Add 111 trajectories (phase 2, remaining runs; batch S28)

phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-privileged--2rb9g7n.json

@@ -0,0 +1,313 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-chopping-wood-i00-privileged--2rb9g7n",
+ "taskKey": "behavior-1k/chopping_wood",
+ "dag_sha256": "3d8a92aec8da5d3c52d9ae1dd7288e49fbfd9665ce3498b5bd2224fcfb5c56be",
+ "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": 1462,
+   "sim_breakdown": 0,
+   "goal": 1,
+   "settle_steps": 0,
+   "goal_first_step": 1361,
+   "sim_steps": 1462,
+   "fallen": 0,
+   "final_reward": 1.0,
+   "q_score": 1.0,
+   "replay_wall_s": 944.5,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "video_replay_matches": 0,
+   "agent_sessions": 7,
+   "agent_resets": 7,
+   "agent_sim_steps": 4370,
+   "agent_records": 1,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 9.638,
+   "peak_memory_gb": 8.015,
+   "peak_processes": 31,
+   "peak_disk_gb": 4.561,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-chopping-wood-i00-privileged--2rb9g7n/replay.mp4",
+  "duration_s": 48.2,
+  "fps": 30.0,
+  "frames": 1446,
+  "sha256": "c3f68fc4551bdff1c9968c8aa4f9aab70b769cc051302b535f5f492bfaebbf98"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "logs_split_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      20.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 20.3,
+      "log_step": null,
+      "text_zh": "观察：视频19.5–20.4 s机器人持斧在低位调整，木柴所在近处被斧柄、夹爪和画面边缘遮住，不能直接看到完整木柴变为两半的瞬间；视频20.7–21.7 s头部画面左下方可见两条并排的浅色纵向木面及褐色树皮轮廓，视频22.2 s持斧机械臂撤开。"
+     },
+     {
+      "t": 20.3,
+      "log_step": null,
+      "text_zh": "推断：结合第1次持斧低位接近前后的木柴轮廓、随后可见的浅色纵向木面及撤斧动作，将第1根完整劈半的起点暂估为视频20.3 s，约有0.5 s的不确定性；该时刻是遮挡期间的视觉推断，并非直接观察到切分瞬间。计数按视频中处理木柴的顺序分配，不绑定实例名；video_replay_matches=0，不能据此断言评分重放也在此时完成。"
+     },
+     {
+      "t": 48.17,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器 reward 报告 success=1、all_success=1、goal=1、q_score=1.0，按 docs/03_trajectory.md Step 2 和 DECISIONS.md P19，本目标节点终态为真，四根木柴的八块目标半木已通过共同脱手静置验收。视频后续未见明确的再次切碎证据，暂将视觉推断区间延续至片尾；video_replay_matches=0 且无状态日志，评分结果仅决定终态，不证明该视频内的精确起点或区间内每一刻的对数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "未知",
+      "note_zh": "观察：第1次处理木柴时，机器人一侧夹爪持斧在低位接近木柴，随后撤斧；斧刃与木柴的接触局部被斧柄、夹爪或画面边缘遮挡。推断：由前后木面变化判断工具作用于木柴，但无法辨明具体接触方式，故记未知；不由成功评分或DAG的典型方案推断击打、贴压或擦动。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：第1次持斧接近木柴及随后离开时，车道、汽车与草坪在视野中发生平移和转向。推断：机器人轮式底盘在此操作阶段移动并支撑持斧机械臂。"
+     }
+    ]
+   },
+   "logs_split_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      29.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 29.8,
+      "log_step": null,
+      "text_zh": "观察：视频28.5–29.6 s头部画面左缘可见带树皮木柴，机器人持斧接近；视频29.8 s局部仍受遮挡，视频30.0–31.5 s持斧侧腕部画面中，斧柄旁可见浅色平面和带树皮的木块，视频31.2 s另一腕部画面下缘还可见半圆形木端面。没有完整看清两半分离的瞬间。"
+     },
+     {
+      "t": 29.8,
+      "log_step": null,
+      "text_zh": "推断：结合第2次持斧低位接近前后的木柴轮廓、随后可见的浅色纵向木面及撤斧动作，将第2根完整劈半的起点暂估为视频29.8 s，约有0.5 s的不确定性；该时刻是遮挡���间的视觉推断，并非直接观察到切分瞬间。计数按视频中处理木柴的顺序分配，不绑定实例名；video_replay_matches=0，不能据此断言评分重放也在此时完成。"
+     },
+     {
+      "t": 48.17,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器 reward 报告 success=1、all_success=1、goal=1、q_score=1.0，按 docs/03_trajectory.md Step 2 和 DECISIONS.md P19，本目标节点终态为真，四根木柴的八块目标半木已通过共同脱手静置验收。视频后续未见明确的再次切碎证据，暂将视觉推断区间延续至片尾；video_replay_matches=0 且无状态日志，评分结果仅决定终态，不证明该视频内的精确起点或区间内每一刻的对数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "未知",
+      "note_zh": "观察：第2次处理木柴时，机器人一侧夹爪持斧在低位接近木柴，随后撤斧；斧刃与木柴的接触局部被斧柄、夹爪或画面边缘遮挡。推断：由前后木面变化判断工具作用于木柴，但无法辨明具体接触方式，故记未知；不由成功评分或DAG的典型方案推断击打、贴压或擦动。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：第2次持斧接近木柴及随后离开时，车道、汽车与草坪在视野中发生平移和转向。推断：机器人轮式底盘在此操作阶段移动并支撑持斧机械臂。"
+     }
+    ]
+   },
+   "logs_split_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      38.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 38.3,
+      "log_step": null,
+      "text_zh": "观察：视频37.9–38.2 s持斧侧腕部画面中，斧柄旁可见带树皮、端面近圆形的木柴；视频38.3 s局部被斧柄遮住，视频38.4–38.7 s斧柄两侧出现浅色木面，视频39.3–40.5 s可见带树皮及宽阔纵向浅色平面的木块。另一半的轮廓仍有遮挡。"
+     },
+     {
+      "t": 38.3,
+      "log_step": null,
+      "text_zh": "推断：结合第3次持斧低位接近前后的木柴轮廓、随后可见的浅色纵向木面及撤斧动作，将第3根完整劈半的起点暂估为视频38.3 s，约有0.5 s的不确定性；该时刻是遮挡期间的视觉推断，并非直接观察到切分瞬间。计数按视频中处理木柴的顺序分配，不绑定实例名；video_replay_matches=0，不能据此断言评分重放也在此时完成。"
+     },
+     {
+      "t": 48.17,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器 reward 报告 success=1、all_success=1、goal=1、q_score=1.0，按 docs/03_trajectory.md Step 2 和 DECISIONS.md P19，本目标节点终态为真，四根木柴的八块目标半木已通过共同脱手静置验收。视频后续未见明确的再次切碎证据，暂将视觉推断区间延续至片尾；video_replay_matches=0 且无状态日志，评分结果仅决定终态，不证明该视频内的精确起点或区间内每一刻的对数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "未知",
+      "note_zh": "观察：第3次处理木柴时，机器人一侧夹爪持斧在低位接近木柴，随后撤斧；斧刃与木柴的接触局部被斧柄、夹爪或画面边缘遮挡。推断：由前后木面变化判断工具作用于木柴，但无法辨明具体接触方式，故记未知；不由成功评分或DAG的典型方案推断击打、贴压或擦动。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：第3次持斧接近木柴及随后离开时，车道、汽车与草坪在视野中发生平移和转向。推断：机器人轮式底盘在此操作阶段移动并支撑持斧机械臂。"
+     }
+    ]
+   },
+   "logs_split_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      45.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 45.5,
+      "log_step": null,
+      "text_zh": "观察：视频45.0–45.1 s持斧侧腕部画面中可见带树皮木柴；视频45.3–45.6 s近处被斧柄和夹爪遮挡，视频45.8–45.9 s腕部画面下缘出现浅色木面，视频47.3–47.7 s斧柄旁可见树皮、木端面和浅色平面。已检查视频47.3–48.17 s的片尾帧，无法同时点清八块半木，也未直接看清这次木柴分为两半的瞬间。"
+     },
+     {
+      "t": 45.5,
+      "log_step": null,
+      "text_zh": "推断：结合第4次持斧低位接近前后的木柴轮廓、随后可见的浅色纵向木面及撤斧动作，将第4根完整劈半的起点暂估为视频45.5 s，约有0.5 s的不确定性；该时刻是遮挡期间的视觉推断，并非直接观察到切分瞬间。计数按视频中处理木柴的顺序分配，不绑定实例名；video_replay_matches=0，不能据此断言评分重放也在此时完成。"
+     },
+     {
+      "t": 48.17,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器 reward 报告 success=1、all_success=1、goal=1、q_score=1.0，按 docs/03_trajectory.md Step 2 和 DECISIONS.md P19，本目标节点终态为真，四根木柴的八块目标半木已通过共同脱手静置验收。视频后续未见明确的再次切碎证据，暂将视觉推断区间延续至片尾；video_replay_matches=0 且无状态日志，评分结果仅决定终态，不证明该视频内的精确起点或区间内每一刻的对数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "未知",
+      "note_zh": "观察：第4次处理木柴时，机器人一侧夹爪持斧在低位接近木柴，随后撤斧；斧刃与木柴的接触局部被斧柄、夹爪或画面边缘遮挡。推断：由前后木面变化判断工具作用于木柴，但无法辨明具体接触方式，故记未知；不由成功评分或DAG的典型方案推断击打、贴压或擦动。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：第4次持斧接近木柴及随后离开时，车道、汽车与草坪在视野中发生平移和转向。推断：机器人轮式底盘在此操作阶段移动并支撑持斧机械臂。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 1.0,
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：评分器 reward 报告 success=1、goal=1、q_score=1.0；推断：四个目标节点终态均为真，成功验收通过，无失败断点。推断：依据处理前后的木柴轮廓和可见浅色木面，将四次劈半暂估在视频20.3 s、29.8 s、38.3 s和45.5 s，均为遮挡期间约有0.5 s不确定性的视觉推断，而非直接观察到的切分瞬间。观察：无状态日志，video_replay_matches=0，片尾不能点清八块半木；因此终态由评分结果确认，具体视频时间与接触方式证据有限，conf由6降至4，不把评分重放的goal_first_step或会话时间换算为视频时刻。",
+ "conf": 4,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "终态四节点 true 由评分器 q_score=1.0 决定，应保留；但各节点“视频所见两条浅色切面/半木”的观察在抽查帧中看不到（video_replay_matches=0，视频与评分回放不对应），起点时间被当成观察，且 contact_actual 的“压/擦”无画面支持。",
+    "n_issues": 2,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "成功运行，评分器 success=1/goal=1/q_score=1.0，四节点终态 true、无断点均合理；视频与评分重放不对应（video_replay_matches=0）且画面遮挡严重，起点时间已明确标为约0.5 s不确定的视觉推断，contact 手持工具为未知，conf 4 诚实。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": "2026-10-30T21:43:53Z",
+  "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-chopping-wood-i00-privileged--2rb9g7n/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-chopping-wood-i00-privileged--2rb9g7n/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-chopping-wood-i00-privileged--2rb9g7n/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-chopping-wood-i00-privileged--2rb9g7n/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9cd9e2a8d6e8632ab41c3e12dbe1df81b883aafd2ae73270a278ce07be8fbd59",
+   "video_sha256": "c3f68fc4551bdff1c9968c8aa4f9aab70b769cc051302b535f5f492bfaebbf98",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-privileged--3g32rxu.json

@@ -0,0 +1,308 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-chopping-wood-i00-privileged--3g32rxu",
+ "taskKey": "behavior-1k/chopping_wood",
+ "dag_sha256": "3d8a92aec8da5d3c52d9ae1dd7288e49fbfd9665ce3498b5bd2224fcfb5c56be",
+ "outcome": {
+  "success": 0,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 1,
+   "deterministic": 0,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 1395,
+   "sim_breakdown": 0,
+   "goal": 1,
+   "settle_steps": 0,
+   "goal_first_step": 1353,
+   "sim_steps": 1450,
+   "fallen": 0,
+   "final_reward": 1.0,
+   "q_score": 1.0,
+   "replay_wall_s": 937.6,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "video_replay_matches": 0,
+   "agent_sessions": 2,
+   "agent_resets": 0,
+   "agent_sim_steps": 1395,
+   "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": 16.764,
+   "peak_memory_gb": 15.879,
+   "peak_processes": 31,
+   "peak_disk_gb": 1.486,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-chopping-wood-i00-privileged--3g32rxu/replay.mp4",
+  "duration_s": 46.5,
+  "fps": 30.0,
+  "frames": 1395,
+  "sha256": "3a4e166cdc2ddc99843718c8583005f809f1d9b9c28581a469eccea204daca90"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "logs_split_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      21.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 21.2,
+      "log_step": null,
+      "text_zh": "观察：视频 20.2 s 左腕画面中是带树皮的完整木柴；机器人持斧靠近后，视频 21.0–21.4 s 同一区域出现相邻木块，其中一块露出宽而浅色的纵向切面。斧柄一直被左夹爪夹住，切割位置部分受斧柄和夹爪遮挡。"
+     },
+     {
+      "t": 21.0,
+      "log_step": null,
+      "text_zh": "推断：按视频中依次处理不同原木及切面出现的顺序，此时至少第1根木柴已劈半；起点约为视频 21.0 s，受短暂遮挡影响有约 0.5 s 的不确定性。成功示范中也以原木替换为带浅色纵向切面的半木作为视觉线索；示范不用于证明本次进度。"
+     },
+     {
+      "t": 46.47,
+      "log_step": null,
+      "text_zh": "推断：本次评分器字段 goal=1、q_score=1.0、all_success=1，八个目标半木存在谓词全部满足，因此四个累计劈半节点终值均为真；这些半木初始不属于已满足目标。video_replay_matches=0，评分总量来自评分重放，不能据此给渲染视频添加精确时刻；本视频逐根出现切面且未见半木继续切碎或消失，与该终值不矛盾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "击打：左夹爪夹持斧柄，机器人把斧头移向并降低到第1根被处理木柴处，使原木劈半；词表无击打接触方式，故填其他。斧头与原木的瞬时接触被手和工具局部遮挡，工具接触由切分前后画面推断；未把握斧这一链路重复列为夹爪直接抓木柴。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘行驶、转向至第1根被处理木柴旁，承载持斧的机械臂；包括携斧驶近目标的移动阶段。"
+     }
+    ]
+   },
+   "logs_split_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      28.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 28.6,
+      "log_step": null,
+      "text_zh": "观察：视频 27.4–28.0 s 左腕画面中可见下一根完整木柴，机器人将所持斧头移向它；视频 28.2–28.8 s 目标处出现分开的木块边缘及浅色纵向切面，随后机器人抬起斧头并转向。"
+     },
+     {
+      "t": 28.2,
+      "log_step": null,
+      "text_zh": "推断：按视频中依次处理不同原木及切面出现的顺序，此时至少第2根木柴已劈半；起点约为视频 28.2 s，受短暂遮挡影响有约 0.5 s 的不确定性。成功示范中也以原木替换为带浅色纵向切面的半木作为视觉线索；示范不用于证明本次进度。"
+     },
+     {
+      "t": 46.47,
+      "log_step": null,
+      "text_zh": "推断：本次评分器字段 goal=1、q_score=1.0、all_success=1，八个目标半木存在谓词全部满足，因此四个累计劈半节点终值均为真；这些半木初始不属于已满足目标。video_replay_matches=0，评分总量来自���分重放，不能据此给渲染视频添加精确时刻；本视频逐根出现切面且未见半木继续切碎或消失，与该终值不矛盾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "击打：左夹爪夹持斧柄，机器人把斧头移向并降低到第2根被处理木柴处，使原木劈半；词表无击打接触方式，故填其他。斧头与原木的瞬时接触被手和工具局部遮挡，工具接触由切分前后画面推断；未把握斧这一链路重复列为夹爪直接抓木柴。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘行驶、转向至第2根被处理木柴旁，承载持斧的机械臂；包括携斧驶近目标的移动阶段。"
+     }
+    ]
+   },
+   "logs_split_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      37.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 38.2,
+      "log_step": null,
+      "text_zh": "观察：视频 36.8–37.0 s 左腕画面中可见另一根完整木柴；机器人持斧向其靠近，木柴短暂被夹爪遮住；视频 37.4–38.4 s 木块重新露出，呈窄半木外形并有浅色纵向切面。"
+     },
+     {
+      "t": 37.5,
+      "log_step": null,
+      "text_zh": "推断：按视频中依次处理不同原木及切面出现的顺序，此时至少第3根木柴已劈半；起点约为视频 37.5 s，受短暂遮挡影响有约 0.5 s 的不确定性。成功示范中也以原木替换为带浅色纵向切面的半木作为视觉线索；示范不用于证明本次进度。"
+     },
+     {
+      "t": 46.47,
+      "log_step": null,
+      "text_zh": "推断：本次评分器字段 goal=1、q_score=1.0、all_success=1，八个目标半木存在谓词全部满足，因此四个累计劈半节点终值均为真；这些半木初始不属于已满足目标。video_replay_matches=0，评分总量来自评分重放，不能据此给渲染视频添加精确时刻；本视频逐根出现切面且未见半木继续切碎或消失，与该终值不矛盾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "击打：左夹爪夹持斧柄，机器人把斧头移向并降低到第3根被处理木柴处，使原木劈半；词表无击打接触方式，故填其他。斧头与原木的瞬时接触被手和工具局部遮挡，工具接触由切分前后画面推断；未把握斧这一链路重复列为夹爪直接抓木柴。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘行驶、转向至第3根被处理木柴旁，承载持斧的机械臂；包括携斧驶近目标的移动阶段。"
+     }
+    ]
+   },
+   "logs_split_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      45.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 46.47,
+      "log_step": null,
+      "text_zh": "观察：视频 44.6–45.0 s 左腕画面中可见最后接近的一根完整木柴；机器人持斧向地面靠近后，视频 45.5–46.47 s 木块露出宽浅色纵向切面，右腕画面也露出另一块浅色木块，左夹爪仍夹着斧柄。"
+     },
+     {
+      "t": 45.5,
+      "log_step": null,
+      "text_zh": "推断：按视频中依次处理不同原木及切面出现的顺序，此时至少第4根木柴已劈半；起点约为视频 45.5 s，受短暂遮挡影响有约 0.5 s 的不确定性。成功示范中也以原木替换为带浅色纵向切面的半木作为视觉线索；示范不用于证明本次进度。"
+     },
+     {
+      "t": 46.47,
+      "log_step": null,
+      "text_zh": "推断：本次评分器字段 goal=1、q_score=1.0、all_success=1，八个目标半木存在谓词全部满足，因此四个累计劈半节点终值均为真；这些半木初始不属于已满足目标。video_replay_matches=0，评分总量来自评分重放，不能据此给渲染视频添加精确时刻；本视频逐根出现切面且未见半木继续切碎或消失，与该终值不矛盾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "击打：左夹爪夹持斧柄，机器人把斧头移向并降低到第4根被处理木柴处，使原木劈半；词表无击打接触方式，故填其他。斧头与原木的瞬时接触被手和工具局部遮挡，工具接触由切分前后画面推断；未把握斧这一链路重复列为夹爪直接抓木柴。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘行驶、转向至第4根被处理木柴旁，承载持斧的机械臂；包括携斧驶近目标的移动阶段。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 1.0,
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": null,
+   "where": "终态验收",
+   "evidence_zh": "观察：评分器记录 all_success=1、goal=1、q_score=1.0，但 deterministic=0、success=0、video_replay_matches=0；评分字段 fallen=0、sim_breakdown=0、infra_error=0。log step 29 中 agent 停止录制并保存 1395 行轨迹，log step 37 中其自行运行的一次新进程重放返回 success=true、deterministic=true；这次自测不是最终多次评分的一致性结果。视频 45.5–46.47 s 可见最后一根木柴的切面，未显示一个未修复的物理失败。"
+  },
+  "unmet": {
+   "logs_split_1": true,
+   "logs_split_2": true,
+   "logs_split_3": true,
+   "logs_split_4": true
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "任务设计问题：本次劈柴及共同静置成功已被评分器接受（all_success=1），仍因额外的多次重放终态哈希一致性条件未通过（deterministic=0）而判负。四个语义节点均已完成，无法把这项验收失败归到某个劈柴节点，故 breakpoint.ref 为 unknown，且哈希比较没有可定位的视频时刻。没有状态日志，头部与腕部视角不能同时点清全部八块半木，也不能直接测量静置速度；终值由切面变化和评分总量结合判断。缺少各次评分重放的终态及差异字段，无法确定哈希差异的来源；日志有保存及成功自测证据，没有跨快照拼接或错选文件的证据，因此现象和根因均留空，不把重放不一致直接归为控制或交付操作出错。"
+ },
+ "summary_zh": "机器人抓起斧头后依次接近四根木柴，约在视频 21.0 s、28.2 s、37.5 s、45.5 s 出现各次劈半线索；结合评分器 goal=1、q_score=1.0，四个节点终值均为真。任务设计问题：物理成功已获 all_success=1，最终仍因附加的重放终态哈希一致性检查 deterministic=0 而判 success=0，断点记为终态验收，无法对应某个未完成语义节点。无状态日志且 video_replay_matches=0，切割时刻有遮挡误差，哈希差异来源不明，不推定机器人失败现象或根因。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "四个劈半节点终值为真，有评分器 goal=1、q_score=1.0 的边界支持；起点约 21/28/37.5/45.5 s，与 goal_first_step 1353（约 45.1 s）一致。success=0 来自 deterministic=0，无可定位的物理失败，ref=unknown、终态验收、现象和根因留空并附 gap_zh，符合规则。视频画面遮挡，无法独立否定其标注。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:09:35Z",
+  "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-chopping-wood-i00-privileged--3g32rxu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-chopping-wood-i00-privileged--3g32rxu/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "125cbdb76a87f2f5a89f30aecccedacf31d958f9e2754c6b738d0b2078775149",
+   "video_sha256": "3a4e166cdc2ddc99843718c8583005f809f1d9b9c28581a469eccea204daca90",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-privileged--42vutws.json

@@ -0,0 +1,293 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-chopping-wood-i00-privileged--42vutws",
+ "taskKey": "behavior-1k/chopping_wood",
+ "dag_sha256": "3d8a92aec8da5d3c52d9ae1dd7288e49fbfd9665ce3498b5bd2224fcfb5c56be",
+ "outcome": {
+  "success": 0,
+  "reward": 0.75,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 0,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 2461,
+   "sim_breakdown": 0,
+   "goal": 0,
+   "settle_steps": 150,
+   "goal_first_step": -1,
+   "sim_steps": 2611,
+   "fallen": 0,
+   "final_reward": 0.75,
+   "q_score": 0.75,
+   "replay_wall_s": 1208.9,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "video_replay_matches": 1,
+   "agent_sessions": 18,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 1,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-chopping-wood-i00-privileged--42vutws/replay.mp4",
+  "duration_s": 87.033,
+  "fps": 30.0,
+  "frames": 2611,
+  "sha256": "4c8c5f8a7627ef0b6205b7b859a631a8580ab63d5af620c828bea067da91bf5d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "logs_split_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      49.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 49.0,
+      "log_step": null,
+      "text_zh": "观察：视频 47.5–48.8 s，机器人左臂把斧头降低至白车尾部旁的木柴；视频约 49.0 s 起出现浅色的新切面和分开的木块，视频 50.0–53.0 s 可继续看到切后的木块。以第一次完整劈半计数，时刻约有 0.3 s 误差。"
+     },
+     {
+      "t": 87.0,
+      "log_step": null,
+      "text_zh": "推断：视频 49.0 s 后机器人离开该处，未见再切这些半木；后续另外两次劈半与评分器终态 q_score=0.75（八个半木存在目标满足六个）一致，因此至少一对半木保持存在。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 47.5–50.0 s，机器人左夹爪持斧下落，用斧刃劈开地面木柴。候选“击打”：现有怎么碰条目没有劈击，故用其他；握持斧柄属于同一工具链，不重复记抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 41.0–47.0 s，轮式底盘承载持斧机械臂移动到本次木柴旁。"
+     }
+    ]
+   },
+   "logs_split_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      68.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 68.8,
+      "log_step": null,
+      "text_zh": "观察：视频 66.5–68.6 s，另一根完整木柴进入斧头下方；视频约 68.8 s 原木显出浅色纵向新切面并成为分开的半木，视频 69.0–71.5 s 仍见切后木块。中间视频 57.0–61.5 s 的下斧没有产生可见切分，因此此处为累计第二根，时刻约有 0.3 s 误差。"
+     },
+     {
+      "t": 87.0,
+      "log_step": null,
+      "text_zh": "推断：视频 68.8 s 后机器人转向车库一侧，未见破坏前两次切分结果；结合第三次可见切分及评分器终态 q_score=0.75，至少两对半木在终态存在。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 67.5–69.5 s，机器人左夹爪持斧下落，用斧刃劈开地面木柴。候选“击打”：现有怎么碰条目没有劈击，故用其他；握持斧柄属于同一工具链，不重复记抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 62.0–67.0 s，轮式底盘承载持斧机械臂移动到本次木柴旁。"
+     }
+    ]
+   },
+   "logs_split_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      77.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 77.6,
+      "log_step": null,
+      "text_zh": "观察：视频 75.5–77.4 s，机器人在木制车库门和圆形劈柴墩旁向另一根木柴降低斧头；视频约 77.6 s，斧柄旁原木变成带浅色长切面的两块木料。视频 80.0–87.0 s，一块留在斧旁，另一块位于劈柴墩左侧地面；时刻约有 0.3 s 误差。"
+     },
+     {
+      "t": 87.0,
+      "log_step": 231,
+      "text_zh": "推断：全段视频可见三次完整原木变为半木，之后没有继续切碎半木的动作；评分器 q_score=0.75 对应六个半木存在目标，支持累计三根劈半在终态成立。log step 231 记录已保存的 2461 动作轨迹，服务也报告六块半木、success=False、q_score=0.75；动作数与评分器 n_actions=2461 一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 76.0–78.0 s，机器人左夹爪持斧下落，用斧刃劈开地面木柴。候选“击打”：现有怎么碰条目没有劈击，故用其他；握持斧柄属于同一工具链，不重复记抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 71.5–76.0 s，轮式底盘承载持斧机械臂移动到本次木柴旁。"
+     }
+    ]
+   },
+   "logs_split_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.0,
+      "log_step": null,
+      "text_zh": "观察：视频 53.0–57.0 s 机器人持斧移动到草坪边缘一带，视频 57.0–61.5 s 左臂降低、再抬起斧头时，斧刃周围是空地，未见木柴在刃下或出现新的半木；随后机器人离开，视频 68.8 s、77.6 s 才各发生另外一次切分。此段失败尝试没有被返回补做。"
+     },
+     {
+      "t": 87.0,
+      "log_step": 235,
+      "text_zh": "推断：评分器终态 q_score=0.75 表示八个半木存在目标仅满足六个，因此需要八块半木的第四个计数节点终态必为假；这与视频中仅三次可见切分一致。视频 86.0–87.0 s 及最后一帧没有再进行劈切。log step 233–235 仅显示另写并启动修正版，没有新的保存结果，不能把该修正版的绕行和重试算入本录像。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 53.0–57.0 s，轮式底盘承载持斧机械臂移动至下一工作位置，随后执行未成功的下斧。视频 57.0–61.5 s 未见斧刃实际碰到木柴，因此不将任务 DAG 的典型工具接触复制为实际接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.75,
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "logs_split_4",
+   "t": 58.0,
+   "log_step": 227,
+   "where": "操作中",
+   "evidence_zh": "推断：视频 57.0–61.5 s，机器人在草坪边持斧下落但刃下没有对准可见木柴，没有形成切分，之后离开且不返回补切。视频 68.8 s、77.6 s 虽又切成两根，累计仍只有三根；四个节点按数量计数而非绑定实例，故未修复的剩余劈切归入 logs_split_4。log step 227 的交付脚本顺序为原木4、3、1、2，与视频工作位置顺序相符；log step 231 的保存动作数及 q_score 与评分器一致。"
+  },
+  "unmet": {
+   "logs_split_1": true,
+   "logs_split_2": true,
+   "logs_split_3": true,
+   "logs_split_4": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 58.0,
+    "log_step": 227,
+    "evidence_zh": "观察：视频 57.0–61.5 s，机器人左臂持斧完成下落与回抬，斧头周围可见地面，未见原木位于斧刃下；没有出现视频 49.0 s、68.8 s、77.6 s 成功接触后可见的新切面。随后机器人移向别处，未修正本次下斧的相对位置。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 58.0,
+    "log_step": 227,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 227 的交付脚本在移动底盘前读取原木坐标，移动后继续使用该坐标与固定偏移、固定斧姿下斧；失败时仅进一步降低高度，没有重新读取原木位置或调整横向对准。视频 57.0–61.5 s 显示这一段下斧位置没有对准木柴，而同一把斧随后可切开别的原木，支持将问题归于控制中的接触对准与修正不足。没有足够证据区分目标移动、工具相对夹爪几何偏差或实际轨迹误差，故不细分控制子类。"
+   }
+  ],
+  "gap_zh": "没有状态日志。腕部画面受夹爪遮挡，未成功下斧对应的木柴在视频 57.0–61.5 s 未完整入镜，无法确认它是否先被底盘推移，也无法测定刃与木柴的精确间距；因此不标碰撞或具体控制子类。前三次切分的完整对数由可见的新切面、切后画面及终态六个存在目标共同支持，不能从末帧直接点清全部六块。log step 231 的生成日志中段被原始工具输出截断，log step 233–235 的修正版无完成或重新保存记录；均不补造其动作结果。参考成功录像同样倾斜遮挡，不能提供本轨迹的状态或时间。"
+ },
+ "summary_zh": "观察：机器人持斧依次处理车道木柴，视频约 49.0 s、68.8 s、77.6 s 各���现一次劈半，终态累计三个节点成立，与评分器 q_score=0.75 一致。推断：视频 57.0–61.5 s 的下斧没有对准木柴且之后未补切，剩余第四个计数节点失败；交付脚本以固定偏移下斧、失败后只降低高度，控制修正不足。无状态日志且失败目标未完整入镜，不能确认是否曾被底盘推移；后续启动的修正版没有保存完成证据。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "三次劈半的时刻（视频 49.0、68.8、77.6 s）与终态 q_score=0.75、log step 231 的“六块半木”一致；第四节点未达成，断点 logs_split_4 与现象/根因均有证据支持，未发现需要改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:19:45Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-chopping-wood-i00-privileged--42vutws/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-chopping-wood-i00-privileged--42vutws/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9e85fc9160815492a3ded0a99483d9001186eebdae37a6a4a7405157070637a4",
+   "video_sha256": "4c8c5f8a7627ef0b6205b7b859a631a8580ab63d5af620c828bea067da91bf5d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-privileged--6uivktn.json

@@ -0,0 +1,271 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-chopping-wood-i00-privileged--6uivktn",
+ "taskKey": "behavior-1k/chopping_wood",
+ "dag_sha256": "3d8a92aec8da5d3c52d9ae1dd7288e49fbfd9665ce3498b5bd2224fcfb5c56be",
+ "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": 1315,
+   "sim_breakdown": 0,
+   "goal": 1,
+   "settle_steps": 0,
+   "goal_first_step": 1255,
+   "sim_steps": 1315,
+   "fallen": 0,
+   "final_reward": 1.0,
+   "q_score": 1.0,
+   "replay_wall_s": 911.2,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "video_replay_matches": 1,
+   "agent_sessions": 3,
+   "agent_resets": 9,
+   "agent_sim_steps": 2655,
+   "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": 7.062,
+   "peak_memory_gb": 9.224,
+   "peak_processes": 23,
+   "peak_disk_gb": 1.302,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-chopping-wood-i00-privileged--6uivktn/replay.mp4",
+  "duration_s": 43.833,
+  "fps": 30.0,
+  "frames": 1315,
+  "sha256": "247584505fea6efe6adb02b4733dabbcc9b78d4864162eb32369916eca052187"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "logs_split_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      18.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 18.4,
+      "log_step": null,
+      "text_zh": "观察：视频17.6–18.2 s，机器人左夹爪持斧，下放到围栏及白车旁的第一根完整木柴；视频18.4 s，腕部与头部画面出现浅色纵向新切面，原木外形被半木形状替代，视频19.8–20.4 s仍可见该切面。以视频18.4 s记首次劈半，视觉定位约有0.2 s误差。"
+     },
+     {
+      "t": 43.8,
+      "log_step": null,
+      "text_zh": "推断：评分器字段success=1、all_success=1、goal=1、q_score=1.0且video_replay_matches=1，结合视频中四次切分及其后未再处理已切木柴，终态至少1根原木的两块半木均仍存在，故本节点final=true。视频43.8 s的局部视角不能同时点清八块半木；最终完整计数及共同脱手静置验收由本次成功评分支持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "击打：机器人左侧二指夹爪握住斧柄，将斧头下放劈击第1根木柴；斧头接触后出现新切面。击打没有专用how取值，故用其他；工具接触链只记斧头与木柴，不重复记录握斧柄。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘承载持斧机械臂，驶向第1根木柴并调整朝向，随后停下进行劈切。"
+     }
+    ]
+   },
+   "logs_split_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      26.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 26.6,
+      "log_step": null,
+      "text_zh": "观察：视频24.0–26.4 s，机器人持斧移到草地边的另一根完整木柴并下放；视频26.6 s，腕部画面原木下缘出现浅色纵向切面，头部画面对应木块形状改变，视频28.8–29.0 s可见分离的半木与切面。以视频26.6 s记第二次劈半，视觉定位约有0.2 s误差。"
+     },
+     {
+      "t": 43.8,
+      "log_step": null,
+      "text_zh": "推断：评分器字段success=1、all_success=1、goal=1、q_score=1.0且video_replay_matches=1，结合视频中四次切分及其后未再处理已切木柴，终态至少2根原木的两块半木均仍存在，故本节点final=true。视频43.8 s的局部视角不能同时点清八块半木；最终完整计数及共同脱手静置验收由本次成功评分支持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "击打：机器人左侧二指夹爪握住斧柄，将斧头下放劈击第2根木柴；斧头接触后出现新切面。击打没有专用how取值，故用其他；工具接触链只记斧头与木柴，不重复记录握斧柄。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘承载持斧机械臂，驶向第2根木柴并调整朝向，随后停下进行劈切。"
+     }
+    ]
+   },
+   "logs_split_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      34.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 34.6,
+      "log_step": null,
+      "text_zh": "观察：视频32.0–34.4 s，机器人持斧移到劈柴墩旁、头部画面下方的第三根完整木柴；视频34.6 s，原木旁出现浅色平直新切面，腕部画面也由圆木树皮变成带纵向切面的半木，视频35.0–36.8 s持续可见。以视频34.6 s记第三次劈半，视觉定位约有0.2 s误差。"
+     },
+     {
+      "t": 43.8,
+      "log_step": null,
+      "text_zh": "推断：评分器字段success=1、all_success=1、goal=1、q_score=1.0且video_replay_matches=1，结合视频中四次切分及其后未再处理已切木柴，终态至少3根原木的两块半木均仍存在，故本节点final=true。视频43.8 s的局部视角不能同时点清八块半木；最终完整计数及共同脱手静置验收由本次成功评分支持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "击打：机器人左侧二指夹爪握住斧柄，将斧头下放劈击第3根木柴；斧头接触后出现新切面。击打没有专用how取值，故用其他；工具接触链只记斧头与木柴，不重复记录握斧柄。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘承载持斧机械臂，驶向第3根木柴并调整朝向，随后停下进行劈切。"
+     }
+    ]
+   },
+   "logs_split_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      42.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 42.0,
+      "log_step": null,
+      "text_zh": "观察：视频38.0–41.8 s，机器人移向车库门边剩下的完整木柴并下放斧头；视频42.0 s，腕部画面出现明显浅色纵向新切面，视频43.0–43.8 s头部画面能见相邻木块及平直切面，机器人夹爪仍持斧。以视频42.0 s记第四次劈半，视觉定位约有0.2 s误差。"
+     },
+     {
+      "t": 43.8,
+      "log_step": null,
+      "text_zh": "推断：评分器字段success=1、all_success=1、goal=1、q_score=1.0且video_replay_matches=1，结合视频中四次切分及其后未再处理已切木柴，终态至少4根原木的两块半木均仍存在，故本节点final=true。视频43.8 s的局部视角不能同时点清八块半木；最终完整计数及共同脱手静置验收由本次成功评分支持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "击打：机器人左侧二指夹爪握住斧柄，将斧头下放劈击第4根木柴；斧头接触后出现新切面。击打没有专用how取值，故用其他；工具接触链只记斧头与木柴，不重复记录握斧柄。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘承载持斧机械臂，驶向第4根木柴并调整朝向，随后停下进行劈切。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 1.0,
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人左夹爪持斧，依次驶向四根木柴并下放劈切，约在视频18.4 s、26.6 s、34.6 s及42.0 s出现纵向新切面，四个计数节点最终均成立。本次评分器报告success=1、q_score=1.0，且video_replay_matches=1，支持八块半木存在并通过共同脱手静置验收；无失败断点。没有状态日志，终态镜头不能同时点清全部半木或测量速度，故精确切分时刻取视觉近似，完整终态计数与静置窗口依成功评分确认。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "四个计数节点的时间与视频一致（goal_first_step=1255 即视频约41.8 s，对应第四次劈半约42.0 s），终态依评分器success=1/q_score=1.0成立，无失败断点，接触标注（手持工具其他+击打、底盘支撑）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": "2026-10-30T21:08:18Z",
+  "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-chopping-wood-i00-privileged--6uivktn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-chopping-wood-i00-privileged--6uivktn/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ffe384623f5b73245603d9aca0313b999f2b0f3311f2002e3334ec9034dcbd26",
+   "video_sha256": "247584505fea6efe6adb02b4733dabbcc9b78d4864162eb32369916eca052187",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-privileged--isyjxcs.json

@@ -0,0 +1,274 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-chopping-wood-i00-privileged--isyjxcs",
+ "taskKey": "behavior-1k/chopping_wood",
+ "dag_sha256": "3d8a92aec8da5d3c52d9ae1dd7288e49fbfd9665ce3498b5bd2224fcfb5c56be",
+ "outcome": {
+  "success": 0,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 1,
+   "deterministic": 0,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 2523,
+   "sim_breakdown": 0,
+   "goal": 1,
+   "settle_steps": 0,
+   "goal_first_step": 2443,
+   "sim_steps": 2483,
+   "fallen": 0,
+   "final_reward": 1.0,
+   "q_score": 1.0,
+   "replay_wall_s": 793.8,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "video_replay_matches": 1,
+   "agent_sessions": 3,
+   "agent_resets": 0,
+   "agent_sim_steps": 7529,
+   "agent_records": 3,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-chopping-wood-i00-privileged--isyjxcs/replay.mp4",
+  "duration_s": 82.767,
+  "fps": 30.0,
+  "frames": 2483,
+  "sha256": "b86af5ff7fe62e0c428c82613d9aa735a758a6978f43cfe6854a3408e4944d0a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": null,
+  "peak": null,
+  "final": 4,
+  "nodes": {
+   "logs_split_1": {
+    "method": "visual",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0–35.0 s，左腕画面持续可见夹爪包围斧柄，机器人在白车附近调整斧头姿态并移动；目标木柴随后位于腕部画面下缘之外。这个时间仅定位相关操作片段，不是已确认的切分时刻。"
+     },
+     {
+      "t": 82.73,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=1、goal=1、all_success=1，且 video_replay_matches=1；八个目标半木初始均不存在，因此该总分确认评分重放结束时八块半木全部存在，至少1根完整劈半的节点终值为真。末帧受遮挡并未直接显示相反结果；不把 agent 自测的切分时间移植到此视频，故 intervals 保留 null。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：左腕视角显示左夹爪包围并携带斧柄，但斧刃与目标木柴的作用点在画面之外；无法逐次核实工具与木柴实际如何接触。未知指切割接触，不表示没有尝试。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人持斧时，车道、白车和车库门在头部与腕部画面中相对移动；轮式底盘承载机械臂驶向本次处理区域。"
+     }
+    ]
+   },
+   "logs_split_2": {
+    "method": "visual",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": 49.5,
+      "log_step": null,
+      "text_zh": "观察：视频 36.0–50.0 s，机器人持斧沿车道移动，在另一处停留并调整手臂；切分区域在腕部画面之外。这个时间仅定位相关操作片段，不是已确认的切分时刻。"
+     },
+     {
+      "t": 82.73,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=1、goal=1、all_success=1，且 video_replay_matches=1；八个目标半木初始均不存在，因此该总分确认评分重放结束时八块半木全部存在，至少2根完整劈半的节点终值为真。末帧受遮挡并未直接显示相反结果；不把 agent 自测的切分时间移植到此视频，故 intervals 保留 null。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：左腕视角显示左夹爪包围并携带斧柄，但斧刃与目标木柴的作用点在画面之外；无法逐次核实工具与木柴实际如何接触。未知指切割接触，不表示没有尝试。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人持斧时，车道、白车和车库门在头部与腕部画面中相对移动；轮式底盘承载机械臂驶向本次处理区域。"
+     }
+    ]
+   },
+   "logs_split_3": {
+    "method": "visual",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": 62.0,
+      "log_step": null,
+      "text_zh": "观察：视频 51.0–64.0 s，机器人持斧移至劈柴墩附近，随后再次移动；头部画面主要朝向车库门，斧刃与木柴的接触点不可见。这个时间仅定位相关操��片段，不是已确认的切分时刻。"
+     },
+     {
+      "t": 82.73,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=1、goal=1、all_success=1，且 video_replay_matches=1；八个目标半木初始均不存在，因此该总分确认评分重放结束时八块半木全部存在，至少3根完整劈半的节点终值为真。末帧受遮挡并未直接显示相反结果；不把 agent 自测的切分时间移植到此视频，故 intervals 保留 null。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：左腕视角显示左夹爪包围并携带斧柄，但斧刃与目标木柴的作用点在画面之外；无法逐次核实工具与木柴实际如何接触。未知指切割接触，不表示没有尝试。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人持斧时，车道、白车和车库门在头部与腕部画面中相对移动；轮式底盘承载机械臂驶向本次处理区域。"
+     }
+    ]
+   },
+   "logs_split_4": {
+    "method": "visual",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": 81.4,
+      "log_step": null,
+      "text_zh": "观察：视频 66.0–82.73 s，机器人持斧接近车库门旁的木柴，最后停在门边；视频 81.0–82.73 s 已密集核查，但切分区域仍在画面下方。这个时间仅定位相关操作片段，不是已确认的切分时刻。"
+     },
+     {
+      "t": 82.73,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=1、goal=1、all_success=1，且 video_replay_matches=1；八个目标半木初始均不存在，因此该总分确认评分重放结束时八块半木全部存在，至少4根完整劈半的节点终值为真。末帧受遮挡并未直接显示相反结果；不把 agent 自测的切分时间移植到此视频，故 intervals 保留 null。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：左腕视角显示左夹爪包围并携带斧柄，但斧刃与目标木柴的作用点在画面之外；无法逐次核实工具与木柴实际如何接触。未知指切割接触，不表示没有尝试。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人持斧时，车道、白车和车库门在头部与腕部画面中相对移动；轮式底盘承载机械臂驶向本次处理区域。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 1.0,
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "logs_split_4",
+   "t": null,
+   "log_step": 97,
+   "where": "终态验收",
+   "evidence_zh": "观察：评分器记录 all_success=1、goal=1、q_score=1、instance_exact=1、video_replay_matches=1，但 deterministic=0、success=0，fallen=0、sim_breakdown=0；因此四次劈半的物理目标已满足，失败落在末步完成后的重放一致性验收。log step 84 与 log step 96 中，同一2523行动文件的两次独立重放均报告 success=true，但 state_sha 分别为3da32e43074f4e53和131502babdfaa097；log step 97 仅断言两次 all_success。该验收失败没有可定位的单一视频事件，t留空。"
+  },
+  "unmet": {
+   "logs_split_1": true,
+   "logs_split_2": true,
+   "logs_split_3": true,
+   "logs_split_4": true
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "交付",
+    "item": "交付操作出错",
+    "log_step": 97,
+    "source_zh": "日志 / 评分器字段",
+    "evidence_zh": "观察：agent 在 log step 75、85 分别对同一保存轨迹运行一次重放；log step 84、96 的两份结果各自只有一个 replay，虽各报告 deterministic=true，跨结果的终态哈希却不同，且 sim_steps 分别为2483与2523。log step 97 的验收代码只检查 all_success，未比较两份 state_sha，随后在 log step 98 声称验证完成并停止；正式评分器的 deterministic=0 与这一遗漏一致。推断：这是有记录的交付验收疏漏；不据此断言具体哪一接触造成了物理轨迹差异。"
+   }
+  ],
+  "gap_zh": "观察：inputs 中有完整评分视频、run.json 和成功示范视频，但没有状态日志；本次视频及示范的头部、腕部视角均多处遮挡切分区域，无法直接点清各次生成的两块半木，也不能核实逐次切割接触。推断：四个节点的最终真值可由匹配评分重放的八半木总分确定，但前三次乃至各次精确切分时刻及中途是否短暂丢失完整半木对无法确认，故所有 intervals 保留 null，不以会话自测时间代替；评分器 goal_first_step=2443 仅提供共同目标时序线索。终态不一致未表现为可见且未修复的机器人操作失败，故现象层留空；两次哈希差异的具体动力学来源未知。"
+ },
+ "summary_zh": "推断：评分重放最���已完成四根木柴劈半，四个节点终值均为真，依据是匹配视频的评分器 goal=1、q_score=1 和 all_success=1；但各次切分点受相机遮挡，时间区间无法可靠还原。观察：最终 success=0 对应 deterministic=0；agent 的两次单独自测均物理成功却具有不同终态哈希，log step 97 的交付验收只检查 all_success，未核对跨重放一致性。推断：断点为末步后的终态验收，不追加无视频证据的物理失败现象。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "四个节点终值为真由评分器 goal=1/q_score=1 约束，时间区间保留 null 合理；log step 75/84/85/96/97/98 均存在且与证据一致（两次重放 sim_steps 2483/2523、state_sha 不同，step 97 只断言 all_success）；断点与交付操作出错根因有日志支撑，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": "2026-10-30T21:09:55Z",
+  "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-chopping-wood-i00-privileged--isyjxcs/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-chopping-wood-i00-privileged--isyjxcs/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "caee485378e2b69c8c6a7cef74f4034a4455352977dcb9d6ecef45ebd0663352",
+   "video_sha256": "b86af5ff7fe62e0c428c82613d9aa735a758a6978f43cfe6854a3408e4944d0a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-privileged--zrknwzw.json

