d89016", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 662, + "sim_steps": 662, + "fallen": 1, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 1070.9, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 2, + "agent_resets": 16, + "agent_sim_steps": 0, + "agent_records": 4, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 10.438, + "peak_memory_gb": 9.244, + "peak_processes": 26, + "peak_disk_gb": 1.658, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-setting-the-table-i00-privileged--zertmmn/replay.mp4", + "duration_s": 22.067, + "fps": 30.0, + "frames": 662, + "sha256": "e07c026dff45f23768ef5f70004bdf31c52be3ae7383d59ea01583779b47aff5" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 10, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.7, + "log_step": null, + "text_zh": "观察：视频 2.7 s 头部相机正对灶台上方橱柜，门板闭合；视频 3.5–6.25 s 机器人伸臂并合拢左夹爪，腕部视野中两指间没有柜门或把手，未见门板被拉开或形成取盘开口。" + }, + { + "t": 22.03, + "log_step": 192, + "text_zh": "推断：视频 6.5 s 后机器人逐渐倾倒，视频 21.0–22.03 s 仍未恢复，也未返回开柜；log step 192 所报告的最终 662 动作文件包含 open_cabinet=false，与视频无有效开门结果相符，因此此事件未达成。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0–2.7 s 机器人通过轮式底盘移动和转向，到达灶台上方橱柜前。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 3.5–6.25 s 左夹爪运动并空夹，未见夹住柜门；柜门边缘与手臂接近处未始终入镜，无法确认是否有短暂触碰，不能记为实际抓握。" + } + ] + }, + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 22.03, + "log_step": null, + "text_zh": "推断：视频 0–22.03 s 机器人始终在橱柜及灶台附近活动后倾倒，没有到冰箱前拉门；视频 21.0–22.03 s 仍保持倒伏视角。结合初始蛋糕在冰箱内、全片未见冰箱开门动作，未达成打开冰箱事件。" + } + ] + }, + "plates_on_table_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.5, + "log_step": 192, + "text_zh": "观察：视频 2.7 s 橱柜仍闭合；视频 6.5–10.75 s 机器人继续空手伸臂、开合夹爪，没有盘子随手离柜，之后视角进一步翻转；全片未见机器人携盘去早餐桌或释放盘子。" + }, + { + "t": 22.03, + "log_step": null, + "text_zh": "推断：盘子初在厨房橱柜内，视频 0–22.03 s 无盘子搬至餐厅的过程；评分器 q_score=0.0 且这些摆放关系初始均不成立，故终态连第1只盘上早餐桌也不满足，第1只盘上桌为假。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "推断：log step 192 的最终 662 动作录制报告对两只盘的 pick_plate_failed，视频 6.5–10.75 s 可见开柜失败后的伸臂与空夹，但柜内盘及夹爪接近盘的区域不可见，无法确认实际触盘方式；不把失败返回值记成抓握。" + } + ] + }, + "plates_on_table_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.5, + "log_step": 192, + "text_zh": "观察：视频 2.7 s 橱柜仍闭合；视频 6.5–10.75 s 机器人继续空手伸臂、开合夹爪，没有盘子随手离柜，之后视角进一步翻转；全片未见机器人携盘去早餐桌或释放盘子。" + }, + { + "t": 22.03, + "log_step": null, + "text_zh": "推断：盘子初在厨房橱柜内，视频 0–22.03 s 无盘子搬至餐厅的过程；评分器 q_score=0.0 且这些摆放关系初始均不成立，故终态连第1只盘上早餐桌也不满足，第2只盘上桌为假。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "推断：log step 192 的最终 662 动作录制报告对两只盘的 pick_plate_failed，视频 6.5–10.75 s 可见开柜失败后的伸臂与空夹，但柜内盘及夹爪接近盘的区域不可见，无法确认实际触盘方式；不把失败返回值记成抓握。" + } + ] + }, + "cupcakes_on_plates_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 22.03, + "log_step": null, + "text_zh": "推断：纸杯蛋糕初在冰箱内，盘子初在橱柜内；视频 0–22.03 s 没有把纸杯蛋糕取出、转移到盘上或盘旁的过程，机器人在橱柜前操作后倾倒。评分器 q_score=0.0，且本关系初始不成立，故至少1件纸杯蛋糕放在不同盘上的终态条件为假；未见途中达成。" + } + ] + }, + "cupcakes_on_plates_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 22.03, + "log_step": null, + "text_zh": "推断：纸杯蛋糕初在冰箱内，盘子初在橱柜内；视频 0–22.03 s 没有把纸杯蛋糕取出、转移到盘上或盘旁的过程，机器人在橱柜前操作后倾倒。评分器 q_score=0.0，且本关系初始不成立，故至少2件纸杯蛋糕放在不同盘上的终态条件为假；未见途中达成。" + } + ] + }, + "forks_next_to_plates_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 22.03, + "log_step": null, + "text_zh": "推断：叉子初在水槽处，盘子初在橱柜内；视频 0–22.03 s 没有把叉子取出、转移到盘上或盘旁的过程，机器人在橱柜前操作后倾倒。评分器 q_score=0.0，且本关系初始不成立，故至少1件叉子分别紧邻不同盘的终态条件为假；未见途中达成。" + } + ] + }, + "forks_next_to_plates_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 22.03, + "log_step": null, + "text_zh": "推断：叉子初在水槽处，盘子初在橱柜内；视频 0–22.03 s 没有把叉子取出、转移到盘上或盘旁的过程，机器人在橱柜前操作后倾倒。评分器 q_score=0.0，且本关系初始不成立，故至少2件叉子分别紧邻不同盘的终态条件为假；未见途中达成。" + } + ] + }, + "knives_next_to_plates_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 22.03, + "log_step": null, + "text_zh": "推断：餐刀初在水槽处，盘子初在橱柜内；视频 0–22.03 s 没有把餐刀取出、转移到盘上或盘旁的过程，机器人在橱柜前操作后倾倒。评分器 q_score=0.0，且本关系初始不成立，故至少1件餐刀分别紧邻不同盘的终态条件为假；未见途中达成。" + } + ] + }, + "knives_next_to_plates_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 22.03, + "log_step": null, + "text_zh": "推断：餐刀初在水槽处，盘子初在橱柜内；视频 0–22.03 s 没有把餐刀取出、转移到盘上或盘旁的过程，机器人在橱柜前操作后倾倒。评分器 q_score=0.0，且本关系初始不成立，故至少2件餐刀分别紧邻不同盘的终态条件为假；未见途中达成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "cabinet_opened", + "t": 4.6, + "log_step": 192, + "where": "操作中", + "evidence_zh": "观察：视频 2.7 s 橱柜门仍闭合；视频 3.5–6.25 s 机器人在柜前伸臂并空夹，没有夹住门边并拉出取盘开口。推断：开柜是最早尝试后未修复的步骤，之后的空手取盘及视频 6.5 s 起的倾斜、视频 11–22.03 s 的翻倒均未补成开柜；log step 192 的最终 662 动作录制也报告 open_cabinet=false。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 4.6, + "log_step": null, + "evidence_zh": "观察：视频 3.75–6.25 s 左腕画面中的夹爪开合，指间没有柜门或把手，头部画面没有相应的门板外摆。推断：机器人未建立拉开橱柜所需的夹持接触；不排除未入镜的短暂擦碰，也没有先抓住再滑脱的证据。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 170 的 move_tcp 帮助函数执行关节插值后返回末端位置误差，move_tcp_safe 只检查是否返回 None；log step 171 的抓取流程同样只检查 None 后继续闭爪，缺少实际到位阈值验收。log step 182 的会话测试还报告目标上方误差 0.6479 米、held=null；最终 662 动作录制在 log step 192 仍报告开柜与取盘失败，视频 3.75–6.25 s 与之相符地显示空夹。将未能实现有效接触保守归为控制问题；会话水槽测试只说明该控制实现存在到位验证缺陷，不当作评分视频中的水槽操作。", + "source_zh": "日志" + } + ], + "gap_zh": "观察：inputs/ 未提供状态日志和成功参考视频；头部、腕部相机没有连续显示柜门边缘与夹爪的相对位置，无法确定短暂接触及未到位的具体机械原因。推断：两次取盘尝试的接触细节依赖视频动作与最终录制日志的结合，均记未知；后续日志中的冰箱、蛋糕和餐具失败返回没有对应的到位操作，不记成实际尝试。视频 6.5 s 后出现持续倾斜，视频 11–22.03 s 倒伏，评分器 fallen=1，但没有底盘姿态及接触力日志来确定倾倒诱因；不能把先前会话中的逆解报错或水槽受阻直接当作本次开柜的已证实子类根因。", + "unmet": { + "plates_on_table_1": false, + "plates_on_table_2": false, + "cupcakes_on_plates_1": false, + "cupcakes_on_plates_2": false, + "forks_next_to_plates_1": false, + "forks_next_to_plates_2": false, + "knives_next_to_plates_1": false, + "knives_next_to_plates_2": false + } + }, + "summary_zh": "评分轨迹未完成任何 DAG 节点：机器人在橱柜前移动、伸臂并空夹，未打开柜门或搬运餐具，八项摆放终态均为假，q_score=0.0。首个未修复断点是打开橱柜，所需夹持接触未建立，控制实现缺少实际到位验收；随后机器人从视频约 6.5 s 起倾斜，最终倾倒且未恢复。缺少状态日志与成功参考视频，无法确定柜边短暂接触、具体未到位机制和倾倒诱因。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点全为假、断点 cabinet_opened（操作中）与视频一致：机器人在灶台前伸臂空夹，6.5 s 后倾倒；评分器 q=0、log step 192 的 open_cabinet=false 支持。接触「没建立接触」与根因「控制」是保守推断且已标注为推断，未发现需要改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:09:26Z", + "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-setting-the-table-i00-privileged--zertmmn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-setting-the-table-i00-privileged--zertmmn/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b48ebf8c7890cdbd474a3e5840fb93a284e63d2a08e7badacb625b0df5642df6", + "video_sha256": "e07c026dff45f23768ef5f70004bdf31c52be3ae7383d59ea01583779b47aff5", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-standard--jskvhwk.json b/phase2/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-standard--jskvhwk.json new file mode 100644 index 0000000000000000000000000000000000000000..9e7d875976bea18b75aa58eed5c8a50f17275a9f --- /dev/null +++ b/phase2/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-standard--jskvhwk.json @@ -0,0 +1,411 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-setting-the-table-i00-standard--jskvhwk", + "taskKey": "behavior-1k/setting_the_table", + "dag_sha256": "6a5f1eba95ccc5ad25db2527a55c61eff05dce14bb67bf276b11bab2a1d89016", + "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": 4911, + "sim_steps": 4911, + "physics_steps": 19644, + "steps": 1508, + "elapsed_s": 6551.2, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 0, + "q_score": 0.0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-setting-the-table-i00-standard--jskvhwk/replay.mp4", + "duration_s": 163.7, + "fps": 30.0, + "frames": 4911, + "sha256": "6663dd8b528f0d4b6250eace2cab8dde2cdf90d21f58e98c80e7276ac06ddbf9" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 10, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [ + [ + 82.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 82.5, + "log_step": 113, + "text_zh": "观察：视频 74.0–80.0 s，厨房上柜门先仅有小缝；视频 81.0–83.0 s，机器人双夹爪拉动门板，门明显旋出，腕部视野可从开口看到柜内，开口已足以让盘通过。视频 87.0 s 和视频 136.0–140.0 s 进一步可见敞开的柜体与层板；按开门事件记为达到。" + }, + { + "t": 163.65, + "log_step": 220, + "text_zh": "观察：机器人随后继续查看不同厨房橱柜，视频 158.4–163.65 s 最后一组下柜拉门动作未使门板明显旋开。后一次开其他柜失败不撤销此前的开门事件。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 81.0–82.5 s 及视频 133.0–137.0 s，左右二指夹爪各夹一处上柜把手，同时向外拉开门板；末次视频 159.0–161.0 s 双夹爪空合后撤回，未见成功握住下柜把手。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 90.0–94.0 s 及视频 122.0–125.0 s，单侧夹爪伸入已开门板旁并推动门板继续旋开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 54.0–68.0 s 机器人底盘驶到灶台旁橱柜前，视频 126.0–133.0 s 和视频 150.0–158.0 s 再移动至其他橱柜前查看。" + } + ] + }, + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 38.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 38.0, + "log_step": 63, + "text_zh": "观察：视频 33.5–38.0 s，机器人左夹爪夹住冰箱竖把手并向外拉，视频 38.0 s 已露出内部层架和足以通过纸杯蛋糕的开口；视频 42.0–46.0 s 又将门推得更开。" + }, + { + "t": 52.0, + "log_step": 82, + "text_zh": "观察：视频 52.0 s，冰箱内部的纸杯蛋糕仍在层架上；随后机器人离开冰箱。开门为锁存事件，后续把门推回部分开度不撤销本节点。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 33.5–38.0 s，机器人左二指夹爪夹住冰箱竖把手拉门。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 40.0–46.0 s，左夹爪推动冰箱门进一步旋开；视频 48.0–52.0 s 又推动门回摆。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 20.0–32.0 s，轮式底盘承载机械臂沿厨房台面行驶到冰箱前。" + } + ] + }, + "plates_on_table_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 84.5, + "log_step": 167, + "text_zh": "观察：视频 83.0–125.0 s，机器人在已开橱柜间探看并继续开门；视频 136.0–150.0 s 查看另一组上下柜内部，未见夹爪夹起盘子。视频 158.4–163.65 s 仍在水槽下柜前操作，夹爪未携盘离开厨房；全片未见盘子被送上早餐桌。" + }, + { + "t": 163.65, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0、live_matches_replay=1；结合全片没有盘子搬运、DAG说明目标字面量初值均为假，终局没有第1只盘直接置于早餐桌上的关系。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 126.0–133.0 s 和视频 150.0–158.0 s，底盘承载空手机械臂移动到其他柜体前继续寻找盘子；未见夹爪与盘子接触。" + } + ] + }, + "plates_on_table_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 163.65, + "log_step": null, + "text_zh": "观察：视频全程未见机器人取出并搬运盘子，视频 163.65 s 仍面对厨房水槽。推断：结合 reward.q_score=0.0 及目标初值均为假，终局不满足两盘上早餐桌；未启动第2只盘的搬运。" + } + ] + }, + "cupcakes_on_plates_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 46.0, + "log_step": 70, + "text_zh": "观察：视频 38.0–52.0 s，机器人只操作冰箱门并查看层架，纸杯蛋糕留在冰箱内，夹爪未取出蛋糕；视频 54.0 s 后机器人转向寻找盘子的橱柜。" + }, + { + "t": 163.65, + "log_step": null, + "text_zh": "推断：全片未见蛋糕转移或上盘，结合 reward.q_score=0.0、live_matches_replay=1 和目标初值均为假，终局不满足一个纸杯蛋糕上盘的关系。" + } + ] + }, + "cupcakes_on_plates_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 46.0, + "log_step": 70, + "text_zh": "观察：视频 38.0–52.0 s，机器人只操作冰箱门并查看层架，纸杯蛋糕留在冰箱内，夹爪未取出蛋糕；视频 54.0 s 后机器人转向寻找盘子的橱柜。" + }, + { + "t": 163.65, + "log_step": null, + "text_zh": "推断：全片未见蛋糕转移或上盘，结合 reward.q_score=0.0、live_matches_replay=1 和目标初值均为假，终局不满足两个不同纸杯蛋糕上盘的关系。" + } + ] + }, + "forks_next_to_plates_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 163.65, + "log_step": null, + "text_zh": "观察：视频 16.0–20.0 s、视频 56.0–62.0 s 及视频 156.0–163.65 s 可见水槽和台面，机器人未抓取或搬动叉子，全片也未见将其摆在盘旁的动作。推断：结合 reward.q_score=0.0、live_matches_replay=1 和目标初值均为假，终局不满足至少1组不同叉子与不同盘的邻接关系。" + } + ] + }, + "forks_next_to_plates_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 163.65, + "log_step": null, + "text_zh": "观察：视频 16.0–20.0 s、视频 56.0–62.0 s 及视频 156.0–163.65 s 可见水槽和台面，机器人未抓取或搬动叉子，全片也未见将其摆在盘旁的动作。推断：结合 reward.q_score=0.0、live_matches_replay=1 和目标初值均为假，终局不满足至少2组不同叉子与不同盘的邻接关系。" + } + ] + }, + "knives_next_to_plates_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 163.65, + "log_step": null, + "text_zh": "观察：视频 16.0–20.0 s、视频 56.0–62.0 s 及视频 156.0–163.65 s 可见水槽和台面，机器人未抓取或搬动餐刀，全片也未见将其摆在盘旁的动作。推断：结合 reward.q_score=0.0、live_matches_replay=1 和目标初值均为假，终局不满足至少1组不同餐刀与不同盘的邻接关系。" + } + ] + }, + "knives_next_to_plates_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 163.65, + "log_step": null, + "text_zh": "观察：视频 16.0–20.0 s、视频 56.0–62.0 s 及视频 156.0–163.65 s 可见水槽和台面，机器人未抓取或搬动餐刀，全片也未见将其摆在盘旁的动作。推断：结合 reward.q_score=0.0、live_matches_replay=1 和目标初值均为假，终局不满足至少2组不同餐刀与不同盘的邻接关系。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "plates_on_table_1", + "t": 84.5, + "log_step": 122, + "where": "探索", + "evidence_zh": "观察：视频 83.0–84.5 s，机器人把腕部相机朝向已打开的上柜查看，随后视频 90.0–150.0 s 继续开柜、探看不同柜体，始终没有盘子进入夹爪。log step 167、177、185 的 agent 自述此前所查柜为空并改查其他柜；视频 158.4–163.65 s 最后仍在水槽下柜前，未取出或搬运第1只盘。推断：打开厨房橱柜这一事件已达到，但第1只盘上桌停留在找盘阶段且未获修复；视频 84.5 s 仅作为进入这段未成功搜索的导航锚点。" + }, + "unmet": { + "plates_on_table_1": false, + "plates_on_table_2": false, + "cupcakes_on_plates_1": false, + "cupcakes_on_plates_2": false, + "forks_next_to_plates_1": false, + "forks_next_to_plates_2": false, + "knives_next_to_plates_1": false, + "knives_next_to_plates_2": false + }, + "phenomena": [ + { + "cat": "其他", + "item": "其他", + "t": 84.5, + "log_step": 167, + "note_zh": "候选名称：搜索未定位目标；现有现象没有针对寻找未获结果的条目，按 CASES.md OPEN-18 处理。", + "evidence_zh": "观察：视频 83.0–150.0 s，机器人依次查看敞开的上柜、下柜与另一组柜体，夹爪一直未携出盘子；视频 158.4–163.65 s 最后一次查看下柜后仍无盘。log step 167、177、185，agent 连续自述已查柜为空并转查下一组。推断：第1只盘上桌的准备搜索没有定位出可取的盘子，尚未进入对盘的抓取和搬运；不把后续摆放未启动另记为没尝试。" + } + ], + "root_causes": [], + "gap_zh": "观察：inputs/ 只有运行日志与视频等文件，没有状态日志或成功参考视频；全片没有清楚展示目标盘子所在位置。推断：可确认机器人反复开柜查看但未取到盘子，无法据此区分目标藏在尚未打开的柜内、视野覆盖不足或物品识别错误，也没有独立证据证明搜索顺序本身错误，故根因层留空；不从零评分或会话预算用尽推导原因。橱柜节点按门板旋开、可触及柜内的视觉判据计入，视频不能把已开柜体唯一对应到实体名 cabinet.n.01_1，也不能确认其中就是目标盘的存放柜。" + }, + "summary_zh": "机器人打开冰箱，并将厨房橱柜门拉开至可探入的开口，确认达到2/10个节点；八项摆放关系均未达到，评分器q_score为0。第1只盘上桌停留在开柜寻找盘子的探索阶段，直到视频 163.65 s 仍未取盘，未见后续搬运和摆桌。缺少状态日志及成功参考，盘子实际所在柜体未被清楚展示，无法确定搜索失败的根因，橱柜实体对应也仍有不确定性。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 3, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "冰箱节点与终局判断可信；但 cabinet_opened 的达成时间 82.5 s 与帧不符：81–88 s 上柜门仍关闭，门板直到约 92–96 s 才明显旋开（98–110 s 敞开），时间偏差十余秒，相关证据文字与断点锚点需一并改。", + "n_issues": 3, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "fix", + "conf": 8, + "summary_zh": "冰箱节点与终局未达成判断可信；但 cabinet_opened 的达成时间 82.5 s 与帧不符：视频 80–90 s 上柜门板仍共面闭合，约 91–92 s 起门板才向外旋开（V 形），95–98 s 明显敞开。断点与现象锚点 84.5 s 随之失实（此时柜门尚未打开）。", + "n_issues": 3, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 3, + "kind": "confirm", + "verdict": "agree", + "summary_zh": "三条 reject 均成立：视频 82.5 s 门板已倾斜外旋，86 s 头部视野两扇门呈 V 形且可见柜内亮面，审查所称 80–90 s 一直共面闭合与帧不符；时间、接触窗与断点锚点可保留。", + "n_issues": 0, + "n_checks": 3 + } + ], + "open_zh": [], + "confirm": { + "verdict": "confirmed", + "summary_zh": "三条 reject 均成立：视频 82.5 s 门板已倾斜外旋，86 s 头部视野两扇门呈 V 形且可见柜内亮面，审查所称 80–90 s 一直共面闭合与帧不符；时间、接触窗与断点锚点可保留。", + "checks_ok": "3/3", + "n_factual_errors": 0 + } + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": 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b/phase2/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-standard--tmprsbe.json new file mode 100644 index 0000000000000000000000000000000000000000..2c5c52b074a32388bb4149c192ce440be63aeb0f --- /dev/null +++ b/phase2/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-standard--tmprsbe.json @@ -0,0 +1,350 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-setting-the-table-i00-standard--tmprsbe", + "taskKey": "behavior-1k/setting_the_table", + "dag_sha256": "6a5f1eba95ccc5ad25db2527a55c61eff05dce14bb67bf276b11bab2a1d89016", + "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": 2657, + "sim_steps": 2657, + "physics_steps": 10628, + "steps": 886, + "elapsed_s": 1025.3, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 1, + "q_score": 0.0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-setting-the-table-i00-standard--tmprsbe/replay.mp4", + "duration_s": 88.567, + "fps": 30.0, + "frames": 2657, + "sha256": "bf111790dd222d6d497c96be8ac51731f5c104a1d206e9c31008d41617afe61e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 10, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12, + "log_step": null, + "text_zh": "观察：视频 0、9、12 s 可见灶台、微波炉附近及水槽下方的柜门均贴合柜体；视频 69–75.6 s 机器人再次朝这些橱柜行驶和转向，未见夹爪伸向把手或门板打开。" + }, + { + "t": 76, + "log_step": 140, + "text_zh": "推断：log step 139–141 的脚本与说明是驶向灶台／微波炉区检查橱柜；与视频 69–79.4 s 的巡视及倾倒一致。这是开柜前探索，未达到可取盘的开口，之后也未恢复操作。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 69–75.6 s 轮式底盘承载双臂在岛台与厨房柜台间行驶、转向，以巡视定位橱柜；未见夹爪抓握柜门把手。" + } + ] + }, + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 63, + "log_step": 136, + "text_zh": "观察：视频 39–63 s 机器人在高柜和白色冰箱前转向、靠近查看，白色门板保持闭合，未见夹爪操作把手，也未出现可取蛋糕的开口；视频 66 s 起机器人转离该处。log step 136 是 agent 对冰箱与把手位置的图像测量，未发出开门动作。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 39–63 s 底盘承载双臂在高柜／冰箱前移动和转向以查看门板、把手；未见手指与冰箱建立抓握。" + } + ] + }, + "plates_on_table_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6, + "log_step": null, + "text_zh": "观察：视频 6 s 餐厅早餐桌面未见目标盘；全程粗看视频 0–87 s，并密看视频 74–79.8 s 和 87.5–88.5 s，机器人仅巡视厨房，未见打开装盘橱柜、取出盘子或携盘到餐厅；未形成1个盘直接接触早餐桌面的状态。" + }, + { + "t": 88.5, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0、live_matches_replay=1，结合初始盘不在早餐桌及全程未搬盘的画面，终局本项为 false；并非仅由零分推断未尝试。" + } + ] + }, + "plates_on_table_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6, + "log_step": null, + "text_zh": "观察：视频 6 s 餐厅早餐桌面未见目标盘；全程粗看视频 0–87 s，并密看视频 74–79.8 s 和 87.5–88.5 s，机器人仅巡视厨房，未见打开装盘橱柜、取出盘子或携盘到餐厅；未形成2个盘直接接触早餐桌面的状态。" + }, + { + "t": 88.5, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0、live_matches_replay=1，结合初始盘不在早餐桌及全程未搬盘的画面，终局本项为 false；并非仅由零分推断未尝试。" + } + ] + }, + "cupcakes_on_plates_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 63, + "log_step": null, + "text_zh": "观察：视频 39–63 s 冰箱门未打开，机器人随后离开；全程巡视画面未见机器人取出或搬运蛋糕，也未见形成1对蛋糕在不同盘上的摆放。" + }, + { + "t": 88.5, + "log_step": null, + "text_zh": "推断：蛋糕初在冰箱、盘初在橱柜，画面未见取物或装盘，且评分器 reward.q_score=0.0、live_matches_replay=1，因此终局蛋糕上盘计数未达到本项；视频 87.5–88.5 s 机器人仍侧倒。" + } + ] + }, + "cupcakes_on_plates_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 63, + "log_step": null, + "text_zh": "观察：视频 39–63 s 冰箱门未打开，机器人随后离开；全程巡视画面未见机器人取出或搬运蛋糕，也未见形成2对蛋糕在不同盘上的摆放。" + }, + { + "t": 88.5, + "log_step": null, + "text_zh": "推断：蛋糕初在冰箱、盘初在橱柜，画面未见取物或装盘，且评分器 reward.q_score=0.0、live_matches_replay=1，因此终局蛋糕上盘计数未达到本项；视频 87.5–88.5 s 机器人仍侧倒。" + } + ] + }, + "forks_next_to_plates_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 27.7, + "log_step": 85, + "text_zh": "观察：视频 24–28.7 s 机器人靠近水槽并俯视，叉子仍在水槽／沥水面上，没有盘在旁，夹爪未取起餐具；随后机器人转离水槽并继续巡视高柜，未见搬运或摆放叉子，未形成1对不同叉子邻不同盘的关系。" + }, + { + "t": 88.5, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0、live_matches_replay=1，结合初始餐具与盘分离且画面未见转移，终局本项为 false；视频 87.5–88.5 s 机器人仍侧倒，未再摆放餐具。" + } + ] + }, + "forks_next_to_plates_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 27.7, + "log_step": 85, + "text_zh": "观察：视频 24–28.7 s 机器人靠近水槽并俯视，叉子仍在水槽／沥水面上，没有盘在旁，夹爪未取起餐具；随后机器人转离水槽并继续巡视高柜，未见搬运或摆放叉子，未形成2对不同叉子邻不同盘的关系。" + }, + { + "t": 88.5, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0、live_matches_replay=1，结合初始餐具与盘分离且画面未见转移，终局本项为 false；视频 87.5–88.5 s 机器人仍侧倒，未再摆放餐具。" + } + ] + }, + "knives_next_to_plates_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 27.7, + "log_step": 85, + "text_zh": "观察：视频 24–28.7 s 机器人靠近水槽并俯视，餐刀仍在水槽／沥水面上，没有盘在旁，夹爪未取起餐具；随后机器人转离水槽并继续巡视高柜，未见搬运或摆放餐刀，未形成1对不同餐刀邻不同盘的关系。" + }, + { + "t": 88.5, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0、live_matches_replay=1，结合初始餐具与盘分离且画面未见转移，终局本项为 false；视频 87.5–88.5 s 机器人仍侧倒，未再摆放餐具。" + } + ] + }, + "knives_next_to_plates_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 27.7, + "log_step": 85, + "text_zh": "观察：视频 24–28.7 s 机器人靠近水槽并俯视，餐刀仍在水槽／沥水面上，没有盘在旁，夹爪未取起餐具；随后机器人转离水槽并继续巡视高柜，未见搬运或摆放餐刀，未形成2对不同餐刀邻不同盘的关系。" + }, + { + "t": 88.5, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0、live_matches_replay=1，结合初始餐具与盘分离且画面未见转移，终局本项为 false；视频 87.5–88.5 s 机器人仍侧倒，未再摆放餐具。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "cabinet_opened", + "t": 75.8, + "log_step": 140, + "where": "探索", + "evidence_zh": "推断：log step 139–141 显示 agent 的脚本让机器人驶向灶台／微波炉区检查橱柜；视频 69–75.6 s 机器人确在岛台旁行驶、转向查看，双臂未执行开柜。视频约 75.8 s 视野开始明显侧倾，视频 78.8–79.4 s 进一步翻转并贴近灰色柜面，此后至视频 88.5 s 未恢复；故失败发生在打开橱柜的前置探索阶段。log step 143 的服务状态为 done=True、reason=\"failure: the robot fell over\"。" + }, + "unmet": { + "plates_on_table_1": false, + "plates_on_table_2": false, + "cupcakes_on_plates_1": false, + "cupcakes_on_plates_2": false, + "forks_next_to_plates_1": false, + "forks_next_to_plates_2": false, + "knives_next_to_plates_1": false, + "knives_next_to_plates_2": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 75.8, + "log_step": 143, + "evidence_zh": "观察：视频 75.6–76.0 s 三路相机随机器人发生明显侧倾，视频 78.8–79.4 s 头部视野从斜看厨房转为近贴柜面，腕部视野也翻转；视频 79.4–88.5 s 始终保持倒伏姿态。log step 143 服务报告机器人倾倒导致 episode 结束，非 agent 自述的成功或超时。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 75.8, + "log_step": 126, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 125–126 的 BaseNavigator 仅按平面位置和航向误差持续发送底盘前进／旋转量，并保持当时躯干与双臂关节，没有检查倾角或倾倒恢复分支；log step 139–140 用该控制器执行橱柜巡视。视频 75.8–79.4 s 移动中的机体从侧倾发展为翻倒且未恢复，说明该移动控制未维持机体稳定。现有证据不足以进一步区分路径净空、接触几何与底盘反馈问题，故停在控制大类。" + } + ], + "gap_zh": "未提供状态日志及成功参考视频；腕部相机多数被机身遮挡，倾倒时底盘、轮子与家具的接触点不在视野内，不能确认是否撞到岛台或哪一部位首先失去支撑，也不能核实 agent 在 log step 148 所称的碰撞原因。柜内物品不可见，但闭合门板、未搬运的过程及评分器总分共同支持目标关系终局均为 false。节点与断点时间来自视频帧，未把 agent 工作时间换算为视频时间。" + }, + "summary_zh": "观察：机器人在厨房旋转扫描、靠近水槽查看餐具，并巡视冰箱和橱柜，没有开门、取物或摆桌，10个节点均未达到，评分器 q_score=0.0。推断：打开橱柜前的场景探索中，机器人约在视频 75.8 s 开始明显侧倾，随后翻倒且直到视频 88.5 s 未恢复，移动控制未维持稳定，服务据此结束运行。没有状态日志，底盘碰撞点不可见，无法进一步确定失稳的具体接触与控制子因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "10个节点均未达成、断点 cabinet_opened（探索）、现象 全身·平衡、根因停在控制，均与视频帧和 log step 143 的服务读数（done、robot fell over）一致；时间均为视频时间，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": "2026-10-30T21:14:44Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-setting-the-table-i00-standard--tmprsbe/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-setting-the-table-i00-standard--tmprsbe/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3278413c062c038f79d1cc8df6ef7a27208ca9dc9094d1486d6c72f68b8d38eb", + "video_sha256": "bf111790dd222d6d497c96be8ac51731f5c104a1d206e9c31008d41617afe61e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-standard--xudrlwh.json b/phase2/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-standard--xudrlwh.json new file mode 100644 index 0000000000000000000000000000000000000000..5a2d835fecfbb5f9417fd145bd17ba57f4d28b57 --- /dev/null +++ b/phase2/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-standard--xudrlwh.json @@ -0,0 +1,316 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-setting-the-table-i00-standard--xudrlwh", + "taskKey": "behavior-1k/setting_the_table", + "dag_sha256": "6a5f1eba95ccc5ad25db2527a55c61eff05dce14bb67bf276b11bab2a1d89016", + "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": 18006, + "sim_steps": 18006, + "physics_steps": 72024, + "steps": 13983, + "elapsed_s": 9373.8, + "video_rendered": 1, + "gpu_lost": 0, + "q_score": 0.0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-setting-the-table-i00-standard--xudrlwh/replay.mp4", + "duration_s": 600.2, + "fps": 30.0, + "frames": 18006, + "sha256": "0955cceae617231be28889769eae0345dbd552e576c5fed7a4ced9dae39d222f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 10, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.0, + "log_step": null, + "text_zh": "观察：视频 0–4.5 s 的厨房环视可见吊柜与台下柜门板贴合柜体；视频 14–16.5 s 再次面对厨房时未见开出的柜门。机器人没有向柜门把手伸爪，随后倾倒并反复恢复，视频 70–600.17 s 一直困在台面旁，未见打开供取盘的柜口。" + } + ] + }, + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.5, + "log_step": null, + "text_zh": "观察：视频 0–5 s 环视厨房时，远处高柜式电器未见门板向外打开；视频 0–16.5 s 机器人只旋转和空手行驶，此后倾倒、恢复并卡在台面旁，直至视频 600.17 s 未见靠近冰箱拉门或形成可取蛋糕的开口。" + } + ] + }, + "plates_on_table_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.0, + "log_step": null, + "text_zh": "观察：视频 0–16.5 s 机器人环视、空手行驶，视频 9.5–11.5 s 可见早餐桌面没有任务盘与已摆好的餐具、蛋糕；视频 17–69 s 机器人倾倒并反复恢复，视频 70–600.17 s 困在台面旁，未见取走目标物后搬运或摆放的动作。" + }, + { + "t": 600.17, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，且 live_matches_replay=1；任务 DAG 说明八个摆放目标的初值均为假。该总分排除终局有任何新增摆放目标成立，因此“盘子直接放到早餐桌上”的第1项终值为 false；不是仅凭零分判断未尝试。" + } + ] + }, + "plates_on_table_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.0, + "log_step": null, + "text_zh": "观察：视频 0–16.5 s 机器人环视、空手行驶，视频 9.5–11.5 s 可见早餐桌面没有任务盘与已摆好的餐具、蛋糕；视频 17–69 s 机器人倾倒并反复恢复，视频 70–600.17 s 困在台面旁，未见取走目标物后搬运或摆放的动作。" + }, + { + "t": 600.17, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，且 live_matches_replay=1；任务 DAG 说明八个摆放目标的初值均为假。该总分排除终局有任何新增摆放目标成立，因此“盘子直接放到早餐桌上”的第2项终值为 false；不是仅凭零分判断未尝试。" + } + ] + }, + "cupcakes_on_plates_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.0, + "log_step": null, + "text_zh": "观察：视频 0–16.5 s 机器人环视、空手行驶，视频 9.5–11.5 s 可见早餐桌面没有任务盘与已摆好的餐具、蛋糕；视频 17–69 s 机器人倾倒并反复恢复，视频 70–600.17 s 困在台面旁，未见取走目标物后搬运或摆放的动作。" + }, + { + "t": 600.17, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，且 live_matches_replay=1；任务 DAG 说明八个摆放目标的初值均为假。该总分排除终局有任何新增摆放目标成立，因此“纸杯蛋糕分别放到盘上”的第1项终值为 false；不是仅凭零分判断未尝试。" + } + ] + }, + "cupcakes_on_plates_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.0, + "log_step": null, + "text_zh": "观察：视频 0–16.5 s 机器人环视、空手行驶，视频 9.5–11.5 s 可见早餐桌面没有任务盘与已摆好的餐具、蛋糕；视频 17–69 s 机器人倾倒并反复恢复，视频 70–600.17 s 困在台面旁，未见取走目标物后搬运或摆放的动作。" + }, + { + "t": 600.17, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，且 live_matches_replay=1；任务 DAG 说明八个摆放目标的初值均为假。该总分排除终局有任何新增摆放目标成立，因此“纸杯蛋糕分别放到盘上”的第2项终值为 false；不是仅凭零分判断未尝试。" + } + ] + }, + "forks_next_to_plates_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.0, + "log_step": null, + "text_zh": "观察：视频 0–16.5 s 机器人环视、空手行驶，视频 9.5–11.5 s 可见早餐桌面没有任务盘与已摆好的餐具、蛋糕；视频 17–69 s 机器人倾倒并反复恢复，视频 70–600.17 s 困在台面旁，未见取走目标物后搬运或摆放的动作。" + }, + { + "t": 600.17, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，且 live_matches_replay=1；任务 DAG 说明八个摆放目标的初值均为假。该总分排除终局有任何新增摆放目标成立，因此“叉子放到不同盘旁”的第1项终值为 false；不是仅凭零分判断未尝试。" + } + ] + }, + "forks_next_to_plates_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.0, + "log_step": null, + "text_zh": "观察：视频 0–16.5 s 机器人环视、空手行驶，视频 9.5–11.5 s 可见早餐桌面没有任务盘与已摆好的餐具、蛋糕；视频 17–69 s 机器人倾倒并反复恢复，视频 70–600.17 s 困在台面旁，未见取走目标物后搬运或摆放的动作。" + }, + { + "t": 600.17, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，且 live_matches_replay=1；任务 DAG 说明八个摆放目标的初值均为假。该总分排除终局有任何新增摆放目标成立，因此“叉子放到不同盘旁”的第2项终值为 false；不是仅凭零分判断未尝试。" + } + ] + }, + "knives_next_to_plates_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.0, + "log_step": null, + "text_zh": "观察：视频 0–16.5 s 机器人环视、空手行驶，视频 9.5–11.5 s 可见早餐桌面没有任务盘与已摆好的餐具、蛋糕；视频 17–69 s 机器人倾倒并反复恢复，视频 70–600.17 s 困在台面旁，未见取走目标物后搬运或摆放的动作。" + }, + { + "t": 600.17, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，且 live_matches_replay=1；任务 DAG 说明八个摆放目标的初值均为假。该总分排除终局有任何新增摆放目标成立，因此“餐刀放到不同盘旁”的第1项终值为 false；不是仅凭零分判断未尝试。" + } + ] + }, + "knives_next_to_plates_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.0, + "log_step": null, + "text_zh": "观察：视频 0–16.5 s 机器人环视、空手行驶，视频 9.5–11.5 s 可见早餐桌面没有任务盘与已摆好的餐具、蛋糕；视频 17–69 s 机器人倾倒并反复恢复，视频 70–600.17 s 困在台面旁，未见取走目标物后搬运或摆放的动作。" + }, + { + "t": 600.17, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，且 live_matches_replay=1；任务 DAG 说明八个摆放目标的初值均为假。该总分排除终局有任何新增摆放目标成立，因此“餐刀放到不同盘旁”的第2项终值为 false；不是仅凭零分判断未尝试。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": 17.0, + "log_step": 53, + "where": "转场", + "evidence_zh": "观察：视频 16.5–18.0 s 机器人空手在厨房台面附近移动时，相机视野突然大幅翻转，随即朝向台面；视频 20–65 s 仍反复侧倒，视频 66–70 s 翻回较直立的视角后固定在台面边缘，直至视频 600.17 s 未恢复任务操作。log step 47–53 记录 agent 寻找厨房、分析台面并测试底盘移动，尚无针对某一件叉、刀、盘或蛋糕的取物动作，故无法唯一指定所失败的 DAG 步骤。" + }, + "unmet": { + "plates_on_table_1": false, + "plates_on_table_2": false, + "cupcakes_on_plates_1": false, + "cupcakes_on_plates_2": false, + "forks_next_to_plates_1": false, + "forks_next_to_plates_2": false, + "knives_next_to_plates_1": false, + "knives_next_to_plates_2": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 17.0, + "log_step": 53, + "evidence_zh": "观察：视频 16.5 s 前机器人面对厨房，视频 17.0 s 视野明显侧翻，视频 17.5–23 s 头部相机朝向近处台面、腕部视图也随本体旋转；视频 25–65 s 多次显示近乎侧置或倒置的房间。机器人虽在视频约 66 s 翻起，仍卡在台面旁，视频 600.17 s 也未开始任何目标物取放。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 17.0, + "log_step": 52, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 50 的行驶指令明确保持躯干目标 [1.024,-1.447,-0.47,0]；log step 52–53 改用全零 joint_position 矩阵再填写底盘列，因而同时将躯干、手臂及夹爪目标置零，没有保持移动前的本体姿态。视频 16.5–18 s 随这些底盘试探出现剧烈倾倒，随后多次恢复指令仍不能回到可作业状态；证据支持本体运动控制失败，但不足以区分轨迹设计与反馈控制子类。" + } + ], + "gap_zh": "无模拟器状态日志和成功参考视频。失衡发生于尚未选定单件物品的厨房转场，无法把断点唯一归给取叉、取刀或开容器节点，故 ref=unknown；未将通用导航与恢复接触任意分配给某个任务节点，节点均未进入可识别的目标操作，因此未填 contact_actual。倾倒后头部视图长期被近处台面占据，无法逐件核对柜内物品与终局关系；八个摆放终值由 q_score=0 和初始均不成立共同确定。agent 在 log step 236 把卡住解释为仿真关节损坏，但现有证据不能确认其为独立外因，也不能证明所有合法操作都不可行。" + }, + "summary_zh": "本次连续实况运行未完成两个开门节点及八项摆放节点，终局为 0/10，评分器 q_score=0。机器人在视频约 17 s 空手向厨房转场时失衡，之后反复恢复，视频约 66 s 翻起后仍长期卡在台面旁；移动试探同时将躯干目标置零的日志支持控制失败。没有状态日志或成功参考视频，且尚未选定单件目标物，无法把断点唯一对应到某个 DAG 节点；被遮挡的八项摆放终值依据评分总分约束判定。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点全 false 由 q_score=0 与初值均假约束，视频 0–17 s 空手环视/转场、约 17 s 起倾倒并长期卡在台面旁，均与帧一致；ref=unknown、平衡、控制 的标注有证据且明确标为推断。未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:09:41Z", + "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": 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b/phase2/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-standard--yvvhjsr.json @@ -0,0 +1,333 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-setting-the-table-i00-standard--yvvhjsr", + "taskKey": "behavior-1k/setting_the_table", + "dag_sha256": "6a5f1eba95ccc5ad25db2527a55c61eff05dce14bb67bf276b11bab2a1d89016", + "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": 656, + "sim_steps": 656, + "physics_steps": 2624, + "steps": 656, + "elapsed_s": 1028.3, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 1, + "q_score": 0.0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-setting-the-table-i00-standard--yvvhjsr/replay.mp4", + "duration_s": 21.867, + "fps": 30.0, + "frames": 656, + "sha256": "d9d0f1acc6e5f0a65dfa790b644e2a5c6eae23b0abfe4c879b451ab2c62ef07f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 10, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频0.0 s厨房可见的上下柜门板合拢；视频0.5–6.5 s环视及视频7.0–13.5 s倾倒、恢复过程中，未见门板拉开形成可取盘开口，也未见夹爪操作柜门。" + }, + { + "t": 21.833, + "log_step": 136, + "text_zh": "观察：视频20.83–21.83 s机器人相机仍侧倾、近处结构遮挡头部视野；log step 136服务确认本回合已因翻倒结束。全程检查未见达到开柜判据的画面。" + } + ] + }, + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.0, + "log_step": null, + "text_zh": "观察：视频约0.83–1.5 s头部相机扫过水槽左侧的高大深色冰箱，未见门板向外展开或供夹爪取物的敞开入口；其后机器人没有朝冰箱伸爪、拉门的动作。" + }, + { + "t": 21.833, + "log_step": 136, + "text_zh": "推断：结合视频全程只有环视、底盘试探及翻倒恢复，未出现冰箱开门判据，记本事件未达成；q_score不用于判定这个非目标开门事件。" + } + ] + }, + "plates_on_table_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.5, + "log_step": null, + "text_zh": "观察：视频2.0–3.0 s远处带白色椅子的早餐桌上未见目标盘子；视频0.0–21.83 s检查到的动作中，机器人两夹爪未搬运盘子，随后持续倾倒。" + }, + { + "t": 21.833, + "log_step": null, + "text_zh": "推断：inputs/run.json的task_text规定两盘初在厨房橱柜内，视频没有盘子离柜及上桌的转移，终局评分器q_score=0.0与此一致；相应盘数从未满足，final=false。" + } + ] + }, + "plates_on_table_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.5, + "log_step": null, + "text_zh": "观察：视频2.0–3.0 s远处带白色椅子的早餐桌上未见目标盘子；视频0.0–21.83 s检查到的动作中，机器人两夹爪未搬运盘子，随后持续倾倒。" + }, + { + "t": 21.833, + "log_step": null, + "text_zh": "推断：inputs/run.json的task_text规定两盘初在厨房橱柜内，视频没有盘子离柜及上桌的转移，终局评分器q_score=0.0与此一致；相应盘数从未满足，final=false。" + } + ] + }, + "cupcakes_on_plates_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.0, + "log_step": null, + "text_zh": "观察：视频约1.0 s扫过冰箱外部，机器人未开门或伸爪取物；视频0.0–21.83 s未见纸杯蛋糕被夹取、搬运或放到盘面。" + }, + { + "t": 21.833, + "log_step": null, + "text_zh": "推断：inputs/run.json的task_text将蛋糕初始位置列为冰箱内、盘子列为橱柜内；结合视频中没有任何此类物品转移，且终局评分器q_score=0.0，本项蛋糕与盘的配对数量未达标，final=false。" + } + ] + }, + "cupcakes_on_plates_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.0, + "log_step": null, + "text_zh": "观察：视频约1.0 s扫过冰箱外部，机器人未开门或伸爪取物；视频0.0–21.83 s未见纸杯蛋糕被夹取、搬运或放到盘面。" + }, + { + "t": 21.833, + "log_step": null, + "text_zh": "推断：inputs/run.json的task_text将蛋糕初始位置列为冰箱内、盘子列为橱柜内；结合视频中没有任何此类物品转移，且终局评分器q_score=0.0，本项蛋糕与盘的配对数量未达标，final=false。" + } + ] + }, + "forks_next_to_plates_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频0.0 s机器人面向厨房水槽；视频0.0–6.5 s夹爪随环视保持空闲，之后视频7.0–21.83 s主要为倾倒及恢复，未见机器人从水槽夹取叉子或把盘子搬到其旁边。" + }, + { + "t": 21.833, + "log_step": null, + "text_zh": "推断：inputs/run.json的task_text给出叉子初在水槽、盘子初在橱柜内；结合视频无取放转移、未见任何盘与叉子组成邻接餐位，终局q_score=0.0支持对应配对数量未达标，final=false；未凭零分单独否定动作。" + } + ] + }, + "forks_next_to_plates_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频0.0 s机器人面向厨房水槽；视频0.0–6.5 s夹爪随环视保持空闲，之后视频7.0–21.83 s主要为倾倒及恢复，未见机器人从水槽夹取叉子或把盘子搬到其旁边。" + }, + { + "t": 21.833, + "log_step": null, + "text_zh": "推断：inputs/run.json的task_text给出叉子初在水槽、盘子初在橱柜内；结合视频无取放转移、未见任何盘与叉子组成邻接餐位，终局q_score=0.0支持对应配对数量未达标，final=false；未凭零分单独否定动作。" + } + ] + }, + "knives_next_to_plates_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频0.0 s机器人面向厨房水槽；视频0.0–6.5 s夹爪随环视保持空闲，之后视频7.0–21.83 s主要为倾倒及恢复，未见机器人从水槽夹取餐刀或把盘子搬到其旁边。" + }, + { + "t": 21.833, + "log_step": null, + "text_zh": "推断：inputs/run.json的task_text给出餐刀初在水槽、盘子初在橱柜内；结合视频无取放转移、未见任何盘与餐刀组成邻接餐位，终局q_score=0.0支持对应配对数量未达标，final=false；未凭零分单独否定动作。" + } + ] + }, + "knives_next_to_plates_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频0.0 s机器人面向厨房水槽；视频0.0–6.5 s夹爪随环视保持空闲，之后视频7.0–21.83 s主要为倾倒及恢复，未见机器人从水槽夹取餐刀或把盘子搬到其旁边。" + }, + { + "t": 21.833, + "log_step": null, + "text_zh": "推断：inputs/run.json的task_text给出餐刀初在水槽、盘子初在橱柜内；结合视频无取放转移、未见任何盘与餐刀组成邻接餐位，终局q_score=0.0支持对应配对数量未达标，final=false；未凭零分单独否定动作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": 7.2, + "log_step": 114, + "where": "探索", + "evidence_zh": "观察：视频0.0–6.5 s机器人旋转查看厨房和餐厅；视频约7.2–8.3 s视野大幅侧转并朝向天花板。log step 93、103为底盘行驶方向试探，log step 112为恢复头部姿态后继续环视，log step 114服务本体读数在control_steps=247时倾角108°。推断：这是评分回合中的场景与底盘探索，尚不能确定机器人已着手哪一个开门或摆放节点，因此ref=unknown；不以翻倒约束代替步骤。时钟核对：单回合无重置，656个控制步、30 Hz对应视频21.867 s；control step 247/30≈视频8.23 s与所检视频8.17–8.33 s的大幅翻倒一致。" + }, + "unmet": { + "plates_on_table_1": false, + "plates_on_table_2": false, + "cupcakes_on_plates_1": false, + "cupcakes_on_plates_2": false, + "forks_next_to_plates_1": false, + "forks_next_to_plates_2": false, + "knives_next_to_plates_1": false, + "knives_next_to_plates_2": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 7.2, + "log_step": 114, + "evidence_zh": "观察：视频约7.2–8.3 s头部和腕部视野明显侧转，随后视频11.0–13.5 s反复翻滚，视频20.83–21.83 s仍未恢复正常直立视野。log step 114服务本体读数给出control_steps=247、倾角108°；log step 130在control_steps=385时上轴竖直分量为-0.051，log step 136在control_steps=656时服务报告done=True、reason=\"failure: the robot fell over\"。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "t": 12.83, + "log_step": 126, + "source_zh": "日志", + "evidence_zh": "观察：log step 93的底盘试探后服务本体读数由z=0.006 m升至0.202 m；log step 103继续试探移动，log step 114已倾倒108°。log step 126的恢复脚本顺序执行全部候选底盘位移，期间即使某次直立度变好也不立即停住，而在整轮结束后用历史最高分判定RECOVERED；该轮记录最高0.965，但紧接着log step 130同为control_steps=385的当前值已是-0.051。log step 134继续候选位移至服务判翻倒，视频11.0–13.5 s也显示机器人反复翻滚。推断：底盘试探未在升高、倾斜时有效制止，恢复控制又把历史最佳姿态当成当前姿态，未保持短暂恢复的支撑，导致失衡延续到终止。" + } + ], + "gap_zh": "没有状态日志或成功参考视频；盘子与蛋糕初始存放在容器内，部分邻接关系无法直接近距离查看，未达判断结合任务初态、未发生物品转移的视频及终局评分作推断。机器人翻倒前仅环视场景、校准底盘，未明确选择橱柜、冰箱或某类餐具，无法可靠指定DAG断点节点；底盘碰到哪一具体家具也不作确定归因。所有节点未见定向操作，故未将全局探索中的底盘支撑强分配到任一节点的contact_actual。" + }, + "summary_zh": "评分回合未完成10个节点中的任何一个：机器人只环视场景并试探底盘移动，随后翻倒，未见开门或餐具、蛋糕的取放。恢复控制使用历史最佳倾斜读数判定恢复后仍处于侧倒，最终服务因持续翻倒终止；现象为全身·平衡，根因为控制·反馈控制。没有状态日志及成功参考视频，且尚未明确着手具体DAG步骤，故断点记unknown／探索，部分物品关系据初态与未转移证据推断。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "所有节点未达成、final 全 false 与视频及 q_score=0 一致；断点 ref=unknown/探索、现象“平衡”、控制步到视频时间的换算（control step 247≈8.23 s 的大幅翻倒）均有视频与 log 支持。根因“反馈控制”为带推断标注的解读，有 log step 93/114/126/130 数值支撑，未发现证据否定它。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:14:38Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-setting-the-table-i00-standard--yvvhjsr/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-setting-the-table-i00-standard--yvvhjsr/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "03e4b7b55230d67b53d7fc65ac1368ab3cb8c7422d3b84f717b2205c9da1ab1b", + "video_sha256": "d9d0f1acc6e5f0a65dfa790b644e2a5c6eae23b0abfe4c879b451ab2c62ef07f", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-standard--zwaw6dx.json b/phase2/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-standard--zwaw6dx.json new file mode 100644 index 0000000000000000000000000000000000000000..98294015a11c81a793846537ef6bc363b61868c0 --- /dev/null +++ b/phase2/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-standard--zwaw6dx.json @@ -0,0 +1,438 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-setting-the-table-i00-standard--zwaw6dx", + "taskKey": "behavior-1k/setting_the_table", + "dag_sha256": "6a5f1eba95ccc5ad25db2527a55c61eff05dce14bb67bf276b11bab2a1d89016", + "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": 15328, + "sim_steps": 15328, + "physics_steps": 61312, + "steps": 11049, + "elapsed_s": 4827.5, + "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-setting-the-table-i00-standard--zwaw6dx/replay.mp4", + "duration_s": 510.933, + "fps": 30.0, + "frames": 15328, + "sha256": "be2a4059cd667e0ac8c1084b3166fa5f1786d38866e234ffa12f7bb46910a450" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 10, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20, + "log_step": null, + "text_zh": "观察：视频 0–20 s 机器人环视厨房并驶向水槽，橱柜门板保持合拢；视频 28–66 s 和 188–234 s 操作的是水槽上的餐具，未见拉开橱柜门。" + }, + { + "t": 510.7, + "log_step": 167, + "text_zh": "推断：结合全片粗查及视频 300–510.7 s 的冰箱区域操作，机器人没有转去打开装盘子的橱柜；agent 也自述尚未寻找盘子所在橱柜（log step 167），故本开门事件未达到。" + } + ] + }, + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 455.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 450, + "log_step": 155, + "text_zh": "观察：视频 440–450 s 右夹爪位于白色冰箱门的竖把手处，二指夹住把手；随后视频 452–462.5 s 机器人底盘绕行，夹爪持续带着门板转开，白色门板与原先齐平的固定柜面明显分离。" + }, + { + "t": 455, + "log_step": 160, + "text_zh": "推断：视频约 455 s 门已拉出形成可供小物体及夹爪通过的开口，至视频 462.5 s 门板已大幅摆出；将首次满足取物开口记在视频约 455 s（视觉估计约有 1 s 误差）。log step 159–160 的绕铰点运动与画面一致；不用 agent 自报的角度代替开门观测。" + }, + { + "t": 466, + "log_step": 162, + "text_zh": "观察：视频 464–466 s 右夹爪张开并撤离把手，冰箱门仍敞开。此节点为锁存事件，之后机器人移位或翻倒不撤销已发生的开门。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右二指夹爪夹住冰箱门的竖把手并持续牵引门板，开门后张爪释放。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人先驶到冰箱前，再保持右手抓住把手，轮式底盘绕行带动门板摆开。" + } + ] + }, + "plates_on_table_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 140, + "log_step": 89, + "text_zh": "观察：视频 118–140 s 早餐桌上从空桌变为两把餐刀；视频 278–294 s 又增加两把叉子，桌面始终没有盘子，未见第1只盘的抓取或上桌。" + }, + { + "t": 510.7, + "log_step": null, + "text_zh": "推断：视频 300 s 后机器人一直在厨房冰箱区域操作直至翻倒，未搬出橱柜中的盘子。结合评分器 q_score=0、live_matches_replay=1，且这些盘上桌目标初始不成立，终局没有盘子上桌；全片也没有短暂达成的搬盘过程。" + } + ] + }, + "plates_on_table_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 140, + "log_step": 89, + "text_zh": "观察：视频 118–140 s 早餐桌上从空桌变为两把餐刀；视频 278–294 s 又增加两把叉子，桌面始终没有盘子，未见第2只盘的抓取或上桌。" + }, + { + "t": 510.7, + "log_step": null, + "text_zh": "推断：视频 300 s 后机器人一直在厨房冰箱区域操作直至翻倒，未搬出橱柜中的盘子。结合评分器 q_score=0、live_matches_replay=1，且这些盘上桌目标初始不成立，终局没有盘子上桌；全片也没有短暂达成的搬盘过程。" + } + ] + }, + "cupcakes_on_plates_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 294, + "log_step": 121, + "text_zh": "观察：视频 294 s 早餐桌上只有四件餐具，没有盘子或纸杯蛋糕；视频 452–466 s 机器人仅拉开冰箱门，未见第1个蛋糕被抓起或放上盘。" + }, + { + "t": 510.7, + "log_step": 164, + "text_zh": "推断：视频 466–510.7 s 机器人收回右臂后空手移位并倾倒，未见蛋糕离开冰箱。评分器 q_score=0 决定终局不存在新达成的蛋糕在盘上关系，因此该计数节点为假，未发现曾经达成的区间。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "开门后机器人空手驱动底盘，试图移到冰箱内部前方取第一个蛋糕；在触及蛋糕之前倾倒。" + } + ] + }, + "cupcakes_on_plates_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 294, + "log_step": 121, + "text_zh": "观察：视频 294 s 早餐桌上只有四件餐具，没有盘子或纸杯蛋糕；视频 452–466 s 机器人仅拉开冰箱门，未见第2个蛋糕被抓起或放上盘。" + }, + { + "t": 510.7, + "log_step": 164, + "text_zh": "推断：视频 466–510.7 s 机器人收回右臂后空手移位并倾倒，未见蛋糕离开冰箱。评分器 q_score=0 决定终局不存在新达成的蛋糕在盘上关系，因此该计数节点为假，未发现曾经达成的区间。" + } + ] + }, + "forks_next_to_plates_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 234, + "log_step": 116, + "text_zh": "观察：视频 190–196 s 左夹爪夹起一把叉，叉子离开水槽并一直随左手悬持；右夹爪多次空夹后，在视频 230–234 s 也带起另一把叉，原水槽位置不再留有该叉，两手各持一叉离开。" + }, + { + "t": 294, + "log_step": 121, + "text_zh": "观察：视频 282–285 s 右夹爪释放一把叉，视频 291–293 s 左夹爪释放另一把；视频 294 s 两把叉与两把刀留在桌上、夹爪已空，但桌面无盘子，未形成第1对叉邻盘关系。" + }, + { + "t": 510.7, + "log_step": null, + "text_zh": "推断：机器人此后未运来盘子，评分器 q_score=0 也不允许终局有新达成的叉邻盘目标；因此全程未达到本节点，餐具抓取搬运本身不算该关系完成。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "左、右二指夹爪先后夹取各一把叉；搬运时两臂各持一叉同时随底盘转移，最后分别张爪把叉暂放到空餐桌上。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘承载两臂及两把叉，从水槽驶到早餐桌前。" + } + ] + }, + "forks_next_to_plates_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 234, + "log_step": 116, + "text_zh": "观察：视频 190–196 s 左夹爪夹起一把叉，叉子离开水槽并一直随左手悬持；右夹爪多次空夹后，在视频 230–234 s 也带起另一把叉，原水槽位置不再留有该叉，两手各持一叉离开。" + }, + { + "t": 294, + "log_step": 121, + "text_zh": "观察：视频 282–285 s 右夹爪释放一把叉，视频 291–293 s 左夹爪释放另一把；视频 294 s 两把叉与两把刀留在桌上、夹爪已空，但桌面无盘子，未形成第2对叉邻盘关系。" + }, + { + "t": 510.7, + "log_step": null, + "text_zh": "推断：机器人此后未运来盘子，评分器 q_score=0 也不允许终局有新达成的叉邻盘目标；因此全程未达到本节点，餐具抓取搬运本身不算该关系完成。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "左、右二指夹爪先后夹取各一把叉；搬运时两臂各持一叉同时随底盘转移，最后分别张爪把叉暂放到空餐桌上。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘承载两臂及两把叉，从水槽驶到早餐桌前。" + } + ] + }, + "knives_next_to_plates_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 62, + "log_step": 67, + "text_zh": "观察：视频 46–50 s 右夹爪夹起第一把餐刀，原位置的刀随右手离开水槽；视频 56–62 s 左夹爪夹起另一把刀，之后两手各持一把随底盘离开。" + }, + { + "t": 140, + "log_step": 89, + "text_zh": "观察：视频 126–128 s 右夹爪放下一把刀，视频 135–139 s 左夹爪放下另一把；视频 140 s 两刀均离手留在桌上，但桌面没有盘子，故没有第1对刀邻盘关系。log step 92 明确称餐刀是先暂放在桌上。" + }, + { + "t": 294, + "log_step": 121, + "text_zh": "推断：视频 294 s 桌面仍无盘子，随后也未搬来盘子；评分器 q_score=0 与此一致。餐刀上桌是可见的准备进展，不能记作刀邻盘节点已达到。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "右、左二指夹爪先后各夹取一把餐刀，搬运时两臂各持一把刀同时随底盘转移，再依次张爪放到空餐桌上。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘承载两臂及两把餐刀，从水槽驶到早餐桌前。" + } + ] + }, + "knives_next_to_plates_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 62, + "log_step": 67, + "text_zh": "观察：视频 46–50 s 右夹爪夹起第一把餐刀，原位置的刀随右手离开水槽；视频 56–62 s 左夹爪夹起另一把刀，之后两手各持一把随底盘离开。" + }, + { + "t": 140, + "log_step": 89, + "text_zh": "观察：视频 126–128 s 右夹爪放下一把刀，视频 135–139 s 左夹爪放下另一把；视频 140 s 两刀均离手留在桌上，但桌面没有盘子，故没有第2对刀邻盘关系。log step 92 明确称餐刀是先暂放在桌上。" + }, + { + "t": 294, + "log_step": 121, + "text_zh": "推断：视频 294 s 桌面仍无盘子，随后也未搬来盘子；评分器 q_score=0 与此一致。餐刀上桌是可见的准备进展，不能记作刀邻盘节点已达到。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "右、左二指夹爪先后各夹取一把餐刀，搬运时两臂各持一把刀同时随底盘转移，再依次张爪放到空餐桌上。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘承载两臂及两把餐刀，从水槽驶到早餐桌前。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "cupcakes_on_plates_1", + "t": 490.5, + "log_step": 164, + "where": "转场", + "evidence_zh": "观察：视频 464–470 s 机器人释放已经打开的冰箱门、收回右臂，空手移向冰箱取物位置；视频 490–503 s 机载画面持续倾斜并最终翻倒，至视频 510.7 s 未恢复。log step 164 的脚本正经由两个路点移到冰箱前，服务返回“failure: the robot fell over”，log step 165 的最终状态确认 done=True。推断：这是开门后为取第一个蛋糕进行的空手转场，故断点归第1个蛋糕上盘；此前餐具是先暂存等待盘子（log step 92），抓取偏差后来已修复，尚未发生另一个未修复的摆放事故。" + }, + "unmet": { + "plates_on_table_1": false, + "plates_on_table_2": false, + "cupcakes_on_plates_1": false, + "cupcakes_on_plates_2": false, + "forks_next_to_plates_1": false, + "forks_next_to_plates_2": false, + "knives_next_to_plates_1": false, + "knives_next_to_plates_2": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 490.5, + "log_step": 164, + "evidence_zh": "观察：视频 481.5–483 s 机载画面曾短暂侧倾后回正；视频约 490.5 s 再次侧倾，此后视频 498–503 s 倾斜增大、厨房台面和吊柜方向旋转到侧面，视频 509.9–510.7 s 仍保持翻倒姿态。服务在 log step 164–165 明确以机器人翻倒终止该单次实况运行。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "t": 490.5, + "log_step": 165, + "source_zh": "日志", + "evidence_zh": "推断：底盘在跟踪偏离和机体倾斜时继续纠偏，缺少失稳时的停止或恢复反馈。log step 14 定义的 goto 只用平面位置及朝向误差反复调用 drive_rel；log step 83 的实际驱动版本按预期累计转角生成整段动作，没有在段内用实测朝向、倾角修正或停机。log step 164 调用该例程移到冰箱前，log step 165 记录后续多轮 drive，底盘朝向从约 −1.11 rad 继续漂到 −2.85 rad，而目标朝向是 −π/2；视频 490–503 s 同时出现不断增大的倾斜并翻倒。这支持控制器未处理异常跟踪的归因，不能仅从 agent 自述断定具体碰撞点。" + } + ], + "gap_zh": "未提供状态日志或成功参考视频；冰箱开口首次足以取物的时刻按门板转开画面估计，视频约 455 s 有约 1 s 不确定性。相机未覆盖底盘与门的接触区域，不能独立确认 agent 自述“底盘撞到打开的门”（log step 167）的具体接触及受力机制，因此不另标被挡/碰撞；八个目标节点的终值结合实际搬运画面与评分器 q_score=0 判定。" + }, + "summary_zh": "机器人把两把餐刀和两把叉子从水槽抓起并暂放到早餐桌上，随后打开冰箱；仅开冰箱节点达到，盘子尚未取出，八个摆放关系均未达到，终局进度为1/10。开门后空手转场准备取第一个蛋糕时，机器人在底盘反复纠偏过程中持续失稳并翻倒，服务终止运行。缺少状态日志，底盘与冰箱门的具体碰撞机制不可见，开门达成时间为近似视觉判断。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点终值（仅开冰箱达成，其余均未达成）、视频时间、断点（开门后空手转场翻倒）与平衡/反馈控制归因与视频、log 及评分器 q_score=0 一致；冰箱门开启时刻约 455 s 为视觉估计，未发现可证伪之处。", + "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": "2026-10-30T21:12:00Z", + "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-setting-the-table-i00-standard--zwaw6dx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-setting-the-table-i00-standard--zwaw6dx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "04c8b1e566caa9df3b06020ab991506cfde79aa8b59c928e3fdb3ded7004a501", + "video_sha256": "be2a4059cd667e0ac8c1084b3166fa5f1786d38866e234ffa12f7bb46910a450", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/sorting_vegetables/trajectories/behavior-sorting-vegetables-i00-privileged--6lrglnf.json b/phase2/behavior-1k/sorting_vegetables/trajectories/behavior-sorting-vegetables-i00-privileged--6lrglnf.json new file mode 100644 index 0000000000000000000000000000000000000000..a93e4d8f7b4422096cc015d2f6244c68e4e220b0 --- /dev/null +++ b/phase2/behavior-1k/sorting_vegetables/trajectories/behavior-sorting-vegetables-i00-privileged--6lrglnf.json @@ -0,0 +1,423 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sorting-vegetables-i00-privileged--6lrglnf", + "taskKey": "behavior-1k/sorting_vegetables", + "dag_sha256": "f223bd60cf10453bf9bc51bdfdffbdfba7e9614ddc649875f859654d88e96aee", + "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": 1105, + "sim_steps": 1105, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 1348.2, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 1, + "agent_resets": 16, + "agent_sim_steps": 0, + "agent_records": 6, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-sorting-vegetables-i00-privileged--6lrglnf/replay.mp4", + "duration_s": 36.833, + "fps": 30.0, + "frames": 1105, + "sha256": "cb556e2a11f889694dc5779c27d15dfb70a1a15475a6acd0f33da794397ccb78" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 13, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "bok_choy_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0–1.5 s，机器人尚未搬运蔬菜，台面上的红色搅拌碗未见蔬菜；蔬菜初始放在地面篮中。" + }, + { + "t": 13.5, + "log_step": 168, + "text_zh": "观察：视频 7.5–8.0 s、12.5–15.0 s 及24.5 s，左腕视图仍见小白菜与玉米在篮中；视频 9.5–11.0 s、13.5–14.0 s 等多次闭爪后两指间未见夹持蔬菜，也未见小白菜随爪离篮。log step 168 的已保存1105步运行记录以 bok_choy.n.02_1 为抓取目标并连续报告五次 held=None；仅用于核对尝试对象，不以该日志代替视频搬运证据。" + }, + { + "t": 36.8, + "log_step": null, + "text_zh": "推断：已检查视频全程，机器人仅在第一篮附近反复开合左夹爪，未见将小白菜搬到任何搅拌碗的过程；视频 36.8 s 仍为倾斜的厨房视图。评分器 reward.q_score=0.0，且初态没有小白菜入碗关系，因此终态不能满足同碗至少1棵小白菜；全程无该节点成立的可见转移证据。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 7.5–24.5 s 左腕视图显示左二指夹爪在装有小白菜和玉米的篮旁反复开合；指尖与菜叶、篮沿的实际接触点不完整可见，无法确认是否发生擦碰，未将空夹记作抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0.0–6.5 s 机器人移动底盘，绕吧台前往第一篮；视频 24.5 s 后又移动离开篮旁。底盘通过地面支撑参与第1棵小白菜入碗步骤的取物尝试。" + } + ] + }, + "bok_choy_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0–1.5 s，机器人尚未搬运蔬菜，台面上的红色搅拌碗未见蔬菜；蔬菜初始放在地面篮中。" + }, + { + "t": 36.8, + "log_step": null, + "text_zh": "推断：已检查视频全程，机器人仅在第一篮附近反复开合左夹爪，未见将小白菜搬到任何搅拌碗的过程；视频 36.8 s 仍为倾斜的厨房视图。评分器 reward.q_score=0.0，且初态没有小白菜入碗关系，因此终态不能满足同碗至少2棵小白菜；全程无该节点成立的可见转移证据。" + } + ] + }, + "bok_choy_in_bowl_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0–1.5 s，机器人尚未搬运蔬菜，台面上的红色搅拌碗未见蔬菜；蔬菜初始放在地面篮中。" + }, + { + "t": 36.8, + "log_step": null, + "text_zh": "推断：已检查视频全程，机器人仅在第一篮附近反复开合左夹爪，未见将小白菜搬到任何搅拌碗的过程；视频 36.8 s 仍为倾斜的厨房视图。评分器 reward.q_score=0.0，且初态没有小白菜入碗关系，因此终态不能满足同碗至少3棵小白菜；全程无该节点成立的可见转移证据。" + } + ] + }, + "onions_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0–1.5 s，机器人尚未搬运蔬菜，台面上的红色搅拌碗未见蔬菜；蔬菜初始放在地面篮中。" + }, + { + "t": 36.8, + "log_step": null, + "text_zh": "推断：已检查视频全程，机器人仅在第一篮附近反复开合左夹爪，未见将洋葱搬到任何搅拌碗的过程；视频 36.8 s 仍为倾斜的厨房视图。评分器 reward.q_score=0.0，且初态没有洋葱入碗关系，因此终态不能满足同碗至少1个洋葱；全程无该节点成立的可见转移证据。" + } + ] + }, + "onions_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0–1.5 s，机器人尚未搬运蔬菜，台面上的红色搅拌碗未见蔬菜；蔬菜初始放在地面篮中。" + }, + { + "t": 36.8, + "log_step": null, + "text_zh": "推断：已检查视频全程，机器人仅在第一篮附近反复开合左夹爪，未见将洋葱搬到任何搅拌碗的过程；视频 36.8 s 仍为倾斜的厨房视图。评分器 reward.q_score=0.0，且初态没有洋葱入碗关系，因此终态不能满足同碗至少2个洋葱；全程无该节点成立的可见转移证据。" + } + ] + }, + "onions_in_bowl_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0–1.5 s，机器人尚未搬运蔬菜，台面上的红色搅拌碗未见蔬菜；蔬菜初始放在地面篮中。" + }, + { + "t": 36.8, + "log_step": null, + "text_zh": "推断：已检查视频全程，机器人仅在第一篮附近反复开合左夹爪，未见将洋葱搬到任何搅拌碗的过程；视频 36.8 s 仍为倾斜的厨房视图。评分器 reward.q_score=0.0，且初态没有洋葱入碗关系，因此终态不能满足同碗至少3个洋葱；全程无该节点成立的可见转移证据。" + } + ] + }, + "leeks_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0–1.5 s，机器人尚未搬运蔬菜，台面上的红色搅拌碗未见蔬菜；蔬菜初始放在地面篮中。" + }, + { + "t": 36.8, + "log_step": null, + "text_zh": "推断：已检查视频全程，机器人仅在第一篮附近反复开合左夹爪，未见将韭葱搬到任何搅拌碗的过程；视频 36.8 s 仍为倾斜的厨房视图。评分器 reward.q_score=0.0，且初态没有韭葱入碗关系，因此终态不能满足同碗至少1根韭葱；全程无该节点成立的可见转移证据。" + } + ] + }, + "leeks_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0–1.5 s，机器人尚未搬运蔬菜，台面上的红色搅拌碗未见蔬菜；蔬菜初始放在地面篮中。" + }, + { + "t": 36.8, + "log_step": null, + "text_zh": "推断：已检查视频全程，机器人仅在第一篮附近反复开合左夹爪，未见将韭葱搬到任何搅拌碗的过程；视频 36.8 s 仍为倾斜的厨房视图。评分器 reward.q_score=0.0，且初态没有韭葱入碗关系，因此终态不能满足同碗至少2根韭葱；全程无该节点成立的可见转移证据。" + } + ] + }, + "broccoli_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0–1.5 s，机器人尚未搬运蔬菜，台面上的红色搅拌碗未见蔬菜；蔬菜初始放在地面篮中。" + }, + { + "t": 36.8, + "log_step": null, + "text_zh": "推断：已检查视频全程，机器人仅在第一篮附近反复开合左夹爪，未见将西兰花搬到任何搅拌碗的过程；视频 36.8 s 仍为倾斜的厨房视图。评分器 reward.q_score=0.0，且初态没有西兰花入碗关系，因此终态不能满足同碗至少1棵西兰花；全程无该节点成立的可见转移证据。" + } + ] + }, + "broccoli_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0–1.5 s，机器人尚未搬运蔬菜，台面上的红色搅拌碗未见蔬菜；蔬菜初始放在地面篮中。" + }, + { + "t": 36.8, + "log_step": null, + "text_zh": "推断：已检查视频全程，机器人仅在第一篮附近反复开合左夹爪，未见将西兰花搬到任何搅拌碗的过程；视频 36.8 s 仍为倾斜的厨房视图。评分器 reward.q_score=0.0，且初态没有西兰花入碗关系，因此终态不能满足同碗至少2棵西兰花；全程无该节点成立的可见转移证据。" + } + ] + }, + "corn_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0–1.5 s，机器人尚未搬运蔬菜，台面上的红色搅拌碗未见蔬菜；蔬菜初始放在地面篮中。" + }, + { + "t": 36.8, + "log_step": null, + "text_zh": "推断：已检查视频全程，机器人仅在第一篮附近反复开合左夹爪，未见将玉米搬到任何搅拌碗的过程；视频 36.8 s 仍为倾斜的厨房视图。评分器 reward.q_score=0.0，且初态没有玉米入碗关系，因此终态不能满足同碗至少1根玉米；全程无该节点成立的可见转移证据。" + } + ] + }, + "corn_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0–1.5 s，机器人尚未搬运蔬菜，台面上的红色搅拌碗未见蔬菜；蔬菜初始放在地面篮中。" + }, + { + "t": 36.8, + "log_step": null, + "text_zh": "推断：已检查视频全程，机器人仅在第一篮附近反复开合左夹爪，未见将玉米搬到任何搅拌碗的过程；视频 36.8 s 仍为倾斜的厨房视图。评分器 reward.q_score=0.0，且初态没有玉米入碗关系，因此终态不能满足同碗至少2根玉米；全程无该节点成立的可见转移证据。" + } + ] + }, + "corn_in_bowl_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0–1.5 s，机器人尚未搬运蔬菜，台面上的红色搅拌碗未见蔬菜；蔬菜初始放在地面篮中。" + }, + { + "t": 36.8, + "log_step": null, + "text_zh": "推断：已检查视频全程，机器人仅在第一篮附近反复开合左夹爪，未见将玉米搬到任何搅拌碗的过程；视频 36.8 s 仍为倾斜的厨房视图。评分器 reward.q_score=0.0，且初态没有玉米入碗关系，因此终态不能满足同碗至少3根玉米；全程无该节点成立的可见转移证据。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "bok_choy_in_bowl_1", + "t": 7.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "推断：视频约6.8–7.5 s，机器人在接近第一篮并开始取物时，头部画面中的吧台、柜体迅速侧倾，腕部画面也翻转；失稳先于视频9.5 s等后续空夹。第一篮中的小白菜未被搬入碗，此后直到视频36.8 s均未补成该步骤。log step 166 的录制保存、log step 168 的 recorded (1105,25) 与 log step 185 的交付检查相互对应，所尝试对象为 bok_choy.n.02_1，因此断点仍为第1棵小白菜入碗；视频约26.5–28.0 s是进一步翻转。" + }, + "unmet": { + "bok_choy_in_bowl_1": false, + "bok_choy_in_bowl_2": false, + "bok_choy_in_bowl_3": false, + "onions_in_bowl_1": false, + "onions_in_bowl_2": false, + "onions_in_bowl_3": false, + "leeks_in_bowl_1": false, + "leeks_in_bowl_2": false, + "broccoli_in_bowl_1": false, + "broccoli_in_bowl_2": false, + "corn_in_bowl_1": false, + "corn_in_bowl_2": false, + "corn_in_bowl_3": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 7.0, + "log_step": null, + "evidence_zh": "观察：视频6.0–6.5 s头部画面中的柜体竖线尚接近竖直；视频约6.8–7.5 s，吧台和柜体快速侧倾，腕部画面中的篮子及地面方向也随之翻转。视频8.0–24.5 s持续为明显倾斜视角，夹爪开合发生在此姿态下；视频26.5–28.0 s进一步翻转，直到视频36.8 s仍未恢复正常工作姿态。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 7.0, + "log_step": 166, + "source_zh": "视频", + "evidence_zh": "推断：视频约6.8–7.5 s，机器人在第一篮旁的接近、伸臂取物执行中已失稳，先于视频9.5 s等空夹，之后未恢复稳定姿态。log step 166保存的执行程序使用move_base接近目标，并以位置误差判断是否后退；log step 168对应保存运行的五次held=None只支持后续未建立抓握，不能解释更早的失稳。因此保留宽类“控制”，将其依据改为接近、取物执行未能维持稳定；缺少底座姿态、接触和受力状态，无法区分接近时的碰撞、运动轨迹或反馈控制问题，不细分子类。log step 130的“jammed against the kitchen bar and fell”是较早会话测试中的agent自述，不作为本段碰撞证据。" + } + ], + "gap_zh": "没有状态日志和成功参考视频。左夹爪与小白菜、篮沿的实际接触点被视角遮挡，无法判定擦碰方式或具体受力；视频约6.8–7.5 s的失稳早于后续空夹，但不能确定是否由接近时的阻挡引起，也无法辨别具体控制机制。log step 168的保存运行状态报告fallen=True，而评分器reward.fallen=0；视频直接显示持续明显倾斜，因此只标可见平衡问题，不推定评分器跌倒约束已触发。其他会话测试和log step 170之后未保存的修改不作为本段轨迹进度。" + }, + "summary_zh": "评分轨迹未见任何蔬菜进入搅拌碗，13个入碗节点终态均为假，评分器q_score=0.0。机器人在第1棵小白菜入碗步骤于视频约6.8–7.5 s已明显失稳，此后在倾斜姿态下反复空夹，视频约26.5–28.0 s进一步翻转，至视频36.8 s未恢复。根因仅推断为宽类控制问题；因缺少底座姿态、接触和受力状态，无法确定失稳机制，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": 7, + "summary_zh": "节点全 false 与 q_score=0 一致；但视频显示机器人在约 6.8–7.5 s 就开始倾倒（相机视图倾斜、左腕视图翻转），此后 7.5–24.5 s 的“反复空夹”是在已倾倒/失稳姿态下发生的。标签把失稳放在 26.5–28 s、并把首要现象写成 没建立接触，时间线和现象主次有误。", + "n_issues": 3, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "13个入碗节点全 false 与 q_score=0 一致；断点 bok_choy_in_bowl_1、平衡现象 t≈7 s 与帧一致（视频 6.5 s 视图近水平，7.0–7.5 s 起明显侧倾，之后持续倾斜至 36 s）；根因只标宽类控制并如实说明证据不足，未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:42:18Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-sorting-vegetables-i00-privileged--6lrglnf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sorting-vegetables-i00-privileged--6lrglnf/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sorting-vegetables-i00-privileged--6lrglnf/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-sorting-vegetables-i00-privileged--6lrglnf/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3862d59976f84faa6233f0e06c722e068d2f3c68427e30841c0af4a0f16b6d33", + "video_sha256": "cb556e2a11f889694dc5779c27d15dfb70a1a15475a6acd0f33da794397ccb78", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/sorting_vegetables/trajectories/behavior-sorting-vegetables-i00-privileged--9xnlgrf.json b/phase2/behavior-1k/sorting_vegetables/trajectories/behavior-sorting-vegetables-i00-privileged--9xnlgrf.json new file mode 100644 index 0000000000000000000000000000000000000000..10b899d06a4daf0ce93b0d41a544e886608ee246 --- /dev/null +++ b/phase2/behavior-1k/sorting_vegetables/trajectories/behavior-sorting-vegetables-i00-privileged--9xnlgrf.json @@ -0,0 +1,429 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sorting-vegetables-i00-privileged--9xnlgrf", + "taskKey": "behavior-1k/sorting_vegetables", + "dag_sha256": "f223bd60cf10453bf9bc51bdfdffbdfba7e9614ddc649875f859654d88e96aee", + "outcome": { + "success": 0, + "reward": 0.3076923076923077, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 4414, + "sim_steps": 4414, + "final_reward": 0.3076923076923077, + "q_score": 0.3076923076923077, + "replay_wall_s": 2032.1, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 30, + "agent_resets": 0, + "agent_sim_steps": 30651, + "agent_records": 26, + "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-sorting-vegetables-i00-privileged--9xnlgrf/replay.mp4", + "duration_s": 147.133, + "fps": 30.0, + "frames": 4414, + "sha256": "a82e25c9010c0bd8f950f21e02d8d612f595976dc7edf5db0a2523a3561f4096" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 13, + "base": 0, + "peak": 4, + "final": 4, + "nodes": { + "bok_choy_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频从初始厨房画面至视频 147.1 s，机器人只搬运了三个洋葱和一棵西兰花，此后仍在原篮内重试另一棵西兰花；未见机器人搬运小白菜或把小白菜送入碗的动作。" + }, + { + "t": 147.1, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.3076923076923077，即4/13；结合视频已确认三个洋葱与一棵西兰花入碗，这四个新增目标关系已用尽总数，故第1件小白菜入碗终态为假。视频中没有使该类蔬菜入碗的转移过程，区间记为空。" + } + ] + }, + "bok_choy_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频从初始厨房画面至视频 147.1 s，机器人只搬运了三个洋葱和一棵西兰花，此后仍在原篮内重试另一棵西兰花；未见机器人搬运小白菜或把小白菜送入碗的动作。" + }, + { + "t": 147.1, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.3076923076923077，即4/13；结合视频已确认三个洋葱与一棵西兰花入碗，这四个新增目标关系已用尽总数，故第2件小白菜入碗终态为假。视频中没有使该类蔬菜入碗的转移过程，区间记为空。" + } + ] + }, + "bok_choy_in_bowl_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频从初始厨房画面至视频 147.1 s，机器人只搬运了三个洋葱和一棵西兰花，此后仍在原篮内重试另一棵西兰花；未见机器人搬运小白菜或把小白菜送入碗的动作。" + }, + { + "t": 147.1, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.3076923076923077，即4/13；结合视频已确认三个洋葱与一棵西兰花入碗，这四个新增目标关系已用尽总数，故第3件小白菜入碗终态为假。视频中没有使该类蔬菜入碗的转移过程，区间记为空。" + } + ] + }, + "onions_in_bowl_1": { + "method": "visual", + "intervals": [ + [ + 38.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 38.0, + "log_step": 613, + "text_zh": "观察：视频 20.0–34.0 s，机器人左夹爪夹住并搬运第一个洋葱；视频 37.5–38.5 s，夹爪松开后洋葱落入红碗，腕部画面可见一个洋葱留在碗内。入碗时刻按可见落下过程估计，误差约0.5秒。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左侧二指夹爪夹持这件洋葱，将其从篮内提起，搬至红色搅拌碗上方后松开；此前抓取重试中的拨动也发生在左夹爪与菜体之间。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人轮式底盘在地面支撑并行驶，在篮子与目标碗之间搬运这件洋葱。" + } + ] + }, + "onions_in_bowl_2": { + "method": "visual", + "intervals": [ + [ + 60.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 60.5, + "log_step": 613, + "text_zh": "观察：视频 48.0–58.5 s，机器人左夹爪把第二个洋葱从篮中提起并运到同一红碗；视频 60.5 s，腕部画面可见碗内两个已离手的洋葱。入碗时刻按可见落下过程估计，误差约0.5秒。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左侧二指夹爪夹持这件洋葱，将其从篮内提起，搬至红色搅拌碗上方后松开；此前抓取重试中的拨动也发生在左夹爪与菜体之间。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人轮式底盘在地面支撑并行驶，在篮子与目标碗之间搬运这件洋葱。" + } + ] + }, + "onions_in_bowl_3": { + "method": "visual", + "intervals": [ + [ + 82.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 82.5, + "log_step": 650, + "text_zh": "观察：视频 70.0–81.5 s，机器人左夹爪搬运第三个洋葱到已有两个洋葱的红碗；视频 82.5–83.5 s，夹爪退出，碗内可数出三个洋葱。入碗时刻按可见落下过程估计，误差约0.5秒。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左侧二指夹爪夹持这件洋葱，将其从篮内提起，搬至红色搅拌碗上方后松开；此前抓取重试中的拨动也发生在左夹爪与菜体之间。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人轮式底盘在地面支撑并行驶，在篮子与目标碗之间搬运这件洋葱。" + } + ] + }, + "leeks_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频从初始厨房画面至视频 147.1 s，机器人只搬运了三个洋葱和一棵西兰花，此后仍在原篮内重试另一棵西兰花；未见机器人搬运韭葱或把韭葱送入碗的动作。" + }, + { + "t": 147.1, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.3076923076923077，即4/13；结合视频已确认三个洋葱与一棵西兰花入碗，这四个新增目标关系已用尽总数，故第1件韭葱入碗终态为假。视频中没有使该类蔬菜入碗的转移过程，区间记为空。" + } + ] + }, + "leeks_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频从初始厨房画面至视频 147.1 s，机器人只搬运了三个洋葱和一棵西兰花，此后仍在原篮内重试另一棵西兰花；未见机器人搬运韭葱或把韭葱送入碗的动作。" + }, + { + "t": 147.1, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.3076923076923077，即4/13；结合视频已确认三个洋葱与一棵西兰花入碗，这四个新增目标关系已用尽总数，故第2件韭葱入碗终态为假。视频中没有使该类蔬菜入碗的转移过程，区间记为空。" + } + ] + }, + "broccoli_in_bowl_1": { + "method": "visual", + "intervals": [ + [ + 117.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 117.5, + "log_step": 655, + "text_zh": "观察：视频 104.0–116.5 s，机器人左夹爪夹着一棵西兰花离开篮子并运到另一只红碗；视频 117.5–119.0 s，西兰花已落入碗中，夹爪离开，头部与腕部画面均可见碗中的绿色菜体。入碗时刻按可见落下过程估计，误差约0.5秒。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左侧二指夹爪夹持这件西兰花，将其从篮内提起，搬至红色搅拌碗上方后松开；此前抓取重试中的拨动也发生在左夹爪与菜体之间。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人轮式底盘在地面支撑并行驶，在篮子与目标碗之间搬运这件西兰花。" + } + ] + }, + "broccoli_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 127.5, + "log_step": 653, + "text_zh": "观察：视频 126.0–147.1 s，机器人左夹爪反复向篮中第二棵西兰花靠近、合拢、张开；菜体在篮内移动和转动，未随夹爪离篮，更没有运到碗边。视频 146.2–147.1 s 及末帧仍可见菜体留在篮内。" + }, + { + "t": 147.1, + "log_step": 661, + "text_zh": "观察：log step 661 显示第二棵西兰花最终 held=null，并已保存4414行的交付文件，状态 success=false、q_score=4/13；这与4414帧评分视频的末态一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "视频 127.0–147.1 s，左夹爪反复闭合尝试夹取西兰花，实际拨动菜体，使其在篮内平移、转动；没有可确认的夹持提起，因此实际接触记拨推。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 120.0–126.0 s，轮式底盘从放好第一棵西兰花的碗边驶回篮子，为第二棵西兰花的抓取就位。" + } + ] + }, + "corn_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频从初始厨房画面至视频 147.1 s，机器人只搬运了三个洋葱和一棵西兰花，此后仍在原篮内重试另一棵西兰花；未见机器人搬运玉米或把玉米送入碗的动作。" + }, + { + "t": 147.1, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.3076923076923077，即4/13；结合视频已确认三个洋葱与一棵西兰花入碗，这四个新增目标关系已用尽总数，故第1件玉米入碗终态为假。视频中没有使该类蔬菜入碗的转移过程，区间记为空。" + } + ] + }, + "corn_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频从初始厨房画面至视频 147.1 s，机器人只搬运了三个洋葱和一棵西兰花，此后仍在原篮内重试另一棵西兰花；未见机器人搬运玉米或把玉米送入碗的动作。" + }, + { + "t": 147.1, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.3076923076923077，即4/13；结合视频已确认三个洋葱与一棵西兰花入碗，这四个新增目标关系已用尽总数，故第2件玉米入碗终态为假。视频中没有使该类蔬菜入碗的转移过程，区间记为空。" + } + ] + }, + "corn_in_bowl_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频从初始厨房画面至视频 147.1 s，机器人只搬运了三个洋葱和一棵西兰花，此后仍在原篮内重试另一棵西兰花；未见机器人搬运玉米或把玉米送入碗的动作。" + }, + { + "t": 147.1, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.3076923076923077，即4/13；结合视频已确认三个洋葱与一棵西兰花入碗，这四个新增目标关系已用尽总数，故第3件玉米入碗终态为假。视频中没有使该类蔬菜入碗的转移过程，区间记为空。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "broccoli_in_bowl_2", + "t": 127.5, + "log_step": 653, + "where": "操作中", + "evidence_zh": "观察：视频 127.0–147.1 s，机器人正在篮内抓取第二棵西兰花，夹爪多次合拢仍只拨动菜体，始终没有把它提起或送入碗；此前三个洋葱和第一棵西兰花的转移已完成。log step 661 记录该次抓取结束时 held=null，随后保存4414行动作，和评分视频帧数一致；log step 668 的继续运行自述未在交付视频中形成新的转移。" + }, + "unmet": { + "bok_choy_in_bowl_1": false, + "bok_choy_in_bowl_2": false, + "bok_choy_in_bowl_3": false, + "onions_in_bowl_1": true, + "onions_in_bowl_2": true, + "onions_in_bowl_3": true, + "leeks_in_bowl_1": false, + "leeks_in_bowl_2": false, + "broccoli_in_bowl_1": true, + "broccoli_in_bowl_2": false, + "corn_in_bowl_1": false, + "corn_in_bowl_2": false, + "corn_in_bowl_3": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 127.5, + "log_step": 653, + "evidence_zh": "观察：视频 127.0–147.1 s，机器人左夹爪虽多次碰动篮内西兰花，但每次合拢后菜体仍由篮子支承，夹爪退出时没有携带菜体；所需的抓握接触一直未建立。log step 653 的多次 grasp_attempt 及 log step 661 的最终 grasp 均报告 held=null。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：机器人采用向下靠近、调整高度后闭合左夹爪的抓取方式；视频 127.0–147.1 s 可见此方式反复拨动菜体而未将菜体夹住。log step 653 中多次末端到达命令点的误差约0.000009–0.0018米，但 held 均为null，菜体位置随重试改变；log step 661 最后仍未持物。组合证据支持具体抓取接触位置和几何不适配，不能仅以末端轨迹未到位解释；本次没有验证第二棵西兰花的成功替代抓法。" + } + ], + "gap_zh": "没有状态日志或成功参考视频；入碗时间由相机中的落下与碗内留存画面估计，无法逐帧验证包围盒中心与内部容积边界，精确指面接触对及可行替代抓法也无法核实。末段部分接触被菜体和篮沿遮挡，但菜体始终留篮可见。log step 654 的进程崩溃发生在抓取失败且保存交付文件之后（log step 661 留有 saved 记录）；会话后来启动的续跑不属于该4414帧交付轨迹。" + }, + "summary_zh": "评分轨迹完成三个洋葱共碗和一棵西兰花入另一碗，最终4/13；小白菜、韭葱和玉米尚未开始转移。断点是第2棵西兰花入碗：机器人左夹爪在视频 127.0–147.1 s 反复拨动菜体，却未建立可提起的抓握，结合日志推断为抓取和接触设计问题。没有状态日志或成功参考，入碗边界时间约有0.5秒误差，具体接触几何与替代抓法仍未核实。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点进度（3个洋葱+1棵西兰花，q=4/13）、入碗时间、断点（第2棵西兰花）与现象/根因均与视频和日志一致；log step 661 的 saved 记录（4414 行、q=4/13）支持交付轨迹说明。未发现需要改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:26:02Z", + "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-sorting-vegetables-i00-privileged--9xnlgrf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sorting-vegetables-i00-privileged--9xnlgrf/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ca0f00ccc6bbc11c5189a6473d07eb2cd2fa4eedc2e6944182ca35ddc66f6562", + "video_sha256": "a82e25c9010c0bd8f950f21e02d8d612f595976dc7edf5db0a2523a3561f4096", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/sorting_vegetables/trajectories/behavior-sorting-vegetables-i00-privileged--mqsfdpy.json b/phase2/behavior-1k/sorting_vegetables/trajectories/behavior-sorting-vegetables-i00-privileged--mqsfdpy.json new file mode 100644 index 0000000000000000000000000000000000000000..3fa896115afd2f180158bdb704b0bdb00cc18d38 --- /dev/null +++ b/phase2/behavior-1k/sorting_vegetables/trajectories/behavior-sorting-vegetables-i00-privileged--mqsfdpy.json @@ -0,0 +1,395 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sorting-vegetables-i00-privileged--mqsfdpy", + "taskKey": "behavior-1k/sorting_vegetables", + "dag_sha256": "f223bd60cf10453bf9bc51bdfdffbdfba7e9614ddc649875f859654d88e96aee", + "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": 641, + "sim_steps": 641, + "fallen": 1, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 1172.4, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 29, + "agent_resets": 0, + "agent_sim_steps": 7010, + "agent_records": 1, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 6.889, + "peak_memory_gb": 12.517, + "peak_processes": 42, + "peak_disk_gb": 19.027, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-sorting-vegetables-i00-privileged--mqsfdpy/replay.mp4", + "duration_s": 21.367, + "fps": 30.0, + "frames": 641, + "sha256": "2a3038c552f68ccec8f9f9f2d9ee18f06ff7bde3d01f4ef5dcb3ba2d6883fbed" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 13, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "bok_choy_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.0, + "log_step": null, + "text_zh": "观察：视频 5.5–9.0 s 菜篮中可见小白菜，机器人只取走玉米，未见小白菜离篮或被搬入碗。" + }, + { + "t": 21.3, + "log_step": 12, + "text_zh": "观察：log step 12 的任务初态将小白菜列在地面篮内，碗在台面上；评分字段 q_score=0.0。推断：结合视频 0.0–21.3 s 未发生小白菜向碗的转移且机器人持玉米倒下，可判定单碗至少1件小白菜的关系未曾成立；初始这些入碗条件为假，零分总数亦约束其终值为假。" + } + ] + }, + "bok_choy_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.0, + "log_step": null, + "text_zh": "观察：视频 5.5–9.0 s 菜篮中可见小白菜，机器人只取走玉米，未见小白菜离篮或被搬入碗。" + }, + { + "t": 21.3, + "log_step": 12, + "text_zh": "观察：log step 12 的任务初态将小白菜列在地面篮内，碗在台面上；评分字段 q_score=0.0。推断：结合视频 0.0–21.3 s 未发生小白菜向碗的转移且机器人持玉米倒下，可判定单碗至少2件小白菜的关系未曾成立；初始这些入碗条件为假，零分总数亦约束其终值为假。" + } + ] + }, + "bok_choy_in_bowl_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.0, + "log_step": null, + "text_zh": "观察：视频 5.5–9.0 s 菜篮中可见小白菜，机器人只取走玉米，未见小白菜离篮或被搬入碗。" + }, + { + "t": 21.3, + "log_step": 12, + "text_zh": "观察：log step 12 的任务初态将小白菜列在地面篮内，碗在台面上；评分字段 q_score=0.0。推断：结合视频 0.0–21.3 s 未发生小白菜向碗的转移且机器人持玉米倒下，可判定单碗至少3件小白菜的关系未曾成立；初始这些入碗条件为假，零分总数亦约束其终值为假。" + } + ] + }, + "onions_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.6, + "log_step": null, + "text_zh": "观察：视频 0.0–10.6 s 机器人接近装有玉米和小白菜的地面篮，只搬动一根玉米，未见机器人取放洋葱；视频 10.8–21.3 s 机器人倾倒后没有恢复操作。" + }, + { + "t": 21.3, + "log_step": 12, + "text_zh": "观察：log step 12 的任务初态将洋葱列在地面篮内，碗在台面上；评分字段 q_score=0.0。推断：结合视频 0.0–21.3 s 未发生洋葱向碗的转移且机器人持玉米倒下，可判定单碗至少1件洋葱的关系未曾成立；初始这些入碗条件为假，零分总数亦约束其终值为假。" + } + ] + }, + "onions_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.6, + "log_step": null, + "text_zh": "观察：视频 0.0–10.6 s 机器人接近装有玉米和小白菜的地面篮，只搬动一根玉米，未见机器人取放洋葱；视频 10.8–21.3 s 机器人倾倒后没有恢复操作。" + }, + { + "t": 21.3, + "log_step": 12, + "text_zh": "观察：log step 12 的任务初态将洋葱列在地面篮内，碗在台面上；评分字段 q_score=0.0。推断：结合视频 0.0–21.3 s 未发生洋葱向碗的转移且机器人持玉米倒下，可判定单碗至少2件洋葱的关系未曾成立；初始这些入碗条件为假，零分总数亦约束其终值为假。" + } + ] + }, + "onions_in_bowl_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.6, + "log_step": null, + "text_zh": "观察：视频 0.0–10.6 s 机器人接近装有玉米和小白菜的地面篮，只搬动一根玉米，未见机器人取放洋葱；视频 10.8–21.3 s 机器人倾倒后没有恢复操作。" + }, + { + "t": 21.3, + "log_step": 12, + "text_zh": "观察：log step 12 的任务初态将洋葱列在地面篮内，碗在台面上；评分字段 q_score=0.0。推断：结合视频 0.0–21.3 s 未发生洋葱向碗的转移且机器人持玉米倒下，可判定单碗至少3件洋葱的关系未曾成立；初始这些入碗条件为假，零分总数亦约束其终值为假。" + } + ] + }, + "leeks_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.6, + "log_step": null, + "text_zh": "观察：视频 0.0–10.6 s 机器人接近装有玉米和小白菜的地面篮，只搬动一根玉米，未见机器人取放韭葱；视频 10.8–21.3 s 机器人倾倒后没有恢复操作。" + }, + { + "t": 21.3, + "log_step": 12, + "text_zh": "观察：log step 12 的任务初态将韭葱列在地面篮内，碗在台面上；评分字段 q_score=0.0。推断：结合视频 0.0–21.3 s 未发生韭葱向碗的转移且机器人持玉米倒下，可判定单碗至少1件韭葱的关系未曾成立；初始这些入碗条件为假，零分总数亦约束其终值为假。" + } + ] + }, + "leeks_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.6, + "log_step": null, + "text_zh": "观察：视频 0.0–10.6 s 机器人接近装有玉米和小白菜的地面篮，只搬动一根玉米，未见机器人取放韭葱；视频 10.8–21.3 s 机器人倾倒后没有恢复操作。" + }, + { + "t": 21.3, + "log_step": 12, + "text_zh": "观察：log step 12 的任务初态将韭葱列在地面篮内，碗在台面上；评分字段 q_score=0.0。推断：结合视频 0.0–21.3 s 未发生韭葱向碗的转移且机器人持玉米倒下，可判定单碗至少2件韭葱的关系未曾成立；初始这些入碗条件为假，零分总数亦约束其终值为假。" + } + ] + }, + "broccoli_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.6, + "log_step": null, + "text_zh": "观察：视频 0.0–10.6 s 机器人接近装有玉米和小白菜的地面篮，只搬动一根玉米，未见机器人取放西兰花；视频 10.8–21.3 s 机器人倾倒后没有恢复操作。" + }, + { + "t": 21.3, + "log_step": 12, + "text_zh": "观察：log step 12 的任务初态将西兰花列在地面篮内，碗在台面上；评分字段 q_score=0.0。推断：结合视频 0.0–21.3 s 未发生西兰花向碗的转移且机器人持玉米倒下，可判定单碗至少1件西兰花的关系未曾成立；初始这些入碗条件为假，零分总数亦约束其终值为假。" + } + ] + }, + "broccoli_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.6, + "log_step": null, + "text_zh": "观察：视频 0.0–10.6 s 机器人接近装有玉米和小白菜的地面篮，只搬动一根玉米，未见机器人取放西兰花；视频 10.8–21.3 s 机器人倾倒后没有恢复操作。" + }, + { + "t": 21.3, + "log_step": 12, + "text_zh": "观察：log step 12 的任务初态将西兰花列在地面篮内，碗在台面上；评分字段 q_score=0.0。推断：结合视频 0.0–21.3 s 未发生西兰花向碗的转移且机器人持玉米倒下，可判定单碗至少2件西兰花的关系未曾成立；初始这些入碗条件为假，零分总数亦约束其终值为假。" + } + ] + }, + "corn_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 9.4, + "log_step": null, + "text_zh": "观察：视频 5.5–9.4 s 左腕视角从菜篮内的玉米、小白菜移到一根已离篮的玉米；视频 9.4–10.6 s 玉米随左腕移动，未进入任何搅拌碗。" + }, + { + "t": 21.3, + "log_step": 364, + "text_zh": "观察：视频 10.8–12.8 s 机器人倾倒，视频 12.8–21.3 s 保持侧倒，玉米仍在左腕近处，没有入碗；log step 364 记录保存的641步轨迹 success=False、fallen=True、q_score=0.0，与评分字段及视频相符。推断：初始玉米在篮内，评分局只搬动这一根且未送达，故单碗至少1根玉米的关系全程未成立，终值为假。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "推断：视频 9.4–10.6 s 一根玉米已离开菜篮，与左腕同步移动，玉米端部可见夹爪指端；结合对应保存记录 log step 364 的左爪持有玉米读数，判为左二指夹爪抓握玉米。右爪未参与。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0.0–5.0 s 机器人底盘驶向地面菜篮；视频 9.4–10.6 s 持玉米移动、转向，随后倾倒。底盘在取运第一根玉米期间经地面支承并移动。" + } + ] + }, + "corn_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 9.4, + "log_step": null, + "text_zh": "观察：视频 5.5–9.4 s 左腕视角从菜篮内的玉米、小白菜移到一根已离篮的玉米；视频 9.4–10.6 s 玉米随左腕移动，未进入任何搅拌碗。" + }, + { + "t": 21.3, + "log_step": 364, + "text_zh": "观察：视频 10.8–12.8 s 机器人倾倒，视频 12.8–21.3 s 保持侧倒，玉米仍在左腕近处，没有入碗；log step 364 记录保存的641步轨迹 success=False、fallen=True、q_score=0.0，与评分字段及视频相符。推断：初始玉米在篮内，评分局只搬动这一根且未送达，故单碗至少2根玉米的关系全程未成立，终值为假。" + } + ] + }, + "corn_in_bowl_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 9.4, + "log_step": null, + "text_zh": "观察：视频 5.5–9.4 s 左腕视角从菜篮内的玉米、小白菜移到一根已离篮的玉米；视频 9.4–10.6 s 玉米随左腕移动，未进入任何搅拌碗。" + }, + { + "t": 21.3, + "log_step": 364, + "text_zh": "观察：视频 10.8–12.8 s 机器人倾倒，视频 12.8–21.3 s 保持侧倒，玉米仍在左腕近处，没有入碗；log step 364 记录保存的641步轨迹 success=False、fallen=True、q_score=0.0，与评分字段及视频相符。推断：初始玉米在篮内，评分局只搬动这一根且未送达，故单碗至少3根玉米的关系全程未成立，终值为假。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "corn_in_bowl_1", + "t": 10.8, + "log_step": 364, + "where": "操作中", + "evidence_zh": "观察：视频 9.4–10.6 s 机器人已持第一根玉米离篮，尚未接近目标碗；视频约 10.8 s 开始持续翻倒，视频 11.2–12.8 s 头部视角大幅翻转并降到侧倒视角，直到视频 21.3 s 未恢复。log step 364 记录此641步轨迹被保存，状态 fallen=True、success=False。推断：第一根玉米的入碗步骤在持物运送中失败，之后未补做。" + }, + "unmet": { + "bok_choy_in_bowl_1": false, + "bok_choy_in_bowl_2": false, + "bok_choy_in_bowl_3": false, + "onions_in_bowl_1": false, + "onions_in_bowl_2": false, + "onions_in_bowl_3": false, + "leeks_in_bowl_1": false, + "leeks_in_bowl_2": false, + "broccoli_in_bowl_1": false, + "broccoli_in_bowl_2": false, + "corn_in_bowl_1": false, + "corn_in_bowl_2": false, + "corn_in_bowl_3": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 10.8, + "log_step": 364, + "evidence_zh": "观察：视频 10.8–12.8 s 厨房地面、台面和门框在头部视角中连续翻转，机器人最终侧倒；视频 12.8–21.3 s 保持此姿态，左腕附近仍有玉米。log step 364 的保存状态及评分字段均为 fallen=True/1。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "log_step": 315, + "evidence_zh": "推断：log step 315 的生成脚本在提起玉米后执行持物底盘移动及转向，drive_base 按平面位置和偏航误差直接输出速度命令；对应保存记录 log step 364 为641步、fallen=True，视频 9.4–12.8 s 显示持物移动后机身失稳倾倒。所生成的运动未维持机身稳定，根因归到控制；现有证据不能确定是速度、躯干姿态还是未见的底部接触导致，故不细分子类。" + } + ], + "gap_zh": "没有状态日志和成功参考视频；三只目标碗未在全程同时完整入镜，未操作类别的节点依据任务初态、评分视频中没有转移的动作及q_score=0共同推断。头部与腕部视角看不到轮地及底盘周围完整接触，无法进一步确定倾倒的具体动力学诱因。log step 340、344 的后续会话试验和 log step 408 的重新生成自述不是该641步评分轨迹，不计为进度或修复。" + }, + "summary_zh": "评分轨迹只取起一根玉米，13个入碗节点均未达到，最终0/13；视频约 10.8 s 机器人在持玉米运送时倾倒，并保持侧倒到视频 21.3 s。断点为第1根玉米入碗，现象为平衡失效，根因仅能归到控制；log step 364 的641步保存记录与评分视频和fallen=1一致。没有状态日志，目标碗及底盘接触视野有限，未操作节点结合初态和零分总数判断，倾倒机制无法细分。