@@ -0,0 +1,278 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-chopping-wood-i00-privileged--zrknwzw",
+ "taskKey": "behavior-1k/chopping_wood",
+ "dag_sha256": "3d8a92aec8da5d3c52d9ae1dd7288e49fbfd9665ce3498b5bd2224fcfb5c56be",
+ "outcome": {
+  "success": 0,
+  "reward": 0.5,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 4521,
+   "sim_breakdown": 0,
+   "goal": 0,
+   "settle_steps": 0,
+   "goal_first_step": -1,
+   "sim_steps": 4258,
+   "fallen": 1,
+   "final_reward": 0.5,
+   "q_score": 0.5,
+   "replay_wall_s": 1349.7,
+   "replay_timeout_s": 4214.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "video_replay_matches": 0,
+   "agent_sessions": 1,
+   "agent_resets": 16,
+   "agent_sim_steps": 0,
+   "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": 9.777,
+   "peak_memory_gb": 9.243,
+   "peak_processes": 20,
+   "peak_disk_gb": 0.917,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-chopping-wood-i00-privileged--zrknwzw/replay.mp4",
+  "duration_s": 136.2,
+  "fps": 30.0,
+  "frames": 4086,
+  "sha256": "d24782555b12b29fe5e614c546fb04dfa95bad7c69d944282a09f066848168f3"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "logs_split_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      84.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 84.6,
+      "log_step": null,
+      "text_zh": "观察：视频 84.2–85.5 s，机器人左臂持斧贴近路面，头部画面中靠斧的木柴出现沿长度方向的浅色新切面，分出的木块与另一块分离；视频 87.0 s 可见半木的平切面。首次完成取视频约 84.6 s，精度约半秒。"
+     },
+     {
+      "t": 135.3,
+      "log_step": null,
+      "text_zh": "推断：视频 121.0–125.0 s 及 135.3 s 仍见地面带浅色切面的半木，未见已生成的半木被继续切碎；评分器 q_score=0.5 与保留切分结果相容。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人左夹爪持斧，随移动及姿态变化让斧具横向触及地面木柴；视频 84.6 s 可见木柴出现新切面。实际为低位平移接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在持斧接近木柴及接触切分期间移动，承载机械臂。"
+     }
+    ]
+   },
+   "logs_split_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      86.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 86.8,
+      "log_step": null,
+      "text_zh": "观察：视频 86.2–86.7 s，左腕画面斧柄右侧仍是一块带树皮的木柴；视频 86.8–87.3 s，该处出现宽阔浅色纵切面及分开的另一块带树皮木块。这是继头部画面所见切分后的另一处切分，累计至少两根；时间约视频 86.8 s。"
+     },
+     {
+      "t": 135.3,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0.5 对应八个半木存在目标中的四个，结合视频 84.6 s 与 86.8 s 的两次分裂和后续未见切碎，判定两对半木在终态保留。视频 135.3 s 为倾倒后的遮挡视角，终态计数由前后画面与评分总量共同支持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人左夹爪持斧，随移动及姿态变化让斧具横向触及地面木柴；视频 86.8 s 可见木柴出现新切面。实际为低位平移接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在持斧接近木柴及接触切分期间移动，承载机械臂。"
+     }
+    ]
+   },
+   "logs_split_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 97.5,
+      "log_step": null,
+      "text_zh": "观察：视频 96.0–101.5 s，机器人持斧移动，另一根完整木柴在机体前方被带动、滚转；斧具偏在木柴侧面，木柴保持整块，未出现新的一对半木。视频 102.0–106.0 s 再次靠近完整木柴也未见切分。"
+     },
+     {
+      "t": 136.17,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0.5 只允许四块目标半木存在；第三根完整切分要求至少六块，故终态为 false。视频 125.5–136.17 s 机器人翻倒且没有再完成切分的可见动作。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人左夹爪继续持斧，轮式底盘在视频 96.0–106.0 s 靠近完整木柴并反复调整；本节点未见有效斧具切分接触。"
+     }
+    ]
+   },
+   "logs_split_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 136.17,
+      "log_step": null,
+      "text_zh": "推断：视频全程仅辨认出视频约 84.6 s、86.8 s 的两次切分，最后一帧视频 136.17 s 机器人处于倾倒视角；评分器 q_score=0.5 对应四个半木目标，不能满足第四根要求的八块半木，因此终态为 false。未辨认出独立于第三根未完成尝试的第四次工作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.5,
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "logs_split_3",
+   "t": 97.5,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 97.5 s，机器人在持斧处理另一根完整木柴时，斧具仍偏在一侧，木柴被机体前部带动而没有分裂；视频 100.0–101.0 s 视角继续大幅翻转。后续视频 102.0–125.0 s 仍未见第三对半木生成，视频 125.5–136.17 s 再次翻倒。评分器给出 q_score=0.5、fallen=1；两根之后的切分工作未修复。"
+  },
+  "unmet": {
+   "logs_split_1": true,
+   "logs_split_2": true,
+   "logs_split_3": false,
+   "logs_split_4": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 97.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频 96.5–101.5 s，机器人左臂持斧位于完整木柴侧方，木柴滚到机体前方，斧与木柴没有形成能使其分裂的对准；视频 102.0–106.0 s 靠近后木柴仍完整。"
+   },
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 100.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 100.0–101.0 s，机器人携斧作业时头部和腕部视野大幅翻转；视频 125.5–128.0 s 再次明显侧翻，视频 135.3 s、136.17 s 仍是地面、植物与天空倾斜的视角。评分器字段 fallen=1 证实评分重放出现跌倒。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：视频 96.5–106.0 s 机器人已持有斧具并朝完整木柴运动，但斧具与目标持续错位，木柴被带动而未切分，同时运动伴随显著翻滚；视频 125.5–136.17 s 再次失稳。问题落在斧具对准与机体运动的执行控制，现有证据不足以区分逆解、跟踪反馈或接触设计子类。",
+    "source_zh": "视频 / 评分器字段"
+   }
+  ],
+  "gap_zh": "无状态日志，头部与腕部画面有遮挡，切分时刻约有半秒不确定性，无法核验每块半木的实例及速度。评分器 video_replay_matches=0：录像重放与评分重放终态不同；log step 142 的会话生成结果称六块半木且未跌倒，log step 143 的最终自述沿用三根切分，但评分器 q_score=0.5、fallen=1，故不把会话结果或 agent 时间当作录像进度。未确定录像与评分重放具体从何时分歧；控制子类缺少可对应本次录像的状态与控制反馈。"
+ },
+ "summary_zh": "录像中约视频 84.6 s、86.8 s 可辨认两次切分，终态按画面与评分器 q_score=0.5 共同判为完成两根、共2/4节点。机器人继续处理完整木柴时斧具对准不足，并反复失衡，第三根切分未修复，最终评分器报告跌倒。无状态日志，且录像重放与评分重放终态不一致；会话自述三根完成不用于补记进度，具体控制子类无法确认。",
+ "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 70–135 s：84–87 s 斧旁出现分开的木块，q_score=0.5 对应四块半木，与两根完成一致；第三根未切分、倾倒记录与评分器 fallen=1 相容。未发现需改动的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:11:59Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-chopping-wood-i00-privileged--zrknwzw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-chopping-wood-i00-privileged--zrknwzw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ecdbf039d908fb79de407c6e849818e2490357ff83519452e18a80e1dc02e23b",
+   "video_sha256": "d24782555b12b29fe5e614c546fb04dfa95bad7c69d944282a09f066848168f3",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-standard--yfdkxqe.json

@@ -0,0 +1,294 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-chopping-wood-i00-standard--yfdkxqe",
+ "taskKey": "behavior-1k/chopping_wood",
+ "dag_sha256": "3d8a92aec8da5d3c52d9ae1dd7288e49fbfd9665ce3498b5bd2224fcfb5c56be",
+ "outcome": {
+  "success": 0,
+  "reward": 0.5,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 7365,
+   "sim_steps": 7515,
+   "physics_steps": 30060,
+   "steps": 342,
+   "elapsed_s": 6814.4,
+   "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": 0.5,
+   "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-chopping-wood-i00-standard--yfdkxqe/replay.mp4",
+  "duration_s": 250.6,
+  "fps": 10.0,
+  "frames": 2506,
+  "sha256": "da01b13ece2c51858b098de06c97a4941765c9b473495e543efef47763653d58"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "logs_split_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      66.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 66.6,
+      "log_step": 211,
+      "text_zh": "观察：视频65.0–66.4 s机器人左夹爪持斧下降到车道木柴旁，视频66.6–67.0 s原位置出现宽阔浅色新切面；视频77.0–81.0 s抬臂后可见相邻的两块半木，一块露树皮、一块露浅色纵向切面。按首次完整切分计第1根，约视频66.6 s。"
+     },
+     {
+      "t": 250.5,
+      "log_step": null,
+      "text_zh": "推断：后续机器人离开这对半木，未见继续切碎它们；评分器最终q_score=0.5（八个半木存在谓词中的四个）与保留该对半木一致。视频249.6–250.5 s末帧视角未同时覆盖所有已切木块，终值结合切后画面和评分判断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频约48–67 s左夹爪持续持斧，先用斧头下压并拨动整木，随后将斧刃朝下接近并切开木柴；相同接触链中的早期推移在此说明。 候选接触方式为“击打”，现有方式没有击打；此处为缓慢下落的斧刃接触尝试，未把持斧柄另算一次抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频开始至约46 s机器人轮式底盘向斧头和第一处木柴移动、转向，并承载持斧的左臂。"
+     }
+    ]
+   },
+   "logs_split_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      176.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 96.0,
+      "log_step": 279,
+      "text_zh": "观察：视频96.0 s白车后方待处理木柴仍为一条以树皮面为主的整木；视频约100–179 s机器人在此反复持斧接近、下压和抬起，视频174.0–178.8 s末次接近的触点被左臂遮住。"
+     },
+     {
+      "t": 183.0,
+      "log_step": 416,
+      "text_zh": "推断：视频182.0–183.0 s抬臂后的原木位置可见并排的深色木面与新露出的浅色纵向面；结合最终q_score=0.5对应四块半木、首对半木已经可见且未见继续切碎，将此判断为第2次完整切分。切割锚点约视频176.0 s，是根据最后一次下降及前后画面估计，触发瞬间不可直接看清，误差约数秒。"
+     },
+     {
+      "t": 250.5,
+      "log_step": null,
+      "text_zh": "推断：评分器q_score=0.5约束最终仅四个半木存在谓词成立；结合两处切后外观及未见半木被切碎，判断保留两对完整半木，第2根节点final=true。此数量判定并非把agent自述的切割次数当成完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频约100–179 s机器人左夹爪持斧多次降低、调整斧头并抬离白车后方木柴；末次刃口触点遮挡，实际受力及接触瞬间未知。 候选接触方式为“击打”，现有方式没有击打；此处为缓慢下落的斧刃接触尝试，未把持斧柄另���一次抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约89–96 s及约120、160–165 s，轮式底盘接近、微调或后退以调整该木柴的操作距离，期间左夹爪持斧。"
+     }
+    ]
+   },
+   "logs_split_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 202.0,
+      "log_step": 467,
+      "text_zh": "观察：视频约190–199.5 s机器人向车道中段木柴降低所持斧头，接触区域主要被左臂遮挡；视频201.5–202.0 s右腕视角再次露出一条仍连成整体的木柴，未见像首根木柴那样出现两块分离的新切面。机器人随后移向另一处木柴，未返回修复此处切分。"
+     },
+     {
+      "t": 250.5,
+      "log_step": null,
+      "text_zh": "推断：评分器最终q_score=0.5只允许八个目标半木中的四个存在；至少3根完整切分需要六个半木同时存在，故logs_split_3最终必为false。视频后段没有可确认的第3对半木，区间记为空。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频约190–199.5 s左夹爪持续持斧，将斧头朝车道中段木柴降低并停留后抬起；工具和木柴的确切触点被机械臂遮挡，不能确认有效刃口接触。 候选接触方式为“击打”，现有方式没有击打；此处为缓慢下落的斧刃接触尝试，未把持斧柄另算一次抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约188.5–190 s底盘转向并接近车道中段木柴，左臂携斧移动。"
+     }
+    ]
+   },
+   "logs_split_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 227.0,
+      "log_step": 497,
+      "text_zh": "观察：视频约212–222 s机器人持斧向车库旁另一根木柴下降，随后抬起；视频223–227 s头部视角仍见该处单块树皮色木柴。机器人之后放下斧头、尝试重抓，未见四根木柴全部被两块半木替代。"
+     },
+     {
+      "t": 250.5,
+      "log_step": 525,
+      "text_zh": "观察：视频249.6–250.5 s场景停住，头部视角中劈柴墩右后方仍有单块树皮色木柴。推断：评分器q_score=0.5排除八块目标半木同时存在，故第4根累计切分节点final=false；虽第3次累计切分未完成，机器人已实际操作第四处原木，故保留此节点的接触尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频约212–222 s机器人左夹爪持斧，降低斧头到车库旁木柴区域，停留后抬离；目标接触区域有机械臂遮挡，是否刃口碰到木柴未知。 候选接触方式为“击打”，现有方式没有击打；此处为缓慢下落的斧刃接触尝试，未把持斧柄另算一次抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约207–212 s轮式底盘沿车道移动、转向并微调到车库旁木柴的工作位置，左臂携斧。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.5,
+   "unit": "1",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "logs_split_3",
+   "t": 196.5,
+   "log_step": 465,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约190–199.5 s机器人左夹爪持斧朝车道中段木柴下降、停留后抬起，视频201.5–202.0 s右腕视角的目标仍连为一体，之后机器人移向车库旁木柴，未返回此处。推断：此前两处切分计为2根，此次未建立第3对完整半木且未修复，故断点为logs_split_3；视频196.5 s仅是被遮挡的下降末段导航锚点。"
+  },
+  "unmet": {
+   "logs_split_1": true,
+   "logs_split_2": true,
+   "logs_split_3": false,
+   "logs_split_4": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 196.5,
+    "log_step": 467,
+    "evidence_zh": "推断：视频194.0–199.5 s机器人仍持斧完成下压，但视频201.5–202.0 s目标木柴保持完整；对照视频66.6–77.0 s首次切割后明显出现的新切面，以及任务文字所述有效斧刃接触会将整木替换为两半，此次所需的有效切割接触未建立。这里不表示斧头任何部位都未碰木柴，斧柄、斧面或支承面接触不能由遮挡画面分辨。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "本任务没有状态日志。已检查整段录像的粗采样及切割、抬臂和最后一秒的密集画面，并用成功示范核对相机与切后外观；但头部/腕部视角常被左臂、夹爪及斧柄挡住，无法连续点清全部半木及确认刃口触点。第2根切分的约视频176.0 s为前后画面与最终四个半木存在谓词支持的估���，不能保证亚秒精度；半木来源配对没有状态字段直接核验。断点处无法可靠区分目标定位偏差、工具相对位姿误差、关节跟踪或阻挡，因此不填根因。日志中的服务control_steps为30 Hz控制时钟，log step 467的5985/30=视频199.5 s与该处下压停留结束相符，log step 517的7110/30=视频237.0 s与放斧后停留相符；未将agent工作时间换算成视频时间。"
+ },
+ "summary_zh": "机器人左夹爪持斧，完成两根木柴的完整切分；第1次可见替换约在视频66.6 s，第2次约在视频176.0 s，最终q_score=0.5与四块半木一致。之后对车道中段及车库旁木柴的下压未形成第3、第4次完整切分，断点为logs_split_3，现象推断为未建立有效刃口接触。关键触点和部分半木受机械臂遮挡，第二次切分时刻及配对含推断，具体根因留空。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 5,
+    "summary_zh": "未能用证据推翻标注：视频60–92 s可见车道上的浅色木块，与第1次切分、断点logs_split_3及q_score=0.5一致；第2次切分时刻本身为推断且已如实说明。agent日志把拆分记在控制步约2500以后（视频约83–89 s），与视频66.6 s有差异，但agent自述不算证据，视频帧更早即见分离木块。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:12:38Z",
+  "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-chopping-wood-i00-standard--yfdkxqe/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-chopping-wood-i00-standard--yfdkxqe/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f54641c377674dd95094450b96712667ab7ec444dfb6165d66628a49bcb1eb63",
+   "video_sha256": "da01b13ece2c51858b098de06c97a4941765c9b473495e543efef47763653d58",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-privileged--nmizqvc.json

@@ -0,0 +1,255 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clearing-food-from-table-into-fridge-i00-privileged--nmizqvc",
+ "taskKey": "behavior-1k/clearing_food_from_table_into_fridge",
+ "dag_sha256": "0187c62673ba112bb7fbae8d19e1bccdbef83deaf34d00b39cbfc9668575af71",
+ "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": 249,
+   "sim_steps": 249,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 733.6,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 1,
+   "agent_resets": 18,
+   "agent_sim_steps": 0,
+   "agent_records": 35,
+   "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-clearing-food-from-table-into-fridge-i00-privileged--nmizqvc/replay.mp4",
+  "duration_s": 8.3,
+  "fps": 30.0,
+  "frames": 249,
+  "sha256": "16e02868f39997fa54831a58a010e0e886e1f1ca92e97f0a6031dd53fe144b81"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–0.2 s 机器人面向餐桌及厨房，随后相机转向客厅；视频 0.3–8.27 s 未见机器人接近冰箱或夹爪拉门。"
+     },
+     {
+      "t": 8.27,
+      "log_step": null,
+      "text_zh": "推断：DAG 给定冰箱初始关闭；评分片段只含底盘移动及随后的倾斜停留，未发生开门操作，故打开冰箱事件未达到。"
+     }
+    ]
+   },
+   "chicken_in_tupperware": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.2,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–0.2 s 机器人空手在餐桌附近移动，随后视角快速转向客厅；检查视频 0.3–8.27 s，未见鸡肉被夹住、离开原位并送入盒内。"
+     },
+     {
+      "t": 8.27,
+      "log_step": 207,
+      "text_zh": "推断：初态鸡肉在盘上，评分片段没有可见取放过程；评分器 q_score=0.0 又排除终态新增鸡肉入盒目标成立。会话后续抓取测试不属于交付片段。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–0.9 s 轮式底盘移动并支承机器人，随后整机倾斜；未见夹爪与鸡肉接触。推断：依据交付片段来源的餐桌接近动作（log step 142、144、207），将这段空手移动计入取鸡肉装盒的转场。"
+     }
+    ]
+   },
+   "pie_in_tupperware": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.27,
+      "log_step": null,
+      "text_zh": "推断：派初始在盘上；视频 0.0–8.27 s 没有可见抓派或向盒内搬运的过程，机器人在开头移动后便保持朝客厅的斜视。评分器 q_score=0.0 排除终态新增派入盒目标成立；不计会话测试的进度。"
+     }
+    ]
+   },
+   "tupperwares_in_fridge_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.27,
+      "log_step": null,
+      "text_zh": "推断：两个盒初始均在台面，视频 0.0–8.27 s 未见机器人抓盒、持盒搬运或操作冰箱门；评分器 q_score=0.0 排除终态有一个盒入冰箱。结合短片中没有取放过程，判此状态始终未达到。"
+     }
+    ]
+   },
+   "tupperwares_in_fridge_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.27,
+      "log_step": null,
+      "text_zh": "推断：两个盒初始均在台面，视频 0.0–8.27 s 没有可见盒子搬运及入冰箱过程，机器人开头倾斜后未恢复操作；评分器 q_score=0.0 排除终态两盒入冰箱。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "推断：DAG 明确冰箱初始关闭；视频 0.0–8.27 s 未见机器人操作冰箱，交付动作来源（log step 142、144）为底盘接近餐桌及 IK 查询，没有门操作。故初始关闭状��持续到片尾；q_score=0.0 不否定初始已成立的关门目标。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "chicken_in_tupperware",
+   "t": 0.3,
+   "log_step": null,
+   "where": "转场",
+   "evidence_zh": "推断：视频 0.0–0.2 s 机器人空手朝餐桌一侧移动，约视频 0.3–1.0 s 视角翻转、整机失衡，随后一直斜向客厅至视频 8.27 s，未抓取食物或恢复操作。log step 142 的餐桌接近测试先列鸡肉目标，log step 144 记录该段保存 249 个动作，log step 207 将这段旧记录交付；据此把失败定位到取鸡肉装盒的空手转场，而非尚未尝试的开冰箱。"
+  },
+  "unmet": {
+   "chicken_in_tupperware": false,
+   "pie_in_tupperware": false,
+   "tupperwares_in_fridge_1": false,
+   "tupperwares_in_fridge_2": false,
+   "fridge_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 0.3,
+    "log_step": null,
+    "evidence_zh": "推断：视频 0.2–1.0 s 头部和腕部视角随机器人快速翻转和倾斜，从餐桌转向客厅及天花板；视频 1.0–8.27 s 持续保持倾斜姿态，没有重新站稳并继续接近餐桌，符合整机失衡。评分器 fallen=0 仅说明没有触发持续倒地终止，不以此字段否认可见失衡。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "交付",
+    "item": "交付操作出错",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 20 的驱动每次命令单独开始录制并覆盖 last_acts.npy；log step 138、140 已累计执行 167 个动作而未重置，log step 142 又从该中途状态录制餐桌接近测试，log step 144 报该次 n_actions=saved_acts=249、累计 sim_steps=416。log step 207 将这份旧的 249 动作记录直接包装为 trajectory.npz；log step 213 后续脚本报 IK 错误，log step 215、220 确认最终仍为 249 行。该片段缺少从规定初态到录制起点的前缀，且评分字段 agent_replays=0，导致评分从初态执行中途动作；视频 0.3 s 起失衡而非重现后续测试。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频；头部与腕部相机在视频约 0.3 s 后离开厨房目标区，无法直接量出基座倾角、确认失衡时的具体碰撞对象或逐帧测量门关节。鸡肉断点的目标归属依据餐桌接近画面与交付片段来源推断；关闭状态依赖已知初态和全片未发生门操作，四个放入节点的终值结合评分器总分判断。log step 144 的会话 fallen=true 及后续抓取、IK 结果均不当作评分视频的状态；不把会话仿真步数换算为视频时间。"
+ },
+ "summary_zh": "评分片段仅在开头空手移动，约视频 0.3–1.0 s 整机失衡，此后斜向客厅停留至视频 8.27 s；没有完成食物装盒或盒子入冰箱，只有初始冰箱关闭状态保留，终态为1/6。断点为鸡肉入保鲜盒的转场，交付根因为把未重置场景中录制的249动作测试片段保存为最终轨迹，后续完整脚本未替换交付文件。无状态日志，目标区随后离开视野，具体碰撞与倾角不明，断点目标及关门持续状态含上下文推断。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "标签与视频和日志一致：评分片段仅开头空手移动后整机倾斜，未见任何取放或开门；终值 1/6 来自初始即成立的关冰箱（q_score=0 不否定）；交付根因（把会话中途录制的 249 动作测试片段保存为 trajectory.npz，log step 142/144/207/215/220）有日志支持。断点目标归属为推断，文件已如实标注。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:11:29Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-clearing-food-from-table-into-fridge-i00-privileged--nmizqvc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clearing-food-from-table-into-fridge-i00-privileged--nmizqvc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "dd61c0540937495efa28b75016a26c98815268561e5e75d654ce49aee9de3a5f",
+   "video_sha256": "16e02868f39997fa54831a58a010e0e886e1f1ca92e97f0a6031dd53fe144b81",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-privileged--orkzqns.json

@@ -0,0 +1,321 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clearing-food-from-table-into-fridge-i00-privileged--orkzqns",
+ "taskKey": "behavior-1k/clearing_food_from_table_into_fridge",
+ "dag_sha256": "0187c62673ba112bb7fbae8d19e1bccdbef83deaf34d00b39cbfc9668575af71",
+ "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": 1619,
+   "sim_steps": 1619,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1250.5,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 2,
+   "agent_resets": 1,
+   "agent_sim_steps": 1619,
+   "agent_records": 13,
+   "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-clearing-food-from-table-into-fridge-i00-privileged--orkzqns/replay.mp4",
+  "duration_s": 53.967,
+  "fps": 30.0,
+  "frames": 1619,
+  "sha256": "7f4755089682128453ee10dc595da35ff4d9f9b75d60e054a2769c82990601fe"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.8,
+      "log_step": null,
+      "text_zh": "观察：视频 15.8–20.0 s，机器人右夹爪在冰箱竖直把手处合拢并尝试拉门；门板没有随夹爪形成明显向外转开的入口。"
+     },
+     {
+      "t": 26.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.0–27.5 s，右夹爪退出，冰箱门只留下窄缝，未露出内腔入口；随后机器人转向台面，至视频 53.9 s 未再返回开门。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 50,
+      "text_zh": "推断：上述窄缝未达到 DAG 的开门判据，不能记为打开事件。log step 50 对最终保存的 1619 步新进程运行仅打印门角 0.0853 rad；log step 31 的约 0.768 rad 来自交互调试，不属于评分视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频约 16–20 s，右二指夹爪在冰箱门竖直把手两侧合拢，随后拉动、松开并退出；夹持未带来足够开度。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约 4–15 s，轮式底盘驶向冰箱并调整朝向；视频约 26–28 s，机器人从门前退离。"
+     }
+    ]
+   },
+   "chicken_in_tupperware": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.2,
+      "log_step": null,
+      "text_zh": "观察：视频 7.2–9.7 s，桌上两盘食物仍在原处，机器人经过桌边驶向冰箱，没有取走鸡肉。"
+     },
+     {
+      "t": 53.9,
+      "log_step": null,
+      "text_zh": "观察：视频 32.2–53.9 s，机器人只在台面取两只空保鲜盒，末帧夹爪各持一盒，未见鸡肉转移入盒。"
+     },
+     {
+      "t": 53.9,
+      "log_step": null,
+      "text_zh": "推断：结合完整视频未发生鸡肉转移及评分器 reward.q_score=0.0，鸡肉入任意盒在终态为假；q_score 不计初始已成立的冰箱关闭条件，不能用零分否定该关闭状态。"
+     }
+    ]
+   },
+   "pie_in_tupperware": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.2,
+      "log_step": null,
+      "text_zh": "观察：视频 7.2–9.7 s，苹果派仍在早餐桌的盘上，机器人没有对食物伸爪或拿取。"
+     },
+     {
+      "t": 53.9,
+      "log_step": null,
+      "text_zh": "观察：视频 32.2–53.9 s，两盒操作发生在另一侧台面，未出现从桌上取派或将派送入盒内的动作；视频 53.9 s 结束时仍只持两只空盒。"
+     },
+     {
+      "t": 53.9,
+      "log_step": null,
+      "text_zh": "推断：完整视频的操作顺序与评分器 reward.q_score=0.0 一致，派入任意盒在终态为假；不把取空盒算作派已经入盒。"
+     }
+    ]
+   },
+   "tupperwares_in_fridge_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 43.5,
+      "log_step": null,
+      "text_zh": "观察：视频约 39.0–43.9 s，左夹爪夹住台面上第一只白色保鲜盒的边缘；视频约 43.5 s 后盒子离开台面并随左手移动。该动作���是取盒准备，没有向冰箱内腔放盒。"
+     },
+     {
+      "t": 53.9,
+      "log_step": null,
+      "text_zh": "观察：视频 44.2–53.9 s，左手携盒随机器人沿台面移动，随后右手取另一只盒；视频 53.9 s 两盒均仍在冰箱外、各由一只夹爪持有，未发生入冰箱。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "取盒准备：视频约 39–44 s，先由左二指爪夹住第一只盒的盒沿并提起；视频约 51–53.9 s，左爪继续持此盒，右爪夹起另一只，形成双手各持一盒。没有放入冰箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约 28–36 s，底盘驶向取盒台面；视频约 44–48 s，底盘携带左爪所持的第一只盒沿台面移动到另一只盒附近。"
+     }
+    ]
+   },
+   "tupperwares_in_fridge_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.5,
+      "log_step": null,
+      "text_zh": "观察：视频约 49.0–50.9 s，右夹爪接近台面另一只白色保鲜盒的盒沿，左手一直持有先取的盒子。"
+     },
+     {
+      "t": 53.9,
+      "log_step": null,
+      "text_zh": "观察：视频约 51.0–53.9 s，右爪闭合夹住第二只盒并将其提离原台面位置；视频 53.9 s 两手各持一盒停在台面前，两盒均未进入冰箱。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "取盒准备：视频约 51–53.9 s，右二指爪夹住第二只盒的盒沿并提起，同时左爪保持夹持第一只盒；两臂各持一盒，没有实施入冰箱放置。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约 44–48 s，底盘在左手持第一只盒时沿台面改变站位，使右手能够接近第二只盒。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.2,
+      "log_step": null,
+      "text_zh": "观察：视频 10.2–15.8 s，冰箱门板贴合柜体，未露出内腔；与 DAG 说明的初始关闭状态一致。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 50,
+      "text_zh": "推断：视频 16.0–27.5 s 的拉门只造成窄缝，没有达到开门判据；视频约 28 s 后机器人离开冰箱，直至视频 53.9 s 未返回操作门。因此关闭条件从视频 0 s 延续至结束，并非完成装盒后的主动关门。log step 50 的最终新进程运行门角 0.0853 rad 为旁证，不采用交互调试的大开度。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fridge_opened",
+   "t": 26.0,
+   "log_step": 49,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 16–26.5 s，机器人右夹爪在把手处夹持、拉门并退出，门板仅形成窄缝，内腔入口未打开；视频约 28 s 后机器人转去取盒，直到视频 53.9 s 结束也没有修复开门步骤。log step 49 是最终录制脚本，log step 50 确认保存 1619 步；较早交互调试的开门结果不计为本次完成。"
+  },
+  "unmet": {
+   "chicken_in_tupperware": false,
+   "pie_in_tupperware": false,
+   "tupperwares_in_fridge_1": false,
+   "tupperwares_in_fridge_2": false,
+   "fridge_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "接触力异常",
+    "t": 26.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 16–20 s，机器人右夹爪在把手处合拢并尝试外拉，门板未形成相应的明显转开；视频 24–26.5 s 夹爪松开退离后，门仍仅有窄缝，内腔入口未露出。拉门接触没有产生完成开门所需的机构行程；画面不能确定具体受力或阻挡位置。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 26.0,
+    "log_step": 49,
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：log step 49 的最终脚本先闭合右夹爪，再按把手铰链圆弧调用 reach，但不检查这些调用的返回误差，也不以实测门角决定是否重试，随后直接松爪取盒。视频 16–26.5 s 对应操作仅使门产生窄缝，log step 50 对该新进程录制打印的门角也只有 0.0853 rad；可支持开门接触与运动控制未实现预定行程，尚不足以区分抓取几何、逆解或跟踪子类。"
+   }
+  ],
+  "gap_zh": "没有状态日志和成功参考视频；视频虽能判断门未明显打开、盒子未入冰箱，但把手夹持细节、接触力及逐帧关节开度不可测，无法进一步定位接触控制失效的具体机制。视频约 28 s 后冰箱离开主视野，末段关闭条件依���作前后连贯性及最终录制反馈作推断；不将 log step 31 等交互调试中的大开度或碰撞归入评分回放。"
+ },
+ "summary_zh": "评分轨迹尝试拉开冰箱，并先后夹起两只空保鲜盒，结束时双手各持一盒；鸡肉、派未装盒，两盒未入冰箱，仅初始的冰箱关闭条件保留，节点终态为 1/6。首个未修复断点是打开冰箱：视频约 26 s 门只出现窄缝，开门接触与运动控制未实现所需行程。缺少状态日志，具体失效机制不能细分，交互调试中约 44° 的开门结果不计入本轨迹。",
+ "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（冰箱未打开、装盒全未达成、仅初始关闭保持）、断点（fridge_opened，操作中）和现象/根因与视频及 log step 50（新进程门角 0.0853 rad、q_score 0）一致；未发现需要改动的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:17:38Z",
+  "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-clearing-food-from-table-into-fridge-i00-privileged--orkzqns/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clearing-food-from-table-into-fridge-i00-privileged--orkzqns/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "35416f0c94dfc017435fd10b31d31cc231c049c0e3fa4a4148588fdfccb5d6f3",
+   "video_sha256": "7f4755089682128453ee10dc595da35ff4d9f9b75d60e054a2769c82990601fe",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-privileged--stlncr2.json

@@ -0,0 +1,289 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clearing-food-from-table-into-fridge-i00-privileged--stlncr2",
+ "taskKey": "behavior-1k/clearing_food_from_table_into_fridge",
+ "dag_sha256": "0187c62673ba112bb7fbae8d19e1bccdbef83deaf34d00b39cbfc9668575af71",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 0,
+   "n_actions": 3029,
+   "sim_steps": 3029,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1143.7,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 2,
+   "agent_resets": 14,
+   "agent_sim_steps": 3029,
+   "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-clearing-food-from-table-into-fridge-i00-privileged--stlncr2/replay.mp4",
+  "duration_s": 100.967,
+  "fps": 30.0,
+  "frames": 3029,
+  "sha256": "27bea242d89a31df5638554f5e74cf2d277b9131813cab215331b37ed48fee31"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.0,
+      "log_step": null,
+      "text_zh": "观察：视频 17.0 s 可见冰箱外侧门板合拢；全片未见机器人拉开门板或露出冰箱内腔。"
+     },
+     {
+      "t": 100.9,
+      "log_step": 128,
+      "text_zh": "推断：log step 124 的录制脚本把开门安排在第二次装盒之后，log step 128 显示脚本在第二次装盒的首个末端目标处因逆解失败而保存结束；视频 100.0–100.9 s 仍在餐桌旁，开门段未执行。log step 133 对开门测试的总结不能当作本次轨迹的开门事件。"
+     }
+    ]
+   },
+   "chicken_in_tupperware": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 60.0,
+      "log_step": 124,
+      "text_zh": "观察：视频 58.0–72.0 s 机器人返回餐桌并靠近两只盘子，鸡肉可见于远侧白盘，未见它离盘后被夹爪携带；视频约 73.0–80.0 s 机器人转动离开原视角，腕部没有显示夹持鸡肉。log step 124 的交付脚本把这段安排为取鸡肉及向第二个盒移动。"
+     },
+     {
+      "t": 100.9,
+      "log_step": 128,
+      "text_zh": "观察：log step 128 的生成运行输出为右臂目标 [8.235, 1.101, 1.15] 无逆解，随即保存 3029 步动作；视频 100.0–100.9 s 仍在餐桌、椅子附近，没有显示鸡肉进入保鲜盒。"
+     },
+     {
+      "t": 100.9,
+      "log_step": null,
+      "text_zh": "推断：结合未见鸡肉被带走、未见入盒，以及评分器 q_score=0.0 对新增目标的上界，鸡肉入盒终态为假；没有可确认的达成区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频约 58.0–80.0 s 为取鸡肉尝试，右夹爪与鸡肉的接触区未在相机中完整露出；没有可确认的包夹、持物，不推定抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘在视频约 33.0–60.0 s 返回餐桌，并在取鸡肉尝试后的转动移动中支承机器人；未观察到携带鸡肉。"
+     }
+    ]
+   },
+   "pie_in_tupperware": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.0,
+      "log_step": 124,
+      "text_zh": "观察：视频 5.0–14.5 s 机器人在餐桌旁调整右臂，视频 11.0–14.5 s 右腕视图中的夹爪前方是蓝色椅子，未见派被夹在两指之间；视频 15.0–28.0 s 离开餐桌并在灶台旁伸出空夹爪。log step 124 的交付脚本表明这段是先取派、再向第一个保鲜盒释放的动作。"
+     },
+     {
+      "t": 60.0,
+      "log_step": null,
+      "text_zh": "观察：视频 60.0 s 及视频约 64.0–72.0 s，半个派仍放在早餐桌近侧白盘上，鸡肉在另一白盘上；未见派离盘并进入任一盒。"
+     },
+     {
+      "t": 100.9,
+      "log_step": null,
+      "text_zh": "推断：首次取派未带走物体，之后未见重新取派或入盒；评分器 q_score=0.0 也排除派入盒这一初始不成立的目标在终态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频 5.0–14.5 s 右夹爪执行取派动作，但物体与指垫的局部接触被视角和椅子遮挡，不能确认曾否擦碰派；未见包夹或持派，不记抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 0.0–6.0 s 底盘移动接近餐桌，视频约 15.0–23.0 s 又移动至台面旁��支承取派及装盒尝试；未观察到携带派。"
+     }
+    ]
+   },
+   "tupperwares_in_fridge_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 100.9,
+      "log_step": 128,
+      "text_zh": "观察：视频全程未见机器人抓取或搬运保鲜盒，未见盒进入冰箱；视频 100.0–100.9 s 机器人仍在餐桌旁。log step 124 的交付脚本仅尝试把两种食物送往盒中，log step 128 记录第二次装盒逆解失败并保存，尚未执行后续冰箱操作。"
+     },
+     {
+      "t": 100.9,
+      "log_step": null,
+      "text_zh": "推断：冰箱未打开、没有盒的搬入过程，且评分器 q_score=0.0 排除新增的盒在冰箱内目标在终态成立；至少1盒入冰箱为假。"
+     }
+    ]
+   },
+   "tupperwares_in_fridge_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 100.9,
+      "log_step": 128,
+      "text_zh": "观察：视频全程未见机器人抓取或搬运保鲜盒，未见盒进入冰箱；视频 100.0–100.9 s 机器人仍在餐桌旁。log step 124 的交付脚本仅尝试把两种食物送往盒中，log step 128 记录第二次装盒逆解失败并保存，尚未执行后续冰箱操作。"
+     },
+     {
+      "t": 100.9,
+      "log_step": null,
+      "text_zh": "推断：冰箱未打开、没有盒的搬入过程，且评分器 q_score=0.0 排除新增的盒在冰箱内目标在终态成立；至少2盒入冰箱为假。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的厨房远景及视频 17.0 s 冰箱近景中门板合拢，未露出内腔；后续视频没有开门动作。"
+     },
+     {
+      "t": 100.9,
+      "log_step": 128,
+      "text_zh": "推断：初始关闭状态在本次轨迹中未被破坏，因此从视频 0.0 s 保持至视频 100.967 s 结束；log step 128 显示交付录制在冰箱操作之前终止。此初始成立条件不贡献 BEHAVIOR 的新增目标 q_score，与 q_score=0.0 一致。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pie_in_tupperware",
+   "t": 11.0,
+   "log_step": 124,
+   "where": "操作中",
+   "evidence_zh": "推断：视频约 11.0–14.5 s，机器人完成首次取派的合爪、抬臂尝试却未带走派；视频约 15.0–28.0 s 向台面移动、伸出的夹爪为空，视频 60.0 s 返回餐桌时派仍在白盘上，之后没有修复该步骤。这是第一个已开始且始终未完成的步骤；log step 124 的交付脚本确认先取派后取鸡肉，后来的第二次装盒逆解失败（log step 128）不改变首个断点。"
+  },
+  "unmet": {
+   "chicken_in_tupperware": false,
+   "pie_in_tupperware": false,
+   "tupperwares_in_fridge_1": false,
+   "tupperwares_in_fridge_2": false,
+   "fridge_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 11.0,
+    "log_step": 124,
+    "evidence_zh": "推断：视频 11.0–14.5 s 右夹爪未显示包夹派，随后视频约 15.0–28.0 s 移动并伸臂时夹爪为空，视频 60.0 s 派仍在原桌面白盘中。结合 log step 124 的先下降、闭爪、抬升、搬往盒子的交付动作，判断所需的持物抓取未建立；此处不声称指尖完全没有擦碰物体，也没有观察到先持住再滑落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 124 的生成脚本对右臂执行固定坐标的下降、闭爪和抬升，grasp 的 obj_name 参数未使用，也不检查 object_in_hand 或实际持物结果，release_into 明写 assumed held 并直接继续搬运与松爪；视频 11.0–28.0 s 的空夹爪和视频 60.0 s 仍在盘中的派说明这套取放控制未实现抓取，也未触发重试。局部接触与实际末端误差没有记录，故仅归为控制，不能进一步确定接触设计、逆解或跟踪中的具体一项。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频；取派、取鸡肉时，目标与指垫的相对位置在腕部和头部相机中未完整露出，无法确认短暂擦碰及具体控制误差，实际手部接触记未知。视频中的空夹爪、返回餐桌后仍在盘中的食物，以及评分器 q_score=0.0 共同约束未达节点；不把会话调试的门角度或 agent 最终报告中声称的开门段移植到本次交付轨迹。"
+ },
+ "summary_zh": "本次评分轨迹仅保持了初始的冰箱关闭状态，最终为1/6节点，派、鸡肉及两个保鲜盒均未形成要求的放入关系。首个未修复断点是视频约 11.0 s 的派入保鲜盒：取派未建立持物，固定动作脚本仍继续空手搬运；随后取鸡肉也未见带走食物，录制在第二次装盒逆解错误后保存（log step 128），没有执行开门或搬盒。无状态日志且抓取局部被遮挡，具体指垫接触和控制子类不能确定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点状态（仅 fridge_closed 初始成立并保持）、断点（pie_in_tupperware，约视频 11 s）、没建立接触的现象与控制类根因，均与我抽查的视频帧和 log step 124/128 一致；未发现需要改动的内容。受限于视频为多相机拼接且无状态日志，抓取细节无法进一步核实。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:17:54Z",
+  "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-clearing-food-from-table-into-fridge-i00-privileged--stlncr2/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clearing-food-from-table-into-fridge-i00-privileged--stlncr2/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "49f751f25fad9bfa4fc0222d10815c289248dd51e36a6ca45d21d89d65b461e5",
+   "video_sha256": "27bea242d89a31df5638554f5e74cf2d277b9131813cab215331b37ed48fee31",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-privileged--w5fmnvm.json

@@ -0,0 +1,315 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clearing-food-from-table-into-fridge-i00-privileged--w5fmnvm",
+ "taskKey": "behavior-1k/clearing_food_from_table_into_fridge",
+ "dag_sha256": "0187c62673ba112bb7fbae8d19e1bccdbef83deaf34d00b39cbfc9668575af71",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 0,
+   "n_actions": 3186,
+   "sim_steps": 3186,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1198.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 3,
+   "agent_resets": 17,
+   "agent_sim_steps": 3186,
+   "agent_records": 9,
+   "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-clearing-food-from-table-into-fridge-i00-privileged--w5fmnvm/replay.mp4",
+  "duration_s": 106.2,
+  "fps": 30.0,
+  "frames": 3186,
+  "sha256": "3e089754402f3ab2565dda58aceee9c2929234daeccc3e00a343db37a4da23ab"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24,
+      "log_step": null,
+      "text_zh": "观察：视频21–32 s机器人携鸡肉经过冰箱附近时，两扇冰箱门均贴合柜体；视频77–83 s再次可见冰箱仍闭合，没有门板外摆或内腔入口露出的画面。"
+     },
+     {
+      "t": 83,
+      "log_step": 533,
+      "text_zh": "观察：log step 509开始本次最终录制，log step 533停止并保存；其间的动作是鸡肉与派的抓取、搬运和装盒尝试，没有开门动作。log step 134、214、220所述开门属于此前试验，不能计入交付视频。"
+     }
+    ]
+   },
+   "chicken_in_tupperware": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9,
+      "log_step": null,
+      "text_zh": "观察：视频约8–10 s左夹爪夹持鸡肉，鸡肉离开餐桌上的盘子，随后随机器人底盘移动到台面。"
+     },
+     {
+      "t": 31,
+      "log_step": 509,
+      "text_zh": "观察：视频30.25–32 s左腕视角显示鸡肉在白色保鲜盒右侧，与盒内腔分离；视频33.25–35 s头部视角显示鸡肉已留在盒旁台面上，没有进入盒内。"
+     },
+     {
+      "t": 51,
+      "log_step": null,
+      "text_zh": "观察：视频40–55 s机器人继续在台面附近调整左臂，腕部视角中鸡肉仍在盒外；视频96–101 s可再次看到鸡肉留在台面，未见后续装入。"
+     },
+     {
+      "t": 106.16,
+      "log_step": 557,
+      "text_zh": "推断：评分器q_score=0.0与上述盒外位置一致；鸡肉装盒是初始未成立的目标，因此其终态为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约8–30 s左二指夹爪夹住鸡肉并搬运，随后松手；视频约40–55 s在鸡肉旁再次调整、合拢夹爪，未见成功装盒。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约10–24 s轮式底盘在携带鸡肉时从餐桌驶向台面，支承机器人。"
+     }
+    ]
+   },
+   "pie_in_tupperware": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 74,
+      "log_step": null,
+      "text_zh": "观察：视频72–77 s左夹爪下降至盛派的盘边并合拢；夹爪抬起后，派仍在原盘上。"
+     },
+     {
+      "t": 84,
+      "log_step": null,
+      "text_zh": "观察：视频80–82 s左夹爪再次闭合在盘旁，视频83–84.5 s夹爪移开时派仍在盘中；视频87–101 s左腕视角中的夹爪为空，未见派随之搬运。"
+     },
+     {
+      "t": 106.16,
+      "log_step": 557,
+      "text_zh": "推断：视频没有派离盘并抵达保鲜盒的过程；评分器q_score=0.0也不允许这一初始未成立的目标在终态成立。log step 537中agent自述“successful pie grasp”不符合视频所见，未据此计入进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频73–77 s与80–82 s可见左夹爪在派及盘边下降、合拢，但指尖与派的接触区域被手部和盘沿遮挡，无法确认是触及派、盘沿还是空夹；没有确认夹住派。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约63–72 s底盘驶回餐桌接近派，视频约85–96 s又在左夹爪为空的情况下驶离餐桌。"
+     }
+    ]
+   },
+   "tupperwares_in_fridge_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 35,
+      "log_step": null,
+      "text_zh": "观察：视频33–35 s可见保鲜盒仍在台面，视频全程未见机器人夹住保鲜盒、把盒搬离台面并送入冰箱的动作；没有完成第1盒入冰箱。"
+     },
+     {
+      "t": 106.16,
+      "log_step": 557,
+      "text_zh": "推断：冰箱在交付录像中没有打开，也没有盒子经过其入口；评分器q_score=0.0进一步排除初始未成立的盒入冰箱目标在终态成立，因此第1盒节点终态为false。"
+     }
+    ]
+   },
+   "tupperwares_in_fridge_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 35,
+      "log_step": null,
+      "text_zh": "观察：视频33–35 s可见保鲜盒仍在台面，视频全程未见机器人夹住保鲜盒、把盒搬离台面并送入冰箱的动作；没有完成第2盒入冰箱。"
+     },
+     {
+      "t": 106.16,
+      "log_step": 557,
+      "text_zh": "推断：冰箱在交付录像中没有打开，也没有盒子经过其入口；评分器q_score=0.0进一步排除初始未成立的盒入冰箱目标在终态成立，因此第2盒节点终态为false。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频起始画面中冰箱门贴合柜体；视频21–32 s及77–83 s的正面视图均显示双门闭合，交付录像没有拉门或推门操作。"
+     },
+     {
+      "t": 106.16,
+      "log_step": null,
+      "text_zh": "推断：从初始关闭状态到视频106.16 s结束，没有可见开门事件或开门动作，故关闭状态连续保留；这是保留初态，q_score=0.0不否定它。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "chicken_in_tupperware",
+   "t": 31,
+   "log_step": 509,
+   "where": "操作中",
+   "evidence_zh": "观察：视频30.25–32 s机器人将鸡肉放至保鲜盒右侧，视频33.25–35 s鸡肉已留在盒旁台面；后续视频40–55 s的调整没有将鸡肉装入，随后机器人转去尝试派。推断：这是交付轨迹中最早发生且始终未修复的步骤失败，断点为鸡肉入保鲜盒。"
+  },
+  "unmet": {
+   "chicken_in_tupperware": false,
+   "pie_in_tupperware": false,
+   "tupperwares_in_fridge_1": false,
+   "tupperwares_in_fridge_2": false,
+   "fridge_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 31,
+    "log_step": 509,
+    "evidence_zh": "观察：视频30.25–32 s左腕视角中鸡肉在盒口右侧，视频33.25–35 s头部视角显示鸡肉落在台面而非保鲜盒内；log step 509的录制命令在装盒移动后显式打开左夹爪。推断：机器人在鸡肉尚未进入目标盒时释放，属于放入位置未对准。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "观察：log step 509的脚本先用鸡肉相对末端的偏移计算装盒目标，再调用move_ee并直接open_gripper，未根据移动后的实际装盒关系决定是否释放；视频30.25–35 s显示执行结果偏在盒外。log step 518、521继续调整左臂，视频40–55 s仍未完成装盒。推断：本次装盒运动与释放控制未实现所需位置关系；没有足够证据进一步区分接触几何、逆解或跟踪误差。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "观察：inputs/未提供状态日志或成功示范；视频末段头部视角没有覆盖全部目标物体，终态中四个放入目标的否定同时使用视频过程和评分器q_score=0.0约束。派的指尖接触被遮挡，contact_actual保留未知；没有足够数据细分鸡肉装盒的控制根因。log step 579把阻碍归为盒抓取，但log step 509–533保存的动作和交付视频未包含搬盒入冰箱，不能将其会话中的盒抓取试验用作本次断点现象。"
+ },
+ "summary_zh": "观察：交付轨迹把鸡肉从盘中抓起并搬到台面，却在保鲜盒旁释放，之后派的抓取也未使派离盘；冰箱未打开、两盒未入冰箱，最终仅初始关闭状态成立，进度为1/6。推断：最早未修复的断点是鸡肉入保鲜盒，现象为位姿不准，根因归为控制。观察：没有状态日志，派的具体指尖接触不清，部分终态由评分器q_score=0.0与视频过程共同确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "断点（鸡肉入保鲜盒，约31 s松手在盒旁）与进度1/6基本成立；但证据中��视频40–55 s的描述与画面和log不符：此段并非“在台面附近调整左臂、鸡肉留在盒外”，而是左夹爪重新夹着鸡肉并随底盘驶离厨房台面穿过房间（log step 518/521重新抓取，step 523底盘驶向餐桌），约56–61 s后夹爪变空。需修正相关观察，避免读者误解为在台面持续调整。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "断点（鸡肉入保鲜盒，约31 s在盒旁松手）、进度1/6、位姿不准+控制与帧一致；第1轮审查所称40–55 s携鸡肉驶离不成立：左腕视角42、50、54 s鸡肉与白色保鲜盒同框，仍在厨房台面附近。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:44:45Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-clearing-food-from-table-into-fridge-i00-privileged--w5fmnvm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clearing-food-from-table-into-fridge-i00-privileged--w5fmnvm/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clearing-food-from-table-into-fridge-i00-privileged--w5fmnvm/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-clearing-food-from-table-into-fridge-i00-privileged--w5fmnvm/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1d5bdef2e00b3d93cecc3784f285cd6025dad75425e739d2c6165fad1cadcad8",
+   "video_sha256": "3e089754402f3ab2565dda58aceee9c2929234daeccc3e00a343db37a4da23ab",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-privileged--zsgcur8.json

@@ -0,0 +1,355 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clearing-food-from-table-into-fridge-i00-privileged--zsgcur8",
+ "taskKey": "behavior-1k/clearing_food_from_table_into_fridge",
+ "dag_sha256": "0187c62673ba112bb7fbae8d19e1bccdbef83deaf34d00b39cbfc9668575af71",
+ "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": 4302,
+   "sim_steps": 4302,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1411.4,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 36,
+   "agent_resets": 21,
+   "agent_sim_steps": 193,
+   "agent_records": 5,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 8.87,
+   "peak_memory_gb": 14.572,
+   "peak_processes": 44,
+   "peak_disk_gb": 21.486,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_disk_gb": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-clearing-food-from-table-into-fridge-i00-privileged--zsgcur8/replay.mp4",
+  "duration_s": 143.4,
+  "fps": 30.0,
+  "frames": 4302,
+  "sha256": "f2b84f7abb7e070bf7ebe2033171abf5f6fec5fa781da5e61dc1fbf3d455f55f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": null,
+  "peak": null,
+  "final": 2,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      16.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 16.5,
+      "log_step": 400,
+      "text_zh": "观察：视频 15.5 s 门板仍贴近柜体；视频 16.5–19.0 s 左侧门板外摆，层架和内腔入口露出，完成开门。log step 400 的4302步录制结果也记载开门角0.8534 rad；节点时间取自视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 14.5–18.5 s 机器人左夹爪夹住冰箱左门把手并外拉，门板随夹爪转开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘移动并支承机器人，完成接近目标及搬运过程。"
+     }
+    ]
+   },
+   "chicken_in_tupperware": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 40,
+      "log_step": null,
+      "text_zh": "观察：视频 38.5 s 鸡肉仍在餐桌盘中；视频 40.0–43.5 s 左夹爪夹持鸡肉抬离盘面，视频 60.0–74.5 s 搬运时鸡肉仍随左手移动。"
+     },
+     {
+      "t": 79,
+      "log_step": null,
+      "text_zh": "观察：视频 75.0–79.0 s 左手带鸡肉下降，视频 79.2–80.5 s 鸡肉离开腕部视野；盒口和鸡肉最后落点被末端遮住，不能据此确认inside关系曾经成立。"
+     },
+     {
+      "t": 143.2,
+      "log_step": 400,
+      "text_zh": "推断：评分器q_score=0；初始鸡肉不在盒内，若终态鸡肉入任一盒应新增至少一个目标字面值，因此终态为假。log step 400 对4302步录制的最终检查也为Chicken inside T2=False；中途关系区间因遮挡保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 40.0–79.0 s 机器人左二指夹爪夹持并搬运鸡肉；释放后的盒内接触不可见。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘移动并支承机器人，完成接近目标及搬运过程。"
+     }
+    ]
+   },
+   "pie_in_tupperware": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 46.5,
+      "log_step": null,
+      "text_zh": "观察：视频 44.5 s 苹果派仍在餐桌盘中；视频 46.5–48.0 s 右夹爪夹持苹果派抬离盘面，视频 60.0–95.0 s 派随右手搬运。"
+     },
+     {
+      "t": 105,
+      "log_step": null,
+      "text_zh": "观察：视频 98.0–107.0 s 右手持派向下接近台面目标，视频 108.0 s 后派离开腕部视野；末端遮住盒口与落点，无法确认派曾进入盒腔。"
+     },
+     {
+      "t": 143.2,
+      "log_step": 400,
+      "text_zh": "推断：评分器q_score=0，初态派不在盒内，故终态派入任一盒的新增目标不能成立。log step 400 对4302步录制的最终检查同样为Pie inside T1=False；中途区间无法从遮挡画面确认。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 46.5–107.0 s 机器人右二指夹爪夹持并搬运苹果派；释放位置的盒内接触不可见。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘移动并支承机器人，完成接近目标及搬运过程。"
+     }
+    ]
+   },
+   "tupperwares_in_fridge_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 110,
+      "log_step": null,
+      "text_zh": "观察：视频 70.5 s 两个保鲜盒位于厨房台面；视频 80.0–115.0 s 机器人依次在两盒附近操作末端，搬离盒子的具体抓握受遮挡。"
+     },
+     {
+      "t": 140,
+      "log_step": null,
+      "text_zh": "推断：视频 56.0–58.5 s 机器人持食物经过冰箱门边，门板合拢；此后至视频 143.2 s 没有再次打开内腔，盒子操作在此之后，未见任何盒通过冰箱入口。初始两盒都在台面，因此没有可确认的盒入冰箱区间。"
+     },
+     {
+      "t": 143.2,
+      "log_step": 400,
+      "text_zh": "推断：评分器q_score=0排除终态新增的盒入冰箱目标。log step 400 明确关联4302步录制并报告T1 inside fridge=False、T2 inside fridge=False，与视频末尾冰箱关闭且未完成装盒的过程一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 80.0–115.0 s 机器人在台面两盒附近执行夹爪动作，之后继续送盒流程；盒沿与夹爪接触区域受遮挡，不能确认实际夹住盒子或仅触碰，也不把脚本的抓取声明当作抓握事实。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘移动并支承机器人，完成接近目标及搬运过程。"
+     }
+    ]
+   },
+   "tupperwares_in_fridge_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 110,
+      "log_step": null,
+      "text_zh": "观察：视频 70.5 s 两个保鲜盒位于厨房台面；视频 80.0–115.0 s 机器人依次在两盒附近操作末端，搬离盒子的具体抓握受遮挡。"
+     },
+     {
+      "t": 140,
+      "log_step": null,
+      "text_zh": "推断：视频 56.0–58.5 s 机器人持食物经过冰箱门边，门板合拢；此后至视频 143.2 s 没有再次打开内腔，盒子操作在此之后，未见任何盒通过冰箱入口。初始两盒都在台面，因此没有可确认的盒入冰箱区间。"
+     },
+     {
+      "t": 143.2,
+      "log_step": 400,
+      "text_zh": "推断：评分器q_score=0排除终态新增的盒入冰箱目标。log step 400 明确关联4302步录制并报告T1 inside fridge=False、T2 inside fridge=False，与视频末尾冰箱关闭且未完成装盒的过程一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 80.0–115.0 s 机器人在台面两盒附近执行夹爪动作，之后继续送盒流程；盒沿与夹爪接触区域受遮挡，不能确认实际夹住盒子或仅触碰，也不把脚本的抓取声明当作抓握事实。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘移动并支承机器人，完成接近目标及搬运过程。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      16.5
+     ],
+     [
+      58.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 11,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 冰箱门板合拢，视频 11.0–15.5 s 正面可见门板贴合；视频 16.5 s 左门已拉开，初始关闭状态失去。"
+     },
+     {
+      "t": 58.5,
+      "log_step": null,
+      "text_zh": "观察：视频 56.0–58.5 s 机器人持食物经过冰箱门边，门板由外摆回到柜体；恢复关闭时间约为视频 58.5 s，视觉精度约半秒。"
+     },
+     {
+      "t": 143.2,
+      "log_step": 400,
+      "text_zh": "观察：视频 139.0–141.5 s 机器人左夹爪伸向已合拢的门板并回撤，视频 142.4–143.2 s 门仍合拢，未见重新打开；log step 400 的4302步录制终检为Fridge NOT open=True。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 139.0–141.5 s 机器人左夹爪接近并推动冰箱左门板，门当时已关闭；不将初始关门状态算作机器人执行的关门动作。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘移动并支承机器人，完成接近目标及搬运过程。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "chicken_in_tupperware",
+   "t": 79.0,
+   "log_step": 400,
+   "where": "操作中",
+   "evidence_zh": "推断：鸡肉入盒是开门后首先执行、最终仍未满足且未再补做的步骤。视频 75.0–79.2 s 左手下降后鸡肉离开腕部视野，机器人随后改作盒子与派的操作，没有再次取鸡肉装盒；评分器q_score=0及log step 400的4302步录制终检均排除终态鸡肉入盒。视频 79.0 s仅作为该次放置尝试的定位点，不能确定是放偏还是曾入盒后又丢失。"
+  },
+  "unmet": {
+   "chicken_in_tupperware": false,
+   "pie_in_tupperware": false,
+   "tupperwares_in_fridge_1": false,
+   "tupperwares_in_fridge_2": false,
+   "fridge_closed": true
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "鸡肉与派的释放、盒沿抓取和落点在头部及腕部画面中被末端遮挡；没有状态日志和成功参考视频，log step 400中4302步录制的中段被输入文本截断。终态可由视频与q_score=0限定，但不能确定食物是否短暂入盒、何时失去关系，也不能区分放置偏差、释放后不稳或搬盒时洒落，因此两种食物的intervals保留null，失败现象与根因均留空。冰箱关闭恢复时刻由视频 56.0–58.5 s的门板变化估计；门边是否发生机体碰撞不作确定标签。日志末尾新脚本启动与崩溃发生在这份4302步录制保存之后，不据此否定已交付评分回合。"
+ },
+ "summary_zh": "评分轨迹打开了冰箱，并抓起搬运鸡肉和苹果派，随后尝试装盒、搬盒及关门；终态仅开门事件和冰箱关闭为真，两种食物入盒与两盒入冰箱均为假。最早未修复步骤为鸡肉入保鲜盒，定位于视频约 79.0 s 的下降释放尝试，评分器q_score=0与log step 400的4302步录制终检一致。食物释放落点和盒子抓取受遮挡、录制日志中段截断，无法判明短暂入盒历史及具体失败机制，故保留区间未知并留空现象与根因。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 5,
+    "summary_zh": "节点值、q_score=0 对终态的限定和断点（鸡肉入盒）与视频一致；释放落点被末端遮挡，失败现象与根因留空并写了 gap_zh，在现有可采信证据下可接受，未发现必须改的错误。有一点提示：视频 78–80 s 左腕相机可见白色盒子出现在左手下方，鸡肉随后离开画面，鸡肉可能曾短暂入盒，这与标注者保留 intervals=null 的处理相容。",
+    "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": "2026-10-30T21:17:33Z",
+  "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-clearing-food-from-table-into-fridge-i00-privileged--zsgcur8/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clearing-food-from-table-into-fridge-i00-privileged--zsgcur8/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b0454f0d887cfb22bf95c8931c76da1cfdf1c8fa7ed4ab6cf56263d36d238b1e",
+   "video_sha256": "f2b84f7abb7e070bf7ebe2033171abf5f6fec5fa781da5e61dc1fbf3d455f55f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-standard--2x5t9ht.json

@@ -0,0 +1,379 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clearing-food-from-table-into-fridge-i00-standard--2x5t9ht",
+ "taskKey": "behavior-1k/clearing_food_from_table_into_fridge",
+ "dag_sha256": "0187c62673ba112bb7fbae8d19e1bccdbef83deaf34d00b39cbfc9668575af71",
+ "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": 4695,
+   "sim_steps": 4695,
+   "physics_steps": 18780,
+   "steps": 1565,
+   "elapsed_s": 4329.7,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-clearing-food-from-table-into-fridge-i00-standard--2x5t9ht/replay.mp4",
+  "duration_s": 156.5,
+  "fps": 30.0,
+  "frames": 4695,
+  "sha256": "c7bdaab73e2ea324c841af8d0a308b7f822f3f68bba6d113de1b19f97431b7fc"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      31.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 28,
+      "log_step": null,
+      "text_zh": "观察：视频 28.0 s 冰箱两门贴合柜体，机器人已停到门前。"
+     },
+     {
+      "t": 32.3,
+      "log_step": 70,
+      "text_zh": "观察：视频 31.3–33.0 s 机器人右夹爪夹住右门把手外拉，门板离开柜体并露出内腔；开门事件约在视频 31.5 s 达到，时间精度约半秒。"
+     },
+     {
+      "t": 41,
+      "log_step": 76,
+      "text_zh": "观察：视频 39.0–43.0 s 机器人再次抓拉右门，底盘后退，内腔入口明显敞开。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右二指夹爪夹住冰箱右门把手，沿开门方向拉动。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘先驶到冰箱前，并在再次拉门时后退配合右臂。"
+     }
+    ]
+   },
+   "chicken_in_tupperware": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 68,
+      "log_step": null,
+      "text_zh": "观察：视频 68.0 s 鸡肉仍在餐桌的白盘上；视频 97.0 s 及视频 108.0–111.0 s 可见左爪夹住并抬起鸡肉，原餐盘露出。拿起食物尚不满足入盒。"
+     },
+     {
+      "t": 126.5,
+      "log_step": 167,
+      "text_zh": "观察：视频 123.5–126.0 s 机器人左臂带鸡肉大幅抬转，尚未对准保鲜盒内腔；视频 126.5–127.5 s 左爪张开，鸡肉落到保鲜盒旁的台面上。"
+     },
+     {
+      "t": 139,
+      "log_step": 183,
+      "text_zh": "观察：视频 137.0–141.3 s 左爪将鸡肉移到白色保鲜盒上方，鸡肉主体仍露在盒口之上，没有看到其中心降入盒内；视频 141.3–142.0 s 左臂抬起、撤回时鸡肉跟随，盒内重新完全露出。"
+     },
+     {
+      "t": 151.7,
+      "log_step": 193,
+      "text_zh": "观察：视频 149.0–151.3 s 左爪再次把鸡肉送近盒口，但鸡肉偏在盒的近侧；视频 151.7 s 鸡肉脱离夹爪落到盒前台面，视频 155.5 s 和视频 156.46 s 仍在盒外。"
+     },
+     {
+      "t": 156.46,
+      "log_step": null,
+      "text_zh": "推断：全段可见的放置均未把鸡肉中心送入保鲜盒内腔；末帧鸡肉在盒前台面，且评分器 q_score=0.0、live_matches_replay=1，支持入盒目标终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左二指夹爪夹持鸡肉，从餐盘抬起、搬到台面，并多次重新夹取和尝试放到保鲜盒口。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在左爪携带鸡肉时离开餐桌、驶向放置保鲜盒的台面并接近台面。"
+     }
+    ]
+   },
+   "pie_in_tupperware": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 68,
+      "log_step": null,
+      "text_zh": "观察：视频 68.0 s 苹果派位于餐桌另一只白盘上；视频 102.0–108.0 s 右爪夹起苹果派，视频 108.0 s 原盘露出。"
+     },
+     {
+      "t": 156.46,
+      "log_step": null,
+      "text_zh": "观察：视频 120.0–156.46 s 苹果派一直位于机器人右夹爪处；视频 155.5 s 及视频 156.46 s 的右腕视图仍可见派贴近夹爪，没有进入任一保鲜盒。"
+     },
+     {
+      "t": 156.46,
+      "log_step": null,
+      "text_zh": "推断：机器人虽已夹起并搬运苹果派，但没有建立派在盒内的关系；末段图像与评分器 q_score=0.0 一致，终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右二指夹爪夹住半个苹果派，从餐盘抬起并一直携带到台面前。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在右爪携带苹果派时从餐桌驶向保鲜盒所在台面。"
+     }
+    ]
+   },
+   "tupperwares_in_fridge_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 45,
+      "log_step": null,
+      "text_zh": "观察：视频 41.0–48.0 s 冰箱内腔敞开，机器人只操作门，没有搬入保鲜盒；随后关门并驶向餐桌。"
+     },
+     {
+      "t": 156.46,
+      "log_step": null,
+      "text_zh": "推断：视频 60.7–156.46 s 机器人只抓取、搬运食物和在台面尝试装盒，没有再打开冰箱或搬运盒子；视频 156.46 s 白色目标盒仍在台面，评分器 q_score=0.0 也排除任何新达成的盒入冰箱目标，故至少一盒入冰箱全段未达到。"
+     }
+    ]
+   },
+   "tupperwares_in_fridge_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 45,
+      "log_step": null,
+      "text_zh": "观察：视频 41.0–48.0 s 敞开的冰箱中没有机器人搬入保鲜盒的动作；机器人随后把门推关。"
+     },
+     {
+      "t": 156.46,
+      "log_step": null,
+      "text_zh": "推断：视频 60.7–156.46 s 没有搬盒入冰箱，机器人始终在餐桌与台面之间操作食物；评分器 q_score=0.0 排除两盒在冰箱内的新增目标，至少一盒入冰箱尚未成立，因此两盒入冰箱亦未成立。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      31.5
+     ],
+     [
+      59.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 冰箱门处于关闭位置；视频 28.0–31.0 s 的近景确认两门尚未拉开。"
+     },
+     {
+      "t": 35.7,
+      "log_step": 75,
+      "text_zh": "观察：视频 32.3–34.7 s 内腔露出；视频 35.3–38.0 s 右门虽回摆，仍留有开口，随后又被拉大。该段不另记一次关门恢复。"
+     },
+     {
+      "t": 59.5,
+      "log_step": 86,
+      "text_zh": "观察：视频 51.0–54.0 s 首次推门后内腔仍敞开；视频 57.0–60.7 s 机器人右夹爪再次推右门外侧，门口合拢，约在视频 59.5 s 恢复关闭，时间精度约半秒。"
+     },
+     {
+      "t": 156.46,
+      "log_step": null,
+      "text_zh": "推断：视频 60.7 s 后机器人离开冰箱，改在餐桌和台面操作，至视频 156.46 s 未再接触冰箱门，故保持最后观察到的关闭状态；初始已成立的关门目标不增加评分器的 q_score。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "右臂以闭合夹爪的外侧扫推右门板，使门回到柜体。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在两次关门操作之间后退、调整站位以绕到门板外侧。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "chicken_in_tupperware",
+   "t": 126.5,
+   "log_step": 167,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 126.5–127.5 s 机器人左爪在保鲜盒旁释放鸡肉，鸡肉落在台面；后续两次重试到视频 151.7 s 仍落在盒外，视频 156.46 s 未修复。更早的开门已完成，关门操作也已在视频约 59.5 s 恢复，故断在鸡肉入保鲜盒。"
+  },
+  "unmet": {
+   "chicken_in_tupperware": false,
+   "pie_in_tupperware": false,
+   "tupperwares_in_fridge_1": false,
+   "tupperwares_in_fridge_2": false,
+   "fridge_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 126.5,
+    "log_step": 167,
+    "evidence_zh": "观察：视频 126.5–127.5 s 机器人左爪张开时鸡肉尚在保鲜盒旁，落到盒外台面；视频 151.3–152.0 s 再次释放时鸡肉偏在盒近侧，仍落在盒外。这是到位前��放，未发生在盒内放好后失稳。"
+   },
+   {
+    "cat": "接触",
+    "item": "没松开",
+    "t": 141.3,
+    "log_step": 183,
+    "evidence_zh": "观察：log step 183 的机器人脚本在盒口上方安排左爪张开后上抬撤回；视频 140.0–141.3 s 鸡肉仍位于左爪两指之间，视频 141.3–142.0 s 随左爪一同离开盒口，未留在盒内。该次释放失败与视频 126.5 s 的盒外释放是两次不同事件。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 167 的脚本把两臂逆解结果直接插值执行，没有检查解与当前关节的连续性；视频 123.5–126.0 s 左臂出现远离盒口的大幅抬转。log step 172 的脚本用本段关节回算出左末端曾升到 1.776 米、随后停在盒旁，log step 174 亦记录大幅关节差异；agent 在 log step 184 自述发生逆解分支跳变。日志与可见运动共同支持该次轨迹/逆解未把左爪送到预期释放位姿，但不据自述认定吊柜碰撞。"
+   },
+   {
+    "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 137.0–142.0 s 机器人左爪已将鸡肉带到盒口上方，但张爪后的上抬和撤回仍把鸡肉带走，说明该夹持部位及释放动作没有提供可靠的脱离条件。log step 187 打印两指均达 0.050 米，log step 190–191 的 agent 深度统计称所夹鸡肉部位宽于夹爪开口，log step 194 将其解释为卡夹；尺寸与摩擦解释仅为 agent 估计，待核实。log step 193 改抓上部并摆动后，视频 151.7 s 仍在盒外释放，尚未验证成功替代方案。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功示范，鸡肉中心与盒内体积、门关节的5%阈值只能按相机画面判断，事件时间约有半秒误差；视频 137.0–141.3 s 只见鸡肉主体停在盒口上方，无法取得精确 inside 数值，不能把 agent 在 log step 194 的“已在盒内”自述直接当作达成。没有接触力记录，夹爪卡夹的具体摩擦机制及 agent 深度估计尺寸待核实。log step 197 记录提供方过滤中断，不能推测后续能否完成；本标注保留此前视频已发生且截至末帧未修复的物理放置失败，不把过滤列为机器人现象或根因。"
+ },
+ "summary_zh": "机器人打开冰箱后重新推关，实际夹起并搬运了鸡肉和苹果派，但食物均未完成入盒，两盒也未搬入冰箱，终态为2/6（开门事件与关闭状态）。断点是鸡肉入保鲜盒：首次释放落在盒旁，重试时鸡肉又随张开的夹爪撤回，最后仍落在盒外，证据支持轨迹/逆解和夹持释放设计问题。没有状态日志，盒口边界与接触机制只能结合画面和日志判断；会话最终出现提供方过滤中断，未将中断本身作为失败原因。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值、断点（鸡肉入保鲜盒）与现象/根因与抽查帧及 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": "2026-10-30T21:32:14Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-clearing-food-from-table-into-fridge-i00-standard--2x5t9ht/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clearing-food-from-table-into-fridge-i00-standard--2x5t9ht/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f1598a55c77e355ebcb9689417ecdd91184d16a23f6dd283cc9c5fd4bc048c36",
+   "video_sha256": "c7bdaab73e2ea324c841af8d0a308b7f822f3f68bba6d113de1b19f97431b7fc",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-standard--8umdufi.json

@@ -0,0 +1,297 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clearing-food-from-table-into-fridge-i00-standard--8umdufi",
+ "taskKey": "behavior-1k/clearing_food_from_table_into_fridge",
+ "dag_sha256": "0187c62673ba112bb7fbae8d19e1bccdbef83deaf34d00b39cbfc9668575af71",
+ "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": 2162,
+   "sim_steps": 2162,
+   "physics_steps": 8648,
+   "steps": 2162,
+   "elapsed_s": 1807.3,
+   "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-clearing-food-from-table-into-fridge-i00-standard--8umdufi/replay.mp4",
+  "duration_s": 72.067,
+  "fps": 30.0,
+  "frames": 2162,
+  "sha256": "075813c1d7414dd4f348313bf24f84c46fde8d49e93550c372484175b32fccc1"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 48,
+      "log_step": null,
+      "text_zh": "观察：视频全程的机器人动作是空手转向、巡视和底盘移动；视频 40.0 s、48.0 s、50.0 s、60.5 s 的冰箱门板仍贴合柜体，没有夹爪抓拉把手或露出内腔的开门动作。"
+     }
+    ]
+   },
+   "chicken_in_tupperware": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 31.0,
+      "log_step": null,
+      "text_zh": "观察：视频 31.0 s 的餐桌视图中，鸡肉仍在靠近机器人的白盘上；视频后续巡视中未见机器人夹起鸡肉或把鸡肉送入盒内。"
+     },
+     {
+      "t": 72.033,
+      "log_step": null,
+      "text_zh": "推断：结合视频全程没有鸡肉装盒动作、结束时机器人倾倒，以及评分器 q_score=0.0、live_matches_replay=1，鸡肉入盒终态为假；初始冰箱关闭不计入该原生分数。"
+     }
+    ]
+   },
+   "pie_in_tupperware": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 31.0,
+      "log_step": null,
+      "text_zh": "观察：视频 31.0 s 的餐桌视图中，远侧白盘上可见浅色派，近侧盘上仍有鸡肉；机器人随后继续空手绕行和巡视，未见夹起派或送入保鲜盒。"
+     },
+     {
+      "t": 72.033,
+      "log_step": null,
+      "text_zh": "推断：视频全程未出现派装盒，且评分器 q_score=0.0、live_matches_replay=1，派入盒终态为假；最后画面受倾倒的机体遮挡，由原生总分约束终态。"
+     }
+    ]
+   },
+   "tupperwares_in_fridge_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 60.5,
+      "log_step": 217,
+      "text_zh": "观察：视频 48–61.5 s，机器人空手在冰箱和厨房台面附近转向、前后行驶并观察台面；视频 62.0–64.0 s 视野大幅倾斜，至视频 72.033 s 仍未恢复。全段未见夹爪拿着保鲜盒，也没有盒子进入冰箱内腔。"
+     },
+     {
+      "t": 72.033,
+      "log_step": null,
+      "text_zh": "推断：冰箱未打开、视频没有保鲜盒转移，且评分器 q_score=0.0、live_matches_replay=1，至少一个盒在冰箱内的终态为假。台面巡视按寻找首个待搬运保鲜盒的探索处理，并不表示已抓盒。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 48–62 s，轮式底盘在厨房台面附近移动并支承空手巡视的机器人；随后机体倾倒。未观察到夹爪与保鲜盒接触。"
+     }
+    ]
+   },
+   "tupperwares_in_fridge_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 60.5,
+      "log_step": null,
+      "text_zh": "观察：视频 48–61.5 s，冰箱仍关闭，机器人空手巡视，没有搬运任何保鲜盒；随后倾倒并结束。"
+     },
+     {
+      "t": 72.033,
+      "log_step": null,
+      "text_zh": "推断：视频中第一个盒尚未进入冰箱，且评分��� q_score=0.0、live_matches_replay=1，两个盒同时在冰箱内的终态为假。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 厨房背景里的冰箱门关闭；视频 40.0 s、48.0 s、50.0 s、60.5 s 和 62.0 s 可见门板贴合柜体，全程未见操作冰箱门。"
+     },
+     {
+      "t": 72.033,
+      "log_step": null,
+      "text_zh": "推断：冰箱从初始关闭到最后可辨认门板时均未被打开，随后仅发生机器人倾倒和恢复移动，没有关节操作，因此关闭状态延续至结束。该初始真目标不因 q_score=0.0 被否定。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "tupperwares_in_fridge_1",
+   "t": 62.0,
+   "log_step": 217,
+   "where": "探索",
+   "evidence_zh": "观察：视频 59–61.5 s，机器人在厨房台面前空手巡视；视频约 62.0 s，三路视野随机体大幅倾斜，后续移动未使其站稳，视频 72.033 s 仍侧倒。log step 217 的沿台面巡视输出报告 DRIVE BLOCKED 和倾斜指标 cc=0.504，随后继续转向，cc 降至 0.247；log step 229、241 的基准服务结果确认因机器人倒地终止。推断：沿台面寻找保鲜盒属于第1盒入冰箱之前的探索，该步骤最终没有完成。"
+  },
+  "unmet": {
+   "chicken_in_tupperware": false,
+   "pie_in_tupperware": false,
+   "tupperwares_in_fridge_1": false,
+   "tupperwares_in_fridge_2": false,
+   "fridge_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 62.0,
+    "log_step": 217,
+    "evidence_zh": "观察：视频约 62.0 s 开始，头部和腕部视野发生一致的大幅倾斜；视频 64–72.033 s 的天花板、地面及柜体在视野中侧转，机器人始终未站稳。log step 219–227 的基准服务本体感知反馈中，基座竖直指标 cc 持续明显低于 0.75；log step 229 明确返回 failure: the robot fell over。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 107 的底盘控制代码虽然读取基座倾斜指标 cc，但 drive 和 rotate 都未据此中止，只按位移是否受阻退出当前循环。log step 216 的巡视脚本调用 drive(max_step=0.2)，受阻后仍进入下一轮转向和25步姿态动作；log step 217 输出已显示 DRIVE BLOCKED、cc=0.504，却继续转向至 cc=0.247。视频 61.5–64.0 s 显示机器人随之倾倒；log step 219–229 的恢复动作也未恢复直立。推断：底盘巡视控制未把明显受阻和倾斜反馈转为及时的稳定保护，导致失衡持续并终止回合。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功示范视频；机载视角不能确定倾倒时具体哪个机器人连杆与哪块家具接触，也不能直接读取冰箱关节角。第1盒入冰箱的探索归属依据机器人沿台面寻找目标的行为及日志上下文推断，未观察到实际抓盒；初期全景巡视时也曾倾倒，但当时尚未锁定具体语义节点，后续恢复移动不等于完成任何搬运节点。最后画面被机体遮挡，未完成放入关系的终值另由 q_score=0.0 约束。"
+ },
+ "summary_zh": "机器人未完成开门、食物装盒或保鲜盒入冰箱，最终仅初始冰箱关闭状态保持成立，进度为1/6。机器人在台面附近寻找保鲜盒时于视频约 62 s 倾倒，归入第1盒入冰箱的探索断点；底盘控制读取了受阻和倾斜反馈却继续转向，最终由服务判定倒地失败。无状态日志和成功示范，探索节点归属及末段遮挡下的终值包含上下文与评分总分推断。",
+ "conf": 7,
+ "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、断点（视频约62 s 倒地）、平衡现象与反馈控制根因整体有视频和日志支持；仅 gap_zh 中“初期全景巡视时也曾倾倒”与证据不符，需删除。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "进度1/6、断点（约62 s倒地，探索）、平衡现象与反馈控制根因有视频和日志支持。上一轮 I1 已被证据驳回：log step 101 coscos=-0.023，视频4 s 帧也显示早期倾斜，gap_zh 保留合理。",
+    "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": "2026-10-30T21:45:53Z",
+  "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-clearing-food-from-table-into-fridge-i00-standard--8umdufi/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clearing-food-from-table-into-fridge-i00-standard--8umdufi/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clearing-food-from-table-into-fridge-i00-standard--8umdufi/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-clearing-food-from-table-into-fridge-i00-standard--8umdufi/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5450339a191390c47798f89f207bcffac469aa7fda165c4a107ce622dd46b998",
+   "video_sha256": "075813c1d7414dd4f348313bf24f84c46fde8d49e93550c372484175b32fccc1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-standard--ibjvzub.json

@@ -0,0 +1,345 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clearing-food-from-table-into-fridge-i00-standard--ibjvzub",
+ "taskKey": "behavior-1k/clearing_food_from_table_into_fridge",
+ "dag_sha256": "0187c62673ba112bb7fbae8d19e1bccdbef83deaf34d00b39cbfc9668575af71",
+ "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": 14724,
+   "sim_steps": 14874,
+   "physics_steps": 59496,
+   "steps": 11908,
+   "elapsed_s": 6685.5,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 150,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.0,
+   "goal_first_step": 0,
+   "sim_startups": 2,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-clearing-food-from-table-into-fridge-i00-standard--ibjvzub/replay.mp4",
+  "duration_s": 495.9,
+  "fps": 10.0,
+  "frames": 4959,
+  "sha256": "c054f04c258a50621a075683b07147b59242eefb2415c261afca6ae1f65467fd"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 头部视图中冰箱门板合拢；全片抽查未见夹爪拉门或冰箱内腔入口露出。"
+     },
+     {
+      "t": 26,
+      "log_step": 100,
+      "text_zh": "观察：视频 23–45 s 机器人仍持鸡肉在窗边移动，没有可见开门操作；log step 100 的“冰箱门已打开”是 agent 的场景解读，不能据此计入开门事件。"
+     }
+    ]
+   },
+   "chicken_in_tupperware": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10,
+      "log_step": null,
+      "text_zh": "观察：视频约 10–15 s 鸡肉已离开餐盘，随左夹爪移动；视频 45–100 s 机器人持鸡肉驶向台面。"
+     },
+     {
+      "t": 104.5,
+      "log_step": 249,
+      "text_zh": "观察：视频 104.0–106.5 s 左夹爪张开，鸡肉向下落到保鲜盒外的灰色台面；视频 108–115 s 鸡肉与后方白色保鲜盒分开，没有进入内腔。"
+     },
+     {
+      "t": 495.8,
+      "log_step": null,
+      "text_zh": "观察：视频 478–491 s 右夹爪重新接近台面鸡肉，视频 494.0–495.8 s 鸡肉仍在盒外，未出现送入盒内的动作。"
+     },
+     {
+      "t": 495.8,
+      "log_step": null,
+      "text_zh": "推断：评分器最终 q_score=0.0，与鸡肉仍在盒外的画面一致；本节点终值为 false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 10–104 s 左二指夹爪夹住鸡肉，鸡肉随手离开餐盘并被搬到台面上方；随后左爪张开放开。末段右爪再次接近鸡肉，未据闭爪动作认定再次抓稳。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 12–75 s 轮式底盘移动，支承机器人绕过餐桌并携鸡肉驶向台面；视频末段又驶回鸡肉所在台面。"
+     }
+    ]
+   },
+   "pie_in_tupperware": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 250,
+      "log_step": null,
+      "text_zh": "观察：视频 245–250 s 左腕视图清楚显示派仍在餐盘内，机器人将左夹爪移向派。"
+     },
+     {
+      "t": 300,
+      "log_step": null,
+      "text_zh": "观察：视频 280–310 s 多轮闭爪、提高手臂后，派均仍留在白盘上，未随手离盘。"
+     },
+     {
+      "t": 395,
+      "log_step": null,
+      "text_zh": "观察：视频 340–395 s 派仍在原盘上；随后机器人空手离开餐桌，未见派被搬往保鲜盒。"
+     },
+     {
+      "t": 495.8,
+      "log_step": null,
+      "text_zh": "推断：后段机器人在台面及厨房内移动，没有再回到餐盘取派，且评分器 q_score=0.0，因此派入盒终值为 false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 250–310 s 左夹爪反复贴近派与盘面闭合，派没有离盘；关键接触面被爪指遮住，无法确认实际是否触到派、仅压住表面或建立对向夹持，不将闭爪等同抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 130–240 s 机器人驶向餐桌并多次改变站位，以便左臂接近盘中的派。"
+     }
+    ]
+   },
+   "tupperwares_in_fridge_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 113,
+      "log_step": null,
+      "text_zh": "观察：视频 113–115 s 白色保鲜盒仍在台面上，机器人撤离时未持盒。"
+     },
+     {
+      "t": 478,
+      "log_step": 607,
+      "text_zh": "观察：视频 430–478 s 机器人回到台面附近，右手随后伸向盒及鸡肉所在区域；视频 478–491 s 所见盒仍在台面，未见盒被运到冰箱入口。"
+     },
+     {
+      "t": 495.8,
+      "log_step": null,
+      "text_zh": "推断：全片未见保鲜盒被搬入冰箱，评分器最终 q_score=0.0；该总分不计保持的初始关门条件，但排除了终态新增的盒入冰箱关系，因此第1盒终值为 false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：agent 在 log step 504 决定先处理保鲜盒，视频约 400–475 s 机器人空手驶回台面并调整站位；右臂随后伸向盒所在区域。这里只记录实际底盘移动支承，未见夹爪夹起保鲜盒。"
+     }
+    ]
+   },
+   "tupperwares_in_fridge_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 478,
+      "log_step": null,
+      "text_zh": "观察：视频 478–481 s 右腕视图中白色保鲜盒仍在台面，未出现连续搬运两个盒的动作。"
+     },
+     {
+      "t": 495.8,
+      "log_step": null,
+      "text_zh": "推断：未见任何盒入冰箱，第2盒关系也从未获得视觉支持；评分器最终 q_score=0.0 排除了终态两个盒均入冰箱，故终值为 false。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 头部视图中冰箱两扇门合拢，符合 DAG 所述初始关闭状态。"
+     },
+     {
+      "t": 105,
+      "log_step": null,
+      "text_zh": "观察：视频约 105–115 s 头部远景中冰箱门仍合拢；机器人当前在台面放鸡肉，没有操作冰箱门。"
+     },
+     {
+      "t": 495.8,
+      "log_step": null,
+      "text_zh": "推断：全片抽查未见冰箱门被拉开或入口露出，也没有实际抓门操作；结合初始关闭与上述中段可见状态，将关闭状态保持至视频结束。末帧未正对冰箱，关节5%阈值无法直接量测。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "chicken_in_tupperware",
+   "t": 104.5,
+   "log_step": 249,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 104.5 s 左夹爪执行松手，鸡肉从盒外上方落到灰色台面，视频 108–115 s 可见其与白色保鲜盒分开；机器人随后去抓派。视频 478–495.8 s 重新接近鸡肉仍未装盒，这是最早发生且最终未修复的步骤失败。"
+  },
+  "unmet": {
+   "chicken_in_tupperware": false,
+   "pie_in_tupperware": false,
+   "tupperwares_in_fridge_1": false,
+   "tupperwares_in_fridge_2": false,
+   "fridge_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 104.5,
+    "log_step": 249,
+    "evidence_zh": "观察：视频 104.0–106.5 s 机器人在鸡肉尚未位于保鲜盒内腔上方时张开左爪，鸡肉落在盒外台面；视频 108–115 s 盒与鸡肉仍分离。这是目标外释放，未出现已入盒后再滚出的过程。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 241、244 的脚本都要求左 TCP 降到世界位置 [8.10,1.10,1.11] 米，而服务返回的实际位置约为 [7.99,1.01,1.27]、[8.00,1.01,1.26] 米；log step 247 调整底盘后实际 TCP 仍约 [8.08,1.04,1.29] 米，log step 249 随即开爪。视频 98–104.5 s 手持鸡肉停在盒外较高位置，随后鸡肉落到台面，支持末端实际位姿没有完成所需对准、下放；没有足够证据再区分轨迹、接触阻挡或反馈子类。",
+    "source_zh": "日志 / 视频"
+   },
+   {
+    "cat": "认知",
+    "item": "误以为完成",
+    "evidence_zh": "推断：log step 252 中 agent 自述“鸡肉已经释放并在台面盒内”，据此撤离去取派��log step 289 又声称鸡肉仍在盒内；但视频 108–115 s 鸡肉清楚位于盒外台面，视频 130–395 s 机器人转而长期操作派。这一错误的局部完成判断使装鸡肉步骤被提前放下；末段虽再接近鸡肉，仍未修复。",
+    "source_zh": "agent 自述 / 日志 / 视频"
+   }
+  ],
+  "gap_zh": "无状态日志及成功参考视频；三路低分辨率视图有遮挡，不能测量冰箱开合关节的5%阈值，也不能确定抓派时爪指与派的实际接触方式。鸡肉盒外释放有直接画面，但末端未达到指令位姿的更细原因没有力、碰撞或关节跟踪记录，故控制根因只保留大类；终态放入节点另用评分器 q_score=0.0 作总量约束。"
+ },
+ "summary_zh": "本次实时单回合最终仅保留初始冰箱关闭状态（1/6）；鸡肉被左爪搬到台面后于视频约 104.5 s 在盒外释放，派经多次闭爪仍留在盘中，两个盒均未入冰箱。最早未修复的失败是鸡肉入盒时位姿未对准，且 agent 在 log step 252 误判已装盒后转去抓派；末段返回仍未完成。无状态日志，抓派接触方式及冰箱精确关节阈值不能直接确认，评分器最终 q_score=0.0 与无新增放入目标的终态一致。",
+ "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（视频≈控制步/30）、断点（鸡肉在盒外释放，约104.5 s）与现象/根因均与画面和日志一致；鸡肉落在盒外台面，盒与鸡肉分离，初始关门保持至末。控制根因为推断且已标注，证据不足以改动。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:16:15Z",
+  "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-clearing-food-from-table-into-fridge-i00-standard--ibjvzub/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clearing-food-from-table-into-fridge-i00-standard--ibjvzub/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4c32416bf9de3218cb320cda4498b47a1762aae9a0344418f5d806dc6c5d6083",
+   "video_sha256": "c054f04c258a50621a075683b07147b59242eefb2415c261afca6ae1f65467fd",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-standard--wpmp2ge.json

@@ -0,0 +1,364 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clearing-food-from-table-into-fridge-i00-standard--wpmp2ge",
+ "taskKey": "behavior-1k/clearing_food_from_table_into_fridge",
+ "dag_sha256": "0187c62673ba112bb7fbae8d19e1bccdbef83deaf34d00b39cbfc9668575af71",
+ "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": 3979,
+   "sim_steps": 3979,
+   "physics_steps": 15916,
+   "steps": 708,
+   "elapsed_s": 1254.3,
+   "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-clearing-food-from-table-into-fridge-i00-standard--wpmp2ge/replay.mp4",
+  "duration_s": 132.633,
+  "fps": 30.0,
+  "frames": 3979,
+  "sha256": "26e80009399ddee4b6108fe0f32dae845f6bb2a9567e198959908432b7c3a315"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      77.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 77.8,
+      "log_step": 126,
+      "text_zh": "观察：视频 77.4–78.2 s，机器人左夹爪包夹竖直把手并外拉，门板开始离开柜体；视频 79.0–85.0 s 可见宽开的门板及多层内腔，开门时刻约为视频 77.5 s（误差约0.5秒）。"
+     },
+     {
+      "t": 84.0,
+      "log_step": 131,
+      "text_zh": "观察：视频 84.0 s 冰箱内腔清楚露出；log step 131 的 agent 深度查询也读取了内层搁架，但节点完成以视频为据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 70.0–78.2 s 左夹爪的两指夹住冰箱竖直把手，带动门板外拉；早先的视频 35.0–55.0 s 开门尝试未使内腔明显露出。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在视频约 15.0–30.0 s 驶近冰箱，并在视频约 60.0–64.0 s 后退调整开门站位。"
+     }
+    ]
+   },
+   "chicken_in_tupperware": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 106.0,
+      "log_step": 169,
+      "text_zh": "观察：视频 106.0–110.0 s 机器人左夹爪向白盘旁的棕色鸡肉靠近并闭合；视频 110.0–116.0 s 鸡肉仍在白盘边原处，未随夹爪搬走，没有送入保鲜盒。"
+     },
+     {
+      "t": 132.6,
+      "log_step": null,
+      "text_zh": "推断：全片未见鸡肉进入任一保鲜盒；评分器终态 q_score=0.0、live_matches_replay=1，鸡肉装盒属于初始未满足的目标，因此终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "观察：视频 106.0–110.0 s 左夹爪朝鸡肉、右夹爪朝黄色派同时靠近并闭合，随后空手抬离，两种食物仍在原处。候选“空夹”：没有看到两指包夹食物，不能记为抓握；瞬时指尖是否擦到食物受夹爪遮挡。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 112.0–132.6 s 机器人向厨房台面移动、转向；这发生在取食尝试之后，但画面未显示夹爪带走鸡肉或派。"
+     }
+    ]
+   },
+   "pie_in_tupperware": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 103.0,
+      "log_step": 159,
+      "text_zh": "观察：视频 101.5–105.0 s 机器人左夹爪在白盘处操作，白盘被带起、翻动，黄色派在旁边地面上未被带走；log step 160 将该动作自述为用左臂抓派。"
+     },
+     {
+      "t": 110.0,
+      "log_step": 169,
+      "text_zh": "观察：视频 106.0–110.0 s 机器人改用双臂同时取食，右夹爪闭合后抬离，黄色派仍在原处；视频 115.5–117.5 s 仍能看见地面的黄色派，没有装盒。"
+     },
+     {
+      "t": 132.6,
+      "log_step": null,
+      "text_zh": "推断：全片未见派进入保鲜盒；评分器终态 q_score=0.0 且 live_matches_replay=1，派装盒这一初始未满足的目标终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 101.5–105.0 s，首次取派时左夹爪实际触动白盘，白盘抬起并翻动；黄色派留在旁边，没有形成对派的包夹。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "观察：视频 106.0–110.0 s 左夹爪朝鸡肉、右夹爪朝黄色派同时靠近并闭合，随后空手抬离，两种食物仍在原处。候选“空夹”：没有看到两指包夹食物，不能记为抓握；瞬时指尖是否擦到食物受夹爪遮挡。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 112.0–132.6 s 机器人向厨房台面移动、转向；这发生在取食尝试之后，但画面未显示夹爪带走鸡肉或派。"
+     }
+    ]
+   },
+   "tupperwares_in_fridge_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 84.0,
+      "log_step": null,
+      "text_zh": "观察：视频 79.0–85.0 s 可见打开的冰箱内腔，机器人没有向内放盒；其后视频 96.0–117.5 s 的操作集中于地面食物和白盘，未见夹取或搬运保鲜盒。"
+     },
+     {
+      "t": 132.6,
+      "log_step": null,
+      "text_zh": "推断：视频直至 132.6 s 未见保鲜盒送入冰箱；评分器 q_score=0.0、live_matches_replay=1，盒入冰箱是初始未满足的目标，故“至少一个保鲜盒入冰箱”终态为假。"
+     }
+    ]
+   },
+   "tupperwares_in_fridge_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 84.0,
+      "log_step": null,
+      "text_zh": "观察：视频 79.0–85.0 s 可见打开的冰箱内腔，机器人没有向内放盒；其后视频 96.0–117.5 s 的操作集中于地面食物和白盘，未见夹取或搬运保鲜盒。"
+     },
+     {
+      "t": 132.6,
+      "log_step": null,
+      "text_zh": "推断：视频直至 132.6 s 未见保鲜盒送入冰箱；评分器 q_score=0.0、live_matches_replay=1，盒入冰箱是初始未满足的目标，故“两个保鲜盒入冰箱”终态为假。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      77.5
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 远处冰箱门闭合；视频 24.0–37.5 s 和 58.0–60.0 s 的近景仍显示门板贴合柜体，首次开门动作后也未见持续敞开的入口。"
+     },
+     {
+      "t": 77.8,
+      "log_step": 126,
+      "text_zh": "观察：视频约 77.5 s 门板外拉，随后视频 79.0–85.0 s 入口及搁架露出，关闭状态失去；其后机器人离开冰箱，没有执行关门动作。"
+     },
+     {
+      "t": 132.6,
+      "log_step": null,
+      "text_zh": "观察：视频 131.6–132.6 s 左腕视图仍显示张开的门板与柜体分离；冰箱关闭状态未恢复。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pie_in_tupperware",
+   "t": 103.0,
+   "log_step": 159,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 32.0–35.0 s 左腕视图中餐桌翻转倾斜、白盘出现在地面；视频 88.0–97.0 s 可见斜立的桌面及地面的盘和派。推断：机器人在开冰箱前已碰翻餐桌，食物离开桌面，后续取食发生在受扰场景中。观察：视频 101.5–105.0 s，机器人开始取派时左夹爪实际在白盘上操作，黄色派仍在旁边；视频 106.0–117.5 s 的后续双臂取食也未带走派。推断：派入盒是开门完成之后首先明确尝试而始终没有补成的步骤，故断点取本步骤。观察：视频 122.0–125.0 s 机器人向台面移动时头部视野明显翻转、地板占据画面，视频 131.6–132.6 s 仍停在倾斜姿态；log step 182 中机器人服务报告 done=True、reason=\"failure: the robot fell over\"、control_steps=3979、resumes=0。推断：视频约 122.5 s 起的终末失衡与该单回合的倒地判负相符，机身视角不足以确定基座倾角；此前未发生任何装盒。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 33.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 10.0 s、26.0–28.0 s 餐桌直立，白盘在桌面上；视频 32.0–34.0 s 左腕视图中桌腿和桌面翻转倾斜，视频约 35.0 s 白盘已在地面；视频 88.0–97.0 s 桌面仍斜立，白盘及黄色派在地面。log step 50–51 的 agent 深度查询曾给出桌面高度约 0.67–0.72 米、盘上食物点高度约 0.73–0.77 米，log step 144 后续查询的桌��点呈明显高度梯度；这些查询只作辅助，场景变化以视频为据。推断：机器人驶向冰箱途中在视频约 30.0–35.0 s 与餐桌发生接触并将其碰翻，盘和食物随之落地，后续取食面对的是被碰乱的场景；实际接触点被遮挡，不能确定是左臂还是底盘碰桌。"
+   },
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 103.0,
+    "log_step": 159,
+    "evidence_zh": "观察：视频 102.0–105.0 s 左夹爪操作白盘，黄色派仍在地面；视频 108.0–110.0 s 右夹爪在派旁闭合后空手抬离，视频 115.5–117.5 s 派仍在原处。推断：机器人始终未建立取派所需的包夹，不能把空夹后的抬臂当作持派搬运。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "evidence_zh": "观察：log step 159 的 agent 脚本把左夹爪取食点设为 [5.23,1.60,0.10]，log step 160 自述目标为苹果派；视频 102.0–105.0 s 该动作实际落在白盘区域，黄色派在旁边。log step 165 随后以当前深度查询得到派的表面点约为 [5.613,1.522,0.035]，与首次取点相距约 0.40 米。推断：首次取派所用的位置估计偏离派，导致夹爪在白盘处操作；餐桌此前已倾倒，盘和派相邻，现有帧及日志不能区分身份混淆、深度/投影误差或其他位置估计误差，不能断言把白盘认成派。",
+    "source_zh": "日志 / 视频"
+   },
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "观察：log step 165 重新定位鸡肉与派，log step 169 的脚本据此提交双臂接近、闭合和抬升；视频 106.0–110.0 s 两夹爪运动后两种食物仍在原处。log step 174 仅记录近零夹爪开口和末端位置，未报告持物身份，接着 log step 176 按当前躯干、双臂关节姿态驱动底盘；视频约 122.5 s 后失衡，log step 182 确认倒地判负。推断：修正取食位置后仍未建立有效夹持，后续移动也未保持机体稳定，控制执行失败；现有证据不足以细分接触几何、轨迹跟踪或稳定反馈。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "观察：视频约 32.0–35.0 s 餐桌倾倒，视频 88.0–97.0 s 仍见斜立桌面，盘和食物已在地面，后续取食发生在该受扰场景中。推断：机器人驶向冰箱时碰翻餐桌，但没有状态接触记录且接触点被遮挡，不能确定碰桌的具体部位及力学过程；首次取派的取点偏差也不能进一步区分为身份混淆或深度/投影等位置估计误差。没有状态日志或成功参考视频；指尖靠近食物时局部被夹爪遮挡，能确认食物未被取走，但不能确认瞬时擦碰。开门阈值时刻约有0.5秒误差；倒地有服务终态确认，但没有基座姿态、支撑力或碰撞记录，不能确定失衡的具体力学诱因。log step 170、177、185 的“抓住并搬运食物”自述与视频中食物留在原处不符，未据此计入抓握或节点进度。",
+  "unmet": {
+   "chicken_in_tupperware": false,
+   "pie_in_tupperware": false,
+   "tupperwares_in_fridge_1": false,
+   "tupperwares_in_fridge_2": false,
+   "fridge_closed": false
+  }
+ },
+ "summary_zh": "机器人在视频约 32.0–35.0 s 驶向冰箱途中碰翻餐桌（接触诱因由前后帧推断），盘和食物落到地面；视频约 77.5 s 打开冰箱，初始关闭状态随之失去，最终仅打开冰箱节点为真（1/6），鸡肉、派均未装盒，两个盒也未入冰箱。后续在受扰场景中首次取派操作落在白盘处，双臂取食后仍空手离开，随后移动时失衡，服务因倒地结束回合；断点为首先尝试且未补成的派入保鲜盒。没有状态日志，碰桌部位、瞬时指尖接触及倒地力学原因无法细分，取点偏差也不足以确认身份混淆。",
+ "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、断点位置与倒地判定大体可接受，但标注漏掉了一个影响全局的事件：餐桌在视频约 30–35 s（机器人驶过餐桌旁、赶往冰箱途中）被碰翻，盘子和食物滑落到地面，此后取食都是在地面上进行。这一碰撞没有出现在任何现象、证据或 gap 中，而 DAG 与任务文本都假定食物放在桌上盘中。另外，感知根因的依据偏弱。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（仅打开冰箱为真，fridge_closed 从 0 起至约 77.5 s 为真）、断点 pie_in_tupperware、碰翻餐桌现象与倒地说明与视频和评分器 q_score=0 一致；第 1 轮意见已被采纳，未发现新的需改动错误。",
+    "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": "2026-10-30T21:46:08Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-clearing-food-from-table-into-fridge-i00-standard--wpmp2ge/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clearing-food-from-table-into-fridge-i00-standard--wpmp2ge/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clearing-food-from-table-into-fridge-i00-standard--wpmp2ge/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-clearing-food-from-table-into-fridge-i00-standard--wpmp2ge/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "98e46c207b6163ee21f9de9cc3c9f777d3f0a4bbf5693ba5810b32f5af44248b",
+   "video_sha256": "26e80009399ddee4b6108fe0f32dae845f6bb2a9567e198959908432b7c3a315",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-privileged--gffkbnx.json