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "13个入碗节点全为假（q_score=0、只搬起一根玉米、无任何入碗）与视频及评分字段一致；断点为第1根玉米入碗的操作中、约视频10.8 s 倾倒，现象平衡、根因控制（不细分）均有 log step 364（641步、fallen=True）和视频支持，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:14:12Z", + "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-sorting-vegetables-i00-privileged--mqsfdpy/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sorting-vegetables-i00-privileged--mqsfdpy/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8eb0c64d1bf8ba64483fc7474572695abbc6535a1bd1197027008752b183f4f1", + "video_sha256": "2a3038c552f68ccec8f9f9f2d9ee18f06ff7bde3d01f4ef5dcb3ba2d6883fbed", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/sorting_vegetables/trajectories/behavior-sorting-vegetables-i00-privileged--s8godxz.json b/phase2/behavior-1k/sorting_vegetables/trajectories/behavior-sorting-vegetables-i00-privileged--s8godxz.json new file mode 100644 index 0000000000000000000000000000000000000000..5b0327f1f46d9123b8c1b273abfa1871e3908237 --- /dev/null +++ b/phase2/behavior-1k/sorting_vegetables/trajectories/behavior-sorting-vegetables-i00-privileged--s8godxz.json @@ -0,0 +1,440 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sorting-vegetables-i00-privileged--s8godxz", + "taskKey": "behavior-1k/sorting_vegetables", + "dag_sha256": "f223bd60cf10453bf9bc51bdfdffbdfba7e9614ddc649875f859654d88e96aee", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 7776, + "sim_steps": 7776, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 3448.0, + "replay_timeout_s": 5088.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 8, + "agent_resets": 11, + "agent_sim_steps": 8573, + "agent_records": 1, + "agent_replays": 0, + "agent_cost_self_reported": 1 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-sorting-vegetables-i00-privileged--s8godxz/replay.mp4", + "duration_s": 259.2, + "fps": 30.0, + "frames": 7776, + "sha256": "b368a0f65686991224414d5ddae9d2c19a4fae34842a9d36f9ec359a76ea7941" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 13, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "bok_choy_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2, + "log_step": null, + "text_zh": "观察：视频 2 s 地面菜篮与台面红碗分开；全片粗看并检查视频 0–127 s 的逐秒帧，机器人先操作另一篮的西兰花、洋葱和韭葱，未见小白菜被取出并送入碗。视频后段机器人空手在柜台、房间边缘移动，未见小白菜入碗。" + }, + { + "t": 259.167, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0；任务初态为蔬菜在地面篮内，未有预先成立的入碗目标，故最终不存在任何蔬菜入碗关系。视频全段未见蔬菜从夹爪进入碗，视频 258.2、258.7、259.167 s 仅见空夹爪和近处墙面；末态各数量节点为假由评分总量补足遮挡。" + } + ] + }, + "bok_choy_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2, + "log_step": null, + "text_zh": "观察：视频 2 s 地面菜篮与台面红碗分开；全片粗看并检查视频 0–127 s 的逐秒帧，机器人先操作另一篮的西兰花、洋葱和韭葱，未见小白菜被取出并送入碗。视频后段机器人空手在柜台、房间边缘移动，未见小白菜入碗。" + }, + { + "t": 259.167, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0；任务初态为蔬菜在地面篮内，未有预先成立的入碗目标，故最终不存在任何蔬菜入碗关系。视频全段未见蔬菜从夹爪进入碗，视频 258.2、258.7、259.167 s 仅见空夹爪和近处墙面；末态各数量节点为假由评分总量补足遮挡。" + } + ] + }, + "bok_choy_in_bowl_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2, + "log_step": null, + "text_zh": "观察：视频 2 s 地面菜篮与台面红碗分开；全片粗看并检查视频 0–127 s 的逐秒帧，机器人先操作另一篮的西兰花、洋葱和韭葱，未见小白菜被取出并送入碗。视频后段机器人空手在柜台、房间边缘移动，未见小白菜入碗。" + }, + { + "t": 259.167, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0；任务初态为蔬菜在地面篮内，未有预先成立的入碗目标，故最终不存在任何蔬菜入碗关系。视频全段未见蔬菜从夹爪进入碗，视频 258.2、258.7、259.167 s 仅见空夹爪和近处墙面；末态各数量节点为假由评分总量补足遮挡。" + } + ] + }, + "onions_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 47, + "log_step": 122, + "text_zh": "观察：视频 44–48 s 左夹爪包夹第一个被搬出的洋葱，洋葱离开原菜篮；视频 49–53 s 左夹爪放开后，洋葱出现在地面西兰花旁，未进入台面红碗。" + }, + { + "t": 259.167, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0；任务初态为蔬菜在地面篮内，未有预先成立的入碗目标，故最终不存在任何蔬菜入碗关系。视频全段未见蔬菜从夹爪进入碗，视频 258.2、258.7、259.167 s 仅见空夹爪和近处墙面；末态各数量节点为假由评分总量补足遮挡。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 44–48 s 左二指夹爪包夹洋葱并搬出菜篮，之后放在地面。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 43–44 s 机器人在菜篮旁调整取菜工位，底盘小幅移动。" + } + ] + }, + "onions_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 66, + "log_step": 123, + "text_zh": "观察：视频 63–66 s 左夹爪包夹另一个洋葱并使其离开篮中原位，视频 67–71 s 左夹爪重新为空；右夹爪未见带着洋葱去碗内释放，后续仍在原篮附近工作。按搬出顺序把它记为第二个洋葱操作。" + }, + { + "t": 259.167, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0；任务初态为蔬菜在地面篮内，未有预先成立的入碗目标，故最终不存在任何蔬菜入碗关系。视频全段未见蔬菜从夹爪进入碗，视频 258.2、258.7、259.167 s 仅见空夹爪和近处墙面；末态各数量节点为假由评分总量补足遮挡。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 63–66 s 左二指夹爪包夹并提起第二个被操作的洋葱。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 59–61 s 机器人移动到篮旁下一取菜位置，底盘承载机体移动。" + } + ] + }, + "onions_in_bowl_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 80, + "log_step": 124, + "text_zh": "观察：视频 74–85 s 左腕视图转而被菜篮侧壁占据，菜篮被提起、倾斜后放下，未见第三个洋葱单独被送入碗；log step 124 中第三个尝试对象 vidalia_onion.n.01_2 的后两次反馈为抓住 wicker_basket.n.01_2，与视频提篮顺序一致。" + }, + { + "t": 259.167, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0；任务初态为蔬菜在地面篮内，未有预先成立的入碗目标，故最终不存在任何蔬菜入碗关系。视频全段未见蔬菜从夹爪进入碗，视频 258.2、258.7、259.167 s 仅见空夹爪和近处墙面；末态各数量节点为假由评分总量补足遮挡。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 74–85 s 左夹爪实际夹住并提起菜篮，而非单独夹出洋葱；对象归属由 log step 124 的交付生成日志与视频提篮动作顺序相互核对。" + } + ] + }, + "leeks_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 92, + "log_step": 124, + "text_zh": "观察：视频 87–100 s 左腕视图反复出现被提起的菜篮侧壁，右夹爪保持空手；未见韭葱单独离篮，更未入碗。log step 124 在洋葱尝试之后列出第一根韭葱三次抓取均抓到同一菜篮，与该段反复提篮相符。" + }, + { + "t": 259.167, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0；任务初态为蔬菜在地面篮内，未有预先成立的入碗目标，故最终不存在任何蔬菜入碗关系。视频全段未见蔬菜从夹爪进入碗，视频 258.2、258.7、259.167 s 仅见空夹爪和近处墙面；末态各数量节点为假由评分总量补足遮挡。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 87–100 s 左夹爪实际夹起菜篮；log step 124 将这组提篮动作对应到第一根韭葱的抓取尝试。没有把误抓篮标成抓住韭葱。" + } + ] + }, + "leeks_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 107, + "log_step": 124, + "text_zh": "观察：视频 101–110 s 左腕相机仍近距离面对菜篮侧壁，右夹爪为空，未见韭葱被搬到台面碗内；随后视频 111–115 s 机器人撤离菜篮。log step 124 在第一根韭葱的提篮反馈后列出第二根韭葱三次抓取反馈 None。" + }, + { + "t": 259.167, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0；任务初态为蔬菜在地面篮内，未有预先成立的入碗目标，故最终不存在任何蔬菜入碗关系。视频全段未见蔬菜从夹爪进入碗，视频 258.2、258.7、259.167 s 仅见空夹爪和近处墙面；末态各数量节点为假由评分总量补足遮挡。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 101–110 s 第二次韭葱操作区域被菜篮侧壁遮挡，无法确认左指是否碰到韭葱或仅碰到篮；不能从抓取反馈 None 推定完全无接触。" + } + ] + }, + "broccoli_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12, + "log_step": null, + "text_zh": "观察：视频 8–12.5 s 左腕视图显示左夹爪包夹西兰花并将其从菜篮提起；视频 13–17.5 s 左夹爪放开后，头部视图可见西兰花停在地面，未进入台面红碗。" + }, + { + "t": 24.5, + "log_step": 122, + "text_zh": "观察：视频 18–31 s 右夹爪多次接近地面这棵西兰花，视频 24.5 s 夹爪闭合后撤回仍未带起它；视频 29–31 s 西兰花仍在地面，随后机器人转向篮内其他蔬菜。" + }, + { + "t": 259.167, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0；任务初态为蔬菜在地面篮内，未有预先成立的入碗目标，故最终不存在任何蔬菜入碗关系。视频全段未见蔬菜从夹爪进入碗，视频 258.2、258.7、259.167 s 仅见空夹爪和近处墙面；末态各数量节点为假由评分总量补足遮挡。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 10–12.5 s 左二指夹爪包夹并提起西兰花，随后放到地面；右夹爪的后续重抓没有形成可见的持物。两臂先后行动，不是同时协作。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0–5 s 轮式底盘驶向西兰花所在菜篮的取菜工位。" + } + ] + }, + "broccoli_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 38, + "log_step": 122, + "text_zh": "观察：视频 34–42 s 左夹爪反复下降到篮中另一棵西兰花附近，但未见该菜离篮，右夹爪为空，也未发生入碗；log step 122 的交付生成日志对应第二棵西兰花三次抓取反馈均为 None。这里按先后取菜对象区分两次西兰花操作，不把取出第一棵算作入碗。" + }, + { + "t": 259.167, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0；任务初态为蔬菜在地面篮内，未有预先成立的入碗目标，故最终不存在任何蔬菜入碗关系。视频全段未见蔬菜从夹爪进入碗，视频 258.2、258.7、259.167 s 仅见空夹爪和近处墙面；末态各数量节点为假由评分总量补足遮挡。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 34–42 s 左夹爪在菜篮内尝试抓另一棵西兰花，但篮沿与其他蔬菜遮挡指面，不能确认实际接触对象及接触方式；未见有效包夹后提起。" + } + ] + }, + "corn_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 145, + "log_step": null, + "text_zh": "观察：视频 0–127 s 的逐秒帧与全片粗看中，机器人搬出的是西兰花和洋葱，随后反复抓起菜篮，未见玉米离篮并被运入碗；视频 145 s 夹爪为空，台面碗内未见玉米。" + }, + { + "t": 259.167, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0；任务初态为蔬菜在地面篮内，未有预先成立的入碗目标，故最终不存在任何蔬菜入碗关系。视频全段未见蔬菜从夹爪进入碗，视频 258.2、258.7、259.167 s 仅见空夹爪和近处墙面；末态各数量节点为假由评分总量补足遮挡。" + } + ] + }, + "corn_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 145, + "log_step": null, + "text_zh": "观察：视频 0–127 s 的逐秒帧与全片粗看中，机器人搬出的是西兰花和洋葱，随后反复抓起菜篮，未见玉米离篮并被运入碗；视频 145 s 夹爪为空，台面碗内未见玉米。" + }, + { + "t": 259.167, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0；任务初态为蔬菜在地面篮内，未有预先成立的入碗目标，故最终不存在任何蔬菜入碗关系。视频全段未见蔬菜从夹爪进入碗，视频 258.2、258.7、259.167 s 仅见空夹爪和近处墙面；末态各数量节点为假由评分总量补足遮挡。" + } + ] + }, + "corn_in_bowl_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 145, + "log_step": null, + "text_zh": "观察：视频 0–127 s 的逐秒帧与全片粗看中，机器人搬出的是西兰花和洋葱，随后反复抓起菜篮，未见玉米离篮并被运入碗；视频 145 s 夹爪为空，台面碗内未见玉米。" + }, + { + "t": 259.167, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0；任务初态为蔬菜在地面篮内，未有预先成立的入碗目标，故最终不存在任何蔬菜入碗关系。视频全段未见蔬菜从夹爪进入碗，视频 258.2、258.7、259.167 s 仅见空夹爪和近处墙面；末态各数量节点为假由评分总量补足遮挡。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "broccoli_in_bowl_1", + "t": 20.0, + "log_step": 122, + "where": "操作中", + "evidence_zh": "观察：视频 10–12.5 s 左夹爪已取起第一棵西兰花，视频 13–17.5 s 将它放到地面；视频 18–31 s 右夹爪反复重抓却没有把它带走，视频 29–31 s 它仍在地面，随后机器人改抓另一棵西兰花和洋葱。全片未见它再被送入碗；这是最早失败且直到结束未完成的步骤。log step 122 的交付生成日志列出该西兰花四次右手抓取均为 None，log step 131 确认最终交付的 7776 条动作已保存、DONE=[]，与本段视频相符。" + }, + "unmet": { + "bok_choy_in_bowl_1": false, + "bok_choy_in_bowl_2": false, + "bok_choy_in_bowl_3": false, + "onions_in_bowl_1": false, + "onions_in_bowl_2": false, + "onions_in_bowl_3": false, + "leeks_in_bowl_1": false, + "leeks_in_bowl_2": false, + "broccoli_in_bowl_1": false, + "broccoli_in_bowl_2": false, + "corn_in_bowl_1": false, + "corn_in_bowl_2": false, + "corn_in_bowl_3": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 24.5, + "log_step": 122, + "evidence_zh": "观察：视频 23–26.5 s 右腕视图中的西兰花一直留在地面，视频 24.5 s 右二指夹爪闭合后空手抬起，视频 29–31 s 菜仍未被带走。这里缺失的是右夹爪重抓所需的有效包夹接触；先前左夹爪曾抓住，之后按脚本放到地面，未把计划中的释放标成失手掉落。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 24.5, + "log_step": 122, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 119 的交付脚本规定左手取菜后先放在地面、由右手重抓，并为右手设置 0.02、0.04、0.06、0.08 米的高度重试；log step 122 的实际生成反馈中，这棵西兰花四次右手抓取均为 None。视频 18–31 s 可见重复进退、闭爪却空手返回，支持右手重抓控制未能建立有效持物，导致搬运链中断；未有足够证据进一步区分接触几何、逆解或跟踪误差。" + } + ], + "gap_zh": "观察：inputs/ 提供完整回放和 run.json，但没有状态日志或成功参考视频；若干左指接触被篮壁遮挡，最终视频 258.2–259.167 s 碗和蔬菜均不在视野内。推断：最终全部为假由评分器 q_score=0 与未见任何入碗动作共同确定；右手重抓失败的具体几何或控制子因仍不能细分。日志中若干长脚本中段已被截去，不能据此给后段空手导航强行分配到每个小白菜或玉米实例；这些节点没有可确认的直接取放动作，故不填其 contact_actual。所有视频时间均取自帧，不把生成脚本的墙钟耗时当作视频时间。" + }, + "summary_zh": "观察：交付视频中机器人取起一棵西兰花和两个洋葱，但均未送入碗，随后多次误抓菜篮并在后段驶离厨房工作区，13个入碗节点均未达成。推断：最早未修复断点是第1棵西兰花入碗，左手放到地面后的右手重抓反复失败，根因仅能确定到控制层。最终各节点为假有评分器 q_score=0 支持；无状态日志，部分指面接触及具体控制子因无法确认。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽查视频 2–259 s 关键帧，与标注一致：左手取出西兰花/洋葱后均未入碗，13 个节点为假，断点为最早未修复的西兰花入碗步骤，现象与根因（没建立接触、控制）有证据支持且保守；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": "2026-10-30T21:52:05Z", + "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_rerun1/runs/behavior-sorting-vegetables-i00-privileged--s8godxz/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun1/runs/behavior-sorting-vegetables-i00-privileged--s8godxz/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "12f4b57b00e27d3fd786c21d365d678e69a843e919bc78928f13deeab160f42c", + "video_sha256": "b368a0f65686991224414d5ddae9d2c19a4fae34842a9d36f9ec359a76ea7941", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/sorting_vegetables/trajectories/behavior-sorting-vegetables-i00-privileged--zzgfyf7.json b/phase2/behavior-1k/sorting_vegetables/trajectories/behavior-sorting-vegetables-i00-privileged--zzgfyf7.json new file mode 100644 index 0000000000000000000000000000000000000000..4eaabc904aee99db86fec0af1c2abf72aa5b299a --- /dev/null +++ b/phase2/behavior-1k/sorting_vegetables/trajectories/behavior-sorting-vegetables-i00-privileged--zzgfyf7.json @@ -0,0 +1,520 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sorting-vegetables-i00-privileged--zzgfyf7", + "taskKey": "behavior-1k/sorting_vegetables", + "dag_sha256": "f223bd60cf10453bf9bc51bdfdffbdfba7e9614ddc649875f859654d88e96aee", + "outcome": { + "success": 0, + "reward": 0.6153846153846154, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 1, + "n_actions": 6097, + "sim_steps": 6097, + "fallen": 0, + "final_reward": 0.6153846153846154, + "q_score": 0.6153846153846154, + "replay_wall_s": 2948.2, + "replay_timeout_s": 4248.5, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 3, + "agent_resets": 0, + "agent_sim_steps": 18806, + "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-sorting-vegetables-i00-privileged--zzgfyf7/replay.mp4", + "duration_s": 203.233, + "fps": 30.0, + "frames": 6097, + "sha256": "aaa2d29d67064db70e0e04c2737590a0156e7f8ac91382f8ce69b2eb83eeb0a7" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 13, + "base": 0, + "peak": 8, + "final": 8, + "nodes": { + "bok_choy_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 180.0, + "log_step": null, + "text_zh": "观察：视频 166–181 s 篮中可见小白菜叶片和浅色菜梗，机器人在该篮只抓取玉米；完整交付视频至视频 203.2 s 没有提起或搬运小白菜，也没有碗内至少1棵小白菜的画面。" + }, + { + "t": 203.2, + "log_step": null, + "text_zh": "推断：三洋葱、两韭葱、两西兰花和一玉米已用尽评分器最终8个满足的目标文字量（q_score=8/13），故小白菜入碗的数量条件最终为假；此判断同时有篮中保留和未搬运的视觉依据。" + } + ] + }, + "bok_choy_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 180.0, + "log_step": null, + "text_zh": "观察：视频 166–181 s 篮中可见小白菜叶片和浅色菜梗，机器人在该篮只抓取玉米；完整交付视频至视频 203.2 s 没有提起或搬运小白菜，也没有碗内至少2棵小白菜的画面。" + }, + { + "t": 203.2, + "log_step": null, + "text_zh": "推断：三洋葱、两韭葱、两西兰花和一玉米已用尽评分器最终8个满足的目标文字量（q_score=8/13），故小白菜入碗的数量条件最终为假；此判断同时有篮中保留和未搬运的视觉依据。" + } + ] + }, + "bok_choy_in_bowl_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 180.0, + "log_step": null, + "text_zh": "观察：视频 166–181 s 篮中可见小白菜叶片和浅色菜梗，机器人在该篮只抓取玉米；完整交付视频至视频 203.2 s 没有提起或搬运小白菜，也没有碗内至少3棵小白菜的画面。" + }, + { + "t": 203.2, + "log_step": null, + "text_zh": "推断：三洋葱、两韭葱、两西兰花和一玉米已用尽评分器最终8个满足的目标文字量（q_score=8/13），故小白菜入碗的数量条件最终为假；此判断同时有篮中保留和未搬运的视觉依据。" + } + ] + }, + "onions_in_bowl_1": { + "method": "visual", + "intervals": [ + [ + 43.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 43.5, + "log_step": 86, + "text_zh": "观察：视频 32–43 s 左夹爪持圆球状洋葱移向另一只红碗；视频 43.5–44 s 洋葱进入碗内，随后夹爪退出，洋葱留在碗底。" + }, + { + "t": 203.2, + "log_step": null, + "text_zh": "推断：此后交付视频没有再次取出该类蔬菜或翻动其碗；视频末段仅操作玉米。结合评分器最终 q_score=8/13 以及已观察到的三洋葱、两韭葱、两西兰花、一玉米入碗，判断该数量关系保持至结束。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左侧二指夹爪夹住第一个洋葱，从地面篮提起后搬至红色搅拌碗并松开；右爪没有协同持物。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘在该次取放期间转向或行驶，地面支承底盘；转向将持物左臂从篮侧带向台面碗侧。" + } + ] + }, + "onions_in_bowl_2": { + "method": "visual", + "intervals": [ + [ + 58.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 58.5, + "log_step": 92, + "text_zh": "观察：视频 48–58 s 左夹爪从篮中搬来另一洋葱；视频 58.5–59 s 左腕视角可见同一红碗内两个洋葱，夹爪已经离开。" + }, + { + "t": 203.2, + "log_step": null, + "text_zh": "推断：此后交付视频没有再次取出该类蔬菜或翻动其碗；视频末段仅操作玉米。结合评分器最终 q_score=8/13 以及已观察到的三洋葱、两韭葱、两西兰花、一玉米入碗，判断该数量关系保持至结束。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左侧二指夹爪夹住第二个洋葱，从地面篮提起后搬至红色搅拌碗并松开；右爪没有协同持物。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘在该次取放期间转向或行驶，地面支承底盘；转向将持物左臂从篮侧带向台面碗侧。" + } + ] + }, + "onions_in_bowl_3": { + "method": "visual", + "intervals": [ + [ + 80.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 80.5, + "log_step": 103, + "text_zh": "观察：视频 72–80 s 左夹爪提起并搬运第三个洋葱；视频 80.5–81 s 该洋葱已在先前两洋葱所在红碗内，夹爪退出后可辨认三只圆球。" + }, + { + "t": 203.2, + "log_step": null, + "text_zh": "推断：此后交付视频没有再次取出该类蔬菜或翻动其碗；视频末段仅操作玉米。结合评分器最终 q_score=8/13 以及已观察到的三洋葱、两韭葱、两西兰花、一玉米入碗，判断该数量关系保持至结束。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左侧二指夹爪夹住第三个洋葱，从地面篮提起后搬至红色搅拌碗并松开；右爪没有协同持物。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘在该次取放期间转向或行驶，地面支承底盘；转向将持物左臂从篮侧带向台面碗侧。" + } + ] + }, + "leeks_in_bowl_1": { + "method": "visual", + "intervals": [ + [ + 27.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 27.0, + "log_step": 76, + "text_zh": "观察：视频 16–26.5 s 左腕画面中的长条绿色韭葱随夹爪从篮移动至碗；视频 27–29 s 浅色长茎进入红碗并留在碗内。约视频 27 s 记为第一次入碗，视觉定位误差约0.5秒。" + }, + { + "t": 203.2, + "log_step": null, + "text_zh": "推断：此后交付视频没有再次取出该类蔬菜或翻动其碗；视频末段仅操作玉米。结合评分器最终 q_score=8/13 以及已观察到的三洋葱、两韭葱、两西兰花、一玉米入碗，判断该数量关系保持至结束。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左侧二指夹爪夹住第一根韭葱，从地面篮提起后搬至红色搅拌碗并松开；右爪没有协同持物。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘在该次取放期间转向或行驶，地面支承底盘；转向将持物左臂从篮侧带向台面碗侧。" + } + ] + }, + "leeks_in_bowl_2": { + "method": "visual", + "intervals": [ + [ + 100.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 100.0, + "log_step": 114, + "text_zh": "观察：视频 92–99.5 s 左夹爪搬运第二根长条韭葱至先前的韭葱碗；视频 100–102 s 腕部画面可见新增浅色葱茎与原有葱茎交叉留在同一碗内。" + }, + { + "t": 203.2, + "log_step": null, + "text_zh": "推断：此后交付视频没有再次取出该类蔬菜或翻动其碗；视频末段仅操作玉米。结合评分器最终 q_score=8/13 以及已观察到的三洋葱、两韭葱、两西兰花、一玉米入碗，判断该数量关系保持至结束。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左侧二指夹爪夹住第二根韭葱，从地面篮提起后搬至红色搅拌碗并松开；右爪没有协同持物。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘在该次取放期间转向或行驶，地面支承底盘；转向将持物左臂从篮侧带向台面碗侧。" + } + ] + }, + "broccoli_in_bowl_1": { + "method": "visual", + "intervals": [ + [ + 120.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 120.5, + "log_step": 120, + "text_zh": "观察：视频 114–119.5 s 左爪持分枝状绿色花球从篮移至韭葱碗；视频 120–121 s 花球进入该碗，视频 120.5 s 可见夹爪松开后花球留在两根韭葱旁。" + }, + { + "t": 203.2, + "log_step": null, + "text_zh": "推断：此后交付视频没有再次取出该类蔬菜或翻动其碗；视频末段仅操作玉米。结合评分器最终 q_score=8/13 以及已观察到的三洋葱、两韭葱、两西兰花、一玉米入碗，判断该数量关系保持至结束。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左侧二指夹爪夹住第一棵西兰花，从地面篮提起后搬至红色搅拌碗并松开；右爪没有协同持物。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘在该次取放期间转向或行驶，地面支承底盘；转向将持物左臂从篮侧带向台面碗侧。" + } + ] + }, + "broccoli_in_bowl_2": { + "method": "visual", + "intervals": [ + [ + 155.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 155.5, + "log_step": 211, + "text_zh": "观察：视频 144–155 s 第二棵西兰花随左夹爪离开原篮并移到已有韭葱和西兰花的碗；视频 155.5–157 s 夹爪退出，新增花球留在碗内。" + }, + { + "t": 203.2, + "log_step": null, + "text_zh": "推断：此后交付视频没有再次取出该类蔬菜或翻动其碗；视频末段仅操作玉米。结合评分器最终 q_score=8/13 以及已观察到的三洋葱、两韭葱、两西兰花、一玉米入碗，判断该数量关系保持至结束。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左侧二指夹爪夹住第二棵西兰花，从地面篮提起后搬至红色搅拌碗并松开；右爪没有协同持物。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘在该次取放期间转向或行驶，地面支承底盘；转向将持物左臂从篮侧带向台面碗侧。" + } + ] + }, + "corn_in_bowl_1": { + "method": "visual", + "intervals": [ + [ + 201.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 201.5, + "log_step": 237, + "text_zh": "观察：视频 166–178 s 左爪对篮中玉米的两次接近未将其带走；视频 180–188 s 改抓另一根玉米后，该玉米离开篮并随夹爪搬运。视频 201.5–203.2 s 玉米已进入第三只红碗，夹爪退出，玉米持续留在碗内。" + }, + { + "t": 203.2, + "log_step": null, + "text_zh": "推断：此后交付视频没有再次取出该类蔬菜或翻动其碗；视频末段仅操作玉米。结合评分器最终 q_score=8/13 以及已观察到的三洋葱、两韭葱、两西兰花、一玉米入碗，判断该数量关系保持至结束。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左侧二指夹爪夹住一根玉米，从地面篮提起后搬至红色搅拌碗并松开；右爪没有协同持物。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘从地面篮旁绕过吧台端部，携带左爪中的玉米行驶到台面第三只碗前；车轮与地面支撑机器人。" + } + ] + }, + "corn_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 185.0, + "log_step": null, + "text_zh": "观察：视频 166–178 s 对另一玉米的尝试后夹爪空着退出，视频 180–188 s 只有一根玉米被搬走，其余玉米仍在原篮；视频 201.5–203.2 s 目标碗内只有这根玉米，未达到同碗至少2根。" + }, + { + "t": 203.2, + "log_step": null, + "text_zh": "推断：已观察到的八件入碗物体与评分器 q_score=8/13 一致，额外玉米入碗将超过该总数，故最终为假。" + } + ] + }, + "corn_in_bowl_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 185.0, + "log_step": null, + "text_zh": "观察：视频 166–178 s 对另一玉米的尝试后夹爪空着退出，视频 180–188 s 只有一根玉米被搬走，其余玉米仍在原篮；视频 201.5–203.2 s 目标碗内只有这根玉米，未达到同碗至少3根。" + }, + { + "t": 203.2, + "log_step": null, + "text_zh": "推断：已观察到的八件入碗物体与评分器 q_score=8/13 一致，额外玉米入碗将超过该总数，故最终为假。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "bok_choy_in_bowl_1", + "t": null, + "log_step": 270, + "where": "首步前", + "evidence_zh": "观察：交付视频在第一根玉米入碗后结束，视频 202.25–203.2 s 仍为玉米碗及退出的夹爪，没有开始小白菜操作。log step 235–239 记录玉米完成后的下一项是小白菜，log step 270 明确只保存前6097行动行，log step 271 核实文件形状为(6097,25)；小白菜抓取续段从更后的会话控制步开始。推断：按同类数量节点，早先洋葱、西兰花和第一根玉米的失败均在交付内补成；下一项未完成步骤为第1棵小白菜入碗，且交付在其首步前截断，没有可定位的物理出错时刻。" + }, + "unmet": { + "bok_choy_in_bowl_1": false, + "bok_choy_in_bowl_2": false, + "bok_choy_in_bowl_3": false, + "onions_in_bowl_1": true, + "onions_in_bowl_2": true, + "onions_in_bowl_3": true, + "leeks_in_bowl_1": true, + "leeks_in_bowl_2": true, + "broccoli_in_bowl_1": true, + "broccoli_in_bowl_2": true, + "corn_in_bowl_1": true, + "corn_in_bowl_2": false, + "corn_in_bowl_3": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": null, + "log_step": 270, + "evidence_zh": "观察：完整视频 0–203.2 s 依次搬运韭葱、洋葱、西兰花和玉米，没有夹取小白菜；视频 180–181 s 小白菜仍在篮内，视频最后一秒只显示已放入碗的玉米。log step 270 选择玉米完成处的6097行前缀，删除了后续小白菜动作；因此本现象只描述交付轨迹中尚未启动的小白菜步骤。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": null, + "log_step": 253, + "source_zh": "日志", + "evidence_zh": "观察：以下是交付截断点之后的会话证据，不是交付视频事件：log step 240、245、248 的小白菜抓取反馈均为None；log step 251 后虽抓住一棵，log step 253 的脚本记录放置位置残差约0.235米、0.305米且PLACED=False；log step 263、266 的重试仍没有持物。log step 269–270 记录后续还弄翻已装菜的碗，agent 遂保存此前八件入碗的前缀。推断：会话未能生成可用的小白菜抓放续段，与抓取及放置控制反复失败有关，故仅归为控制；没有足够证据进一步区分接触设计、逆解或反馈子类。" + } + ], + "gap_zh": "无状态日志或成功参考视频，入碗时刻由腕部画面估计（约0.5秒精度），无法逐帧核验包围盒和内部容积判定；离开镜头后的已放蔬菜由后续未再操作及最终8/13总分共同判断保持。交付停在成功的八件检查点，未包含小白菜物理尝试；断点以明确的下一项小白菜及截断记录定位，t留空，根因仅采用后续会话控制失败作为解释，不能把会话中的抓取失败、翻碗或先前被删去的跌倒当作交付现象。" + }, + "summary_zh": "交付视频完成三个洋葱、两根韭葱、两棵西兰花和一根玉米入碗，最终8/13，与评分器q_score一致；三棵小白菜及另两根玉米尚未入碗。交付在玉米完成检查点截断，下一项第1棵小白菜入碗尚未开始；后续会话的小白菜抓放控制屡次失败后，agent选择保留此前前缀，因此不将会话翻碗或跌倒算作交付失败现象。没有状态日志，部分入碗边界及末态保持需由腕部图像、操作连续性和总分联合推断。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点时间和 final 与视频抽帧一致（韭葱约27 s、洋葱43.5/58.5/80.5 s、西兰花120.5/155.5 s、玉米201.5 s，8/13 与 q_score 吻合）；断点为首个未完成的小白菜、没尝试、根因控制（来自截断后的会话证据，已明确标注不是交付现象），符合 FAIL-22/FAIL-23 的处理，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": "2026-10-30T21:28:29Z", + "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-sorting-vegetables-i00-privileged--zzgfyf7/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sorting-vegetables-i00-privileged--zzgfyf7/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "db41e8dd0343d8c61284be7ba8f94a7a48dda7a589ed7b3c6c628d0f534413c6", + "video_sha256": "aaa2d29d67064db70e0e04c2737590a0156e7f8ac91382f8ce69b2eb83eeb0a7", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/sorting_vegetables/trajectories/behavior-sorting-vegetables-i00-standard--4wkwuhb.json b/phase2/behavior-1k/sorting_vegetables/trajectories/behavior-sorting-vegetables-i00-standard--4wkwuhb.json new file mode 100644 index 0000000000000000000000000000000000000000..8a2961d116e36afb1344031302c924bda974a55d --- /dev/null +++ b/phase2/behavior-1k/sorting_vegetables/trajectories/behavior-sorting-vegetables-i00-standard--4wkwuhb.json @@ -0,0 +1,411 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sorting-vegetables-i00-standard--4wkwuhb", + "taskKey": "behavior-1k/sorting_vegetables", + "dag_sha256": "f223bd60cf10453bf9bc51bdfdffbdfba7e9614ddc649875f859654d88e96aee", + "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": 23976, + "sim_steps": 23976, + "physics_steps": 95904, + "steps": 21769, + "elapsed_s": 13564.1, + "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-sorting-vegetables-i00-standard--4wkwuhb/replay.mp4", + "duration_s": 799.2, + "fps": 30.0, + "frames": 23976, + "sha256": "41bf9ad7ae457384f126bd25b81d6299ab6baff9a66b859387fa96b044ad238c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 13, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "bok_choy_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 310.0, + "log_step": null, + "text_zh": "观察：视频30 s地面篮状容器处可见叶菜，视频310 s及617 s可见台面红色搅拌碗；从视频起点到799.17 s未见机器人把小白菜从原处夹起并送入碗。推断：没有出现同一碗内至少1棵小白菜的可见变化，入碗节点未达成。" + }, + { + "t": 799.17, + "log_step": null, + "text_zh": "推断：初态任务记录将13件蔬菜置于地面篮内，视频全程未见蔬菜形成入碗关系；评分器最终q_score=0，且live_matches_replay=1，故任何一个新增入碗目标成立都会超过该总数，本节点终值为false。视频798.2–799.17 s机器人仍侧倾在家具旁，未再执行有效入碗。" + } + ] + }, + "bok_choy_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 310.0, + "log_step": null, + "text_zh": "观察：视频30 s地面篮状容器处可见叶菜，视频310 s及617 s可见台面红色搅拌碗；从视频起点到799.17 s未见机器人把小白菜从原处夹起并送入碗。推断：没有出现同一碗内至少2棵小白菜的可见变化，入碗节点未达成。" + }, + { + "t": 799.17, + "log_step": null, + "text_zh": "推断：初态任务记录将13件蔬菜置于地面篮内，视频全程未见蔬菜形成入碗关系；评分器最终q_score=0，且live_matches_replay=1，故任何一个新增入碗目标成立都会超过该总数，本节点终值为false。视频798.2–799.17 s机器人仍侧倾在家具旁，未再执行有效入碗。" + } + ] + }, + "bok_choy_in_bowl_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 310.0, + "log_step": null, + "text_zh": "观察：视频30 s地面篮状容器处可见叶菜，视频310 s及617 s可见台面红色搅拌碗；从视频起点到799.17 s未见机器人把小白菜从原处夹起并送入碗。推断：没有出现同一碗内至少3棵小白菜的可见变化，入碗节点未达成。" + }, + { + "t": 799.17, + "log_step": null, + "text_zh": "推断：初态任务记录将13件蔬菜置于地面篮内，视频全程未见蔬菜形成入碗关系；评分器最终q_score=0，且live_matches_replay=1，故任何一个新增入碗目标成立都会超过该总数，本节点终值为false。视频798.2–799.17 s机器人仍侧倾在家具旁，未再执行有效入碗。" + } + ] + }, + "onions_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 444.5, + "log_step": 437, + "text_zh": "观察：视频434–444 s右腕相机及头部相机可见机器人右夹爪夹持一个粉红洋葱，视频444.5 s夹爪张开，视频445–446.5 s洋葱落在地面，未落入台面搅拌碗；视频502–509 s又夹起洋葱，视频509.5–512 s释放后洋葱停在木色表面、碗外。推断：这些抓取不构成入碗，同一碗内至少1个洋葱的关系未达成。" + }, + { + "t": 799.17, + "log_step": null, + "text_zh": "推断：初态任务记录将13件蔬菜置于地面篮内，视频全程未见蔬菜形成入碗关系；评分器最终q_score=0，且live_matches_replay=1，故任何一个新增入碗目标成立都会超过该总数，本节点终值为false。视频798.2–799.17 s机器人仍侧倾在家具旁，未再执行有效入碗。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频434–444 s及502–509 s机器人右二指夹爪从两侧夹住粉红洋葱并带动它离开地面；随后在碗外松开。左臂没有同时抓取洋葱。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频340–360 s轮式底盘沿厨房过道移动到篮和地面洋葱旁，随后右臂开始该入碗步骤的抓取尝试。" + } + ] + }, + "onions_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 444.5, + "log_step": 437, + "text_zh": "观察：视频434–444 s右腕相机及头部相机可见机器人右夹爪夹持一个粉红洋葱，视频444.5 s夹爪张开，视频445–446.5 s洋葱落在地面，未落入台面搅拌碗；视频502–509 s又夹起洋葱，视频509.5–512 s释放后洋葱停在木色表面、碗外。推断：这些抓取不构成入碗，同一碗内至少2个洋葱的关系未达成。" + }, + { + "t": 799.17, + "log_step": null, + "text_zh": "推断：初态任务记录将13件蔬菜置于地面篮内，视频全程未见蔬菜形成入碗关系；评分器最终q_score=0，且live_matches_replay=1，故任何一个新增入碗目标成立都会超过该总数，本节点终值为false。视频798.2–799.17 s机器人仍侧倾在家具旁，未再执行有效入碗。" + } + ] + }, + "onions_in_bowl_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 444.5, + "log_step": 437, + "text_zh": "观察：视频434–444 s右腕相机及头部相机可见机器人右夹爪夹持一个粉红洋葱，视频444.5 s夹爪张开，视频445–446.5 s洋葱落在地面，未落入台面搅拌碗；视频502–509 s又夹起洋葱，视频509.5–512 s释放后洋葱停在木色表面、碗外。推断：这些抓取不构成入碗，同一碗内至少3个洋葱的关系未达成。" + }, + { + "t": 799.17, + "log_step": null, + "text_zh": "推断：初态任务记录将13件蔬菜置于地面篮内，视频全程未见蔬菜形成入碗关系；评分器最终q_score=0，且live_matches_replay=1，故任何一个新增入碗目标成立都会超过该总数，本节点终值为false。视频798.2–799.17 s机器人仍侧倾在家具旁，未再执行有效入碗。" + } + ] + }, + "leeks_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 470.0, + "log_step": 452, + "text_zh": "观察：视频424–440 s右腕画面中可见地面上的长条浅色葱茎；视频455–480 s机器人右臂反复下降、抬起，该葱茎仍在地面，未见其随夹爪被运入碗。log step 452脚本打印PICKED pale，而agent随后在log step 461自述前批抓取未夹住物体；此处以画面中的位置变化为准。推断：未形成同一碗至少1根韭葱的关系。" + }, + { + "t": 799.17, + "log_step": null, + "text_zh": "推断：初态任务记录将13件蔬菜置于地面篮内，视频全程未见蔬菜形成入碗关系；评分器最终q_score=0，且live_matches_replay=1，故任何一个新增入碗目标成立都会超过该总数，本节点终值为false。视频798.2–799.17 s机器人仍侧倾在家具旁，未再执行有效入碗。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频455–480 s机器人右夹爪在地面韭葱附近活动，但机体遮挡闭合处，葱茎没有随夹爪离开地面；无法确认是否发生夹爪与韭葱的接触，不能把log step 452的PICKED pale当成实际抓握。" + } + ] + }, + "leeks_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 470.0, + "log_step": 452, + "text_zh": "观察：视频424–440 s右腕画面中可见地面上的长条浅色葱茎；视频455–480 s机器人右臂反复下降、抬起，该葱茎仍在地面，未见其随夹爪被运入碗。log step 452脚本打印PICKED pale，而agent随后在log step 461自述前批抓取未夹住物体；此处以画面中的位置变化为准。推断：未形成同一碗至少2根韭葱的关系。" + }, + { + "t": 799.17, + "log_step": null, + "text_zh": "推断：初态任务记录将13件蔬菜置于地面篮内，视频全程未见蔬菜形成入碗关系；评分器最终q_score=0，且live_matches_replay=1，故任何一个新增入碗目标成立都会超过该总数，本节点终值为false。视频798.2–799.17 s机器人仍侧倾在家具旁，未再执行有效入碗。" + } + ] + }, + "broccoli_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 641.0, + "log_step": 542, + "text_zh": "观察：视频150 s及后续扫视可见地面绿色花球状蔬菜；视频625–665 s机器人在地面混合蔬菜篮附近伸臂、倾倒，腕部视野多被机体和篮壁遮挡，未见西兰花离开地面或篮并到达搅拌碗。推断：没有同一碗内至少1棵西兰花的达成证据，且最终零分限定本节点为false。" + }, + { + "t": 799.17, + "log_step": null, + "text_zh": "推断：初态任务记录将13件蔬菜置于地面篮内，视频全程未见蔬菜形成入碗关系；评分器最终q_score=0，且live_matches_replay=1，故任何一个新增入碗目标成立都会超过该总数，本节点终值为false。视频798.2–799.17 s机器人仍侧倾在家具旁，未再执行有效入碗。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 542脚本对混合蔬菜篮实施不限定种类的盲捞；视频625–665 s右夹爪的接触区被机体和篮壁遮住。推断：此轮也在尝试取篮内西兰花，但无法判定是否触及或夹住西兰花，不能把颜色分类结果当成抓握。" + } + ] + }, + "broccoli_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 641.0, + "log_step": 542, + "text_zh": "观察：视频150 s及后续扫视可见地面绿色花球状蔬菜；视频625–665 s机器人在地面混合蔬菜篮附近伸臂、倾倒，腕部视野多被机体和篮壁遮挡，未见西兰花离开地面或篮并到达搅拌碗。推断：没有同一碗内至少2棵西兰花的达成证据，且最终零分限定本节点为false。" + }, + { + "t": 799.17, + "log_step": null, + "text_zh": "推断：初态任务记录将13件蔬菜置于地面篮内，视频全程未见蔬菜形成入碗关系；评分器最终q_score=0，且live_matches_replay=1，故任何一个新增入碗目标成立都会超过该总数，本节点终值为false。视频798.2–799.17 s机器人仍侧倾在家具旁，未再执行有效入碗。" + } + ] + }, + "corn_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 540.0, + "log_step": 479, + "text_zh": "观察：log step 479的agent脚本将黄色像素簇作为玉米候选，右臂移动到候选上方后返回，脚本打印yellow found None；log step 487的后续黄色候选动作在hov fail处返回。视频520–580 s腕部画面主要是机体、篮壁与地面，未见玉米被夹持搬到碗中。推断：未出现同一碗内至少1根玉米的关系。" + }, + { + "t": 799.17, + "log_step": null, + "text_zh": "推断：初态任务记录将13件蔬菜置于地面篮内，视频全程未见蔬菜形成入碗关系；评分器最终q_score=0，且live_matches_replay=1，故任何一个新增入碗目标成立都会超过该总数，本节点终值为false。视频798.2–799.17 s机器人仍侧倾在家具旁，未再执行有效入碗。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 479机器人右臂向脚本认作玉米的黄色候选移动，随后因重扫未找到候选而返回；视频520–580 s腕部近景严重遮挡，无法确认候选身份及夹爪是否碰到玉米。" + } + ] + }, + "corn_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 540.0, + "log_step": 479, + "text_zh": "观察：log step 479的agent脚本将黄色像素簇作为玉米候选，右臂移动到候选上方后返回，脚本打印yellow found None；log step 487的后续黄色候选动作在hov fail处返回。视频520–580 s腕部画面主要是机体、篮壁与地面，未见玉米被夹持搬到碗中。推断：未出现同一碗内至少2根玉米的关系。" + }, + { + "t": 799.17, + "log_step": null, + "text_zh": "推断：初态任务记录将13件蔬菜置于地面篮内，视频全程未见蔬菜形成入碗关系；评分器最终q_score=0，且live_matches_replay=1，故任何一个新增入碗目标成立都会超过该总数，本节点终值为false。视频798.2–799.17 s机器人仍侧倾在家具旁，未再执行有效入碗。" + } + ] + }, + "corn_in_bowl_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 540.0, + "log_step": 479, + "text_zh": "观察：log step 479的agent脚本将黄色像素簇作为玉米候选，右臂移动到候选上方后返回，脚本打印yellow found None；log step 487的后续黄色候选动作在hov fail处返回。视频520–580 s腕部画面主要是机体、篮壁与地面，未见玉米被夹持搬到碗中。推断：未出现同一碗内至少3根玉米的关系。" + }, + { + "t": 799.17, + "log_step": null, + "text_zh": "推断：初态任务记录将13件蔬菜置于地面篮内，视频全程未见蔬菜形成入碗关系；评分器最终q_score=0，且live_matches_replay=1，故任何一个新增入碗目标成立都会超过该总数，本节点终值为false。视频798.2–799.17 s机器人仍侧倾在家具旁，未再执行有效入碗。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "onions_in_bowl_1", + "t": 444.5, + "log_step": 437, + "where": "操作中", + "evidence_zh": "观察：机器人先围绕篮和搅拌碗探索，再反复尝试地面洋葱的抓取搬运；视频434–444 s右夹爪已持有洋葱，视频444.5 s却在碗外张开，洋葱于视频445–446.5 s落回地面。视频502–512 s再次夹起后仍在碗外释放。推断：首个实际反复操作而始终未完成的节点是第1个洋葱入碗，后续盲捞及恢复姿态没有修复该节点；末帧视频799.17 s仍未完成任何入碗目标。" + }, + "unmet": { + "bok_choy_in_bowl_1": false, + "bok_choy_in_bowl_2": false, + "bok_choy_in_bowl_3": false, + "onions_in_bowl_1": false, + "onions_in_bowl_2": false, + "onions_in_bowl_3": false, + "leeks_in_bowl_1": false, + "leeks_in_bowl_2": false, + "broccoli_in_bowl_1": false, + "broccoli_in_bowl_2": false, + "corn_in_bowl_1": false, + "corn_in_bowl_2": false, + "corn_in_bowl_3": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 444.5, + "log_step": 437, + "evidence_zh": "观察：视频442–444 s机器人右夹爪夹持洋葱停在搅拌碗之外，视频444.5 s主动张开；视频445–446.5 s洋葱在地面，未经过碗内。视频509.5 s的另一轮释放后，洋葱也停在木色表面而未进碗。推断：释放时物体尚未到达容器内部，属于放置位姿偏差。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "感知", + "source_zh": "日志", + "evidence_zh": "观察：log step 418 agent从局部相机点云把碗定位为(7.31,-1.69)，log step 436据此命令右夹爪送往(7.31,-1.69,1.15)并松开；log step 446的新视角分析将碗中心估计为(7.32,-1.89)，log step 447 agent承认原释放目标偏短约0.2米。视频444.5–446.5 s实际显示洋葱释放在碗外。推断：把局部可见红色区域的估计当成碗中心，使早期释放目标沿水平方向偏离容器。数值来自agent的相机分析，而非独立物体状态。" + }, + { + "cat": "控制", + "item": "反馈控制", + "source_zh": "日志", + "evidence_zh": "观察：log step 404展示的move_arm只求IK并发送固定时长关节目标，返回时不核对实际TCP是否到位；log step 436及461的放置函数在move_arm后直接等待并张开右夹爪。视频444.5 s及509.5 s均在碗外释放。log step 495另一次探测中，机器人服务的本体读数显示命令TCP高度0.10米而实际仍为0.753米，说明发送目标不等于实际到位。推断：放置流程没有将实际末端到位作为松爪条件，未阻止未到目标便释放；具体关节跟踪误差的机械成因无法进一步确定。" + } + ], + "gap_zh": "无状态日志、无成功参考视频；已检查全片每10秒的画面、洋葱搬运和释放附近的密集帧、末段盲捞及视频最后1秒。腕部相机频繁被机体、篮壁遮住，盲捞实际碰到哪种蔬菜及是否形成对向夹持不能确认，相应contact_actual保留未知。各终值由未见入碗的画面结合最终q_score=0限定；没有用agent打印PICKED、HOLDING或FISH GOT给节点计进度。无精确接触或关节受力记录，不能进一步断定偏差源于碰撞、限位还是跟踪不足。" + }, + "summary_zh": "机器人进行了厨房探索、反复抓取洋葱和混合蔬菜篮盲捞，但未观察到蔬菜入碗，最终13个节点均未达成，评分器q_score=0。最早未修复的步骤是第1个洋葱入碗：视频约444.5 s夹爪在碗外释放；日志支持碗位置估计偏差与缺少到位反馈共同导致放置失败，后续又多次倾倒、恢复。本作业无状态日志，篮内接触被遮挡，盲捞自检声称夹到的种类无法确认；视频799.17 s机器人仍侧倾在家具旁。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽查洋葱抓取、松开与掉落帧，与标注一致；13个节点终值由q_score=0限定，断点在第1个洋葱入碗，现象与根因有日志和画面支撑，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": "2026-10-30T21:24:39Z", + "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-sorting-vegetables-i00-standard--4wkwuhb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sorting-vegetables-i00-standard--4wkwuhb/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e279f28f048088c1de2e5189603208c0792010d829fb5b9fed73ccc9b1e9ce48", + "video_sha256": "41bf9ad7ae457384f126bd25b81d6299ab6baff9a66b859387fa96b044ad238c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/sorting_vegetables/trajectories/behavior-sorting-vegetables-i00-standard--8buidgy.json b/phase2/behavior-1k/sorting_vegetables/trajectories/behavior-sorting-vegetables-i00-standard--8buidgy.json new file mode 100644 index 0000000000000000000000000000000000000000..8299cff8dd903b80dae85927ed0adee323c77378 --- /dev/null +++ b/phase2/behavior-1k/sorting_vegetables/trajectories/behavior-sorting-vegetables-i00-standard--8buidgy.json @@ -0,0 +1,409 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sorting-vegetables-i00-standard--8buidgy", + "taskKey": "behavior-1k/sorting_vegetables", + "dag_sha256": "f223bd60cf10453bf9bc51bdfdffbdfba7e9614ddc649875f859654d88e96aee", + "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": 1066, + "sim_steps": 1066, + "physics_steps": 4264, + "steps": 659, + "elapsed_s": 1045.3, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 1, + "q_score": 0.0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-sorting-vegetables-i00-standard--8buidgy/replay.mp4", + "duration_s": 35.533, + "fps": 30.0, + "frames": 1066, + "sha256": "a7f2713c6dd62cee5e6fa254772a6f15b56179f7ffd9565da2dc78aba73a2519" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 13, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "bok_choy_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.5, + "log_step": null, + "text_zh": "观察：视频 4.5–6.7 s 的头部画面显示地面蔬菜篮、台面红色搅拌碗，腕部画面未显示夹爪持菜；随后视频 7.1–7.8 s 画面侧翻。整段视频未见机器人将小白菜从篮中提起并送入碗，视频 34.5–35.5 s 的末段仍是被岛台遮挡的倾斜视角。" + }, + { + "t": 35.4, + "log_step": null, + "text_zh": "推断：inputs/run.json 的 task_text 指明小白菜初始在地面篮中；视频没有显示蔬菜搬运，日志的执行动作是转向、接近和姿态恢复（log step 41–114），没有该类抓取或放入。评分器 q_score=0.0，且 live_matches_replay=1、deterministic=1，结合初始未入碗可判定终态连第1件小白菜入碗亦未成立，故“第1棵小白菜入碗”终态为假；无已达成区间。" + } + ] + }, + "bok_choy_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.5, + "log_step": null, + "text_zh": "观察：视频 4.5–6.7 s 的头部画面显示地面蔬菜篮、台面红色搅拌碗，腕部画面未显示夹爪持菜；随后视频 7.1–7.8 s 画面侧翻。整段视频未见机器人将小白菜从篮中提起并送入碗，视频 34.5–35.5 s 的末段仍是被岛台遮挡的倾斜视角。" + }, + { + "t": 35.4, + "log_step": null, + "text_zh": "推断：inputs/run.json 的 task_text 指明小白菜初始在地面篮中；视频没有显示蔬菜搬运，日志的执行动作是转向、接近和姿态恢复（log step 41–114），没有该类抓取或放入。评分器 q_score=0.0，且 live_matches_replay=1、deterministic=1，结合初始未入碗可判定终态连第1件小白菜入碗亦未成立，故“第2棵小白菜入碗”终态为假；无已达成区间。" + } + ] + }, + "bok_choy_in_bowl_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.5, + "log_step": null, + "text_zh": "观察：视频 4.5–6.7 s 的头部画面显示地面蔬菜篮、台面红色搅拌碗，腕部画面未显示夹爪持菜；随后视频 7.1–7.8 s 画面侧翻。整段视频未见机器人将小白菜从篮中提起并送入碗，视频 34.5–35.5 s 的末段仍是被岛台遮挡的倾斜视角。" + }, + { + "t": 35.4, + "log_step": null, + "text_zh": "推断：inputs/run.json 的 task_text 指明小白菜初始在地面篮中；视频没有显示蔬菜搬运，日志的执行动作是转向、接近和姿态恢复（log step 41–114），没有该类抓取或放入。评分器 q_score=0.0，且 live_matches_replay=1、deterministic=1，结合初始未入碗可判定终态连第1件小白菜入碗亦未成立，故“第3棵小白菜入碗”终态为假；无已达成区间。" + } + ] + }, + "onions_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.5, + "log_step": null, + "text_zh": "观察：视频 4.5–6.7 s 的头部画面显示地面蔬菜篮、台面红色搅拌碗，腕部画面未显示夹爪持菜；随后视频 7.1–7.8 s 画面侧翻。整段视频未见机器人将洋葱从篮中提起并送入碗，视频 34.5–35.5 s 的末段仍是被岛台遮挡的倾斜视角。" + }, + { + "t": 35.4, + "log_step": null, + "text_zh": "推断：inputs/run.json 的 task_text 指明洋葱初始在地面篮中；视频没有显示蔬菜搬运，日志的执行动作是转向、接近和姿态恢复（log step 41–114），没有该类抓取或放入。评分器 q_score=0.0，且 live_matches_replay=1、deterministic=1，结合初始未入碗可判定终态连第1件洋葱入碗亦未成立，故“第1个洋葱入碗”终态为假；无已达成区间。" + } + ] + }, + "onions_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.5, + "log_step": null, + "text_zh": "观察：视频 4.5–6.7 s 的头部画面显示地面蔬菜篮、台面红色搅拌碗，腕部画面未显示夹爪持菜；随后视频 7.1–7.8 s 画面侧翻。整段视频未见机器人将洋葱从篮中提起并送入碗，视频 34.5–35.5 s 的末段仍是被岛台遮挡的倾斜视角。" + }, + { + "t": 35.4, + "log_step": null, + "text_zh": "推断：inputs/run.json 的 task_text 指明洋葱初始在地面篮中；视频没有显示蔬菜搬运，日志的执行动作是转向、接近和姿态恢复（log step 41–114），没有该类抓取或放入。评分器 q_score=0.0，且 live_matches_replay=1、deterministic=1，结合初始未入碗可判定终态连第1件洋葱入碗亦未成立，故“第2个洋葱入碗”终态为假；无已达成区间。" + } + ] + }, + "onions_in_bowl_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.5, + "log_step": null, + "text_zh": "观察：视频 4.5–6.7 s 的头部画面显示地面蔬菜篮、台面红色搅拌碗，腕部画面未显示夹爪持菜；随后视频 7.1–7.8 s 画面侧翻。整段视频未见机器人将洋葱从篮中提起并送入碗，视频 34.5–35.5 s 的末段仍是被岛台遮挡的倾斜视角。" + }, + { + "t": 35.4, + "log_step": null, + "text_zh": "推断：inputs/run.json 的 task_text 指明洋葱初始在地面篮中；视频没有显示蔬菜搬运，日志的执行动作是转向、接近和姿态恢复（log step 41–114），没有该类抓取或放入。评分器 q_score=0.0，且 live_matches_replay=1、deterministic=1，结合初始未入碗可判定终态连第1件洋葱入碗亦未成立，故“第3个洋葱入碗”终态为假；无已达成区间。" + } + ] + }, + "leeks_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.5, + "log_step": null, + "text_zh": "观察：视频 4.5–6.7 s 的头部画面显示地面蔬菜篮、台面红色搅拌碗，腕部画面未显示夹爪持菜；随后视频 7.1–7.8 s 画面侧翻。整段视频未见机器人将韭葱从篮中提起并送入碗，视频 34.5–35.5 s 的末段仍是被岛台遮挡的倾斜视角。" + }, + { + "t": 35.4, + "log_step": null, + "text_zh": "推断：inputs/run.json 的 task_text 指明韭葱初始在地面篮中；视频没有显示蔬菜搬运，日志的执行动作是转向、接近和姿态恢复（log step 41–114），没有该类抓取或放入。评分器 q_score=0.0，且 live_matches_replay=1、deterministic=1，结合初始未入碗可判定终态连第1件韭葱入碗亦未成立，故“第1根韭葱入碗”终态为假；无已达成区间。" + } + ] + }, + "leeks_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.5, + "log_step": null, + "text_zh": "观察：视频 4.5–6.7 s 的头部画面显示地面蔬菜篮、台面红色搅拌碗，腕部画面未显示夹爪持菜；随后视频 7.1–7.8 s 画面侧翻。整段视频未见机器人将韭葱从篮中提起并送入碗，视频 34.5–35.5 s 的末段仍是被岛台遮挡的倾斜视角。" + }, + { + "t": 35.4, + "log_step": null, + "text_zh": "推断：inputs/run.json 的 task_text 指明韭葱初始在地面篮中；视频没有显示蔬菜搬运，日志的执行动作是转向、接近和姿态恢复（log step 41–114），没有该类抓取或放入。评分器 q_score=0.0，且 live_matches_replay=1、deterministic=1，结合初始未入碗可判定终态连第1件韭葱入碗亦未成立，故“第2根韭葱入碗”终态为假；无已达成区间。" + } + ] + }, + "broccoli_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.5, + "log_step": null, + "text_zh": "观察：视频 4.5–6.7 s 的头部画面显示地面蔬菜篮、台面红色搅拌碗，腕部画面未显示夹爪持菜；随后视频 7.1–7.8 s 画面侧翻。整段视频未见机器人将西兰花从篮中提起并送入碗，视频 34.5–35.5 s 的末段仍是被岛台遮挡的倾斜视角。" + }, + { + "t": 35.4, + "log_step": null, + "text_zh": "推断：inputs/run.json 的 task_text 指明西兰花初始在地面篮中；视频没有显示蔬菜搬运，日志的执行动作是转向、接近和姿态恢复（log step 41–114），没有该类抓取或放入。评分器 q_score=0.0，且 live_matches_replay=1、deterministic=1，结合初始未入碗可判定终态连第1件西兰花入碗亦未成立，故“第1棵西兰花入碗”终态为假；无已达成区间。" + } + ] + }, + "broccoli_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.5, + "log_step": null, + "text_zh": "观察：视频 4.5–6.7 s 的头部画面显示地面蔬菜篮、台面红色搅拌碗，腕部画面未显示夹爪持菜；随后视频 7.1–7.8 s 画面侧翻。整段视频未见机器人将西兰花从篮中提起并送入碗，视频 34.5–35.5 s 的末段仍是被岛台遮挡的倾斜视角。" + }, + { + "t": 35.4, + "log_step": null, + "text_zh": "推断：inputs/run.json 的 task_text 指明西兰花初始在地面篮中；视频没有显示蔬菜搬运，日志的执行动作是转向、接近和姿态恢复（log step 41–114），没有该类抓取或放入。评分器 q_score=0.0，且 live_matches_replay=1、deterministic=1，结合初始未入碗可判定终态连第1件西兰花入碗亦未成立，故“第2棵西兰花入碗”终态为假；无已达成区间。" + } + ] + }, + "corn_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.5, + "log_step": null, + "text_zh": "观察：视频 4.5–6.7 s 的头部画面显示地面蔬菜篮、台面红色搅拌碗，腕部画面未显示夹爪持菜；随后视频 7.1–7.8 s 画面侧翻。整段视频未见机器人将玉米从篮中提起并送入碗，视频 34.5–35.5 s 的末段仍是被岛台遮挡的倾斜视角。" + }, + { + "t": 35.4, + "log_step": null, + "text_zh": "推断：inputs/run.json 的 task_text 指明玉米初始在地面篮中；视频没有显示蔬菜搬运，日志的执行动作是转向、接近和姿态恢复（log step 41–114），没有该类抓取或放入。评分器 q_score=0.0，且 live_matches_replay=1、deterministic=1，结合初始未入碗可判定终态连第1件玉米入碗亦未成立，故“第1根玉米入碗”终态为假；无已达成区间。" + } + ] + }, + "corn_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.5, + "log_step": null, + "text_zh": "观察：视频 4.5–6.7 s 的头部画面显示地面蔬菜篮、台面红色搅拌碗，腕部画面未显示夹爪持菜；随后视频 7.1–7.8 s 画面侧翻。整段视频未见机器人将玉米从篮中提起并送入碗，视频 34.5–35.5 s 的末段仍是被岛台遮挡的倾斜视角。" + }, + { + "t": 35.4, + "log_step": null, + "text_zh": "推断：inputs/run.json 的 task_text 指明玉米初始在地面篮中；视频没有显示蔬菜搬运，日志的执行动作是转向、接近和姿态恢复（log step 41–114），没有该类抓取或放入。评分器 q_score=0.0，且 live_matches_replay=1、deterministic=1，结合初始未入碗可判定终态连第1件玉米入碗亦未成立，故“第2根玉米入碗”终态为假；无已达成区间。" + } + ] + }, + "corn_in_bowl_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.5, + "log_step": null, + "text_zh": "观察：视频 4.5–6.7 s 的头部画面显示地面蔬菜篮、台面红色搅拌碗，腕部画面未显示夹爪持菜；随后视频 7.1–7.8 s 画面侧翻。整段视频未见机器人将玉米从篮中提起并送入碗，视频 34.5–35.5 s 的末段仍是被岛台遮挡的倾斜视角。" + }, + { + "t": 35.4, + "log_step": null, + "text_zh": "推断：inputs/run.json 的 task_text 指明玉米初始在地面篮中；视频没有显示蔬菜搬运，日志的执行动作是转向、接近和姿态恢复（log step 41–114），没有该类抓取或放入。评分器 q_score=0.0，且 live_matches_replay=1、deterministic=1，结合初始未入碗可判定终态连第1件玉米入碗亦未成立，故“第3根玉米入碗”终态为假；无已达成区间。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": 7.2, + "log_step": 51, + "where": "转场", + "evidence_zh": "观察：视频 6.1–7.0 s 机器人空手沿岛台边接近地面蔬菜篮，视频 7.1–7.8 s 视野急剧侧转，随后机器人持续处于岛台旁的非工作姿态；直到视频 35.5 s 未见任何蔬菜入碗。log step 51 提交前进动作，log step 56 的服务本体读数显示底座严重倾斜，log step 117 的服务状态最终为 done=True、reason=\"failure: the robot fell over\"。推断：失败发生在接近取菜位置的转场，之后恢复动作未修复；视频及执行命令均不能分辨当时首先要搬哪类蔬菜，故不能可靠绑定13个入碗节点中的某一个。" + }, + "unmet": { + "bok_choy_in_bowl_1": false, + "bok_choy_in_bowl_2": false, + "bok_choy_in_bowl_3": false, + "onions_in_bowl_1": false, + "onions_in_bowl_2": false, + "onions_in_bowl_3": false, + "leeks_in_bowl_1": false, + "leeks_in_bowl_2": false, + "broccoli_in_bowl_1": false, + "broccoli_in_bowl_2": false, + "corn_in_bowl_1": false, + "corn_in_bowl_2": false, + "corn_in_bowl_3": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 7.2, + "log_step": 56, + "evidence_zh": "观察：视频 7.1–7.8 s 机器人接近岛台时整个相机视野翻转至近侧躺方向，视频 8.0–9.2 s 仍明显侧倾；视频 10–35.5 s 的恢复过程中没有恢复正常取菜工作姿态。log step 56 的服务本体读数为底座 rx=1.807 rad、ry=-1.393 rad；log step 117 的服务终止原因明确为“failure: the robot fell over”。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：底盘接近及全身恢复控制未能避开岛台接触并保持支撑。log step 38 的 drive 函数一次提交整段底盘增量，到执行结束才保存观察；log step 51 调用 drive(x=.8,seconds=3)，其后视频 7.1–7.8 s 出现翻倒，log step 56 的服务反馈已严重倾斜。log step 57–113 反复提交平移、转向、躯干和双臂姿态恢复命令，视频 10–35.5 s 却持续为紧邻岛台板材、受遮挡的倾斜视角，最终由服务判定跌倒（log step 117）。这些证据支持控制层面的接近与恢复失败，不能进一步确定是轨迹、反馈还是具体参数的问题。" + } + ], + "gap_zh": "观察：本作业没有状态日志，也没有成功参考视频；视频后半段头部及腕部画面大多被机器人和岛台遮挡，无法定位最初碰撞的具体连杆或恢复过程中的精确接触对。推断：接近动作尚未选定可辨认的蔬菜种类，断点只能记为 unknown（转场）；不能把通往混合菜篮的底盘支撑或岛台接触任意分摊给某个入碗节点，因此各节点不填 contact_actual。终态13项为假使用初始条件、全程未见搬运及评分器零总分共同判断，零分本身不作为从未尝试的证据；控制根因保留在大类。" + }, + "summary_zh": "观察：整段视频没有显示蔬菜被抓起或送入搅拌碗，评分器 q_score=0.0，13个入碗节点终态均为假。观察：机器人在视频约 7.2 s 空手接近菜篮时翻倒，此后恢复动作未能恢复可操作姿态，服务最终判定跌倒失败（log step 117）；推断根因为接近及恢复控制失败。推断：动作尚未指向某一类蔬菜，断点为 unknown（转场）；后段遮挡且没有状态日志，具体碰撞接触对和控制子类不能确定。 审查分歧：DAG五类蔬菜的首个节点均无前驱，列表顺序不能确定实际尝试的种类；虽然可排除按列表强绑小白菜的依据，仍无法确证接近动作属于哪类入碗步骤，故将置信度由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": "跌倒（视频约7.2 s）、q_score=0、13个入碗节点终态为假、平衡现象和控制根因均有帧和服务读数支持。问题只在断点：ref 填 unknown 不合理，机器人是在去地面菜篮取菜的途中摔倒，应落在DAG中第一个未完成的步骤。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "跌倒（视频约7.2 s）、13个入碗节点终态为假（q_score=0）、平衡现象、控制根因均有帧和服务读数支持。五类蔬菜首节点均无前驱，帧和日志无法判断先取哪一类，断点 unknown（转场）符合03文档“证据不能判定哪一步才填 unknown”，同意labeller第1轮的驳回。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:44:03Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-sorting-vegetables-i00-standard--8buidgy/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sorting-vegetables-i00-standard--8buidgy/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sorting-vegetables-i00-standard--8buidgy/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-sorting-vegetables-i00-standard--8buidgy/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a50af5be62ae2c5977baa756f50dd660ea7622a1f00df9e209c086468a6ec77c", + "video_sha256": "a7f2713c6dd62cee5e6fa254772a6f15b56179f7ffd9565da2dc78aba73a2519", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/sorting_vegetables/trajectories/behavior-sorting-vegetables-i00-standard--f3b4evm.json b/phase2/behavior-1k/sorting_vegetables/trajectories/behavior-sorting-vegetables-i00-standard--f3b4evm.json new file mode 100644 index 0000000000000000000000000000000000000000..00c9a41d355ff5fdf5eb782363407fc0ee314d93 --- /dev/null +++ b/phase2/behavior-1k/sorting_vegetables/trajectories/behavior-sorting-vegetables-i00-standard--f3b4evm.json @@ -0,0 +1,460 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sorting-vegetables-i00-standard--f3b4evm", + "taskKey": "behavior-1k/sorting_vegetables", + "dag_sha256": "f223bd60cf10453bf9bc51bdfdffbdfba7e9614ddc649875f859654d88e96aee", + "outcome": { + "success": 0, + "reward": 0.07692307692307693, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 3945, + "sim_steps": 3945, + "physics_steps": 15780, + "steps": 320, + "elapsed_s": 6553.5, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 0, + "q_score": 0.07692307692307693, + "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-sorting-vegetables-i00-standard--f3b4evm/replay.mp4", + "duration_s": 131.5, + "fps": 30.0, + "frames": 3945, + "sha256": "1f081413b08ab5f9ef50e308869525fb288d4358d3e7fe988a7ff151e691a5c9" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 13, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "bok_choy_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24, + "log_step": null, + "text_zh": "观察：视频 15–32 s 机器人在地面篮中抓洋葱，篮筐被带起、翻动；没有夹住小白菜并送往碗的动作。视频 0–131.46 s 所检查的头部和腕部画面中未见小白菜入碗。" + }, + { + "t": 131.46, + "log_step": null, + "text_zh": "推断：视频 126–131.46 s 只确认一个洋葱在碗中，其他可见碗无小白菜；结合评分器 q_score=1/13（在线与回放一致），本计数节点终态为假。" + } + ] + }, + "bok_choy_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24, + "log_step": null, + "text_zh": "观察：视频 15–32 s 机器人在地面篮中抓洋葱，篮筐被带起、翻动；没有夹住小白菜并送往碗的动作。视频 0–131.46 s 所检查的头部和腕部画面中未见小白菜入碗。" + }, + { + "t": 131.46, + "log_step": null, + "text_zh": "推断：视频 126–131.46 s 只确认一个洋葱在碗中，其他可见碗无小白菜；结合评分器 q_score=1/13（在线与回放一致），本计数节点终态为假。" + } + ] + }, + "bok_choy_in_bowl_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24, + "log_step": null, + "text_zh": "观察：视频 15–32 s 机器人在地面篮中抓洋葱，篮筐被带起、翻动；没有夹住小白菜并送往碗的动作。视频 0–131.46 s 所检查的头部和腕部画面中未见小白菜入碗。" + }, + { + "t": 131.46, + "log_step": null, + "text_zh": "推断：视频 126–131.46 s 只确认一个洋葱在碗中，其他可见碗无小白菜；结合评分器 q_score=1/13（在线与回放一致），本计数节点终态为假。" + } + ] + }, + "onions_in_bowl_1": { + "method": "visual", + "intervals": [ + [ + 46.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 33, + "log_step": 103, + "text_zh": "观察：视频 29–34 s 左右夹爪各夹持一个洋葱，机器人开底盘将它们从地面篮搬至台面；视频 37.5–39 s 两个洋葱均在碗外台面上，首次放置没有入碗。" + }, + { + "t": 46.5, + "log_step": 118, + "text_zh": "观察：视频 43.5–46 s 腕部画面显示夹爪夹持洋葱移至红碗；视频 46.5–47 s 松爪后，一个浅粉色洋葱明确停在红碗内部。达到时刻约为视频 46.5 s，精度约半秒。" + }, + { + "t": 131.46, + "log_step": null, + "text_zh": "观察：视频 50–56 s、视频 71–74 s、视频 107.5 s、视频 126–128 s 腕部画面持续可见红碗内一个洋葱；视频 130.5–131.46 s 头部画面中该碗留在水槽左侧，未见洋葱被取出。评分器最终 q_score=1/13、success=0。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 29–34 s 左右二指夹爪各夹住一个洋葱并一起携带；视频 34–37.5 s 先后放置。视频 40–47 s 改由右夹爪逐个重抓台面洋葱。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 30–34 s 轮式底盘带着两手洋葱转向并靠近水槽旁台面。" + } + ] + }, + "onions_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 37.5, + "log_step": 103, + "text_zh": "观察：视频 33–34 s 两只夹爪各持一个洋葱；视频 36 s 第一个已落在碗外，视频 37–37.5 s 另一夹爪也松开，随后两个洋葱并排留在台面，没有任何碗同时容纳两者。" + }, + { + "t": 48, + "log_step": 118, + "text_zh": "观察：视频 40–47 s 机器人重抓台面洋葱后只让一个入碗；视频 48–56 s 仍有另一个洋葱在两碗附近的台面，机器人随后改去地面篮取剩余洋葱。" + }, + { + "t": 131.46, + "log_step": null, + "text_zh": "推断：视频 107.5 s、视频 122.5–128 s 腕部画面仍仅有一个洋葱在碗内，其他洋葱留在台面；后续重试未使单碗数量达到两个。评分器最终 q_score=1/13、live_matches_replay=1，故终态为假。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 29–34 s 左右二指夹爪各夹住一个洋葱并一起携带；视频 34–37.5 s 先后放置。视频 40–47 s 改由右夹爪逐个重抓台面洋葱。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 30–34 s 轮式底盘带着两手洋葱转向并靠近水槽旁台面。" + } + ] + }, + "onions_in_bowl_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 90, + "log_step": 258, + "text_zh": "观察：视频 88–91 s 右夹爪将篮中剩余洋葱夹起，旧位置随后不再有该洋葱；视频 92–104.5 s 右腕画面持续可见夹持的洋葱。" + }, + { + "t": 107.5, + "log_step": 281, + "text_zh": "观察：视频 105–107 s 机器人将该洋葱移至台面碗旁，视频 107.5–108 s 松爪后它停在碗外靠水槽处，腕部同时可见碗内原有的一个洋葱。" + }, + { + "t": 131.46, + "log_step": null, + "text_zh": "推断：视频 122–131.46 s 的重抓、移碗没有建立三洋葱共碗关系；评分器 q_score=1/13，且视频确认已有一个洋葱入碗，本计数节点终态为假。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 88–91 s 右二指夹爪夹起篮中剩余洋葱，持续夹持至视频 107 s 左右后在台面碗外释放。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 102–104 s 底盘在右手持洋葱时转向水槽旁台面。" + } + ] + }, + "leeks_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 95, + "log_step": 258, + "text_zh": "观察：视频 92.5–95.5 s 左夹爪向篮内长条葱茎伸入并合拢，实际带起、翻动篮筐；夹爪抬离时没有夹持韭葱。" + }, + { + "t": 101.5, + "log_step": 270, + "text_zh": "观察：视频 97.5–100.5 s 左夹爪重试，篮筐再次翻起，一根长条蔬菜落至篮外地面；视频 101–103 s 左夹爪退回为空，另一根仍在篮中。未见韭葱被搬往碗。" + }, + { + "t": 131.46, + "log_step": null, + "text_zh": "推断：视频后段未见韭葱转移到台面，且一个洋葱已占评分器最终 q_score=1/13 所对应的唯一满足关系，本节点终态为假。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 92.5–95.5 s、视频 97.5–100.5 s 左二指夹爪尝试夹韭葱时实际夹到篮筐并将其带起翻动，未见夹爪包夹住韭葱。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 102–104 s 韭葱抓取重试后底盘转回台面，左夹爪为空，韭葱留在篮内及地面。" + } + ] + }, + "leeks_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 101.5, + "log_step": 270, + "text_zh": "观察：视频 92.5–101.5 s 机器人反复向同一篮内韭葱位置抓取，篮筐翻动后可见一根韭葱留篮内、另一根在地面；没有韭葱被夹起送入碗，也未开始另一根的独立搬运。" + }, + { + "t": 131.46, + "log_step": null, + "text_zh": "推断：视频后段没有韭葱入碗动作；评分器最终 q_score=1/13 且画面确认碗内只有一个洋葱，不满足两根韭葱入同碗。" + } + ] + }, + "broccoli_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25, + "log_step": null, + "text_zh": "观察：视频 24–30 s 可见绿色花球状蔬菜随篮筐翻动散到地面；机器人随后携带洋葱转向台面，没有抓起西兰花送入碗。视频后续抽帧至视频 131.46 s 未见西兰花入碗。" + }, + { + "t": 131.46, + "log_step": null, + "text_zh": "推断：视频 126–131.46 s 可确认的入碗蔬菜仅一个洋葱；评分器 q_score=1/13、live_matches_replay=1，结合未见西兰花转移，本节点终态为假。" + } + ] + }, + "broccoli_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25, + "log_step": null, + "text_zh": "观察：视频 24–30 s 可见绿色花球状蔬菜随篮筐翻动散到地面；机器人随后携带洋葱转向台面，没有抓起西兰花送入碗。视频后续抽帧至视频 131.46 s 未见西兰花入碗。" + }, + { + "t": 131.46, + "log_step": null, + "text_zh": "推断：视频 126–131.46 s 可确认的入碗蔬菜仅一个洋葱；评分器 q_score=1/13、live_matches_replay=1，结合未见西兰花转移，本节点终态为假。" + } + ] + }, + "corn_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 131.46, + "log_step": null, + "text_zh": "观察：视频 0–131.46 s 全程抽帧中，机器人围绕一只地面蔬菜篮和水槽旁红碗操作，未见夹爪夹起或搬运玉米，也未见玉米进入碗内。" + }, + { + "t": 131.46, + "log_step": null, + "text_zh": "推断：视频末段确认一个洋葱在碗中，评分器 q_score=1/13、live_matches_replay=1；没有玉米转移证据，本计数节点终态为假。" + } + ] + }, + "corn_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 131.46, + "log_step": null, + "text_zh": "观察：视频 0–131.46 s 全程抽帧中，机器人围绕一只地面蔬菜篮和水槽旁红碗操作，未见夹爪夹起或搬运玉米，也未见玉米进入碗内。" + }, + { + "t": 131.46, + "log_step": null, + "text_zh": "推断：视频末段确认一个洋葱在碗中，评分器 q_score=1/13、live_matches_replay=1；没有玉米转移证据，本计数节点终态为假。" + } + ] + }, + "corn_in_bowl_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 131.46, + "log_step": null, + "text_zh": "观察：视频 0–131.46 s 全程抽帧中，机器人围绕一只地面蔬菜篮和水槽旁红碗操作，未见夹爪夹起或搬运玉米，也未见玉米进入碗内。" + }, + { + "t": 131.46, + "log_step": null, + "text_zh": "推断：视频末段确认一个洋葱在碗中，评分器 q_score=1/13、live_matches_replay=1；没有玉米转移证据，本计数节点终态为假。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "onions_in_bowl_2", + "t": 37.5, + "log_step": 103, + "where": "操作中", + "evidence_zh": "观察：视频 33–34 s 机器人两手各夹一洋葱，视频 36–37.5 s 先后松爪后，两洋葱都留在红碗外台面。视频 40–47 s 重试后只修复第一个洋葱入碗；视频 48–131.46 s 继续取洋葱、重抓和移碗，始终未见任一碗容纳两个洋葱。推断：最早未修复的计数步骤是第2个洋葱入碗，后来的韭葱抓取失败不替代此断点。" + }, + "unmet": { + "bok_choy_in_bowl_1": false, + "bok_choy_in_bowl_2": false, + "bok_choy_in_bowl_3": false, + "onions_in_bowl_1": true, + "onions_in_bowl_2": false, + "onions_in_bowl_3": false, + "leeks_in_bowl_1": false, + "leeks_in_bowl_2": false, + "broccoli_in_bowl_1": false, + "broccoli_in_bowl_2": false, + "corn_in_bowl_1": false, + "corn_in_bowl_2": false, + "corn_in_bowl_3": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 37.5, + "log_step": 103, + "evidence_zh": "观察：视频 36–37.5 s 机器人在洋葱尚未进入红碗内部时松开夹爪，视频 37.5–39 s 两个洋葱并排落在碗外台面；视频 46.5–48 s 重试仅使一个入碗，另一个仍在碗外。这里是释放位置没有对准碗内，而不是已放进碗后滚出。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "观察：log step 103 的控制脚本把两臂预定逆解姿态直接排成 joint_position 序列，每个动作行持续0.4秒，到投放姿态后的下一行即打开相应夹爪，释放前没有根据执行后画面复核洋葱与碗的关系。视频 34–37.5 s 执行中碗的位置改变，释放后的洋葱留在碗外；log step 118 虽改为重抓重放，视频 48 s 仍有洋葱在碗外。推断：放置控制未保证实际洋葱位置对准碗内后再释放，造成该步骤反复失败；现有证据不足以细分为逆解、跟踪或接触布局问题。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "本作业没有状态日志或成功参考视频；视频头部与腕部视野局部遮挡，无法精确读取辅助抓取标志、接触力或包围盒关系，入碗起点按可见画面约定至半秒。控制日志包含执行脚本与事后自行测量，但不足以把控制根因进一步区分为逆解、动态跟踪或接触设计；未把 agent 的成功放置自述作为节点完成证据。" + }, + "summary_zh": "机器人将多个洋葱从地面篮搬到台面，重试后于视频约46.5 s 仅完成第1个洋葱入碗，终态1/13，与评分器q_score=1/13一致。第2个洋葱入碗最早未修复：首次释放在碗外，后续重抓和移碗仍未达成；韭葱抓取还误带起篮筐，其他蔬菜未完成分类。放置控制未确保入碗后释放，缺少状态日志使具体控制子因和精确接触不能进一步确定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽帧核对：36–48 s 两洋葱释放在碗外台面，46.5 s 碗内有一个洋葱，与 q_score=1/13、onions_in_bowl_1 节点和第2个洋葱处的断点一致；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": "2026-10-30T21:30:55Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-sorting-vegetables-i00-standard--f3b4evm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sorting-vegetables-i00-standard--f3b4evm/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "910822ec920ac85a1af5c3a5bda1037c589899daff5e1cfa9a3e47c1fa859dfd", + "video_sha256": "1f081413b08ab5f9ef50e308869525fb288d4358d3e7fe988a7ff151e691a5c9", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/sorting_vegetables/trajectories/behavior-sorting-vegetables-i00-standard--pwfw9tm.json b/phase2/behavior-1k/sorting_vegetables/trajectories/behavior-sorting-vegetables-i00-standard--pwfw9tm.json new file mode 100644 index 0000000000000000000000000000000000000000..67f1df153a5a0f4ecbc33787107571a4ec03cd5d --- /dev/null +++ b/phase2/behavior-1k/sorting_vegetables/trajectories/behavior-sorting-vegetables-i00-standard--pwfw9tm.json @@ -0,0 +1,416 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sorting-vegetables-i00-standard--pwfw9tm", + "taskKey": "behavior-1k/sorting_vegetables", + "dag_sha256": "f223bd60cf10453bf9bc51bdfdffbdfba7e9614ddc649875f859654d88e96aee", + "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": 2994, + "sim_steps": 2994, + "physics_steps": 11976, + "steps": 2154, + "elapsed_s": 1140.6, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 1, + "q_score": 0.0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 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-sorting-vegetables-i00-standard--pwfw9tm/replay.mp4", + "duration_s": 99.8, + "fps": 30.0, + "frames": 2994, + "sha256": "25b4d644b5d4b0cdc502ca2b94e4a604c65f0ee6be44ee37c87c41868db2485f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 13, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "bok_choy_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.0, + "log_step": null, + "text_zh": "观察：视频 6.5 s、视频 11.0 s及视频 73.5 s可见台面上的红色搅拌碗，视频 9.5 s及视频 11.0 s可见仍装着蔬菜的地面篮；检查视频 0.0–99.767 s，机器人主要转动、短距离移动并倾倒，双腕画面未见夹持蔬菜，也未见把蔬菜从篮搬入碗的动作。" + }, + { + "t": 99.767, + "log_step": 121, + "text_zh": "推断：结合任务给定的全部蔬菜起初在地面篮中的初态，以及全片未见取菜或入碗，第1棵小白菜入碗未形成可计入的成立区间；评分器 reward.q_score=0、live_matches_replay=1进一步限定最终新增入碗关系为零，因此本节点 final=false。视频 99.767 s机器人仍倾倒，log step 121服务状态报告摔倒结束。" + } + ] + }, + "bok_choy_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.0, + "log_step": null, + "text_zh": "观察：视频 6.5 s、视频 11.0 s及视频 73.5 s可见台面上的红色搅拌碗，视频 9.5 s及视频 11.0 s可见仍装着蔬菜的地面篮；检查视频 0.0–99.767 s，机器人主要转动、短距离移动并倾倒，双腕画面未见夹持蔬菜，也未见把蔬菜从篮搬入碗的动作。" + }, + { + "t": 99.767, + "log_step": 121, + "text_zh": "推断：结合任务给定的全部蔬菜起初在地面篮中的初态，以及全片未见取菜或入碗，第2棵小白菜入碗未形成可计入的成立区间；评分器 reward.q_score=0、live_matches_replay=1进一步限定最终新增入碗关系为零，因此本节点 final=false。视频 99.767 s机器人仍倾倒，log step 121服务状态报告摔倒结束。" + } + ] + }, + "bok_choy_in_bowl_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.0, + "log_step": null, + "text_zh": "观察：视频 6.5 s、视频 11.0 s及视频 73.5 s可见台面上的红色搅拌碗，视频 9.5 s及视频 11.0 s可见仍装着蔬菜的地面篮；检查视频 0.0–99.767 s，机器人主要转动、短距离移动并倾倒，双腕画面未见夹持蔬菜，也未见把蔬菜从篮搬入碗的动作。" + }, + { + "t": 99.767, + "log_step": 121, + "text_zh": "推断：结合任务给定的全部蔬菜起初在地面篮中的初态，以及全片未见取菜或入碗，第3棵小白菜入碗未形成可计入的成立区间；评分器 reward.q_score=0、live_matches_replay=1进一步限定最终新增入碗关系为零，因此本节点 final=false。视频 99.767 s机器人仍倾倒，log step 121服务状态报告摔倒结束。" + } + ] + }, + "onions_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.0, + "log_step": null, + "text_zh": "观察：视频 6.5 s、视频 11.0 s及视频 73.5 s可见台面上的红色搅拌碗，视频 9.5 s及视频 11.0 s可见仍装着蔬菜的地面篮；检查视频 0.0–99.767 s，机器人主要转动、短距离移动并倾倒，双腕画面未见夹持蔬菜，也未见把蔬菜从篮搬入碗的动作。" + }, + { + "t": 99.767, + "log_step": 121, + "text_zh": "推断：结合任务给定的全部蔬菜起初在地面篮中的初态，以及全片未见取菜或入碗，第1个洋葱入碗未形成可计入的成立区间；评分器 reward.q_score=0、live_matches_replay=1进一步限定最终新增入碗关系为零，因此本节点 final=false。视频 99.767 s机器人仍倾倒，log step 121服务状态报告摔倒结束。" + } + ] + }, + "onions_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.0, + "log_step": null, + "text_zh": "观察：视频 6.5 s、视频 11.0 s及视频 73.5 s可见台面上的红色搅拌碗，视频 9.5 s及视频 11.0 s可见仍装着蔬菜的地面篮；检查视频 0.0–99.767 s，机器人主要转动、短距离移动并倾倒，双腕画面未见夹持蔬菜，也未见把蔬菜从篮搬入碗的动作。" + }, + { + "t": 99.767, + "log_step": 121, + "text_zh": "推断：结合任务给定的全部蔬菜起初在地面篮中的初态，以及全片未见取菜或入碗，第2个洋葱入碗未形成可计入的成立区间；评分器 reward.q_score=0、live_matches_replay=1进一步限定最终新增入碗关系为零，因此本节点 final=false。视频 99.767 s机器人仍倾倒，log step 121服务状态报告摔倒结束。" + } + ] + }, + "onions_in_bowl_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.0, + "log_step": null, + "text_zh": "观察：视频 6.5 s、视频 11.0 s及视频 73.5 s可见台面上的红色搅拌碗，视频 9.5 s及视频 11.0 s可见仍装着蔬菜的地面篮；检查视频 0.0–99.767 s，机器人主要转动、短距离移动并倾倒，双腕画面未见夹持蔬菜，也未见把蔬菜从篮搬入碗的动作。" + }, + { + "t": 99.767, + "log_step": 121, + "text_zh": "推断：结合任务给定的全部蔬菜起初在地面篮中的初态，以及全片未见取菜或入碗，第3个洋葱入碗未形成可计入的成立区间；评分器 reward.q_score=0、live_matches_replay=1进一步限定最终新增入碗关系为零，因此本节点 final=false。视频 99.767 s机器人仍倾倒，log step 121服务状态报告摔倒结束。" + } + ] + }, + "leeks_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.0, + "log_step": null, + "text_zh": "观察：视频 6.5 s、视频 11.0 s及视频 73.5 s可见台面上的红色搅拌碗，视频 9.5 s及视频 11.0 s可见仍装着蔬菜的地面篮；检查视频 0.0–99.767 s，机器人主要转动、短距离移动并倾倒，双腕画面未见夹持蔬菜，也未见把蔬菜从篮搬入碗的动作。" + }, + { + "t": 99.767, + "log_step": 121, + "text_zh": "推断：结合任务给定的全部蔬菜起初在地面篮中的初态，以及全片未见取菜或入碗，第1根韭葱入碗未形成可计入的成立区间；评分器 reward.q_score=0、live_matches_replay=1进一步限定最终新增入碗关系为零，因此本节点 final=false。视频 99.767 s机器人仍倾倒，log step 121服务状态报告摔倒结束。" + } + ] + }, + "leeks_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.0, + "log_step": null, + "text_zh": "观察：视频 6.5 s、视频 11.0 s及视频 73.5 s可见台面上的红色搅拌碗，视频 9.5 s及视频 11.0 s可见仍装着蔬菜的地面篮；检查视频 0.0–99.767 s，机器人主要转动、短距离移动并倾倒，双腕画面未见夹持蔬菜，也未见把蔬菜从篮搬入碗的动作。" + }, + { + "t": 99.767, + "log_step": 121, + "text_zh": "推断：结合任务给定的全部蔬菜起初在地面篮中的初态，以及全片未见取菜或入碗，第2根韭葱入碗未形成可计入的成立区间；评分器 reward.q_score=0、live_matches_replay=1进一步限定最终新增入碗关系为零，因此本节点 final=false。视频 99.767 s机器人仍倾倒，log step 121服务状态报告摔倒结束。" + } + ] + }, + "broccoli_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.0, + "log_step": null, + "text_zh": "观察：视频 6.5 s、视频 11.0 s及视频 73.5 s可见台面上的红色搅拌碗，视频 9.5 s及视频 11.0 s可见仍装着蔬菜的地面篮；检查视频 0.0–99.767 s，机器人主要转动、短距离移动并倾倒，双腕画面未见夹持蔬菜，也未见把蔬菜从篮搬入碗的动作。" + }, + { + "t": 99.767, + "log_step": 121, + "text_zh": "推断：结合任务给定的全部蔬菜起初在地面篮中的初态，以及全片未见取菜或入碗，第1棵西兰花入碗未形成可计入的成立区间；评分器 reward.q_score=0、live_matches_replay=1进一步限定最终新增入碗关系为零，因此本节点 final=false。视频 99.767 s机器人仍倾倒，log step 121服务状态报告摔倒结束。" + } + ] + }, + "broccoli_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.0, + "log_step": null, + "text_zh": "观察：视频 6.5 s、视频 11.0 s及视频 73.5 s可见台面上的红色搅拌碗，视频 9.5 s及视频 11.0 s可见仍装着蔬菜的地面篮；检查视频 0.0–99.767 s，机器人主要转动、短距离移动并倾倒，双腕画面未见夹持蔬菜，也未见把蔬菜从篮搬入碗的动作。" + }, + { + "t": 99.767, + "log_step": 121, + "text_zh": "推断：结合任务给定的全部蔬菜起初在地面篮中的初态，以及全片未见取菜或入碗，第2棵西兰花入碗未形成可计入的成立区间；评分器 reward.q_score=0、live_matches_replay=1进一步限定最终新增入碗关系为零，因此本节点 final=false。视频 99.767 s机器人仍倾倒，log step 121服务状态报告摔倒结束。" + } + ] + }, + "corn_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.0, + "log_step": null, + "text_zh": "观察：视频 6.5 s、视频 11.0 s及视频 73.5 s可见台面上的红色搅拌碗，视频 9.5 s及视频 11.0 s可见仍装着蔬菜的地面篮；检查视频 0.0–99.767 s，机器人主要转动、短距离移动并倾倒，双腕画面未见夹持蔬菜，也未见把蔬菜从篮搬入碗的动作。" + }, + { + "t": 99.767, + "log_step": 121, + "text_zh": "推断：结合任务给定的全部蔬菜起初在地面篮中的初态，以及全片未见取菜或入碗，第1根玉米入碗未形成可计入的成立区间；评分器 reward.q_score=0、live_matches_replay=1进一步限定最终新增入碗关系为零，因此本节点 final=false。视频 99.767 s机器人仍倾倒，log step 121服务状态报告摔倒结束。" + } + ] + }, + "corn_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.0, + "log_step": null, + "text_zh": "观察：视频 6.5 s、视频 11.0 s及视频 73.5 s可见台面上的红色搅拌碗，视频 9.5 s及视频 11.0 s可见仍装着蔬菜的地面篮；检查视频 0.0–99.767 s，机器人主要转动、短距离移动并倾倒，双腕画面未见夹持蔬菜，也未见把蔬菜从篮搬入碗的动作。" + }, + { + "t": 99.767, + "log_step": 121, + "text_zh": "推断：结合任务给定的全部蔬菜起初在地面篮中的初态，以及全片未见取菜或入碗，第2根玉米入碗未形成可计入的成立区间；评分器 reward.q_score=0、live_matches_replay=1进一步限定最终新增入碗关系为零，因此本节点 final=false。视频 99.767 s机器人仍倾倒，log step 121服务状态报告摔倒结束。" + } + ] + }, + "corn_in_bowl_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.0, + "log_step": null, + "text_zh": "观察：视频 6.5 s、视频 11.0 s及视频 73.5 s可见台面上的红色搅拌碗，视频 9.5 s及视频 11.0 s可见仍装着蔬菜的地面篮；检查视频 0.0–99.767 s，机器人主要转动、短距离移动并倾倒，双腕画面未见夹持蔬菜，也未见把蔬菜从篮搬入碗的动作。" + }, + { + "t": 99.767, + "log_step": 121, + "text_zh": "推断：结合任务给定的全部蔬菜起初在地面篮中的初态，以及全片未见取菜或入碗，第3根玉米入碗未形成可计入的成立区间；评分器 reward.q_score=0、live_matches_replay=1进一步限定最终新增入碗关系为零，因此本节点 final=false。视频 99.767 s机器人仍倾倒，log step 121服务状态报告摔倒结束。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "bok_choy_in_bowl_1", + "t": 89.8, + "log_step": 115, + "where": "首步前", + "evidence_zh": "观察：视频 0.0 s、20.0 s、40.0 s、60.0 s及76.0 s显示机器人转向或作底盘位移，未见夹爪接近、抓取或搬运蔬菜；视频 76.0–84.0 s之间发生明显翻滚后视野回正，视频 89.6 s视野尚近于正立，视频 89.8 s开始再次侧倾，视频 91.0 s至99.767 s未恢复。log step 115–116记录底盘位移/转向标定，log step 119后续尝试驶向篮所在区域时收到摔倒终止，log step 121服务状态确认摔倒。推断：入碗步骤的搬运工作尚未启动，依docs/03_trajectory.md Step 3.1及CASES.md FAIL-13标为首步前，以DAG首列的第1棵小白菜入碗节点锚定；此锚定不表示画面已选定某棵小白菜，也不新增各类蔬菜之间的顺序。" + }, + "unmet": { + "bok_choy_in_bowl_1": false, + "bok_choy_in_bowl_2": false, + "bok_choy_in_bowl_3": false, + "onions_in_bowl_1": false, + "onions_in_bowl_2": false, + "onions_in_bowl_3": false, + "leeks_in_bowl_1": false, + "leeks_in_bowl_2": false, + "broccoli_in_bowl_1": false, + "broccoli_in_bowl_2": false, + "corn_in_bowl_1": false, + "corn_in_bowl_2": false, + "corn_in_bowl_3": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 89.8, + "log_step": 121, + "evidence_zh": "观察：视频 89.6 s头部视野尚近于正立，视频 89.8–91.0 s机器人连同头部及腕部视野急剧翻转，随后持续侧躺，视频 98.8–99.767 s仍未恢复；log step 121的服务状态为 done=true、reason=\"failure: the robot fell over\"、control_steps=2994。此为实际摔倒，未见持物或入碗。" + }, + { + "cat": "没尝试", + "item": "没尝试", + "t": 99.767, + "log_step": 121, + "evidence_zh": "观察：覆盖视频全程的抽帧检查中，视频 0.0 s、20.0 s、40.0 s、60.0 s及76.0 s未见夹爪接近、抓取或搬运蔬菜；视频 76.0–84.0 s之间机器人翻滚后恢复视野，视频 89.8 s再次倾倒，视频 91.0 s至99.767 s仍未恢复，未见入碗动作。log step 115–116执行底盘标定，log step 119导航调用因摔倒终止，log step 121服务报告done=true、reason=\"failure: the robot fell over\"。推断：首个入碗步骤的搬运工作根本未启动，按docs/03_trajectory.md Step 3.1、3.2及CASES.md FAIL-13记没尝试；此判断来自动作证据，不单由q_score=0推出。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "参数调试", + "source_zh": "日志", + "evidence_zh": "推断：agent 的底盘标定采用过大的逐控制步增量，且在低位移响应下继续加大驱动，导致失稳。log step 34服务规格明确命令单位为每控制步的米/弧度、控制频率30赫兹；log step 115脚本把转向增量依次升至0.15、0.30弧度/控制步，把前进增量升至0.15、0.30米/控制步，每档持续60步，随后又施加0.10米/控制步的侧移，期间没有倾斜检查。log step 116实测后两档前进分别仅为-0.0001米和0.0000米，侧移响应反向；视频 76.6–84.4 s的剧烈翻滚及视频 89.8 s后的持续倾倒与该标定段一致。日志中的合法小幅转向曾正常工作（log step 46），因此证据支持本次驱动参数和执行方式不当，而非从摔倒结果臆测抓取问题。 推断：同一无重置episode在log step 111末为2290控制步，按30赫兹对应视频76.33 s；log step 115的标定共460控制步，对应至视频91.67 s，已用视频76.6 s开始的剧烈运动及视频89.8 s后的倾倒核对。这里只映射该episode控制计数，未把agent工作时间换算为视频时间。" + } + ], + "gap_zh": "无状态日志，头部/腕部画面也未完整显露底盘与地面、柜体的接触，不能确认具体阻挡面或量化失稳力；不据agent自述认定撞上某一柜脚。入碗搬运工作尚未启动，按首步前锚定DAG首列的第1棵小白菜入碗节点；画面未显示已选定哪类蔬菜先搬，此锚定不新增任务顺序。未把通用底盘标定接触复制到各节点。各节点最终值由视频中没有搬运动作与评分器总量共同限定。log step 233自述2994控制步约为30秒不符合服务30赫兹规格；本标注采用视频时钟。" + }, + "summary_zh": "13个入碗节点均未达成：机器人在厨房转向扫描及试探移动，未见抓起或搬运任何蔬菜，评分器q_score=0且实时与回放结果一致。机器人在底盘标定中使用过大的逐步位移/转向增量，并在几乎无前进响应后继续驱动，视频约89.8 s再次倾倒后持续到片尾，服务判定摔倒失败。入碗搬运工作尚未启动，断点以第1棵小白菜入碗节点标为首步前，现象为没尝试及平衡；无状态日志也限制了对底盘阻挡接触的判断。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "13个节点均未达成、摔倒时间与服务读数（视频约89.8 s起倾倒、control_steps=2994）与画面一致，节点与时钟无误。问题在断点：全程没有任何蔬菜搬运开始，应按首步前/没尝试标注，而不是 ref=unknown + 探索。", + "n_issues": 2, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "13个入碗节点均未达成、首步前+没尝试+平衡、摔倒时间（视频约89.8 s起）与服务读数一致；第1轮意见已采纳，未发现新的错误。", + 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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": 8.794, + "peak_processes": 10, + "peak_disk_gb": 0.343, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_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-sorting-vegetables-i00-standard--tjpylxj/replay.mp4", + "duration_s": 845.833, + "fps": 30.0, + "frames": 25375, + "sha256": "6c4a98e9db5e058c3411f8f01907e3e1908c7922d4a59ff738c73d510e7bc97d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 13, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "bok_choy_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 105, + "log_step": 279, + "text_zh": "观察：视频 94–116 s 机器人在篮旁多次下降、闭合夹爪、抬臂，未见小白菜随爪离开原处，也未见运入红碗；log step 279 记录三次小白菜抓取流程均空夹后跳过。" + }, + { + "t": 661.5, + "log_step": null, + "text_zh": "观察：视频 580.6–583 s、视频 660.5–661.5 s 可辨认的地面碗内容为洋葱、西兰花和长条韭葱，未见小白菜入碗。" + }, + { + "t": 845.8, + "log_step": null, + "text_zh": "推断：全段未见小白菜转移入碗；评分器 q_score=3/13 的三项已被确认的洋葱、西兰花、韭葱入碗占满，因此本计数节点终态为假。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 94–116 s 夹爪在篮附近执行重复抓取，但目标和指腹接触区经常出画，未见实际夹起小白菜；不能从日志的抓取指令推定抓握接触。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 94–116 s 的这些重复取菜尝试中底盘驱动转向、调整到篮边。" + } + ] + }, + "bok_choy_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 105, + "log_step": 279, + "text_zh": "观察：视频 94–116 s 机器人在篮旁多次下降、闭合夹爪、抬臂，未见小白菜随爪离开原处，也未见运入红碗；log step 279 记录三次小白菜抓取流程均空夹后跳过。" + }, + { + "t": 661.5, + "log_step": null, + "text_zh": "观察：视频 580.6–583 s、视频 660.5–661.5 s 可辨认的地面碗内容为洋葱、西兰花和长条韭葱，未见小白菜入碗。" + }, + { + "t": 845.8, + "log_step": null, + "text_zh": "推断：全段未见小白菜转移入碗；评分器 q_score=3/13 的三项已被确认的洋葱、西兰花、韭葱入碗占满，因此本计数节点终态为假。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 94–116 s 夹爪在篮附近执行重复抓取，但目标和指腹接触区经常出画，未见实际夹起小白菜；不能从日志的抓取指令推定抓握接触。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 94–116 s 的这些重复取菜尝试中底盘驱动转向、调整到篮边。" + } + ] + }, + "bok_choy_in_bowl_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 105, + "log_step": 279, + "text_zh": "观察：视频 94–116 s 机器人在篮旁多次下降、闭合夹爪、抬臂，未见小白菜随爪离开原处，也未见运入红碗；log step 279 记录三次小白菜抓取流程均空夹后跳过。" + }, + { + "t": 661.5, + "log_step": null, + "text_zh": "观察：视频 580.6–583 s、视频 660.5–661.5 s 可辨认的地面碗内容为洋葱、西兰花和长条韭葱，未见小白菜入碗。" + }, + { + "t": 845.8, + "log_step": null, + "text_zh": "推断：全段未见小白菜转移入碗；评分器 q_score=3/13 的三项已被确认的洋葱、西兰花、韭葱入碗占满，因此本计数节点终态为假。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 94–116 s 夹爪在篮附近执行重复抓取，但目标和指腹接触区经常出画，未见实际夹起小白菜；不能从日志的抓取指令推定抓握接触。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 94–116 s 的这些重复取菜尝试中底盘驱动转向、调整到篮边。" + } + ] + }, + "onions_in_bowl_1": { + "method": "visual", + "intervals": [ + [ + 511.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 234, + "log_step": null, + "text_zh": "观察：视频 20 s 红碗在台面；视频 224–226 s 台面靠近水槽有两只红碗，机器人夹爪在碗旁运动，视频 226.5–227 s 一只碗翻动并离开台面，视频 234–236 s 左腕视图可见两个红碗已在柜前地面，台面水槽旁仍留另一只碗。视频 394 s 的台面可见洋葱，视频 482 s 的视图未覆盖全部地面碗；这些帧不表明全部红碗仍在台面。推断：机器人手臂动作碰动了至少一只碗，另一只碗落地的具体接触瞬间未看清；不是到视频 504–540 s 才开始有地面碗。" + }, + { + "t": 511.5, + "log_step": 1412, + "text_zh": "推断：视频 506–509.5 s 机器人右爪仍夹持洋葱，视频 510–511.5 s 投放接触区被手臂和柜体遮住；视频 512 s 左腕视图已清楚显示地面红碗内的浅粉色洋葱，另一个洋葱在碗外，视频 513–514 s 碗内结果仍在。估计视频约 511.5 s 达成，误差约1秒；原视频 531.5 s 已是投放后的观察，不是首次入碗。" + }, + { + "t": 580.6, + "log_step": null, + "text_zh": "观察：视频 580.6–583 s 左腕相机俯视两只地面红碗，靠近镜头的碗内有一个洋葱，碗旁仍有另一洋葱；视频 653.5–661.5 s 该洋葱仍在碗内。" + }, + { + "t": 845.8, + "log_step": null, + "text_zh": "推断：视频 661.5 s 后机器人主要在另一侧抓取地面蔬菜，未见取出碗内洋葱；末段碗内局部被遮挡，结合评分器 q_score=3/13 与已见的一棵西兰花、一根韭葱入碗，保留一个洋葱入碗的终值。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：右侧二指夹爪在视频 506–509.5 s 夹持洋葱搬向地面红碗；早期也曾从篮中夹起洋葱。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 67–73 s 等取放段，轮式底盘夹持洋葱转向台面；后续多次移动到地面洋葱和碗附近。" + } + ] + }, + "onions_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 71.4, + "log_step": 252, + "text_zh": "观察：视频 67–71.2 s 右爪夹起并搬运洋葱，视频 71.4 s 洋葱离爪时在红碗外，视频 72.4–74 s 落在台面上；视频 81–86 s 再次取放后也未见同碗增加洋葱。" + }, + { + "t": 414, + "log_step": null, + "text_zh": "观察：视频 381–385 s 和视频 409–417 s 的洋葱搬运后，腕相机见到洋葱在地面红碗旁，未见同碗两个或三个洋葱。" + }, + { + "t": 661.5, + "log_step": null, + "text_zh": "推断：视频 580.6–583 s、视频 653.5–661.5 s 仅确认单碗一个洋葱；评分器 q_score=3/13，且另已确认一棵西兰花和一根韭葱入碗，因此终态不能再有第2个洋葱的有效入碗关系，第3个亦不成立。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：右侧二指夹爪实际夹住洋葱，搬到台面或地面碗附近后释放；视频 67–71.2 s、视频 409–413 s 可见夹持。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人在洋葱取放过程中驱动轮式底盘转向、靠近篮和红碗，视频 67–73 s、视频 409–417 s 可见。" + } + ] + }, + "onions_in_bowl_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 84, + "log_step": null, + "text_zh": "观察：视频 67–71.2 s 右爪夹起并搬运洋葱，视频 71.4 s 洋葱离爪时在红碗外，视频 72.4–74 s 落在台面上；视频 81–86 s 再次取放后也未见同碗增加洋葱。" + }, + { + "t": 414, + "log_step": null, + "text_zh": "观察：视频 381–385 s 和视频 409–417 s 的洋葱搬运后，腕相机见到洋葱在地面红碗旁，未见同碗两个或三个洋葱。" + }, + { + "t": 661.5, + "log_step": null, + "text_zh": "推断：视频 580.6–583 s、视频 653.5–661.5 s 仅确认单碗一个洋葱；评分器 q_score=3/13，且另已确认一棵西兰花和一根韭葱入碗，因此终态不能再有第2个洋葱的有效入碗关系，第3个亦不成立。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：右侧二指夹爪实际夹住洋葱，搬到台面或地面碗附近后释放；视频 67–71.2 s、视频 409–413 s 可见夹持。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人在洋葱取放过程中驱动轮式底盘转向、靠近篮和红碗，视频 67–73 s、视频 409–417 s 可见。" + } + ] + }, + "leeks_in_bowl_1": { + "method": "visual", + "intervals": [ + [ + 660.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 660.5, + "log_step": 1798, + "text_zh": "观察：视频 618–644 s 右侧二指夹爪夹住长条韭葱并搬向红碗；视频 646–659 s 菜梗位于碗口附近，视频 660.5–661.5 s 松手后韭葱横落在有西兰花的碗内，绿色叶端与浅色菜梗均可见。以落定后的关系计约视频 660.5 s 达成。" + }, + { + "t": 845.8, + "log_step": null, + "text_zh": "观察：视频 730 s、视频 806 s、视频 834–838 s 的腕相机仍能看到该红碗中横放的韭葱；视频 844.8–845.8 s 左腕视图保留其绿色菜叶局部，未见被取出。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 618–644 s 右侧二指夹爪从两侧夹住韭葱菜梗，搬到地面红碗后张爪。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 600–615 s 机器人驱动轮式底盘转向、靠近地面韭葱，随后单爪搬运。" + } + ] + }, + "leeks_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 595, + "log_step": 1456, + "text_zh": "观察：视频 564–595 s 腕相机可见篮旁两根浅色长菜梗，之后机器人只将其中一根搬向碗；视频 730 s、视频 740 s、视频 806 s 头部相机仍见篮内或篮旁另一根长条蔬菜。" + }, + { + "t": 845.8, + "log_step": null, + "text_zh": "推断：视频 660.5–661.5 s 仅确认一根韭葱入碗；其后没有第二根搬入的画面，且评分器 q_score=3/13 已被一个洋葱、一棵西兰花和一根韭葱占满，第二根终态为假。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 93–101 s、视频 594–610 s 的夹爪活动及 log step 1456 的第二根韭葱抓取命令表明有尝试，但腕相机未持续覆盖该根韭葱与指腹，无法确定是否建立接触或接触方式。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 93–101 s、视频 594–610 s 底盘转动并靠近篮中长条蔬菜。" + } + ] + }, + "broccoli_in_bowl_1": { + "method": "visual", + "intervals": [ + [ + 580.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 580.6, + "log_step": null, + "text_zh": "观察：视频 575–580.4 s 左侧二指夹爪夹起地面西兰花，搬到地面较远的红碗，视频 580.6 s 西兰花下降到碗壁内侧并从夹爪间消失，随后夹爪退出。" + }, + { + "t": 661, + "log_step": null, + "text_zh": "观察：视频 660.5–661.5 s 右腕相机可见同一只较远的红碗内有绿色西兰花花冠，韭葱横搭其上；碗外地面还有另一棵西兰花。" + }, + { + "t": 845.8, + "log_step": null, + "text_zh": "推断：视频 662–845.8 s 未见取出已入碗西兰花，后续操作针对地面另一棵；末段左腕视图只露出该碗局部，结合评分器 q_score=3/13，保留首棵入碗终值。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 575–580.4 s 左侧二指夹爪实际夹住西兰花并搬入地面红碗；此前也有单爪抓起后未投到碗内的重试，左右臂先后操作。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 564–575 s 机器人移动、转向以靠近地面西兰花与红碗。" + } + ] + }, + "broccoli_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 739, + "log_step": null, + "text_zh": "观察：视频 692–708 s、视频 730–788 s 右爪反复靠近地面剩余西兰花，西兰花仍在篮旁地面，未随夹爪搬入碗。" + }, + { + "t": 845.8, + "log_step": 2138, + "text_zh": "推断：视频 806–845.8 s 仍是针对剩余地面西兰花的臂姿调整，未见第二棵搬入；评分器 q_score=3/13 已由一个洋葱、一棵西兰花和一根韭葱占满，终态第二棵西兰花不成立。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 730–788 s 可见右爪多次在西兰花旁闭合、调整，未见可靠夹持搬运；局部出画和腕部遮挡使具体接触方式不能确定，不将空夹记为抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 710–730 s、视频 790–806 s 底盘移动、转向来重新接近剩余西兰花。" + } + ] + }, + "corn_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 123, + "log_step": 574, + "text_zh": "观察：视频 106–123 s 机器人重复到篮旁闭爪并转向台面，未见黄色玉米被搬入红碗；视频 118–122 s 腕相机中夹起的蔬菜有绿色花冠和菜茎，不能当成玉米。" + }, + { + "t": 661.5, + "log_step": null, + "text_zh": "观察：视频 580.6–583 s、视频 660.5–661.5 s 可见红碗内容中没有黄色玉米，此后没有玉米投放。" + }, + { + "t": 845.8, + "log_step": null, + "text_zh": "推断：全段未确认任何玉米入碗；评分器 q_score=3/13 的三项已由一个洋葱、一棵西兰花和一根韭葱占满，本计数节点终态为假。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 106–123 s 有抓取尝试，但黄色玉米与指腹的接触区不持续可见，未见夹起玉米；视频中的绿色蔬菜夹持不算玉米抓握，故玉米自身的实际接触方式未知。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 106–123 s 机器人驱动轮式底盘在篮与台面之间转向、移动。" + } + ] + }, + "corn_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 123, + "log_step": 574, + "text_zh": "观察：视频 106–123 s 机器人重复到篮旁闭爪并转向台面，未见黄色玉米被搬入红碗；视频 118–122 s 腕相机中夹起的蔬菜有绿色花冠和菜茎，不能当成玉米。" + }, + { + "t": 661.5, + "log_step": null, + "text_zh": "观察：视频 580.6–583 s、视频 660.5–661.5 s 可见红碗内容中没有黄色玉米，此后没有玉米投放。" + }, + { + "t": 845.8, + "log_step": null, + "text_zh": "推断：全段未确认任何玉米入碗；评分器 q_score=3/13 的三项已由一个洋葱、一棵西兰花和一根韭葱占满，本计数节点终态为假。