@@ -0,0 +1,331 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-collecting-aluminum-cans-i00-privileged--gffkbnx",
+ "taskKey": "behavior-1k/collecting_aluminum_cans",
+ "dag_sha256": "d65ba1638f1a51ef401ef21980d53b456855008912d4b14298be41ef3e677678",
+ "outcome": {
+  "success": 0,
+  "reward": 0.3333333333333333,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 4323,
+   "sim_steps": 4323,
+   "fallen": 0,
+   "final_reward": 0.3333333333333333,
+   "q_score": 0.3333333333333333,
+   "replay_wall_s": 869.5,
+   "replay_timeout_s": 4082.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 44,
+   "agent_resets": 0,
+   "agent_sim_steps": 5123,
+   "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-collecting-aluminum-cans-i00-privileged--gffkbnx/replay.mp4",
+  "duration_s": 144.1,
+  "fps": 30.0,
+  "frames": 4323,
+  "sha256": "369a32039b749730ce9870634abdcaf9181af45e0f642b7d8761695e9559c420"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "cans_in_bucket_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      39.5,
+      82.0
+     ],
+     [
+      84.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24–38.8 s 右夹爪夹持红罐从床面搬到桶口；视频 39.0 s 张爪后红罐下落，视频 39.2–41.0 s 红罐留在桶底且不再明显移动，第1罐入桶约在视频 39.5 s 成立。此前视频 5.5–10.0 s 对橙罐的合爪未带走该罐，视频 20.0 s 橙罐仍在床上。"
+     },
+     {
+      "t": 82.0,
+      "log_step": null,
+      "text_zh": "推断：视频 81.9–83.3 s 左末端运动带倒桶，白罐及桶内物品随桶转动，已入桶罐的静止条件暂时失去；视频 84.5 s 桶已侧卧落定，结合之后视频 100–108 s 的静止桶及终局评分，约在视频 84.5 s 恢复。此处只判静置中断，没有证据表明红罐被取出或滚出。"
+     },
+     {
+      "t": 144.067,
+      "log_step": null,
+      "text_zh": "推断：视频 143.0–144.067 s 桶侧卧，桶内被桶壁遮挡；评分器 q_score=0.3333333333333333，六个目标关系均非初始成立，故终局有2罐在桶内。结合红罐、白罐的连续放入画面及其后没有新增成功搬运，判第1罐终局成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右二指夹爪包夹红罐，抬离床面并携至桶口，随后张开；此前左夹爪曾在橙罐旁合拢，但未夹走橙罐。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支撑机器人在床边与桶边移动，包含右夹爪持红罐时的行驶。"
+     }
+    ]
+   },
+   "cans_in_bucket_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      65.5,
+      82.0
+     ],
+     [
+      84.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 65.5,
+      "log_step": null,
+      "text_zh": "观察：视频 52.5–53.5 s 白罐离开床面并出现在右腕视图中；视频 53.5–63.8 s 右夹爪携白罐回桶边。视频 64.2 s 白罐脱爪落入桶中，视频 64.4–65.0 s 在桶底翻倒，视频 65.2–66.0 s 已横卧稳定，红罐仍在桶内，约视频 65.5 s 达到2罐。"
+     },
+     {
+      "t": 82.0,
+      "log_step": null,
+      "text_zh": "推断：视频 81.9–83.3 s 桶被左末端带倒，白罐随桶运动但仍在桶的内部；按本节点要求松手静止，视频 82.0–84.5 s 暂不计完成。视频 84.5 s 后桶侧卧落定，后续未见罐被搬出，恢复时间取约视频 84.5 s。"
+     },
+     {
+      "t": 144.067,
+      "log_step": null,
+      "text_zh": "推断：视频 143.0–144.067 s 桶内被桶壁遮挡，不能直接数清；评分器 q_score=1/3 对应六个初始未成立目标中的2个，且与红、白两罐已放入、其余抓取没有带回罐的画面一致，故第2罐终局成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右二指夹爪夹住白罐并从床面提起，保持夹持搬至桶口后张爪释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支撑床边取白罐及持罐返回桶边的行驶。"
+     }
+    ]
+   },
+   "cans_in_bucket_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 74.2,
+      "log_step": null,
+      "text_zh": "观察：视频 70–75.6 s 左夹爪伸向桶旁地面黄罐；视频 72.8–74.8 s 黄罐始终贴着地毯、位于指尖一侧，视频 74.2 s 夹爪合拢后仍为空夹，视频 75.2 s 抬臂没有带走黄罐。"
+     },
+     {
+      "t": 82.3,
+      "log_step": null,
+      "text_zh": "观察：视频 76–81.8 s 左末端到达桶的外侧，黄罐没有入桶；视频 82.0–83.3 s 左末端回撤时桶侧翻，黄罐仍在桶外地毯上。"
+     },
+     {
+      "t": 136.5,
+      "log_step": null,
+      "text_zh": "观察：视频 90.5–94.5 s 右夹爪在蓝罐旁合拢并离开，蓝罐仍躺在地毯上；视频 133.0–136.5 s 又在蓝罐附近合爪后离开，蓝罐仍留原处。视频 143.0–144.067 s 黄罐也仍在桶外，没有第三次带罐入桶的画面。"
+     },
+     {
+      "t": 144.067,
+      "log_step": null,
+      "text_zh": "推断：按同类罐的实际入桶数量计数，红、白两罐完成前两项后，后续地面罐的失败抓取均属于补第3罐，不能用脚本中的实例序号当作计数进度。评分器 q_score=1/3 只允许终局2个入桶关系，第3罐为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "左夹爪/末端在黄罐抓取失败后的移桶口、回撤动作中抵碰桶侧及桶沿，带动桶侧翻；黄罐未被包夹，实际接触项记此处的碰桶，不虚记成功抓罐。右夹爪随后对蓝罐的合拢也未夹走罐。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支撑机器人在桶旁及窗边地面罐附近行驶、调整工作位置，随后空手返回桶边。"
+     }
+    ]
+   },
+   "cans_in_bucket_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 144.067,
+      "log_step": null,
+      "text_zh": "推断：视频 0–144.067 s 仅观察到红罐（视频 39.5 s）与白罐（视频 65.5 s）两次成功入桶；视频 73–84 s 黄罐抓取、视频 90.5–94.5 s 及视频 133–136.5 s 蓝罐抓取均未带走地面罐。其后动作仍在补第3罐，并未建立可继续累计到第4罐的进度；评分器 q_score=1/3 也决定第4罐终局为假。"
+     }
+    ]
+   },
+   "cans_in_bucket_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 144.067,
+      "log_step": null,
+      "text_zh": "推断：视频 0–144.067 s 仅观察到红罐（视频 39.5 s）与白罐（视频 65.5 s）两次成功入桶；视频 73–84 s 黄罐抓取、视频 90.5–94.5 s 及视频 133–136.5 s 蓝罐抓取均未带走地面罐。其后动作仍在补第3罐，并未建立可继续累计到第5罐的进度；评分器 q_score=1/3 也决定第5罐终局为假。"
+     }
+    ]
+   },
+   "cans_in_bucket_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 144.067,
+      "log_step": null,
+      "text_zh": "推断：视频 0–144.067 s 仅观察到红罐（视频 39.5 s）与白罐（视频 65.5 s）两次成功入桶；视频 73–84 s 黄罐抓取、视频 90.5–94.5 s 及视频 133–136.5 s 蓝罐抓取均未带走地面罐。其后动作仍在补第3罐，并未建立可继续累计到第6罐的进度；评分器 q_score=1/3 也决定第6罐终局为假。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.3333333333333333,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cans_in_bucket_3",
+   "t": 74.2,
+   "log_step": 375,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 74.2–75.6 s 左夹爪在黄罐旁空夹、抬臂，黄罐仍在地面；视频 82.0–83.3 s 后续空手放罐/回撤动作还将桶碰倒。此后视频 90.5–94.5 s 及视频 133–136.5 s 对蓝罐的尝试也未带走罐，视频 144.067 s 结束时入桶数量仍为2。推断：DAG按数量计数，先前对橙罐的失败之后，第1、第2计数节点已由红、白罐完成；最早未能补齐且从未修复的是第3罐入桶。log step 375 是最终生成脚本，log step 381 核验交付文件为4323行动行，与视频4323帧相符；以上时间均直接取自视频。"
+  },
+  "unmet": {
+   "cans_in_bucket_1": true,
+   "cans_in_bucket_2": true,
+   "cans_in_bucket_3": false,
+   "cans_in_bucket_4": false,
+   "cans_in_bucket_5": false,
+   "cans_in_bucket_6": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 74.2,
+    "log_step": null,
+    "evidence_zh": "观察：视频 72.8–74.8 s 左腕视角中黄罐横卧在地毯��，夹爪在罐的一侧合拢；视频 75.2–75.6 s 抬臂仍为空夹，黄罐留在地面。没有建立搬运所需的包夹抓握；后续视频 133–136.5 s 右夹爪对蓝罐也未形成携罐离地的抓握。"
+   },
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 82.2,
+    "log_step": null,
+    "evidence_zh": "观察：视频 76–81.8 s 左夹爪/末端贴近桶外侧及桶沿，视频 82.0–83.3 s 回撤时桶随末端运动倾倒，白罐仍可见在桶内，黄罐在桶外地面；视频 84.5 s 后桶侧卧，此状态一直保留至视频 144.067 s。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 375,
+    "evidence_zh": "推断：log step 375 的最终脚本在 close_gripper 后仅调用 object_in_hand 并打印结果，不按该结果重抓或调整末端；随后无条件执行抬臂、返回及 drop_in_bucket，move_ee 的结果也未被检查。视频 74.2–83.3 s 显示空夹后仍继续空手放罐并碰桶，视频 133–136.5 s 再次空夹后也离开目标，支持抓取执行及失败反馈处理不足这一控制归因；没有足够数据进一步区分抓取几何与逆解/跟踪误差。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "没有状态日志，无法测量罐体速度是否精确低于0.05米/秒或确定接触力、夹爪对罐的微小接触；放稳及桶翻倒后的恢复时间由连续画面推断，约有0.5–1秒误差。视频 82.0–84.5 s 的静置中断由桶内罐随桶运动推断，落定后桶壁遮挡内部；终局2罐由放入前后画面与评分器总分共同确定。最终生成执行的逐动作返回值和持物检测输出未出现在所给日志中，故控制根因不细分，也不把会话内独立调试结果当作本次节点进度。"
+ },
+ "summary_zh": "按同类罐计数，机器人将红罐、白罐先后放入桶中，完成第1、第2罐节点；桶被碰倒时静置条件暂时失去，落定后恢复，终局2/6与评分器q_score=1/3一致。断点是第3罐入桶：左夹爪未夹起地面黄罐，仍继续放罐和回撤并碰倒桶，后续蓝罐抓取也未修复；最终脚本只打印持物检测而不纠偏，支持控制根因。无状态日志，桶内后段遮挡及精确静止阈值使恢复时间只能近似推断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "第1、2罐入桶（约39.5 s、65.5 s）与评分器q_score=1/3一致，第3罐断点、没建立接触、被挡/碰撞及控制根因均有视频和log step 375脚本支持，未发现需改内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:39:00Z",
+  "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-collecting-aluminum-cans-i00-privileged--gffkbnx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-aluminum-cans-i00-privileged--gffkbnx/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a8baae5eb8afbb72182b9d864445ae338e1d4e096493c43c3d2c5d791ab5b55e",
+   "video_sha256": "369a32039b749730ce9870634abdcaf9181af45e0f642b7d8761695e9559c420",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-privileged--kfrywzn.json

@@ -0,0 +1,337 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-collecting-aluminum-cans-i00-privileged--kfrywzn",
+ "taskKey": "behavior-1k/collecting_aluminum_cans",
+ "dag_sha256": "d65ba1638f1a51ef401ef21980d53b456855008912d4b14298be41ef3e677678",
+ "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": 6890,
+   "sim_breakdown": 0,
+   "goal": 1,
+   "settle_steps": 0,
+   "goal_first_step": 6853,
+   "sim_steps": 6890,
+   "fallen": 0,
+   "final_reward": 1.0,
+   "q_score": 1.0,
+   "replay_wall_s": 890.1,
+   "replay_timeout_s": 5793.3,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "video_replay_matches": 1,
+   "agent_sessions": 5,
+   "agent_resets": 0,
+   "agent_sim_steps": 6890,
+   "agent_records": 0,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-collecting-aluminum-cans-i00-privileged--kfrywzn/replay.mp4",
+  "duration_s": 229.667,
+  "fps": 30.0,
+  "frames": 6890,
+  "sha256": "306708fdf414ea8304a81c1ed0672048552154993791d19623f4f679d954c048"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 6,
+  "final": 6,
+  "nodes": {
+   "cans_in_bucket_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      28.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 28.0,
+      "log_step": null,
+      "text_zh": "观察：视频14.0–17.5 s的右腕视角显示桶旁地毯上的罐和空桶；视频18.0–26.5 s右夹爪夹持黄色罐，原地毯位置已空。视频27.0–27.5 s右夹爪张开，罐落入桶底并横躺；视频28.0–30.0 s罐在桶内不再明显移动，后续未见取出。"
+     },
+     {
+      "t": 229.63,
+      "log_step": 115,
+      "text_zh": "推断：按实际入桶数量计数，不按实例编号规定先后；结合上述释放前后画面，第1罐入桶约在视频28 s成立（视觉估时约±0.5 s）。评分器reward的success=1、q_score=1及video_replay_matches=1，log step 115的交付文件回放报告goal_held_steps=30、goal_objects_held=[]、goal_objects_moving=[]；结合视频229.63 s末帧，支持该计数条件在终态保持为真。无逐帧状态日志，精确速度阈值由成功验收结果支持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频18.0–26.5 s机器人右手二指夹爪从两侧夹住黄色汽水罐，视频27.0–27.5 s在桶口张开释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–14.0 s机器人轮式底盘移动到桶边地面罐的操作位置。"
+     }
+    ]
+   },
+   "cans_in_bucket_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      119.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 119.0,
+      "log_step": null,
+      "text_zh": "观察：视频90.0–96.0 s右腕视角显示机器人接近地面浅色罐，视频100.0–116.5 s双腕视角显示左夹爪持蓝罐、右夹爪持浅色罐随机器人搬运。视频118.0–118.5 s右夹爪张开，浅色罐落到先前黄色罐旁；视频119.0–122.0 s桶内这两罐位置稳定，左夹爪仍持蓝罐。"
+     },
+     {
+      "t": 229.63,
+      "log_step": 115,
+      "text_zh": "推断：按实际入桶数量计数，不按实例编号规定先后；结合上述释放前后画面，第2罐入桶约在视频119 s成立（视觉估时约±0.5 s）。评分器reward的success=1、q_score=1及video_replay_matches=1，log step 115的交付文件回放报告goal_held_steps=30、goal_objects_held=[]、goal_objects_moving=[]；结合视频229.63 s末帧，支持该计数条件在终态保持为真。无逐帧状态日志，精确速度阈值由成功验收结果支持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频100.0–116.5 s机器人左夹爪抓蓝罐、右夹爪抓浅色罐，各持一件共同搬运；视频118.0–118.5 s右爪释放本次计数的浅色罐，左爪仍保持抓握蓝罐。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频98.0–115.0 s机器人轮式底盘带着双手所持的浅色罐、蓝罐返回桶边。"
+     }
+    ]
+   },
+   "cans_in_bucket_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      127.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 127.0,
+      "log_step": null,
+      "text_zh": "观察：视频70.0–72.5 s左腕视角显示地面蓝罐被左夹爪夹住抬起，原处不再留罐；视频90.0–116.5 s机器人双手各持一罐搬运。视频125.5–126.5 s左夹爪在桶口释放蓝罐，视频127.0–127.5 s桶内可见蓝色、黄色及浅色三罐，夹爪已离开罐体，三罐无明显移动。"
+     },
+     {
+      "t": 229.63,
+      "log_step": 115,
+      "text_zh": "推断：按实际入桶数量计数，不按实例编号规定先后；结合上述释放前后画面，第3罐入桶约在视频127 s成立（视觉估时约±0.5 s）。评分器reward的success=1、q_score=1及video_replay_matches=1，log step 115的交付文件回放报告goal_held_steps=30、goal_objects_held=[]、goal_objects_moving=[]；结合视频229.63 s末帧，支持该计数条件在终态保持为真。无逐帧状态日志，精确速度阈值由成功验收结果支持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频90.0–116.5 s机器人左夹爪抓蓝罐、右夹爪抓浅色罐配合搬运；右爪先释放浅色罐，视频125.5–126.5 s左爪再释放本次计数的蓝罐。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频76.0–90.0 s机器人轮式底盘带着左手蓝罐移动去取另一地面罐，视频98.0–115.0 s带着两罐返回桶边。"
+     }
+    ]
+   },
+   "cans_in_bucket_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      181.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 181.0,
+      "log_step": null,
+      "text_zh": "观察：视频147.0–150.5 s右夹爪夹住并抬起床上红罐，床上原位置已空；视频159.0–175.0 s左右夹爪分别持白罐和红罐搬运。视频179.5–180.5 s右夹爪在桶口张开，红罐落在原有三罐旁，视频181.0–184.0 s桶内四罐无明显移动。"
+     },
+     {
+      "t": 229.63,
+      "log_step": 115,
+      "text_zh": "推断：按实际入桶数量计数，不按实例编号规定先后；结合上述释放前后画面，第4罐入桶约在视频181 s成立（视觉估时约±0.5 s）。评分器reward的success=1、q_score=1及video_replay_matches=1，log step 115的交付文件回放报告goal_held_steps=30、goal_objects_held=[]、goal_objects_moving=[]；结合视频229.63 s末帧，支持该计数条件在终态保持为真。无逐帧状态日志，精确速度阈值由成功验收结果支持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频165.0–175.0 s机器人左夹爪抓白罐、右夹爪抓红罐配合搬运；视频179.5–180.5 s右爪释放本次计数的红罐，左爪继续抓白罐。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频165.0–175.0 s机器人轮式底盘带着双手所持的红罐、白罐由床边返回桶边。"
+     }
+    ]
+   },
+   "cans_in_bucket_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      189.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 189.0,
+      "log_step": null,
+      "text_zh": "观察：视频155.0–163.0 s左夹爪靠近并夹住床上白罐，视频165.0–175.0 s白罐离开床面随左臂搬运，右夹爪同时持红罐。视频188.0 s白罐仍在左夹爪中，视频188.5 s已落入桶内并横躺在其余罐上；视频189.0–190.5 s五罐无明显移动，夹爪未再带出罐。"
+     },
+     {
+      "t": 229.63,
+      "log_step": 115,
+      "text_zh": "推断：按实际入桶数量计数，不按实例编号规定先后；结合上述释放前后画面，第5罐入桶约在视频189 s成立（视觉估时约±0.5 s）。评分器reward的success=1、q_score=1及video_replay_matches=1，log step 115的交付文件回放报告goal_held_steps=30、goal_objects_held=[]、goal_objects_moving=[]；结合视频229.63 s末帧，支持该计数条件在终态保持为真。无逐帧状态日志，精确速度阈值由成功验收结果支持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频165.0–175.0 s机器人左夹爪抓白罐、右夹爪抓红罐配合搬运；右爪先释放红罐，视频188.0–188.5 s左爪再释放本次计数的白罐。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频165.0–175.0 s机器人轮式底盘带着双手所持的白罐、红罐由床边返回桶边。"
+     }
+    ]
+   },
+   "cans_in_bucket_6": {
+    "method": "visual",
+    "intervals": [
+     [
+      228.75,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 228.75,
+      "log_step": null,
+      "text_zh": "观察：视频202.0–209.5 s左夹爪接近并夹住床上最后的橙色罐，随后原床面位置已空；视频224.0–228.0 s左夹爪持橙罐到桶口。视频228.25 s夹爪已松开，橙罐落入桶内，视频228.5–228.75 s横躺后停止明显运动；视频229.0、229.25、229.5及229.63 s末帧仍显示六罐留在桶中，双爪未持罐。"
+     },
+     {
+      "t": 229.63,
+      "log_step": 115,
+      "text_zh": "推断：按实际入桶数量计数，不按实例编号规定先后；结合上述释放前后画面，第6罐入桶约在视频228.75 s成立（视觉估时约±0.5 s）。评分器reward的success=1、q_score=1及video_replay_matches=1，log step 115的交付文件回放报告goal_held_steps=30、goal_objects_held=[]、goal_objects_moving=[]；结合视频229.63 s末帧，支持该计数条件在终态保持为真。无逐帧状态日志，精确速度阈值由成功验收结果支持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频208.0–228.0 s机器人左手二指夹爪从两侧夹住橙色汽水罐，视频228.25 s在桶口张开释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频215.0–220.0 s机器人轮式底盘带着左手橙罐由床边返回桶边。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 1.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人先收集地面三罐，再收集床上三罐，六个计数节点全部达成，视频229.63 s末帧仍全部留在桶内。评分器success=1、q_score=1且交付回放一致，log step 115的回放报告确认已释放、静止并满足30控制步联合验收，无未修复的失败断点。无逐帧状态日志，节点时间按释放及稳定画面近似判定，速度阈值与联合保持窗口由成功验收结果支持。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，六个入桶节点时间与视频释放画面一致（28、119、127、181、189、228.75 s），final=6与q_score=1相符，接触标注合理，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": "2026-10-30T21:23:39Z",
+  "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-collecting-aluminum-cans-i00-privileged--kfrywzn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-aluminum-cans-i00-privileged--kfrywzn/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bf0bc3a7274657ff3051a177128cbaa41252d67e1010d99361f286914d742f10",
+   "video_sha256": "306708fdf414ea8304a81c1ed0672048552154993791d19623f4f679d954c048",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-privileged--pnfrtth.json

@@ -0,0 +1,338 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-collecting-aluminum-cans-i00-privileged--pnfrtth",
+ "taskKey": "behavior-1k/collecting_aluminum_cans",
+ "dag_sha256": "d65ba1638f1a51ef401ef21980d53b456855008912d4b14298be41ef3e677678",
+ "outcome": {
+  "success": 0,
+  "reward": 0.6666666666666666,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 4025,
+   "sim_steps": 4025,
+   "fallen": 0,
+   "final_reward": 0.6666666666666666,
+   "q_score": 0.6666666666666666,
+   "replay_wall_s": 1089.0,
+   "replay_timeout_s": 3883.3,
+   "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": 0,
+   "peak_gpu_memory_gb": 8.618,
+   "peak_memory_gb": 8.895,
+   "peak_processes": 23,
+   "peak_disk_gb": 0.349,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-collecting-aluminum-cans-i00-privileged--pnfrtth/replay.mp4",
+  "duration_s": 134.167,
+  "fps": 30.0,
+  "frames": 4025,
+  "sha256": "6085ad81ea2ba64c43e069ce0fca7b11fed5d624800834a14178021757c3416a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "cans_in_bucket_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      48.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 48.5,
+      "log_step": null,
+      "text_zh": "观察：视频 30.5–36.5 s 左夹爪夹住床上的浅色罐，罐离开床面并随机器人搬运；视频 47.5–50.5 s 左夹爪在桶口张开，浅色罐落在桶底并保持，视频 48.5 s 腕视图可见第一个桶内罐。视频 0–15.5 s 的桶旁抓取未将地面罐带入桶，视频 13 s 桶底仍空。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "视频 30.5–50.5 s 左二指夹爪夹持浅色床上罐，运至桶口后释放；同期右夹爪携带另一红罐。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人从床边携罐驶回桶边。"
+     }
+    ]
+   },
+   "cans_in_bucket_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      55.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 55.5,
+      "log_step": null,
+      "text_zh": "观察：视频 23.5–27 s 右夹爪夹持红色床上罐，原床面位置随后空出；视频 53.5–55.5 s 右夹爪将红罐送入桶并张开，红罐与此前浅色罐一起留在桶内。视频 80.5–82.5 s 和视频 126.5–129 s 仍可见这些桶内物。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "右二指夹爪夹持红色床上罐；左夹爪随后携另一浅色罐共同搬运，先由左手放浅色罐、再由右手放红罐。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人携两只罐从床边驶回桶边。"
+     }
+    ]
+   },
+   "cans_in_bucket_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      81,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 81,
+      "log_step": null,
+      "text_zh": "观察：视频 65–69 s 右夹爪夹住橙色床上罐并带离床面；视频 79.5–80.5 s 持罐进入桶口并松手，视频 81–82.5 s 橙罐横卧桶内，与浅色罐、红罐一起静置；后续未见这三罐被取出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右二指夹爪从床面夹起橙色罐，搬运至桶口并释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人从床边携橙罐驶回桶边。"
+     }
+    ]
+   },
+   "cans_in_bucket_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      133.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 133.5,
+      "log_step": null,
+      "text_zh": "推断：视频 92.5–95 s 机器人在另一地面罐处完成左臂取物动作，视频 128–134.1 s 左臂返回桶口完成末次放罐动作，但左腕视图被机器人构件近距离遮住，不能逐帧看清释放。已直接观察三只床上罐入桶；视频 7.8–15 s 的桶旁罐及视频 109.8–114.5 s 的窗边地面罐均未被带走，评分器最终 q_score=4/6，结合末次��臂放入过程，推断第四只来自该左臂搬运；以视频 133.5 s 为约略完成锚点，误差约1秒。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "未知",
+      "note_zh": "视频 92.5–95 s 左夹爪接近地面罐，视频 128–134.1 s 左臂送至桶口；腕视图被机器人构件遮挡，不能直接分辨夹持及释放细节。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人从地面取罐区驶回桶边，完成左臂放罐动作。"
+     }
+    ]
+   },
+   "cans_in_bucket_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.8,
+      "log_step": null,
+      "text_zh": "观察：视频 5–7.8 s 右夹爪在桶旁黄褐色地面罐处闭合后抬走，罐仍留在桶外原处；视频 11–14.5 s 右臂执行空手入桶动作，视频 13 s 腕视图显示桶底为空；视频 129–134.1 s 桶外同一侧仍有该罐。"
+     },
+     {
+      "t": 134.1,
+      "log_step": null,
+      "text_zh": "推断：前四项按实际满足入桶关系的数量分配，不按实例编号分配；两个未完成地面罐中，将最早未修复的桶旁罐尝试记在第5项。评分器 q_score=4/6，六个目标初始均不成立，因此最终不可能满足至少5罐入桶。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "未知",
+      "note_zh": "右夹爪在桶旁黄褐色罐处闭合，但未带走罐；低分辨率腕视图不能确认是否短暂碰到罐壁，不标成功抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人驶到桶旁地面罐前，并调整底盘位置执行放入尝试。"
+     }
+    ]
+   },
+   "cans_in_bucket_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 110.6,
+      "log_step": null,
+      "text_zh": "观察：视频 107.8–109.6 s 右夹爪向窗边浅色地面罐下降并闭合，视频 109.8–111.2 s 夹爪上移时该罐的银色顶面仍留在地毯上；视频 112–114.5 s 头部视角继续可见罐留在原区域，右腕视角为空。视频 125–129 s 的右臂入桶动作没有新增可见罐。"
+     },
+     {
+      "t": 134.1,
+      "log_step": 126,
+      "text_zh": "推断：第6项始终未满足；评分器最终 q_score=4/6 也排除六罐全部入桶。末次左臂放入仅可能补至4罐，不能将交互测试的六罐成功结果移用到评分回放。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "未知",
+      "note_zh": "右夹爪接近窗边浅色地面罐并闭合，随后空手抬走；可见罐没有随夹爪离地，接触细节不足以判为抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人驶至窗边地面罐处尝试抓取，并返回桶边执行空手放入动作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.6666666666666666,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cans_in_bucket_5",
+   "t": 7.8,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 5–7.8 s 机器人右夹爪尝试拾取桶旁黄褐色地面罐，却空手抬走；视频 13 s 桶仍空，视频 129–134.1 s 该罐仍在桶外，后续没有回收。推断：这是最早未修复的具体罐收集失败；DAG按数量计数，后来四罐满足前四项，故未完成阈值中的第5项承载此断点，而不是固定把第一次尝试绑定第1项。"
+  },
+  "unmet": {
+   "cans_in_bucket_1": true,
+   "cans_in_bucket_2": true,
+   "cans_in_bucket_3": true,
+   "cans_in_bucket_4": true,
+   "cans_in_bucket_5": false,
+   "cans_in_bucket_6": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 7.8,
+    "log_step": null,
+    "evidence_zh": "观察：视频 5–7.8 s 右夹爪闭合并抬起后，黄褐色罐仍在桶旁地面；视频 11–14.5 s 右夹爪伸入桶中但未携罐，桶内没有罐落下。推断：没有建立能将该罐带离地面的有效抓持；仅靠近和闭爪不计为抓握成功。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "交付",
+    "item": "交付操作出错",
+    "source_zh": "日志 / 评分器字段",
+    "evidence_zh": "观察：log step 11 自编 save_ckpt/load_ckpt 保存并恢复物理快照与动作列表，恢复时先释放辅助抓取，但没有用所保存的 ag_in_hand/ag_params 重建抓取约束；log steps 61、78、83、116、120 通过多次 load_ckpt 继续录制，log step 122 明确显示恢复 after_6cans_held，动作列表长3388。log step 126 直接将累计4025条动作保存为提交文件，交互状态显示 success=True、q_score=1；评分器却对同样4025条动作给出 success=0、q_score=4/6、deterministic=1、agent_replays=0，且视频 7.8–14.5 s、109.8–114.5 s 显示空抓。推断：agent交付的是跨快照恢复拼接且未经整段回放核验的动作序列，交互成功状态不能保证此文件从初态重放能复现，属于交付验收操作出错。"
+   }
+  ],
+  "gap_zh": "无状态日志，不能核对辅助抓取、精确速度或逐罐inside谓词。左腕视图在视频 95–134.1 s 大段被机器人构件遮住；第四罐的末次释放与静止时间只能由左臂动作、其余罐去向及评分器4/6合并推断，视频 133.5 s 为约略锚点。视频显示两次地面空抓，但没有力或关节跟踪数据，不能确定具体抓取控制子因；跨检查点恢复对每次空抓的影响也无法逐一分离。log step 127 的提供商过滤发生于 log step 126 已保存提交之后，不把它当作此次物理失败的原因。"
+ },
+ "summary_zh": "评分回放完成约4/6：三只床上罐的释放入桶直接可见，末次左臂放入的第四罐由动作过程及评分器4/6推断。最早未修复的是桶旁地面罐空抓，另一窗边地面罐也未被带走；按数量节点将断点记为第5罐入桶，交付动作跨检查点恢复拼接且未整段回放核验，交互测试的六罐成功没有复现。无状态日志，第四罐释放时刻及失败抓取的具体控制原因存在可见性缺口。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "抽查视频 8 s、114 s、134 s 帧，桶旁黄罐留在桶外、窗边罐未带走，与标注一致；q_score=4/6 约束 final=4，断点、现象和根因有证据支持，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": "2026-10-30T21:30:46Z",
+  "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-collecting-aluminum-cans-i00-privileged--pnfrtth/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-aluminum-cans-i00-privileged--pnfrtth/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c8a62413b3fa921235e65b5d814d36020c7d6c0804a9482a96c008c4162b73fe",
+   "video_sha256": "6085ad81ea2ba64c43e069ce0fca7b11fed5d624800834a14178021757c3416a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-privileged--stzj8vj.json

@@ -0,0 +1,278 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-collecting-aluminum-cans-i00-privileged--stzj8vj",
+ "taskKey": "behavior-1k/collecting_aluminum_cans",
+ "dag_sha256": "d65ba1638f1a51ef401ef21980d53b456855008912d4b14298be41ef3e677678",
+ "outcome": {
+  "success": 0,
+  "reward": 0.3333333333333333,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 1830,
+   "sim_steps": 1830,
+   "final_reward": 0.3333333333333333,
+   "q_score": 0.3333333333333333,
+   "replay_wall_s": 616.7,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 35,
+   "agent_resets": 0,
+   "agent_sim_steps": 47588,
+   "agent_records": 28,
+   "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-collecting-aluminum-cans-i00-privileged--stzj8vj/replay.mp4",
+  "duration_s": 61.0,
+  "fps": 30.0,
+  "frames": 1830,
+  "sha256": "4550e586e927fdcb2d26d900cf3015363fdef3720c82cd6b2d0aa6a257a3ed59"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "cans_in_bucket_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      13.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频 3.0 s 左腕视角可见空桶；视频 3.5–4.5 s 左夹爪从桶旁地面夹起黄色罐，罐离开原处并随夹爪抬起。"
+     },
+     {
+      "t": 13.0,
+      "log_step": null,
+      "text_zh": "推断：视频 12.25 s 黄色罐仍被左夹爪夹持，视频 12.5 s 夹爪张开、罐向桶内落下；视频 14.5–15.75 s 桶内可见该罐且位置稳定，故将首次松手静置入桶记为约视频 13.0 s，落稳时刻约有 0.5–1 s 不确定性。"
+     },
+     {
+      "t": 52.5,
+      "log_step": null,
+      "text_zh": "观察：视频 49.0–52.5 s 桶内保留黄色罐及后来放入的蓝色罐，机器人随后空手离桶；未见桶翻倒或罐离桶。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 3.5–12.25 s 左二指夹爪夹持黄色罐，视频 12.5 s 在桶上方张开释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–3.5 s 底盘驶向桶旁地面罐，视频 6–9.5 s 持罐调整底盘位置和朝向以靠近放入口。"
+     }
+    ]
+   },
+   "cans_in_bucket_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      46.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：视频 23 s 蓝色罐仍在地面；视频 24–28 s 右夹爪围住罐，视频 29–31 s 罐离开地面并随右夹爪抬起、运输。"
+     },
+     {
+      "t": 46.5,
+      "log_step": null,
+      "text_zh": "推断：视频 45.75 s 蓝色罐仍夹在右夹爪中且位于桶口上方，视频 46.0 s 夹爪张开、罐进入桶中；视频 49.0–52.5 s 桶内两罐保持稳定，首次两罐松手静置取约视频 46.5 s，约有 0.5–1 s 不确定性。"
+     },
+     {
+      "t": 60.966,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0.3333333333333333，即六个初始均未满足的入桶目标中最终满足两个；结合视频两次完整放罐及此后无取回或翻桶动作，最终第1、2个计数节点为真。视频 60.966 s 桶已在视野外。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 24–45.75 s 右二指夹爪夹持蓝色罐，视频 46.0 s 在桶上方松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 16–23 s 底盘驶向第二只地面罐，视频 29–43 s 底盘载着右夹爪所持蓝色罐返回桶旁。"
+     }
+    ]
+   },
+   "cans_in_bucket_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 60.5,
+      "log_step": 383,
+      "text_zh": "观察：视频 53–59.5 s 机器人空手离桶并驶到床与椅子附近，视频 60.0–60.966 s 停留在取物位置，夹爪内没有罐，未出现第三次拿起或入桶。log step 383 记录相同前两罐运输、到第三只地面罐位置后双臂逆解均失败，并保存 1830 个动作，与评分器 n_actions=1830 及视频长度 61.0 s 相符。"
+     },
+     {
+      "t": 60.966,
+      "log_step": null,
+      "text_zh": "推断：全片仅两次罐入桶，评分器 q_score=2/6 将最终合格罐数限定为两个，因此第3罐入桶为假；未用日志中其他试验的罐6成功自述作为本段进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 53–59.5 s 底盘空手驶向第三只地面罐的取物位置；视频末段未见夹爪接触该罐，故不标抓握。"
+     }
+    ]
+   },
+   "cans_in_bucket_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 60.966,
+      "log_step": null,
+      "text_zh": "推断：视频 0–60.966 s 只发生黄色罐和蓝色罐两次入桶，机器人随后前往第三只地面罐，尚未搬运床上其余三罐；评分器 q_score=2/6 决定最终不足4罐，故第4罐入桶为假。"
+     }
+    ]
+   },
+   "cans_in_bucket_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 60.966,
+      "log_step": null,
+      "text_zh": "推断：视频 0–60.966 s 只发生黄色罐和蓝色罐两次入桶，机器人随后前往第三只地面罐，尚未搬运床上其余三罐；评分器 q_score=2/6 决定最终不足5罐，故第5罐入桶为假。"
+     }
+    ]
+   },
+   "cans_in_bucket_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 60.966,
+      "log_step": null,
+      "text_zh": "推断：视频 0–60.966 s 只发生黄色罐和蓝色罐两次入桶，机器人随后前往第三只地面罐，尚未搬运床上其余三罐；评分器 q_score=2/6 决定最终不足6罐，故第6罐入桶为假。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.3333333333333333,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cans_in_bucket_3",
+   "t": 60.5,
+   "log_step": 383,
+   "where": "操作中",
+   "evidence_zh": "推断：视频约 60.5 s 机器人已到第三只罐的取物位置，但空夹爪没有进一步接近目标，随后交付结束。log step 383 的 1830 动作保存记录与本次评分动作数一致，记录机器人在此处对 can__of__soda.n.01_6 的预抓取逆解失败并终止；此前两次放罐已完成，没有更早未修复的入桶失败。"
+  },
+  "unmet": {
+   "cans_in_bucket_1": true,
+   "cans_in_bucket_2": true,
+   "cans_in_bucket_3": false,
+   "cans_in_bucket_4": false,
+   "cans_in_bucket_5": false,
+   "cans_in_bucket_6": false
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "evidence_zh": "推断：log step 383 记录前两罐完成后，到第三只地面罐位置的预抓取目标 [-1.996,-4.377,0.299] 在左右臂 cuRobo 求解中均返回 no IK solution，备用无状态逆解的位置残差约 0.09–0.12 m，未执行抓取即保存 1830 个动作。该长度和先后动作与评分视频吻合；log step 396–397 所读取的另一轮试验记录则显示同一罐曾从同一目标工位被右臂抓起并放桶，支持问题在本轮手臂配置下的逆解求解，而非罐本身不可抓。视频 59.5–60.966 s 空夹爪停留于目标区域，未继续抓取。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "未提供状态日志；罐下落后短时被桶壁及腕部视角边缘遮挡，入桶落稳时间由释放前后画面估计，无法直接核对 0.05 m/s 阈值。视频最后一秒显示空夹爪停留，但第三只罐和夹爪的相对几何未在同一清晰画面中完整显露，也未出现实际伸手失败动作；逆解报错作为根因证据，不能据此虚构视频中的够不着或空夹等失败现象，故现象层留空。log step 404–414 是后续尚在运行的 gen15 试验，没有完成保存或回放记录，不能替代本次已评分的 1830 动作交付。"
+ },
+ "summary_zh": "机器人依次用左、右夹爪将两只地面罐放入桶内，约视频 13.0 s 和 46.5 s 达到第1、2罐入桶，最终为 2/6，与评分器 q_score=1/3 一致。断点为第3罐入桶：机器人到取物位置后未继续抓取，对应保存日志显示双臂预抓取逆解失败。没有状态日志，落稳时间为视觉估计；末段缺少可见的失败接触动作，因此失败现象留空。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "第1、2罐入桶时间（约视频 13.0 s、46.5 s）与帧一致（12 s 罐在夹爪、13 s 已离开；46 s 前后同理），final 与 q_score=2/6 相符，断点在第3罐，逆解根因有日志支撑，现象层留空并有 gap_zh。未发现需改动的错误；末段 55–61 s 的画面（朝向天花板/窗户、近景地毯）未能进一步核对，故置信度中等。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:42:25Z",
+  "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-collecting-aluminum-cans-i00-privileged--stzj8vj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-aluminum-cans-i00-privileged--stzj8vj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "96c6bcef19f6b092f07fe6316791a16efa33b784b030b41572163900a74627a2",
+   "video_sha256": "4550e586e927fdcb2d26d900cf3015363fdef3720c82cd6b2d0aa6a257a3ed59",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-privileged--vgcmbq8.json

@@ -0,0 +1,294 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-collecting-aluminum-cans-i00-privileged--vgcmbq8",
+ "taskKey": "behavior-1k/collecting_aluminum_cans",
+ "dag_sha256": "d65ba1638f1a51ef401ef21980d53b456855008912d4b14298be41ef3e677678",
+ "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": 4947,
+   "sim_steps": 4947,
+   "fallen": 1,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1291.6,
+   "replay_timeout_s": 4498.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 4,
+   "agent_resets": 22,
+   "agent_sim_steps": 11141,
+   "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-collecting-aluminum-cans-i00-privileged--vgcmbq8/replay.mp4",
+  "duration_s": 164.9,
+  "fps": 30.0,
+  "frames": 4947,
+  "sha256": "31a455d432dc9f596b2f4d17ce25841c5e641c07f2e6207f62893b8e2fcd61e2"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "cans_in_bucket_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.5,
+      "log_step": null,
+      "text_zh": "观察：视频7.0–24.0 s左腕视角反复接近床上的橙罐；视频21.5–22.5 s可见夹爪空合，随后再张开靠近。视频55.0 s橙罐仍在床面，机器人没有携罐转向桶。"
+     },
+     {
+      "t": 64.8,
+      "log_step": null,
+      "text_zh": "观察：视频64.2–64.8 s机器人左夹爪靠近床头红罐，红罐在床面被碰倒、横移；视频84.0–88.0 s夹爪抬开时红罐仍躺在床上。视频114.0 s也可见橙罐仍在床上，没有出现罐从床面被带到桶内的过程。"
+     },
+     {
+      "t": 155.1,
+      "log_step": 199,
+      "text_zh": "观察：视频155.1 s起头部画面剧烈倾斜，机器人翻倒；视频164.8 s仍侧倒。log step 199核对最终保存文件为4947行，生成器状态为success=False、fallen=True、q_score=0，与评分器字段及视频末段相符。"
+     },
+     {
+      "t": 164.8,
+      "log_step": null,
+      "text_zh": "推断：评分器q_score=0，DAG的六个inside目标初态均不成立，因此结束时桶中合格罐数为0，第1罐入桶final=false；全片未见携罐到桶口并释放的过程，故不记曾达成区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频64.2–64.8 s左夹爪触动床上红罐，使其倒下并移动；随后罐仍留在床面，未见夹爪相向夹住并提起罐。多次取不同罐均未形成首个入桶结果，按计数节点统一记在第1罐的尝试中。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频1.3–7.0 s机器人底盘驶近床边，视频55.5–64.0 s空手移向床头另一罐；其后底盘继续调整机器人相对床面的位置。"
+     }
+    ]
+   },
+   "cans_in_bucket_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 114.0,
+      "log_step": null,
+      "text_zh": "观察：视频7.0–55.0 s、视频64.0–111.0 s及视频114.0–154.0 s机器人均在床边伸夹爪，床面罐未被带往桶；视频155.1–164.8 s机器人翻倒。全片未见第2罐入桶所需的累计放入过程。"
+     },
+     {
+      "t": 164.8,
+      "log_step": null,
+      "text_zh": "推断：评分器q_score=0且六个inside目标初态均不成立，最终合格入桶数为0，故至少2罐入桶为false；结合视频中没有成功转运，intervals为空。"
+     }
+    ]
+   },
+   "cans_in_bucket_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 114.0,
+      "log_step": null,
+      "text_zh": "观察：视频7.0–55.0 s、视频64.0–111.0 s及视频114.0–154.0 s机器人均在床边伸夹爪，床面罐未被带往桶；视频155.1–164.8 s机器人翻倒。全片未见第3罐入桶所需的累计放入过程。"
+     },
+     {
+      "t": 164.8,
+      "log_step": null,
+      "text_zh": "推断：评分器q_score=0且六个inside目标初态均不成立，最终合格入桶数为0，故至少3罐入桶为false；结合视频中没有成功转运，intervals为空。"
+     }
+    ]
+   },
+   "cans_in_bucket_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 114.0,
+      "log_step": null,
+      "text_zh": "观察：视频7.0–55.0 s、视频64.0–111.0 s及视频114.0–154.0 s机器人均在床边伸夹爪，床面罐未被带往桶；视频155.1–164.8 s机器人翻倒。全片未见第4罐入桶所需的累计放入过程。"
+     },
+     {
+      "t": 164.8,
+      "log_step": null,
+      "text_zh": "推断：评分器q_score=0且六个inside目标初态均不成立，最终合格入桶数为0，故至少4罐入桶为false；结合视频中没有成功转运，intervals为空。"
+     }
+    ]
+   },
+   "cans_in_bucket_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 114.0,
+      "log_step": null,
+      "text_zh": "观察：视频7.0–55.0 s、视频64.0–111.0 s及视频114.0–154.0 s机器人均在床边伸夹爪，床面罐未被带往桶；视频155.1–164.8 s机器人翻倒。全片未见第5罐入桶所需的累计放入过程。"
+     },
+     {
+      "t": 164.8,
+      "log_step": null,
+      "text_zh": "推断：评分器q_score=0且六个inside目标初态均不成立，最终合格入桶数为0，故至少5罐入桶为false；结合视频中没有成功转运，intervals为空。"
+     }
+    ]
+   },
+   "cans_in_bucket_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 114.0,
+      "log_step": null,
+      "text_zh": "观察：视频7.0–55.0 s、视频64.0–111.0 s及视频114.0–154.0 s机器人均在床边伸夹爪，床面罐未被带往桶；视频155.1–164.8 s机器人翻倒。全片未见第6罐入桶所需的累计放入过程。"
+     },
+     {
+      "t": 164.8,
+      "log_step": null,
+      "text_zh": "推断：评分器q_score=0且六个inside目标初态均不成立，最终合格入桶数为0，故至少6罐入桶为false；结合视频中没有成功转运，intervals为空。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cans_in_bucket_1",
+   "t": 21.5,
+   "log_step": 193,
+   "where": "操作中",
+   "evidence_zh": "观察：视频21.5–22.5 s机器人左夹爪空合，视频55.0 s橙罐仍在床面，随后机器人空手离开并换试床头罐。log step 193的最终生成日志记录首罐GRASP FAILED (None)后驶向下一罐；视频后续仍无罐入桶，视频155.1 s起机器人翻倒。因此最早未修复的是第1罐入桶，时间锚取首次清楚可见的空合处。"
+  },
+  "unmet": {
+   "cans_in_bucket_1": false,
+   "cans_in_bucket_2": false,
+   "cans_in_bucket_3": false,
+   "cans_in_bucket_4": false,
+   "cans_in_bucket_5": false,
+   "cans_in_bucket_6": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 21.5,
+    "log_step": 193,
+    "evidence_zh": "观察：视频21.5–22.5 s左夹爪空合，视频55.0 s橙罐仍在床面；视频64.2–64.8 s夹爪虽触动红罐，但视频84.0–88.0 s抬爪后红罐仍在床上，未建立能提罐的夹持。log step 193的最终生成日志也记录no grasp (None)及GRASP FAILED。"
+   },
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 155.1,
+    "log_step": 199,
+    "evidence_zh": "观察：视频154.8–156.0 s机器人头部视角迅速侧转并朝向天花板，视频156.0–164.8 s持续歪倒、未恢复直立；评分器fallen=1，log step 199最终保存轨迹的状态同为fallen=True。翻倒终止了仍未完成的首罐收集。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "log_step": 193,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 180的reach实现对返回的手臂逆解直接执行，再用底盘校正残差；log step 191增加下降高度搜索后生成最终交付。该生成过程的log step 193仍记录夹爪位置[-0.575,0.392,0.617]、罐位置[-0.571,0.383,0.533]，随后no grasp与GRASP FAILED，且底盘校正被阻、末端残差0.078 m。结合视频21.5–22.5 s空合和视频55.0 s罐留床面，表明执行的末端轨迹/逆解未到达能夹起罐的位置；没有据此认定所有合法抓取方案不可行。"
+   }
+  ],
+  "gap_zh": "未提供状态日志；头部视角经常抬向天花板，腕部视角不能持续看清桶内，故末态0罐同时依据评分器q_score=0推断，无法逐帧核验罐速度或接触力。翻倒可见，但其具体碰撞部位与躯干力矩机制不能由画面及现有记录核实；log step 205关于力矩饱和的解释属于agent自述，未作为已验证根因。参考成功视频只用于辨识入桶及释放的可见线索。"
+ },
+ "summary_zh": "评分轨迹反复在床边取罐，夹爪空合或推倒罐，未见成功携罐送入桶中，六个计数节点均未达成；评分器q_score=0也确定最终为0/6。断点为第1罐入桶：末端轨迹/逆解未实现有效夹持，随后机器人在视频约155.1 s翻倒并以fallen=1结束。无状态日志且桶内长期不在视野中，精确接触力和翻倒机制无法核验；日志中的较早单罐成功测试不属于此次交付。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "六个计数节点均为false与q_score=0、视频中无携罐入桶相符；断点（第1罐入桶，操作中）、没建立接触、翻倒平衡及轨迹/逆解根因均有视频或日志支持，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:19:41Z",
+  "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-collecting-aluminum-cans-i00-privileged--vgcmbq8/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-aluminum-cans-i00-privileged--vgcmbq8/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "25250bf69c281b54f70868907a15afda4cb7e8eeb083f6ea2096b9af8411d188",
+   "video_sha256": "31a455d432dc9f596b2f4d17ce25841c5e641c07f2e6207f62893b8e2fcd61e2",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-standard--cbc6pcf.json