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 106–123 s 有抓取尝试，但黄色玉米与指腹的接触区不持续可见，未见夹起玉米；视频中的绿色蔬菜夹持不算玉米抓握，故玉米自身的实际接触方式未知。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 106–123 s 机器人驱动轮式底盘在篮与台面之间转向、移动。" + } + ] + }, + "corn_in_bowl_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 123, + "log_step": 574, + "text_zh": "观察：视频 106–123 s 机器人重复到篮旁闭爪并转向台面，未见黄色玉米被搬入红碗；视频 118–122 s 腕相机中夹起的蔬菜有绿色花冠和菜茎，不能当成玉米。" + }, + { + "t": 661.5, + "log_step": null, + "text_zh": "观察：视频 580.6–583 s、视频 660.5–661.5 s 可见红碗内容中没有黄色玉米，此后没有玉米投放。" + }, + { + "t": 845.8, + "log_step": null, + "text_zh": "推断：全段未确认任何玉米入碗；评分器 q_score=3/13 的三项已由一个洋葱、一棵西兰花和一根韭葱占满，本计数节点终态为假。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 106–123 s 有抓取尝试，但黄色玉米与指腹的接触区不持续可见，未见夹起玉米；视频中的绿色蔬菜夹持不算玉米抓握，故玉米自身的实际接触方式未知。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 106–123 s 机器人驱动轮式底盘在篮与台面之间转向、移动。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "bok_choy_in_bowl_1", + "t": 105, + "log_step": 279, + "where": "操作中", + "evidence_zh": "观察：视频 94–116 s 机器人在篮旁反复下降、闭爪、抬臂，未见小白菜随夹爪离开篮或运入碗；log step 279 的执行输出第51–75行记录三次 BOK_CHOY 抓取，三次夹爪开度均为0.0000 m并跳过。推断：所需的有效抓取接触未建立，小白菜入碗全段未修复，故以视频 105 s 作为该步骤的导航锚点。视频 71.4 s 的洋葱碗外释放属于尚无洋葱入碗时对第1个计数节点的失败尝试，后来视频约 511.5 s 已修复；不能按脚本的第二次投放把它算作 onions_in_bowl_2。" + }, + "unmet": { + "bok_choy_in_bowl_1": false, + "bok_choy_in_bowl_2": false, + "bok_choy_in_bowl_3": false, + "onions_in_bowl_1": true, + "onions_in_bowl_2": false, + "onions_in_bowl_3": false, + "leeks_in_bowl_1": true, + "leeks_in_bowl_2": false, + "broccoli_in_bowl_1": true, + "broccoli_in_bowl_2": false, + "corn_in_bowl_1": false, + "corn_in_bowl_2": false, + "corn_in_bowl_3": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 105, + "log_step": 279, + "evidence_zh": "观察：视频 94–116 s 机器人在篮旁多次闭合夹爪后抬起，未见夹持小白菜搬离原处，后续也未见小白菜入碗；log step 279 第56–57、65–66、74–75行三次记录 opening=0.0000 与 Grasp did not hold object。推断：小白菜所需的有效夹持接触未建立；并非先持有小白菜后滑落。指腹局部被遮挡，不能排除无效擦碰。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "evidence_zh": "观察：log step 279 第53–75行显示小白菜检测失败后，机器人脚本三次使用相同的备用点 [7.00,-0.46,0.10]、固定抓取高度 z=0.055 m，三次闭爪均空夹；log step 285 所示脚本第171–173行以目标的平面坐标及固定高度构造预抓取、抓取、抬升位姿，第292–298行明确把备用点当作近似篮中心。视频 94–116 s 的重复下降、闭爪、抬臂没有带起小白菜，与执行输出一致。推断：该抓取接触方案以篮中心代替已定位的菜体接触位置，未建立适配小白菜的夹持几何，重复相同方案后仍空夹，支持抓取和接触设计根因；没有证据证明可行接触方案下的跟踪失稳，故不定为反馈控制或轨迹或逆解。是否存在本次已验证的可行替代抓法为未知。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有状态日志或成功示范；碗壁、夹爪和手臂多次遮住投放瞬间，洋葱首次入碗以视频 509.5 s 仍持物、视频 512 s 已见碗内结果估计为视频约 511.5 s，误差约1秒。末段未持续看全两个地面碗，终态结合最后清楚的碗内画面、未再取出的动作史及评分器 q_score=3/13 推断；总分只约束终态，不替代抓起与投放画面。小白菜等部分指腹接触区不可见，contact_actual 保持未知，不把空夹记成抓握。小白菜真实位姿、指腹接触点及跟踪误差没有记录，抓取和接触设计为脚本与画面共同支持的推断，不能细分几何误差或证明替代抓法可行。视频约 226–227 s 的碗离台与机器人夹爪接近同步，支持碰动推断；另一个碗落地的接触瞬间受遮挡，仅确认视频 234 s 已有两个地面碗。该变化晚于小白菜断点，且后续仍能向地面碗投菜，不据此给该断点追加被挡/碰撞现象。" + }, + "summary_zh": "评分回放最终确认第1个洋葱、第1棵西兰花和第1根韭葱入碗，共3/13。最早未修复步骤为小白菜入碗：视频 94–116 s 反复取菜未建立有效夹持，log step 279 三次空夹，固定备用抓取点的接触设计为推断根因；早期洋葱投放失败后来在视频约 511.5 s 修复，碗在视频约 226–234 s 已从台面移落至地面。无状态日志，抓取局部和投放瞬间受遮挡，接触设计与部分终值依赖脚本、前后帧及评分器总分交叉推断，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": "断点与根因选择有问题：71.4 s 的洋葱投放发生在任何洋葱入碗之前，是 onions_in_bowl_1 的尝试，而该节点后来在约 531 s 达成，所以不是“未修复”；log 279 的小白菜空夹重试（视频 94–116 s）才是从未修复的最早失败步骤，缺少“没建立接触”。此外碗从台面落到地面这一变化没有在文件中说明。", + "n_issues": 3, + "n_major": 3 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "第2轮复核：断点取小白菜首个节点（视频约105 s、log 279三次空夹）、洋葱约511.5 s、西兰花约580.6 s、韭葱约660.5 s入碗、终值3/13均与帧和 log 一致；现象（没建立接触）与根因（抓取和接触设计，alt_feasible 未知）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": "2026-10-30T21:47:21Z", + "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-sorting-vegetables-i00-standard--tjpylxj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sorting-vegetables-i00-standard--tjpylxj/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sorting-vegetables-i00-standard--tjpylxj/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-sorting-vegetables-i00-standard--tjpylxj/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8d8ac0e5e8b84cc44f7bdbad74b4d4ff14ba6091bb2dd787a7f845756a9eedd2", + "video_sha256": "6c4a98e9db5e058c3411f8f01907e3e1908c7922d4a59ff738c73d510e7bc97d", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/sorting_vegetables/trajectories/behavior-sorting-vegetables-i00-standard--y4r856c.json b/phase2/behavior-1k/sorting_vegetables/trajectories/behavior-sorting-vegetables-i00-standard--y4r856c.json new file mode 100644 index 0000000000000000000000000000000000000000..6f871581cde8386e121150cff9043ef47d86c835 --- /dev/null +++ b/phase2/behavior-1k/sorting_vegetables/trajectories/behavior-sorting-vegetables-i00-standard--y4r856c.json @@ -0,0 +1,409 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sorting-vegetables-i00-standard--y4r856c", + "taskKey": "behavior-1k/sorting_vegetables", + "dag_sha256": "f223bd60cf10453bf9bc51bdfdffbdfba7e9614ddc649875f859654d88e96aee", + "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": 1615, + "sim_steps": 1615, + "physics_steps": 6460, + "steps": 1615, + "elapsed_s": 442.8, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 1, + "q_score": 0.0, + "sim_startups": 3, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.158, + "peak_processes": 10, + "peak_disk_gb": 0.251, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-sorting-vegetables-i00-standard--y4r856c/replay.mp4", + "duration_s": 53.833, + "fps": 30.0, + "frames": 1615, + "sha256": "102d166034c6211dfd0d3f18356354ce4991f19c9b0e28b0440027ced2745503" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 13, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "bok_choy_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 39.0, + "log_step": null, + "text_zh": "观察：视频全程粗查及视频39.0—46.75 s密集帧中，机器人双臂保持收拢，底盘只作扫描、平移并随后翻倒；未见夹爪取菜或向碗内运菜。视频24.0 s菜仍在地面篮中，视频39.0 s可见台面红碗为空，未见“第1棵小白菜入碗”关系建立。" + }, + { + "t": 53.8, + "log_step": null, + "text_zh": "推断：视频53.8 s机器人仍倾倒、镜头贴近地面；末段无法同时看清三只碗，但评分器q_score=0.0、live_matches_replay=1，结合蔬菜起始在篮中、全程未见搬运，判定此入碗节点末态为false；并非仅凭零分推断没有尝试。" + } + ] + }, + "bok_choy_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 39.0, + "log_step": null, + "text_zh": "观察：视频全程粗查及视频39.0—46.75 s密集帧中，机器人双臂保持收拢，底盘只作扫描、平移并随后翻倒；未见夹爪取菜或向碗内运菜。视频24.0 s菜仍在地面篮中，视频39.0 s可见台面红碗为空，未见“第2棵小白菜入碗”关系建立。" + }, + { + "t": 53.8, + "log_step": null, + "text_zh": "推断：视频53.8 s机器人仍倾倒、镜头贴近地面；末段无法同时看清三只碗，但评分器q_score=0.0、live_matches_replay=1，结合蔬菜起始在篮中、全程未见搬运，判定此入碗节点末态为false；并非仅凭零分推断没有尝试。" + } + ] + }, + "bok_choy_in_bowl_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 39.0, + "log_step": null, + "text_zh": "观察：视频全程粗查及视频39.0—46.75 s密集帧中，机器人双臂保持收拢，底盘只作扫描、平移并随后翻倒；未见夹爪取菜或向碗内运菜。视频24.0 s菜仍在地面篮中，视频39.0 s可见台面红碗为空，未见“第3棵小白菜入碗”关系建立。" + }, + { + "t": 53.8, + "log_step": null, + "text_zh": "推断：视频53.8 s机器人仍倾倒、镜头贴近地面；末段无法同时看清三只碗，但评分器q_score=0.0、live_matches_replay=1，结合蔬菜起始在篮中、全程未见搬运，判定此入碗节点末态为false；并非仅凭零分推断没有尝试。" + } + ] + }, + "onions_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 39.0, + "log_step": null, + "text_zh": "观察：视频全程粗查及视频39.0—46.75 s密集帧中，机器人双臂保持收拢，底盘只作扫描、平移并随后翻倒；未见夹爪取菜或向碗内运菜。视频24.0 s菜仍在地面篮中，视频39.0 s可见台面红碗为空，未见“第1个洋葱入碗”关系建立。" + }, + { + "t": 53.8, + "log_step": null, + "text_zh": "推断：视频53.8 s机器人仍倾倒、镜头贴近地面；末段无法同时看清三只碗，但评分器q_score=0.0、live_matches_replay=1，结合蔬菜起始在篮中、全程未见搬运，判定此入碗节点末态为false；并非仅凭零分推断没有尝试。" + } + ] + }, + "onions_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 39.0, + "log_step": null, + "text_zh": "观察：视频全程粗查及视频39.0—46.75 s密集帧中，机器人双臂保持收拢，底盘只作扫描、平移并随后翻倒；未见夹爪取菜或向碗内运菜。视频24.0 s菜仍在地面篮中，视频39.0 s可见台面红碗为空，未见“第2个洋葱入碗”关系建立。" + }, + { + "t": 53.8, + "log_step": null, + "text_zh": "推断：视频53.8 s机器人仍倾倒、镜头贴近地面；末段无法同时看清三只碗，但评分器q_score=0.0、live_matches_replay=1，结合蔬菜起始在篮中、全程未见搬运，判定此入碗节点末态为false；并非仅凭零分推断没有尝试。" + } + ] + }, + "onions_in_bowl_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 39.0, + "log_step": null, + "text_zh": "观察：视频全程粗查及视频39.0—46.75 s密集帧中，机器人双臂保持收拢，底盘只作扫描、平移并随后翻倒；未见夹爪取菜或向碗内运菜。视频24.0 s菜仍在地面篮中，视频39.0 s可见台面红碗为空，未见“第3个洋葱入碗”关系建立。" + }, + { + "t": 53.8, + "log_step": null, + "text_zh": "推断：视频53.8 s机器人仍倾倒、镜头贴近地面；末段无法同时看清三只碗，但评分器q_score=0.0、live_matches_replay=1，结合蔬菜起始在篮中、全程未见搬运，判定此入碗节点末态为false；并非仅凭零分推断没有尝试。" + } + ] + }, + "leeks_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 39.0, + "log_step": null, + "text_zh": "观察：视频全程粗查及视频39.0—46.75 s密集帧中，机器人双臂保持收拢，底盘只作扫描、平移并随后翻倒；未见夹爪取菜或向碗内运菜。视频24.0 s菜仍在地面篮中，视频39.0 s可见台面红碗为空，未见“第1根韭葱入碗”关系建立。" + }, + { + "t": 53.8, + "log_step": null, + "text_zh": "推断：视频53.8 s机器人仍倾倒、镜头贴近地面；末段无法同时看清三只碗，但评分器q_score=0.0、live_matches_replay=1，结合蔬菜起始在篮中、全程未见搬运，判定此入碗节点末态为false；并非仅凭零分推断没有尝试。" + } + ] + }, + "leeks_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 39.0, + "log_step": null, + "text_zh": "观察：视频全程粗查及视频39.0—46.75 s密集帧中，机器人双臂保持收拢，底盘只作扫描、平移并随后翻倒；未见夹爪取菜或向碗内运菜。视频24.0 s菜仍在地面篮中，视频39.0 s可见台面红碗为空，未见“第2根韭葱入碗”关系建立。" + }, + { + "t": 53.8, + "log_step": null, + "text_zh": "推断：视频53.8 s机器人仍倾倒、镜头贴近地面；末段无法同时看清三只碗，但评分器q_score=0.0、live_matches_replay=1，结合蔬菜起始在篮中、全程未见搬运，判定此入碗节点末态为false；并非仅凭零分推断没有尝试。" + } + ] + }, + "broccoli_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 39.0, + "log_step": null, + "text_zh": "观察：视频全程粗查及视频39.0—46.75 s密集帧中，机器人双臂保持收拢，底盘只作扫描、平移并随后翻倒；未见夹爪取菜或向碗内运菜。视频24.0 s菜仍在地面篮中，视频39.0 s可见台面红碗为空，未见“第1棵西兰花入碗”关系建立。" + }, + { + "t": 53.8, + "log_step": null, + "text_zh": "推断：视频53.8 s机器人仍倾倒、镜头贴近地面；末段无法同时看清三只碗，但评分器q_score=0.0、live_matches_replay=1，结合蔬菜起始在篮中、全程未见搬运，判定此入碗节点末态为false；并非仅凭零分推断没有尝试。" + } + ] + }, + "broccoli_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 39.0, + "log_step": null, + "text_zh": "观察：视频全程粗查及视频39.0—46.75 s密集帧中，机器人双臂保持收拢，底盘只作扫描、平移并随后翻倒；未见夹爪取菜或向碗内运菜。视频24.0 s菜仍在地面篮中，视频39.0 s可见台面红碗为空，未见“第2棵西兰花入碗”关系建立。" + }, + { + "t": 53.8, + "log_step": null, + "text_zh": "推断：视频53.8 s机器人仍倾倒、镜头贴近地面；末段无法同时看清三只碗，但评分器q_score=0.0、live_matches_replay=1，结合蔬菜起始在篮中、全程未见搬运，判定此入碗节点末态为false；并非仅凭零分推断没有尝试。" + } + ] + }, + "corn_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 39.0, + "log_step": null, + "text_zh": "观察：视频全程粗查及视频39.0—46.75 s密集帧中，机器人双臂保持收拢，底盘只作扫描、平移并随后翻倒；未见夹爪取菜或向碗内运菜。视频24.0 s菜仍在地面篮中，视频39.0 s可见台面红碗为空，未见“第1根玉米入碗”关系建立。" + }, + { + "t": 53.8, + "log_step": null, + "text_zh": "推断：视频53.8 s机器人仍倾倒、镜头贴近地面；末段无法同时看清三只碗，但评分器q_score=0.0、live_matches_replay=1，结合蔬菜起始在篮中、全程未见搬运，判定此入碗节点末态为false；并非仅凭零分推断没有尝试。" + } + ] + }, + "corn_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 39.0, + "log_step": null, + "text_zh": "观察：视频全程粗查及视频39.0—46.75 s密集帧中，机器人双臂保持收拢，底盘只作扫描、平移并随后翻倒；未见夹爪取菜或向碗内运菜。视频24.0 s菜仍在地面篮中，视频39.0 s可见台面红碗为空，未见“第2根玉米入碗”关系建立。" + }, + { + "t": 53.8, + "log_step": null, + "text_zh": "推断：视频53.8 s机器人仍倾倒、镜头贴近地面；末段无法同时看清三只碗，但评分器q_score=0.0、live_matches_replay=1，结合蔬菜起始在篮中、全程未见搬运，判定此入碗节点末态为false；并非仅凭零分推断没有尝试。" + } + ] + }, + "corn_in_bowl_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 39.0, + "log_step": null, + "text_zh": "观察：视频全程粗查及视频39.0—46.75 s密集帧中，机器人双臂保持收拢，底盘只作扫描、平移并随后翻倒；未见夹爪取菜或向碗内运菜。视频24.0 s菜仍在地面篮中，视频39.0 s可见台面红碗为空，未见“第3根玉米入碗”关系建立。" + }, + { + "t": 53.8, + "log_step": null, + "text_zh": "推断：视频53.8 s机器人仍倾倒、镜头贴近地面；末段无法同时看清三只碗，但评分器q_score=0.0、live_matches_replay=1，结合蔬菜起始在篮中、全程未见搬运，判定此入碗节点末态为false；并非仅凭零分推断没有尝试。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": 41.5, + "log_step": 19, + "where": "探索", + "evidence_zh": "观察：视频39.0 s机器人仍空手朝向地面菜篮，视频41.5—43.5 s相机随本体明显倾转，视频52.8—53.8 s持续贴近地面；log step 19底盘移动调用返回“failure: the robot fell over”，log step 20服务确认done=True、control_steps=1615。推断：这是寻找另一只菜篮时的场景探索失败；视频中未开始对某一种菜的抓取，不能唯一对应13个入碗节点，故ref为unknown。" + }, + "unmet": { + "bok_choy_in_bowl_1": false, + "bok_choy_in_bowl_2": false, + "bok_choy_in_bowl_3": false, + "onions_in_bowl_1": false, + "onions_in_bowl_2": false, + "onions_in_bowl_3": false, + "leeks_in_bowl_1": false, + "leeks_in_bowl_2": false, + "broccoli_in_bowl_1": false, + "broccoli_in_bowl_2": false, + "corn_in_bowl_1": false, + "corn_in_bowl_2": false, + "corn_in_bowl_3": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 41.5, + "log_step": 19, + "evidence_zh": "观察：视频41.5—43.5 s柜门边线和地面随机器人视角持续倾转，视频44 s后头部画面一度被近处表面遮挡；视频52.8—53.8 s仍贴地且未恢复。log step 19记录底盘竖直度tilt=0.5068，随后服务报机器人跌倒，log step 20确认episode结束。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "source_zh": "日志 / agent 自述 / 视频", + "evidence_zh": "观察：log step 15的goto代码直接把当前位置到目标点的差值交给base_move，未调用log step 13构建的地图检查障碍或选取绕行点；log step 19执行goto(5.2,0.0,None)，移动后机器人倾斜并终止。agent在log step 23自述“地图显示岛台角，但未检查路径，直线穿过岛台角”；视频41.5—43.5 s在岛台旁发生明显倾倒。推断：选择未经障碍检查的直线路径是此次探索移动失败的规划原因；具体碰撞部位来自agent自述，镜头不能直接确认底盘接触点。" + } + ], + "gap_zh": "没有状态日志，头部和腕部相机未直接显示底盘与岛台的接触点，碰撞位置只由agent自述支持。机器人翻倒前尚在找菜篮，未对某一种蔬菜作出明确搬运尝试，无法把断点唯一绑定到DAG节点；因此ref为unknown，所有入碗节点均不添加contact_actual。末帧看不全各碗，末态false结合全程未搬运及评分器总分推断。" + }, + "summary_zh": "机器人完成厨房环视、查看一只菜篮并移动底盘，但未建立任何蔬菜入碗关系，最终为0/13。视频约41.5 s起机器人在继续寻找另一只菜篮时倾倒，服务随后确认跌倒终止；日志支持未经障碍检查的直线路径规划导致失败。没有状态日志且底盘接触点被遮挡，探索尚未指向唯一的入碗节点，断点记为unknown。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "进度全0、末态false、跌倒现象与规划根因均有视频和log支持；主要问题是断点ref写成unknown：13个入碗节点同类可互换并按after串成链，机器人在找菜篮、准备开始第一步时翻倒，证据足以指向第一步。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "全0进度、末态false、平衡现象、直线路径规划根因均有视频与log支持；ref=unknown的理由（五条独立计数链，未开始任何一种蔬菜的搬运）已在上一轮以DAG证据确立，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": "2026-10-30T21:42:41Z", + "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-sorting-vegetables-i00-standard--y4r856c/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sorting-vegetables-i00-standard--y4r856c/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sorting-vegetables-i00-standard--y4r856c/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-sorting-vegetables-i00-standard--y4r856c/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1786ccc0b395dc12a7c615fef533e6214006e8a95bb988e9ed6d5f035d4c1d13", + "video_sha256": "102d166034c6211dfd0d3f18356354ce4991f19c9b0e28b0440027ced2745503", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/store_produce/trajectories/behavior-store-produce-i00-privileged--fxjynf4.json b/phase2/behavior-1k/store_produce/trajectories/behavior-store-produce-i00-privileged--fxjynf4.json new file mode 100644 index 0000000000000000000000000000000000000000..dfe5eb18781d74ecd631faa4678d3b2ab87f355d --- /dev/null +++ b/phase2/behavior-1k/store_produce/trajectories/behavior-store-produce-i00-privileged--fxjynf4.json @@ -0,0 +1,296 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-store-produce-i00-privileged--fxjynf4", + "taskKey": "behavior-1k/store_produce", + "dag_sha256": "a75b6e48dd34ff9492abf85863ecce50ec362ddbaf105b678d327248253f48b4", + "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": 5680, + "sim_steps": 5680, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 2054.8, + "replay_timeout_s": 4040.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 1, + "agent_resets": 4, + "agent_sim_steps": 0, + "agent_records": 0, + "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-store-produce-i00-privileged--fxjynf4/replay.mp4", + "duration_s": 189.333, + "fps": 30.0, + "frames": 5680, + "sha256": "d86ad61e3a72e2752c41e3330839e5c255d97b1c9d5659bcd395fa6561da36a8" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 23.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 15, + "log_step": null, + "text_zh": "观察：视频 15.0–20.0 s 两台玻璃门仍近乎贴合柜体；视频 23.0–25.5 s 机器人左夹爪牵引左侧冰箱门向外转开，门板明显离开门框并露出搁架入口。起点按视频半秒采样估计。" + }, + { + "t": 189.25, + "log_step": null, + "text_zh": "观察：视频 189.25 s 门已回到关闭位置；本节点是打开事件，曾打开即保留达成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 20.0–25.5 s 左夹爪在门把手处合拢并随门一起移动，牵引门板打开；log step 27 的夹爪挂接读数与此动作相符。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0.0–13.0 s 底盘驶近冰箱，视频 20.0–25.5 s 沿门转动方向移动，配合左夹爪拉门。" + } + ] + }, + "mangos_in_fridge_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 68, + "log_step": 54, + "text_zh": "观察：视频 58.0–61.0 s、65.0–68.0 s 机器人左夹爪先后伸向篮中黄色芒果并闭合上提；视频 68.0 s 的腕视图仍清楚显示两个黄色芒果及两个红色石榴在篮内，没有可核实的离篮搬运。log step 54 的会话输出称已抓住 mango.n.02_2，不能替代该视频观察。" + }, + { + "t": 97.4, + "log_step": 57, + "text_zh": "观察：视频 94.0–98.5 s 机器人左臂在冰箱搁架入口前伸并张爪，但画面没有显示芒果随手进入柜内或从柜内滚出；不采用会话中放置后的水果坐标作为评分视频的物体位置。" + }, + { + "t": 189.25, + "log_step": null, + "text_zh": "推断：视频后续重试至视频 189.25 s 均未显示合格芒果留在柜内，且评分器 reward.q_score=0；初始两个芒果都在篮中，因此末态本节点为假。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：机器人夹爪伸入篮中并闭合、提起，但水果与指腹接触区域被夹爪及篮沿遮挡；视频中的水果没有随手离篮，不能确认对向夹持。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 28.0–45.0 s 底盘驶往果篮，视频 79.0–94.0 s 又驶回冰箱；这是该放入步骤的取物与运送尝试，未确认夹爪实际携果。" + } + ] + }, + "mangos_in_fridge_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 79, + "log_step": null, + "text_zh": "观察：视频 68.0 s 和 79.0 s 篮中仍可辨认两个黄色芒果；机器人没有取出第二个芒果并另行运入冰箱的可见动作。源实例名 mango.n.02_2 不代表已完成计数节点“第2个”。" + }, + { + "t": 189.25, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0，结合视频起始水果均在篮中和全程未见入柜，末态不可能有两个合格芒果在同一冰箱内。" + } + ] + }, + "pomegranates_in_fridge_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 53.5, + "log_step": 43, + "text_zh": "观察：视频 49.0–53.0 s 机器人左夹爪下降至篮中红色石榴附近、闭合后上提；视频 53.5–55.0 s 两个红色石榴仍在篮内，未随夹爪离篮。" + }, + { + "t": 79, + "log_step": 55, + "text_zh": "观察：视频 73.0–78.0 s 机器人另一夹爪再次探入篮中；视频 79.0 s 腕视图仍清楚显示两红两黄四个水果留在篮内，与 log step 55 的会话输出称右爪已持有石榴不一致，按视频不计取出或入柜。" + }, + { + "t": 189.25, + "log_step": null, + "text_zh": "推断：视频 94.0–189.25 s 的柜前操作没有显示石榴进入搁架，末帧不能看清全部水果；评分器 reward.q_score=0，结合初始水果均在篮中，决定末态合格石榴计数为0。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：机器人夹爪伸入篮中并闭合、提起，但水果与指腹接触区域被夹爪及篮沿遮挡；视频中的水果没有随手离篮，不能确认对向夹持。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 28.0–45.0 s 底盘驶往果篮，视频 79.0–94.0 s 又驶回冰箱；这是该放入步骤的取物与运送尝试，未确认夹爪实际携果。" + } + ] + }, + "pomegranates_in_fridge_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 79, + "log_step": null, + "text_zh": "观察：视频 54.0 s、68.0 s 和 79.0 s 可见两个红色石榴仍在篮中；随后机器人留在冰箱附近，没有返回搬运另一石榴的过程。" + }, + { + "t": 189.25, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0，结合视频初始四果均在篮中和未见石榴入柜，末态不可能有两个合格石榴在同一冰箱内。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "pomegranates_in_fridge_1", + "t": 53.5, + "log_step": 43, + "where": "操作中", + "evidence_zh": "观察：视频 49.0–53.5 s 机器人左夹爪向篮中石榴闭合并上提，视频 54.0 s 两颗石榴仍留在篮中；视频 73.0–79.0 s 再试后两颗仍在，未修复这一取果失败。机器人随后继续柜前动作至视频 189.25 s，仍没有石榴入柜证据。这是第1个石榴入冰箱步骤中的首次未修复失败，而不是把会话记录的芒果落地当作评分视频事件。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 53.5, + "log_step": 43, + "evidence_zh": "观察：视频 51.0–55.0 s 机器人夹爪闭合上提时红色石榴没有随手离篮；视频 73.0–79.0 s 再次闭合提手后两颗石榴仍在篮中。所需的有效抓取接触未建立；这不表示机器人完全没有碰到水果或篮子。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：机器人在视频 49.0–55.0 s 及73.0–79.0 s 已把夹爪送到正确果篮中的石榴附近并执行闭合、抬臂，却没有带走石榴；log step 43 的会话诊断也记录左夹爪 got None / after lift None。目标和取果意图正确，证据支持抓取执行失败，但不足以区分接触设计、逆解误差或反馈控制。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "没有状态日志或可用的成功参考视频；指腹接触和闭爪后的持物区域存在遮挡，不能确认每次尝试的具体接触方式。log step 54–57 的会话输出称夹持并搬运水果、在柜外释放，但视频 68.0 s 与79.0 s 仍见两红两黄四果在篮中，视频 96.8–98.4 s 未见可辨认的芒果下落，因此不能把会话位置或规范中的同名案例描述当成本次视频事件。log step 66 保存5680行动，评分视频也为5680帧；会话经过多次重置与分段录制，末段抓取读数不直接用作评分进度，差异来源无法由现有输入确定。末态水果具体位置被视角遮挡，四个目标节点的最终假值由评分器 q_score=0 与初始条件联合确定。", + "unmet": { + "mangos_in_fridge_1": false, + "mangos_in_fridge_2": false, + "pomegranates_in_fridge_1": false, + "pomegranates_in_fridge_2": false + } + }, + "summary_zh": "评分轨迹只完成打开冰箱事件，四个水果入柜节点均未达成，最终进度1/5，评分器 q_score=0。视频中首次石榴抓取在视频约53.5 s 提手后仍留在篮内，后续重试未修复，归为没建立有效抓取接触及控制失败。会话后段的成功持果与柜外释放读数和视频篮中仍有四果不一致；缺少状态日志，按评分视频判进度并保留差异。", + "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 20/25 s 开门、30–79 s 取果、82–124 s 柜前动作、150/189 s 末态：开门约 23 s 成立，之后全程未见水果离篮或入柜，进度 1/5、断点在石榴取果、接触未建立 + 控制（未细分）均有视频支撑，且未把会话读数当作评分视频事实。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": "2026-10-30T21:39:15Z", + "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-store-produce-i00-privileged--fxjynf4/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-store-produce-i00-privileged--fxjynf4/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b862be34f3cb176650666b6a9928476ee0a14f17887d836d1d85ad9532250264", + "video_sha256": "d86ad61e3a72e2752c41e3330839e5c255d97b1c9d5659bcd395fa6561da36a8", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/store_produce/trajectories/behavior-store-produce-i00-privileged--hapjgks.json b/phase2/behavior-1k/store_produce/trajectories/behavior-store-produce-i00-privileged--hapjgks.json new file mode 100644 index 0000000000000000000000000000000000000000..f109ccd5cf5a0df662209f741e2cb857efb147b1 --- /dev/null +++ b/phase2/behavior-1k/store_produce/trajectories/behavior-store-produce-i00-privileged--hapjgks.json @@ -0,0 +1,294 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-store-produce-i00-privileged--hapjgks", + "taskKey": "behavior-1k/store_produce", + "dag_sha256": "a75b6e48dd34ff9492abf85863ecce50ec362ddbaf105b678d327248253f48b4", + "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": 2053, + "sim_steps": 2053, + "fallen": 1, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 802.2, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 38, + "agent_resets": 5, + "agent_sim_steps": 40590, + "agent_records": 8, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 6.721, + "peak_memory_gb": 12.422, + "peak_processes": 42, + "peak_disk_gb": 2.553, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-store-produce-i00-privileged--hapjgks/replay.mp4", + "duration_s": 68.433, + "fps": 30.0, + "frames": 2053, + "sha256": "6525e5dba3f8f12a73167080cc4cfcd18e2183aef14283218d51923ab396589e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 10.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 10.5, + "log_step": null, + "text_zh": "观察：视频 10.5–13.0 s，头部视角显示一扇冰箱门板已向右外侧转开，柜内多层搁架和可进入的空间露出；到视频 22.0 s 机器人离开前仍可见打开的柜门。首次明确看清开门结果约在视频 10.5 s，时间有约半秒误差。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0.0–3.0 s，轮式底盘承载机器人向冰箱前移动并调整朝向。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 3.0–10.5 s，机器人在冰箱前操作，随后门打开；末端与把手接触处被机械臂和视角遮挡，无法看清是双指夹持还是勾拉。" + } + ] + }, + "mangos_in_fridge_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 38.0, + "log_step": null, + "text_zh": "观察：视频 38.0–42.5 s，左腕视角可见两个黄绿色芒果和两个红色石榴都在柜外篮中；后续机器人仅取出一个石榴，视频 49.5–62.0 s 该石榴随左夹爪移动，未见其他水果被取出或送入冰箱。" + }, + { + "t": 68.4, + "log_step": null, + "text_zh": "推断：全段视频未出现第1个芒果入柜操作；视频 67.4–68.4 s 机器人仍倾倒，评分器 q_score=0.0，结合上述初态与操作过程，第1个芒果入冰箱最终不成立，未观察到成立区间。" + } + ] + }, + "mangos_in_fridge_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 38.0, + "log_step": null, + "text_zh": "观察：视频 38.0–42.5 s，左腕视角可见两个黄绿色芒果和两个红色石榴都在柜外篮中；后续机器人仅取出一个石榴，视频 49.5–62.0 s 该石榴随左夹爪移动，未见其他水果被取出或送入冰箱。" + }, + { + "t": 68.4, + "log_step": null, + "text_zh": "推断：全段视频未出现第2个芒果入柜操作；视频 67.4–68.4 s 机器人仍倾倒，评分器 q_score=0.0，结合上述初态与操作过程，第2个芒果入冰箱最终不成立，未观察到成立区间。" + } + ] + }, + "pomegranates_in_fridge_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 38.0, + "log_step": null, + "text_zh": "观察：视频 38.0 s 左腕视角可见篮中的两个红色石榴及两个黄绿色芒果；机器人随后将左夹爪伸向红色石榴。" + }, + { + "t": 53.0, + "log_step": null, + "text_zh": "观察：视频 49.5–53.0 s，左夹爪两指夹住一个石榴；石榴离开篮子，背景从篮壁变为地板，仍随夹爪移动。机器人在已倾斜的状态下取出石榴，携果离开篮子时倾斜加剧，未到冰箱内放置。" + }, + { + "t": 68.4, + "log_step": null, + "text_zh": "观察：视频 67.4–68.4 s，机器人视角仍严重侧倾，未恢复入柜操作；评分器 reward.fallen=1、q_score=0.0。" + }, + { + "t": 68.4, + "log_step": null, + "text_zh": "推断：结合篮中初态、视频中只有这一次石榴搬运且未到柜内，以及评分器 q_score=0.0，第1个石榴入冰箱在结束时不成立，未观察到任何成立区间。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 49.5–53.0 s，左侧二指夹爪从两侧夹住红色石榴并抬离篮子；视频 53.0–62.0 s 石榴仍在左腕视角中随手移动。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 52.0–58.0 s，机器人携带左爪中的石榴离开篮子，轮式底盘移动期间机体持续倾斜，未完成送入冰箱。" + } + ] + }, + "pomegranates_in_fridge_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 38.0, + "log_step": null, + "text_zh": "观察：视频 38.0–42.5 s，左腕视角可见两个黄绿色芒果和两个红色石榴都在柜外篮中；后续机器人仅取出一个石榴，视频 49.5–62.0 s 该石榴随左夹爪移动，未见其他水果被取出或送入冰箱。" + }, + { + "t": 68.4, + "log_step": null, + "text_zh": "推断：全段视频未出现第2个石榴入柜操作；视频 67.4–68.4 s 机器人仍倾倒，评分器 q_score=0.0，结合上述初态与操作过程，第2个石榴入冰箱最终不成立，未观察到成立区间。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "pomegranates_in_fridge_1", + "t": 36.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 31–34 s，头部视角从前方抬向天花板和墙面；视频 35–38 s，左腕视角靠近篮口，视频 36.0–38.0 s 头部及腕部画面出现明显滚转，炉台和墙面斜置。视频 38–42 s 与视频 48–51 s 取果期间仍可见明显倾斜，视频 51–53 s 石榴离篮并随左夹爪移动，视频 52–54 s 倾斜进一步加剧；视频 67.4–68.4 s 仍严重侧倾，未完成石榴入柜。推断：视频约 36 s 机器人已向篮中水果伸臂，归于第1个石榴入冰箱的操作中；该步随后始终未完成，以此时的明显滚转作为失衡断点的近似锚点，而不是以携果后的加剧时刻为起点。" + }, + "unmet": { + "mangos_in_fridge_1": false, + "mangos_in_fridge_2": false, + "pomegranates_in_fridge_1": false, + "pomegranates_in_fridge_2": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 36.0, + "log_step": null, + "evidence_zh": "观察：视频 31–34 s 头部视角仰向天花板和墙面，视频 36.0–38.0 s 头部及腕部画面明显滚转；视频 38–42 s 与视频 48–51 s 取果过程中炉台和墙面斜置，石榴随后离篮，视频 52–54 s 携果移动时倾斜加剧。视频 67.4–68.4 s 机载画面仍严重侧倾，inputs/run.json 的 reward.fallen=1。推断：失衡倾斜在石榴离篮前已经出现，约视频 36 s 为可见滚转的近似起点。" + } + ], + "root_causes": [], + "gap_zh": "观察：inputs/ 有完整视频和运行日志，但无逐帧状态日志，参考 oracle 也没有视频；机载视角无法显示轮地支承、底盘碰撞点及开门时夹爪与把手的具体接触。日志包含多次测试和脚本改版，最后的 agent 自述仍在等待生成（log step 697），现有可读回执未能将评分的2053步文件可靠对应到某一次完整执行。推断：可以确认取果前已出现明显滚转、携果时倾斜加剧，但不足以区分碰撞、载荷姿态或运动控制参数等具体成因，根因层留空；不将会话里其他尝试的结果计入本次进度。" + }, + "summary_zh": "评分轨迹完成打开冰箱，最终进度为1/5，两个芒果与两个石榴的入柜节点均未完成。约视频 36 s 起机器人向篮中水果伸臂时出现明显失衡倾斜，之后仍用左夹爪取出一个石榴，视频 52–54 s 携果时进一步倾倒；断点为第1个石榴入冰箱，现象为全身失衡，评分器 fallen=1、q_score=0.0 与视频一致。缺少逐帧状态及可对应交付文件的完整执行回执，具体失衡根因无法确定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值（仅打开冰箱成立、其余未成立）与评分器 q_score=0 一致；但失衡的起点被标得过晚：头部视角在视频约 31–37 s 已转向天花板/墙面并出现明显滚转，38–50 s 全程倾斜，比标注的 52.3 s 早很多，断点时间、现象时间和证据叙述都需要改。", + "n_issues": 2, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值（仅打开冰箱成立，其余四个入柜节点未成立）与评分器 q_score=0、fallen=1 一致；视频 10.5 s 起冰箱门已开，视频 53 s 左夹爪持石榴离篮，断点和全身·平衡现象与帧相符，根因层留空并附 gap_zh 合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:45:49Z", + "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-store-produce-i00-privileged--hapjgks/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-store-produce-i00-privileged--hapjgks/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-store-produce-i00-privileged--hapjgks/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-store-produce-i00-privileged--hapjgks/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "9814423d1af7754dc8317b422a91b16e624be90aa681991b0addb5e7fa753189", + "video_sha256": "6525e5dba3f8f12a73167080cc4cfcd18e2183aef14283218d51923ab396589e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/store_produce/trajectories/behavior-store-produce-i00-privileged--jr5gkxd.json b/phase2/behavior-1k/store_produce/trajectories/behavior-store-produce-i00-privileged--jr5gkxd.json new file mode 100644 index 0000000000000000000000000000000000000000..2f3bb56f4511d22cac17c0ffbb6627774e7cf6e6 --- /dev/null +++ b/phase2/behavior-1k/store_produce/trajectories/behavior-store-produce-i00-privileged--jr5gkxd.json @@ -0,0 +1,303 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-store-produce-i00-privileged--jr5gkxd", + "taskKey": "behavior-1k/store_produce", + "dag_sha256": "a75b6e48dd34ff9492abf85863ecce50ec362ddbaf105b678d327248253f48b4", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 2577, + "sim_steps": 2577, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 748.2, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 16, + "agent_resets": 1, + "agent_sim_steps": 16130, + "agent_records": 6, + "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-store-produce-i00-privileged--jr5gkxd/replay.mp4", + "duration_s": 85.9, + "fps": 30.0, + "frames": 2577, + "sha256": "f0e329e57494aaeb829b4c49663cc4feb0636e3baf4f047c75b38d2ceaa3e904" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8, + "log_step": 132, + "text_zh": "观察：视频 4.0–32.5 s，机器人左臂在玻璃冰箱门前反复靠近、闭合夹爪并移动，腕部画面中的搁架和门框未随夹爪向外转出，没有形成可进入的柜口；视频 33.5 s 机器人离开冰箱。log step 132 的主轨迹生成日志记载三次 S1 尝试均 held None，随后 S4 拖拉的门角均为 0。" + }, + { + "t": 85.87, + "log_step": null, + "text_zh": "观察：视频 70.0–85.87 s，机器人持石榴返回同一柜门前，门仍未向外打开；视频 82.2–82.6 s 石榴从柜外夹爪处落下，最后一帧可见红果在柜前地板上。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 4.0–32.5 s 左夹爪反复伸向冰箱门；腕相机朝柜内、主视角偏向墙面，指腹与玻璃或门边的接触面被遮住，无法确认实际是压擦、勾拉还是仅贴近，未见成功夹持门板。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0.0–4.0 s 底盘驶到冰箱前，视频 20.0–27.0 s 还调整位置以配合开门尝试。" + } + ] + }, + "mangos_in_fridge_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 43, + "log_step": 132, + "text_zh": "观察：视频 40.0–44.0 s，两只黄色芒果均留在篮中，机器人移动并把左臂伸向篮子附近，未将芒果夹离；log step 132 的主轨迹日志记载第一次芒果抓取 pre unreachable。" + }, + { + "t": 57, + "log_step": null, + "text_zh": "观察：视频 46.5–50.5 s 篮子已翻倒，两只黄色芒果均在柜外地板上；视频 57.0 s 它们仍在取果区地面，机器人随后只运走红色石榴。" + }, + { + "t": 85.87, + "log_step": null, + "text_zh": "推断：初始水果位于柜外篮中，视频中没有芒果入柜过程；评分器 reward.q_score=0.0，且本任务目标为四个水果的入柜字面量，因此结束时连第1个芒果入柜也不成立。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 41.0–44.0 s 底盘驶近并调整篮旁站位，进行第一次芒果取果作业；未完成入柜。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 41.0–44.0 s 左臂在篮旁活动，未见目标水果被夹离；腕部视角和篮沿遮挡，不能确认夹爪是否直接接触水果或具体接触方式。同类计数节点的接触按两次独立取果作业先后记录，不代表已满足入柜计数。" + } + ] + }, + "mangos_in_fridge_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 46.5, + "log_step": 132, + "text_zh": "观察：视频 44.5–46.5 s 机器人左夹爪接近篮沿，篮子翻倒，两个黄色芒果和两个红色石榴散到地板；视频 46.5–50.5 s 未见任何芒果被夹起。log step 132 主轨迹日志记载第二次芒果取果 held=None 后失败。" + }, + { + "t": 85.87, + "log_step": null, + "text_zh": "推断：视频 57.0 s 两个芒果仍在取果区地板上，之后机器人仅搬运石榴；结合评分器 q_score=0.0，第2个芒果入柜终值为假。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 44.0–50.5 s 底盘驶近并调整篮旁站位，进行第二次芒果取果作业；未完成入柜。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 44.0–50.5 s 左臂在篮旁活动，未见目标水果被夹离；腕部视角和篮沿遮挡，不能确认夹爪是否直接接触水果或具体接触方式。同类计数节点的接触按两次独立取果作业先后记录，不代表已满足入柜计数。" + } + ] + }, + "pomegranates_in_fridge_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 40.5, + "log_step": 132, + "text_zh": "观察：视频 40.0–41.0 s 左夹爪靠近盛有两个红色石榴和两个黄色芒果的篮子，但红果未离开篮子；log step 132 主轨迹日志记载第一次石榴取果 pre unreachable。" + }, + { + "t": 54.2, + "log_step": 130, + "text_zh": "观察：视频 51.6–54.2 s 一个红色石榴从原来的地面位置被左夹爪夹起，视频 54.2–75.0 s 随机器人移动到冰箱前；取果区还留下另一个红果和两个黄果。" + }, + { + "t": 85.87, + "log_step": 138, + "text_zh": "观察：视频 75.0–82.0 s 被搬运的石榴仍夹在柜外，视频 82.2–82.6 s 从张开的夹爪处下落，视频 84.4–85.87 s 可见它位于柜前地板，没有进入搁架内部；log step 138 保存的主轨迹状态 success=False、q_score=0.0。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 35.5–41.0 s 底盘驶近并调整篮旁站位，进行第一次石榴取果作业；未完成入柜。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 35.5–41.0 s 左臂在篮旁活动，未见目标水果被夹离；腕部视角和篮沿遮挡，不能确认夹爪是否直接接触水果或具体接触方式。同类计数节点的接触按两次独立取果作业先后记录，不代表已满足入柜计数。" + } + ] + }, + "pomegranates_in_fridge_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 57, + "log_step": null, + "text_zh": "观察：视频 54.2–57.0 s 左爪持有一个石榴，另一个石榴仍在取果区地板上；之后机器人仅把所持红果运向冰箱，没有再取另一红果。" + }, + { + "t": 85.87, + "log_step": null, + "text_zh": "推断：视频 82.2–85.87 s 唯一被运走的红果也落在冰箱外，未见两个石榴入柜；评分器 q_score=0.0 进一步决定第2个石榴入柜终值为假。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：第二次石榴取果作业中，视频 52.4–54.2 s 左侧二指夹爪夹住一个红色石榴并将其带离地面，视频 75.0–82.0 s 仍可见两指从相对两侧夹住红果，随后张爪释放；此接触记录不代表两果已入柜。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 49.0–51.6 s 底盘调整取果站位，视频 54.2–70.0 s 底盘承载夹爪中的石榴行驶到冰箱前。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "fridge_opened", + "t": 8.0, + "log_step": 132, + "where": "操作中", + "evidence_zh": "观察：视频 4.0–32.5 s 机器人多次把左夹爪伸到冰箱门前，夹爪移动而门框没有向外展开，视频 33.5 s 随即离开；log step 132 对应主交付轨迹，三次硬压尝试均 held None、拖拉后门角为 0。视频 70.0–85.87 s 返回时也未修复开门，故断点取最早未修复的打开冰箱步骤，视频 8.0 s 仅为首次尝试附近的导航锚点。" + }, + "unmet": { + "mangos_in_fridge_1": false, + "mangos_in_fridge_2": false, + "pomegranates_in_fridge_1": false, + "pomegranates_in_fridge_2": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 8.0, + "log_step": 132, + "evidence_zh": "推断：视频 4.0–32.5 s 左夹爪接近、闭合和移开时，门未随夹爪被拉出，也未见两指包住门边；对应主轨迹的 log step 132 三次尝试 held None，后续拖拉门角仍为 0。未建立能把门带开的抓握接触，而不是抓住后脱落；指腹是否短暂碰到门面仍受遮挡。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "source_zh": "日志", + "evidence_zh": "推断：主轨迹 log step 132 的 flat-hard、flat-harder、west-hard 虽报告末端误差分别约 0.002、0.023、0.0 m，却全部 held None，拖拉仍不能带动门；会话诊断 log step 87 还实际打印出两指对门的 contact 集合非空，但 ray 集合为空、候选和 held 为 None，表明所选门面压靠没有形成辅助抓取所需的夹持几何。视频 4.0–32.5 s 门不随夹爪打开与此相符；这是接触设计不足的推断，会话测试只用于解释根因，不能证明本次视频中具体接触对，亦未验证所有合法替代方案均不可行。" + } + ], + "gap_zh": "观察：inputs/ 没有状态日志，inputs/oracle/oracle.json 记载成功参考无视频；本视频开门时头部多看向墙面，腕相机多看向柜内，指腹与门边接触面隐藏，无法判定实际开门接触方式及精确接触时刻。inputs/run.json 的部分工具输出、交付脚本正文已被截断；log step 149–155 是主轨迹保存和验证之后的其他测试，不能作为本次节点进度。agent 在 log step 152、155、157 自述碰撞过滤使任务不可能，但会话 log step 87、97 曾打印出门接触，现有证据不足以排除所有合法开门方案，故不归因为任务或环境；抓取几何根因保留为推断。" + }, + "summary_zh": "观察：交付视频中机器人反复尝试开冰箱，随后两次尝试取芒果、两次尝试取石榴，篮子翻倒后只夹起并运走一个石榴，最后在柜外松手落地，五个节点最终均未完成。推断：首个未修复断点是打开冰箱，夹爪未形成能拉门的夹持接触，日志支持所选接触几何不适配；后续测试没有替换主交付轨迹。观察：缺少状态日志和成功参考视频，开门接触面被遮挡，无法验证 agent 所称的环境不可解。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽查视频多帧：门未见打开、石榴最终落在柜外，五节点均未达成、断点取 fridge_opened 与证据相符；视角遮挡下接触与根因标为推断且保守，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": "2026-10-30T21:33:39Z", + "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-store-produce-i00-privileged--jr5gkxd/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-store-produce-i00-privileged--jr5gkxd/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2a5a06317e2bf222bc782148fb00fea787e54b1d4403e3249edc276c6b373f65", + "video_sha256": "f0e329e57494aaeb829b4c49663cc4feb0636e3baf4f047c75b38d2ceaa3e904", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/store_produce/trajectories/behavior-store-produce-i00-privileged--tqkimru.json b/phase2/behavior-1k/store_produce/trajectories/behavior-store-produce-i00-privileged--tqkimru.json new file mode 100644 index 0000000000000000000000000000000000000000..70724ab227cf9e83a8a5f9b417488c33189fd198 --- /dev/null +++ b/phase2/behavior-1k/store_produce/trajectories/behavior-store-produce-i00-privileged--tqkimru.json @@ -0,0 +1,332 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-store-produce-i00-privileged--tqkimru", + "taskKey": "behavior-1k/store_produce", + "dag_sha256": "a75b6e48dd34ff9492abf85863ecce50ec362ddbaf105b678d327248253f48b4", + "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": 3307, + "sim_steps": 3307, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 1208.9, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 13, + "agent_resets": 3, + "agent_sim_steps": 6576, + "agent_records": 36, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-store-produce-i00-privileged--tqkimru/replay.mp4", + "duration_s": 110.233, + "fps": 30.0, + "frames": 3307, + "sha256": "1905d255822cabe057ec7f648ea0015b5ade6709828985abcd413bb1e792e680" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 10.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8.5, + "log_step": null, + "text_zh": "观察：视频 8.5 s 冰箱门仍接近门框；视频 9.5–10.5 s，机器人左臂留在门边，底盘转动时门板向外转开，柜口逐渐露出。" + }, + { + "t": 13.0, + "log_step": 360, + "text_zh": "观察：视频 12.5–14.75 s 可清楚看到向外打开的门板和可进入的搁架空间；开门事件约记为视频 10.0 s，时间误差约半秒。log step 360 的最后一次生成运行输出也记录左爪挂接冰箱及门随底盘转动，但节点完成以视频为据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "推断：视频 8.5–11.5 s 左夹爪在冰箱门边保持位置，门随机器人转动被拉开，结合 log step 360 的夹爪挂接 electric_refrigerator.n.01_2 读数，判定为左二指夹爪夹持门边；不是按 DAG 假定抓住把手。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0–4 s 机器人驶至冰箱前；视频 9–12 s 底盘移动、转向，配合左夹爪牵引门板。" + } + ] + }, + "mangos_in_fridge_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 34.0, + "log_step": null, + "text_zh": "观察：视频 32–63.5 s 机器人在柜外藤篮旁反复开合左夹爪，篮中仍能看到黄色和红色水果；视频 64–81 s 机器人换方向尝试后，藤篮仍留在原工作区，没有随夹爪抬起或被送入冰箱。整个已检查流程未出现至少1个芒果进入柜内的动作。" + }, + { + "t": 110.2, + "log_step": 373, + "text_zh": "观察：视频 81–110.2 s 机器人空手离开藤篮，视频 109.233–110.2 s 末段仍为空手；log step 373 记录最终保存 3307 行且四果位置仍在果篮工作区附近，和本视频的 3307 帧及动作顺序一致。" + }, + { + "t": 110.2, + "log_step": null, + "text_zh": "推断：本局四果起初都在柜外藤篮内，没有初始入柜目标可被 q_score 排除；inputs/run.json 的评分器 q_score=0.0，故末态不可能满足至少1个芒果入柜。该总分与视频中取篮失败、随后空手离开的过程共同支持 final=false，而非仅凭零分判定从未操作。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 15–32 s 底盘承载机器人驶向装有四果的藤篮，视频 81–110.2 s 又空手驶离。推断：结合 log step 312、353 的整篮搬运脚本，此次取篮同时服务于两个芒果和两个石榴入柜；未成功携篮运输。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 32–81 s 左夹爪在藤篮旁反复伸出、开合和抬起，篮子始终没有随手离地。夹爪内可见空隙，局部被腕部、篮沿遮挡，无法确认是否擦碰篮壁；不把抓取命令或篮子原本承托水果记成实际抓握或手持工具接触。" + } + ] + }, + "mangos_in_fridge_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 34.0, + "log_step": null, + "text_zh": "观察：视频 32–63.5 s 机器人在柜外藤篮旁反复开合左夹爪，篮中仍能看到黄色和红色水果；视频 64–81 s 机器人换方向尝试后，藤篮仍留在原工作区，没有随夹爪抬起或被送入冰箱。整个已检查流程未出现至少2个芒果进入柜内的动作。" + }, + { + "t": 110.2, + "log_step": 373, + "text_zh": "观察：视频 81–110.2 s 机器人空手离开藤篮，视频 109.233–110.2 s 末段仍为空手；log step 373 记录最终保存 3307 行且四果位置仍在果篮工作区附近，和本视频的 3307 帧及动作顺序一致。" + }, + { + "t": 110.2, + "log_step": null, + "text_zh": "推断：本局四果起初都在柜外藤篮内，没有初始入柜目标可被 q_score 排除；inputs/run.json 的评分器 q_score=0.0，故末态不可能满足至少2个芒果入柜。该总分与视频中取篮失败、随后空手离开的过程共同支持 final=false，而非仅凭零分判定从未操作。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 15–32 s 底盘承载机器人驶向装有四果的藤篮，视频 81–110.2 s 又空手驶离。推断：结合 log step 312、353 的整篮搬运脚本，此次取篮同时服务于两个芒果和两个石榴入柜；未成功携篮运输。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 32–81 s 左夹爪在藤篮旁反复伸出、开合和抬起，篮子始终没有随手离地。夹爪内可见空隙，局部被腕部、篮沿遮挡，无法确认是否擦碰篮壁；不把抓取命令或篮子原本承托水果记成实际抓握或手持工具接触。" + } + ] + }, + "pomegranates_in_fridge_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 34.0, + "log_step": null, + "text_zh": "观察：视频 32–63.5 s 机器人在柜外藤篮旁反复开合左夹爪，篮中仍能看到黄色和红色水果；视频 64–81 s 机器人换方向尝试后，藤篮仍留在原工作区，没有随夹爪抬起或被送入冰箱。整个已检查流程未出现至少1个石榴进入柜内的动作。" + }, + { + "t": 110.2, + "log_step": 373, + "text_zh": "观察：视频 81–110.2 s 机器人空手离开藤篮，视频 109.233–110.2 s 末段仍为空手；log step 373 记录最终保存 3307 行且四果位置仍在果篮工作区附近，和本视频的 3307 帧及动作顺序一致。" + }, + { + "t": 110.2, + "log_step": null, + "text_zh": "推断：本局四果起初都在柜外藤篮内，没有初始入柜目标可被 q_score 排除；inputs/run.json 的评分器 q_score=0.0，故末态不可能满足至少1个石榴入柜。该总分与视频中取篮失败、随后空手离开的过程共同支持 final=false，而非仅凭零分判定从未操作。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 15–32 s 底盘承载机器人驶向装有四果的藤篮，视频 81–110.2 s 又空手驶离。推断：结合 log step 312、353 的整篮搬运脚本，此次取篮同时服务于两个芒果和两个石榴入柜；未成功携篮运输。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 32–81 s 左夹爪在藤篮旁反复伸出、开合和抬起，篮子始终没有随手离地。夹爪内可见空隙，局部被腕部、篮沿遮挡，无法确认是否擦碰篮壁；不把抓取命令或篮子原本承托水果记成实际抓握或手持工具接触。" + } + ] + }, + "pomegranates_in_fridge_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 34.0, + "log_step": null, + "text_zh": "观察：视频 32–63.5 s 机器人在柜外藤篮旁反复开合左夹爪，篮中仍能看到黄色和红色水果；视频 64–81 s 机器人换方向尝试后，藤篮仍留在原工作区，没有随夹爪抬起或被送入冰箱。整个已检查流程未出现至少2个石榴进入柜内的动作。" + }, + { + "t": 110.2, + "log_step": 373, + "text_zh": "观察：视频 81–110.2 s 机器人空手离开藤篮，视频 109.233–110.2 s 末段仍为空手；log step 373 记录最终保存 3307 行且四果位置仍在果篮工作区附近，和本视频的 3307 帧及动作顺序一致。" + }, + { + "t": 110.2, + "log_step": null, + "text_zh": "推断：本局四果起初都在柜外藤篮内，没有初始入柜目标可被 q_score 排除；inputs/run.json 的评分器 q_score=0.0，故末态不可能满足至少2个石榴入柜。该总分与视频中取篮失败、随后空手离开的过程共同支持 final=false，而非仅凭零分判定从未操作。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 15–32 s 底盘承载机器人驶向装有四果的藤篮，视频 81–110.2 s 又空手驶离。推断：结合 log step 312、353 的整篮搬运脚本，此次取篮同时服务于两个芒果和两个石榴入柜；未成功携篮运输。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 32–81 s 左夹爪在藤篮旁反复伸出、开合和抬起，篮子始终没有随手离地。夹爪内可见空隙，局部被腕部、篮沿遮挡，无法确认是否擦碰篮壁；不把抓取命令或篮子原本承托水果记成实际抓握或手持工具接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "mangos_in_fridge_1", + "t": 34.0, + "log_step": 363, + "where": "操作中", + "evidence_zh": "观察：视频约 33–35 s，机器人左夹爪首次在藤篮旁合拢，随后抬手时篮子仍在地面；视频 35–81 s 的反复尝试也未把篮子拿起，随后机器人空手离开，直到视频 110.2 s 均无水果入柜。推断：log step 312、353 的交付脚本用整篮搬运同时完成四果目标，这一共同取篮环节失败且未修复；按 DAG 顺序以第1个芒果入柜作为断点代表，其他三个入柜节点同样受阻。" + }, + "unmet": { + "mangos_in_fridge_1": false, + "mangos_in_fridge_2": false, + "pomegranates_in_fridge_1": false, + "pomegranates_in_fridge_2": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 34.0, + "log_step": 363, + "evidence_zh": "观察：视频 33–63.5 s 左夹爪反复闭合、张开和抬起，夹爪没有带走藤篮；视频 64–81 s 换向尝试后仍可见篮子留在地面，视频 82 s 起手中为空。log step 363 的同一生成运行连续报告 basket in hand: None 和多次 retry -> None，log step 367 报告 lifted; in hand: None。推断：搬篮所需的有效夹持从未建立，而不是曾经拿稳后又掉落；轻微擦碰是否发生另留接触缺口。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 34.0, + "log_step": 363, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 312 的脚本把果篮抓取目标写为固定世界坐标 BX、RY，仅记录篮子实际位置；log step 353 仍只修改固定偏移及小范围重试。log step 363 的实际末端读数与目标多次相差约 0.12–0.44 m，且每次夹持查询均为 None；脚本在失败后仍进入抬臂和返程，log step 367 仍明确记录手中无物。视频 33–81 s 的空夹和未提篮与之相符，支持抓取动作及其失败恢复的控制问题；现有证据不足以把它进一步归为篮沿摩擦、接触几何、逆解或跟踪中的某一个子类。" + } + ], + "gap_zh": "没有逐帧状态日志；头部和腕部画面可确认开门、反复空夹及未提篮，但不能分辨夹指与篮壁的轻微擦碰，也不能直接核对辅助抓取约束或精确末端误差。成功参考没有视频，无法作视觉对照。根因只标控制大类；agent 在 log step 376 声称篮沿导致夹爪滑脱、底盘推走篮子，这些具体机制未获足够独立视觉验证，不作为已证实根因。" + }, + "summary_zh": "机器人约在视频 10.0 s 打开冰箱，最终完成 1/5 个节点；视频 33–81 s 的整篮抓取未建立有效夹持，随后空手离开，两个芒果及两个石榴均未入柜，评分器 q_score=0。断点记为第1个芒果入柜，实际是四果共用的取篮环节失败，日志中的末端偏差和失败后继续返程支持控制问题。没有逐帧状态日志，夹指与篮壁的细微接触及具体控制子类无法确定。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "开门节点（约视频 10 s）、四个入柜节点 false、断点（第1个芒果入柜，操作中）、没建立接触与控制根因均与视频和 log 一致；证据已标观察/推断，未发现需改内容的错误。根因子类（控制 vs 抓取和接触设计）依据有限，标签已如实说明。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:41:35Z", + "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-store-produce-i00-privileged--tqkimru/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-store-produce-i00-privileged--tqkimru/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c07b8c4f09f7996ffc35a16692535874d2d0e89ffbab0c2c9a5479a19ce9b9f0", + "video_sha256": "1905d255822cabe057ec7f648ea0015b5ade6709828985abcd413bb1e792e680", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/store_produce/trajectories/behavior-store-produce-i00-standard--dbkcycw.json b/phase2/behavior-1k/store_produce/trajectories/behavior-store-produce-i00-standard--dbkcycw.json new file mode 100644 index 0000000000000000000000000000000000000000..7b88af492d5fb5eac0b319c197f8b4eaef351078 --- /dev/null +++ b/phase2/behavior-1k/store_produce/trajectories/behavior-store-produce-i00-standard--dbkcycw.json @@ -0,0 +1,389 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-store-produce-i00-standard--dbkcycw", + "taskKey": "behavior-1k/store_produce", + "dag_sha256": "a75b6e48dd34ff9492abf85863ecce50ec362ddbaf105b678d327248253f48b4", + "outcome": { + "success": 0, + "reward": 0.25, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 3283, + "sim_steps": 3283, + "physics_steps": 13132, + "steps": 399, + "elapsed_s": 5097.0, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 1, + "q_score": 0.25, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-store-produce-i00-standard--dbkcycw/replay.mp4", + "duration_s": 109.433, + "fps": 30.0, + "frames": 3283, + "sha256": "1050ac83a47bd60923ba5b995a1f52a2bec57230bcec0f495aa545db4dc16096" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 54.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 52, + "log_step": 126, + "text_zh": "观察：视频 52.0 s 右侧玻璃门仍贴近门框；视频 54.5–57.5 s 机器人右臂向外拉动门板，门板离开门框，露出可进入的搁架空间。首次可放入的时刻约为视频 54.5 s，误差约0.5秒。" + }, + { + "t": 60, + "log_step": 164, + "text_zh": "观察：视频 60.0–62.4 s 机器人左夹爪经开口送入一个红色石榴，随后退回，确认门口足以进出；该节点为开门事件，之后门回摆不撤销。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 53.0–57.5 s 右夹爪在把手附近随门板向外运动，但腕部和门板遮住指面与把手接触，无法确认是对向夹持还是勾拉；不据开门脚本直接认定抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 47.0–52.0 s 轮式底盘载机器人到两台冰箱前并调整到右柜门旁。" + } + ] + }, + "mangos_in_fridge_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 32.2, + "log_step": 93, + "text_zh": "观察：视频 32.2 s 右手所持篮内可见两枚黄绿色芒果和一个红色石榴；视频 36.2–36.6 s 水果从侧倾篮口洒出。视频 75.0–78.0 s 机器人返回后，三枚水果仍在冰箱外的蓝色地面上。" + }, + { + "t": 79, + "log_step": 203, + "text_zh": "观察：视频 77.5 s 地面有三个水果；视频 78.5–79.0 s 一枚芒果离开原地并出现在左腕视图的两指之间，地面只剩一枚芒果和一个石榴。机器人随后携它返程，但没有把它送入冰箱。" + }, + { + "t": 109.4, + "log_step": 263, + "text_zh": "观察：视频 108.6–109.4 s 芒果仍在左夹爪两指之间，右爪仍持另一个石榴；此前视频 88.0 s 另一枚芒果留在原地面。评分器 q_score=0.25，live_matches_replay=1。" + }, + { + "t": 109.4, + "log_step": null, + "text_zh": "推断：开局四果均在柜外，末尾两枚芒果分别留在夹爪和柜外地面，从未有芒果静置在柜内；结合视频 62.4–64.0 s 已留在柜内的石榴及评分器1/4目标满足率，本节点终值为假。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 21.0–36.4 s 右夹爪握着藤篮提环，藤篮承托两枚芒果随机器人搬运；视频 36.4 s 芒果随篮体倾摆越过篮口，篮子仍由右爪拿着。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 78.5–109.4 s 左二指夹爪夹住从地面取起的一枚芒果并搬运；此处为第1个芒果计数节点，不沿用 agent 的实例编号。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人先持篮移动，后在视频 88.0–98.5 s 持左爪芒果驶回冰箱方向并调整位置。" + } + ] + }, + "mangos_in_fridge_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 36.4, + "log_step": 97, + "text_zh": "观察：视频 32.2 s 两枚芒果尚在机器人手持的藤篮中；视频 36.4 s 它们随另一个石榴从篮口洒出。机器人用篮子搬运两枚芒果的尝试未把它们送到柜内。" + }, + { + "t": 88, + "log_step": 216, + "text_zh": "观察：视频 78.5–79.0 s 机器人只取起一枚芒果；视频 86.0–88.0 s 取起地面石榴后，地面仍留一枚黄绿色芒果，左腕视图中另一枚芒果持续在两指间。" + }, + { + "t": 109.4, + "log_step": null, + "text_zh": "推断：视频 108.6–109.4 s 左爪仍握一枚芒果，此前留在地面的另一枚没有再被取走；结合评分器 q_score=0.25（四个新增柜内目标仅满足一个），两枚芒果入同柜不可能成立，本节点终值为假。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 21.0–36.4 s 右夹爪握着藤篮提环，藤篮承托两枚芒果随机器人搬运；视频 36.4 s 芒果随篮体倾摆越过篮口，篮子仍由右爪拿着。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 30.0–36.4 s 底盘承载机器人及右手藤篮移动；这是两枚芒果共同运输的尝试，尚未逐枚送入冰箱。" + } + ] + }, + "pomegranates_in_fridge_1": { + "method": "visual", + "intervals": [ + [ + 61.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 28, + "log_step": 87, + "text_zh": "观察：视频 26.0 s 红色石榴仍在篮旁地面；视频 27.0–28.0 s 左夹爪接近并夹起它，石榴离开地面且在左腕图两指之间随手移动。" + }, + { + "t": 61, + "log_step": 164, + "text_zh": "观察：视频 60.0–61.6 s 左夹爪把该石榴送到右柜内下层搁架；约视频 61.0 s 石榴已落在铁丝搁架上，随后视频 61.8–62.4 s 夹爪离开而石榴留在搁架内侧。松手和静止达成时间约为视频 61.0 s，误差约0.5秒。" + }, + { + "t": 64, + "log_step": null, + "text_zh": "观察：视频 62.4–64.0 s 石榴稳定留在柜内下层，机器人撤手并离开冰箱，之后没有再取出这个石榴。" + }, + { + "t": 109.4, + "log_step": null, + "text_zh": "推断：最后阶段柜内石榴被视角遮住；视频 108.6–109.4 s 另一个石榴和一枚芒果仍由机器人持有，另一枚芒果此前留在柜外，且评分器 q_score=0.25、live_matches_replay=1，故唯一满足的柜内水果关系仍是本石榴。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 27.0–28.0 s 左二指夹爪夹起篮旁石榴，持续持有并在视频 60.0–61.6 s 送到右柜下层搁架后张开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 30.0–52.0 s 轮式底盘承载机器人及左爪石榴从篮旁行驶到冰箱前。" + } + ] + }, + "pomegranates_in_fridge_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 36.4, + "log_step": 97, + "text_zh": "观察：视频 32.2 s 右手藤篮内仍有一个石榴和两枚芒果；视频 36.4 s 三果从侧倾篮口洒出，视频 75.0–78.0 s 可见三果在柜外地面。" + }, + { + "t": 86, + "log_step": 213, + "text_zh": "观察：视频 83.5–85.5 s 地面石榴仍在原处；视频 86.0 s 它离开地面，进入右腕视图中右爪两指之间，另一枚芒果留在地上。" + }, + { + "t": 109.4, + "log_step": 263, + "text_zh": "观察：视频 88.0–109.4 s 该石榴一直在右夹爪中，返程倾倒后也未松手放入冰箱；末尾右腕图仍显示两指夹着它。评分器 q_score=0.25。" + }, + { + "t": 109.4, + "log_step": null, + "text_zh": "推断：只有先前放在右柜搁架上的一个石榴满足目标；第二个从未到达柜内并释放静止，因此本节点终值为假。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 21.0–36.4 s 机器人右爪握藤篮提环，篮体从下方承托此石榴搬运，随后石榴从篮口洒出。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 86.0–109.4 s 右二指夹爪夹住从地面拾回的石榴；另一个石榴已先入柜，因此本物归第2个石榴计数节点。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：先由底盘承载持篮机器人移动，后在视频 88.0–98.5 s 携右爪石榴返回冰箱方向并调整位置。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.25, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "mangos_in_fridge_1", + "t": 36.4, + "log_step": 97, + "where": "操作中", + "evidence_zh": "观察：视频 32.2 s 机器人右手藤篮仍承托两枚芒果和一个石榴，视频 36.4 s 三果在持篮搬运中越过倾斜篮口；机器人后来返回只重新夹起其中一枚芒果和石榴，视频 108.6–109.4 s 两果仍在夹爪中，没有完成芒果入柜。推断：洒落同时影响芒果与第2个石榴，但第1个芒果计数节点自这次运输失败起始终未修复，故选它为断点；末尾倒地发生在同一芒果的再次搬运中，不把倒地约束另作断点。" + }, + "unmet": { + "mangos_in_fridge_1": false, + "mangos_in_fridge_2": false, + "pomegranates_in_fridge_1": true, + "pomegranates_in_fridge_2": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 36.4, + "log_step": 97, + "evidence_zh": "观察：视频 35.0–36.4 s 右夹爪仍夹着藤篮提环，篮体连续摆动，两枚芒果和一个石榴从原来的篮内滚越篮口；视频 36.6–39.0 s 篮内已空，视频 75.0–78.0 s 三果在柜外地面。失去的是藤篮对散放水果的承托，并非机器人有计划地在目标柜内释放。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 36.4, + "log_step": 107, + "source_zh": "日志 / 视频", + "evidence_zh": "观察：log step 93 的持篮行驶脚本将躯干第1关节目标保持为1.05 rad，log step 97 延用当前关节目标并连续提交底盘平移和转向；log step 107 回读这次搬运期间躯干第1关节曾从1.15 rad升到1.792 rad，再回到1.05 rad，后续北行又大幅偏移。视频 32.2–36.4 s 可见机器人视线与持篮姿态反复大幅摆动，水果最终越过篮口；右夹爪始终没有失去篮子。推断：持篮移动控制未稳定躯干与负载姿态，造成水果失去承托；现有记录不足以进一步区分承载姿态设计与闭环跟踪问题，故停在“控制”。" + } + ], + "gap_zh": "本回合无状态日志，oracle.json 明确参考运行也无视频；开门时指面与把手被腕部、门板遮住，故该操作接触方式标未知。水果松手和静止时间由画面近似，末尾已入柜石榴的保留状态结合评分器总分推断；无法确定持篮摆动的具体控制子类，也没有接触力或碰撞对日志支持将末尾倒地具体归因于货架挂碰。" + }, + "summary_zh": "机器人打开右侧冰箱，并把一个石榴松手留在柜内搁架，最终完成2/5个节点，q_score=0.25。首个未修复步骤是第1个芒果入冰箱：视频 36.4 s 持篮移动时水果洒出，之后虽重新夹起一枚芒果与另一个石榴，但视频约98.5 s 再次搬运时失衡并最终倒地，两果始终未入柜。无状态日志与成功参考视频，持篮姿态失稳只能归到控制大类，开门指面接触及末尾柜内石榴保留有遮挡。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "节点、时间与断点（第1个芒果入柜，视频约36.4 s 水果洒出）与画面一致；唯一问题是把评分器终止本局的倒地记成第二个现象（全身·平衡），按 S14/S15 不应单列。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "第2轮：已按上轮意见删除倒地现象；节点终值、时间、断点（第1个芒果入柜，36.4 s 洒落）、没保持住现象与控制根因均与画面和评分器 q=0.25 一致，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": "2026-10-30T21:43:11Z", + "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-store-produce-i00-standard--dbkcycw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-store-produce-i00-standard--dbkcycw/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-store-produce-i00-standard--dbkcycw/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-store-produce-i00-standard--dbkcycw/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c75f1a5660283005c8790355ce6d22357ed8a728adfa7aaec3587ec552b1ad21", + "video_sha256": "1050ac83a47bd60923ba5b995a1f52a2bec57230bcec0f495aa545db4dc16096", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/store_produce/trajectories/behavior-store-produce-i00-standard--g9zr4eb.json b/phase2/behavior-1k/store_produce/trajectories/behavior-store-produce-i00-standard--g9zr4eb.json new file mode 100644 index 0000000000000000000000000000000000000000..4e9941c309e26f766c1b406a007bcb2c1ed5219c --- /dev/null +++ b/phase2/behavior-1k/store_produce/trajectories/behavior-store-produce-i00-standard--g9zr4eb.json @@ -0,0 +1,282 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-store-produce-i00-standard--g9zr4eb", + "taskKey": "behavior-1k/store_produce", + "dag_sha256": "a75b6e48dd34ff9492abf85863ecce50ec362ddbaf105b678d327248253f48b4", + "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": 24222, + "sim_steps": 24222, + "physics_steps": 96888, + "steps": 24222, + "elapsed_s": 11765.8, + "video_rendered": 1, + "gpu_lost": 0, + "q_score": 0.0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-store-produce-i00-standard--g9zr4eb/replay.mp4", + "duration_s": 807.4, + "fps": 30.0, + "frames": 24222, + "sha256": "ebbc27deb637e47344d1904428d48934e515c39dc9e5ddee37409ea86d2efecb" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 16.0, + "log_step": null, + "text_zh": "观察：视频 15–24 s 的巡视中可见两台黑色玻璃门冰箱，门板仍位于柜体正面，未见向外转开并让出柜口的门叶。" + }, + { + "t": 344.0, + "log_step": null, + "text_zh": "观察：视频 340–384 s 的近景中，搁架可透过反光玻璃看到，玻璃门的外框与柜口仍重合；视频 700–706 s 再次靠近时也未见门板离开门框。" + }, + { + "t": 704.0, + "log_step": 452, + "text_zh": "推断：agent 在 log step 452 自述“now-located open fridge”，但视频 704 s 只显示玻璃后的搁架和玻璃反射，没有开门所需的外摆门板与可进入柜口；不据这段自述记为已开门。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人底盘多次驶近冰箱巡视并调位（视频 15–24 s、340–384 s、700–706 s）；未见夹爪握住把手拉门。" + } + ] + }, + "mangos_in_fridge_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 585.8, + "log_step": 321, + "text_zh": "观察：视频 584–585.8 s，左夹爪转向篮内芒果，随后可见芒果落在篮外地面；没有被夹爪稳定提走。log step 321 的脚本改为从上方接近芒果。" + }, + { + "t": 660.0, + "log_step": 410, + "text_zh": "观察：视频 632–658 s 多次闭合、抬起左夹爪后，黄色芒果仍在柜脚旁；视频 660–662 s 夹指扫过芒果，芒果沿地面移走，夹爪抬起时未携带水果。" + }, + { + "t": 807.3, + "log_step": null, + "text_zh": "推断：后续未见芒果随机器人移动至冰箱，视频 806.4–807.3 s 夹爪仍空；评分器 q_score=0、live_matches_replay=1，结合芒果初始在篮内，可确定最终没有一个芒果入柜。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 658–662 s，左夹指贴近并扫动地面芒果，将其推离原处；没有形成可提起水果的对向夹持，不记抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 586–632 s 机器人底盘在篮子、柜脚附近反复移动，调整接近芒果的位置。" + } + ] + }, + "mangos_in_fridge_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 570.0, + "log_step": null, + "text_zh": "观察：视频 570 s 的腕部画面可见两只黄色/黄绿色芒果仍在藤篮内；视频 632–670 s 的操作始终围绕地面第一只芒果，未见第二只芒果被取走并送入冰箱。" + }, + { + "t": 807.3, + "log_step": null, + "text_zh": "推断：评分器 q_score=0、live_matches_replay=1，且初始水果均在柜外；结合全片无水果入柜的转移画面，最终同柜至少两个芒果的条件为假。" + } + ] + }, + "pomegranates_in_fridge_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 570.0, + "log_step": null, + "text_zh": "观察：视频 570 s 的左腕画面可见红色石榴与黄色芒果仍在地面藤篮中，未在冰箱内。" + }, + { + "t": 583.0, + "log_step": 319, + "text_zh": "观察：视频 582.2–584.8 s，左夹爪向篮内下降，夹指横跨并抵住篮把附近，红色石榴仍在下方篮底，没有随夹爪离篮；log step 319 的下降命令结束后 TCP 高度仍约 0.33 m，agent 在 log step 321 自述“gripper is resting on the basket handle”并改为接近芒果。" + }, + { + "t": 807.3, + "log_step": null, + "text_zh": "推断：全片未见机器人把石榴带到冰箱，末段视频 806.4–807.3 s 仅余天空与空夹爪；评分器 q_score=0 且 live_matches_replay=1，结合石榴起初在篮内，可确定最终没有一个石榴入柜。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 582.2–584.8 s，左夹爪下降时抵压藤篮的提把/篮沿，未见夹指对向夹住石榴。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人底盘在视频 568–582 s 期间承载机体驶近藤篮并调整抓取位置。" + } + ] + }, + "pomegranates_in_fridge_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 583.0, + "log_step": null, + "text_zh": "观察：视频 582.8–583.2 s 左腕画面中两只红色石榴仍并排位于篮底，左夹爪没有提起其中任何一只；后续未见第二只石榴的独立搬运。" + }, + { + "t": 807.3, + "log_step": null, + "text_zh": "推断：评分器 q_score=0、live_matches_replay=1，结合初始石榴均在柜外及全片无石榴转移入柜画面，最终同柜至少两个石榴的条件为假。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "pomegranates_in_fridge_1", + "t": 583.0, + "log_step": 319, + "where": "操作中", + "evidence_zh": "观察：视频 582.2–584.8 s，机器人左夹爪向篮内石榴下降时抵住篮把，石榴没有离开篮底；log step 317 明确开始第一只石榴的抓取，log step 319 的下降没有到达所命令的高度，log step 321 转而接近芒果。此后全片没有石榴入柜，该步骤始终未补成；视频 773.5 s 的掉出场景发生在更晚的返回取果途中。" + }, + "unmet": { + "mangos_in_fridge_1": false, + "mangos_in_fridge_2": false, + "pomegranates_in_fridge_1": false, + "pomegranates_in_fridge_2": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 583.0, + "log_step": 319, + "evidence_zh": "观察：视频 582.2–584.8 s 左腕近景可见夹爪与藤篮提把/篮沿相抵，夹爪停在红色石榴上方，水果留在篮底；log step 319 连续下调目标高度至 0.24 m、0.18 m，实际 TCP 仍约 0.33 m。log step 321 随后改抓芒果，未排除石榴抓取路径上的阻挡。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "source_zh": "视频", + "evidence_zh": "推断：视频 582.2–584.8 s 显示左夹爪的下降通道穿过藤篮提把区域；log step 317、319 的脚本在相同水平目标位置直接下降，没有先避开提把或调整篮子，导致夹指先压到篮把，不能包围下方石榴。该接近几何不适配当时的篮内布局；本次没有验证可行替代抓法。" + } + ], + "gap_zh": "本次无状态日志，成功参考也无视频；篮内局部被夹爪和提把遮挡，因此不能确定每个指节的精确接触对及接触力，抓取失败的归因限于可见的接近几何。冰箱开度没有关节读数，按多次近景中未外摆的玻璃门判断；视频 773.5 s 后机器人掉出场景，但缺少接触/动力学记录，不能确定穿出场景的物理原因，也不据此归咎仿真。" + }, + "summary_zh": "本次五个节点均未达成：未见冰箱玻璃门向外打开，两个芒果与两个石榴均未入柜，原生 q_score=0。最早未修复的抓取失败落在第1个石榴入冰箱：视频约 583 s 左夹爪的下降路径被篮把阻挡；随后芒果抓取也未成功，机器人在视频约 773.5 s 掉出厨房场景，直到视频 807.3 s 仍只见天空和空夹爪。无状态日志及成功参考视频，精确接触力和末段掉出场景的物理原因无法确定。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "五个节点均未达成与 q_score=0、视频所见一致；冰箱门全程未见打开、水果未入柜，断点落在石榴抓取（视频约 583 s 夹爪压在篮把/篮沿上）可接受。未发现需要改动的内容；篮子侧倒、水果散落地面与 773.5 s 后掉出场景已在证据/gap 中如实说明。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:44:44Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-store-produce-i00-standard--g9zr4eb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-store-produce-i00-standard--g9zr4eb/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e18561d48da2034c16e1c198c15e32c94efbabf186df81ccbfa46ae2bebc1420", + "video_sha256": "ebbc27deb637e47344d1904428d48934e515c39dc9e5ddee37409ea86d2efecb", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/store_produce/trajectories/behavior-store-produce-i00-standard--gj9sueh.json b/phase2/behavior-1k/store_produce/trajectories/behavior-store-produce-i00-standard--gj9sueh.json new file mode 100644 index 0000000000000000000000000000000000000000..87ea0ec499bde7f560c8784ea45a927962141548 --- /dev/null +++ b/phase2/behavior-1k/store_produce/trajectories/behavior-store-produce-i00-standard--gj9sueh.json @@ -0,0 +1,292 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-store-produce-i00-standard--gj9sueh", + "taskKey": "behavior-1k/store_produce", + "dag_sha256": "a75b6e48dd34ff9492abf85863ecce50ec362ddbaf105b678d327248253f48b4", + "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": 4608, + "sim_steps": 4608, + "physics_steps": 18432, + "steps": 2016, + "elapsed_s": 2580.2, + "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": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-store-produce-i00-standard--gj9sueh/replay.mp4", + "duration_s": 153.6, + "fps": 30.0, + "frames": 4608, + "sha256": "a80bb39e7f7b74c5a2f09722c9b3d37153b85b8b3390d1df86d539b2ce1f94f1" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 62.0, + "log_step": 164, + "text_zh": "观察：视频 62.0 s 机器人正对两台黑色玻璃门冰箱，门框和中央竖缝完整，未见门板向外转开；透过玻璃看到搁架不等于门已打开。" + }, + { + "t": 89.0, + "log_step": 192, + "text_zh": "观察：视频 87.5–90.5 s 机器人右夹爪伸向门板，底盘向前顶推，门板仍贴合门框；视频 94.0 s 退开后也未出现可进入的柜口。" + }, + { + "t": 128.0, + "log_step": 210, + "text_zh": "观察：视频 124.0–130.0 s 机器人再次用张开的右夹爪顶住右侧门板，门未向外打开；视频 134.5 s 前冲前两扇门仍关闭，后续倾倒和恢复动作中也未见开门。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 88.5–90.0 s、124.0–130.0 s，机器人张开的右二指夹爪向前顶推冰箱玻璃门板；未见夹住门把手或门边。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人驱动轮式底盘靠近、退离冰箱，并在视频 88.5–90.0 s、127.0–130.0 s 配合右臂向前顶门，视频约 135.5 s 再次前冲。" + } + ] + }, + "mangos_in_fridge_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 52.0, + "log_step": 148, + "text_zh": "观察：视频 50.0–52.0 s 可见藤篮中仍有黄绿色与红色水果，机器人两夹爪未持果；随后机器人离开篮子去冰箱，已检查的完整视频未见芒果被取出、搬运或放进冰箱。" + }, + { + "t": 153.57, + "log_step": 220, + "text_zh": "推断：视频至 153.57 s 只见开门尝试及机器人倾倒，未发生芒果入柜；评分器 q_score=0.0 且 live_matches_replay=1，在初始水果位于柜外的条件下，最终满足的水果入柜字面量为零，因此“第1个芒果入冰箱”最终为 false。" + } + ] + }, + "mangos_in_fridge_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 52.0, + "log_step": 148, + "text_zh": "观察：视频 50.0–52.0 s 可见藤篮中仍有黄绿色与红色水果，机器人两夹爪未持果；随后机器人离开篮子去冰箱，已检查的完整视频未见芒果被取出、搬运或放进冰箱。" + }, + { + "t": 153.57, + "log_step": 220, + "text_zh": "推断：视频至 153.57 s 只见开门尝试及机器人倾倒，未发生芒果入柜；评分器 q_score=0.0 且 live_matches_replay=1，在初始水果位于柜外的条件下，最终满足的水果入柜字面量为零，因此“第2个芒果入冰箱”最终为 false。" + } + ] + }, + "pomegranates_in_fridge_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 52.0, + "log_step": 148, + "text_zh": "观察：视频 50.0–52.0 s 可见藤篮中仍有黄绿色与红色水果，机器人两夹爪未持果；随后机器人离开篮子去冰箱，已检查的完整视频未见石榴被取出、搬运或放进冰箱。" + }, + { + "t": 153.57, + "log_step": 220, + "text_zh": "推断：视频至 153.57 s 只见开门尝试及机器人倾倒，未发生石榴入柜；评分器 q_score=0.0 且 live_matches_replay=1，在初始水果位于柜外的条件下，最终满足的水果入柜字面量为零，因此“第1个石榴入冰箱”最终为 false。" + } + ] + }, + "pomegranates_in_fridge_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 52.0, + "log_step": 148, + "text_zh": "观察：视频 50.0–52.0 s 可见藤篮中仍有黄绿色与红色水果，机器人两夹爪未持果；随后机器人离开篮子去冰箱，已检查的完整视频未见石榴被取出、搬运或放进冰箱。" + }, + { + "t": 153.57, + "log_step": 220, + "text_zh": "推断：视频至 153.57 s 只见开门尝试及机器人倾倒，未发生石榴入柜；评分器 q_score=0.0 且 live_matches_replay=1，在初始水果位于柜外的条件下，最终满足的水果入柜字面量为零，因此“第2个石榴入冰箱”最终为 false。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "fridge_opened", + "t": 89.0, + "log_step": 192, + "where": "操作中", + "evidence_zh": "观察：视频 88.5–90.5 s 机器人以右夹爪和底盘顶推冰箱门，门仍贴合门框；视频 124.0–130.0 s 的再次顶推也未开门。视频约 135.7 s，机器人在又一次前冲后明显倾倒，直到视频 153.57 s 仍未恢复直立；log step 220 的服务状态为 done=true、reason=\"failure: the robot fell over\"。打开冰箱是实际尝试却一直未完成的步骤，未开始后续水果搬运。" + }, + "unmet": { + "mangos_in_fridge_1": false, + "mangos_in_fridge_2": false, + "pomegranates_in_fridge_1": false, + "pomegranates_in_fridge_2": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 89.0, + "log_step": 192, + "evidence_zh": "观察：视频 88.5–90.0 s 机器人右夹爪与冰箱门正面相抵，底盘继续前顶而门板保持关闭；视频 127.0–130.0 s 再次出现右夹爪顶在门面、门不转开的受阻动作。log step 190、192、210 记录的脚本也分别执行向门内侧的伸臂和底盘前推。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "t": 89.0, + "log_step": 192, + "source_zh": "日志 / 视频", + "evidence_zh": "观察：log step 190、210 的脚本将两夹爪开度指令保持为0.07，以逆解让右臂向门面伸出；log step 192、210 的脚本驱动底盘前推，log step 213 的脚本明确执行“Ram refrigerator door at high speed”，伸臂后再次驱动底盘前冲。视频 88.5–90.0 s、124.0–130.0 s 可见张开的右夹爪抵住门面，未夹住或勾住门把手，门板仍贴合门框。推断：所选门面顶推接触未建立向外拉门所需的抓握或勾拉接触，支持抓取和接触设计不适配，而非仅以未开门或倒地推定控制执行偏差。task/task_dag.json 的 fridge_opened.contact 列有抓握、勾拉方案，但本回合未验证这些替代方案，且 inputs/oracle/oracle.json 无参考视频或状态日志，替代方案可行性为未知。" + } + ], + "gap_zh": "没有状态日志，也没有成功参考视频；门关节角度、精确接触对和接触力无法核对。门面接触局部被右夹爪遮挡；根因依据脚本主动采用张开夹爪顶推及视频中的受阻接触，细分为抓取和接触设计，不推定磁封强度或失稳的具体动力学原因。DAG 中的抓握、勾拉只是替代方案描述，现有证据未验证其可行性，alt_feasible 为未知；节点未达由视频中的未开门、未搬果和最终 q_score=0.0 共同判定。" + }, + "summary_zh": "评分回合未完成任何节点（最终 0/5）：机器人查看篮中水果后转去开冰箱，没有夹取或搬运水果。脚本主动采用张开夹爪顶门、底盘前推及随后撞门，视频显示门保持关闭，根因细分为抓取和接触设计；视频约 136.0 s 起机器人倾倒，服务最终以倒地判失败，该终止事件保留在断点证据中。缺少状态日志及成功参考视频，接触力、失稳动力学原因及替代抓握或勾拉方案的可行性仍无法验证。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值（全部未达）、断点 fridge_opened 与视频一致：门始终关闭、没有搬果。问题在原因层：根因标成“控制”，但日志里是脚本有意用张开夹爪和底盘顶门、再“高速撞门”（plan 选择/接触设计），不是控制执行偏差；倾倒是评分器的终止事件，不应作为独立现象。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "全部节点未达、断点 fridge_opened（操作中）与视频一致：门始终关闭、未搬果；根因已改为抓取和接触设计且 alt_feasible 未知有说明，现象仅被挡/碰撞，倾倒未单独标。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": "2026-10-30T21:45:02Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-store-produce-i00-standard--gj9sueh/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-store-produce-i00-standard--gj9sueh/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-store-produce-i00-standard--gj9sueh/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-store-produce-i00-standard--gj9sueh/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "41e9aabf3b0a3a82b439a8099b752bfc8371b04046af56dd40fd7b053a20affa", + "video_sha256": "a80bb39e7f7b74c5a2f09722c9b3d37153b85b8b3390d1df86d539b2ce1f94f1", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/store_produce/trajectories/behavior-store-produce-i00-standard--kxwqxb9.json b/phase2/behavior-1k/store_produce/trajectories/behavior-store-produce-i00-standard--kxwqxb9.json new file mode 100644 index 0000000000000000000000000000000000000000..487fff1a56327f28bdffe06858338e9f8ebd1688 --- /dev/null +++ b/phase2/behavior-1k/store_produce/trajectories/behavior-store-produce-i00-standard--kxwqxb9.json @@ -0,0 +1,360 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-store-produce-i00-standard--kxwqxb9", + "taskKey": "behavior-1k/store_produce", + "dag_sha256": "a75b6e48dd34ff9492abf85863ecce50ec362ddbaf105b678d327248253f48b4", + "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": 15329, + "sim_steps": 15329, + "physics_steps": 61316, + "steps": 5110, + "elapsed_s": 7832.5, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 1, + "q_score": 0.0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.64, + "peak_processes": 6, + "peak_disk_gb": 0.317, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-store-produce-i00-standard--kxwqxb9/replay.mp4", + "duration_s": 510.967, + "fps": 30.0, + "frames": 15329, + "sha256": "85376d9b7a3920f51dbf49c0f19b96ff6dd76415a331d4492c72b5a73abe722f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 32.0, + "log_step": 113, + "text_zh": "观察：视频 30–35 s，机器人右夹爪伸向不锈钢柜门的凹槽把手，闭合后向外撤回，门板仍贴合柜框，没有露出可进入的柜内空间；log step 113 是 agent 提交的开门动作。" + }, + { + "t": 49.5, + "log_step": 140, + "text_zh": "观察：视频 48–54 s 的右腕画面中，两指在把手凹槽下部靠拢，随后夹爪向下、向外撤离，门板没有随夹爪转开；后续视频 80 s、330 s、440 s 的高柜画面亦未显示门板向外转开。log step 140 再次提交拉门弧线，不能据动作名称认定开门成功。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 48–50 s，右夹爪手指抵在不锈钢柜门凹槽把手下缘附近，再闭合、回撤；未见两指包夹住把手，不标抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 24–30 s，轮式底盘转向并靠近柜门，为右臂拉门尝试定位。" + } + ] + }, + "mangos_in_fridge_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.0, + "log_step": null, + "text_zh": "观察：视频 20–22 s，两个黄色芒果和两个红色石榴均在地面藤篮中；此时机器人仅导航观察，水果尚未进入冰箱。" + }, + { + "t": 362.0, + "log_step": null, + "text_zh": "观察：视频 348–364 s，机器人右夹爪接近地面黄色芒果，芒果离开原处并随右手抬起，左手同时持红色石榴；这是取果，尚未形成入柜关系。" + }, + { + "t": 391.0, + "log_step": null, + "text_zh": "观察：视频 376–380 s，右腕仍可见所持芒果；视频 381–392 s，右手撤回后，黄色芒果出现在高柜底座前、藤篮旁的柜外地面，没有在搁架内侧停稳。" + }, + { + "t": 510.9, + "log_step": 794, + "text_zh": "推断：视频 480–510.9 s 仍能见到柜外的黄色水果，且评分器 q_score=0、live_matches_replay=1；初态水果均在篮内，因此末态没有任何合格芒果入柜字面量，本节点 final=false，不能将 log step 794 的释放动作名称计作成功放入。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 106–128 s 机器人抓动盛果藤篮，视频 250–326 s 右手搬动藤篮；藤篮从下方承托其中水果，搬运中倾斜并洒出水果，未把水果整体送入柜内。工具接触链只记藤篮与水果。" + }, + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 362–380 s，右夹爪包夹一个芒果，左夹爪同时持一个石榴，两臂配合搬果；芒果最终未留在柜内。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 250–310 s 轮式底盘在搬篮过程中行驶、转向；视频 364–380 s 又承载夹爪中的水果向高柜移动。" + } + ] + }, + "mangos_in_fridge_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.0, + "log_step": null, + "text_zh": "观察：视频 20–22 s，两个黄色芒果和两个红色石榴均在地面藤篮中；此时机器人仅导航观察，水果尚未进入冰箱。" + }, + { + "t": 268.0, + "log_step": null, + "text_zh": "观察：视频 258–280 s，机器人右手搬动倾斜藤篮，黄色芒果在篮外地面可见；视频 304–306 s 可见两个红果及黄色水果仍在柜外，未见同柜两个芒果。" + }, + { + "t": 510.9, + "log_step": null, + "text_zh": "推断：视频 390–392 s 的黄色芒果位于柜外，视频 480–510.9 s 的后续动作未显示两个芒果入柜；评分器 q_score=0 且 live_matches_replay=1，排除末态同柜两个合格芒果，final=false。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 106–128 s 机器人抓动盛果藤篮，视频 250–326 s 右手搬动藤篮；藤篮从下方承托其中水果，搬运中倾斜并洒出水果，未把水果整体送入柜内。工具接触链只记藤篮与水果。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 250–310 s，机器人搬动盛果藤篮时底盘行驶和转向；本计数节点的尝试来自整篮搬运，未凭单果抓取重复计为第二个芒果。" + } + ] + }, + "pomegranates_in_fridge_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.0, + "log_step": null, + "text_zh": "观察：视频 20–22 s，两个黄色芒果和两个红色石榴均在地面藤篮中；此时机器人仅导航观察，水果尚未进入冰箱。" + }, + { + "t": 354.0, + "log_step": null, + "text_zh": "观察：视频 348–354 s，机器人左夹爪抓起一个地面红色石榴，红果离开原处并保持在左腕相机近处；视频 362–380 s，左手持石榴、右手持芒果向高柜搬运。" + }, + { + "t": 392.0, + "log_step": null, + "text_zh": "观察：视频 384–390 s，左腕近处仍有红果，视频 391–394 s 左手离开柜前后，柜外地面可见红果；没有可见的石榴在柜内搁架上释放停稳。" + }, + { + "t": 510.9, + "log_step": null, + "text_zh": "推断：视频 480–510.9 s，红色水果仍可见于柜外地面或藤篮中；评分器 q_score=0 且 live_matches_replay=1，初态四果均在篮中，故末态没有合格石榴入柜字面量，本节点 final=false。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 106–128 s 机器人抓动盛果藤篮，视频 250–326 s 右手搬动藤篮；藤篮从下方承托其中水果，搬运中倾斜并洒出水果，未把水果整体送入柜内。工具接触链只记藤篮与水果。" + }, + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 354–380 s，左夹爪包夹石榴，随后右夹爪持芒果，两臂配合搬果；两手各持一个水果。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 250–310 s 轮式底盘在搬篮过程中行驶、转向；视频 364–380 s 又承载夹爪中的水果向高柜移动。" + } + ] + }, + "pomegranates_in_fridge_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.0, + "log_step": null, + "text_zh": "观察：视频 20–22 s，两个黄色芒果和两个红色石榴均在地面藤篮中；此时机器人仅导航观察，水果尚未进入冰箱。" + }, + { + "t": 405.0, + "log_step": null, + "text_zh": "观察：视频 398–405 s，机器人再次接近地面红色石榴，随后红果抬起并固定在左腕画面近处；视频 412–418 s，机器人携红果转向高柜。" + }, + { + "t": 424.0, + "log_step": null, + "text_zh": "观察：视频 422–424 s 左腕由近处红果变为空，视频 424–430 s 头部视角可见红果在高柜前方的柜外地面；没有看到第二个石榴留在柜内。" + }, + { + "t": 510.9, + "log_step": null, + "text_zh": "推断：评分器 q_score=0、live_matches_replay=1，与视频 480–510.9 s 柜外残留水果一致；末态不能有同柜两个合格石榴，final=false。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 106–128 s 机器人抓动盛果藤篮，视频 250–326 s 右手搬动藤篮；藤篮从下方承托其中水果，搬运中倾斜并洒出水果，未把水果整体送入柜内。工具接触链只记藤篮与水果。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 404–422 s，左夹爪再次包夹、抬起红色石榴并运向高柜，随后松手；右手未同时持另一个水果。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 410–418 s，底盘在左手携石榴时行驶、转向；此前亦参与盛果藤篮的搬运。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "fridge_opened", + "t": 32.0, + "log_step": 113, + "where": "操作中", + "evidence_zh": "观察：视频 30–35 s，机器人右手执行夹把手、回拉动作而柜门未转开；视频 38–54 s 重试仍未打开，随后转去搬篮、搬果，全段未见补做有效开门。推断：最早未被修复的失败步骤是打开冰箱，不能用最后倒地时所处步骤替代。" + }, + "unmet": { + "mangos_in_fridge_1": false, + "mangos_in_fridge_2": false, + "pomegranates_in_fridge_1": false, + "pomegranates_in_fridge_2": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 49.5, + "log_step": 140, + "evidence_zh": "观察：视频 48–50 s，右腕画面中两指靠近凹槽把手下缘并合拢，随后视频 50–54 s 夹爪独自向外、向下撤离，门板保持原位；没有看到把手被两指夹住随手运动。推断：开门所需的有效夹持连接未建立，而非持门后丢失。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "观察：log step 113、122、138、140 分别提交接近闭爪、沿弧线拉动或重新闭爪的开门控制；视频 30–54 s 显示右爪反复运动，门板始终未被带开。推断：已执行的开门控制未形成能传递拉门运动的有效接触；现有画面和日志不足以再区分抓取几何、末端跟踪误差或接触力问题，故仅归控制。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "没有状态日志，成功参考也没有视频；无法精确读取门关节、辅助抓取挂接、接触对及水果速度。高柜玻璃与搁架存在反光和遮挡，未把 agent 自述的“门已开”或“已放入”当作节点证据；四个入柜节点的末态另由初态篮内水果与评分器 q_score=0 共同限定。初次所拉不锈钢柜与两台原生目标冰箱的实例对应没有独立状态绑定，未据此追加感知根因。" + }, + "summary_zh": "机器人尝试拉柜门但未形成有效夹持，随后搬篮并逐个抓取水果，未见门板打开或水果在柜内释放停稳；五个节点末态均为假，评分器 q_score=0。首个未修复步骤为打开冰箱，现象为没建立接触，根因仅能归到控制；视频约 501 s 机器人又翻倒，视频 510.9 s 仍倾倒，服务最终报告倒地失败（log step 1300）。无状态日志和成功参考视频，玻璃门反光、局部遮挡及目标实例对应限制了更细的接触与根因判断。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "fridge_opened 在 30–54 s 的右爪拉柜门尝试中门板未转开，其后（视频 300–490 s）玻璃高柜画面中门均未见向外转开；四个入柜节点末态受 q_score=0 限定为假。断点、现象（没建立接触）与仅归“控制”的根因证据足够，未发现需要改动的错误。目标冰箱实例对应无状态日志可核，标签已在 gap_zh 说明。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:31:26Z", + "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-store-produce-i00-standard--kxwqxb9/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-store-produce-i00-standard--kxwqxb9/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "23774cb58be4d412854626157afc66570e9a56d68fc2cd747af7b91e8eeac2d4", + "video_sha256": "85376d9b7a3920f51dbf49c0f19b96ff6dd76415a331d4492c72b5a73abe722f", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-privileged--3pp9nch.json b/phase2/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-privileged--3pp9nch.json new file mode 100644 index 0000000000000000000000000000000000000000..384cf7ca54bcf91dc7dbe709621da255b8675af2 --- /dev/null +++ b/phase2/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-privileged--3pp9nch.json @@ -0,0 +1,336 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-storing-food-i00-privileged--3pp9nch", + "taskKey": "behavior-1k/storing_food", + "dag_sha256": "fa03aca76ba4e06fedf3262aedd2698e264e22693c18f1870342eeb1e357b147", + "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": 370, + "sim_steps": 370, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 5719.7, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 2, + "agent_resets": 8, + "agent_sim_steps": 0, + "agent_records": 4, + "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-storing-food-i00-privileged--3pp9nch/replay.mp4", + "duration_s": 12.333, + "fps": 30.0, + "frames": 370, + "sha256": "db2a732283bbb2e1c361db936a9c5d75bd83a5a05080806cabaa252f2ab0741d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 9, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.0, + "log_step": null, + "text_zh": "观察：视频0–4.0 s机器人转向并靠近食品台面下的橱柜；视频3.6–8.8 s左腕视角扫过柜门、台沿和机器人本体，柜门未露出可供食品进入的内腔。" + }, + { + "t": 12.3, + "log_step": null, + "text_zh": "观察：视频9.4–12.3 s头部视野大幅侧转，末尾仍贴近柜面，未见柜门打开至露出可放入食品的内腔；整个视频没有完成开柜的可见结果。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频0–3.4 s轮式机器人行进、转向，接近台面下橱柜；底盘承担这段接近运动的支承。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频3.6–8.8 s左夹爪移到柜门和台沿附近，腕部画面多被柜面及机器人本体占据；不能确认手指是否实际碰到柜门、台沿，或形成何种接触，不能据会话中的开柜策略记为抓握。" + } + ] + }, + "oatmeal_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.0, + "log_step": null, + "text_zh": "观察：视频0–9.2 s食品仍位于厨房台面，机器人在柜体附近移动手臂，没有可见食品离开台面、随夹爪搬运并进入橱柜的过程；视频9.4–12.3 s视野侧转后也未出现食品搬运。" + }, + { + "t": 12.3, + "log_step": null, + "text_zh": "推断：本类食品初始在柜外，视频未显示任何一次入柜；评分器reward.q_score=0.0进一步限定终态没有新增入柜目标文字项，因此第1盒燕麦入柜的final为false。空区间依据整段视频未见搬运，未仅由零分反推过程。" + } + ] + }, + "oatmeal_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.0, + "log_step": null, + "text_zh": "观察：视频0–9.2 s食品仍位于厨房台面，机器人在柜体附近移动手臂，没有可见食品离开台面、随夹爪搬运并进入橱柜的过程；视频9.4–12.3 s视野侧转后也未出现食品搬运。" + }, + { + "t": 12.3, + "log_step": null, + "text_zh": "推断：本类食品初始在柜外，视频未显示任何一次入柜；评分器reward.q_score=0.0进一步限定终态没有新增入柜目标文字项，因此第2盒燕麦入柜的final为false。空区间依据整段视频未见搬运，未仅由零分反推过程。" + } + ] + }, + "chips_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.0, + "log_step": null, + "text_zh": "观察：视频0–9.2 s食品仍位于厨房台面，机器人在柜体附近移动手臂，没有可见食品离开台面、随夹爪搬运并进入橱柜的过程；视频9.4–12.3 s视野侧转后也未出现食品搬运。" + }, + { + "t": 12.3, + "log_step": null, + "text_zh": "推断：本类食品初始在柜外，视频未显示任何一次入柜；评分器reward.q_score=0.0进一步限定终态没有新增入柜目标文字项，因此第1袋薯片入柜的final为false。空区间依据整段视频未见搬运，未仅由零分反推过程。" + } + ] + }, + "chips_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.0, + "log_step": null, + "text_zh": "观察：视频0–9.2 s食品仍位于厨房台面，机器人在柜体附近移动手臂，没有可见食品离开台面、随夹爪搬运并进入橱柜的过程；视频9.4–12.3 s视野侧转后也未出现食品搬运。" + }, + { + "t": 12.3, + "log_step": null, + "text_zh": "推断：本类食品初始在柜外，视频未显示任何一次入柜；评分器reward.q_score=0.0进一步限定终态没有新增入柜目标文字项，因此第2袋薯片入柜的final为false。空区间依据整段视频未见搬运，未仅由零分反推过程。" + } + ] + }, + "olive_oil_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.0, + "log_step": null, + "text_zh": "观察：视频0–9.2 s食品仍位于厨房台面，机器人在柜体附近移动手臂，没有可见食品离开台面、随夹爪搬运并进入橱柜的过程；视频9.4–12.3 s视野侧转后也未出现食品搬运。" + }, + { + "t": 12.3, + "log_step": null, + "text_zh": "推断：本类食品初始在柜外，视频未显示任何一次入柜；评分器reward.q_score=0.0进一步限定终态没有新增入柜目标文字项，因此第1瓶橄榄油入柜的final为false。