@@ -0,0 +1,306 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-collecting-aluminum-cans-i00-standard--cbc6pcf",
+ "taskKey": "behavior-1k/collecting_aluminum_cans",
+ "dag_sha256": "d65ba1638f1a51ef401ef21980d53b456855008912d4b14298be41ef3e677678",
+ "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": 735,
+   "sim_steps": 735,
+   "physics_steps": 2940,
+   "steps": 735,
+   "elapsed_s": 760.4,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-collecting-aluminum-cans-i00-standard--cbc6pcf/replay.mp4",
+  "duration_s": 24.5,
+  "fps": 30.0,
+  "frames": 735,
+  "sha256": "9f84c0055cf3c20d29c135e56c257725f6c3cd1afb6836c0bd3a59183051d229"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "cans_in_bucket_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0–24.47 s 的连续过程抽帧及视频 4.0–5.0 s、23.5–24.47 s 密集帧中，机器人先转动观察卧室，随后反复倾翻；可见汽水罐仍在床面或地面，未见夹爪携罐到桶口并释放，未出现第1罐入桶的过程。"
+     },
+     {
+      "t": 24.47,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器 reward.q_score=0.0、live_matches_replay=1；DAG 的六个入桶关系初态均不成立，故终态合格罐数为0，第1罐入桶为假，与视频中无放入动作一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 2.0–4.4 s，机器人以轮式底盘支撑并原地转动、前移来探索卧室；随后底盘多次平移、旋转以尝试恢复姿态。未见夹爪夹住汽水罐，不标抓握。"
+     }
+    ]
+   },
+   "cans_in_bucket_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0–24.47 s 的连续过程抽帧及视频 4.0–5.0 s、23.5–24.47 s 密集帧中，机器人先转动观察卧室，随后反复倾翻；可见汽水罐仍在床面或地面，未见夹爪携罐到桶口并释放，未出现第2罐入桶的过程。"
+     },
+     {
+      "t": 24.47,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器 reward.q_score=0.0、live_matches_replay=1；DAG 的六个入桶关系初态均不成立，故终态合格罐数为0，第2罐入桶为假，与视频中无放入动作一致。"
+     }
+    ]
+   },
+   "cans_in_bucket_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0–24.47 s 的连续过程抽帧及视频 4.0–5.0 s、23.5–24.47 s 密集帧中，机器人先转动观察卧室，随后反复倾翻；可见汽水罐仍在床面或地面，未见夹爪携罐到桶口并释放，未出现第3罐入桶的过程。"
+     },
+     {
+      "t": 24.47,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器 reward.q_score=0.0、live_matches_replay=1；DAG 的六个入桶关系初态均不成立，故终态合格罐数为0，第3罐入桶为假，与视频中无放入动作一致。"
+     }
+    ]
+   },
+   "cans_in_bucket_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0–24.47 s 的连续过程抽帧及视频 4.0–5.0 s、23.5–24.47 s 密集帧中，机器人先转动观察卧室，随后反复倾翻；可见汽水罐仍在床面或地面，未见夹爪携罐到桶口并释放，未出现第4罐入桶的过程。"
+     },
+     {
+      "t": 24.47,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器 reward.q_score=0.0、live_matches_replay=1；DAG 的六个入桶关系初态均不成立，故终态合格罐数为0，第4罐入桶为假，与视频中无放入动作一致。"
+     }
+    ]
+   },
+   "cans_in_bucket_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0–24.47 s 的连续过程抽帧及视频 4.0–5.0 s、23.5–24.47 s 密集帧中，机器人先转动观察卧室，随后反复倾翻；可见汽水罐仍在床面或地面，未见夹爪携罐到桶口并释放，未出现第5罐入桶的过程。"
+     },
+     {
+      "t": 24.47,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器 reward.q_score=0.0、live_matches_replay=1；DAG 的六个入桶关系初态均不成立，故终态合格罐数为0，第5罐入桶为假，与视频中无放入动作一致。"
+     }
+    ]
+   },
+   "cans_in_bucket_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0–24.47 s 的连续过程抽帧及视频 4.0–5.0 s、23.5–24.47 s 密集帧中，机器人先转动观察卧室，随后反复倾翻；可见汽水罐仍在床面或地面，未见夹爪携罐到桶口并释放，未出现第6罐入桶的过程。"
+     },
+     {
+      "t": 24.47,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器 reward.q_score=0.0、live_matches_replay=1；DAG 的六个入桶关系初态均不成立，故终态合格罐数为0，第6罐入桶为假，与视频中无放入动作一致。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cans_in_bucket_1",
+   "t": 4.3,
+   "log_step": 48,
+   "where": "探索",
+   "evidence_zh": "观察：视频 2.0–4.1 s 机器人转动扫描卧室，视频 4.2–4.8 s 接近墙边木质家具后，头部及腕部视角迅速倾斜、翻转；尚未抓取汽水罐。log step 48 的代码在同一实时回合测试前移和转向，随后机器人仅尝试恢复姿态，直到视频 24.47 s 结束也没有完成第一罐入桶。推断：失败发生于收集第一罐前的场景与底盘探索，断点归第1罐入桶。"
+  },
+  "unmet": {
+   "cans_in_bucket_1": false,
+   "cans_in_bucket_2": false,
+   "cans_in_bucket_3": false,
+   "cans_in_bucket_4": false,
+   "cans_in_bucket_5": false,
+   "cans_in_bucket_6": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 4.3,
+    "log_step": 48,
+    "evidence_zh": "观察：视频 4.3–5.0 s 房间固定墙面、天花板及家具在机器人视角中大幅翻转，视频 5–24.47 s 反复侧倾、滚动，未恢复到可收集罐子的工作状态。实时服务的本体数据在 log step 48 报告前移后基座高度0.245米、rx=-0.960弧度，再转向后高度0.652米、rx=-1.704弧度；log step 94 服务在control_steps=735报告 done=true、reason=\"failure: the robot fell over\"。推断：控制频率为30赫兹（log step 26），log step 39 的60步与 log step 43 的63步后执行 log step 48 的10步前移和10步转向，对应视频约4.1–4.77 s，已与画面翻转核对；735/30=视频24.5 s也与片长一致。"
+   },
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 4.3,
+    "log_step": 48,
+    "evidence_zh": "观察：视频4.1–4.4 s中机器人前移时木质家具在相机中迅速接近，随后视角开始倾斜；log step 48的实时服务本体读数显示，10步base_x=0.1米/步前移后基座高度由-0.001米升至0.245米、rx=-0.960弧度。推断：结合家具接近画面与仅命令水平前移却出现基座抬高、倾斜的读数，支持机器人前移时与周边家具发生阻挡接触；这是前移受阻的接触现象，后续失去支撑、翻倒另记全身·平衡。具体接触连杆和家具部位未被相机直接拍到。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "source_zh": "日志",
+    "alt_feasible": "未知",
+    "evidence_zh": "观察：log step 48 的脚本把底盘标定作为同一实时回合中的行动，先连续10个控制步发送base_x=0.1米/步（脚本预期共前移1米），随后再连续10步发送base_yaw=0.3弧度/步；前移前没有计算前方家具净空，也没有逐步观察后重规划。实时服务的本体读数显示，前移后基座高度由-0.001米升至0.245米、rx由近0变为-0.960弧度，转向后高度为0.652米、rx=-1.704弧度。推断：视频4.1–4.5 s中机器人贴近木质家具后倾翻，与该批前移吻合；未先确认可通行空间便执行整段大位移标定，是探索行动规划失当。没有独立证据证明一个可行运动方案因跟踪失稳而失败，故不保留反馈控制根因。分步小位移并查看相机是候选改进，但本回合未验证其能完成避障，替代方案可���性记为未知。"
+   }
+  ],
+  "gap_zh": "本任务未提供状态日志，三路相机均装在机器人上，无法确定首次倾翻时具体由哪一机体连杆碰到哪一家具部位，也不能核对每个控制步的接触力。被挡/碰撞由视频中家具接近与实时服务基座抬高、倾斜的读数联合推断，不将具体接触几何认定为已证实。入桶终态由评分器总分与视频无放入动作共同判定，首次失衡时间为视频约4.3 s；分步观察的替代行动未在本回合验证。"
+ },
+ "summary_zh": "机器人仅完成卧室扫描和底盘试探，六个入桶节点全程均未达到，终态为0/6（q_score=0）。视频约4.3 s机器人在首罐收集前的探索中前移受阻并倾翻，后续恢复未能完成收集，实时服务最终因跌倒终止；log step 48支持未核对前方净空便批量执行大位移标定的认知·推理/规划根因。无状态日志，具体接触部位与替代方案可行性未验证，接触受阻及其因果链仍有推断，置信度由8降至7。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "WHERE 标签（0/6、断点 cans_in_bucket_1 探索 4.3 s、平衡现象、时钟换算 123+10+10 步≈4.1–4.77 s）与视频和 log 一致，经核对无误。问题在根因：把倾翻归为“反馈控制”不符合证据，且遗漏了前移中基座被抬起这一阻挡接触迹象。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "0/6、断点 cans_in_bucket_1 探索 4.3 s、平衡与被挡/碰撞现象、规划类根因与时钟换算（步数换算已与画面翻转核对）均与视频和 log step 48 的服务读数一致，未发现需改动之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:46:17Z",
+  "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-collecting-aluminum-cans-i00-standard--cbc6pcf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-aluminum-cans-i00-standard--cbc6pcf/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-aluminum-cans-i00-standard--cbc6pcf/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-aluminum-cans-i00-standard--cbc6pcf/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "71f14792ade3a3b6038b6411ccbe2dace3d500d9d15cb986c9b0d0a2f4108c28",
+   "video_sha256": "9f84c0055cf3c20d29c135e56c257725f6c3cd1afb6836c0bd3a59183051d229",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-standard--ja4b3hz.json

@@ -0,0 +1,256 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-collecting-aluminum-cans-i00-standard--ja4b3hz",
+ "taskKey": "behavior-1k/collecting_aluminum_cans",
+ "dag_sha256": "d65ba1638f1a51ef401ef21980d53b456855008912d4b14298be41ef3e677678",
+ "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": 2134,
+   "sim_steps": 2134,
+   "physics_steps": 8536,
+   "steps": 628,
+   "elapsed_s": 1604.3,
+   "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-collecting-aluminum-cans-i00-standard--ja4b3hz/replay.mp4",
+  "duration_s": 71.2,
+  "fps": 10.0,
+  "frames": 712,
+  "sha256": "2549853360508f096361841772882417ba09f67ffbe0db1aee9c7f1227b5a1ea"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "cans_in_bucket_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：整段视频按约2秒间隔检查，并加密检查视频48.0–65.5 s及70.2–71.1 s；机器人只移动底盘、改变躯干姿态和转向观察，双腕画面中未见夹爪夹持汽水罐，未见罐从原位被搬到桶内。视频50.0–53.0 s及59.0–60.8 s，橙色罐仍在床面。"
+     },
+     {
+      "t": 71.1,
+      "log_step": 66,
+      "text_zh": "推断：视频61.2–71.1 s机器人翻倒后未恢复，未出现入桶动作；结合inputs/run.json评分器字段q_score=0.0（六个初始均未成立的入桶关系）及log step 66服务报告done=True、failure: the robot fell over，终态没有合格入桶罐，第1罐入桶为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频14.0–60.8 s，机器人轮式底盘承重并多次转向、移动，寻找床上和地面汽水罐及桶的位置；尚在第1罐入桶的探索阶段，未观察到夹爪抓罐。"
+     }
+    ]
+   },
+   "cans_in_bucket_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 71.1,
+      "log_step": 66,
+      "text_zh": "推断：全片粗查及视频48.0–65.5 s、70.2–71.1 s加密画面未见机器人抓起或搬运汽水罐，床面橙色罐在视频50.0–60.8 s仍留在原处；视频末段机器人翻倒且双爪未持罐。inputs/run.json评分器q_score=0.0、六个目标关系初态均未成立，故终态桶内合格罐少于2个；未见曾达到至少2罐入桶的过程，也未开始第2次收集。"
+     }
+    ]
+   },
+   "cans_in_bucket_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 71.1,
+      "log_step": 66,
+      "text_zh": "推断：全片粗查及视频48.0–65.5 s、70.2–71.1 s加密画面未见机器人抓起或搬运汽水罐，床面橙色罐在视频50.0–60.8 s仍留在原处；视频末段机器人翻倒且双爪未持罐。inputs/run.json评分器q_score=0.0、六个目标关系初态均未成立，故终态桶内合格罐少于3个；未见曾达到至少3罐入桶的过程，也未开始第3次收集。"
+     }
+    ]
+   },
+   "cans_in_bucket_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 71.1,
+      "log_step": 66,
+      "text_zh": "推断：全片粗查及视频48.0–65.5 s、70.2–71.1 s加密画面未见机器人抓起或搬运汽水罐，床面橙色罐在视频50.0–60.8 s仍留在原处；视频末段机器人翻倒且双爪未持罐。inputs/run.json评分器q_score=0.0、六个目标关系初态均未成立，故终态桶内合格罐少于4个；未见曾达到至少4罐入桶的过程，也未开始第4次收集。"
+     }
+    ]
+   },
+   "cans_in_bucket_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 71.1,
+      "log_step": 66,
+      "text_zh": "��断：全片粗查及视频48.0–65.5 s、70.2–71.1 s加密画面未见机器人抓起或搬运汽水罐，床面橙色罐在视频50.0–60.8 s仍留在原处；视频末段机器人翻倒且双爪未持罐。inputs/run.json评分器q_score=0.0、六个目标关系初态均未成立，故终态桶内合格罐少于5个；未见曾达到至少5罐入桶的过程，也未开始第5次收集。"
+     }
+    ]
+   },
+   "cans_in_bucket_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 71.1,
+      "log_step": 66,
+      "text_zh": "推断：全片粗查及视频48.0–65.5 s、70.2–71.1 s加密画面未见机器人抓起或搬运汽水罐，床面橙色罐在视频50.0–60.8 s仍留在原处；视频末段机器人翻倒且双爪未持罐。inputs/run.json评分器q_score=0.0、六个目标关系初态均未成立，故终态桶内合格罐少于6个；未见曾达到至少6罐入桶的过程，也未开始第6次收集。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cans_in_bucket_1",
+   "t": 61.2,
+   "log_step": 61,
+   "where": "探索",
+   "evidence_zh": "观察：视频48.0–60.8 s机器人在床边俯身、转向查看床和地面，双爪未持罐；视频61.0–61.6 s头部画面突然大幅翻转，视频62.0–71.1 s持续歪倒，始终没有完成第一次抓罐或入桶。log step 61执行加大躯干俯仰和原地转向观察，log step 66服务明确报告failure: the robot fell over；失败发生在第1罐入桶之前的场景探索，未进入后续收集。"
+  },
+  "unmet": {
+   "cans_in_bucket_1": false,
+   "cans_in_bucket_2": false,
+   "cans_in_bucket_3": false,
+   "cans_in_bucket_4": false,
+   "cans_in_bucket_5": false,
+   "cans_in_bucket_6": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 61.2,
+    "log_step": 66,
+    "evidence_zh": "观察：视频60.8–61.6 s，机器人头部相机所见床、墙和窗快速转至侧倒方向，随后相机高度降低；视频62.0–71.1 s均保持歪倒视角，末秒也未恢复。log step 66机器人服务报告done=True、reason=failure: the robot fell over，与视频中的翻倒一致。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 61的已执行脚本把躯干关节目标增至[0.85,-1.15,-0.35,0]后直接执行3.0弧度底盘转向；log step 64–65又请求更深俯身与扫描。上述脚本只检查服务结束信息，没有根据底盘倾斜反馈中止动作或恢复支撑姿态；视频61.0–71.1 s可见倾倒持续而无恢复，log step 66确认因跌倒结束。因此归为全身运动稳定性控制失败；现有证据不足以区分具体控制子类。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "无状态日志，头部和腕部视角不能直接显示轮子、底盘与床边家具的具体接触对，亦无倾角、接触力或质心轨迹；agent在log step 67、72把跌倒解释为接触家具时俯身导致质心越出支撑区，该具体力学解释仅为agent自述，未据此增加接触现象或细分根因。终态入桶数为零由视频中无搬运动作与评分器q_score共同判断。"
+ },
+ "summary_zh": "机器人在卧室内移动、转向和俯身寻找汽水罐及桶，未见抓起或放入任何一罐，六个入桶节点全程未达成，终态为0/6，与评分器q_score=0.0一致。视频约61.2 s，机器人在第1罐入桶的探索阶段翻倒，直至视频71.1 s末帧未恢复，服务确认因跌倒结束；脚本未在俯身及转向中纠正失稳，根因标为控制。无状态日志，具体家具接触及失稳力学原因不能核实。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "六个入桶节点全程未达成、终态0/6与q_score=0.0一致；视频约60–62 s起翻倒并持续到71.1 s，log step 66服务报告fell over，断点（第1罐入桶、探索、平衡）与根因控制均有证据支持，未发现需要改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:31:21Z",
+  "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-collecting-aluminum-cans-i00-standard--ja4b3hz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-aluminum-cans-i00-standard--ja4b3hz/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "87ec4225387ce39ce48bd33906de5c8d6cf2c2dbb2d4aba6a7e081baab38b4a4",
+   "video_sha256": "2549853360508f096361841772882417ba09f67ffbe0db1aee9c7f1227b5a1ea",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-standard--np46opx.json

@@ -0,0 +1,335 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-collecting-aluminum-cans-i00-standard--np46opx",
+ "taskKey": "behavior-1k/collecting_aluminum_cans",
+ "dag_sha256": "d65ba1638f1a51ef401ef21980d53b456855008912d4b14298be41ef3e677678",
+ "outcome": {
+  "success": 0,
+  "reward": 0.3333333333333333,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 14483,
+   "sim_steps": 14633,
+   "physics_steps": 58532,
+   "steps": 3931,
+   "elapsed_s": 6892.3,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 150,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.3333333333333333,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-collecting-aluminum-cans-i00-standard--np46opx/replay.mp4",
+  "duration_s": 487.8,
+  "fps": 10.0,
+  "frames": 4878,
+  "sha256": "ab28aff587dc038e0b425b0c5b9c874f8064e67818e6a176dbcce6a36c5ec432"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "cans_in_bucket_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      154.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG注明六个入桶关系初始均为假；视频 0–20 s 机器人观察、接近房间物体，没有放入动作，视频 50–125 s 金色罐仍在桶旁地毯上，因此首次入桶前按0罐计。"
+     },
+     {
+      "t": 154.5,
+      "log_step": 351,
+      "text_zh": "观察：视频 125–153 s 金色罐被右夹爪夹持移动到桶口内；视频 153.5 s 张爪后罐落在桶底，视频 154–160 s 夹爪撤开而罐留在桶中。以视频约 154.5 s 作为释放后静止的起点，精度约半秒。"
+     },
+     {
+      "t": 487.7,
+      "log_step": null,
+      "text_zh": "推断：视频 280–283 s 桶内可见金色罐和后放入的红罐；其后未见这两罐出桶。视频 486.8–487.7 s 末段桶壁遮住内部，评分器 q_score=2/6 且没有第三次成功放入画面，支持最终至少1罐仍入桶。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 125–153.5 s 右侧二指夹爪对向夹住金色汽水罐，移至桶内后张开释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20–50 s 轮式底盘移动接近桶和地面金色罐，支撑该次取放。"
+     }
+    ]
+   },
+   "cans_in_bucket_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      280.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 250,
+      "log_step": null,
+      "text_zh": "观察：视频 230–245 s 红罐尚在白色床面，视频 249–250 s 随右夹爪抬起，视频 255–277 s 被夹持运向桶，原床面位置不再有该红罐。"
+     },
+     {
+      "t": 280.0,
+      "log_step": 666,
+      "text_zh": "观察：视频 278.5–279 s 红罐脱离右夹爪落入桶内，视频 280–283 s 夹爪离开，红罐与先前金色罐同在桶底。静止起点取视频约 280 s，精度约半秒。"
+     },
+     {
+      "t": 487.7,
+      "log_step": null,
+      "text_zh": "推断：视频 280–283 s 的两罐入桶关系清楚可见；视频后段桶内受遮挡，但未见两罐被取出或落到桶外。评分器 q_score=0.3333333333333333，对应六个初始均不满足的入桶目标中2个最终成立；据此最终第2罐入桶为真。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 249–278.5 s 右二指夹爪夹住红色汽水罐，移到桶内张开；左臂没有与右臂共同抓持这只罐。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 250–271 s 底盘携带右手红罐移动到桶边。"
+     }
+    ]
+   },
+   "cans_in_bucket_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 370,
+      "log_step": null,
+      "text_zh": "观察：视频 320–368 s 机器人对床面橙色罐多次下探和提爪；视频约 369–370 s 橙罐终于离开白色床面，被右夹爪夹持，随后随腕部移动。"
+     },
+     {
+      "t": 387.5,
+      "log_step": null,
+      "text_zh": "观察：视频 386.8–387.3 s 橙罐仍在右爪近处；视频 387.4–387.6 s 罐脱爪并留在深色编织座面上，头部画面中的浅蓝灰桶在别处。视频 388–394 s 以及视频 470–475 s 橙罐仍在桶外该座面，未形成第三罐入桶。"
+     },
+     {
+      "t": 487.7,
+      "log_step": null,
+      "text_zh": "推断：视频全程仅见金色、红色两次入桶；橙罐桶外释放之后没有修复入桶，后续空爪下探也未增加桶内罐数。评分器 q_score=2/6 限定最终不足3罐，因此第3罐入桶为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 369–387.5 s 右二指夹爪夹住橙色汽水罐，搬移后在桶外座面松开；该次实际抓握成立，放入失败。视频后段还可见左爪反复下探，但没有确认新增抓起的罐。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 283–320 s 及视频 377–386 s、394–487 s 底盘为继续取罐和搬运而多次移动。"
+     }
+    ]
+   },
+   "cans_in_bucket_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 487.7,
+      "log_step": null,
+      "text_zh": "推断：视频 0–487.7 s 仅确认金色罐与红罐释放在桶内；视频 387.5 s 橙罐落在桶外座面，之后直到视频 487.7 s 未见新增入桶。评分器 q_score=2/6 也限定最终少于4罐，故第4罐入桶为假。计数未达3时的后续重试归入第3罐节点，未另认定第4次成功取放。"
+     }
+    ]
+   },
+   "cans_in_bucket_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 487.7,
+      "log_step": null,
+      "text_zh": "推断：视频 0–487.7 s 仅确认金色罐与红罐释放在桶内；视频 387.5 s 橙罐落在桶外座面，之后直到视频 487.7 s 未见新增入桶。评分器 q_score=2/6 也限定最终少于5罐，故第5罐入桶为假。计数未达3时的后续重试归入第3罐节点，未另认定第5次成功取放。"
+     }
+    ]
+   },
+   "cans_in_bucket_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 487.7,
+      "log_step": null,
+      "text_zh": "推断：视频 0–487.7 s 仅确认金色罐与红罐释放在桶内；视频 387.5 s 橙罐落在桶外座面，之后直到视频 487.7 s 未见新增入桶。评分器 q_score=2/6 也限定最终少于6罐，故第6罐入桶为假。计数未达3时的后续重试归入第3罐节点，未另认定第6次成功取放。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.3333333333333333,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cans_in_bucket_3",
+   "t": 387.5,
+   "log_step": 800,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 369–387.3 s 机器人右爪夹持橙罐，视频 387.4–387.6 s 在深色编织座面上松开，桶在头部画面的另一处；视频 388–394 s、470–475 s 仍见橙罐留在桶外。日志 log step 800 中 agent 自述“已在桶上方”并调用张爪放置，视频未显示相应入桶；该第3罐入桶步骤以后始终未补成。"
+  },
+  "unmet": {
+   "cans_in_bucket_1": true,
+   "cans_in_bucket_2": true,
+   "cans_in_bucket_3": false,
+   "cans_in_bucket_4": false,
+   "cans_in_bucket_5": false,
+   "cans_in_bucket_6": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 387.5,
+    "log_step": 800,
+    "evidence_zh": "观察：视频 386.8–388.1 s 右爪放开橙罐时，罐位于桶外的深色编织座面上，桶口没有在罐下方；随后罐留在该座面。日志 log step 800 发出开爪放置命令，故这是计划释放时位置未到桶内，而非入桶后滚出。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "没有状态日志，不能逐帧核对罐中心、辅助抓取附着和0.05米/秒阈值；入桶静止时间由连续画面估计，精度约半秒。末段桶壁遮挡内部，前两罐最终值结合已见放入和评分器2/6总分推断。观察：log step 797→800 请求右TCP先到 (1.35,-0.78,0.50)，再到 (1.35,-0.78,0.24) 并开爪；红罐的同目标命令为 log step 662、666。agent 在 log step 800 自述橙罐已在桶上方，但视频 387.5 s 显示桶外释放。log step 803 随后请求抬到高度0.85，log step 811 从相机外参算出的右腕相机位置为 (1.35,-0.73,0.93)，水平位置接近指令点。推断：这一抬臂后的相机读数不等于释放时TCP的跟踪误差，现有证据也不能确定桶是否移位，故不足以区分桶位估计错误与执行误差；依 docs/03_trajectory.md Step 3.3、DECISIONS.md S6 将根因留空，不据 agent 的入桶自述增加进度。"
+ },
+ "summary_zh": "机器人先后将金色罐和红色罐放入桶中，视频约154.5 s、280 s 达到1/6、2/6，最终评分器q_score=2/6。第3罐橙罐被夹起后在视频约387.5 s 于桶外编织座面释放，之后未修复，现象为位姿不准；缺少释放时TCP跟踪误差及同期桶位置证据，无法区分感知与控制，根因留空。没有状态日志且末段桶内遮挡，精确静止阈值无法核实，agent 的入桶自述不替代视频。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "进度（2/6、第1罐154.5 s、第2罐280 s、第3罐未达）与断点（cans_in_bucket_3，视频约387.5 s橙罐在桶外释放）经帧核对成立。问题在失败原因：根因“控制”所依据的log引用是错的（log step 800 实为 watch，不是开爪；步骤797/800 的目标并非0.50/0.24），而且log显示末端实际到达了指令位置（右腕相机位置≈(1.35,-0.73)），与“到位核验失败/控制”相矛盾，更像目标位置（桶位估计/桶位置）错误，现有证据不足以定控制。",
+    "n_issues": 3,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "进度2/6（第1罐约154.5 s、第2罐约280 s、第3罐未达）、断点 cans_in_bucket_3（视频约387.5 s橙罐在桶外释放）、现象“位姿不准”均与帧一致；根因按上轮意见留空并在gap_zh说明，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": "2026-10-30T21:46:13Z",
+  "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-collecting-aluminum-cans-i00-standard--np46opx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-aluminum-cans-i00-standard--np46opx/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-aluminum-cans-i00-standard--np46opx/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-aluminum-cans-i00-standard--np46opx/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4082cc726cc6949aad84d9b8338b9414e97ed379078cb6013aceefa88f477502",
+   "video_sha256": "ab28aff587dc038e0b425b0c5b9c874f8064e67818e6a176dbcce6a36c5ec432",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-standard--oexuybs.json

@@ -0,0 +1,364 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-collecting-aluminum-cans-i00-standard--oexuybs",
+ "taskKey": "behavior-1k/collecting_aluminum_cans",
+ "dag_sha256": "d65ba1638f1a51ef401ef21980d53b456855008912d4b14298be41ef3e677678",
+ "outcome": {
+  "success": 0,
+  "reward": 0.5,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 4443,
+   "sim_steps": 4443,
+   "physics_steps": 17772,
+   "steps": 729,
+   "elapsed_s": 5921.4,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "q_score": 0.5,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-collecting-aluminum-cans-i00-standard--oexuybs/replay.mp4",
+  "duration_s": 148.1,
+  "fps": 30.0,
+  "frames": 4443,
+  "sha256": "71e8fe3203aea20ae81fdb32b4bc3861b52526434aff2db886b239145483a34b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "cans_in_bucket_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      26.0,
+      76.3
+     ],
+     [
+      79.0,
+      111.2
+     ],
+     [
+      112.5,
+      114.0
+     ],
+     [
+      115.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": 75,
+      "text_zh": "观察：视频20.0–25.2 s 金色罐被机器人左夹爪夹持，原地面位置已空；视频25.5 s 夹爪张开，视频25.8–26.5 s 罐落在浅蓝灰色桶底，夹爪撤离。推断：以视频26.0 s左右首次稳定在桶内为第1罐入桶，时间误差约0.5 s。"
+     },
+     {
+      "t": 76.3,
+      "log_step": 115,
+      "text_zh": "观察：视频 75.5–76.0 s 桶内可见金色罐和橙色罐；视频约76.3–78.8 s，机器人右臂放白罐时桶被带倒，白罐落在桶外。推断：桶倾倒、罐随桶移动期间不满足静止验收，约视频79.0 s 桶侧卧稳定后恢复计数；前两罐未见离桶，视频114.8–117.8 s 桶重新直立后仍可见这两罐。"
+     },
+     {
+      "t": 111.2,
+      "log_step": 237,
+      "text_zh": "观察：视频100.0–110.8 s 机器人左夹爪围绕桶凸耳及桶口移动，桶大体保持原位；视频111.2–112.0 s 左夹爪从桶口内勾动桶壁，桶转动，视频112.5–113.8 s 暂停，视频114.0–114.8 s 再转至直立，视频115.0–117.8 s 两罐在桶底稳定。推断：按罐随桶运动与随后稳定的可见变化，估计静止条件在视频111.2–112.5 s、114.0–115.0 s 暂时失去，边界约有0.5 s误差；未将腕相机自身运动当作罐离桶。"
+     },
+     {
+      "t": 147.8,
+      "log_step": 283,
+      "text_zh": "观察：视频147.2–148.07 s 白色罐已落到桶底，金色罐、橙色罐仍在桶内；评分器q_score=0.5、live_matches_replay=1。推断：本任务六个目标初态均不成立，最终总数为3，与连续放入画面一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左二指夹爪夹持地面的金色罐并送到桶口，视频25.5 s左右张开释放。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "勾",
+      "note_zh": "为恢复装罐容器，视频111.2–114.8 s机器人左夹爪从桶口内抵勾桶壁，将侧倒的桶转回直立；不将闭合空爪勾桶壁记作抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘在视频约10–14 s驶近桶边；视频约82–84 s、96–100 s为扶桶和继续装罐调整位置。"
+     }
+    ]
+   },
+   "cans_in_bucket_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      73.8,
+      76.3
+     ],
+     [
+      79.0,
+      111.2
+     ],
+     [
+      112.5,
+      114.0
+     ],
+     [
+      115.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 73.8,
+      "log_step": 115,
+      "text_zh": "观察：视频46.0–48.0 s 机器人左夹爪从床上夹起橙色罐，床上的原位置变空；视频73.0 s 罐仍在左爪，视频73.5–74.0 s 已离开夹爪并横躺桶底，金色罐同时留在桶内。推断：第2罐约视频73.8 s入桶稳定，时间误���约0.5 s。"
+     },
+     {
+      "t": 76.3,
+      "log_step": 115,
+      "text_zh": "观察：视频 75.5–76.0 s 桶内可见金色罐和橙色罐；视频约76.3–78.8 s，机器人右臂放白罐时桶被带倒，白罐落在桶外。推断：桶倾倒、罐随桶移动期间不满足静止验收，约视频79.0 s 桶侧卧稳定后恢复计数；前两罐未见离桶，视频114.8–117.8 s 桶重新直立后仍可见这两罐。"
+     },
+     {
+      "t": 111.2,
+      "log_step": 237,
+      "text_zh": "观察：视频100.0–110.8 s 机器人左夹爪围绕桶凸耳及桶口移动，桶大体保持原位；视频111.2–112.0 s 左夹爪从桶口内勾动桶壁，桶转动，视频112.5–113.8 s 暂停，视频114.0–114.8 s 再转至直立，视频115.0–117.8 s 两罐在桶底稳定。推断：按罐随桶运动与随后稳定的可见变化，估计静止条件在视频111.2–112.5 s、114.0–115.0 s 暂时失去，边界约有0.5 s误差；未将腕相机自身运动当作罐离桶。"
+     },
+     {
+      "t": 147.8,
+      "log_step": 283,
+      "text_zh": "观察：视频147.2–148.07 s 白色罐已落到桶底，金色罐、橙色罐仍在桶内；评分器q_score=0.5、live_matches_replay=1。推断：本任务六个目标初态均不成立，最终总数为3，与连续放入画面一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "视频约58–73 s机器人左爪夹持橙色罐、右爪夹持白色罐，并行携带两罐回桶边；随后左爪先在桶口释放橙色罐。此前左爪单独从床上夹起橙色罐。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "勾",
+      "note_zh": "视频111.2–114.8 s机器人左夹爪勾桶口内壁，把装有前两罐的桶转回直立。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘驶向床边，视频约50–54 s持橙色罐沿床移动，视频约60–69 s双手各持一罐返回桶边，随后为扶桶调整位置。"
+     }
+    ]
+   },
+   "cans_in_bucket_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      147.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 78.8,
+      "log_step": 115,
+      "text_zh": "观察：视频58.0–60.0 s 白色罐离开床面并随机器人右夹爪移动；视频76.3–78.8 s 右夹爪接近桶口时桶倾倒，白罐落在桶旁地面，此次不算第3罐入桶。"
+     },
+     {
+      "t": 135.5,
+      "log_step": 262,
+      "text_zh": "观察：视频126.0–132.5 s 机器人左夹爪再次夹持白色罐并移向桶口，视频134.0–135.5 s 释放后罐又回到桶外地面，仍不计入桶。"
+     },
+     {
+      "t": 147.2,
+      "log_step": 279,
+      "text_zh": "观察：视频139.5 s 白色罐仍在地面；视频140.5–146.9 s 白罐被机器人左二指夹爪夹起并移到桶上方，原地面位置变空。视频147.0–147.2 s 夹爪张开，白罐落到桶底，视频147.3–148.07 s 保持在桶内；可见旁边已有橙色罐和金色罐。推断：第3罐约视频147.2 s入桶稳定，时间误差约0.3 s。"
+     },
+     {
+      "t": 147.8,
+      "log_step": 283,
+      "text_zh": "观察：视频147.2–148.07 s 白色罐已落到桶底，金色罐、橙色罐仍在桶内；评分器q_score=0.5、live_matches_replay=1。推断：本任务六个目标初态均不成立，最终总数为3，与连续放入画面一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "视频约58–76 s机器人右二指夹爪夹住白色罐，左爪同时夹着橙色罐，两臂携物返回桶边后依次放下。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "白罐落到地面后机器人改用左二指夹爪重抓；视频约126–135 s一次抓起并放到桶口的尝试后罐仍落在地面，视频约140–147 s再次夹起并送到桶口释放，最终罐进入桶底。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "勾",
+      "note_zh": "视频111.2–114.8 s机器人用左夹爪从桶口内勾动桶壁，先把容器转回直立，再继续处理桶外白罐。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘在双爪各持一罐时从床边返回桶边，之后为接近侧倒的桶及地面白罐调整位置。"
+     }
+    ]
+   },
+   "cans_in_bucket_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 147.8,
+      "log_step": 283,
+      "text_zh": "观察：已检查视频0–148.07 s，只有金色罐、橙色罐和白色罐三次最终留桶的放入；视频147.8 s桶内白罐已经释放，另两罐仍在桶底。评分器q_score=0.5，六个目标初态均不在桶内，且live_matches_replay=1。推断：最终合格罐数为3，第4罐入桶不成立；全段没有达到至少4罐的画面���也没有对应的后续实体取放尝试。"
+     }
+    ]
+   },
+   "cans_in_bucket_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 147.8,
+      "log_step": 283,
+      "text_zh": "观察：已检查视频0–148.07 s，只有金色罐、橙色罐和白色罐三次最终留桶的放入；视频147.8 s桶内白罐已经释放，另两罐仍在桶底。评分器q_score=0.5，六个目标初态均不在桶内，且live_matches_replay=1。推断：最终合格罐数为3，第5罐入桶不成立；全段没有达到至少5罐的画面，也没有对应的后续实体取放尝试。"
+     }
+    ]
+   },
+   "cans_in_bucket_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 147.8,
+      "log_step": 283,
+      "text_zh": "观察：已检查视频0–148.07 s，只有金色罐、橙色罐和白色罐三次最终留桶的放入；视频147.8 s桶内白罐已经释放，另两罐仍在桶底。评分器q_score=0.5，六个目标初态均不在桶内，且live_matches_replay=1。推断：最终合格罐数为3，第6罐入桶不成立；全段没有达到至少6罐的画面，也没有对应的后续实体取放尝试。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.5,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cans_in_bucket_4",
+   "t": null,
+   "log_step": 294,
+   "where": "首步前",
+   "evidence_zh": "观察：视频147.2–148.07 s 第3罐已落入桶内，机器人尚未开始第4罐的实体取放。log step 283记录控制步4443及剩余预算1594.5 s；log step 284–293仅分析已保存的图像、深度和候选罐位置，未提交新运动；log step 294为提供方“blocked by Gemini's filters”中断。推断：第4罐是中断时尚未开始的下一计数步骤；过滤中断没有可对应的视频动作时刻，故t留空。早先白罐落地、桶倾倒已修复，不作为最终断点。"
+  },
+  "unmet": {
+   "cans_in_bucket_1": true,
+   "cans_in_bucket_2": true,
+   "cans_in_bucket_3": true,
+   "cans_in_bucket_4": false,
+   "cans_in_bucket_5": false,
+   "cans_in_bucket_6": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/有完整视频与run.json，但没有状态日志；末尾log step 294记录模型提供方过滤中断，log step 283仍有预算，且log step 284–293还在搜索余下罐，没有任务完成声明或继续控制。推断：这是任务进行中的外部中断，保留catalog的success=0及可见3/6进度，现象和根因均留空，不标没尝试，也不把已修复的物理失误作为本次中断的能力原因。无状态日志，不能直接核实0.05米/秒阈值；桶倾倒和扶正期间的短暂静止条件失去及恢复时间，依据桶与罐的可见运动估计，边界约有0.5 s误差，部分桶侧卧时段罐被桶壁遮挡。"
+ },
+ "summary_zh": "观察：机器人先将地面金色罐和床上橙色罐放入桶，白色罐在桶倾倒、落地及多次重试后于视频约147.2 s进入桶底，最终3/6，与评分器q_score=0.5一致；桶和已有罐运动时静止条件短暂失去，随后恢复。推断：第4罐实体操作开始前，会话因log step 294记录的提供方过滤而中断，未见仍未修复的早期物理失败，不赋予机器人失败现象或根因。无状态日志，静止阈值和遮挡时段只能结合连续画面估计。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点进度（3/6，与q_score=0.5一致）、第3罐约147.2 s入桶、断点（外部过滤中断、首步前、现象与根因留空并有gap_zh）与log step 294及预算剩余1594.5 s相符，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:44:57Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-aluminum-cans-i00-standard--oexuybs/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-aluminum-cans-i00-standard--oexuybs/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "735aaec175aaf2190329f2700d125c2ae3845f75d973e04a3f941b7ec0c34ee0",
+   "video_sha256": "71e8fe3203aea20ae81fdb32b4bc3861b52526434aff2db886b239145483a34b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-standard--pwwpoir.json

@@ -0,0 +1,295 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-collecting-aluminum-cans-i00-standard--pwwpoir",
+ "taskKey": "behavior-1k/collecting_aluminum_cans",
+ "dag_sha256": "d65ba1638f1a51ef401ef21980d53b456855008912d4b14298be41ef3e677678",
+ "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": 1437,
+   "sim_steps": 1437,
+   "physics_steps": 5748,
+   "steps": 479,
+   "elapsed_s": 675.2,
+   "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-collecting-aluminum-cans-i00-standard--pwwpoir/replay.mp4",
+  "duration_s": 47.9,
+  "fps": 30.0,
+  "frames": 1437,
+  "sha256": "67c6a4fcbada88bf3be59444629711b6382938a5f73db5ba02a070f1c6de66ae"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "cans_in_bucket_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.5,
+      "log_step": null,
+      "text_zh": "观察：视频 14.0–19.0 s 可见敞口桶为空、金色罐在桶旁地毯上；视频 24.7–27.7 s 右腕视角显示夹爪接近该罐后独自抬走，罐仍在桶外原处；视频 28.0–32.5 s 腕部及头部视角所见桶内没有新增罐。全片未见达到至少1罐入桶的画面。"
+     },
+     {
+      "t": 47.87,
+      "log_step": 133,
+      "text_zh": "推断：评分器 reward.q_score=0.0，六个入桶关系初态均不成立，因此终态合格罐数为0，第1罐入桶为假；这与视频中的空桶和空手移动一致。视频 36.0–47.87 s 为翻倒及倒地画面，log step 133 的服务状态报告 done=True、reason=failure: the robot fell over；agent 自述已放入一罐（log step 140）不受视频支持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "其他",
+      "note_zh": "观察：视频 23.0–27.7 s 机器人右夹爪靠近桶旁金色罐、合拢后抬走，未见罐体被两指夹住或随手抬起。候选“空夹尝试”：实际未建立包夹，不能记为抓握；也没有可确认的推、压或托举。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.0–21.5 s 轮式底盘移动并转向，使机器人到达金色罐及桶边的操作位置。"
+     }
+    ]
+   },
+   "cans_in_bucket_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.5,
+      "log_step": null,
+      "text_zh": "观察：视频 14.0–19.0 s 可见敞口桶为空、金色罐在桶旁地毯上；视频 24.7–27.7 s 右腕视角显示夹爪接近该罐后独自抬走，罐仍在桶外原处；视频 28.0–32.5 s 腕部及头部视角所见桶内没有新增罐。全片未见达到至少2罐入桶的画面。"
+     },
+     {
+      "t": 35.5,
+      "log_step": 127,
+      "text_zh": "观察：视频 32.5–35.5 s 机器人空手离开操作姿态并移动，视频 36.0–38.0 s 翻倒，直到视频 47.87 s 未见取起床上罐；log step 127 启动的脚本及 log step 128 的 agent 自述指向收集下一只床上橙色罐，实际只进行了转场，没有第二次抓罐或放入。"
+     },
+     {
+      "t": 47.87,
+      "log_step": 133,
+      "text_zh": "推断：评分器 reward.q_score=0.0，六个入桶关系初态均不成立，因此终态合格罐数为0，第2罐入桶为假；这与视频中的空桶和空手移动一致。视频 36.0–47.87 s 为翻倒及倒地画面，log step 133 的服务状态报告 done=True、reason=failure: the robot fell over；agent 自述已放入一罐（log step 140）不受视频支持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 32.5–35.5 s 机器人空手移动、转向，随后在视频 36.0–38.0 s 翻倒；结合 log step 127–128，这是去取下一罐的转场，未见夹爪接触床上罐。"
+     }
+    ]
+   },
+   "cans_in_bucket_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.5,
+      "log_step": null,
+      "text_zh": "观察：视频 14.0–19.0 s 可见敞口桶为空、金色罐在桶旁地毯上；视频 24.7–27.7 s 右腕视角显示夹爪接近该罐后独自抬走，罐仍在桶外原处；视频 28.0–32.5 s 腕部及头部视角所见桶内没有新增罐。全片未见达到至少3罐入桶的画面。"
+     },
+     {
+      "t": 47.87,
+      "log_step": 133,
+      "text_zh": "推断：评分器 reward.q_score=0.0，六个入桶关系初态均不成立，因此终态合格罐数为0，第3罐入桶为假；这与视频中的空桶和空手移动一致。视频 36.0–47.87 s 为翻倒及倒地画面，log step 133 的服务状态报告 done=True、reason=failure: the robot fell over；agent 自述已放入一罐（log step 140）不受视频支持。"
+     }
+    ]
+   },
+   "cans_in_bucket_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.5,
+      "log_step": null,
+      "text_zh": "观察：视频 14.0–19.0 s 可见敞口桶为空、金色罐在桶旁地毯上；视频 24.7–27.7 s 右腕视角显示夹爪接近该罐后独自抬走，罐仍在桶外原处；视频 28.0–32.5 s 腕部及头部视角所见桶内没有新增罐。全片未见达到至少4罐入桶的画面。"
+     },
+     {
+      "t": 47.87,
+      "log_step": 133,
+      "text_zh": "推断：评分器 reward.q_score=0.0，六个入桶关系初态均不成立，因此终态合格罐数为0，第4罐入桶为假；这与视频中的空桶和空手移动一致。视频 36.0–47.87 s 为翻倒及倒地画面，log step 133 的服务状态报告 done=True、reason=failure: the robot fell over；agent 自述已放入一罐（log step 140）不受视频支持。"
+     }
+    ]
+   },
+   "cans_in_bucket_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.5,
+      "log_step": null,
+      "text_zh": "观察：视频 14.0–19.0 s 可见敞口桶为空、金色罐在桶旁地毯上；视频 24.7–27.7 s 右腕视角显示夹爪接近该罐后独自抬走，罐仍在桶外原处；视频 28.0–32.5 s 腕部及头部视角所见桶内没有新增罐。全片未见达到至少5罐入桶的画面。"
+     },
+     {
+      "t": 47.87,
+      "log_step": 133,
+      "text_zh": "推断：评分器 reward.q_score=0.0，六个入桶关系初态均不成立，因此终态合格罐数为0，第5罐入桶为假；这与视频中的空桶和空手移动一致。视频 36.0–47.87 s 为翻倒及倒地画面，log step 133 的服务状态报告 done=True、reason=failure: the robot fell over；agent 自述已放入一罐（log step 140）不受视频支持。"
+     }
+    ]
+   },
+   "cans_in_bucket_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.5,
+      "log_step": null,
+      "text_zh": "观察：视频 14.0–19.0 s 可见敞口桶为空、金色罐在桶旁地毯上；视频 24.7–27.7 s 右腕视角显示夹爪接近该罐后独自抬走，罐仍在桶外原处；视频 28.0–32.5 s 腕部及头部视角所见桶内没有新增罐。全片未见达到至少6罐入桶的画面。"
+     },
+     {
+      "t": 47.87,
+      "log_step": 133,
+      "text_zh": "推断：评分器 reward.q_score=0.0，六个入桶关系初态均不成立，因此终态合格罐数为0，第6罐入桶为假；这与视频中的空桶和空手移动一致。视频 36.0–47.87 s 为翻倒及倒地画面，log step 133 的服务状态报告 done=True、reason=failure: the robot fell over；agent 自述已放入一罐（log step 140）不受视频支持。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cans_in_bucket_1",
+   "t": 25.5,
+   "log_step": 119,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 24.7–25.5 s 右夹爪在桶旁金色罐附近合拢；视频 25.7–27.7 s 夹爪抬起并离开，金色罐仍留在地毯原处，视频 28.0–32.5 s 桶内仍为空。此后未重试该罐或完成任何一次入桶；机器人空手转场后在视频约 36.0–38.0 s 翻倒，log step 133 的服务状态以跌倒判负。推断：最早且始终未修复的是第1罐的抓取/入桶失败，故断点取此步骤，而非后来的跌倒。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 25.5,
+    "log_step": 119,
+    "evidence_zh": "观察：视频 24.7–25.5 s 右夹爪在罐旁合拢，视频 25.7–27.7 s 夹爪自行抬走，金色罐没有随夹爪离开地毯；之后移至桶边的夹爪为空。推断：取罐所需的有效夹持接触没有建立，未见先拿起再掉落的过程。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 25.5,
+    "log_step": 118,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 117 的服务逆解返回四个路点均 ok=True；log step 118 的 agent 脚本以固定关节插值执行接近、合拢、抬升和入桶动作，合拢后只打印夹爪开度，没有按抓取结果重定位或重试。视频 25.7–30.5 s 显示罐留在原地而夹爪继续执行空手搬运动作。推断：抓取执行未形成有效夹持，控制流程又未纠正这一失败，使第1罐始终未入桶；证据不足以进一步区分接触几何、轨迹跟踪或具体参数问题。"
+   }
+  ],
+  "gap_zh": "未提供状态日志；腕部画面足以确认罐未被抬起，但不能确认夹指是否曾轻触罐面，也不能量化接触力、跟踪误差或定位偏差，根因仅标到控制大类。翻倒时底盘及家具接触点未直接显露，不据 agent 的最终说明认定具体绊倒物。终态有遮挡，六个节点的最终假值同时依据评分器 q_score=0.0 推定；没有用该分数替代对抓取过程的检查。",
+  "unmet": {
+   "cans_in_bucket_1": false,
+   "cans_in_bucket_2": false,
+   "cans_in_bucket_3": false,
+   "cans_in_bucket_4": false,
+   "cans_in_bucket_5": false,
+   "cans_in_bucket_6": false
+  }
+ },
+ "summary_zh": "机器人接近桶旁金色罐并执行右夹爪抓取、搬运及释放动作，但视频 25.7–27.7 s 显示罐仍留在地毯上，六个入桶节点均未达到，最终为0/6。最早未修复的断点是第1罐入桶：未建立有效夹持，脚本仍继续空手搬运；随后机器人在去取床上罐的转场中于视频约 36.0–38.0 s 翻倒并被服务判负。无状态日志，无法细分夹持失败的控制原因，终态全为假结合 q_score=0.0 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 22–37 s：右夹爪在桶旁金罐处合拢后抬走，罐仍留在地毯上，桶内始终为空，随后翻倒；六个节点均为假与 q_score=0.0 一致，断点在第1罐入桶，现象与根因有证据支持，未发现需修改之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:40:19Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-aluminum-cans-i00-standard--pwwpoir/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-aluminum-cans-i00-standard--pwwpoir/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a58176c32d08415b96b0dae6bce6cdab4ea129724d8e2fca92e0bfe65fb36d48",
+   "video_sha256": "67c6a4fcbada88bf3be59444629711b6382938a5f73db5ba02a070f1c6de66ae",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-standard--z44dbrh.json