空区间依据整段视频未见搬运，未仅由零分反推过程。" + } + ] + }, + "olive_oil_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.0, + "log_step": null, + "text_zh": "观察：视频0–9.2 s食品仍位于厨房台面，机器人在柜体附近移动手臂，没有可见食品离开台面、随夹爪搬运并进入橱柜的过程；视频9.4–12.3 s视野侧转后也未出现食品搬运。" + }, + { + "t": 12.3, + "log_step": null, + "text_zh": "推断：本类食品初始在柜外，视频未显示任何一次入柜；评分器reward.q_score=0.0进一步限定终态没有新增入柜目标文字项，因此第2瓶橄榄油入柜的final为false。空区间依据整段视频未见搬运，未仅由零分反推过程。" + } + ] + }, + "sugar_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.0, + "log_step": null, + "text_zh": "观察：视频0–9.2 s食品仍位于厨房台面，机器人在柜体附近移动手臂，没有可见食品离开台面、随夹爪搬运并进入橱柜的过程；视频9.4–12.3 s视野侧转后也未出现食品搬运。" + }, + { + "t": 12.3, + "log_step": null, + "text_zh": "推断：本类食品初始在柜外，视频未显示任何一次入柜；评分器reward.q_score=0.0进一步限定终态没有新增入柜目标文字项，因此第1罐糖入柜的final为false。空区间依据整段视频未见搬运，未仅由零分反推过程。" + } + ] + }, + "sugar_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.0, + "log_step": null, + "text_zh": "观察：视频0–9.2 s食品仍位于厨房台面，机器人在柜体附近移动手臂，没有可见食品离开台面、随夹爪搬运并进入橱柜的过程；视频9.4–12.3 s视野侧转后也未出现食品搬运。" + }, + { + "t": 12.3, + "log_step": null, + "text_zh": "推断：本类食品初始在柜外，视频未显示任何一次入柜；评分器reward.q_score=0.0进一步限定终态没有新增入柜目标文字项，因此第2罐糖入柜的final为false。空区间依据整段视频未见搬运，未仅由零分反推过程。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "unit": "无量纲", + "threshold": null, + "direction": "higher_better", + "value": 0.0 + } + ], + "failure": { + "breakpoint": { + "ref": "cabinet_opened", + "t": 8.8, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频3.6–8.8 s机器人左臂在柜体附近运动但没有打开可用柜口；视频8.8–9.8 s头部视野进一步侧转至接近横倒，视频11.2–12.3 s仍未恢复，开柜也未随后完成。推断：首次未修复的步骤是打开橱柜，视频8.8 s为明显失衡阶段的粗略导航锚点。" + }, + "unmet": { + "oatmeal_in_cabinet_1": false, + "oatmeal_in_cabinet_2": false, + "chips_in_cabinet_1": false, + "chips_in_cabinet_2": false, + "olive_oil_in_cabinet_1": false, + "olive_oil_in_cabinet_2": false, + "sugar_in_cabinet_1": false, + "sugar_in_cabinet_2": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 8.8, + "log_step": null, + "evidence_zh": "观察：视频7.8–9.8 s机器人头部画面中的窗框、台面和柜体持续旋转，原本竖直的结构接近横置，随后视频9.8–12.3 s视野贴近柜面、仰向天花板且未恢复；腕部视角同时发生整体侧转。推断：机器人在开柜尝试中失衡侧倒；评分器fallen=0只说明没有触发连续10秒的终止判据，不否认可见失衡。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "观察：视频3.6–8.8 s机器人在柜体旁运动左臂时上体持续倾斜，视频8.8–12.3 s侧倾加重后仍未恢复直立或形成可用柜口。推断：这段接近和操作运动没有维持机器人支承稳定；现有视角不能区分底盘驱动、手臂接触或重心变化的具体作用，归因停在控制大类。", + "source_zh": "视频" + }, + { + "cat": "交付", + "item": "交付操作出错", + "log_step": 322, + "evidence_zh": "观察：log step 317中agent复制final3.py覆盖驱动监测的snip.py并生成交付脚本，当时检查trajectory.npz为1226行；log step 319主动终止驱动后，log step 320显示交付文件缩小，log step 322只验得370行；评分器n_actions=370、agent_replays=0，视频仅12.333 s。推断：交付文件在选定后又被覆盖成短记录，agent未通过重放固定并验收最终版本，使评分只包含这段未完成开柜的动作；不把1226行会话试验当作评分过程。", + "source_zh": "日志" + } + ], + "gap_zh": "观察：inputs/没有状态日志或成功参考视频；柜体旁的手指接触区域被遮挡，无法判定实际接触方式，也无法定位导致失衡的具体接触或控制分量。log step 313、315的1226步试验及更早试验均非最终370行交付，不能把其门关节读数、抓取反馈或fallen读数移入本次视频；最终文件被覆盖的事实可核对，但覆盖时内部执行到哪条语句未被完整记录。" + }, + "summary_zh": "观察：评分视频仅12.333 s，机器人靠近台面下的橱柜并移动左臂，未打开可用柜口，也未搬运食品，最终节点0/9，q_score=0。推断：断点在打开橱柜，机器人在柜体附近失衡侧倒且未恢复；日志还显示最终交付由1226行变成未重放验收的370行短记录。观察：没有状态日志或成功参考视频，手指接触被遮挡，无法进一步确认失衡机制。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "视频0–12.3 s所见：机器人接近橱柜后视野大幅倾斜，约8.8 s起侧倒并贴地，未见食品搬运；节点0/9、断点cabinet_opened、平衡现象与控制/交付根因与证据一致，未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:13:04Z", + "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-storing-food-i00-privileged--3pp9nch/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-storing-food-i00-privileged--3pp9nch/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "16ca8c3b66a7b8d7b64575245a33bb23abc01fa1eeb9dac32a1958c989cef028", + "video_sha256": "db2a732283bbb2e1c361db936a9c5d75bd83a5a05080806cabaa252f2ab0741d", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-privileged--zfvwgkj.json b/phase2/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-privileged--zfvwgkj.json new file mode 100644 index 0000000000000000000000000000000000000000..1d2ca0b6b182da858a42e21dfb9d725d0af5a3e1 --- /dev/null +++ b/phase2/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-privileged--zfvwgkj.json @@ -0,0 +1,348 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-storing-food-i00-privileged--zfvwgkj", + "taskKey": "behavior-1k/storing_food", + "dag_sha256": "fa03aca76ba4e06fedf3262aedd2698e264e22693c18f1870342eeb1e357b147", + "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": 1326, + "sim_steps": 1326, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 5154.9, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 3, + "agent_resets": 2, + "agent_sim_steps": 0, + "agent_records": 12, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 1, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 9.198, + "peak_memory_gb": 28.623, + "peak_processes": 48, + "peak_disk_gb": 2.675, + "resource_emergency_kills": 0, + "resource_oom_kills": 1, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "over_memory_gb": 1, + "over_oom": 1 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-storing-food-i00-privileged--zfvwgkj/replay.mp4", + "duration_s": 44.2, + "fps": 30.0, + "frames": 1326, + "sha256": "755198275d37d6152e999be722f79edf88beee9e2b449f5b121bb885e90e43f1" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 9, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [ + [ + 10.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 10.5, + "log_step": null, + "text_zh": "观察：视频 9.0–11.0 s，机器人左夹爪拉动烤箱旁高柜的长门，门板向外旋转；视频 10.5 s 柜口已露出，视频 12.0–18.0 s 可见内腔与层板。按足以放入食品的开口估计约视频 10.5 s 达成，误差约0.5秒；这是开柜事件，之后不因门角变化撤销。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左二指夹爪夹住高柜柜门横把手并向外拉门；视频 9.0–11.0 s 可见把手随夹爪运动。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘承载机器人从厨房初始位置移动到高柜前，见视频 0.0–5.0 s。" + } + ] + }, + "oatmeal_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 28.5, + "log_step": null, + "text_zh": "观察：视频 23.5 s 燕麦盒仍立在台面；视频 27.5–29.0 s 左腕视角可见夹爪在盒边闭合，视频 30.5–38.0 s 盒子离开原处并随左臂被搬到高柜前，故实际发生抓取与搬运。" + }, + { + "t": 41.3, + "log_step": null, + "text_zh": "观察：视频 39.0–41.1 s 燕麦盒仍悬在柜外、位于柜正面与白色侧板前方；视频 41.2–41.5 s 夹爪张开，盒子向下掉出头部视野，未落入敞开的柜内层板。视频 43.0–44.16 s 机器人没有重新抓取或将盒子送入柜中。" + }, + { + "t": 44.16, + "log_step": null, + "text_zh": "推断：结合视频中柜外释放、没有后续入柜，以及评分器 reward.q_score=0.0，最终入柜的燕麦盒数为0；没有观察到任何已离手静止的入柜区间。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左二指夹爪夹住第一盒燕麦的上缘，提起并携带到高柜前；视频 28.5–41.1 s 盒子持续随夹爪运动，随后张爪释放。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在视频 20.0–24.0 s 驶向燕麦所在台面，并在视频 30.5–36.0 s 携带左爪夹住的燕麦盒驶回高柜前。" + } + ] + }, + "oatmeal_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0–4.0 s 可见食品分布在厨房台面上；全片视频 0.0–44.16 s 机器人只开高柜、搬运一盒燕麦并在柜外释放，没有搬运其余食品入柜的动作。" + }, + { + "t": 44.16, + "log_step": null, + "text_zh": "推断：第2盒燕麦入柜没有达成。任务初态为八件食品均在台面，视频中仅第一盒燕麦离开台面且未入柜；评分器 reward.q_score=0.0 对最终新增入柜关系的总数限定为0，故本计数节点 final=false，没有达成区间。" + } + ] + }, + "chips_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0–4.0 s 可见食品分布在厨房台面上；全片视频 0.0–44.16 s 机器人只开高柜、搬运一盒燕麦并在柜外释放，没有搬运其余食品入柜的动作。" + }, + { + "t": 44.16, + "log_step": null, + "text_zh": "推断：第1袋薯片入柜没有达成。任务初态为八件食品均在台面，视频中仅第一盒燕麦离开台面且未入柜；评分器 reward.q_score=0.0 对最终新增入柜关系的总数限定为0，故本计数节点 final=false，没有达成区间。" + } + ] + }, + "chips_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0–4.0 s 可见食品分布在厨房台面上；全片视频 0.0–44.16 s 机器人只开高柜、搬运一盒燕麦并在柜外释放，没有搬运其余食品入柜的动作。" + }, + { + "t": 44.16, + "log_step": null, + "text_zh": "推断：第2袋薯片入柜没有达成。任务初态为八件食品均在台面，视频中仅第一盒燕麦离开台面且未入柜；评分器 reward.q_score=0.0 对最终新增入柜关系的总数限定为0，故本计数节点 final=false，没有达成区间。" + } + ] + }, + "olive_oil_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0–4.0 s 可见食品分布在厨房台面上；全片视频 0.0–44.16 s 机器人只开高柜、搬运一盒燕麦并在柜外释放，没有搬运其余食品入柜的动作。" + }, + { + "t": 44.16, + "log_step": null, + "text_zh": "推断：第1瓶橄榄油入柜没有达成。任务初态为八件食品均在台面，视频中仅第一盒燕麦离开台面且未入柜；评分器 reward.q_score=0.0 对最终新增入柜关系的总数限定为0，故本计数节点 final=false，没有达成区间。" + } + ] + }, + "olive_oil_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0–4.0 s 可见食品分布在厨房台面上；全片视频 0.0–44.16 s 机器人只开高柜、搬运一盒燕麦并在柜外释放，没有搬运其余食品入柜的动作。" + }, + { + "t": 44.16, + "log_step": null, + "text_zh": "推断：第2瓶橄榄油入柜没有达成。任务初态为八件食品均在台面，视频中仅第一盒燕麦离开台面且未入柜；评分器 reward.q_score=0.0 对最终新增入柜关系的总数限定为0，故本计数节点 final=false，没有达成区间。" + } + ] + }, + "sugar_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0–4.0 s 可见食品分布在厨房台面上；全片视频 0.0–44.16 s 机器人只开高柜、搬运一盒燕麦并在柜外释放，没有搬运其余食品入柜的动作。" + }, + { + "t": 44.16, + "log_step": null, + "text_zh": "推断：第1罐糖入柜没有达成。任务初态为八件食品均在台面，视频中仅第一盒燕麦离开台面且未入柜；评分器 reward.q_score=0.0 对最终新增入柜关系的总数限定为0，故本计数节点 final=false，没有达成区间。" + } + ] + }, + "sugar_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0–4.0 s 可见食品分布在厨房台面上；全片视频 0.0–44.16 s 机器人只开高柜、搬运一盒燕麦并在柜外释放，没有搬运其余食品入柜的动作。" + }, + { + "t": 44.16, + "log_step": null, + "text_zh": "推断：第2罐糖入柜没有达成。任务初态为八件食品均在台面，视频中仅第一盒燕麦离开台面且未入柜；评分器 reward.q_score=0.0 对最终新增入柜关系的总数限定为0，故本计数节点 final=false，没有达成区间。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "无量纲", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "oatmeal_in_cabinet_1", + "t": 41.3, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 39.0–41.1 s 机器人左爪携燕麦停在高柜外，视频 41.2–41.5 s 张爪后盒子在柜外向下掉落；直到视频 44.16 s 没有补救入柜。已打开柜门，但第一次食品入柜操作未完成，后续食品也未被搬运。" + }, + "unmet": { + "oatmeal_in_cabinet_1": false, + "oatmeal_in_cabinet_2": false, + "chips_in_cabinet_1": false, + "chips_in_cabinet_2": false, + "olive_oil_in_cabinet_1": false, + "olive_oil_in_cabinet_2": false, + "sugar_in_cabinet_1": false, + "sugar_in_cabinet_2": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 41.3, + "log_step": null, + "evidence_zh": "观察：视频 41.0–41.1 s 左爪仍夹着燕麦盒，盒体位于柜体外侧而非内腔层板上；视频 41.2–41.5 s 左爪打开，盒子从柜外向下落。释放时尚未到达柜内，不能记作放后不稳。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：agent 脚本在没有达到放置位姿时仍执行释放。log step 115 的记录段以 T=[9.02,-1.71,1.075] 设置放置目标，释放前打印的实际左爪 TCP 为[8.489,-1.380,1.277]，与该段末端目标 T+[0,0,0.03] 明显不符，但随后直接调用 open_gripper，未按误差中止或修正；log step 116 保存此段所在 oat1_done 的1326行动作。视频 39.0–41.5 s 同样显示盒子留在柜外后被释放。具体是逆解、接触阻挡还是跟踪造成未到位，现有证据不足以细分。" + } + ], + "gap_zh": "没有状态日志，也没有成功参考视频。视频 41.5 s 后头部视角未显示盒子的完整落点，不能确认最终地面接触；agent 在 log step 122 所称“撞到柜框”缺少可独立定位的接触证据，故未追加碰撞现象，也不把未到位细分为逆解、碰撞或抓取几何问题。食品最终未入柜由视频操作过程与评分器 q_score=0.0 联合判断。" + }, + "summary_zh": "评分轨迹完成打开橱柜，最终进度为1/9；机器人抓起并搬运第一盒燕麦，却在视频约41.3 s 于柜外释放，八件食品入柜目标均未达成。断点为第1盒燕麦入柜，现象是释放位姿不准，日志支持控制脚本在实际末端尚未到达目标时继续张爪。无状态日志，视频未完整显示盒子落点，未到位的更细原因无法确定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点（开柜约视频10.5 s、其余八个计数节点未达成）、断点（oatmeal_in_cabinet_1，操作中，视频41.3 s柜外释放）与 q_score=0 一致；位姿不准加控制根因有 log step 115/116 支持，且标注已说明无法细分。未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:17:56Z", + "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-storing-food-i00-privileged--zfvwgkj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-storing-food-i00-privileged--zfvwgkj/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d52fafd42eb5a05d5b7ddde3469295252a5cc582fd37a0a47a88070375fd5bd0", + "video_sha256": "755198275d37d6152e999be722f79edf88beee9e2b449f5b121bb885e90e43f1", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-privileged--zudurs7.json b/phase2/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-privileged--zudurs7.json new file mode 100644 index 0000000000000000000000000000000000000000..72ace645db3c151a78f035244f9a0fbd9784b116 --- /dev/null +++ b/phase2/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-privileged--zudurs7.json @@ -0,0 +1,312 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-storing-food-i00-privileged--zudurs7", + "taskKey": "behavior-1k/storing_food", + "dag_sha256": "fa03aca76ba4e06fedf3262aedd2698e264e22693c18f1870342eeb1e357b147", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 1626, + "sim_steps": 1626, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 4517.2, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 9, + "agent_resets": 0, + "agent_sim_steps": 10033, + "agent_records": 6, + "agent_replays": 0, + "agent_cost_self_reported": 1 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-storing-food-i00-privileged--zudurs7/replay.mp4", + "duration_s": 54.2, + "fps": 30.0, + "frames": 1626, + "sha256": "81514cd1c3ab4f2e683978312605b272e807b5274e3418afd89370e34507c9d2" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 9, + "base": null, + "peak": null, + "final": null, + "nodes": { + "cabinet_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 1.5, + "log_step": null, + "text_zh": "观察：视频 1.5 s 可见水槽下方柜门闭合；视频 3.5–18.5 s 机器人沿下柜前方移动并使机械臂靠近门板高度，但头部相机主要朝向台面，腕部相机被本体和近处表面占据，未能看清柜口及门板相对运动。" + }, + { + "t": 16.5, + "log_step": 421, + "text_zh": "观察：log step 182、184 记录原始前缀对 cabinet.n.01_2 的四块门板执行 PUSHED_DOOR；log step 421 的交付生成会话重放该前缀。画面没有足以确认内腔开放的视角，不能把脚本打印的推门动作当作开柜完成。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 0.0–18.5 s 的开柜准备与操作阶段，轮式底盘承载机器人驶近台面并沿下柜前方换位。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "机械臂末端在下柜门板高度作业；柜口和夹指接触区被遮挡，无法确认末端究竟压、推、勾或夹住了哪块门板，不从任务典型方案补写抓握。" + } + ] + }, + "oatmeal_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 21.5, + "log_step": 184, + "text_zh": "观察：视频 19.0–22.0 s 机器人右夹爪朝台面上的红白燕麦盒靠近并闭合，燕麦盒始终留在台面；视频 22.5–24.0 s 机器人转向油瓶时，该盒仍在原台面区域，未随右手带走。" + }, + { + "t": 54.17, + "log_step": null, + "text_zh": "观察：视频 24.0–54.17 s 未见机器人再次搬运燕麦盒，末帧红白盒仍在台面。" + }, + { + "t": 54.17, + "log_step": null, + "text_zh": "推断：食品初始均在台面，回放没有燕麦盒入柜过程；评分器 reward.q_score=0.0 进一步限定两盒燕麦的入柜终值均为 false。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "视频 19.0–22.0 s 可定位机器人右二指夹爪对燕麦盒的闭合尝试，但指垫接触区位于画面边缘或被遮挡；未见盒体被夹持带走，不能将闭合命令标为实际抓握。" + } + ] + }, + "oatmeal_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 54.17, + "log_step": null, + "text_zh": "推断：视频 0.0–54.17 s 仅见机器人对一盒燕麦作未成功的抓取，未见任何燕麦盒搬入柜中；评分器 reward.q_score=0.0，故两盒入柜的计数条件从未建立且终值为 false。" + } + ] + }, + "chips_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 54.17, + "log_step": null, + "text_zh": "推断：食品初始均在台面；视频 0.0–54.17 s 机器人的搬运尝试集中于燕麦盒和油瓶，未见将薯片袋从台面送入任何柜体的动作。评分器 reward.q_score=0.0 限定所有食品入柜终值均为 false，因此至少1件薯片袋入柜的条件从未建立且终值为 false。" + } + ] + }, + "chips_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 54.17, + "log_step": null, + "text_zh": "推断：食品初始均在台面；视频 0.0–54.17 s 机器人的搬运尝试集中于燕麦盒和油瓶，未见将薯片袋从台面送入任何柜体的动作。评分器 reward.q_score=0.0 限定所有食品入柜终值均为 false，因此至少2件薯片袋入柜的条件从未建立且终值为 false。" + } + ] + }, + "olive_oil_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 33.5, + "log_step": 422, + "text_zh": "观察：视频 27.0–33.0 s 左夹爪在近侧油瓶旁闭合，瓶仍由台面支承；视频 33.25–33.75 s 左夹爪前后移动时油瓶倾倒在台面上，另一瓶仍直立，未见油瓶被带往柜内。" + }, + { + "t": 54.17, + "log_step": 423, + "text_zh": "观察：视频 36.0–54.17 s 左夹爪重复靠近倒下的油瓶，瓶一直留在台面；视频 53.2–54.17 s 的末段仍是一瓶横躺、一瓶直立。" + }, + { + "t": 54.17, + "log_step": null, + "text_zh": "推断：回放没有油瓶入柜过程，评分器 reward.q_score=0.0 与画面一致，至少一瓶入柜的终值为 false。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "视频约 33.25–33.75 s，机器人左夹爪碰动近侧油瓶并使其倒在台面；后续继续从侧面靠近、拨动该瓶。未见夹爪形成稳定对夹并提起瓶体。" + } + ] + }, + "olive_oil_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 54.17, + "log_step": null, + "text_zh": "推断：视频 27.0–54.17 s 只有近侧油瓶被左夹爪碰动，另一瓶留在台面；没有一瓶完成入柜，结合评分器 reward.q_score=0.0，两瓶入柜的条件从未建立且终值为 false。" + } + ] + }, + "sugar_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 54.17, + "log_step": null, + "text_zh": "推断：食品初始均在台面；视频 0.0–54.17 s 机器人的搬运尝试集中于燕麦盒和油瓶，未见将糖罐从台面送入任何柜体的动作。评分器 reward.q_score=0.0 限定所有食品入柜终值均为 false，因此至少1件糖罐入柜的条件从未建立且终值为 false。" + } + ] + }, + "sugar_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 54.17, + "log_step": null, + "text_zh": "推断：食品初始均在台面；视频 0.0–54.17 s 机器人的搬运尝试集中于燕麦盒和油瓶，未见将糖罐从台面送入任何柜体的动作。评分器 reward.q_score=0.0 限定所有食品入柜终值均为 false，因此至少2件糖罐入柜的条件从未建立且终值为 false。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "无量纲", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "oatmeal_in_cabinet_1", + "t": 21.5, + "log_step": 184, + "where": "操作中", + "evidence_zh": "观察：视频 19.0–22.0 s 右夹爪对燕麦盒闭合后，盒体没有离开台面；视频 22.5 s 后机器人改为操作油瓶，直到视频 54.17 s 都未完成燕麦盒入柜。log step 184 记录这段原始前缀的 GRASP held None；log step 421、424 确认交付包含该前缀及后续油瓶尝试，共 1626 个动作。故以最早可在画面确认且始终未修复的燕麦盒抓取失败定位断点；更早开柜的结果受遮挡，见证据缺口。" + }, + "unmet": { + "oatmeal_in_cabinet_1": false, + "oatmeal_in_cabinet_2": false, + "chips_in_cabinet_1": false, + "chips_in_cabinet_2": false, + "olive_oil_in_cabinet_1": false, + "olive_oil_in_cabinet_2": false, + "sugar_in_cabinet_1": false, + "sugar_in_cabinet_2": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 21.5, + "log_step": 184, + "evidence_zh": "观察：视频 19.0–22.0 s 右夹爪在燕麦盒旁执行闭合，但盒体没有随手离开台面，视频 24.0 s 盒体仍留在台面；log step 184 的原始前缀记录 held None。没有建立完成搬运所需的夹持，并非已持住后掉落；指垫有无短暂碰擦无法看清。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "t": 21.5, + "log_step": 193, + "source_zh": "日志 / agent 自述 / 视频", + "evidence_zh": "推断：log step 135 的原始前缀按燕麦盒包围盒中心从正上方下降后闭合右夹爪；视频 19.0–22.0 s 的结果是夹爪闭合而盒体仍在台面，log step 184 返回 held None。agent 在 log step 193 自述该居中俯抓宽盒的方式使两指没有接上盒体，随后改试边缘夹取；据此把抓取接触几何不适配作为有支持的根因。日志没有验证成功的替代抓法，不进一步断言具体尺寸或夹持力问题。" + } + ], + "gap_zh": "没有状态日志或成功参考视频。视频的开柜阶段主要显示台面、本体和近处表面，柜口与门板相对运动没有可判视角，无法确定打开橱柜是否曾达成，也无法排除它比燕麦抓取更早失败；断点采用最早能确认的未修复抓取失败。燕麦盒指垫接触区也未看清，实际接触记未知，没建立接触指未建立可搬运的夹持。log step 193 的接触设计解释属于 agent 自述，具体几何原因及替代方案仍未验证。交付为 log step 424 保存的 1626 动作版本；其后 log step 425–468 的新调试尚未保存为新交付，不能计入本视频。" + }, + "summary_zh": "评分回放未完成任何食品入柜节点（0/8），开柜结果因柜口遮挡保留未知；九个节点中可确认完成数为0。最早可明确定位的未修复失败是视频约 21.5 s 的燕麦盒夹取，未建立可搬运的夹持，接触设计问题由原始动作脚本和 agent 自述支持；后续左夹爪又把近侧油瓶碰倒，至视频 54.17 s 仍无入柜搬运。没有状态日志，无法确定更早开柜的成败及燕麦夹指的精确接触几何。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "未发现需改动的错误：各食品节点均为 false 并由 q_score=0 限定，开柜因遮挡保留未知并写入缺口，断点定在视频约 21.5 s 的燕麦盒抓取失败（前缀 662 步≈22 s，与 log step 184/421 一致），现象与根因有证据支持，无 agent 时间换算。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:11:52Z", + "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-storing-food-i00-privileged--zudurs7/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-storing-food-i00-privileged--zudurs7/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3dd4a1a0a1f4e54d4b41d5f5e75d192817b9a622404206afd7d41c0e30aac046", + "video_sha256": "81514cd1c3ab4f2e683978312605b272e807b5274e3418afd89370e34507c9d2", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-standard--4ygdlwg.json b/phase2/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-standard--4ygdlwg.json new file mode 100644 index 0000000000000000000000000000000000000000..68727044e6b002107784b387ed9f8788062ceef9 --- /dev/null +++ b/phase2/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-standard--4ygdlwg.json @@ -0,0 +1,383 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-storing-food-i00-standard--4ygdlwg", + "taskKey": "behavior-1k/storing_food", + "dag_sha256": "fa03aca76ba4e06fedf3262aedd2698e264e22693c18f1870342eeb1e357b147", + "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": 2028, + "sim_steps": 2028, + "physics_steps": 8112, + "steps": 636, + "elapsed_s": 3722.1, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 0, + "q_score": 0.0, + "sim_startups": 2, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-storing-food-i00-standard--4ygdlwg/replay.mp4", + "duration_s": 67.6, + "fps": 30.0, + "frames": 2028, + "sha256": "c6029d974873aabc6b0474d72ece99fc700291db74c30410f173b5cdcd82a03e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 9, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [ + [ + 20.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 20.5, + "log_step": 89, + "text_zh": "观察：视频 17.0 s 下柜门尚挡住柜口；视频约 20.5 s 右夹爪拉出的门板已离开柜口，头部画面可见黑色内腔，开口足以送入油瓶。视频 24.5–30.5 s 又打开相邻门并扩大开口；此节点记录开柜事件，之后持续计为已到达。" + }, + { + "t": 30.5, + "log_step": 104, + "text_zh": "观察：视频 30.5 s 下柜内腔和搁板清晰可见，柜门已向外展开。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 19.0–24.0 s，机器人右二指夹爪夹住下柜门上缘把手区域并向外拉；视频约 25.0–27.0 s 对相邻门重复操作。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频约 28.0–30.5 s，机器人右夹爪侧向推动已打开的门板，进一步扩大柜口。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频约 10.0–17.5 s，轮式底盘承载机器人沿台面移动、调整朝向并停靠到下柜前。" + } + ] + }, + "oatmeal_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 53.5, + "log_step": 133, + "text_zh": "观察：视频 50.0–54.5 s，右臂在燕麦盒附近摆动、合拢夹爪后撤开，燕麦盒仍留在台面；未见搬到下柜。log step 133 为这次取放脚本。" + }, + { + "t": 67.5, + "log_step": 192, + "text_zh": "观察：视频 63.5–67.5 s，右夹爪再次从上方接近燕麦盒顶部并合拢、上提，盒底仍留在台面；视频 67.5 s 的头部与右腕画面都没有显示盒子进入柜内。" + }, + { + "t": 67.5, + "log_step": null, + "text_zh": "推断：初始两盒燕麦均在台面，视频没有燕麦入柜过程；评分器 reward.q_score=0、live_matches_replay=1 也排除终态已有一盒入柜。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频约 64.0–66.0 s，机器人右夹爪从上方贴压燕麦盒顶部附近后上提；盒子未随夹爪离开台面，未见对向夹稳盒身。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频约 55.0–57.0 s，底盘承载机器人向台面靠近，调整位置以便再取燕麦盒。" + } + ] + }, + "oatmeal_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 67.5, + "log_step": null, + "text_zh": "观察：视频 0.0–16.0 s 的巡视中，燕麦盒在厨房台面；全片未见机器人把燕麦盒送进橱柜。视频 67.5 s 被尝试抓取的那盒仍在台面，另一盒未被搬运。" + }, + { + "t": 67.5, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0、live_matches_replay=1；结合初态燕麦盒均未在柜内，终态不可能满足至少2件燕麦盒入柜，故本节点终值为假。" + } + ] + }, + "chips_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 67.5, + "log_step": null, + "text_zh": "观察：视频 0.0–16.0 s 的巡视中，薯片袋在厨房台面；全片未见机器人把薯片袋送进橱柜。视频 67.5 s 窗前黄色薯片袋仍在台面，未见对另一袋的搬运。" + }, + { + "t": 67.5, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0、live_matches_replay=1；结合初态薯片袋均未在柜内，终态不可能满足至少1件薯片袋入柜，故本节点终值为假。" + } + ] + }, + "chips_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 67.5, + "log_step": null, + "text_zh": "观察：视频 0.0–16.0 s 的巡视中，薯片袋在厨房台面；全片未见机器人把薯片袋送进橱柜。视频 67.5 s 窗前黄色薯片袋仍在台面，未见对另一袋的搬运。" + }, + { + "t": 67.5, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0、live_matches_replay=1；结合初态薯片袋均未在柜内，终态不可能满足至少2件薯片袋入柜，故本节点终值为假。" + } + ] + }, + "olive_oil_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 32.0, + "log_step": 114, + "text_zh": "观察：视频约 31.5–34.0 s，机器人右臂向窗前油瓶伸去，夹爪停在台面前沿下方，油瓶仍直立在台面；之后右夹爪空手撤回。log step 114 是这一油瓶搬运脚本。" + }, + { + "t": 46.5, + "log_step": 123, + "text_zh": "观察：视频 45.0–46.5 s 重试时，右夹爪伸到前侧油瓶附近并合拢、上抬，前瓶随之倾倒在台面，后瓶仍直立；视频 47.0–48.0 s 右夹爪离开时没有携带油瓶。" + }, + { + "t": 67.5, + "log_step": null, + "text_zh": "推断：视频 67.5 s 一瓶油仍横卧台面、另一瓶仍直立，且此前没有油瓶进入下柜的可见过程；评分器 reward.q_score=0、live_matches_replay=1，结合初始油瓶均在台面，确定本节点终值为假。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "推断：视频约 32.0–33.5 s，右夹爪在台面前沿下方的柜体前部抵住；log step 119 的本体感知显示前伸期间末端在该处停滞，而没有到达台上油瓶。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频约 45.5–46.5 s，右夹爪碰推前侧油瓶，使其倾倒在台面；未见相对两指夹稳并携走油瓶，故不标抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频约 30.5–31.5 s，底盘承载机器人向台面西侧油瓶所在位置调整停靠，随后伸右臂取瓶。" + } + ] + }, + "olive_oil_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 67.5, + "log_step": null, + "text_zh": "观察：视频 0.0–16.0 s 的巡视中，油瓶在厨房台面；全片未见机器人把油瓶送进橱柜。视频 67.5 s 可见一瓶横卧、一瓶直立，均仍在台面。" + }, + { + "t": 67.5, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0、live_matches_replay=1；结合初态油瓶均未在柜内，终态不可能满足至少2件油瓶入柜，故本节点终值为假。" + } + ] + }, + "sugar_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.0, + "log_step": null, + "text_zh": "观察：视频 0.0–16.0 s 的巡视中，糖罐在厨房台面；全片未见机器人把糖罐送进橱柜。糖罐区域在后段不总入镜，没有对糖罐的取放动作。" + }, + { + "t": 67.5, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0、live_matches_replay=1；结合初态糖罐均未在柜内，终态不可能满足至少1件糖罐入柜，故本节点终值为假。" + } + ] + }, + "sugar_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.0, + "log_step": null, + "text_zh": "观察：视频 0.0–16.0 s 的巡视中，糖罐在厨房台面；全片未见机器人把糖罐送进橱柜。糖罐区域在后段不总入镜，没有对糖罐的取放动作。" + }, + { + "t": 67.5, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0、live_matches_replay=1；结合初态糖罐均未在柜内，终态不可能满足至少2件糖罐入柜，故本节点终值为假。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "无量纲", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "olive_oil_in_cabinet_1", + "t": 32.0, + "log_step": 114, + "where": "操作中", + "evidence_zh": "观察：开柜后，机器人在视频约 31.5–34.0 s 首先尝试取前侧油瓶，右夹爪停在台面前沿下方，油瓶未离开原处；视频 45.0–46.5 s 重试又把该瓶碰倒在台面，随后转向燕麦盒。视频 67.5 s 油瓶仍未入柜，因此最早未修复的失败步骤是第1瓶油入柜，而非后来的燕麦抓取。" + }, + "unmet": { + "oatmeal_in_cabinet_1": false, + "oatmeal_in_cabinet_2": false, + "chips_in_cabinet_1": false, + "chips_in_cabinet_2": false, + "olive_oil_in_cabinet_1": false, + "olive_oil_in_cabinet_2": false, + "sugar_in_cabinet_1": false, + "sugar_in_cabinet_2": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 32.0, + "log_step": 114, + "evidence_zh": "推断：视频约 32.0–33.5 s 右夹爪抵在台面前沿下方的柜体前部，台上的油瓶保持原位；log step 119 的本体感知显示伸向油瓶时右 TCP 长时间停在约 Y=-1.60 m、Z=0.79 m，而 log step 114 的取瓶目标为 Y=-1.965 m、Z=1.030 m，支持前方接触阻断。观察：视频 45.5–46.5 s 的重试中右夹爪又碰倒前瓶，瓶子留在台面，未发生入柜。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：log step 114 的脚本从低位手臂直接对各逆解做关节插值，预先排入闭爪、抬升、入柜、松爪整套动作，没有在执行中根据是否抓住油瓶改变后续动作；log step 119 显示末端在柜体前部停滞时闭爪与后续空手运动仍继续，视频约 32.0–38.0 s 与此相符。log step 124 中 agent 也自述首轮缺少越过台面前沿的高位航点；视频 45.5–46.5 s 加入该航点后的重试仍只碰倒油瓶。证据支持油瓶取放控制未能建立有效搬运，尚不足以把两轮失败统一细分为逆解、跟踪或抓取几何中的单一子原因。" + } + ], + "gap_zh": "没有状态日志和成功参考视频；柜体、夹爪会遮住局部接触，无法确定首轮究竟由指尖、夹爪本体还是臂段首先抵住柜体，也没有力传感记录。末次燕麦尝试可见顶部贴压及盒底仍在台面，但指腹是否形成短暂双侧夹持无法精确确认；不据此记成功抓握。开柜时间约有0.5秒不确定性；根因保留在控制大类。日志结束于 log step 209 的深度像素分析，没有最终完成报告；会话初期连接等待后来恢复，不作为这段已有物理失败轨迹的外因。" + }, + "summary_zh": "机器人完成打开橱柜，最终达到9个节点中的1个，八件食品均未完成入柜，评分器 q_score=0。最早未修复的失败是第1瓶油入柜：首次取瓶在台面前沿下方受阻，重试又将瓶子碰倒，之后改取燕麦仍未搬离台面；日志显示预编排的关节轨迹在取瓶未成功时继续执行空手后续动作，支持控制失败。缺少状态日志和力传感，局部接触被遮挡，不能进一步确定接触部位及控制子原因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "开柜节点、八个未达节点、断点（第1瓶油入柜）与现象/根因均与帧一致；未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:14:00Z", + "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-storing-food-i00-standard--4ygdlwg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-storing-food-i00-standard--4ygdlwg/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "23bf76a85047a8f4a89568496f861e475523499caf951c82a41d92abeac030f1", + "video_sha256": "c6029d974873aabc6b0474d72ece99fc700291db74c30410f173b5cdcd82a03e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-standard--7ksed43.json b/phase2/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-standard--7ksed43.json new file mode 100644 index 0000000000000000000000000000000000000000..841aa2d0726ca84393ac87ae4935750a601d9433 --- /dev/null +++ b/phase2/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-standard--7ksed43.json @@ -0,0 +1,401 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-storing-food-i00-standard--7ksed43", + "taskKey": "behavior-1k/storing_food", + "dag_sha256": "fa03aca76ba4e06fedf3262aedd2698e264e22693c18f1870342eeb1e357b147", + "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": 5154, + "sim_steps": 5154, + "physics_steps": 20616, + "steps": 5154, + "elapsed_s": 3682.4, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 0, + "q_score": 0.0, + "sim_startups": 2, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-storing-food-i00-standard--7ksed43/replay.mp4", + "duration_s": 171.8, + "fps": 30.0, + "frames": 5154, + "sha256": "32decee9a53d4cbcc64c7a86e16c4e2b7f9d290e46500e7b32cfca5a3a9c80c3" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 9, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [ + [ + 19.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 17.5, + "log_step": 168, + "text_zh": "观察：视频 17.5 s 柜门仍靠近柜口，机器人右夹爪在把手处；视频 18.0–19.0 s 右夹爪拉动门板，视频 19.0 s 已露出下柜内腔，开口可供食品通过。" + }, + { + "t": 21.5, + "log_step": null, + "text_zh": "观察：视频 21.5 s 柜门向外展开，内腔持续可见；此节点记录曾经打开，随后门板回摆不撤销该事件。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 17.5–21.5 s 机器人右二指夹爪夹住下柜把手拉门；视频 103–106 s 左夹爪也曾夹把手尝试维持开口。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0–15 s 轮式底盘转向并驶近食品台面下的橱柜，之后多次调整停靠位置以操作柜门。" + } + ] + }, + "oatmeal_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 30.0, + "log_step": 188, + "text_zh": "观察：视频 28–30 s 一盒燕麦从台面升起并随右夹爪移动；视频 33–54 s 腕部视图持续可见夹持的盒子。拿起与持物搬运尚不满足离手入柜。" + }, + { + "t": 66.4, + "log_step": 223, + "text_zh": "观察：视频 65.6–68.8 s 右夹爪将燕麦盒送向下柜，盒子贴住向外斜置的门板，门板向关闭方向回摆，盒子始终处于柜外且仍由右爪夹持；视频 90–95 s 再次接近柜口仍未完成放入。" + }, + { + "t": 128.5, + "log_step": 263, + "text_zh": "观察：视频 125.5–128.5 s 机器人将该盒送回台面，右夹爪张开并退开；燕麦盒留在油瓶旁，之后至视频 171.77 s 未再被送入柜内。" + }, + { + "t": 171.77, + "log_step": null, + "text_zh": "推断：视频中的燕麦始终未在柜内离手静置，且评分器 reward.q_score=0、live_matches_replay=1；本次没有任何新增食品入柜目标成立，故第1盒燕麦入柜终值为假。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 28–128 s 主要由右二指夹爪夹持燕麦盒搬运；视频 103–106 s 右爪持盒时左爪夹柜门把手拉门，形成短暂双臂配合，随后左爪脱离把手。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 59–69 s、视频 89–95 s 等区间机器人持盒时移动底盘，靠近或退离柜口以尝试放入。" + } + ] + }, + "oatmeal_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 30.0, + "log_step": null, + "text_zh": "观察：视频 28–30 s 机器人只抓起一盒燕麦，另一盒留在台面；视频 128.5 s 第一盒也已被放回台面，此后未见第二次燕麦搬运。" + }, + { + "t": 171.77, + "log_step": null, + "text_zh": "推断：视频 171.77 s 台面仍可见燕麦盒，整段视频无两盒离手入柜的阶段；评分器 reward.q_score=0 与此一致，第2盒燕麦入柜终值为假。" + } + ] + }, + "chips_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 15.0, + "log_step": null, + "text_zh": "观察：视频 9–15 s 台面两处食品组可见黄色薯片袋；视频 0–171.77 s 机器人操作的是柜门、燕麦盒和油瓶附近，未见抓起或运送薯片袋入柜。" + }, + { + "t": 171.77, + "log_step": null, + "text_zh": "推断：视频 171.77 s 近处薯片袋仍在水槽旁台面；结合全程未见薯片搬运及评分器 reward.q_score=0，第1袋薯片入柜终值为假。" + } + ] + }, + "chips_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 15.0, + "log_step": null, + "text_zh": "观察：视频 9–15 s 台面两处食品组可见黄色薯片袋；视频 0–171.77 s 机器人操作的是柜门、燕麦盒和油瓶附近，未见抓起或运送薯片袋入柜。" + }, + { + "t": 171.77, + "log_step": null, + "text_zh": "推断：视频 171.77 s 近处薯片袋仍在水槽旁台面；结合全程未见薯片搬运及评分器 reward.q_score=0，第2袋薯片入柜终值为假。" + } + ] + }, + "olive_oil_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 164.0, + "log_step": 303, + "text_zh": "观察：视频 159–164 s 右夹爪从柜口附近移向台面油瓶，视频 165–168 s 在油瓶上方合拢并抬起，但油瓶仍留在原台面位置，没有随夹爪升起。" + }, + { + "t": 171.77, + "log_step": 306, + "text_zh": "观察：视频 170.8–171.77 s 右夹爪再次向油瓶方向下探，腕部画面中瓶子仍立在台面，未发生携瓶入柜或柜内释放。" + }, + { + "t": 171.77, + "log_step": null, + "text_zh": "推断：视频无油瓶离手入柜阶段，评分器 reward.q_score=0、live_matches_replay=1；第1瓶油入柜终值为假。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 165–171.77 s 右夹爪确实朝近处油瓶抓取，但合拢抬起时瓶子未移动，最后下探的指尖接触点被手腕遮住；无法确认是否轻触瓶体，不能记为已建立抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 149–157 s 机器人调整底盘位置，随后右臂朝台面油瓶上方伸出，为此次油瓶抓取接近目标。" + } + ] + }, + "olive_oil_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 171.77, + "log_step": null, + "text_zh": "观察：视频 159–171.77 s 机器人只在近处油瓶上方尝试抓取，油瓶没有随手抬起，未开始搬运第二瓶；视频 171.77 s 腕部画面仍可见台面油瓶。" + }, + { + "t": 171.77, + "log_step": null, + "text_zh": "推断：全程没有油瓶放入柜内的阶段，评分器 reward.q_score=0，故第2瓶油入柜终值为假。" + } + ] + }, + "sugar_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 171.77, + "log_step": null, + "text_zh": "观察：视频 0–171.77 s 机器人未见抓起或运送糖罐，主要操作柜门与燕麦盒，最后尝试抓油瓶；视频 171.77 s 右腕视图中小罐仍在台面食品组内。" + }, + { + "t": 171.77, + "log_step": null, + "text_zh": "推断：早期可见的食品都在台面，整段视频无糖罐入柜动作；评分器 reward.q_score=0 排除新增糖罐入柜目标成立，故第1罐糖入柜终值为假。" + } + ] + }, + "sugar_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 171.77, + "log_step": null, + "text_zh": "观察：视频 0–171.77 s 机器人未见抓起或运送糖罐，主要操作柜门与燕麦盒，最后尝试抓油瓶；视频 171.77 s 右腕视图中小罐仍在台面食品组内。" + }, + { + "t": 171.77, + "log_step": null, + "text_zh": "推断：早期可见的食品都在台面，整段视频无糖罐入柜动作；评分器 reward.q_score=0 排除新增糖罐入柜目标成立，故第2罐糖入柜终值为假。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "无量纲", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "oatmeal_in_cabinet_1", + "t": 66.4, + "log_step": 223, + "where": "操作中", + "evidence_zh": "观察：视频 65.6–68.8 s 机器人右爪持燕麦盒靠近柜口时，盒子与斜置柜门相抵，门向关闭方向回摆，食品未进入内腔；视频 90–95 s 重试仍失败，视频 125.5–128.5 s 将盒子放回台面。log step 223 中 agent 自述“盒子被半开的门卡住”，随后虽继续开门并改抓油瓶，直到视频 171.77 s 仍未修复第1盒燕麦入柜。" + }, + "unmet": { + "oatmeal_in_cabinet_1": false, + "oatmeal_in_cabinet_2": false, + "chips_in_cabinet_1": false, + "chips_in_cabinet_2": false, + "olive_oil_in_cabinet_1": false, + "olive_oil_in_cabinet_2": false, + "sugar_in_cabinet_1": false, + "sugar_in_cabinet_2": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 66.4, + "log_step": 223, + "evidence_zh": "观察：视频 65.6–68.8 s 机器人右夹爪持燕麦盒推近下柜，盒子贴抵门板，门板逐渐合向柜口；视频 90–95 s 的再次接近也伴随门板回摆，盒子停在柜外。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "source_zh": "视频", + "evidence_zh": "推断：机器人单臂持盒接近柜口时，未建立并维持固定柜门的接触，所用接触布局未能保持入柜通道。观察依据：视频 65.6–68.8 s 右爪夹持燕麦盒抵住斜置柜门，左爪未扶门，门板向关闭方向回摆，盒子仍在柜外；视频 90–95 s 重试时盒子仍抵门而未进入内腔。log step 223 中 agent 自述“盒子被半开的门卡住，将用空闲手把门开大”，该说法与上述画面相符。视频 103–106 s 可见左爪夹住把手拉门、右爪继续持盒，但此次仍未实现入柜；log step 263 中 agent 自述左爪在加大拉门幅度时丢失把手。因此双臂接触方案曾被尝试，尚不能验证存在可完成放置的替代方案。末端高度偏差和关节裁剪与门板回摆之间没有已证实的因果关系，不作为该根因的依据。" + } + ], + "gap_zh": "没有状态日志或成功参考视频，无法读取逐物体内含关系、速度及逐链接接触；食品未离手入柜由画面确认，终值另由 q_score=0 约束。油瓶末次下探的指尖接触点遮挡，实际接触保留未知。视频支持柜门未被持续固定、持盒入柜受阻的接触布局问题，但没有完成放置的替代接触方案可验证；日志中的末端高度偏差和关节裁剪与门板回摆的因果联系未获证实。" + }, + "summary_zh": "机器人约在视频 19.0 s 打开下柜，完成1/9个节点；抓起一盒燕麦后多次在柜门处受阻，视频 128.5 s 前已将其放回台面，所有食品入柜节点均未达到。之后的油瓶抓取未带起瓶子，评分器 q_score=0，首个未修复断点为第1盒燕麦入柜；画面支持持盒入柜时未持续固定柜门的接触设计问题。无状态日志及成功参考视频，油瓶指尖接触和替代接触方案的可行性无法确定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "WHERE 标签（视频 19.0 s 开柜、八个入柜节点为假、断点为第1盒燕麦入柜、现象为被挡/碰撞）与视频一致；只有根因“控制”的证据链不成立：引用的末端高度偏差与关节裁剪和柜门回摆没有因果联系。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "第2轮：开柜节点、八个入柜节点为假、断点（第1盒燕麦入柜，操作中）、被挡/碰撞现象及“抓取和接触设计”根因（alt_feasible=未知）均与画面一致；上一轮问题已修复。", + "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": "2026-10-30T21:42:39Z", + "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-storing-food-i00-standard--7ksed43/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-storing-food-i00-standard--7ksed43/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-storing-food-i00-standard--7ksed43/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-storing-food-i00-standard--7ksed43/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c8ec17219dbb86775caa9ac82eb54b345024de215b7a00a0ec74f18eec728160", + "video_sha256": "32decee9a53d4cbcc64c7a86e16c4e2b7f9d290e46500e7b32cfca5a3a9c80c3", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-standard--ce6st3k.json b/phase2/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-standard--ce6st3k.json new file mode 100644 index 0000000000000000000000000000000000000000..a9d5133ddf016fac29f6242924a71c4f7f7d2956 --- /dev/null +++ b/phase2/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-standard--ce6st3k.json @@ -0,0 +1,382 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-storing-food-i00-standard--ce6st3k", + "taskKey": "behavior-1k/storing_food", + "dag_sha256": "fa03aca76ba4e06fedf3262aedd2698e264e22693c18f1870342eeb1e357b147", + "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": 10015, + "sim_steps": 10015, + "physics_steps": 40060, + "steps": 3345, + "elapsed_s": 3143.6, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 0, + "q_score": 0.0, + "sim_startups": 2, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-storing-food-i00-standard--ce6st3k/replay.mp4", + "duration_s": 333.833, + "fps": 30.0, + "frames": 10015, + "sha256": "de3f41436c88e5451f68c6a26ad3ce54ae493908fc46ed1ef78692b65d8b2293" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 9, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [ + [ + 41.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 41.0, + "log_step": 81, + "text_zh": "观察：视频 40.5–41.5 s，右腕视角中柜门上缘向外移动，柜口后方的黑色内腔和横向隔板显露；视频 45.5–46.0 s 头部视角也可见外开的门板。首次满足开柜判据的时间约为视频 41 s，受近距离遮挡影响约有1秒不确定性。" + }, + { + "t": 165.0, + "log_step": 108, + "text_zh": "观察：视频 160–165 s 可见台面下柜门大幅外开、完整柜口及内部隔板；视频 195–198 s 同一柜口仍可见。此节点记录曾经打开，后续门回闭不撤销事件。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人先用右二指夹爪夹住柜门上沿凹槽并向外拉，后改用左爪夹住门沿拉开和维持开门；见视频 40.5–46 s、150–165 s。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 105–123 s，机器人左夹爪抵在门板内侧向外推门；此处为推门接触。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 10–20 s 底盘驶近水槽下橱柜，视频 155–160 s 拉门期间底盘后退以扩大操作空间。" + } + ] + }, + "oatmeal_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 202.0, + "log_step": 128, + "text_zh": "观察：视频 199.7–204.7 s，右夹爪朝红白燕麦盒下降、合拢后抬起，盒仍留在台面边缘；视频 210–215 s 盒体倾斜在台面上，未被带往柜内。" + }, + { + "t": 333.8, + "log_step": null, + "text_zh": "推断：视频 333.8 s 的末帧及全程抽查没有燕麦入柜动作；评分器 q_score=0、live_matches_replay=1，结合开局食品在台面和该类目标均需新增内含关系，终态燕麦入柜计数为0。