@@ -0,0 +1,268 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-collecting-aluminum-cans-i00-standard--z44dbrh",
+ "taskKey": "behavior-1k/collecting_aluminum_cans",
+ "dag_sha256": "d65ba1638f1a51ef401ef21980d53b456855008912d4b14298be41ef3e677678",
+ "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": 10875,
+   "sim_steps": 10875,
+   "physics_steps": 43500,
+   "steps": 9985,
+   "elapsed_s": 3511.9,
+   "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-collecting-aluminum-cans-i00-standard--z44dbrh/replay.mp4",
+  "duration_s": 362.5,
+  "fps": 30.0,
+  "frames": 10875,
+  "sha256": "465044fea8c2457f53ae7c6df926a6bc662b04c068aaf2505a5de909577d4517"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "cans_in_bucket_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 20.5,
+      "log_step": null,
+      "text_zh": "观察：视频 20.5–25.0 s，机器人空手移向床边，橙色汽水罐仍在床面，腕部画面未见夹起汽水罐；视频 27.5–34.0 s 机器人明显倾斜，随后长期停在家具旁，未把罐送至桶口。"
+     },
+     {
+      "t": 308.5,
+      "log_step": null,
+      "text_zh": "观察：视频 243–326 s 的逐秒画面中，机器人主要在家具间翻滚、调整身体，夹爪未携罐向桶内释放；视频 308 s 附近可见罐仍散落床边、桶仍在地上，未出现成功参考视频中可见的持罐到桶口、松手入桶过程。"
+     },
+     {
+      "t": 362.466,
+      "log_step": null,
+      "text_zh": "推断：视频 361.5 s 和 362.466 s 的末段画面只有天空和空夹爪，不能直接看清桶内；但评分器 q_score=0.0、live_matches_replay=1，且初始六个入桶关系均不成立，故最终桶内合格罐数为0，第1罐入桶为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.5–27.5 s，轮式底盘空手驱动机器人接近床边首罐，随后机体倾斜；视频 243–326 s 继续移动和转动以脱离家具。未观察到夹爪抓住汽水罐，不按任务的典型抓握方案补记。"
+     }
+    ]
+   },
+   "cans_in_bucket_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 324.5,
+      "log_step": null,
+      "text_zh": "观察：已粗看视频全程，并加密检查视频 0–35 s、243–330 s；机器人未呈现将汽水罐从床面或地面夹起、运至桶口并松手的过程，视频 324.5 s 床上及床边仍可见散落罐，未形成至少2罐入桶的画面依据。"
+     },
+     {
+      "t": 362.466,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0.0、live_matches_replay=1，初始入桶目标均为假，因此最终合格入桶数为0，第2罐入桶必为假；视频末秒只见天空，终值由该总量约束确定，而非从遮挡臆测。"
+     }
+    ]
+   },
+   "cans_in_bucket_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 324.5,
+      "log_step": null,
+      "text_zh": "观察：已粗看视频全程，并加密检查视频 0–35 s、243–330 s；机器人未呈现将汽水罐从床面或地面夹起、运至桶口并松手的过程，视频 324.5 s 床上及床边仍可见散落罐，未形成至少3罐入桶的画面依据。"
+     },
+     {
+      "t": 362.466,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0.0、live_matches_replay=1，初始入桶目标均为假，因此最终合格入桶数为0，第3罐入桶必为假；视频末秒只见天空，终值由该总量约束确定，而非从遮挡臆测。"
+     }
+    ]
+   },
+   "cans_in_bucket_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 324.5,
+      "log_step": null,
+      "text_zh": "观察：已粗看视频全程，并加密检查视频 0–35 s、243–330 s；机器人未呈现将汽水罐从床面或地面夹起、运至桶口并松手的过程，视频 324.5 s 床上及床边仍可见散落罐，未形成至少4罐入桶的画面依据。"
+     },
+     {
+      "t": 362.466,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0.0、live_matches_replay=1，初始入桶目标均为假，因此最终合格入桶数为0，第4罐入桶必为假；视频末秒只见天空，终值由该总量约束确定，而非从遮挡臆测。"
+     }
+    ]
+   },
+   "cans_in_bucket_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 324.5,
+      "log_step": null,
+      "text_zh": "观察：已粗看视频全程，并加密检查视频 0–35 s、243–330 s；机器人未呈现将汽水罐从床面或地面夹起、运至桶口并松手的过程，视频 324.5 s 床上及床边仍可见散落罐，未形成至少5罐入桶的画面依据。"
+     },
+     {
+      "t": 362.466,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0.0、live_matches_replay=1，初始入桶目标均为假，因此最终合格入桶数为0，第5罐入桶必为假；视频末秒只见天空，终值由该总量约束确定，而非从遮挡臆测。"
+     }
+    ]
+   },
+   "cans_in_bucket_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 324.5,
+      "log_step": null,
+      "text_zh": "观察：已粗看视频全程，并加密检查视频 0–35 s、243–330 s；机器人未呈现将汽水罐从床面或地面夹起、运至桶口并松手的过程，视频 324.5 s 床上及床边仍可见散落罐，未形成至少6罐入桶的画面依据。"
+     },
+     {
+      "t": 362.466,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0.0、live_matches_replay=1，初始入桶目标均为假，因此最终合格入桶数为0，第6罐入桶必为假；视频末秒只见天空，终值由该总量约束确定，而非从遮挡臆测。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cans_in_bucket_1",
+   "t": 27.5,
+   "log_step": 123,
+   "where": "转场",
+   "evidence_zh": "观察：视频 20.5–25.0 s 机器人空手接近床边罐，视频 27.5–34.0 s 头部及腕部视野显著翻斜、贴近家具，随后至视频约 246 s 长期保持倾斜姿态；log step 123 的机器人服务本体读数显示底盘高度约0.226米且姿态倾斜。推断：第1罐入桶在空手接近阶段因失衡受阻，后续虽有恢复动作，但直到视频 362.466 s 也未完成任何入桶，故取首罐步骤为首个未修复断点；视频 27.5 s 是明显失衡的粗略导航锚点。"
+  },
+  "unmet": {
+   "cans_in_bucket_1": false,
+   "cans_in_bucket_2": false,
+   "cans_in_bucket_3": false,
+   "cans_in_bucket_4": false,
+   "cans_in_bucket_5": false,
+   "cans_in_bucket_6": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 27.5,
+    "log_step": 123,
+    "evidence_zh": "观察：视频 27.5–34.0 s，机器人在家具旁明显翻斜，头部视野转向天花板，腕部视野也随机体翻转；视频 247–306 s 又多次翻滚，视频 326.5 s 起出现场景外墙和天空，视频 355–362.466 s 三个视角最终主要为天空。log step 123 记录底盘升高并倾斜，log step 198 的服务本体读数最终给出高度约-49.979米；这些共同支持失去支撑、翻倒，而不是仅头部转向。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "t": null,
+    "log_step": 131,
+    "evidence_zh": "观察：log step 131 的导航脚本检测到底盘高度变化超过0.04米时只打印 WARNING，未停止驱动；log step 194 的执行输出连续报告高度从0.341米升到0.671米、再到0.750米，却继续发出行驶动作。视频 247–326 s 显示机体反复翻滚，log step 198 又执行交替大幅偏航驱动，随后高度降至约-49.979米。推断：导航及恢复控制没有把支撑状态和高度异常反馈转化为及时中止、稳定机体的动作，使接近首罐的过程持续失稳并最终跌出场景。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 未提供状态日志；头部及腕部视角不能确定每次失衡时底盘、手臂与家具的具体接触链，也不能证实 log step 162 所述夹布料是否形成抓握，因此 contact_actual 仅记录可确认的移动底盘支撑，不虚构汽水罐抓握。视频末秒看不到桶内，六个节点的最终假值由评分器零总量结合初始空桶及全程未见搬罐确定；断点采用明显失衡的近似视频锚点。"
+ },
+ "summary_zh": "机器人未完成任何汽水罐入桶，六个节点全程未达，最终为0/6，与评分器 q_score=0.0 一致。首罐步骤在空手接近床边时反复失衡，视频约 27.5 s 已明显翻斜，后续导航与恢复控制继续在高度异常时驱动，最终跌出场景。无状态日志，家具接触细节及末帧桶内情况不可直接确认，终值以评分总量结合可见过程判定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "六个节点全程未达、终值0/6由q_score=0与视频共同支持；视频约28 s起机体明显倾斜、后期只见天空，平衡现象和反馈控制根因有日志（step id 123/131/194/198）支持。未发现需要改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:44:19Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-aluminum-cans-i00-standard--z44dbrh/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-collecting-aluminum-cans-i00-standard--z44dbrh/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b7d9b6991f760180ae362d3b941e83ec2e3543e7e250a95de56fcb9a3adc8948",
+   "video_sha256": "465044fea8c2457f53ae7c6df926a6bc662b04c068aaf2505a5de909577d4517",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-privileged--75ardgd.json

@@ -0,0 +1,313 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-bacon-i00-privileged--75ardgd",
+ "taskKey": "behavior-1k/cook_bacon",
+ "dag_sha256": "436960e028055689855df9a0ab19653897ca4b01a7cdc6525e18a38048ea1e94",
+ "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": 111,
+   "sim_steps": 111,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 981.1,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 17,
+   "agent_resets": 0,
+   "agent_sim_steps": 166,
+   "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-bacon-i00-privileged--75ardgd/replay.mp4",
+  "duration_s": 3.7,
+  "fps": 30.0,
+  "frames": 111,
+  "sha256": "c7f4189b71598fb8cbe53a32a314e527322985df62d3c68e32e20b32fe2eb962"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 9,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：task/task_dag.json记载冰箱初态关闭；视频0.0–3.67 s中，机器人从岛台旁转向水槽和灶台，未见驶到冰箱、伸手拉门或露出冰箱内腔。"
+     },
+     {
+      "t": 3.67,
+      "log_step": null,
+      "text_zh": "推断：结合已知关闭初态与视频全程只有接近灶台的运动，打开冰箱事件未发生；成功参考视频100.0 s可见的冰箱内腔和低层培根托盘在本次录像中未出现。"
+     }
+    ]
+   },
+   "heat_enabled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 3.67,
+      "log_step": null,
+      "text_zh": "观察：视频2.7–3.67 s可见机器人接近的灶台，控制区指示灯保持红色；成功参考视频175.0、180.0 s的同一位置显示绿灯。本次未见夹爪伸向按钮。"
+     },
+     {
+      "t": 3.67,
+      "log_step": null,
+      "text_zh": "推断：所接近的灶台没有开启；但DAG还允许其他热源在初态已开启，录像未覆盖这些设备，也没有状态日志或评分器字段报告全部热源的激活状态，故不能确定这一宽泛节点的整体真值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0.0–3.3 s，轮式底盘承载机器人从岛台旁驶近灶台并转向控制区；未观察到夹爪与开关发生接触。"
+     }
+    ]
+   },
+   "bacon_cooked_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.67,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–3.67 s中机器人只驶近灶台，未见取出或搬运培根；视频2.7–3.67 s的灶台煎锅中未见培根。评分器reward.q_score=0.0，success=0。"
+     },
+     {
+      "t": 3.67,
+      "log_step": null,
+      "text_zh": "推断：DAG记载六片培根初始为生肉且冰箱关闭；BEHAVIOR的q_score不计保持的初始关闭条件，q_score=0.0将最终新增Cooked目标数限制为零。因此至少1片熟未达到；Cooked达成后不撤销，结合全程未见取料加热，记全程无达成区间。"
+     }
+    ]
+   },
+   "bacon_cooked_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.67,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–3.67 s中机器人只驶近灶台，未见取出或搬运培根；视频2.7–3.67 s的灶台煎锅中未见培根。评分器reward.q_score=0.0，success=0。"
+     },
+     {
+      "t": 3.67,
+      "log_step": null,
+      "text_zh": "推断：DAG记载六片培根初始为生肉且冰箱关闭；BEHAVIOR的q_score不计保持的初始关闭条件，q_score=0.0将最终新增Cooked目标数限制为零。因此至少2片熟未达到；Cooked达成后不撤销，结合全程未见取料加热，记全程无达成区间。"
+     }
+    ]
+   },
+   "bacon_cooked_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.67,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–3.67 s中机器人只驶近灶台，未见取出或搬运培根；视频2.7–3.67 s的灶台��锅中未见培根。评分器reward.q_score=0.0，success=0。"
+     },
+     {
+      "t": 3.67,
+      "log_step": null,
+      "text_zh": "推断：DAG记载六片培根初始为生肉且冰箱关闭；BEHAVIOR的q_score不计保持的初始关闭条件，q_score=0.0将最终新增Cooked目标数限制为零。因此至少3片熟未达到；Cooked达成后不撤销，结合全程未见取料加热，记全程无达成区间。"
+     }
+    ]
+   },
+   "bacon_cooked_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.67,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–3.67 s中机器人只驶近灶台，未见取出或搬运培根；视频2.7–3.67 s的灶台煎锅中未见培根。评分器reward.q_score=0.0，success=0。"
+     },
+     {
+      "t": 3.67,
+      "log_step": null,
+      "text_zh": "推断：DAG记载六片培根初始为生肉且冰箱关闭；BEHAVIOR的q_score不计保持的初始关闭条件，q_score=0.0将最终新增Cooked目标数限制为零。因此至少4片熟未达到；Cooked达成后不撤销，结合全程未见取料加热，记全程无达成区间。"
+     }
+    ]
+   },
+   "bacon_cooked_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.67,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–3.67 s中机器人只驶近灶台，未见取出或搬运培根；视频2.7–3.67 s的灶台煎锅中未见培根。评分器reward.q_score=0.0，success=0。"
+     },
+     {
+      "t": 3.67,
+      "log_step": null,
+      "text_zh": "推断：DAG记载六片培根初始为生肉且冰箱关闭；BEHAVIOR的q_score不计保持的初始关闭条件，q_score=0.0将最终新增Cooked目标数限制为零。因此至少5片熟未达到；Cooked达成后不撤销，结合全程未见取料加热，记全程无达成区间。"
+     }
+    ]
+   },
+   "bacon_cooked_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.67,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–3.67 s中机器人只驶近灶台，未见取出或搬运培根；视频2.7–3.67 s的灶台煎锅中未见培根。评分器reward.q_score=0.0，success=0。"
+     },
+     {
+      "t": 3.67,
+      "log_step": null,
+      "text_zh": "推断：DAG记载六片培根初始为生肉且冰箱关闭；BEHAVIOR的q_score不计保持的初始关闭条件，q_score=0.0将最终新增Cooked目标数限制为零。因此至少6片熟未达到；Cooked达成后不撤销，结合全程未见取料加热，记全程无达成区间。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：task/task_dag.json明确记载冰箱初态关闭；视频0.0–3.67 s内机器人驶向灶台，未见接近冰箱、拉动门板或操作把手。"
+     },
+     {
+      "t": 3.67,
+      "log_step": null,
+      "text_zh": "推断：依据已知关闭初态和整段视频中未发生冰箱操作，关闭状态保持至录像结束；这是保留初始目标，并非完成了一次关门动作。评分器q_score=0.0不扣除这一初始已成立的节点。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "heat_enabled",
+   "t": 3.3,
+   "log_step": null,
+   "where": "转场",
+   "evidence_zh": "观察：视频0.0–3.3 s，机器人空手驶近灶台并转向，视频3.3–3.67 s仍停留在灶台前，红色指示灯未变绿，也未出现夹爪操作按钮的动作。log step 235将开启灶台列为脚本第一阶段，log step 237的agent自述也以开灶为首项；该顺序与本次视频相符，但后续开冰箱、取托盘和烹饪均未出现在交付视频中。"
+  },
+  "unmet": {
+   "bacon_cooked_1": false,
+   "bacon_cooked_2": false,
+   "bacon_cooked_3": false,
+   "bacon_cooked_4": false,
+   "bacon_cooked_5": false,
+   "bacon_cooked_6": false,
+   "fridge_closed": true
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无状态日志。视频只包含接近灶台的运动，没有可据以区分位姿误差、接触失败或控制中断的按钮操作，故现象层留空。log step 185报告的是另一次1466动作的会话录像，评分器实际重放111动作，不能将该次操作失误转移到本次；log step 235、241、243虽显示agent修改逆解种子代码，log step 244、245仅记录最后一次脚本启动及agent自述仍在运行，未提供该次执行结束或报错输出，故根因层留空，不能断言脚本崩溃或交付选错。DAG允许任意热源初态已开，但本次仅能看到灶台未开，其他设备初值不可核实，所以heat_enabled整体真值未知；冰箱和培根终值依据初态、全程运动及评分器总分推断。"
+ },
+ "summary_zh": "交付录像仅3.7秒，机器人从岛台旁驶近灶台；冰箱保留初始关闭状态，六片培根均未做熟，终态已确认1/9节点成立，另有1个节点未知。断点为热源准备的转场阶段：视频3.3 s附近机器人已接近灶台，但直到视频3.67 s仍未操作按钮，指示灯仍红。录像没有呈现具体操作故障，最终脚本执行输出也未记录，因此现象和根因留空；其他热源的初始激活状态缺失，使热源节点整体仍未知。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "标注与证据一致：交付重放仅111动作/3.7秒，只含底盘驶近灶台，灶台指示灯仍红，冰箱未开，培根未熟；q_score=0 支撑六个培根节点为 false，heat_enabled 因其他热源初态不可核实记 unknown 合理。断点 heat_enabled/转场、现象与根因留空并写明 gap_zh，在 agent 日志无法说明111动作文件如何产生（1466动作的记录与重放不符、最后一次 solve.py 无结束输出、wall 7203s 超 7200s 限制）的条件下可接受。",
+    "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": "2026-10-30T21:19:25Z",
+  "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-bacon-i00-privileged--75ardgd/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-bacon-i00-privileged--75ardgd/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0b42fdef8d48f09b55bac1874bcdc0a706679c4ce30ee4233a846e6c51c35c74",
+   "video_sha256": "c7f4189b71598fb8cbe53a32a314e527322985df62d3c68e32e20b32fe2eb962",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-privileged--gg6qfpc.json

@@ -0,0 +1,432 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-bacon-i00-privileged--gg6qfpc",
+ "taskKey": "behavior-1k/cook_bacon",
+ "dag_sha256": "436960e028055689855df9a0ab19653897ca4b01a7cdc6525e18a38048ea1e94",
+ "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": 7794,
+   "sim_steps": 7794,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 3738.7,
+   "replay_timeout_s": 5097.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 1,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 2,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-cook-bacon-i00-privileged--gg6qfpc/replay.mp4",
+  "duration_s": 259.8,
+  "fps": 30.0,
+  "frames": 7794,
+  "sha256": "68928710a5817c6c999b5e1f54388376f6c40406010a6edcdd008a106e8f59f5"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 9,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      25.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": 55,
+      "text_zh": "观察：视频 24.5–28.5 s，机器人左夹爪夹住门把手并向外拉，白色门板转离柜体，侧面缝隙及浅绿色内架逐渐露出；视频 30–39 s 门已明显敞开。首次超过小开度阈值约在视频 25.0 s，误差约0.5秒；后续合门不撤销此event。"
+     },
+     {
+      "t": 232.0,
+      "log_step": null,
+      "text_zh": "观察：视频 228.5–238 s 机器人再次拉开同一门板，视频 240–245 s 门仍敞开；这些是同一已达成开门事件的重复。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 23–39 s 左二指夹爪夹住冰箱把手上端，门板随夹爪外拉而转动；视频 100–115 s、228.5–238 s 又以左夹爪拉开门。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 55–87 s 左夹爪张开后继续在门附近推拨，门板随手臂动作回转；不是始终抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–6.5 s 底盘驶到冰箱前；视频 25–39 s 拉门时底盘也向后调整位置。"
+     }
+    ]
+   },
+   "heat_enabled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 80.0,
+      "log_step": 27,
+      "text_zh": "观察：log step 27 在开始录制前查询灶台，HeatSourceOrSink与ToggledOn均为False；视频 80.0 s 左腕画面可见灶台控制处红色小点，没有参考成功视频 178.0 s 的亮绿灯。整段视频 0–259.7 s 机器人围绕冰箱操作，未见按热源开关。"
+     },
+     {
+      "t": 259.7,
+      "log_step": null,
+      "text_zh": "推断：可排除本次操作打开灶台，但DAG允许其他热源从初态激活；所有替代设备的初始激活状态没有日志或完整可见画面，因此不能把该存在性节点断言为假或真。"
+     }
+    ]
+   },
+   "bacon_cooked_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 136.0,
+      "log_step": 64,
+      "text_zh": "观察：视频 132–138 s，机器人左臂向冰箱低处伸入时门板回合，夹爪停在门外，未见托盘随手离开；视频 209–218 s 和249–259.7 s 再次伸手后也未见托盘或培根被运走，机器人未返回灶台。"
+     },
+     {
+      "t": 259.7,
+      "log_step": 74,
+      "text_zh": "推断：评分器reward.q_score=0.0，log step 74 保存的完整轨迹也报告q_score=0.0；初态冰箱关闭本就成立，不计入新增目标得分。六片Cooked均为新增目标，故终态熟片数为0，未达到至少1片；Cooked一旦成立不会撤销，结合全程未见取出和加热，判断本计数节点全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 132–138 s、249–257 s，机器人向低层取托盘的手臂与门板相遇并将门推回；未见夹爪包夹托盘或培根。推断：log step 64、68、73 的目标都是承载六片培根的同一���盘，六个计数节点共用此次取料尝试，此条记录实际碰到的冰箱门，不表示已装载或已加热。"
+     }
+    ]
+   },
+   "bacon_cooked_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 136.0,
+      "log_step": 64,
+      "text_zh": "观察：视频 132–138 s，机器人左臂向冰箱低处伸入时门板回合，夹爪停在门外，未见托盘随手离开；视频 209–218 s 和249–259.7 s 再次伸手后也未见托盘或培根被运走，机器人未返回灶台。"
+     },
+     {
+      "t": 259.7,
+      "log_step": 74,
+      "text_zh": "推断：评分器reward.q_score=0.0，log step 74 保存的完整轨迹也报告q_score=0.0；初态冰箱关闭本就成立，不计入新增目标得分。六片Cooked均为新增目标，故终态熟片数为0，未达到至少2片；Cooked一旦成立不会撤销，结合全程未见取出和加热，判断本计数节点全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 132–138 s、249–257 s，机器人向低层取托盘的手臂与门板相遇并将门推回；未见夹爪包夹托盘或培根。推断：log step 64、68、73 的目标都是承载六片培根的同一托盘，六个计数节点共用此次取料尝试，此条记录实际碰到的冰箱门，不表示已装载或已加热。"
+     }
+    ]
+   },
+   "bacon_cooked_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 136.0,
+      "log_step": 64,
+      "text_zh": "观察：视频 132–138 s，机器人左臂向冰箱低处伸入时门板回合，夹爪停在门外，未见托盘随手离开；视频 209–218 s 和249–259.7 s 再次伸手后也未见托盘或培根被运走，机器人未返回灶台。"
+     },
+     {
+      "t": 259.7,
+      "log_step": 74,
+      "text_zh": "推断：评分器reward.q_score=0.0，log step 74 保存的完整轨迹也报告q_score=0.0；初态冰箱关闭本就成立，不计入新增目标得分。六片Cooked均为新增目标，故终态熟片数为0，未达到至少3片；Cooked一旦成立不会撤销，结合全程未见取出和加热，判断本计数节点全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 132–138 s、249–257 s，机器人向低层取托盘的手臂与门板相遇并将门推回；未见夹爪包夹托盘或培根。推断：log step 64、68、73 的目标都是承载六片培根的同一托盘，六个计数节点共用此次取料尝试，此条记录实际碰到的冰箱门，不表示已装载或已加热。"
+     }
+    ]
+   },
+   "bacon_cooked_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 136.0,
+      "log_step": 64,
+      "text_zh": "观察：视频 132–138 s，机器人左臂向冰箱低处伸入时门板回合，夹爪停在门外，未见托盘随手离开；视频 209–218 s 和249–259.7 s 再次伸手后也未见托盘或培根被运走，机器人未返回灶台。"
+     },
+     {
+      "t": 259.7,
+      "log_step": 74,
+      "text_zh": "推断：评分器reward.q_score=0.0，log step 74 保存的完整轨迹也报告q_score=0.0；初态冰箱关闭本就成立，不计入新增目标得分。六片Cooked均为新增目标，故终态熟片数为0，未达到至少4片；Cooked一旦成立不会撤销，结合全程未见取出和加热，判断本计数节点全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 132–138 s、249–257 s，机器人向低层取托盘的手臂与门板相遇并将门推回；未见夹爪包夹托盘或培根。推断：log step 64、68、73 的目标都是承载六片培根的同一托盘，六个计数节点共用此次取料尝试，此条记录实际碰到的冰箱门，不表示已装载或已加热。"
+     }
+    ]
+   },
+   "bacon_cooked_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 136.0,
+      "log_step": 64,
+      "text_zh": "观察：视频 132–138 s，机器人左臂向冰箱低处伸入时门板回合，夹爪停在门外，未见托盘随手离开；视频 209–218 s 和249–259.7 s 再次伸手后也未见托盘或培根被运走，机器人未返回灶台。"
+     },
+     {
+      "t": 259.7,
+      "log_step": 74,
+      "text_zh": "推断：评分器reward.q_score=0.0，log step 74 保存的完整轨迹也报告q_score=0.0；初态冰箱关闭本就成立，不计入新增目标得分。六片Cooked均为新增目标，故终态熟片数为0，未达到至少5片；Cooked一旦成立不会撤销，结合全程未见取出和加热，判断本计数节点全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 132–138 s、249–257 s，机器人向低层取托盘的手臂与门板相遇并将门推回；未见夹爪包夹托盘或培根。推断：log step 64、68、73 的目标都是承载六片培根的同一托盘，六个计数节点共用此次取料尝试，此条记录实际碰到的冰箱门，不表示已装载或已加热。"
+     }
+    ]
+   },
+   "bacon_cooked_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 136.0,
+      "log_step": 64,
+      "text_zh": "观察：视频 132–138 s，机器人左臂向冰箱低处伸入时门板回合，夹爪停在门外，未见托盘随手离开；视频 209–218 s 和249–259.7 s 再次伸手后也未见托盘或培根被运走，机器人未返回灶台。"
+     },
+     {
+      "t": 259.7,
+      "log_step": 74,
+      "text_zh": "推断：评分器reward.q_score=0.0，log step 74 保存的完整轨迹也报告q_score=0.0；初态冰箱关闭本就成立，不计入新增目标得分。六片Cooked均为新增目标，故终态熟片数为0，未达到至少6片；Cooked一旦成立不会撤销，结合全程未见取出和加热，判断本计数节点全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 132–138 s、249–257 s，机器人向低层取托盘的手臂与门板相遇并将门推回；未见夹爪包夹托盘或培根。推断：log step 64、68、73 的目标都是承载六片培根的同一托盘，六个计数节点共用此次取料尝试，此条记录实际碰到的冰箱门，不表示已装载或已加热。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      25.0
+     ],
+     [
+      87.0,
+      100.0
+     ],
+     [
+      136.0,
+      149.5
+     ],
+     [
+      183.0,
+      185.5
+     ],
+     [
+      216.0,
+      228.5
+     ],
+     [
+      256.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 初始远景及视频 6–24 s 冰箱近景中，白色门板贴合柜体，内腔没有敞露；视频约25.0 s 随左夹爪外拉而失去关闭条件。"
+     },
+     {
+      "t": 90.5,
+      "log_step": 60,
+      "text_zh": "推断：视频 80–89 s 机器人转动躯干时门被遮挡，视频 90.5–99 s 再次看见门板合拢；结合log step 60 的门关节回到近零、视频所示动作顺序，将首次恢复关闭粗记为视频 87.0 s，可能有数秒误差，不能精确核对其间接近5%阈值的短暂开合。视频 100.0–106 s 侧缝重新扩大，关闭条件再次失去。"
+     },
+     {
+      "t": 136.0,
+      "log_step": 64,
+      "text_zh": "观察：视频 130–135.5 s 门板仍转出；视频 136–138 s 左臂下探后门板贴回柜体，随后持续关闭到视频约149.5 s 再次被拉开。"
+     },
+     {
+      "t": 183.5,
+      "log_step": 67,
+      "text_zh": "观察：视频约183.0–185.0 s 门板短暂贴回，视频 185.5–189 s 又转出，随后继续张开；按画面近似标记此次关闭和重开边界。"
+     },
+     {
+      "t": 216.0,
+      "log_step": 68,
+      "text_zh": "观察：视频 209–215 s 机器人伸右臂时门板回转，视频约216–220 s 门已回合；视频 224–228 s 仍见贴合的白色门板，视频约228.5 s 又出现侧向内架缝隙，随后继续拉开。"
+     },
+     {
+      "t": 259.7,
+      "log_step": 73,
+      "text_zh": "观察：视频 249–256 s 左臂重新伸向冰箱低处，门板再次回转；视频约256.5 s 合拢，视频 258.8–259.7 s 每0.1秒抽帧均见门板贴合、内腔不再敞露，终态关闭。几何5%阈值没有状态日志，除首次遮挡边界外各边界约有0.5–1秒误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 132–138 s、249–257 s，取料时手臂扫碰门板并使其合回；这是意外关门，未见专门完成烹饪后再关门的操作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bacon_cooked_1",
+   "t": 133.5,
+   "log_step": 64,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 132–138 s，机器人开始向低层托盘伸手，臂与门板相遇后门回合，夹爪留在外侧；视频 209–218 s、249–259.7 s 重试仍没有托盘离开冰箱或进入热源的画面。推断：开门事件已完成，取托盘是做熟培根的取料阶段；这一共同取料失败到结束都未修复，因此断点为第1片培根熟，而不是已完成的开门事件或最终恢复的关门状态。"
+  },
+  "unmet": {
+   "bacon_cooked_1": false,
+   "bacon_cooked_2": false,
+   "bacon_cooked_3": false,
+   "bacon_cooked_4": false,
+   "bacon_cooked_5": false,
+   "bacon_cooked_6": false,
+   "fridge_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 133.5,
+    "log_step": 64,
+    "evidence_zh": "观察：视频 132–138 s 左臂从打开的门旁向低处运动时，门板随臂回转并挡在夹爪与冰箱内部之间，最终关上；视频 249–257 s 再次出现相同的手臂动作与门板回合。未见夹爪携带托盘离开，取料通路被门阻断。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "evidence_zh": "推断：视频 132–138 s、249–257 s 的取料路径扫到门板，未形成能避开门的入柜轨迹。日志中log step 30 的运动接口说明逆运动学只处理运动学、不检查场景碰撞；log step 64、68、73 的入柜运动返回明显末端误差，log step 75 中agent也自述机械臂的关节插值扫过门。目标是从已打开的冰箱取出托盘，错误落在具体轨迹及躯干/臂的执行路径；没有证据表明任务目标理解错误。",
+    "source_zh": "日志 / 视频 / agent 自述"
+   }
+  ],
+  "gap_zh": "没有状态日志，无法精确核对门关节5%阈值、具体机器人接触连杆及每片培根的温度；熟片数终值由评分器q_score总量与Cooked不可逆性约束判定。首次合门发生在视频80–89 s 的遮挡段内，视频87.0 s 为近似导航锚点，误差可能数秒；其他开合边界约0.5–1秒。所有替代热源的初态没有完整证据，heat_enabled保留未知；未把agent关于抓法不可能或时间用完的自述当作失败原因。"
+ },
+ "summary_zh": "机器人完成开门事件，冰箱关闭状态数次失去后在视频约256.5 s 恢复，确认终态有2/9个节点成立，另有热源节点未知；六片培根均未做熟，q_score=0.0。做熟第1片培根的取料阶段，手臂路径反复扫碰冰箱门并使门关闭，始终未见托盘被取出，根因支持控制中的轨迹或逆解问题。无状态日志，门开合边界及具体接触连杆存在误差；替代热源初态不足以判断热源节点。",
+ "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、时间锚点、断点（取托盘阶段，门被臂扫回）与根因（轨迹或逆解）与视频及log step 56-73 的门关节读数一致；无状态日志，门开合边界本就标为近似，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": "2026-10-30T21:26:50Z",
+  "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-cook-bacon-i00-privileged--gg6qfpc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-bacon-i00-privileged--gg6qfpc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6ad0e6a638ed497a690b069204cb62c3abb08f305b7888cec6b1dcb750caa591",
+   "video_sha256": "68928710a5817c6c999b5e1f54388376f6c40406010a6edcdd008a106e8f59f5",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-privileged--kb2jmgc.json

@@ -0,0 +1,413 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-bacon-i00-privileged--kb2jmgc",
+ "taskKey": "behavior-1k/cook_bacon",
+ "dag_sha256": "436960e028055689855df9a0ab19653897ca4b01a7cdc6525e18a38048ea1e94",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 2331,
+   "sim_steps": 2331,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1401.3,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 4,
+   "agent_resets": 12,
+   "agent_sim_steps": 22164,
+   "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-cook-bacon-i00-privileged--kb2jmgc/replay.mp4",
+  "duration_s": 77.7,
+  "fps": 30.0,
+  "frames": 2331,
+  "sha256": "cd18864cd8d4abd990fd19492f0a0435ac37d295530b9a6fa6f31adbf083dab3"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 9,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      14.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 头部视角远处冰箱门贴合柜体；视频 9.0–13.5 s 机器人右夹爪接近并夹住门把手。"
+     },
+     {
+      "t": 14.5,
+      "log_step": 421,
+      "text_zh": "观察：视频 14.5–16.0 s 机器人右夹爪带动白色门板向外转开，露出冰箱层架；视频 30.0 s 已可见低层托盘及培根。打开时刻取视频约 14.0 s，视觉误差约 0.5 s；log step 421 是最终录制的开门指令。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 11.5–16.0 s 右侧二指夹爪夹住冰箱门把手并向外拉；后续再次抓持把手扩大开口。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–9.0 s 轮式底盘承载机器人驶到冰箱前，视频 23.0–30.0 s 又后退、侧移以继续操作门和接近托盘。"
+     }
+    ]
+   },
+   "heat_enabled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 65.5,
+      "log_step": 444,
+      "text_zh": "观察：视频 62.0 s 灶台控制区标记为红色；视频 64.5–67.0 s 机器人左夹爪移到灶台控制区并下压，视频 67.0–77.65 s 腕部视角中的对应标记始终为红色。成功参考录像的视频 175.0、180.0 s 对应标记为绿色。"
+     },
+     {
+      "t": 77.65,
+      "log_step": 454,
+      "text_zh": "推断：本次可见的灶台操作未激活热源，整段视频也未见机器人使用其他加热设备，因此本节点未达到；agent 自述“switch on the stove”（log step 454）与本次重放指示灯不一致，不据此计分。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 65.5–67.0 s 左夹爪指端下压灶台控制区域，红色标记没有变绿。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 57.0–64.0 s 底盘将机器人从冰箱前载到灶台前以操作控制件。"
+     }
+    ]
+   },
+   "bacon_cooked_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 35.0,
+      "log_step": 426,
+      "text_zh": "观察：视频 30.0、35.0 s 左腕视角可见低层托盘中的红色培根；视频 34.5–56.0 s 机器人左夹爪反复伸向托盘，托盘仍留在冰箱内，视频 57.0 s 后机器人空手离开。视频 62.0–77.65 s 灶台上没有送来的培根。"
+     },
+     {
+      "t": 77.65,
+      "log_step": 474,
+      "text_zh": "推断：评分器在 log step 474 报告 2331 控制步的新进程重放 success=false、q_score=0.0；培根初始未熟，每片 Cooked 一旦成立即保留，因此零新增目标分数与未搬至热源的录像共同确定全程未有培根做熟，至少1片熟的条件未达到。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 34.5–56.0 s 左夹爪在低层托盘前沿及侧缘反复接近、合拢和拨动；托盘朝向受扰但仍在冰箱内，未见夹爪建立可带走托盘的抓握。这是为六片共同取料的同一批次动作，并非直接抓住培根。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 23.0–30.0 s 底盘后退并侧移到冰箱开口前，为六片共用托盘的取料尝试调整站位。"
+     }
+    ]
+   },
+   "bacon_cooked_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 35.0,
+      "log_step": 426,
+      "text_zh": "观察：视频 30.0、35.0 s 左腕视角可见低层托盘中的红色培根；视频 34.5–56.0 s 机器人左夹爪反复伸向托盘，托盘仍留在冰箱内，视频 57.0 s 后机器人空手离开。视频 62.0–77.65 s 灶台上没有送来的培根。"
+     },
+     {
+      "t": 77.65,
+      "log_step": 474,
+      "text_zh": "推断：评分器在 log step 474 报告 2331 控制步的新进程重放 success=false、q_score=0.0；培根初始未熟，每片 Cooked 一旦成立即保留，因此零新增目标分数与未搬至热源的录像共同确定全程未有培根做熟，至少2片熟的条件未达到。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 34.5–56.0 s 左夹爪在低层托盘前沿及侧缘反复接近、合拢和拨动；托盘朝向受扰但仍在冰箱内，未见夹爪建立可带走托盘的抓握。这是为六片共同取料的同一批次动作，并非直接抓住培根。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 23.0–30.0 s 底盘后退并侧移到冰箱开口前，为六片共用托盘的取料尝试调整站位。"
+     }
+    ]
+   },
+   "bacon_cooked_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 35.0,
+      "log_step": 426,
+      "text_zh": "观察：视频 30.0、35.0 s 左腕视角可见低层托盘中的红色培根；视频 34.5–56.0 s 机器人左夹爪反复伸向托盘，托盘仍留在冰箱内，视频 57.0 s 后机器人空手离开。视频 62.0–77.65 s 灶台上没有送来的培根。"
+     },
+     {
+      "t": 77.65,
+      "log_step": 474,
+      "text_zh": "推断：评分器在 log step 474 报告 2331 控制步的新进程重放 success=false、q_score=0.0；培根初始未熟，每片 Cooked 一旦成立即保留，因此零新增目标分数与未搬至热源的录像共同确定全程未有培根做熟，至少3片熟的条件未达到。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 34.5–56.0 s 左夹爪在低层托盘前沿及侧缘反复接近、合拢和拨动；托盘朝向受扰但仍在冰箱内，未见夹爪建立可带走托盘的抓握。这是为六片共同取料的同一批次动作，并非直接抓住培根。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 23.0–30.0 s 底盘后退并侧移到冰箱开口前，为六片共用托盘的取料尝试调整站位。"
+     }
+    ]
+   },
+   "bacon_cooked_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 35.0,
+      "log_step": 426,
+      "text_zh": "观察：视频 30.0、35.0 s 左腕视角可见低层托盘中的红色培根；视频 34.5–56.0 s 机器人左夹爪反复伸向托盘，托盘仍留在冰箱内，视频 57.0 s 后机器人空手离开。视频 62.0–77.65 s 灶台上没有送来的培根。"
+     },
+     {
+      "t": 77.65,
+      "log_step": 474,
+      "text_zh": "推断：评分器在 log step 474 报告 2331 控制步的新进程重放 success=false、q_score=0.0；培根初始未熟，每片 Cooked 一旦成立即保留，因此零新增目标分数与未搬至热源的录像共同确定全程未有培根做熟，至少4片熟的条件未达到。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 34.5–56.0 s 左夹爪在低层托盘前沿及侧缘反复接近、合拢和拨动；托盘朝向受扰但仍在冰箱内，未见夹爪建立可带走托盘的抓握。这是为六片共同取料的同一批次动作，并非直接抓住培根。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 23.0–30.0 s 底盘后退并侧移到冰箱开口前，为六片共用托盘的取料尝试调整站位。"
+     }
+    ]
+   },
+   "bacon_cooked_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 35.0,
+      "log_step": 426,
+      "text_zh": "观察：视频 30.0、35.0 s 左腕视角可见低层托盘中的红色培根；视频 34.5–56.0 s 机器人左夹爪反复伸向托盘，托盘仍留在冰箱内，视频 57.0 s 后机器人空手离开。视频 62.0–77.65 s 灶台上没有送来的培根。"
+     },
+     {
+      "t": 77.65,
+      "log_step": 474,
+      "text_zh": "推断：评分器在 log step 474 报告 2331 控制步的新进程重放 success=false、q_score=0.0；培根初始未熟，每片 Cooked 一旦成立即保留，因此零新增目标分数与未搬至热源的录像共同确定全程未有培根做熟，至少5片熟的条件未达到。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 34.5–56.0 s 左夹爪在低层托盘前沿及侧缘反复接近、合拢和拨动；托盘朝向受扰但仍在冰箱内，未见夹爪建立可带走托盘的抓握。这是为六片共同取料的同一批次动作，并非直接抓住培根。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 23.0–30.0 s 底盘后退并侧移到冰箱开口前，为六片共用托盘的取料尝试调整站位。"
+     }
+    ]
+   },
+   "bacon_cooked_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 35.0,
+      "log_step": 426,
+      "text_zh": "观察：视频 30.0、35.0 s 左腕视角可见低层托盘中的红色培根；视频 34.5–56.0 s 机器人左夹爪反复伸向托盘，托盘仍留在冰箱内，视频 57.0 s 后机器人空手离开。视频 62.0–77.65 s 灶台上没有送来的培根。"
+     },
+     {
+      "t": 77.65,
+      "log_step": 474,
+      "text_zh": "推断：评分器在 log step 474 报告 2331 控制步的新进程重放 success=false、q_score=0.0；培根初始未熟，每片 Cooked 一旦成立即保留，因此零新增目标分数与未搬至热源的录像共同确定全程未有培根做熟，至少6片熟的条件未达到。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 34.5–56.0 s 左夹爪在低层托盘前沿及侧缘反复接近、合拢和拨动；托盘朝向受扰但仍在冰箱内，未见夹爪建立可带走托盘的抓握。这是为六片共同取料的同一批次动作，并非直接抓住培根。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 23.0–30.0 s 底盘后退并侧移到冰箱开口前，为六片共用托盘的取料尝试调整站位。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      14.0
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 头部视角中冰箱门贴合柜体；视频 9.0–13.5 s 右夹爪在关闭门板外操作把手。初态关闭计入进度，不受 after 门控。"
+     },
+     {
+      "t": 56.0,
+      "log_step": null,
+      "text_zh": "观察：视频 14.5 s 起冰箱内腔敞露；视频 30.0–56.0 s 门始终向外展开，机器人离开前的视频 56.0 s 仍能看到敞开的层架及低层托盘。"
+     },
+     {
+      "t": 77.65,
+      "log_step": null,
+      "text_zh": "推断：视频 57.0–77.65 s 机器人驶向灶台后未再返回关门，未见任何合门动作，故关闭区间止于视频约 14.0 s（误差约 0.5 s），结束时为 false。q_score=0.0 本身不用于否定初始即成立的关闭条件。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bacon_cooked_1",
+   "t": 35.0,
+   "log_step": 426,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 34.5–36.5 s 机器人左夹爪在托盘前沿尝试合拢、再次张开，托盘没有随夹爪离开冰箱；视频 41.0–56.0 s 换角度反复尝试后仍未取出，视频 57.0 s 后空手离开。推断：这是六片共同取料、准备烹饪时首次未修复的失败，归到第1片做熟节点；随后灶台操作也未使红色指示变绿，不能修复取料失败。"
+  },
+  "unmet": {
+   "bacon_cooked_1": false,
+   "bacon_cooked_2": false,
+   "bacon_cooked_3": false,
+   "bacon_cooked_4": false,
+   "bacon_cooked_5": false,
+   "bacon_cooked_6": false,
+   "fridge_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 35.0,
+    "log_step": 426,
+    "evidence_zh": "观察：视频 34.5–36.5 s 左夹爪在托盘前缘闭合后张开，视频 43.0 s 夹爪回撤而托盘仍在低层；视频 49.0–56.0 s 继续接近和拨动，未见托盘随夹爪被带走。推断：没有建立取料所需的夹持接触；碰到或拨动盘缘不等于成功抓持，不是已抓住后滑脱。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：视频 34.5–56.0 s 机器人已把左夹爪送到正确的托盘附近，多次调整和合拢仍不能带走托盘，支持取料操作的控制失败。会话调试的 log step 412 也曾记录左指仅单侧接触托盘、末端未继续深入；该记录仅支持控制困难的背景，节点值仍以视频为准。log step 426、428–441 记录最终录制内的反复取料指令，log step 448、451 保存并确认 2331 行动作，log step 474 新进程重放仍失败。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "无状态日志，托盘前缘部分动作被层架、门板遮挡，无法进一步区分抓取几何、碰撞阻断或轨迹跟踪问题，故根因保留在“控制”。没有逐片温度或 Cooked 读数，熟态全程为假由视频的未取料结果、Cooked不可逆规则及评分器 q_score=0.0 联合推断；其他热源初态未逐一观测，但本次未见使用。冰箱在视频 57.0 s 后离开各视角，最终未关闭是从离开前仍敞开、此后无返回或关门动作推断。"
+ },
+ "summary_zh": "观察：本次重放打开了冰箱，机器人多次伸向六片培根共用的低层托盘，但未将托盘取出；随后空手到灶台操作，末尾指示灯仍为红色。推断：最终仅“打开冰箱”成立（1/9），六片均未熟且冰箱未关；首个未修复断点为第1片培根做熟过程中的取料抓持失败，根因支持到控制层。无状态日志，抓取失败的细分机制及离开视野后的冰箱状态存在观测缺口。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "抽查视频 12.5/14.5/15/36/66/77 s 帧，与标注一致：冰箱已打开、托盘未取出、灶台指示灯始终为红、六片未熟、冰箱未关；断点、现象（没建立接触）与根因（控制）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": "2026-10-30T21:22:31Z",
+  "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-cook-bacon-i00-privileged--kb2jmgc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-bacon-i00-privileged--kb2jmgc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b69e06f1614692903c413648671332feb35704514dc6632372122b7360cf2711",
+   "video_sha256": "cd18864cd8d4abd990fd19492f0a0435ac37d295530b9a6fa6f31adbf083dab3",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-privileged--x7igxvk.json

@@ -0,0 +1,423 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-bacon-i00-privileged--x7igxvk",
+ "taskKey": "behavior-1k/cook_bacon",
+ "dag_sha256": "436960e028055689855df9a0ab19653897ca4b01a7cdc6525e18a38048ea1e94",
+ "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": 12876,
+   "sim_steps": 12876,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 4461.9,
+   "replay_timeout_s": 7638.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 5,
+   "agent_resets": 10,
+   "agent_sim_steps": 12876,
+   "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-bacon-i00-privileged--x7igxvk/replay.mp4",
+  "duration_s": 429.2,
+  "fps": 30.0,
+  "frames": 12876,
+  "sha256": "64dc0e9ddb9f87daf60f5f221ddb461c2cd09917276dcc9ea42514630f86101f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 9,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      32.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 31.5,
+      "log_step": null,
+      "text_zh": "观察：视频 31.5 s 门板仍接近柜体；视频 32.0–35.5 s 机器人带动门板向外转开，腕部及头部视角随后露出内腔和低层托盘。以视频约 32.0 s 作为越过小开度阈值的视觉估计，误差约 0.5 s。"
+     },
+     {
+      "t": 38.5,
+      "log_step": null,
+      "text_zh": "观察：视频 38.5–42.5 s 冰箱内腔敞开，低层托盘上可见六片条状培根；视频 387.0–388.0 s 内腔仍敞开。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左侧二指夹爪夹住冰箱门自由边的突出块，随后拉动门板；视频 31.5–37.0 s 门板随夹爪及机器人移动转开，结合最终生成脚本所用的左爪夹持动作判断。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 0–10 s 底盘驶到冰箱前，视频约 32–37 s 底盘移动配合夹爪拉开门板。"
+     }
+    ]
+   },
+   "heat_enabled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 429.1,
+      "log_step": null,
+      "text_zh": "观察：本次完整视频的粗查及视频 42.0–62.0 s、382.0–429.1 s 的细查均未见机器人操作热源开关，画面主要朝向冰箱和水槽；灶台控制灯及其他可用热源的初态未被清楚展示。成功参考视频 175–180 s 的灶台绿灯可见，但不是本次运行的证据，不能据此补出本次初态。"
+     }
+    ]
+   },
+   "bacon_cooked_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 54.5,
+      "log_step": null,
+      "text_zh": "观察：视频 42.5 s、54.5–59.0 s 的腕部画面可见托盘上的条状培根，机器人伸爪和撤爪后托盘仍留在冰箱低层；全片每 5 s 抽查至视频 425 s 未见将培根搬至热源，视频 387.0 s 仍可见托盘及培根位于冰箱内。"
+     },
+     {
+      "t": 429.1,
+      "log_step": 446,
+      "text_zh": "推断：评分器 reward.q_score=0.0，初态培根未熟，原生 Cooked 一旦为真不会因冷却或掉落撤销，因此最终熟片数为零，也排除中途曾达到至少1片熟；初态已成立的冰箱关闭目标不计入该分数。视频中未见搬出加热与此一致，故该节点区间为空、终值为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频约 42–387 s 机器人轮流用单侧夹爪对装六片培根的同一托盘前缘伸近、闭爪、撤回，属于六个烹饪计数节点共用的上料尝试；托盘没有被带出。腕部可见爪指和托盘，但对向接触处不能始终分辨，未把闭爪动作记成已发生抓握，也未观察到热源加热接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约 38–42 s 底盘重新停到冰箱开口前，为抓取装有六片培根的托盘定位；这是六片共同的上料准备。"
+     }
+    ]
+   },
+   "bacon_cooked_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 54.5,
+      "log_step": null,
+      "text_zh": "观察：视频 42.5 s、54.5–59.0 s 的腕部画面可见托盘上的条状培根，机器人伸爪和撤爪后托盘仍留在冰箱低层；全片每 5 s 抽查至视频 425 s 未见将培根搬至热源，视频 387.0 s 仍可见托盘及培根位于冰箱内。"
+     },
+     {
+      "t": 429.1,
+      "log_step": 446,
+      "text_zh": "推断：评分器 reward.q_score=0.0，初态培根未熟，原生 Cooked 一旦为真不会因冷却或掉落撤销，因此最终熟片数为零，也排除中途曾达到至少2片熟；初态已成立的冰箱关闭目标不计入该分数。视频中未见搬出加热与此一致，故该节点区间为空、终值为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频约 42–387 s 机器人轮流用单侧夹爪对装六片培根的同一托盘前缘伸近、闭爪、撤回，属于六个烹饪计数节点共用的上料尝试；托盘没有被带出。腕部可见爪指和托盘，但对向接触处不能始终分辨，未把闭爪动作记成已发生抓握，也未观察到热源加热接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约 38–42 s 底盘重新停到冰箱开口前，为抓取装有六片培根的托盘定位；这是六片共同的上料准备。"
+     }
+    ]
+   },
+   "bacon_cooked_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 54.5,
+      "log_step": null,
+      "text_zh": "观察：视频 42.5 s、54.5–59.0 s 的腕部画面可见托盘上的条状培根，机器人伸爪和撤爪后托盘仍留在冰箱低层；全片每 5 s 抽查至视频 425 s 未见将培根搬至热源，视频 387.0 s 仍可见托盘及培根位于冰箱内。"
+     },
+     {
+      "t": 429.1,
+      "log_step": 446,
+      "text_zh": "推断：评分器 reward.q_score=0.0，初态培根未熟，原生 Cooked 一旦为真不会因冷却或掉落撤销，因此最终熟片数为零，也排除中途曾达到至少3片熟；初态已成立的冰箱关闭目标不计入该分数。视频中未见搬出加热与此一致，故该节点区间为空、终值为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频约 42–387 s 机器人轮流用单侧夹爪对装六片培根的同一托盘前缘伸近、闭爪、撤回，属于六个烹饪计数节点共用的上料尝试；托盘没有被带出。腕部可见爪指和托盘，但对向接触处不能始终分辨，未把闭爪动作记成已发生抓握，也未观察到热源加热接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约 38–42 s 底盘重新停到冰箱开口前，为抓取装有六片培根的托盘定位；这是六片共同的上料准备。"
+     }
+    ]
+   },
+   "bacon_cooked_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 54.5,
+      "log_step": null,
+      "text_zh": "观察：视频 42.5 s、54.5–59.0 s 的腕部画面可见托盘上的条状培根，机器人伸爪和撤爪后托盘仍留在冰箱低层；全片每 5 s 抽查至视频 425 s 未见将培根搬至热源，视频 387.0 s 仍可见托盘及培根位于冰箱内。"
+     },
+     {
+      "t": 429.1,
+      "log_step": 446,
+      "text_zh": "推断：评分器 reward.q_score=0.0，初态培根未熟，原生 Cooked 一旦为真不会因冷却或掉落撤销，因此最终熟片数为零，也排除中途曾达到至少4片熟；初态已成立的冰箱关闭目标不计入该分数。视频中未见搬出加热与此一致，故该节点区间为空、终值为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频约 42–387 s 机器人轮流用单侧夹爪对装六片培根的同一托盘前缘伸近、闭爪、撤回，属于六个烹饪计数节点共用的上料尝试；托盘没有被带出。腕部可见爪指和托盘，但对向接触处不能始终分辨，未把闭爪动作记成已发生抓握，也未观察到热源加热接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约 38–42 s 底盘重新停到冰箱开口前，为抓取装有六片培根的托盘定位；这是六片共同的上料准备。"
+     }
+    ]
+   },
+   "bacon_cooked_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 54.5,
+      "log_step": null,
+      "text_zh": "观察：视频 42.5 s、54.5–59.0 s 的腕部画面可见托盘上的条状培根，机器人伸爪和撤爪后托盘仍留在冰箱低层；全片每 5 s 抽查至视频 425 s 未见将培根搬至热源，视频 387.0 s 仍可见托盘及培根位于冰箱内。"
+     },
+     {
+      "t": 429.1,
+      "log_step": 446,
+      "text_zh": "推断：评分器 reward.q_score=0.0，初态培根未熟，原生 Cooked 一旦为真不会因冷却或掉落撤销，因此最终熟片数为零，也排除中途曾达到至少5片熟；初态已成立的冰箱关闭目标不计入该分数。视频中未见搬出加热与此一致，故该节点区间为空、终值为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频约 42–387 s 机器人轮流用单侧夹爪对装六片培根的同一托盘前缘伸近、闭爪、撤回，属于六个烹饪计数节点共用的上料尝试；托盘没有被带出。腕部可见爪指和托盘，但对向接触处不能始终分辨，未把闭爪动作记成已发生抓握，也未观察到热源加热接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约 38–42 s 底盘重新停到冰箱开口前，为抓取装有六片培根的托盘定位；这是六片共同的上料准备。"
+     }
+    ]
+   },
+   "bacon_cooked_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 54.5,
+      "log_step": null,
+      "text_zh": "观察：视频 42.5 s、54.5–59.0 s 的腕部画面可见托盘上的条状培根，机器人伸爪和撤爪后托盘仍留在冰箱低层；全片每 5 s 抽查至视频 425 s 未见将培根搬至热源，视频 387.0 s 仍可见托盘及培根位于冰箱内。"
+     },
+     {
+      "t": 429.1,
+      "log_step": 446,
+      "text_zh": "推断：评分器 reward.q_score=0.0，初态培根未熟，原生 Cooked 一旦为真不会因冷却或掉落撤销，因此最终熟片数为零，也排除中途曾达到至少6片熟；初态已成立的冰箱关闭目标不计入该分数。视频中未见搬出加热与此一致，故该节点区间为空、终值为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频约 42–387 s 机器人轮流用单侧夹爪对装六片培根的同一托盘前缘伸近、闭爪、撤回，属于六个烹饪计数节点共用的上料尝试；托盘没有被带出。腕部可见爪指和托盘，但对向接触处不能始终分辨，未把闭爪动作记成已发生抓握，也未观察到热源加热接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约 38–42 s 底盘重新停到冰箱开口前，为抓取装有六片培根的托盘定位；这是六片共同的上料准备。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      32.0
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 的远景及视频 8–10 s 接近冰箱的画面中门板贴合柜体，未露内腔；视频约 32.0 s 门板开始明显外转，随后内腔持续敞开，故初始关闭区间止于视频约 32.0 s（误差约 0.5 s）。"
+     },
+     {
+      "t": 388,
+      "log_step": null,
+      "text_zh": "观察：视频 386.0–388.0 s 机器人收爪和移动时冰箱仍明显敞开；视频 389.0–429.1 s 镜头转向水槽与台面，未显示门板合拢。"
+     },
+     {
+      "t": 429.1,
+      "log_step": 446,
+      "text_zh": "推断：最终生成运行的 log step 446 报告 door final=1.926 rad、保存12876步；评分器也重放12876步，视频时长为429.2 s，且画面中的取托盘失败和末段离开冰箱相符。结合最后可见的敞开门板及其后未见有效关门交互，判定关闭未恢复；不把初态已成立而不计分的关闭目标从 q_score=0 单独反推为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约 387–393 s 底盘在结束托盘抓取后转移位置，执行关门程序的重新定位和拉门运动。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "末段关门程序驱动左爪及底盘，但视频约 389–429.1 s 门边接触处不在有效视野内，未能确认夹爪是否碰到或夹住门板；不据脚本命令补记抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bacon_cooked_1",
+   "t": 47.5,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 42.5–49.5 s 机器人开始抓取低层的培根托盘，爪指伸近、闭合并撤回后托盘未随手带出；后续直至视频约 387 s 反复尝试仍未见搬出。推断：这是做熟首片所需的上料操作，首次未修复的失败属于 bacon_cooked_1；之后的关门尝试也未完成，但不能替代这一更早的断点。"
+  },
+  "unmet": {
+   "bacon_cooked_1": false,
+   "bacon_cooked_2": false,
+   "bacon_cooked_3": false,
+   "bacon_cooked_4": false,
+   "bacon_cooked_5": false,
+   "bacon_cooked_6": false,
+   "fridge_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 47.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频 42.5–49.5 s、54.5–61.0 s 机器人反复让爪指靠近托盘边缘后空手撤回，托盘仍在冰箱低层；视频 382–387 s 最后一轮撤爪后也未带走托盘。推断：所需的能带动托盘的抓持没有建立；这里不否认可能有短暂指端触碰，也没有把此前调试运行的成功抓取当作本次已持物。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "log_step": 444,
+    "evidence_zh": "推断：agent 的脚本在 log step 407 采用 tgt = tgt + (tgt - cur) 反复修正末端目标，并在循环结束后直接闭爪；最终保存运行的 log step 434、436、438、440、444 显示下降迭代未收敛。尤其 log step 444 的 reach err 从0.119、0.183、0.388增至0.784、1.546，随后仍执行 close 40，结果 in hand: None；视频 42–387 s 对应反复伸近和空手撤回，log step 446 最终 tray grasp: False。末端定位反馈未把爪指稳定送到托盘抓取位置，解释了抓持始终未建立。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志；托盘前缘的细小对向接触受低分辨率及遮挡影响，不能区分完全空夹与短暂碰擦，故这些实际接触记未知。热源控制指示及全部替代热源初态没有清楚入镜，heat_enabled 未知；关门末段目标离开视野，终值结合最后可见门板及与交付匹配的最终生成记录推断。未把更早会话中抓起托盘、掉落或倒地的试验计入本次，也未据 agent 自述的尺寸和工作空间限制断言物理不可达。"
+ },
+ "summary_zh": "本次评分轨迹打开了冰箱，但反复抓取低层培根托盘后始终未将其搬出，六片熟态均未达到；冰箱初始关闭，在视频约 32.0 s 打开后未恢复关闭。首个未修复断点为 bacon_cooked_1 的上料操作：所需抓持未建立，最终运行日志显示末端反馈修正未收敛而仍闭爪。热源初态和细小接触缺少清楚画面；最终 q_score=0 支持六片均未熟，早先调试中的抓取进展不属于交付轨迹。",
+ "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、日志、评分器 q_score=0 一致：冰箱约 32 s 打开，托盘始终未被带出，六片熟均为假，断点在 bacon_cooked_1 的上料操作，heat_enabled 记未知有据（热源未入镜）。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": "2026-10-30T21:26:06Z",
+  "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-cook-bacon-i00-privileged--x7igxvk/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-bacon-i00-privileged--x7igxvk/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8ad2d6d58e826489c8cd3c705b1b2103855658bbd44d9a43acb8e0b083c61f98",
+   "video_sha256": "64dc0e9ddb9f87daf60f5f221ddb461c2cd09917276dcc9ea42514630f86101f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-standard--filivmn.json

@@ -0,0 +1,328 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-bacon-i00-standard--filivmn",
+ "taskKey": "behavior-1k/cook_bacon",
+ "dag_sha256": "436960e028055689855df9a0ab19653897ca4b01a7cdc6525e18a38048ea1e94",
+ "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": 3036,
+   "sim_steps": 3036,
+   "physics_steps": 12144,
+   "steps": 710,
+   "elapsed_s": 3645.8,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 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-bacon-i00-standard--filivmn/replay.mp4",
+  "duration_s": 101.2,
+  "fps": 30.0,
+  "frames": 3036,
+  "sha256": "ba4591c7ef0e9fc084dac32647fcc612799158fb2995525689aaa4c8acd5b787"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 9,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      85.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 84.5,
+      "log_step": 176,
+      "text_zh": "观察：视频 84.5 s 白色冰箱门仍贴合柜体，左夹爪在右侧竖把手处闭合；视频 85.5 s 门的自由边已向外转开，视频 87–94 s 随底盘绕行进一步打开。首次超过开门判据约在视频 85.5 s，时间误差约0.5秒；这不是视频 24–64 s 被反复操作的旁边黑色柜门。"
+     },
+     {
+      "t": 101.166,
+      "log_step": null,
+      "text_zh": "观察：视频 100.0–101.166 s 白色冰箱内腔、层架及低层培根托盘可见，门板大幅敞开；成功参考视频 110 s 的白色冰箱敞开形态可用于辨认目标。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 84.5–90 s 左侧二指夹爪夹住白色冰箱竖直把手并拉动门板，腕部视角可见把手位于夹爪之间；未见右手同时操作该门。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人底盘承载机器人接近白色冰箱，并在视频约 86–94 s 保持左爪握把手绕铰链行驶，使门板继续外开。"
+     }
+    ]
+   },
+   "heat_enabled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 2.0,
+      "log_step": null,
+      "text_zh": "观察：视频 1.5–2.5 s 扫视可见灶台与台面微波炉，未见成功参考视频 175–180 s 灶台控制件旁清楚的绿色开启灯；后续机器人只巡视和操作冰箱附近柜门，没有启用灶台或向其他热源装入培根的可见动作。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：未见开启动作只能说明没有观察到机器人启用热源；DAG明确允许已开启的替代热源或初态直接满足，且将初态列为待核实。本次无原生开关或余热状态日志，也未看清全部替代设备的初态，故热源节点的全过程与终值均未知。"
+     }
+    ]
+   },
+   "bacon_cooked_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 101.166,
+      "log_step": null,
+      "text_zh": "观察：视频 100.0–101.166 s 培根条仍在冰箱低层托盘上，外观为红粉色；已检查的全段动作显示机器人开柜门及冰箱门，没有将培根或托盘搬到热源，也没有可见熟肉变化。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0 且 live_matches_replay=1；DAG中初态已关闭的冰箱不增加此得分，六片Cooked则均为新增目标，因此终态熟培根为0片，至少1片熟为假。Cooked达到后不会因冷却或掉落撤销，结合视频未见烹饪，判定该计数节点全段未达。"
+     }
+    ]
+   },
+   "bacon_cooked_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 101.166,
+      "log_step": null,
+      "text_zh": "观察：视频 100.0–101.166 s 培根条仍在冰箱低层托盘上，外观为红粉色���已检查的全段动作显示机器人开柜门及冰箱门，没有将培根或托盘搬到热源，也没有可见熟肉变化。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0 且 live_matches_replay=1；DAG中初态已关闭的冰箱不增加此得分，六片Cooked则均为新增目标，因此终态熟培根为0片，至少2片熟为假。Cooked达到后不会因冷却或掉落撤销，结合视频未见烹饪，判定该计数节点全段未达。"
+     }
+    ]
+   },
+   "bacon_cooked_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 101.166,
+      "log_step": null,
+      "text_zh": "观察：视频 100.0–101.166 s 培根条仍在冰箱低层托盘上，外观为红粉色；已检查的全段动作显示机器人开柜门及冰箱门，没有将培根或托盘搬到热源，也没有可见熟肉变化。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0 且 live_matches_replay=1；DAG中初态已关闭的冰箱不增加此得分，六片Cooked则均为新增目标，因此终态熟培根为0片，至少3片熟为假。Cooked达到后不会因冷却或掉落撤销，结合视频未见烹饪，判定该计数节点全段未达。"
+     }
+    ]
+   },
+   "bacon_cooked_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 101.166,
+      "log_step": null,
+      "text_zh": "观察：视频 100.0–101.166 s 培根条仍在冰箱低层托盘上，外观为红粉色；已检查的全段动作显示机器人开柜门及冰箱门，没有将培根或托盘搬到热源，也没有可见熟肉变化。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0 且 live_matches_replay=1；DAG中初态已关闭的冰箱不增加此得分，六片Cooked则均为新增目标，因此终态熟培根为0片，至少4片熟为假。Cooked达到后不会因冷却或掉落撤销，结合视频未见烹饪，判定该计数节点全段未达。"
+     }
+    ]
+   },
+   "bacon_cooked_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 101.166,
+      "log_step": null,
+      "text_zh": "观察：视频 100.0–101.166 s 培根条仍在冰箱低层托盘上，外观为红粉色；已检查的全段动作显示机器人开柜门及冰箱门，没有将培根或托盘搬到热源，也没有可见熟肉变化。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0 且 live_matches_replay=1；DAG中初态已关闭的冰箱不增加此得分，六片Cooked则均为新增目标，因此终态熟培根为0片，至少5片熟为假。Cooked达到后不会因冷却或掉落撤销，结合视频未见烹饪，判定该计数节点全段未达。"
+     }
+    ]
+   },
+   "bacon_cooked_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 101.166,
+      "log_step": null,
+      "text_zh": "观察：视频 100.0–101.166 s 培根条仍在冰箱低层托盘上，外观为红粉色；已检查的全段动作显示机器人开柜门及冰箱门，没有将培根或托盘搬到热源，也没有可见熟肉变化。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0 且 live_matches_replay=1；DAG中初态已关闭的冰箱不增加此得分，六片Cooked则均为新增目标，因此终态熟培根为0片，至少6片熟为假。Cooked达到后不会因冷却或掉落撤销，结合视频未见烹饪，判定该计数节点全段未达。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      85.5
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 远处白色冰箱门处于闭合位置；视频 16 s、76–84.5 s 较近视图确认白色门板贴合柜体。机器人在视频 24–64 s 操作的是旁边黑色柜门，没有打开白色冰箱。"
+     },
+     {
+      "t": 85.5,
+      "log_step": 176,
+      "text_zh": "观察：视频约 85.5 s 左夹爪拉开白色冰箱门，此后视频 86–101.166 s 门持续敞开；视频末秒可见内腔和低层托盘，机器人未执行关门。故初态闭合区间在视频约 85.5 s 结束，终值为假。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 196,
+   "where": "未知",
+   "evidence_zh": "观察：视频末段 100.0–101.166 s 机器人已面对打开的冰箱，培根托盘仍在低层架上；log step 193–195 ��脚本仍在分析托盘位置，log step 196 随即给出 Gemini 过滤器阻断提示。推断：未见过滤前回合已经结束或交付已保存并验真的记录，也未见打开冰箱后不可修复的物理失败，无法指定机器人失败步骤；按外因截断保留 unknown，不把尚未烹饪归为没尝试。"
+  },
+  "unmet": {
+   "bacon_cooked_1": false,
+   "bacon_cooked_2": false,
+   "bacon_cooked_3": false,
+   "bacon_cooked_4": false,
+   "bacon_cooked_5": false,
+   "bacon_cooked_6": false,
+   "fridge_closed": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：log step 196 为模型提供方过滤器阻断；inputs/run.json 的 wall_s=4292，time_limit_s=7200，最后操作仍在定位冰箱托盘，没有完成声明或过滤前实时回合已终结的服务记录。推断：这是目标尚未完成时的外因截断，应重测并排除出机器人失败归因，现象和根因均留空；评分器最终 finalized=1 本身不能证明过滤前已终局。本次没有状态日志；热源及余热初态未覆盖所有设备，热源节点未知。六片熟态的终值由视频与 q_score 总分共同限定，未伪造逐片温度或时刻。"
+ },
+ "summary_zh": "机器人约在视频 85.5 s 打开白色冰箱，末帧培根托盘仍在低层架上，六片熟态均未达，冰箱最终敞开；热源初态未知，确定的终态进度下界为1/9。log step 196 的模型过滤器在机器人准备取托盘时截断会话，未见此前已终局的证据，按外因中断处理并留空机器人失败现象与根因，需重测。无状态日志，热源及逐片温度无法直接核验，但 q_score=0 与全段未见烹饪共同支持六片熟态终值为假。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "冰箱约视频85.5 s打开、六片熟态未达、heat_enabled未知、log step 196为Gemini过滤器外因截断且留空现象与根因，均与视频和log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": "2026-10-30T21:24:53Z",
+  "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-cook-bacon-i00-standard--filivmn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-bacon-i00-standard--filivmn/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "49beff135d4d5ccfb4d1eb708b8d60a4a3ab49843a4a4e68750c8aa540b95191",
+   "video_sha256": "ba4591c7ef0e9fc084dac32647fcc612799158fb2995525689aaa4c8acd5b787",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-standard--pvuunxd.json

@@ -0,0 +1,333 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-bacon-i00-standard--pvuunxd",
+ "taskKey": "behavior-1k/cook_bacon",
+ "dag_sha256": "436960e028055689855df9a0ab19653897ca4b01a7cdc6525e18a38048ea1e94",
+ "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": 10017,
+   "sim_steps": 10016,
+   "physics_steps": 40064,
+   "steps": 10017,
+   "elapsed_s": 2352.7,
+   "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-bacon-i00-standard--pvuunxd/replay.mp4",
+  "duration_s": 331.367,
+  "fps": 30.0,
+  "frames": 9941,
+  "sha256": "19dbe11b8c1faea31e64b0b4c5328d1ea08228782427b257f3b290880ab082d6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 9,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 右前方高柜式冰箱门贴合柜体；视频 0–331.3 s 的头部及双腕画面中未出现机器人拉门、门板转开或内层托盘露出的过程。对照成功参考视频 50–80 s，开门会显露门板内侧及内腔；本次没有这一变化。"
+     },
+     {
+      "t": 331.3,
+      "log_step": 44,
+      "text_zh": "推断：机器人在视频中只做底盘接近、转向和侧倾后的移动，双爪没有到冰箱把手处工作；log step 44 的脚本也只驶向厨房观测位置，之后没有取食物动作，因此打开冰箱未达成。"
+     }
+    ]
+   },
+   "heat_enabled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 22,
+      "log_step": null,
+      "text_zh": "观察：视频 21–23 s 可见灶台及微波炉控制侧的红色指示，视频 331.0 s 灶台指示仍为红色；机器人没有按开关或搬动培根到热源附近。成功参考视频 170–180 s 灶台的开启指示为绿色。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：本次未观察到热源开启事件；但 DAG 允许其他热源从初态已开启，录像未展示所有替代热源的控制状态，输入也无状态日志，故不能将此事件节点判为全程假。"
+     }
+    ]
+   },
+   "bacon_cooked_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 331.3,
+      "log_step": null,
+      "text_zh": "推断：视频 0–331.3 s 未见冰箱打开、托盘或培根离开冰箱，也未见机器人把食物送往热源；结合任务给定六片生培根在冰箱中的初始条件，未形成至少1片做熟的过程。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的 live_matches_replay=0，q_score=0 属于实时回合的总分；初态已成立且保留的冰箱关闭不计入 q_score，而至少1片做熟必然需要新增 Cooked 目标文字量，因此该总分确定本节点终值为假。视频无相反的烹饪证据；Cooked 一旦成立不撤销，故不标任何曾经达成区间。"
+     }
+    ]
+   },
+   "bacon_cooked_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 331.3,
+      "log_step": null,
+      "text_zh": "推断：视频 0–331.3 s 未见冰箱打开、托盘或培根离开冰箱，也未见机器人把食物送往热源；结合任务给定六片生培根在冰箱中的初始条件，未形成至少2片做熟的过程。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的 live_matches_replay=0，q_score=0 属于实时回合的总分；初态已成立且保留的冰箱关闭不计入 q_score，而至少2片做熟必然需要新增 Cooked 目标文字量，因此该总分确定本节点终值为假。视频无相反的烹饪证据；Cooked 一旦成立不撤销，故不标任何曾经达成区间。"
+     }
+    ]
+   },
+   "bacon_cooked_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 331.3,
+      "log_step": null,
+      "text_zh": "推断：视频 0–331.3 s 未见冰箱打开、托盘或培根离开冰箱，也未见机器人把食物送往热源；结合任务给定六片生培根在冰箱中的初始条件，未形成至少3片做熟的过程。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的 live_matches_replay=0，q_score=0 属于实时回合的总分；初态已成立且保留的冰箱关闭不计入 q_score，而至少3片做熟必然需要新增 Cooked 目标文字量，因此该总分确定本节点终值为假。视频无相反的烹饪证据；Cooked 一旦成立不撤销，故不标任何曾经达成区间。"
+     }
+    ]
+   },
+   "bacon_cooked_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 331.3,
+      "log_step": null,
+      "text_zh": "推断：视频 0–331.3 s 未见冰箱打开、托盘或培根离开冰箱，也未见机器人把食物送往热源；结合任务给定六片生培根在冰箱中的初始条件，未形成至少4片做熟的过程。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的 live_matches_replay=0，q_score=0 属于实时回合的总分；初态已成立且保留的冰箱关闭不计入 q_score，而至少4片做熟必然需要新增 Cooked 目标文字量，因此该总分确定本节点终值为假。视频无相反的烹饪证据；Cooked 一旦成立不撤销，故不标任何曾经达成区间。"
+     }
+    ]
+   },
+   "bacon_cooked_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 331.3,
+      "log_step": null,
+      "text_zh": "推断：视频 0–331.3 s 未见冰箱打开、托盘或培根离开冰箱，也未见机器人把食物送往热源；结合任务给定六片生培根在冰箱中的初始条件，未形成至少5片做熟的过程。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的 live_matches_replay=0，q_score=0 属于实时回合的总分；初态已成立且保留的冰箱关闭不计入 q_score，而至少5片做熟必然需要新增 Cooked 目标文字量，因此该总分确定本节点终值为假。视频无相反的烹饪证据；Cooked 一旦成立不撤销，故不标任何曾经达成区间。"
+     }
+    ]
+   },
+   "bacon_cooked_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 331.3,
+      "log_step": null,
+      "text_zh": "推断：视频 0–331.3 s 未见冰箱打开、托盘或培根离开冰箱，也未见机器人把食物送往热源；结合任务给定六片生培根在冰箱中的初始条件，未形成至少6片做熟的过程。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的 live_matches_replay=0，q_score=0 属于实时回合的总分；初态已成立且保留的冰箱关闭不计入 q_score，而至少6片做熟必然需要新增 Cooked 目标文字量，因此该总分确定本节点终值为假。视频无相反的烹饪证据；Cooked 一旦成立不撤销，故不标任何曾经达成区间。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s、10 s、25–31 s 中可见远侧高柜式冰箱外门保持贴合，没有敞开的内腔；初始关闭与 DAG 的初态说明一致。"
+     },
+     {
+      "t": 331.3,
+      "log_step": null,
+      "text_zh": "推断：视频 0–331.3 s 机器人没有接近冰箱把手操作，未见冰箱门转开的过程；后段门部离开视野，但机器人始终在中岛附近侧倾、转动，故初始关闭关系保留至结束。此节点从视频 0 s 计分，并非机器人完成了一次关门动作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fridge_opened",
+   "t": 125.0,
+   "log_step": 53,
+   "where": "探索",
+   "evidence_zh": "观察：视频 20 s 可见厨房台面，视频 40 s、80 s、110 s、122 s 机器人停在中岛端部，视频 124–129 s 转动时视野剧烈侧倾，视频 132 s、160 s 仍在倾斜摇摆，视频 200 s、330.5 s 保持接近横置的视角，视频 331.3 s 再次翻动，未恢复作业。log step 44 调用 goto_world 接近厨房观测点，log step 45 反复报告位置约 [4.67,0.08] m、剩余距离约0.77 m；log step 53 的实际脚本逐向获取深度、提取自由空间和障碍点并原地转向45度建图，log step 59 输出 roll=1.581 rad。推断：结合任务给定培根在冰箱内、机器人朝厨房接近而始终未能取食物，未修复步骤归为打开冰箱 fridge_opened；无需等夹爪接触门把手才归入该步骤。失衡发生时机器人正在对场景进行深度扫描，故 where 保留探索；视频 125.0 s 是侧翻的粗略导航锚点，不由 agent 时间换算。"
+  },
+  "unmet": {
+   "bacon_cooked_1": false,
+   "bacon_cooked_2": false,
+   "bacon_cooked_3": false,
+   "bacon_cooked_4": false,
+   "bacon_cooked_5": false,
+   "bacon_cooked_6": false,
+   "fridge_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 125.0,
+    "log_step": 59,
+    "evidence_zh": "观察：视频 124–129 s 机器人由中岛旁的正常视角转为大幅侧倾，视频 200–330.4 s 画面接近横置，视频 331.3 s 结束时仍未恢复正常作业姿态。log step 59 的机器人本体位姿读数经脚本换算为 roll=1.581 rad、基座 z=0.348 m，与侧翻一致；这里不把 agent 的最终叙述作为侧翻的唯一依据。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 30 中 agent 的 goto_world 只按位置误差反复发底盘指令，最多60轮，没有停滞退出或障碍检测；log step 45 输出从迭代2至59位置约 [4.67,0.08] m、剩余距离约0.77 m不再改善，却继续驱动。log step 53 随后仍调用同一辅助模块原地转向扫描，turn_to_world 也仅检查偏航误差，没有侧倾监测；视频约 35–123 s 的停滞和视频 124 s 以后失去稳定相吻合。缺少对受阻与侧倾的反馈处置，使机器人在未到达工作位置时继续驱动并侧翻，后续未修复。"
+   }
+  ],
+  "gap_zh": "没有状态日志。断点节点结合厨房接近行为与培根在冰箱中的任务条件推断为打开冰箱；失衡发生于原地深度扫描建图，按 docs/03_trajectory.md Step 3.1 的场景探查定义保留探索，与复核提出的转场有分歧。这些底盘移动与扫描不虚构为手爪接触冰箱。所有热源的初始激活状态未完整入镜，heat_enabled 保留未知。冰箱内六片培根全程未露出，熟态终值由任务初态、未取出/加热的连续过程及实时回合 q_score=0 联合推断；live_matches_replay=0，不能把日志本体读数强行换算成视频时刻。log step 63–64 另记录恢复探测时 HTTP 500、reason=error；侧翻已在该报错前发生并持续，因此本文件标注已观察到的物理失败，不将该报错另造为根因。"
+ },
+ "summary_zh": "本次仅保留初态即成立的冰箱关闭，终态确认1个节点为真、7个为假、1个未知（共9个节点）；未打开冰箱或取出培根，六个做熟计数节点均为假，热源初态不能完全核实。机器人在中岛附近接近受阻，扫描转向时发生侧翻且未恢复，日志中的底盘控制循环缺少停滞及侧倾反馈处置；结合厨房接近与取出培根的前置要求，断点归为打开冰箱（探索），其节点归属为推断，位置按实际深度扫描建图行为判定。没有状态日志，熟态结论结合过程与实时回合零总分推断，回放不一致标记及后续服务报错均已记录为证据限制。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "进度节点、时钟、侧翻现象与反馈控制根因均与视频和日志一致；唯一需改的是断点：机器人是在驶往厨房（冰箱/热源）途中侧翻的，所处步骤可定为首个未完成的 fridge_opened，不应留 unknown。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值、时钟、断点 fridge_opened（探索，上轮已有证据定论）、平衡现象与反馈控制根因均与视频一致；未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:47:19Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-cook-bacon-i00-standard--pvuunxd/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-bacon-i00-standard--pvuunxd/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-bacon-i00-standard--pvuunxd/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-cook-bacon-i00-standard--pvuunxd/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "124f6937eea2b43b004ef575703e82c0371d4fb91f74e45947ad149eff09d6d4",
+   "video_sha256": "19dbe11b8c1faea31e64b0b4c5328d1ea08228782427b257f3b290880ab082d6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-standard--pw2mxzf.json

@@ -0,0 +1,475 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-bacon-i00-standard--pw2mxzf",
+ "taskKey": "behavior-1k/cook_bacon",
+ "dag_sha256": "436960e028055689855df9a0ab19653897ca4b01a7cdc6525e18a38048ea1e94",
+ "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": 13619,
+   "sim_steps": 13619,
+   "physics_steps": 54476,
+   "steps": 13619,
+   "elapsed_s": 6323.4,
+   "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-cook-bacon-i00-standard--pw2mxzf/replay.mp4",
+  "duration_s": 453.967,
+  "fps": 30.0,
+  "frames": 13619,
+  "sha256": "06f8913c39d5e5056ffd60ce02cdce6af87fa366fcce131efd926d032e99ae06"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 9,
+  "base": 1,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      157.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 157.5,
+      "log_step": 176,
+      "text_zh": "观察：视频 156.5–157.0 s 冰箱白色门板仍基本贴合，视频 157.5–159 s 机器人右夹爪夹住竖把手向外拉，门板转开、白色内腔与底层培根托盘露出；首次达到时刻约为视频 157.5 s。视频 50–65 s 拉开的是旁边深色柜门，不计为打开冰箱。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人右侧二指夹爪夹住冰箱竖把手拉门；视频 157.5–163 s 首次打开，视频 186–198 s 再次抓把手扩大开口。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘在厨房巡视并驶至冰箱前，开门及再抓把手期间也调整站位。"
+     }
+    ]
+   },
+   "heat_enabled": {
+    "method": "visual",
+    "intervals": [
+     [
+      385.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 385.5,
+      "log_step": 374,
+      "text_zh": "观察：视频 370–385 s 机器人右夹爪多次向灶台圆形开关按压；视频 385.0 s 指示仍红，视频 385.5–386 s 转绿，视频 390 s 及 450 s 仍见绿灯。成功参考录像视频 175–180 s 的同一灶台也以绿灯表示开启；这里只用它辨认指示，不把参考动作当作本次证据。"
+     },
+     {
+      "t": 385.5,
+      "log_step": null,
+      "text_zh": "推断：以视频 385.5 s 作为本次首次确认热源开启的时刻；没有原生热源状态记录，无法排除未使用的其他设备在初态已激活。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人右夹爪的指端反复下压灶台开关，视频约 385.5 s 指示转绿。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘把持有培根的机器人载至灶台前，并在放肉、按开关前调整接近位置。"
+     }
+    ]
+   },
+   "bacon_cooked_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 232,
+      "log_step": 247,
+      "text_zh": "观察：视频 225–230 s 培根仍在冰箱内托盘上；视频 232–237 s 机器人右夹爪持托盘抽出、抬升，盘上仍有多片培根，但一片留在冰箱底部。视频 250–253 s 托盘与近旁门板挤靠、姿态改变，视频 270–280 s 托盘已空、地面有散落培根。"
+     },
+     {
+      "t": 390,
+      "log_step": 377,
+      "text_zh": "观察：视频 285–295 s 机器人右夹爪从冰箱底部夹起一片培根，原位置随后清空；视频 371–372 s 该片离开夹爪落在煎锅内，视频 385.5 s 灶台亮绿灯，视频 390 s 及 450–451 s 仍可见锅内这一片，但未确认出现熟态外观变化。"
+     },
+     {
+      "t": 453.9,
+      "log_step": null,
+      "text_zh": "推断：评分器字段 q_score=0.0，且 live_matches_replay=1；冰箱关闭是初态即成立、不增加 q_score 的目标。因此六片中熟的数量为0，“至少1片熟”最终为假。Cooked 为曾达到温度的不可撤销状态，故本次也不存在此前成立再失去的区间；这不是仅由零分断言机器人未尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "视频 230–253 s 机器人右夹爪持托盘，以托盘从下方承托并搬运六片培根，途中有培根滑出；这是批量烹饪准备中实际发生的托盘—培根接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 235–261 s 机器人轮式底盘在持托盘时侧移、转向并沿厨房过道行驶，承载批量搬运。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频 285–371 s 机器人右夹爪直接夹持从冰箱底部取出的第一片并运到锅中；视频 433–453.9 s 左夹爪直接夹持从地面拾起的另一片，终帧仍夹在左爪内，未见送到锅中。两次依次进行，不是两臂共同夹一片。"
+     }
+    ]
+   },
+   "bacon_cooked_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 232,
+      "log_step": 247,
+      "text_zh": "观察：视频 225–230 s 培根仍在冰箱内托盘上；视频 232–237 s 机器人右夹爪持托盘抽出、抬升，盘上仍有多片培根，但一片留在冰箱底部。视频 250–253 s 托盘与近旁门板挤靠、姿态改变，视频 270–280 s 托盘已空、地面有散落培根。"
+     },
+     {
+      "t": 453.9,
+      "log_step": 432,
+      "text_zh": "观察：视频 402–429 s 机器人右夹爪反复尝试拾取地面一片，抬手后该片仍留在原处；视频 433–435 s 换用左夹爪后另一片确实离地、随手移动，视频 450–453.9 s 仍夹在左爪内。log step 432 的“正在放置”是 agent 自述，末秒画面未显示这片释放到锅内。"
+     },
+     {
+      "t": 453.9,
+      "log_step": null,
+      "text_zh": "推断：评分器字段 q_score=0.0，且 live_matches_replay=1；冰箱关闭是初态即成立、不增加 q_score 的目标。因此六片中熟的数量为0，“至少2片熟”最终为假。Cooked 为曾达到温度的不可撤销状态，故本次也不存在此前成立再失去的区间；这不是仅由零分断言机器人未尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "视频 230–253 s 机器人右夹爪持托盘，以托盘从下方承托并搬运六片培根，途中有培根滑出；这是批量烹饪准备中实际发生的托盘—培根接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 235–261 s 机器人轮式底盘在持托盘时侧移、转向并沿厨房过道行驶，承载批量搬运。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频 433–453.9 s 机器人左侧二指夹爪夹起地面一片培根，终帧仍夹在左爪内，未见送到锅中；此前右夹爪多次拾取尝试未能使所瞄准的地面培根离开原处。"
+     }
+    ]
+   },
+   "bacon_cooked_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 232,
+      "log_step": 247,
+      "text_zh": "观察：视频 225–230 s 培根仍在冰箱内托盘上；视频 232–237 s 机器人右夹爪持托盘抽出、抬升，盘上仍有多片培根，但一片留在冰箱底部。视频 250–253 s 托盘与近旁门板挤靠、姿态改变，视频 270–280 s 托盘已空、地面有散落培根。"
+     },
+     {
+      "t": 453.9,
+      "log_step": null,
+      "text_zh": "推断：评分器字段 q_score=0.0，且 live_matches_replay=1；冰箱关闭是初态即成立、不增加 q_score 的目标。因此六片中熟的数量为0，“至少3片熟”最终为假。Cooked 为曾达到温度的不可撤销状态，故本次也不存在此前成立再失去的区间；这不是仅由零分断言机器人未尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "视频 230–253 s 机器人右夹爪持托盘，以托盘从下方承托并搬运六片培根，途中有培根滑出；这是批量烹饪准备中实际发生的托盘—培根接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 235–261 s 机器人轮式底盘在持托盘时侧移、转向并沿厨房过道行驶，承载批量搬运。"
+     }
+    ]
+   },
+   "bacon_cooked_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 232,
+      "log_step": 247,
+      "text_zh": "观察：视频 225–230 s 培根仍在冰箱内托盘上；视频 232–237 s 机器人右夹爪持托盘抽出、抬升，盘上仍有多片培根，但一片留在冰箱底部。视频 250–253 s 托盘与近旁门板挤靠、姿态改���，视频 270–280 s 托盘已空、地面有散落培根。"
+     },
+     {
+      "t": 453.9,
+      "log_step": null,
+      "text_zh": "推断：评分器字段 q_score=0.0，且 live_matches_replay=1；冰箱关闭是初态即成立、不增加 q_score 的目标。因此六片中熟的数量为0，“至少4片熟”最终为假。Cooked 为曾达到温度的不可撤销状态，故本次也不存在此前成立再失去的区间；这不是仅由零分断言机器人未尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "视频 230–253 s 机器人右夹爪持托盘，以托盘从下方承托并搬运六片培根，途中有培根滑出；这是批量烹饪准备中实际发生的托盘—培根接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 235–261 s 机器人轮式底盘在持托盘时侧移、转向并沿厨房过道行驶，承载批量搬运。"
+     }
+    ]
+   },
+   "bacon_cooked_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 232,
+      "log_step": 247,
+      "text_zh": "观察：视频 225–230 s 培根仍在冰箱内托盘上；视频 232–237 s 机器人右夹爪持托盘抽出、抬升，盘上仍有多片培根，但一片留在冰箱底部。视频 250–253 s 托盘与近旁门板挤靠、姿态改变，视频 270–280 s 托盘已空、地面有散落培根。"
+     },
+     {
+      "t": 453.9,
+      "log_step": null,
+      "text_zh": "推断：评分器字段 q_score=0.0，且 live_matches_replay=1；冰箱关闭是初态即成立、不增加 q_score 的目标。因此六片中熟的数量为0，“至少5片熟”最终为假。Cooked 为曾达到温度的不可撤销状态，故本次也不存在此前成立再失去的区间；这不是仅由零分断言机器人未尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "视频 230–253 s 机器人右夹爪持托盘，以托盘从下方承托并搬运六片培根，途中有培根滑出；这是批量烹饪准备中实际发生的托盘—培根接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 235–261 s 机器人轮式底盘在持托盘时侧移、转向并沿厨房过道行驶，承载批量搬运。"
+     }
+    ]
+   },
+   "bacon_cooked_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 232,
+      "log_step": 247,
+      "text_zh": "观察：视频 225–230 s 培根仍在冰箱内托盘上；视频 232–237 s 机器人右夹爪持托盘抽出、抬升，盘上仍有多片培根，但一片留在冰箱底部。视频 250–253 s 托盘与近旁门板挤靠、姿态改变，视频 270–280 s 托盘已空、地面有散落培根。"
+     },
+     {
+      "t": 453.9,
+      "log_step": null,
+      "text_zh": "推断：评分器字段 q_score=0.0，且 live_matches_replay=1；冰箱关闭是初态即成立、不增加 q_score 的目标。因此六片中熟的数量为0，“至少6片熟”最终为假。Cooked 为曾达到温度的不可撤销状态，故本次也不存在此前成立再失去的区间；这不是仅由零分断言机器人未尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "视频 230–253 s 机器人右夹爪持托盘，以托盘从下方承托并搬运六片培根，途中有培根滑出；这是批量烹饪准备中实际发生的托盘—培根接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 235–261 s 机器人轮式底盘在持托盘时侧移、转向并沿厨房过道行驶，承载批量搬运。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      157.5
+     ],
+     [
+      328.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 和 145–156.5 s 冰箱白色门板基本贴合柜体；视频约 157.5 s 开门后露出内腔，关闭条件失去。视频 168–188 s 门虽回摆但仍明显敞开，不能把这次回摆计为关上。"
+     },
+     {
+      "t": 328.5,
+      "log_step": 318,
+      "text_zh": "观察：视频 295–314 s 机器人左夹爪首次推门后内腔仍敞开；视频 318–329 s 左夹爪绕到门外侧再推，左腕视角中门板合回柜体、内腔不再露出。关闭恢复取视频约 328.5 s，遮挡使时刻约有1秒误差。"
+     },
+     {
+      "t": 438,
+      "log_step": 328,
+      "text_zh": "观察：视频 438 s 机器人离开散落区时，头部视角重新看到烤箱右侧冰箱，白色门板已贴合、内腔未露出；随后机器人携第二片移动，视频 450 s 再次可见灶台，至视频 453.9 s 未见再次开冰箱。推断：关闭状态保持至结束；不是仅凭 agent 在 log step 328 自述关好而计分。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "机器人左夹爪从门板内侧尝试推门未关成，随后绕至外侧推动门板合拢；右夹爪此时携带培根，不参与推门。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 313–317 s 机器人轮式底盘转向并小幅前移，为左夹爪绕到门板外侧提供位置。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bacon_cooked_1",
+   "t": 390.0,
+   "log_step": 377,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 232–253 s 托盘搬运发生培根洒落；机器人随后改为逐片拾取，视频 371–372 s 首片已离开右夹爪并进入煎锅，视频 385.5–386 s 灶台指示由红转绿，视频 390 s 和 450 s 仍见锅内该片，未确认熟态外观变化。inputs/run.json 的 reward.q_score=0.0、live_matches_replay=1。推断：依评分总量及 Cooked 不可撤销规则，第1片熟始终未达成；早期洒落的运输障碍已被逐片拾取部分绕过，不能单独解释锅内首片未熟。断点仍为 bacon_cooked_1，以开灶后锅内有肉的视频 390 s 为导航锚点，不把此刻当作应当立即做熟的时限，也不声称该语义步骤曾修复。"
+  },
+  "unmet": {
+   "bacon_cooked_1": false,
+   "bacon_cooked_2": false,
+   "bacon_cooked_3": false,
+   "bacon_cooked_4": false,
+   "bacon_cooked_5": false,
+   "bacon_cooked_6": false,
+   "fridge_closed": true
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "没有状态日志或逐片温度、Cooked读数；熟片数由最终 q_score=0.0、live_matches_replay=1 及 Cooked 不可撤销规则共同约束。视频 371–372 s 已有一片进入锅中，视频 385.5–386 s 灶台转绿，但至结束未熟的原因不明；视频 390 s、450 s 可见锅在灶台左侧、绿色控制指示在右侧，画面不能确认该控制件对应哪个灶眼，不能据此认定热源选错，也缺少实际受热温度与所需加热时长证据。早期托盘洒落和门板附近卡碰不足以解释这片未熟，故现象与根因层均留空。关门恢复时刻约有1秒不确定性；未使用的替代热源初态未记录，热源节点采用本次首次看到灶台转绿的视频 385.5 s。"
+ },
+ "summary_zh": "机器人打开冰箱并搬出托盘，培根洒落后改为逐片拾取；冰箱重新关上，首片在视频 371–372 s 入锅、灶台在视频约 385.5 s 开启，最终达到3/9个节点。断点仍为首片烹饪步骤，导航锚移至视频 390 s；六片均未熟由一致重放的 q_score=0.0 及 Cooked 不可撤销规则约束，末帧第二片仍在左夹爪中。现象和根因留空：现有证据不能确定锅与开启灶眼的对应关系、实际受热或所需时长，早期洒落无法解释锅内首片未熟，因此 conf 从7降至6。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点时刻（开冰箱157.5、热源385.5）与帧一致，但断点/根因解释不通：视频371–372 s已有一片在锅内、385.5 s灶台转绿，其后约68 s仍无熟态，托盘洒落不能解释第1片为何没熟；断点与根因仅基于早期洒落，未解释锅内那片不熟。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点时刻（开冰箱157.5 s、热源385.5 s）与帧一致；断点锚在首片烹饪、现象与根因留空并在gap_zh说明证据缺口，与证据相符。对照参考录像，锅同在左灶眼、绿灯在右侧旋钮，故无法凭画面判定灶眼错配，留空合理。",
+    "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": "2026-10-30T21:47:43Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-cook-bacon-i00-standard--pw2mxzf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-bacon-i00-standard--pw2mxzf/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-bacon-i00-standard--pw2mxzf/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-cook-bacon-i00-standard--pw2mxzf/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ff559f2b7298f1104bc679737620fde1ca9cfe15ed325855bb0f5a5821c7bf6e",
+   "video_sha256": "06f8913c39d5e5056ffd60ce02cdce6af87fa366fcce131efd926d032e99ae06",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-standard--ram5pdm.json

@@ -0,0 +1,330 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-bacon-i00-standard--ram5pdm",
+ "taskKey": "behavior-1k/cook_bacon",
+ "dag_sha256": "436960e028055689855df9a0ab19653897ca4b01a7cdc6525e18a38048ea1e94",
+ "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": 1003,
+   "sim_steps": 1003,
+   "physics_steps": 4012,
+   "steps": 335,
+   "elapsed_s": 438.3,
+   "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": 0.233,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.057,
+   "resource_emergency_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-cook-bacon-i00-standard--ram5pdm/replay.mp4",
+  "duration_s": 33.433,
+  "fps": 30.0,
+  "frames": 1003,
+  "sha256": "c771876c58d6addf2454d6b98b016026b875b0e74c8cfe7f78ef8f5be6ebf621"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 9,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的高柜门板贴合柜体；全片按约1秒抽查，视频 21.0–25.8 s 加密检查及视频 33.4 s 末帧均未见冰箱门板拉开、内层架露出或夹爪操作门把手。参考成功录像的开门视角（参考视频 50.0–70.0 s）可见门板与柜体分离，本次未出现该变化。"
+     },
+     {
+      "t": 23.2,
+      "log_step": 77,
+      "text_zh": "推断：结合 log step 77–78 中 agent 脚本驶向高柜以获取冰箱和烤箱观察视角，以及视频 12.0–23.2 s 的空手移动，机器人只完成了开冰箱前的场景接近和观察；视频约 23.2 s 侧翻，此后至视频 33.4 s 未恢复或开门。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–12.0 s 机器人由轮式底盘承载转动扫描厨房，视频 12.0–23.2 s 底盘继续空手移动以接近、观察冰箱所在高柜；未见夹爪接触冰箱把手。"
+     }
+    ]
+   },
+   "heat_enabled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0–7.0 s 灶台开关指示为红色，微波炉旁也显示红色指示；参考成功录像在参考视频 175.0–180.0 s 灶台相应指示为绿色。本次全片未见机器人按压或转动热源开关。"
+     },
+     {
+      "t": 33.4,
+      "log_step": null,
+      "text_zh": "推断：可见灶台没有开启证据，但 DAG 允许其他热源从初态已激活；录像没有覆盖全部替代热源的指示或原生状态，且没有状态日志，因此不能据可见灶台关闭断言整个场景没有任何可用热源，节点保留未知。"
+     }
+    ]
+   },
+   "bacon_cooked_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.2,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–23.2 s 机器人只转动观察和移动，未见打开冰箱、取出托盘或培根、搬运至热源的动作；视频 23.2–33.4 s 持续侧倒，双腕视角未出现持有培根或托盘的变化。"
+     },
+     {
+      "t": 33.4,
+      "log_step": 87,
+      "text_zh": "推断：评分器 q_score=0.0、live_matches_replay=1；初态已成立并保持的冰箱关闭条件不贡献该增量分数，因此终态熟培根数为0，第1片计数节点为假。结合整段视频没有取料加热且 Cooked 达成后不撤销，标为全程未达到；并非仅由零分推断机器人没有尝试。"
+     }
+    ]
+   },
+   "bacon_cooked_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.2,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–23.2 s 机器人只转动观察和移动，未见打开冰箱、取出托盘或培根、搬运至热源的动作；视频 23.2–33.4 s 持续侧倒，双腕视角未出现持有培根或托盘的变化。"
+     },
+     {
+      "t": 33.4,
+      "log_step": 87,
+      "text_zh": "推断：评分器 q_score=0.0、live_matches_replay=1；初态已成立并保持的冰箱关闭条件不贡献该增量分数，因���终态熟培根数为0，第2片计数节点为假。结合整段视频没有取料加热且 Cooked 达成后不撤销，标为全程未达到；并非仅由零分推断机器人没有尝试。"
+     }
+    ]
+   },
+   "bacon_cooked_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.2,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–23.2 s 机器人只转动观察和移动，未见打开冰箱、取出托盘或培根、搬运至热源的动作；视频 23.2–33.4 s 持续侧倒，双腕视角未出现持有培根或托盘的变化。"
+     },
+     {
+      "t": 33.4,
+      "log_step": 87,
+      "text_zh": "推断：评分器 q_score=0.0、live_matches_replay=1；初态已成立并保持的冰箱关闭条件不贡献该增量分数，因此终态熟培根数为0，第3片计数节点为假。结合整段视频没有取料加热且 Cooked 达成后不撤销，标为全程未达到；并非仅由零分推断机器人没有尝试。"
+     }
+    ]
+   },
+   "bacon_cooked_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.2,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–23.2 s 机器人只转动观察和移动，未见打开冰箱、取出托盘或培根、搬运至热源的动作；视频 23.2–33.4 s 持续侧倒，双腕视角未出现持有培根或托盘的变化。"
+     },
+     {
+      "t": 33.4,
+      "log_step": 87,
+      "text_zh": "推断：评分器 q_score=0.0、live_matches_replay=1；初态已成立并保持的冰箱关闭条件不贡献该增量分数，因此终态熟培根数为0，第4片计数节点为假。结合整段视频没有取料加热且 Cooked 达成后不撤销，标为全程未达到；并非仅由零分推断机器人没有尝试。"
+     }
+    ]
+   },
+   "bacon_cooked_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.2,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–23.2 s 机器人只转动观察和移动，未见打开冰箱、取出托盘或培根、搬运至热源的动作；视频 23.2–33.4 s 持续侧倒，双腕视角未出现持有培根或托盘的变化。"
+     },
+     {
+      "t": 33.4,
+      "log_step": 87,
+      "text_zh": "推断：评分器 q_score=0.0、live_matches_replay=1；初态已成立并保持的冰箱关闭条件不贡献该增量分数，因此终态熟培根数为0，第5片计数节点为假。结合整段视频没有取料加热且 Cooked 达成后不撤销，标为全程未达到；并非仅由零分推断机器人没有尝试。"
+     }
+    ]
+   },
+   "bacon_cooked_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.2,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–23.2 s 机器人只转动观察和移动，未见打开冰箱、取出托盘或培根、搬运至热源的动作；视频 23.2–33.4 s 持续侧倒，双腕视角未出现持有培根或托盘的变化。"
+     },
+     {
+      "t": 33.4,
+      "log_step": 87,
+      "text_zh": "推断：评分器 q_score=0.0、live_matches_replay=1；初态已成立并保持的冰箱关闭条件不贡献该增量分数，因此终态熟培根数为0，第6片计数节点为假。结合整段视频没有取料加热且 Cooked 达成后不撤销，标为全程未达到；并非仅由零分推断机器人没有尝试。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 及视频 10.0–23.0 s 可见高柜门板保持合拢，没有向通道伸出的冰箱门板；本次未出现参考成功录像在参考视频 50.0–70.0 s 的门板分离与夹爪拉门变化。"
+     },
+     {
+      "t": 33.4,
+      "log_step": null,
+      "text_zh": "推断：从初态关闭、全片无开门接触或门板外转、机器人仅在岛台附近移动后侧翻判断，冰箱关闭条件持续保持至视频 33.4 s。末段镜头随机器人侧倒而不完整覆盖冰箱，结论结合此前连续行为，而非仅凭机器人离开判断；此节点从初态计入，不表示机器人执行了关门动作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fridge_opened",
+   "t": 23.2,
+   "log_step": 77,
+   "where": "探索",
+   "evidence_zh": "推断：log step 77–78 中 agent 驱动机器人靠近高柜，目的是取得冰箱与烤箱的近距离观察视角；视频 0.0–23.0 s 仅见转动扫描、空手移动，冰箱未打开。视频约 23.2 s 头部视野突然大幅滚转，至视频 33.4 s 始终侧倒，开冰箱步骤未再完成。log step 87 的服务最终状态为 failure: the robot fell over，说明这次场景探索中的失衡使后续开门取料未能展开。"
+  },
+  "unmet": {
+   "bacon_cooked_1": false,
+   "bacon_cooked_2": false,
+   "bacon_cooked_3": false,
+   "bacon_cooked_4": false,
+   "bacon_cooked_5": false,
+   "bacon_cooked_6": false,
+   "fridge_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 23.2,
+    "log_step": 80,
+    "evidence_zh": "观察：视频 23.0–23.5 s 头部相机中的柜体、灯具与窗框快速倾斜，随后视频 24.0–33.4 s 仍保持大幅侧倾；双腕视角也随本体翻转。log step 80 的服务观测给出基座 rx=1.7435、ry=-1.4506 rad，log step 87 确认回合因机器人倒地结束。时间核对：log step 24 给控制率30 Hz，log step 80 的 control_steps=990 对应视频 33.0 s，已与该帧侧倒姿态核对；最终1003控制步与视频33.433 s一致。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 73 的底盘控制脚本仅依据平面位置与偏航误差持续提交位移，并在最大循环后返回失败；log step 77 不检查首段 drive_to 的成功返回值就继续下一航点。视频 12.0–23.2 s 中机器人未到达高柜操作位便侧翻；log step 80–85 已读到严重倾斜后，agent 仍仅试平面位移，视频末段未恢复直立。底盘移动及恢复控制未能保持、恢复本体稳定，归于控制；没有足够证据细分为坐标变换错误、轨迹或具体参数不当。"
+   }
+  ],
+  "gap_zh": "没有状态日志；倒地时底盘和周围结构的接触点在所有视角中均不可见，agent 在 log step 93 自述碰到低柜，无法独立确认，故不另标被挡/碰撞，也不指定碰撞物或更细根因。培根一直在未打开的冰箱内，熟态终值由评分器总分结合初态及视频行为推断；全部替代热源的初态、原生开关及余热状态没有可核对记录，heat_enabled 保留未知。"
+ },
+ "summary_zh": "机器人只进行了厨房扫描及高柜接近，冰箱始终未打开，六片培根均未做熟；唯一确认成立的节点是从初态保持的冰箱关闭，终态为1/9。开冰箱前的场景探索在视频约 23.2 s 因机器人侧翻中断，底盘控制未能保持或恢复稳定，服务最终以倒地判负。没有状态日志，倒地的具体接触点不可见，全部替代热源的初态也无法确认。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标注与视频、日志一致：冰箱始终未打开，视频约23.2 s侧翻，断点在fridge_opened（探索），平衡现象与控制根因有日志依据；时钟换算（control_steps=990对应33.0 s）合理，q_score=0把培根节点定为假有依据。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": "2026-10-30T21:28:20Z",
+  "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-cook-bacon-i00-standard--ram5pdm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-bacon-i00-standard--ram5pdm/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f3678329b75b6b906b6f4005fe0f719198ce2b871024cb3bd9a1e73dd387327d",
+   "video_sha256": "c771876c58d6addf2454d6b98b016026b875b0e74c8cfe7f78ef8f5be6ebf621",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-standard--vngydgn.json

@@ -0,0 +1,354 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-bacon-i00-standard--vngydgn",
+ "taskKey": "behavior-1k/cook_bacon",
+ "dag_sha256": "436960e028055689855df9a0ab19653897ca4b01a7cdc6525e18a38048ea1e94",
+ "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": 11515,
+   "sim_steps": 11665,
+   "physics_steps": 46660,
+   "steps": 2147,
+   "elapsed_s": 6572.5,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 150,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.0,
+   "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-bacon-i00-standard--vngydgn/replay.mp4",
+  "duration_s": 388.9,
+  "fps": 10.0,
+  "frames": 3889,
+  "sha256": "b1c6d75aab65d7f01f9e45c44e79340cde9aba957cecdd9371dcc5a61c759ef5"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 9,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 64.5,
+      "log_step": 191,
+      "text_zh": "观察：视频 60–71.5 s，机器人接近并将右夹爪伸向黑色带水平把手的烤箱柜；log step 191 中 agent 将该黑色设备判断为冰箱。该段没有白色冰箱门外转或冰箱层架露出的画面。"
+     },
+     {
+      "t": 227.0,
+      "log_step": 608,
+      "text_zh": "观察：视频 225–230.5 s，左腕视角中夹爪在白色冰箱的竖直把手附近闭合、随后向外撤回；头部视角的白色门板没有随手打开。视频 236–304 s、319–354 s 的后续拉动和探入仍未出现冰箱内腔及浅蓝色层架；相同设备在参考成功录像的参考视频 90–110 s 明显敞开并露出层架及培根托盘。"
+     },
+     {
+      "t": 375.0,
+      "log_step": 871,
+      "text_zh": "观察：视频 360–375 s，机器人又在黑色烤箱柜前伸手；log step 871 中 agent 再次承认黑色设备是烤箱、白色门才是冰箱。视频 380–388.8 s 机器人离开设备正面，未再完成开冰箱动作。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "视频 225–230.5 s、319–354 s，左夹爪指端在白色冰箱把手/门面附近顶触、闭合后撤回，未见二指有效夹住把手并带动门；此前右夹爪及后来左夹爪还在被误认作冰箱的黑色烤箱把手、面板上反复触探。未把闭爪命令本身计为抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘承载机器人绕过厨房岛台到设备柜前，并在开冰箱尝试中多次横移、转向及后退牵拉。"
+     }
+    ]
+   },
+   "heat_enabled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 350.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0–388.8 s 中机器人主要在冰箱与烤箱柜前寻找和操作把手，没有看到灶台绿色开启指示或其他热源的明确开启反馈。参考成功录像的参考视频 172–184 s 可清楚看到灶台绿灯，但本次视角未提供同样的确认线索。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：没有状态日志，评分器也没有报告热源开关或余热初态；不能由未按开关或培根未熟反推所有热源均关闭，故本节点的初态及是否曾开启均未知。"
+     }
+    ]
+   },
+   "bacon_cooked_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 354.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0–388.8 s 未见机器人将培根或装有培根的托盘从冰箱取出、搬至热源，也未见生肉变熟的过程；视频 354–375 s 仍在设备柜前探手，视频 387.9–388.8 s 末秒停在柜外。"
+     },
+     {
+      "t": 388.8,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的实时评分 q_score=0.0，且没有重置或恢复；初始即成��并保留的冰箱关闭条件不增加此分数，因此任一新达成的 Cooked 目标都不可能成立。Cooked 一旦成立不会撤销，故至少1片熟在本次全程及终态均为假；此判断结合录像未发生培根搬运，而非仅凭零分猜测未尝试。"
+     }
+    ]
+   },
+   "bacon_cooked_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 354.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0–388.8 s 未见机器人将培根或装有培根的托盘从冰箱取出、搬至热源，也未见生肉变熟的过程；视频 354–375 s 仍在设备柜前探手，视频 387.9–388.8 s 末秒停在柜外。"
+     },
+     {
+      "t": 388.8,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的实时评分 q_score=0.0，且没有重置或恢复；初始即成立并保留的冰箱关闭条件不增加此分数，因此任一新达成的 Cooked 目标都不可能成立。Cooked 一旦成立不会撤销，故至少2片熟在本次全程及终态均为假；此判断结合录像未发生培根搬运，而非仅凭零分猜测未尝试。"
+     }
+    ]
+   },
+   "bacon_cooked_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 354.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0–388.8 s 未见机器人将培根或装有培根的托盘从冰箱取出、搬至热源，也未见生肉变熟的过程；视频 354–375 s 仍在设备柜前探手，视频 387.9–388.8 s 末秒停在柜外。"
+     },
+     {
+      "t": 388.8,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的实时评分 q_score=0.0，且没有重置或恢复；初始即成立并保留的冰箱关闭条件不增加此分数，因此任一新达成的 Cooked 目标都不可能成立。Cooked 一旦成立不会撤销，故至少3片熟在本次全程及终态均为假；此判断结合录像未发生培根搬运，而非仅凭零分猜测未尝试。"
+     }
+    ]
+   },
+   "bacon_cooked_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 354.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0–388.8 s 未见机器人将培根或装有培根的托盘从冰箱取出、搬至热源，也未见生肉变熟的过程；视频 354–375 s 仍在设备柜前探手，视频 387.9–388.8 s 末秒停在柜外。"
+     },
+     {
+      "t": 388.8,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的实时评分 q_score=0.0，且没有重置或恢复；初始即成立并保留的冰箱关闭条件不增加此分数，因此任一新达成的 Cooked 目标都不可能成立。Cooked 一旦成立不会撤销，故至少4片熟在本次全程及终态均为假；此判断结合录像未发生培根搬运，而非仅凭零分猜测未尝试。"
+     }
+    ]
+   },
+   "bacon_cooked_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 354.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0–388.8 s 未见机器人将培根或装有培根的托盘从冰箱取出、搬至热源，也未见生肉变熟的过程；视频 354–375 s 仍在设备柜前探手，视频 387.9–388.8 s 末秒停在柜外。"
+     },
+     {
+      "t": 388.8,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的实时评分 q_score=0.0，且没有重置或恢复；初始即成立并保留的冰箱关闭条件不增加此分数，因此任一新达成的 Cooked 目标都不可能成立。Cooked 一旦成立不会撤销，故至少5片熟在本次全程及终态均为假；此判断结合录像未发生培根搬运，而非仅凭零分猜测未尝试。"
+     }
+    ]
+   },
+   "bacon_cooked_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 354.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0–388.8 s 未见机器人将培根或装有培根的托盘从冰箱取出、搬至热源，也未见生肉变熟的过程；视频 354–375 s 仍在设备柜前探手，视频 387.9–388.8 s 末秒停在柜外。"
+     },
+     {
+      "t": 388.8,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的实时评分 q_score=0.0，且没有重置或恢复；初始即成立并保留的冰箱关闭条件不增加此分数，因此任一新达成的 Cooked 目标都不可能成立。Cooked 一旦成立不会撤销，故至少6片熟在本次全程及终态均为假；此判断结合录像未发生培根搬运，而非仅凭零分猜测未尝试。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 的厨房远景中白色冰箱门未敞露内腔；视频 225–230.5 s、236–304 s 及319–354 s 接近冰箱时，白色门板仍贴着柜体，拉动前后均未露出参考成功录像所示的浅蓝色层架。"
+     },
+     {
+      "t": 388.8,
+      "log_step": null,
+      "text_zh": "推断：视频 354 s 后机器人转回黑色烤箱柜操作，视频 380–388.8 s 离开设备正面；后段没有再作用于冰箱的动作，故延续最后可见的关闭状态至结束。末秒视角本身看不到冰箱门，不将离开设备单独当作关门证据。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fridge_opened",
+   "t": 227.0,
+   "log_step": 608,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 64.5 s 起机器人反复操作误认作冰箱的黑色烤箱柜；视频 225–230.5 s 已转向白色冰箱把手，夹爪闭合并外撤而门未跟随，之后多次调整仍未露出冰箱内腔。log step 871 最后一次说明黑色设备是烤箱后，视频 380–388.8 s 仍未完成冰箱打开；这是最早持续未修复的步骤，视频 227.0 s 取其直接拉门失败作导航锚点。"
+  },
+  "unmet": {
+   "bacon_cooked_1": false,
+   "bacon_cooked_2": false,
+   "bacon_cooked_3": false,
+   "bacon_cooked_4": false,
+   "bacon_cooked_5": false,
+   "bacon_cooked_6": false,
+   "fridge_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 227.0,
+    "log_step": 608,
+    "evidence_zh": "观察：视频 225–230.5 s 左夹爪在白色冰箱竖直把手附近闭合并外撤，门板没有随夹爪运动；视频 242–258 s 和327–354 s 的多次接近、拉动仍未建立可带动门的抓持。这里缺少的是开门所需的有效夹持接触，门面上的短暂顶触不等于已抓住后滑落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 191 把黑色设备识别为冰箱；log step 375 已怀疑它是烤箱，log step 389 又将黑色面板判作冰箱；log step 594 找到白色冰箱，log step 828 又将白色表面判为墙，log step 871 才再次改判白色为冰箱、黑色为烤箱。视频 64.5–194 s、305–321 s、360–375 s 与这些判断相符，机器人反复操作带烤箱控制面板的黑色设备。推断：设备类别与把手位置辨认不稳定，使开冰箱的动作长期指向错误对象；不是任务要求机器人打开烤箱。"
+   },
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "观察：即使转到白色冰箱，视频 225–230.5 s、242–258 s 及327–354 s 仍见夹爪撤回而门不动。单次实时回合的服务在 log step 606 报左夹爪开口约0.040 m，log step 608、612 拉动后开口约为0，log step 689、691 再次报告近零开口；log step 693 中 agent 也承认底盘后退只移动了手而没有带动门。推断：对正确把手的抓持执行仍未形成有效夹持，不能把全部失败只归于选错设备；现有画面不足以再区分具体接触设计与轨迹控制子类。"
+   }
+  ],
+  "gap_zh": "没有逐帧模拟器状态日志或冰箱关节角，门板是否发生小于打开阈值的微动无法量化；已按可见门板及成功参考的层架线索判断未打开。所有热源的初始开关/余热与部分设备指示未被本次镜头覆盖，heat_enabled 保持未知。培根在冰箱内不可逐片观察，熟态终值由实时 q_score=0 与未发生搬运的录像共同约束；具体抓持控制子类证据不足。服务控制步按30 Hz计（11665/30≈388.83 s，与录像长度388.9 s相合）；log step 608 的6849控制步对应视频约228.3 s，已在视频225–230.5 s的左夹爪外撤处核对。"
+ },
+ "summary_zh": "本次9个节点中仅保留了从初态成立的冰箱关闭条件；打开冰箱未完成，六片培根均未做熟，热源开启状态未知。断点在打开冰箱：机器人反复将烤箱柜误认作冰箱，转向白色冰箱后也未形成能带动门的有效抓持，视频末秒仍无培根搬运。没有状态日志，熟态由实时零分与录像共同约束，热源初态和抓持控制的具体子类无法确定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "抽查视频 5/100/228/300/350/388 s：全程未见冰箱门打开，q_score=0 与未取培根一致，各节点值、断点（fridge_opened，视频约227 s）、现象与根因均有证据支持，时钟换算（11665/30≈388.8 s）自洽。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": "2026-10-30T21:43:02Z",
+  "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-cook-bacon-i00-standard--vngydgn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-bacon-i00-standard--vngydgn/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "790111c1439e15bcf5d250b468ef5bc018af3fad50ece608cf0e893eac2f514f",
+   "video_sha256": "b1c6d75aab65d7f01f9e45c44e79340cde9aba957cecdd9371dcc5a61c759ef5",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-standard--vz6k924.json

@@ -0,0 +1,485 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-bacon-i00-standard--vz6k924",
+ "taskKey": "behavior-1k/cook_bacon",
+ "dag_sha256": "436960e028055689855df9a0ab19653897ca4b01a7cdc6525e18a38048ea1e94",
+ "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": 26492,
+   "sim_steps": 26492,
+   "physics_steps": 105968,
+   "steps": 15529,
+   "elapsed_s": 10538.3,
+   "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": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.303,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.472,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-bacon-i00-standard--vz6k924/replay.mp4",
+  "duration_s": 883.067,
+  "fps": 30.0,
+  "frames": 26492,
+  "sha256": "523620e49857949957b0e63c2353f2d44e043eaefda587949c9bdee6aa406e28"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 9,
+  "base": 1,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      218.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 218.5,
+      "log_step": 87,
+      "text_zh": "观察：视频 217.5–225.0 s，机器人右夹爪夹住冰箱竖把手并外拉，白色门板逐渐转离柜体；视频 240.0 s 内部层架清楚敞露。首次跨过打开阈值估计在视频 218.5 s，约有0.5秒视觉误差。"
+     },
+     {
+      "t": 240,
+      "log_step": 88,
+      "text_zh": "观察：视频 240.0–330.0 s，冰箱低层架和装有培根的托盘可见，随后机器人将托盘移出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 215.0–240.0 s，右二指夹爪夹住冰箱竖把手，沿开门弧线牵拉；前面的空夹未计为成功抓取。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 255.0–265.0 s，机器人换用左夹爪接近并推门板，将已开的门进一步推开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.0–100.0 s，轮式底盘驶到冰箱前并调整站位以操作把手。"
+     }
+    ]
+   },
+   "heat_enabled": {
+    "method": "visual",
+    "intervals": [
+     [
+      410,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 410,
+      "log_step": 171,
+      "text_zh": "观察：视频 397.0–409.2 s 灶台按钮指示仍红，左夹爪指端下压；视频 409.5–410.0 s 指示转绿，视频 412.0 s 夹爪退开后绿灯清楚可见。与参考成功录像视频 175.0–180.0 s 的开启绿灯一致，首次开启取视频 410.0 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 402.0–411.0 s，机器人左夹爪闭合的指端接近并压灶台开关，使红色指示变绿。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 375.0–405.0 s，底盘携托盘驶到灶台前，并横向微调以让左指端接近按钮。"
+     }
+    ]
+   },
+   "bacon_cooked_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 883.03,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，live_matches_replay=1；六片初始均为生培根，初始已关闭的冰箱不贡献该分数，因此终态没有任何一片的 Cooked 为真，第1片计数节点为假。DAG规定 Cooked 做熟后不可撤销，故整段没有达到至少1片熟的区间。此推断只判断熟态，不据零分否定尝试。"
+     },
+     {
+      "t": 767,
+      "log_step": 282,
+      "text_zh": "观察：视频 327.0–435.0 s，机器人用托盘搬运和倾倒橙红色培根；视频 457.0 s 托盘已在地面，视频 615.0–640.0 s 再次翻盘，视频 767.0 s 腕部视角能看到煎锅内数片细条，视频 740.0 s、850.0 s 另有一片仍在地面。未见可可靠判读的熟态外观变化，不能把“进入锅内”等同做熟。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 327.0–435.0 s，右夹爪夹住金属托盘边沿，以托盘承托、搬运同一批培根并向灶台倾倒；视频 548.0–650.0 s 重新抓起托盘再翻转倒料。这里记录托盘与培根的承托链路，六个计数节点共享这次整批操作，不表示逐片抓持成功。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 735.0–757.0 s、848.0–851.0 s，右指端多次落向地面薄培根附近并闭合，指端受地面限制，未见培根被夹起；不将空夹记为抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 333.0–405.0 s 底盘载着托盘从冰箱驶向灶台；之后为再次倒料、接近落地培根持续调整位置，视频 874.0–878.0 s 移动时侧翻。"
+     }
+    ]
+   },
+   "bacon_cooked_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 883.03,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，live_matches_replay=1；六片初始均为生培根，初始已关闭的冰箱不贡献该分数，因此终态没有任何一片的 Cooked 为真，第2片计数节点为假。DAG规定 Cooked 做熟后不可撤销，故整段没有达到至少2片熟的区间。此推断只判断熟态，不据零分否定尝试。"
+     },
+     {
+      "t": 767,
+      "log_step": 282,
+      "text_zh": "观察：视频 327.0–435.0 s，机器人用托盘搬运和倾倒橙红色培根；视频 457.0 s 托盘已在地面，视频 615.0–640.0 s 再次翻盘，视频 767.0 s 腕部视角能看到煎锅内数片细条，视频 740.0 s、850.0 s 另有一片仍在地面。未见可可靠判读的熟态外观变化，不能把“进入锅内”等同做熟。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 327.0–435.0 s，右夹爪夹住金属托盘边沿，以托盘承托、搬运同一批培根并向灶台倾倒；视频 548.0–650.0 s 重新抓起托盘再翻转倒料。这里记录托盘与培根的承托链路，六个计数节点共享这次整批操作，不表示逐片抓持成功。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 735.0–757.0 s、848.0–851.0 s，右指端多次落向地面薄培根附近并闭合，指端受地面限制，未见培根被夹起；不将空夹记为抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 333.0–405.0 s 底盘载着托盘从冰箱驶向灶台；之后为再次倒料、接近落地培根持续调整位置，视频 874.0–878.0 s 移动时侧翻。"
+     }
+    ]
+   },
+   "bacon_cooked_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 883.03,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，live_matches_replay=1；六片初始均为生培根，初始已关闭的冰箱不贡献该分数，因此终态没有任何一片的 Cooked 为真，第3片计数节点为假。DAG规定 Cooked 做熟后不可撤销，故整段没有达到至少3片熟的区间。此推断只判断熟态，不据零分否定尝试。"
+     },
+     {
+      "t": 767,
+      "log_step": 282,
+      "text_zh": "观察：视频 327.0–435.0 s，机器人用托盘搬运和倾倒橙红色培根；视频 457.0 s 托盘已在地面，视频 615.0–640.0 s 再次翻盘，视频 767.0 s 腕部视角能看到煎锅内数片细条，视频 740.0 s、850.0 s 另有一片仍在地面。未见可可靠判读的熟态外观变化，不能把“进入锅内”等同做熟。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 327.0–435.0 s，右夹爪夹住金属托盘边沿，以托盘承托、搬运同一批培根并向灶台倾倒；视频 548.0–650.0 s 重新抓起托盘再翻转倒料。这里记录托盘与培根的承托链路，六个计数节点共享这次整批操作，不表示逐片抓持成功。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 735.0–757.0 s、848.0–851.0 s，右指端多次落向地面薄培根附近并闭合，指端受地面限制，未见培根被夹起；不将空夹记为抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 333.0–405.0 s 底盘载着托盘从冰箱驶向灶台；之后为再次倒料、接近落地培根持续调整位置，视频 874.0–878.0 s 移动时侧翻。"
+     }
+    ]
+   },
+   "bacon_cooked_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 883.03,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，live_matches_replay=1；六片初始均为生培根，初始已关闭的冰箱不贡献该分数，因此终态没有任何一片的 Cooked 为真，第4片计数节点为假。DAG规定 Cooked 做熟后不可撤销，故整段没有达到至少4片熟的区间。此推断只判断熟态，不据零分否定尝试。"
+     },
+     {
+      "t": 767,
+      "log_step": 282,
+      "text_zh": "观察：视频 327.0–435.0 s，机器人用托盘搬运和倾倒橙红色培根；视频 457.0 s 托盘已在地面，视频 615.0–640.0 s 再次翻盘，视频 767.0 s 腕部视角能看到煎锅内数片细条，视频 740.0 s、850.0 s 另有一片仍在地面。未见可可靠判读的熟态外观变化，不能把“进入锅内”等同做熟。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 327.0–435.0 s，右夹爪夹住金属托盘边沿，以托盘承托、搬运同一批培根并向灶台倾倒；视频 548.0–650.0 s 重新抓起托盘再翻转倒料。这里记录托盘与培根的承托链路，六个计数节点共享这次整批操作，不表示逐片抓持成功。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 735.0–757.0 s、848.0–851.0 s，右指端多次落向地面薄培根附近并闭合，指端受地面限制，未见培根被夹起；不将空夹记为抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 333.0–405.0 s 底盘载着托盘从冰箱驶向灶台；之后为再次倒料、接近落地培根持续调整位置，视频 874.0–878.0 s 移动时侧翻。"
+     }
+    ]
+   },
+   "bacon_cooked_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 883.03,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，live_matches_replay=1；六片初始均为生培根，初始已关闭的冰箱不贡献该分数，因此终态没有任何一片的 Cooked 为真，第5片计数节点为假。DAG规定 Cooked 做熟后不可撤销，故整段没有达到至少5片熟的区间。此推断只判断熟态，不据零分否定尝试。"
+     },
+     {
+      "t": 767,
+      "log_step": 282,
+      "text_zh": "观察：视频 327.0–435.0 s，机器人用托盘搬运和倾倒橙红色培根；视频 457.0 s 托盘已在地面，视频 615.0–640.0 s 再次翻盘，视频 767.0 s 腕部视角能看到煎锅内数片细条，视频 740.0 s、850.0 s 另有一片仍在地面。未见可可靠判读的熟态外观变化，不能把“进入锅内”等同做熟。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 327.0–435.0 s，右夹爪夹住金属托盘边沿，以托盘承托、搬运同一批培根并向灶台倾倒；视频 548.0–650.0 s 重新抓起托盘再翻转倒料。这里记录托盘与培根的承托链路，六个计数节点共享这次整批操作，不表示逐片抓持成功。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 735.0–757.0 s、848.0–851.0 s，右指端多次落向地面薄培根附近并闭合，指端受地面限制，未见培根被夹起；不将空夹记为抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 333.0–405.0 s 底盘载着托盘从冰箱驶向灶台；之后为再次倒料、接近落地培根持续调整位置，视频 874.0–878.0 s 移动时侧翻。"
+     }
+    ]
+   },
+   "bacon_cooked_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 883.03,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，live_matches_replay=1；六片初始均为生培根，初始已关闭的冰箱不贡献该分数，因此终态没有任何一片的 Cooked 为真，第6片计数节点为假。DAG规定 Cooked 做熟后不可撤销，故整段没有达到至少6片熟的区间。此推断只判断熟态，不据零分否定尝试。"
+     },
+     {
+      "t": 767,
+      "log_step": 282,
+      "text_zh": "观察：视频 327.0–435.0 s，机器人用托盘搬运和倾倒橙红色培根；视频 457.0 s 托盘已在地面，视频 615.0–640.0 s 再次翻盘，视频 767.0 s 腕部视角能看到煎锅内数片细条，视频 740.0 s、850.0 s 另有一片仍在地面。未见可可靠判读的熟态外观变化，不能把“进入锅内”等同做熟。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 327.0–435.0 s，右夹爪夹住金属托盘边沿，以托盘承托、搬运同一批培根并向灶台倾倒；视频 548.0–650.0 s 重新抓起托盘再翻转倒料。这里记录托盘与培根的承托链路，六个计数节点共享这次整批操作，不表示逐片抓持成功。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 735.0–757.0 s、848.0–851.0 s，右指端多次落向地面薄培根附近并闭合，指端受地面限制，未见培根被夹起；不将空夹记为抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 333.0–405.0 s 底盘载着托盘从冰箱驶向灶台；之后为再次倒料、接近落地培根持续调整位置，视频 874.0–878.0 s 移动时侧翻。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      218.5
+     ],
+     [
+      797,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 及 35.0–215.0 s，白色冰箱门基本贴合柜体、内腔不敞露；视频约 218.5 s 被右夹爪拉开后关闭状态失去。"
+     },
+     {
+      "t": 797,
+      "log_step": 288,
+      "text_zh": "观察：视频 785.0–796.0 s 冰箱门仍斜向外伸，机器人右臂接触门板并在底盘转向时将其推回；视频 797.0–799.0 s 白色门板回到柜体平面、内腔不再敞露，约视频 797.0 s 恢复关闭，随后未再操作冰箱。5%关节阈值只能按门板外观近似，非原生关节读数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 794.0–797.0 s，机器人右臂及夹爪侧部随底盘转向推回冰箱门，未见夹住把手关门。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 780.0–799.0 s，底盘重新驶至冰箱前并转向，右臂在该运动过程中带动门板合拢。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bacon_cooked_1",
+   "t": 457,
+   "log_step": 191,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 435.0–445.0 s 倾倒后仍有培根留在托盘上，视频 457.0–461.0 s 右夹爪放开、托盘落在灶前地面而非煎锅内；log step 191 明确发送右夹爪打开指令。随后虽重新抓起托盘翻倒，视频 740.0 s、850.0 s 仍见落地培根且未夹起，评分器 q_score=0.0，首个做熟节点始终未完成。视频 874.0–878.0 s 底盘为回收薄片调整位置时侧翻，至视频 883.03 s 未恢复。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 457,
+    "log_step": 191,
+    "evidence_zh": "观察：视频 457.0–461.0 s，机器人右夹爪在远离煎锅的位置松开装有培根的托盘，托盘落到灶前地面；视频 530.0–550.0 s 机器人仍需在地面重新抓托盘。后续翻盘后视频 740.0 s、850.0 s 仍有培根留在地上，未全部送到热源附近。log step 191 的右夹爪打开指令证明这是释放，不是已放进煎锅后失稳。"
+   },
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 874,
+    "log_step": 304,
+    "evidence_zh": "观察：视频 870.0–873.0 s 机器人右臂仍抬在灶前，底盘随后移动；视频 874.0–878.0 s 三个相机视野一起大幅倾转，机器人侧翻，视频 882.3–883.03 s 仍横倒。log step 304 的实时本体读数 tilt 从1.000变为-0.029，log step 305 报告基座转角约1.618及0.916弧度，与画面吻合。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 191 的控制代码在托盘仍由右手悬持时直接发出打开夹爪指令，视频 457.0–461.0 s 对应托盘落在锅外地面，表明放料控制未使承接面与释放位置配合。log step 301 将右末端抬至约1.4米；log step 304 在收臂或下蹲之前先执行两次底盘移动，第二次后实时 tilt=-0.029，视频 874.0–878.0 s 对应侧翻。控制序列未维持移动时的机体稳定；未将具体碰撞部位或力控参数作为已知原因。"
+   }
+  ],
+  "gap_zh": "观察：inputs/中有完整录像和运行日志，但没有状态日志；六片原生Cooked和温度未逐片输出，熟态区间由评分总量及Cooked不可逆性推断。冰箱恢复关闭按视频 797.0–799.0 s 门板贴合外观判断，无法精确测量5%关节阈值；此后冰箱离开视野。视频能确认最后侧翻，但与岛台的具体接触点及接触力被机体遮挡，无法细分控制根因；也无法解释锅内数片为何仍未达到原生Cooked。log step 305 的实时状态仍done=False，说明agent在侧翻后停止发送动作，不能把该回合说成已触发持续10秒的倒地终止。",
+  "unmet": {
+   "bacon_cooked_1": false,
+   "bacon_cooked_2": false,
+   "bacon_cooked_3": false,
+   "bacon_cooked_4": false,
+   "bacon_cooked_5": false,
+   "bacon_cooked_6": false,
+   "fridge_closed": true
+  }
+ },
+ "summary_zh": "机器人打开冰箱、用托盘搬运培根并开启灶台，随后将冰箱门推回，终态可确认3/9节点成立；评分器q_score=0.0结合Cooked不可逆性判定六个做熟节点均未达到。首个未修复节点是第1片培根熟：视频 457.0 s 托盘在锅外被释放，后续重新倒料及回收落地薄片仍未完成，视频 874.0–878.0 s 底盘移动时侧翻；日志与画面支持控制问题，但缺少温度、门关节和碰撞力读数。运行task_text采用目标成立即结束的旧版说明，DAG列有全体释放静置窗，本次因熟态未满足而失败，版本差异不改变节点判断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "时钟映射（control_steps/30）经 step 171→约410 s 灶台变绿、step 191→约458 s 放开托盘、step 87→约218 s 开门三处核对一致；三个成立节点（开冰箱、热源、冰箱恢复关闭）与六个未熟节点的取值、起止时间均与画面和 q_score=0 相符，断点（第1片熟，托盘在锅外放开）、两个现象与控制根因有画面和日志支撑，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": "2026-10-30T21:20:59Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-cook-bacon-i00-standard--vz6k924/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-bacon-i00-standard--vz6k924/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "534d68f711bdaaabec9c6ba7241a2588aa67579ba7e0aadf0709330fc3f44c18",
+   "video_sha256": "523620e49857949957b0e63c2353f2d44e043eaefda587949c9bdee6aa406e28",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_broccolini/trajectories/behavior-cook-broccolini-i00-privileged--ash5xdc.json

@@ -0,0 +1,405 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-broccolini-i00-privileged--ash5xdc",
+ "taskKey": "behavior-1k/cook_broccolini",
+ "dag_sha256": "f1cd536622766f2334eaee5d52499d4d60bbd6e7ca60835a06f6a9df964b2826",
+ "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": 457,
+   "sim_breakdown": 0,
+   "goal": 0,
+   "settle_steps": 150,
+   "goal_first_step": -1,
+   "sim_steps": 607,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 586.7,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "video_replay_matches": 1,
+   "agent_sessions": 1,
+   "agent_resets": 7,
+   "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": 9.114,
+   "peak_memory_gb": 13.463,
+   "peak_processes": 47,
+   "peak_disk_gb": 0.571,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-cook-broccolini-i00-privileged--ash5xdc/replay.mp4",
+  "duration_s": 20.233,
+  "fps": 30.0,
+  "frames": 607,
+  "sha256": "e1a2e5239838c5b47fd015acf8d873ac5c09568bcb0ab5b1120b0ddb8424844b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 12,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "heat_source_on": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 20.2,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–20.2 s 未见机器人操作炉灶或其他热源开关；与成功参考视频 175.0–178.0 s 右腕清楚显示的红色开关标记相比，本次没有对应按开操作。DAG允许其他有效热源初始已开，但本作业没有状态日志，全部潜在热源的初始有效供热状态未被画面完整显示，故不能据未按开炉灶断定全场有效热源均未开启。"
+     }
+    ]
+   },
+   "broccolini_in_pan_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "观察：视频 4.0–10.0 s，白盘中的绿色西兰苔及浅色蒜瓣与空煎锅分处金属台面两端，机器人右夹爪操作锅柄，未搬动食材。"
+     },
+     {
+      "t": 14.0,
+      "log_step": null,
+      "text_zh": "推断：视频 12.7–14.0 s 白盘仍载着食材，右夹爪搬运煎锅，未出现1个西兰苔入锅的过程；评分器 reward.q_score=0.0、video_replay_matches=1，与入锅目标终态为假一致。"
+     }
+    ]
+   },
+   "broccolini_in_pan_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "观察：视频 4.0–10.0 s，白盘中的绿色西兰苔及浅色蒜瓣与空煎锅分处金属台面两端，机器人右夹爪操作锅柄，未搬动食材。"
+     },
+     {
+      "t": 14.0,
+      "log_step": null,
+      "text_zh": "推断：视频 12.7–14.0 s 白盘仍载着食材，右夹爪搬运煎锅，未出现2个西兰苔入锅的过程；评分器 reward.q_score=0.0、video_replay_matches=1，与入锅目标终态为假一致。"
+     }
+    ]
+   },
+   "broccolini_in_pan_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "观察：视频 4.0–10.0 s，白盘中的绿色西兰苔及浅色蒜瓣与空煎锅分处金属台面两端，机器人右夹爪操作锅柄，未搬动食材。"
+     },
+     {
+      "t": 14.0,
+      "log_step": null,
+      "text_zh": "推断：视频 12.7–14.0 s 白盘仍载着食材，右夹爪搬运煎锅，未出现3个西兰苔入锅的过程；评分器 reward.q_score=0.0、video_replay_matches=1，与入锅目标终态为假一致。"
+     }
+    ]
+   },
+   "cloves_in_pan_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "观察：视频 4.0–10.0 s，白盘中的绿色西兰苔及浅色蒜瓣与空煎锅分处金属台面两端，机器人右夹爪操作锅柄，未搬动食材。"
+     },
+     {
+      "t": 14.0,
+      "log_step": null,
+      "text_zh": "推断：视频 12.7–14.0 s 白盘仍载着食材，右夹爪搬运煎锅，未出现1个蒜瓣入锅的过程；评分器 reward.q_score=0.0、video_replay_matches=1，与入锅目标终态为假一致。"
+     }
+    ]
+   },
+   "cloves_in_pan_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "观察：视频 4.0–10.0 s，白盘中的绿色西兰苔及浅色蒜瓣与空煎锅分处金属台面两端，机器人右夹爪操作锅柄，未搬动食材。"
+     },
+     {
+      "t": 14.0,
+      "log_step": null,
+      "text_zh": "推断：视频 12.7–14.0 s 白盘仍载着食材，右夹爪搬运煎锅，未出现2个蒜瓣入锅的过程；评分器 reward.q_score=0.0、video_replay_matches=1，与入锅目标终态为假一致。"
+     }
+    ]
+   },
+   "pan_on_stove": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频 3.5–10.0 s，空煎锅位于机器人面前的金属工作台，炉灶在其后方，与锅分离。"
+     },
+     {
+      "t": 8.6,
+      "log_step": null,
+      "text_zh": "观察：视频 8.6–11.5 s 右腕画面中，两指在锅柄两侧闭合；视频 12.7–15.0 s 底盘移动和转动时，黑色锅柄仍位于右夹爪之间、背景从台面变为地面及炉灶，支持机器人已抓住锅并开始搬运。"
+     },
+     {
+      "t": 20.2,
+      "log_step": null,
+      "text_zh": "推断：视频 14.0–15.0 s 搬运、转动后，视频 19.2–20.2 s 右腕仍可见夹爪间的锅柄，机器人停在柜边，未见煎锅下落接触炉灶的过程；评分器 reward.q_score=0.0、video_replay_matches=1，决定煎锅上灶终态为假。成功参考视频 174.0–178.0 s 可见锅体实际落在炉架上，本次没有对应放置画面。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频 8.6–15.0 s，右侧二指夹爪围住黑色煎锅长柄；抬升、移动和转动后锅柄仍随夹爪移动，左夹爪未共同持锅。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 0.0–4.0 s 底盘驶近工作台取锅；视频 12.0–15.0 s 底盘在持锅阶段移动、转向，支承右臂搬运。"
+     }
+    ]
+   },
+   "broccolini_cooked_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14.0,
+      "log_step": null,
+      "text_zh": "观察：视频 4.0–14.0 s，食材留在白盘，机器人只操作煎锅；未见食材移向热源或开火操作。"
+     },
+     {
+      "t": 20.2,
+      "log_step": 44,
+      "text_zh": "推断：评分器 reward.q_score=0.0、video_replay_matches=1；结合视频 4.0–14.0 s 食材留在原盘、log step 44 会话初态检查的代表西兰苔及蒜瓣最高温均为23摄氏度而烹饪阈值为58摄氏度，未有初始已熟证据，终态至少一个西兰苔已熟不可能由该总分支持。Cooked为历史最高温的保持状态，因此本片段没有已熟区间；这不是按食材颜色判断。"
+     }
+    ]
+   },
+   "broccolini_cooked_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14.0,
+      "log_step": null,
+      "text_zh": "观察：视频 4.0–14.0 s，食材留在白盘，机器人只操作煎锅；未见食材移向热源或开火操作。"
+     },
+     {
+      "t": 20.2,
+      "log_step": 44,
+      "text_zh": "推断：评分器 reward.q_score=0.0、video_replay_matches=1；结合视频 4.0–14.0 s 食材留在原盘、log step 44 会话初态检查的代表西兰苔及蒜瓣最高温均为23摄氏度而烹饪阈值为58摄氏度，未有初始已熟证据，终态至少一个西兰苔已熟不可能由该总分支持。Cooked为历史最高温的保持状态，因此本片段没有已熟区间；这不是按食材颜色判断。"
+     }
+    ]
+   },
+   "broccolini_cooked_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14.0,
+      "log_step": null,
+      "text_zh": "观察：视频 4.0–14.0 s，食材留在白盘，机器人只操作煎锅；未见食材移向热源或开火操作。"
+     },
+     {
+      "t": 20.2,
+      "log_step": 44,
+      "text_zh": "推断：评分器 reward.q_score=0