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频约 201–205 s，右夹爪下探燕麦盒并使盒体倾斜，抬手时盒未随爪离开台面；只记录拨动盒体，未证实形成抓握。" + } + ] + }, + "oatmeal_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 215.0, + "log_step": null, + "text_zh": "观察：视频 199–215 s 机器人只对近处燕麦盒实施抓取尝试，没有将盒送入橱柜，也没有转去操作另一盒。" + }, + { + "t": 333.8, + "log_step": null, + "text_zh": "推断：评分器 q_score=0、live_matches_replay=1；结合视频中未见任何燕麦盒由台面转入柜内，第2盒燕麦入柜终态为假。" + } + ] + }, + "chips_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 249.0, + "log_step": 139, + "text_zh": "观察：视频 228–249 s，左夹爪多次朝台面上平躺的黄色薯片袋下降并合拢，随后空爪抬起，袋仍留在台面；视频 333.8 s 仍可见黄色袋在水槽旁。" + }, + { + "t": 333.8, + "log_step": null, + "text_zh": "推断：评分器 q_score=0、live_matches_replay=1，与视频中薯片袋没有完成入柜的过程一致；第1袋薯片入柜终态为假。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 230–249 s，左夹爪指端从上方压到平躺薯片袋，合指后抬起时袋没有随爪搬走；未据合爪动作推定抓握。" + } + ] + }, + "chips_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 249.0, + "log_step": null, + "text_zh": "观察：视频 228–249 s 的操作集中在水槽旁同一黄色袋，未见机器人拿取或搬运另一袋薯片。" + }, + { + "t": 333.8, + "log_step": null, + "text_zh": "推断：开局食品在台面，评分器 q_score=0、live_matches_replay=1；视频亦没有任何薯片入柜过程，故第2袋薯片入柜终态为假。" + } + ] + }, + "olive_oil_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 183.0, + "log_step": 113, + "text_zh": "观察：视频 180–183 s，右爪夹住绿色油瓶并将其抬离台面、移向橱柜，原位置不再有该瓶；左爪仍在柜门处。" + }, + { + "t": 194.5, + "log_step": 120, + "text_zh": "观察：视频 187–193.5 s，右爪持瓶在柜口前调整，瓶体未被送到隔板上方的内腔深处；视频约 194 s 右爪张开，视频 194.5–198 s 可见油瓶横躺在柜前地面，柜内隔板上没有该瓶。" + }, + { + "t": 333.8, + "log_step": null, + "text_zh": "推断：后续操作未把地面上的该瓶送入柜内，末帧右爪还持另一瓶；评分器 q_score=0、live_matches_replay=1，因此没有任何一瓶达到入柜并离手的终态。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 180–194 s，右二指夹爪夹持油瓶搬运，左二指夹爪同时夹住柜门上沿维持开门；随后右爪在柜外主动松开。" + } + ] + }, + "olive_oil_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 300.0, + "log_step": 154, + "text_zh": "观察：视频 295–300 s，右爪夹住台面上剩余的另一油瓶并提起；视频 301–304 s 持瓶朝台面下移动，随后又撤回柜外。" + }, + { + "t": 333.8, + "log_step": 160, + "text_zh": "观察：视频 332–333.8 s，右爪持续夹持该油瓶停在水槽前；第一瓶仍未有回收入柜过程。第2瓶入柜所需的两瓶均入柜、离手条件从未成立。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 295–333.8 s，右二指夹爪夹住另一油瓶，从台面提起并向柜口搬运，结束时仍持瓶；这里记录第二件实体的实际尝试，入柜计数没有增加。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频约 253–260 s，机器人底盘调整位置、靠近台面，随后右爪反复伸向剩余油瓶；见 log step 145 的驶近动作及对应视频视角移动。" + } + ] + }, + "sugar_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 333.8, + "log_step": null, + "text_zh": "观察：全程视频抽查及操作段细查中，机器人操作的是柜门、油瓶、燕麦盒和黄色薯片袋，没有对糖罐进行抓取或搬入橱柜的动作。" + }, + { + "t": 333.8, + "log_step": null, + "text_zh": "推断：评分器 q_score=0、live_matches_replay=1，结合开局八件食品均在台面的任务初态及没有糖罐转移过程，终态糖罐入柜计数为0，该节点为假。" + } + ] + }, + "sugar_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 333.8, + "log_step": null, + "text_zh": "观察：全程视频抽查及操作段细查中，机器人操作的是柜门、油瓶、燕麦盒和黄色薯片袋，没有对糖罐进行抓取或搬入橱柜的动作。" + }, + { + "t": 333.8, + "log_step": null, + "text_zh": "推断：评分器 q_score=0、live_matches_replay=1，结合开局八件食品均在台面的任务初态及没有糖罐转移过程，终态糖罐入柜计数为0，该节点为假。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "无量纲", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "olive_oil_in_cabinet_1", + "t": 194.0, + "log_step": 120, + "where": "操作中", + "evidence_zh": "观察：视频 180–194 s，机器人右爪把第一瓶油从台面搬到已打开的柜口，调整后仍在柜前松爪；视频 194.5–198 s 油瓶横躺地面。推断：这是开柜完成后最先发生且始终未修复的入柜失败；后续燕麦、薯片及另一瓶油的尝试没有完成第1瓶油入柜。" + }, + "unmet": { + "oatmeal_in_cabinet_1": false, + "oatmeal_in_cabinet_2": false, + "chips_in_cabinet_1": false, + "chips_in_cabinet_2": false, + "olive_oil_in_cabinet_1": false, + "olive_oil_in_cabinet_2": false, + "sugar_in_cabinet_1": false, + "sugar_in_cabinet_2": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 194.0, + "log_step": 120, + "evidence_zh": "观察：视频 191–193.5 s，机器人右爪将油瓶降到柜口下沿前方，瓶体没有进入隔板上方内腔；视频约 194 s 张爪后，视频 194.5 s 油瓶直接落在柜前地面。log step 120 也记录了主动打开右爪。推断：释放位置在目标柜体外，属于入柜位姿不到位。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "观察：log step 114 的入柜目标为右TCP (5.22,-1.85,0.62)，机器人实际为 (5.362,-1.607,0.742)；log step 117 再次插入目标 (5.30,-1.75,0.50)，实际为 (5.40,-1.586,0.458)。这些数值是机器人本体末端反馈；log step 120 随后执行开爪。视频 187–194.5 s 对应显示机器人在柜口调整后将瓶释放到柜外地面。推断：入柜运动没有实现要求的位置，脚本在残余位置偏差尚未消除时继续释放；证据支持控制失效，但不足以区分接触几何、轨迹或反馈控制的具体子类。" + } + ], + "gap_zh": "没有状态日志或成功参考视频，柜口附近常被机器人躯干和手臂遮挡，首次开柜时刻约有1秒不确定性；无法精确重建瓶体包围盒中心与柜体内含边界，也不能确认入柜运动偏差具体源于哪一接触或关节。糖罐及未操作的同类第二件不在末帧全部可见，终态否定结论结合全程操作记录与评分器 q_score=0 推断；没有从零分反推它们从未尝试。" + }, + "summary_zh": "机器人曾打开水槽下橱柜，完成1/9节点；八件食品的入柜节点均未达成，评分器 q_score=0。首次未修复断点是第1瓶油入柜：视频约 194 s 机器人在柜外主动松爪，油瓶落地，日志显示插入运动仍有明显末端偏差；后续燕麦、薯片及另一油瓶的尝试也未完成入柜。没有状态日志，局部遮挡限制了精确接触和控制子类判断，结束时另一油瓶仍在右爪中。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值、开柜时间（视频约41 s）、断点（第1瓶油入柜，视频约194 s松爪落地）和位姿不准/控制的标注与帧一致；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": "2026-10-30T21:10:33Z", + "review_prompt": "prompts/04_trajectory_review.md", + 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b/phase2/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-standard--chnbm26.json new file mode 100644 index 0000000000000000000000000000000000000000..eb7e82a7246c658e61a534ab19b7fb9a94caf9b3 --- /dev/null +++ b/phase2/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-standard--chnbm26.json @@ -0,0 +1,341 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-storing-food-i00-standard--chnbm26", + "taskKey": "behavior-1k/storing_food", + "dag_sha256": "fa03aca76ba4e06fedf3262aedd2698e264e22693c18f1870342eeb1e357b147", + "outcome": { + "success": 0, + "reward": 0.125, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 11324, + "sim_steps": 11324, + "physics_steps": 45296, + "steps": 615, + "elapsed_s": 2669.3, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 0, + "q_score": 0.125, + "sim_startups": 2, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-storing-food-i00-standard--chnbm26/replay.mp4", + "duration_s": 377.467, + "fps": 30.0, + "frames": 11324, + "sha256": "69a9b0676f538b0beac776a71006aa70a1f386848fecda11f4e36d8a63702ccd" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 9, + "base": null, + "peak": null, + "final": null, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 30, + "log_step": null, + "text_zh": "观察：视频 30–40 s，机器人靠近窗下橱柜，柜门板仍遮挡柜口；视频 40–120 s 首轮伸手、闭爪及后拉未露出可装食品的内腔。" + }, + { + "t": 290, + "log_step": 203, + "text_zh": "观察：视频 286–306 s，机器人左夹爪伸向下柜正面、闭合并后退，门板和把手没有随夹爪拉开；log step 203 的脚本对应一次把手接近、闭爪、后拉序列。" + }, + { + "t": 377.43, + "log_step": null, + "text_zh": "观察：视频 376.6 s 与 377.43 s 的头部、腕部画面仍显示柜门板，未见柜口打开；全片检查未发现其他目标橱柜露出可装食品的内腔。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：机器人左夹爪多次接近下柜把手、闭合并后拉，但没有看见夹住把手；腕部画面近距离遮挡且有重叠，无法确认是否曾触碰门板或把手及其接触方式。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0–35 s，轮式底盘转向并驶近窗下橱柜，为随后的左臂开柜尝试定位。" + } + ] + }, + "oatmeal_in_cabinet_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 316, + "log_step": 210, + "text_zh": "观察：视频 315–318 s，机器人右夹爪接近红白燕麦盒，盒子从直立变为倒卧；视频 324 s、349 s、370 s 及 377.43 s 所见该盒仍在窗前台面，未见随夹爪搬入柜内。log step 210 记录的是抓取抬升脚本，不能据此认定已经拿起。" + }, + { + "t": 370, + "log_step": null, + "text_zh": "推断：被操作的燕麦盒未入柜；另一盒没有可连续追踪至终态的清晰视野，柜内也不可见。评分器仅给 q_score=0.125，没有逐食品 inside 字段，不能排除这一总分来自另一盒，故本类至少一盒的完整节点值未定；此缺口是未观测物体去向，不是同类实例编号问题。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 315–318 s，机器人右夹爪接触红白燕麦盒并将其碰倒；后续伸手未显示稳定的对向夹持或带盒离开台面。" + } + ] + }, + "oatmeal_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 370, + "log_step": null, + "text_zh": "观察：视频 315–318 s 被机器人碰倒的红白燕麦盒在视频 324 s、349 s、370 s 仍位于台面，未进入橱柜。" + }, + { + "t": 377.43, + "log_step": null, + "text_zh": "推断：至少一盒燕麦始终在柜外，故两盒全部入柜未成立；评分器 q_score=0.125 至多支持八件中的一件新增 inside 条件，也排除终态两盒入柜。" + } + ] + }, + "chips_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 317, + "log_step": null, + "text_zh": "观察：视频 317–324 s，两个黄色薯片袋分别留在水槽两侧的台面，未见机器人夹取或送入橱柜。" + }, + { + "t": 370, + "log_step": null, + "text_zh": "观察：视频 349 s 与 370 s，一袋黄色薯片在水槽内，另一袋仍在远端台面；两袋均在柜外，未见任何入柜后又取出的过程。" + } + ] + }, + "chips_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 370, + "log_step": null, + "text_zh": "观察：视频 317 s 两袋黄色薯片均在台面；视频 349 s、370 s 一袋在水槽内、另一袋在远端台面，机器人没有将其搬进柜内。" + }, + { + "t": 377.43, + "log_step": null, + "text_zh": "推断：视频末段两袋薯片仍在柜外，且评分器 q_score=0.125 至多容许一件新增食品 inside 条件，终态两袋入柜为假。" + } + ] + }, + "olive_oil_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 333, + "log_step": null, + "text_zh": "观察：视频 324 s 与 333 s，两瓶绿色橄榄油瓶均在窗前台面；视频 337 s 后其中一瓶横倒，另一瓶仍直立。" + }, + { + "t": 370, + "log_step": null, + "text_zh": "观察：视频 349 s、370 s，一瓶横卧于台面前部，另一瓶在燕麦盒后方窗边直立；均在柜外，没有可见的入柜转移。" + } + ] + }, + "olive_oil_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 370, + "log_step": null, + "text_zh": "观察：视频 333 s 两瓶油在台面直立，视频 349 s、370 s 一瓶横倒、一瓶直立，均未进橱柜。" + }, + { + "t": 377.43, + "log_step": null, + "text_zh": "推断：两瓶油均在柜外，且评分器 q_score=0.125 至多支持一件新增食品 inside 条件，终态两瓶入柜为假。" + } + ] + }, + "sugar_in_cabinet_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 370, + "log_step": null, + "text_zh": "观察：视频全程未显示机器人针对糖罐的抓取、携带和入柜；视频 317–370 s 的主要视野覆盖窗前台面，远端物体较小、部分食品互相遮挡，柜内不可见。" + }, + { + "t": 377.43, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.125、live_matches_replay=1 表明有一项食品目标文字条件获分，但没有逐物体结果。无法把这一项定位到糖罐或未能连续追踪的另一燕麦盒，也无法核实隐藏糖罐的离手静止状态，故至少一罐糖入柜保持未知。" + } + ] + }, + "sugar_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 377.43, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.125，即八件食品目标至多一项新增 inside 条件成立；因此两罐糖全部入柜的终态不成立。视频全片未见糖罐入柜操作，也没有两罐曾经同时入柜的可见过程。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.125, + "unit": "无量纲", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "cabinet_opened", + "t": 60, + "log_step": 134, + "where": "操作中", + "evidence_zh": "观察：视频 40–120 s，机器人第一次向窗下柜伸手并后拉后，门板仍挡住柜口；视频 228–274 s、286–306 s 的再次接近和拉动也没有打开内腔。log step 134、176、203 分别写入直拉、弧线拉动和再次直拉把手的脚本。推断：开柜是首先尝试而始终未修复的步骤；后续碰倒燕麦盒并未修复开柜，视频 60 s 仅作首轮失败的粗略导航锚点。" + }, + "unmet": { + "oatmeal_in_cabinet_1": null, + "oatmeal_in_cabinet_2": false, + "chips_in_cabinet_1": false, + "chips_in_cabinet_2": false, + "olive_oil_in_cabinet_1": false, + "olive_oil_in_cabinet_2": false, + "sugar_in_cabinet_1": null, + "sugar_in_cabinet_2": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 290, + "log_step": 209, + "evidence_zh": "观察：视频 286–306 s，机器人左夹爪靠近下柜、闭合后空手退回，把手及柜门没有跟随，未形成可拉开柜门的抓握；log step 209 读到该次后拉后的左夹爪开度约为 0.0000004 米。推断：结合视频，所需的夹持把手接触没有建立，而非已经抓稳后滑脱；不据画面断言全程没有任何指尖擦碰。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "观察：log step 134、176、203 的脚本均以接近把手、闭爪、向外拉为目标；视频 228–274 s、286–306 s 机器人实际伸手及后拉仍未带动柜门，log step 209 显示后拉后夹爪几乎完全闭合。推断：目标动作明确，但末端执行没有建立有效把手夹持，归于控制；现有证据不足以继续细分为抓取几何、轨迹或反馈控制。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "没有状态日志或成功参考视频，不能精确核实把手接触、柜门关节和食品 inside 条件；腕部视野会被夹爪、台面遮挡。已检查全片粗采样、开柜及燕麦尝试的密集前后帧和视频 376.6 s、377.43 s 末帧。评分器 q_score=0.125 且实时与重放一致，但只给总分，无法将获分的一件食品对应到被遮挡的糖罐或另一燕麦盒；这两个第1件节点保留未知，不能据未见搬运把它们一律判假，也不臆定达到时刻。两件计数终态由总分上界判假，缺少中途逐物体日志，未发现其曾成立的可见证据。开柜根因只判控制，尚不能排除定位偏差或细分控制问题。log step 223 保存的新求解脚本只在 log step 224 做语法检查，日志没有执行记录，未将其中计划的入柜计入本视频。" + }, + "summary_zh": "机器人驶近窗下橱柜并多次尝试拉把手，始终未露出可装食品的柜内空间；随后右夹爪将燕麦盒碰倒在台面，未见实际入柜，薯片和油瓶也仍在柜外。首个未修复断点为打开橱柜，现象为未建立有效把手夹持，根因证据支持控制层但不足以细分。评分器 q_score=0.125 无逐物体明细，另一燕麦盒及糖罐的完整去向不可见，两个第1件节点保留未知，未确认任何节点达成。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽查视频 30–377 s 的头部/腕部画面及 log step 134/176/203/209：开柜未明确达成（柜门为反光面，画面中的“内腔”多为门面倒影，无法判定已打开），断点、现象与控制根因与证据一致，q_score 的未知/假判定处理得当；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": "2026-10-30T21:24:52Z", + "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-storing-food-i00-standard--chnbm26/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-storing-food-i00-standard--chnbm26/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a48473df33388da631689b85f3e89947bcb2fc7ad030651387a45f832387e89a", + "video_sha256": "69a9b0676f538b0beac776a71006aa70a1f386848fecda11f4e36d8a63702ccd", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-standard--hz7rkda.json b/phase2/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-standard--hz7rkda.json new file mode 100644 index 0000000000000000000000000000000000000000..59cb235f372213e1e45ca6e97a2a18123136dbdb --- /dev/null +++ b/phase2/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-standard--hz7rkda.json @@ -0,0 +1,337 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-storing-food-i00-standard--hz7rkda", + "taskKey": "behavior-1k/storing_food", + "dag_sha256": "fa03aca76ba4e06fedf3262aedd2698e264e22693c18f1870342eeb1e357b147", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 0, + "live_matches_replay": 0, + "finalized": 1, + "n_actions": 23574, + "sim_steps": 23573, + "physics_steps": 94292, + "steps": 23574, + "elapsed_s": 6877.3, + "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-storing-food-i00-standard--hz7rkda/replay.mp4", + "duration_s": 775.833, + "fps": 30.0, + "frames": 23275, + "sha256": "b14a01baa8ae2de751621824a0d108d9e0f107fb86dffdd6d4a19ff782776516" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 9, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.0, + "log_step": null, + "text_zh": "观察：视频 20.0 s 可见水槽两侧食品仍在台面，下柜门板覆盖柜口；视频 90.0 s、105.0 s 和约视频 120–190 s 的巡视画面仍未出现柜门转离柜口、露出可放食品的内腔。两腕视图中的夹爪未伸向柜门把手。" + }, + { + "t": 205.0, + "log_step": null, + "text_zh": "观察：视频 202–206 s 机器人视野急剧翻向地板，随后至视频 775.6 s 均为倾倒后挪动、摆臂和撑地的画面；未见机器人打开橱柜。开柜事件没有达到。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：视频 60 s、150 s 的台面/柜体近景及视频 195–201 s 转向餐桌的场景位移显示，轮式底盘支承机器人在开柜前巡视场景；未见夹爪接触柜门把手，不标抓握。" + } + ] + }, + "oatmeal_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 105.0, + "log_step": null, + "text_zh": "观察：视频 20.0 s 的台面全景及视频 90.0 s、105.0 s 的两端近景中，红白色盒装食品仍在水槽旁台面；机器人巡视时两夹爪未包夹或搬起食品。已检查的后续视频中没有燕麦盒离开台面并被送入橱柜的动作。" + }, + { + "t": 775.6, + "log_step": null, + "text_zh": "推断：视频 202–206 s 后机器人倾倒，视频 775.6 s 仍低伏在地面旁，没有恢复取放食品。评分器 reward.q_score=0.0，初始食品在柜外，因此最终满足入柜关系的燕麦盒数量为零，本计数节点为 false；live_matches_replay=0，在线总分仅用于视频没有相反证据的终值，未据此虚构抓取或放置时刻。" + } + ] + }, + "oatmeal_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 105.0, + "log_step": null, + "text_zh": "观察：视频 20.0 s 的台面全景及视频 90.0 s、105.0 s 的两端近景中，红白色盒装食品仍在水槽旁台面；机器人巡视时两夹爪未包夹或搬起食品。已检查的后续视频中没有燕麦盒离开台面并被送入橱柜的动作。" + }, + { + "t": 775.6, + "log_step": null, + "text_zh": "推断：视频 202–206 s 后机器人倾倒，视频 775.6 s 仍低伏在地面旁，没有恢复取放食品。评分器 reward.q_score=0.0，初始食品在柜外，因此最终满足入柜关系的燕麦盒数量为零，本计数节点为 false；live_matches_replay=0，在线总分仅用于视频没有相反证据的终值，未据此虚构抓取或放置时刻。" + } + ] + }, + "chips_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 105.0, + "log_step": null, + "text_zh": "观察：视频 20.0 s 的台面全景及视频 90.0 s、105.0 s 的两端近景中，黄色袋装食品仍在水槽旁台面；机器人巡视时两夹爪未包夹或搬起食品。已检查的后续视频中没有薯片袋离开台面并被送入橱柜的动作。" + }, + { + "t": 775.6, + "log_step": null, + "text_zh": "推断：视频 202–206 s 后机器人倾倒，视频 775.6 s 仍低伏在地面旁，没有恢复取放食品。评分器 reward.q_score=0.0，初始食品在柜外，因此最终满足入柜关系的薯片袋数量为零，本计数节点为 false；live_matches_replay=0，在线总分仅用于视频没有相反证据的终值，未据此虚构抓取或放置时刻。" + } + ] + }, + "chips_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 105.0, + "log_step": null, + "text_zh": "观察：视频 20.0 s 的台面全景及视频 90.0 s、105.0 s 的两端近景中，黄色袋装食品仍在水槽旁台面；机器人巡视时两夹爪未包夹或搬起食品。已检查的后续视频中没有薯片袋离开台面并被送入橱柜的动作。" + }, + { + "t": 775.6, + "log_step": null, + "text_zh": "推断：视频 202–206 s 后机器人倾倒，视频 775.6 s 仍低伏在地面旁，没有恢复取放食品。评分器 reward.q_score=0.0，初始食品在柜外，因此最终满足入柜关系的薯片袋数量为零，本计数节点为 false；live_matches_replay=0，在线总分仅用于视频没有相反证据的终值，未据此虚构抓取或放置时刻。" + } + ] + }, + "olive_oil_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 105.0, + "log_step": null, + "text_zh": "观察：视频 20.0 s 的台面全景及视频 90.0 s、105.0 s 的两端近景中，浅绿色高瓶仍在水槽旁台面；机器人巡视时两夹爪未包夹或搬起食品。已检查的后续视频中没有橄榄油瓶离开台面并被送入橱柜的动作。" + }, + { + "t": 775.6, + "log_step": null, + "text_zh": "推断：视频 202–206 s 后机器人倾倒，视频 775.6 s 仍低伏在地面旁，没有恢复取放食品。评分器 reward.q_score=0.0，初始食品在柜外，因此最终满足入柜关系的橄榄油瓶数量为零，本计数节点为 false；live_matches_replay=0，在线总分仅用于视频没有相反证据的终值，未据此虚构抓取或放置时刻。" + } + ] + }, + "olive_oil_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 105.0, + "log_step": null, + "text_zh": "观察：视频 20.0 s 的台面全景及视频 90.0 s、105.0 s 的两端近景中，浅绿色高瓶仍在水槽旁台面；机器人巡视时两夹爪未包夹或搬起食品。已检查的后续视频中没有橄榄油瓶离开台面并被送入橱柜的动作。" + }, + { + "t": 775.6, + "log_step": null, + "text_zh": "推断：视频 202–206 s 后机器人倾倒，视频 775.6 s 仍低伏在地面旁，没有恢复取放食品。评分器 reward.q_score=0.0，初始食品在柜外，因此最终满足入柜关系的橄榄油瓶数量为零，本计数节点为 false；live_matches_replay=0，在线总分仅用于视频没有相反证据的终值，未据此虚构抓取或放置时刻。" + } + ] + }, + "sugar_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 90.0, + "log_step": null, + "text_zh": "观察：视频 20.0 s 的台面全景及视频 90.0 s、105.0 s 的两端近景中，台面上的小罐装食品仍在水槽旁台面；机器人巡视时两夹爪未包夹或搬起食品。已检查的后续视频中没有糖罐离开台面并被送入橱柜的动作。" + }, + { + "t": 775.6, + "log_step": null, + "text_zh": "推断：视频 202–206 s 后机器人倾倒，视频 775.6 s 仍低伏在地面旁，没有恢复取放食品。评分器 reward.q_score=0.0，初始食品在柜外，因此最终满足入柜关系的糖罐数量为零，本计数节点为 false；live_matches_replay=0，在线总分仅用于视频没有相反证据的终值，未据此虚构抓取或放置时刻。" + } + ] + }, + "sugar_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 90.0, + "log_step": null, + "text_zh": "观察：视频 20.0 s 的台面全景及视频 90.0 s、105.0 s 的两端近景中，台面上的小罐装食品仍在水槽旁台面；机器人巡视时两夹爪未包夹或搬起食品。已检查的后续视频中没有糖罐离开台面并被送入橱柜的动作。" + }, + { + "t": 775.6, + "log_step": null, + "text_zh": "推断：视频 202–206 s 后机器人倾倒，视频 775.6 s 仍低伏在地面旁，没有恢复取放食品。评分器 reward.q_score=0.0，初始食品在柜外，因此最终满足入柜关系的糖罐数量为零，本计数节点为 false；live_matches_replay=0，在线总分仅用于视频没有相反证据的终值，未据此虚构抓取或放置时刻。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "无量纲", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "cabinet_opened", + "t": 202.0, + "log_step": null, + "where": "探索", + "evidence_zh": "观察：视频 60 s、150 s 机器人近距离巡视厨房台面、食品及柜体，柜门仍覆盖柜口，双夹爪未开始抓把手或搬食品；视频 195–201 s 视野转向餐桌，视频 202–206 s 视野倾斜并翻向地板。视频 230 s、300 s、450 s、600 s 及 775.6 s 均未见恢复开柜或食品取放。推断：被倾倒中断的是打开橱柜前的场景探索，故断点定位 cabinet_opened、位置为探索；开柜步骤此后没有完成，按 docs/03_trajectory.md Step 3.1 和 CASES.md FAIL-21 属于未修复，倾倒本身由全身·平衡现象表达。" + }, + "unmet": { + "oatmeal_in_cabinet_1": false, + "oatmeal_in_cabinet_2": false, + "chips_in_cabinet_1": false, + "chips_in_cabinet_2": false, + "olive_oil_in_cabinet_1": false, + "olive_oil_in_cabinet_2": false, + "sugar_in_cabinet_1": false, + "sugar_in_cabinet_2": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 202.0, + "log_step": null, + "evidence_zh": "观察：视频 200–206 s 机器人相机明显翻转，视野由房间转向木地板与椅腿；视频约 255–390 s 两腕画面出现贴近地面的机器人手臂，视野长期侧转，机器人反复摆臂和挪动仍未恢复正常作业姿态，视频 775.6 s 仍倒伏。推断：这是机器人失去支撑后的倾倒，不是一次食品抓取失败。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：agent 的移动脚本未正确保持机器人躯干和手臂姿态，支持控制实现错误这一根因。log step 28 的驱动片段创建全零 25 列 joint_position 数组，只填写底盘三列；log step 100 为保持躯干和双臂而写入 A[:,3:21]=hold，但 log step 30 的动作布局明确左夹爪占第 14–15 列、右臂从第 16 列开始，连续写入会串到夹爪并错移右臂。log step 110、140 分别修正设置关节和移动时的分块索引，log step 126–134 的服务本体读数则已显示基座大幅倾斜。视频 202–206 s 的倾倒及后续恢复失败与姿态控制问题一致；未将这些在线日志步直接换算成视频时刻，也不能把较晚修复的索引错误单独断言为最初翻倒的唯一触发。", + "note_zh": "控制动作数组的姿态保持与通道索引错误；没有足够证据进一步归为反馈控制、逆解或参数调试。" + } + ], + "gap_zh": "没有状态日志或成功参考视频。回放视频可确认开柜、取放食品均未完成；开柜前场景探索被倾倒中断，断点归于 cabinet_opened，但未观察到对某个柜门把手的操作，具体拟选橱柜不明。cabinet_opened 仅记录探索期间的底盘支撑；食品节点没有实际取放尝试，未把扶地恢复接触记为任务节点的 contact_actual。reward.deterministic=0、live_matches_replay=0，在线日志只作控制代码与会话证据；未验证控制步到视频的映射，未用在线本体读数替代视频进度。末段相机贴近地面、食品不在视野，最终食品节点的 false 另由与视频无矛盾的在线 q_score=0 总分约束。log step 185 的 NaN 四元数仿真错误和 log step 186 的 done=True/reason=error 是倾倒恢复后的终止记录，不能倒推成视频中最初翻倒的原因；最初接触了哪件家具及具体受力部位不清楚。" + }, + "summary_zh": "机器人巡视了厨房台面和橱柜，但没有打开柜门或搬起食品，九个节点最终均未达成，八件食品入柜总分 q_score=0。视频约 202–206 s 机器人在巡视中倾倒，随后一直尝试恢复而未重新开展任务；日志中的姿态保持和动作列索引错误支持控制根因。断点为 cabinet_opened 的探索阶段，倾倒后开柜步骤始终未完成；没有状态日志且在线与回放不匹配，无法精确定位最初碰撞部位。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点全 false、倾倒时刻（视频约 202–206 s）、平衡现象均与视频一致；主要问题是断点 ref 留 unknown：03 规定仅当证据无法判断是哪一步时才用 unknown，此处机器人在 0–200 s 一直朝台面/柜体巡视，正在做的是第一步，倾倒后从未修复。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "所有节点 false、断点 cabinet_opened/探索（视频约 202 s 倾倒后未修复）、全身·平衡现象与控制根因均与视频和日志一致；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": "2026-10-30T21:42:46Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-storing-food-i00-standard--hz7rkda/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-storing-food-i00-standard--hz7rkda/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-storing-food-i00-standard--hz7rkda/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-storing-food-i00-standard--hz7rkda/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e8d61fe1d6f08b175ed58e2831c724b2f230597af35d759948d28e4de59915c9", + "video_sha256": "b14a01baa8ae2de751621824a0d108d9e0f107fb86dffdd6d4a19ff782776516", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-standard--pshncv2.json b/phase2/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-standard--pshncv2.json new file mode 100644 index 0000000000000000000000000000000000000000..177601b416e9f9c7568edcf658613eced354ed4e --- /dev/null +++ b/phase2/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-standard--pshncv2.json @@ -0,0 +1,330 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-storing-food-i00-standard--pshncv2", + "taskKey": "behavior-1k/storing_food", + "dag_sha256": "fa03aca76ba4e06fedf3262aedd2698e264e22693c18f1870342eeb1e357b147", + "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": 400, + "sim_steps": 400, + "physics_steps": 1600, + "steps": 400, + "elapsed_s": 494.6, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 1, + "q_score": 0.0, + "sim_startups": 2, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-storing-food-i00-standard--pshncv2/replay.mp4", + "duration_s": 13.333, + "fps": 30.0, + "frames": 400, + "sha256": "99bcf5cefa71a650bf05d267910277722aa1891c4b6c04b500e18d4db5cc522e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 9, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.4, + "log_step": 60, + "text_zh": "观察：视频0.0—1.4 s，机器人转动视角扫描厨房，扫过的上、下橱柜门均挡住柜口，未见打开的食品容纳内腔；腕部视图主要显示机器人本体，没有夹爪抓住柜门把手。" + }, + { + "t": 3.3, + "log_step": 66, + "text_zh": "观察：视频1.5—3.4 s，机器人后退、旋转并反复倾斜，未见拉开柜门；视频3.5—13.3 s为翻倒后的底盘恢复动作，可见柜门仍关闭，未出现开柜操作。log step 66执行后退及扫描，log step 71、75、79执行恢复，log step 81服务报告因翻倒结束。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频0.0—3.4 s，轮式底盘承载机器人旋转、后退扫描厨房，属于开柜前的场景探索；随后底盘多次移动尝试恢复姿态。未观察到夹爪与柜门或把手建立操作接触。" + } + ] + }, + "oatmeal_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.4, + "log_step": 66, + "text_zh": "观察：任务文本说明两件燕麦盒初始在厨房台面上；视频0.0—3.4 s机器人只扫描、后退及倾斜，未见夹爪夹取燕麦盒或将其从台面送往柜内，视频3.5—13.3 s也未见食品搬运或柜内释放。" + }, + { + "t": 13.3, + "log_step": 81, + "text_zh": "推断：本回合未见食品抓取、搬运或入柜，执行日志为扫描与翻倒恢复；结合台面初态与评分器q_score=0.0、live_matches_replay=1，结束时没有新增食品入柜关系，因此“至少1件燕麦盒入柜”最终为假。末帧不能逐件辨认食品，未仅凭零分推断整个过程。" + } + ] + }, + "oatmeal_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.4, + "log_step": 66, + "text_zh": "观察：任务文本说明两件燕麦盒初始在厨房台面上；视频0.0—3.4 s机器人只扫描、后退及倾斜，未见夹爪夹取燕麦盒或将其从台面送往柜内，视频3.5—13.3 s也未见食品搬运或柜内释放。" + }, + { + "t": 13.3, + "log_step": 81, + "text_zh": "推断：本回合未见食品抓取、搬运或入柜，执行日志为扫描与翻倒恢复；结合台面初态与评分器q_score=0.0、live_matches_replay=1，结束时没有新增食品入柜关系，因此“至少2件燕麦盒入柜”最终为假。末帧不能逐件辨认食品，未仅凭零分推断整个过程。" + } + ] + }, + "chips_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.4, + "log_step": 66, + "text_zh": "观察：任务文本说明两件薯片袋初始在厨房台面上；视频0.0—3.4 s机器人只扫描、后退及倾斜，未见夹爪夹取薯片袋或将其从台面送往柜内，视频3.5—13.3 s也未见食品搬运或柜内释放。" + }, + { + "t": 13.3, + "log_step": 81, + "text_zh": "推断：本回合未见食品抓取、搬运或入柜，执行日志为扫描与翻倒恢复；结合台面初态与评分器q_score=0.0、live_matches_replay=1，结束时没有新增食品入柜关系，因此“至少1件薯片袋入柜”最终为假。末帧不能逐件辨认食品，未仅凭零分推断整个过程。" + } + ] + }, + "chips_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.4, + "log_step": 66, + "text_zh": "观察：任务文本说明两件薯片袋初始在厨房台面上；视频0.0—3.4 s机器人只扫描、后退及倾斜，未见夹爪夹取薯片袋或将其从台面送往柜内，视频3.5—13.3 s也未见食品搬运或柜内释放。" + }, + { + "t": 13.3, + "log_step": 81, + "text_zh": "推断：本回合未见食品抓取、搬运或入柜，执行日志为扫描与翻倒恢复；结合台面初态与评分器q_score=0.0、live_matches_replay=1，结束时没有新增食品入柜关系，因此“至少2件薯片袋入柜”最终为假。末帧不能逐件辨认食品，未仅凭零分推断整个过程。" + } + ] + }, + "olive_oil_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.4, + "log_step": 66, + "text_zh": "观察：任务文本说明两件橄榄油瓶初始在厨房台面上；视频0.0—3.4 s机器人只扫描、后退及倾斜，未见夹爪夹取橄榄油瓶或将其从台面送往柜内，视频3.5—13.3 s也未见食品搬运或柜内释放。" + }, + { + "t": 13.3, + "log_step": 81, + "text_zh": "推断：本回合未见食品抓取、搬运或入柜，执行日志为扫描与翻倒恢复；结合台面初态与评分器q_score=0.0、live_matches_replay=1，结束时没有新增食品入柜关系，因此“至少1件橄榄油瓶入柜”最终为假。末帧不能逐件辨认食品，未仅凭零分推断整个过程。" + } + ] + }, + "olive_oil_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.4, + "log_step": 66, + "text_zh": "观察：任务文本说明两件橄榄油瓶初始在厨房台面上；视频0.0—3.4 s机器人只扫描、后退及倾斜，未见夹爪夹取橄榄油瓶或将其从台面送往柜内，视频3.5—13.3 s也未见食品搬运或柜内释放。" + }, + { + "t": 13.3, + "log_step": 81, + "text_zh": "推断：本回合未见食品抓取、搬运或入柜，执行日志为扫描与翻倒恢复；结合台面初态与评分器q_score=0.0、live_matches_replay=1，结束时没有新增食品入柜关系，因此“至少2件橄榄油瓶入柜”最终为假。末帧不能逐件辨认食品，未仅凭零分推断整个过程。" + } + ] + }, + "sugar_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.4, + "log_step": 66, + "text_zh": "观察：任务文本说明两件糖罐初始在厨房台面上；视频0.0—3.4 s机器人只扫描、后退及倾斜，未见夹爪夹取糖罐或将其从台面送往柜内，视频3.5—13.3 s也未见食品搬运或柜内释放。" + }, + { + "t": 13.3, + "log_step": 81, + "text_zh": "推断：本回合未见食品抓取、搬运或入柜，执行日志为扫描与翻倒恢复；结合台面初态与评分器q_score=0.0、live_matches_replay=1，结束时没有新增食品入柜关系，因此“至少1件糖罐入柜”最终为假。末帧不能逐件辨认食品，未仅凭零分推断整个过程。" + } + ] + }, + "sugar_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.4, + "log_step": 66, + "text_zh": "观察：任务文本说明两件糖罐初始在厨房台面上；视频0.0—3.4 s机器人只扫描、后退及倾斜，未见夹爪夹取糖罐或将其从台面送往柜内，视频3.5—13.3 s也未见食品搬运或柜内释放。" + }, + { + "t": 13.3, + "log_step": 81, + "text_zh": "推断：本回合未见食品抓取、搬运或入柜，执行日志为扫描与翻倒恢复；结合台面初态与评分器q_score=0.0、live_matches_replay=1，结束时没有新增食品入柜关系，因此“至少2件糖罐入柜”最终为假。末帧不能逐件辨认食品，未仅凭零分推断整个过程。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "无量纲", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "cabinet_opened", + "t": 2.2, + "log_step": 66, + "where": "探索", + "evidence_zh": "推断：视频0.0—1.8 s机器人在开柜前转动、后退扫描厨房，尚未对任何食品进行搬运；将该场景探索归于第一个容器前置步骤“打开橱柜”。视频约2.2 s开始明显侧倾，虽在视频约2.7—3.0 s短暂回正，视频约3.3 s又倾倒，后续始终未完成开柜；视频13.3 s仍严重歪斜。log step 66执行扫描，log step 71、75、79尝试恢复，log step 81的服务状态为control_steps=400、done=true、reason=\"failure: the robot fell over\"。" + }, + "unmet": { + "oatmeal_in_cabinet_1": false, + "oatmeal_in_cabinet_2": false, + "chips_in_cabinet_1": false, + "chips_in_cabinet_2": false, + "olive_oil_in_cabinet_1": false, + "olive_oil_in_cabinet_2": false, + "sugar_in_cabinet_1": false, + "sugar_in_cabinet_2": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 2.2, + "log_step": 66, + "evidence_zh": "观察：视频约2.2—2.6 s头部相机随机器人剧烈倾斜，视频约3.3—4.5 s视角翻向天花板，双臂随本体倾倒；视频7.0—13.3 s机器人保持侧倒视角，最后一秒逐帧仍未回正。log step 69在control_steps=102时读取到基座向上轴竖直分量约0.622，log step 81服务确认因机器人翻倒终止；这是单次实时回合，无恢复快照。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "note_zh": "控制脚本的关节读数至动作目标映射错误；保留在控制大类。", + "evidence_zh": "推断：扫描控制脚本错误映射左右臂关节，导致本想保持的双臂收到不同关节的角度目标，并促成失衡。log step 53的服务proprio_groups明确joint_pos中两臂左右交错排列，log step 55的joint_position动作却按左臂、右臂分组；log step 60及64的执行代码直接把q[4:11]送入左臂、q[11:18]送入右臂，log step 66调用该控制器后退并扫描。视频约2.2—3.4 s随扫描出现倾倒，log step 91对本回合记录的读数分析显示control step 66、72的向上分量分别约0.682、0.014，支持这一执行错误与失衡相伴。log step 71虽已改用交错索引，视频仍翻倒，恢复未成功；不把agent最后关于具体力矩的解释当作已验证物理原因。" + } + ], + "gap_zh": "没有状态日志或成功参考视频。前段腕部视图被机器人本体遮挡，无法核实失衡时机械臂、底盘与家具的具体接触对及力矩；关节映射错误对翻倒的因果贡献为代码、读数和视频的联合推断。末帧不能逐件辨认八件食品，食品节点终值结合任务初态、未见搬运与评分器总分判断。" + }, + "summary_zh": "评分回合仅进行了厨房扫描、后退与翻倒恢复，打开橱柜及八个食品入柜节点均未完成，最终0/9，q_score=0.0。机器人在开柜前探索时于视频约2.2 s出现明显失衡，短暂回正后再次翻倒，服务最终在400个控制步结束回合；执行代码存在左右臂关节交错读数被误按分组回填的控制错误，回合结束后编写的修正版脚本未执行。无状态日志和成功参考视频，具体致倒接触及各食品末态不可逐项直接核实。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标签与证据一致：九个节点终值为假，断点在“打开橱柜”（探索，机器人翻倒），平衡现象与控制映射错误的根因有日志代码和读数支撑，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": "2026-10-30T21:14:32Z", + "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-storing-food-i00-standard--pshncv2/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-storing-food-i00-standard--pshncv2/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d3ca133b73a038bac69e36ac0a70a62aef2b29ad29caf39b71513e243a366099", + "video_sha256": "99bcf5cefa71a650bf05d267910277722aa1891c4b6c04b500e18d4db5cc522e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-standard--uxx8bou.json b/phase2/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-standard--uxx8bou.json new file mode 100644 index 0000000000000000000000000000000000000000..2bb29764ebce42909f39aa872b000cc83cd6b3cb --- /dev/null +++ b/phase2/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-standard--uxx8bou.json @@ -0,0 +1,348 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-storing-food-i00-standard--uxx8bou", + "taskKey": "behavior-1k/storing_food", + "dag_sha256": "fa03aca76ba4e06fedf3262aedd2698e264e22693c18f1870342eeb1e357b147", + "outcome": { + "success": 0, + "reward": 0.125, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 3612, + "sim_steps": 3612, + "physics_steps": 14448, + "steps": 261, + "elapsed_s": 3611.5, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 0, + "q_score": 0.125, + "sim_startups": 2, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-storing-food-i00-standard--uxx8bou/replay.mp4", + "duration_s": 120.4, + "fps": 30.0, + "frames": 3612, + "sha256": "5fab825e2ce25209760c20c8397352a19d0e2583a287d6a6caec42c8743210e5" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 9, + "base": null, + "peak": null, + "final": null, + "nodes": { + "cabinet_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 67.0, + "log_step": 352, + "text_zh": "观察：视频64–72 s左夹爪持油瓶，右臂尝试接近低柜；当前视角未显示可放食品的柜内空腔。log step 348、351命令右末端到低柜前，log step 349、352的服务读数显示末端未到命令目标。推断：这支持当前开柜尝试失败，不能证明六个目标柜从未有任一个可达。" + }, + { + "t": 96.0, + "log_step": 461, + "text_zh": "观察：视频84、90、96、98、104、106、114、118 s及119–120.3 s复核中，可见上柜门板仍挡住柜口，右夹爪接近、闭合和回移未显示柜内空腔。推断：DAG cabinet_opened是六柜择一且曾打开即锁存的事件，局部门板视图及终帧不能覆盖所有柜口和此前所有时段；q_score=0.125也未直接报告开门事件。故该事件final与时间区间未知，既不从入柜总分反推已开门，也不再断言从未开门。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "右夹爪向低柜及上柜门板、把手方向接近，反复闭合并回拉；腕相机与头部视角不足以确定指面究竟夹住把手还是抵住门板，因此不声称已建立抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人在开柜尝试中用轮式底盘小幅前移调整位置；log step 389–390 记录该移动，视频约90 s可见视点调整。" + } + ] + }, + "oatmeal_in_cabinet_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 104.0, + "log_step": null, + "text_zh": "观察：视频0–120.3 s的粗采样及视频62–72 s、84–118 s和119–120.3 s的复核中，机器人主要操作浅绿色油瓶，未看到燕麦盒被送入橱柜；视频104 s仍有食品在台面上。推断：未看见搬运不足以排除遮挡区域的目标关系；inputs/run.json reward.q_score=0.125、live_matches_replay=1支持八件食品中一件新增入柜关系成立，却没有类别、逐物体离手或速度读数，故本类第1件完整入柜判据的结束值与成立区间未知，不能断言全程为假。" + }, + { + "t": 52.0, + "log_step": 296, + "text_zh": "观察：log step 293、296 的脚本文件名含 oatmeal，但视频 50–54 s 的左腕画面实际显示浅绿色油瓶；该文件名不能作为燕麦盒被抓起或入柜的证据。" + } + ] + }, + "oatmeal_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 120.3, + "log_step": null, + "text_zh": "推断：inputs/run.json reward.q_score=0.125，按docs/03_trajectory.md Step 2及CASES.md PROG-10，八件食品中恰一件新增目标关系被计分；本任务食品初始在台面（inputs/meta.json description），不能以初始已真项解释额外入柜食品。第2件燕麦盒入柜要求同类至少两件入柜，超过总分允许的一件，故final=false。视频0–120.3 s的粗采样只见机器人反复操作一瓶油，未见同类两件同时入柜，不补记成立区间。" + } + ] + }, + "chips_in_cabinet_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 104.0, + "log_step": null, + "text_zh": "观察：视频0–120.3 s的粗采样及视频62–72 s、84–118 s和119–120.3 s的复核中，机器人主要操作浅绿色油瓶，未看到薯片袋被送入橱柜；视频104 s仍有食品在台面上。推断：未看见搬运不足以排除遮挡区域的目标关系；inputs/run.json reward.q_score=0.125、live_matches_replay=1支持八件食品中一件新增入柜关系成立，却没有类别、逐物体离手或速度读数，故本类第1件完整入柜判据的结束值与成立区间未知，不能断言全程为假。" + } + ] + }, + "chips_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 120.3, + "log_step": null, + "text_zh": "推断：inputs/run.json reward.q_score=0.125，按docs/03_trajectory.md Step 2及CASES.md PROG-10，八件食品中恰一件新增目标关系被计分；本任务食品初始在台面（inputs/meta.json description），不能以初始已真项解释额外入柜食品。第2件薯片袋入柜要求同类至少两件入柜，超过总分允许的一件，故final=false。视频0–120.3 s的粗采样只见机器人反复操作一瓶油，未见同类两件同时入柜，不补记成立区间。" + } + ] + }, + "olive_oil_in_cabinet_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 63.5, + "log_step": 340, + "text_zh": "观察：视频 22–60 s，机器人多次空夹、拨倒浅绿色油瓶；视频约62–64 s，左夹爪终于夹住一瓶油并使它离开台面，随后腕画面一直随夹爪显示该瓶。log step 340 的服务读数为 control_steps=1917；按30赫兹为视频63.9 s，与此处可见持瓶事件核对一致；3612控制步也与完整视频120.4 s一致。抓起和携带不构成离手入柜。" + }, + { + "t": 119.8, + "log_step": 465, + "text_zh": "观察：视频 110–119.8 s，油瓶仍在左夹爪中，周围没有打开的柜口；视频约119.9–120.3 s，左夹爪张开，油瓶从夹指间向外下落，最后一帧左腕画面显示瓶子在炉灶台面上方横转，没有留在柜内。未见任何离手静止入柜时段。" + }, + { + "t": 120.3, + "log_step": null, + "text_zh": "观察：inputs/run.json reward.q_score=0.125、live_matches_replay=1；视频119.9–120.3 s显示左夹爪释放油瓶，瓶子向下翻转，背景是炉灶台面和柜门外侧，没有可见的柜内静置。推断：总分支持八件食品中一件新增入柜关系成立，但不能指认是哪类食品，也未报告离手与速度；柜外释放只描述这次可见操作，不能据此否定其他遮挡目标关系。因此第1瓶油完整入柜判据的结束值及成立区间未知，不用帧未见推翻总分。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左二指夹爪夹住油瓶两侧，将瓶子从台面举起并持瓶向柜前移动，最后张开释放；早期右、左夹爪的多次闭合未成功提起油瓶。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "早期接近和闭合时夹指拨动、碰倒台面上的油瓶，瓶子留在台面，随后机器人改换夹持方向。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘在取瓶时移动到台面前，并在左夹爪持瓶期间小幅移位调整操作位置。" + } + ] + }, + "olive_oil_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 120.3, + "log_step": null, + "text_zh": "推断：inputs/run.json reward.q_score=0.125，按docs/03_trajectory.md Step 2及CASES.md PROG-10，八件食品中恰一件新增目标关系被计分；本任务食品初始在台面（inputs/meta.json description），不能以初始已真项解释额外入柜食品。第2件橄榄油瓶入柜要求同类至少两件入柜，超过总分允许的一件，故final=false。视频0–120.3 s的粗采样只见机器人反复操作一瓶油，未见同类两件同时入柜，不补记成立区间。" + } + ] + }, + "sugar_in_cabinet_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 104.0, + "log_step": null, + "text_zh": "观察：视频0–120.3 s的粗采样及视频62–72 s、84–118 s和119–120.3 s的复核中，机器人主要操作浅绿色油瓶，未看到糖罐被送入橱柜；视频104 s仍有食品在台面上。推断：未看见搬运不足以排除遮挡区域的目标关系；inputs/run.json reward.q_score=0.125、live_matches_replay=1支持八件食品中一件新增入柜关系成立，却没有类别、逐物体离手或速度读数，故本类第1件完整入柜判据的结束值与成立区间未知，不能断言全程为假。" + } + ] + }, + "sugar_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 120.3, + "log_step": null, + "text_zh": "推断：inputs/run.json reward.q_score=0.125，按docs/03_trajectory.md Step 2及CASES.md PROG-10，八件食品中恰一件新增目标关系被计分；本任务食品初始在台面（inputs/meta.json description），不能以初始已真项解释额外入柜食品。第2件糖罐入柜要求同类至少两件入柜，超过总分允许的一件，故final=false。视频0–120.3 s的粗采样只见机器人反复操作一瓶油，未见同类两件同时入柜，不补记成立区间。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.125, + "unit": "无量纲", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "cabinet_opened", + "t": 67.0, + "log_step": 352, + "where": "操作中", + "evidence_zh": "观察：视频64–72 s机器人左手持油瓶、右臂尝试接近低柜，未显示开柜成功；log step 348、351命令右末端到[4.45,-1.36,0.65]，log step 349、352服务实测仍约[4.46,-0.62,0.94]。视频84–106 s及114–118 s后续开柜尝试仍未显示柜门被拉离柜口。推断：按docs/03_trajectory.md Step 3.1，以正在操作且可见尝试持续失败的打开橱柜作为断点，视频67 s为首次失败的导航锚点；总分只报告入柜关系，不证明本次开门操作被修复。六柜择一事件整体仍未知，若存在未拍到的开门，其是否修复此断点无法排除，故降低置信度。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 67.0, + "log_step": 352, + "evidence_zh": "观察：视频约67–72 s，右臂接近低柜的动作停留在台面附近，柜口未打开；log step 351 的命令目标是右末端[4.45,-1.36,0.65]，log step 352 服务实测却是[4.473,-0.630,0.940]，距目标约0.79米。后续视频90–98 s可见右夹指在门板附近闭合、回移，门板仍挡住柜口。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：log step 348与351在IK返回可解后重复提交同一右臂目标，服务实测末端位置在log step 349、352仍显著偏离目标；视频67–72 s及84–106 s的接近、闭合和回拉均未产生开柜结果。执行控制未能实现开柜所需的末端运动和有效操作；输入没有接触力或关节跟踪日志，不能再细分为接触设计、轨迹或反馈控制问题。" + } + ], + "gap_zh": "没有状态日志或成功参考视频；低柜受台面遮挡，上柜视图不能覆盖六个目标柜的所有柜口和所有时刻，把手是否被夹住也无法确定。q_score=0.125且live_matches_replay=1支持一件食品新增目标关系成立，不能再将八个入柜节点全部判假；但总分不能定位类别，也未报告DAG要求的离手、线速度和成立时间。四类第1件入柜保留未知，四类第2件由总分上界判假；不凭空指定一件完成或编造时间。六柜择一开柜事件保留未知，可见开柜操作持续失败仍用于定位断点，其未修复判断存在遮挡缺口。progress.base/peak/final依docs/03_trajectory.md Step 2及SCHEMA.md §3由节点区间汇总为null，不将原生关系分数直接填成DAG完成数。", + "unmet": { + "oatmeal_in_cabinet_1": null, + "oatmeal_in_cabinet_2": false, + "chips_in_cabinet_1": null, + "chips_in_cabinet_2": false, + "olive_oil_in_cabinet_1": null, + "olive_oil_in_cabinet_2": false, + "sugar_in_cabinet_1": null, + "sugar_in_cabinet_2": false + } + }, + "summary_zh": "机器人最终用左夹爪提起并携带一瓶油，可见开柜尝试持续失败，末段在柜外释放油瓶。q_score=0.125支持一件食品新增入柜关系，但类别及离手静止情况不明：四类第1件入柜和六柜择一开柜事件未知，四类第2件入柜结束为假；汇总进度为null。断点仍定位于可见的开柜失败；因无法排除遮挡区域的开门或目标关系，置信度由7降为6。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "九个节点全记为假、peak/final=0，与评分器 q_score=0.125（8件食品中恰有1件目标关系成立）矛盾；按 CASES.md PROG-10，总分给出下界，不能被帧未见入柜覆盖。视频本身（22–120 s）确实只见油瓶被抓起并在柜外释放、柜门未见打开，但至少有一件食品的结束值应不为全假，具体是哪一件无法由帧或总分决定。", + "n_issues": 2, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽查视频20/45/64/80/100/118/120.2 s：全程只见油瓶被抓起并在柜外释放，未见柜门打开；节点unknown/false的处理与q_score=0.125的下界、PROG-10一致，断点与现象证据有帧和log支撑，未发现须改内容的错误。", + "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": "2026-10-30T21:43:55Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-storing-food-i00-standard--uxx8bou/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-storing-food-i00-standard--uxx8bou/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-storing-food-i00-standard--uxx8bou/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-storing-food-i00-standard--uxx8bou/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a1915326cb576dd2d0e72e8e0b10348950150196f78468c8aad571f7509f543f", + "video_sha256": "5fab825e2ce25209760c20c8397352a19d0e2583a287d6a6caec42c8743210e5", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +}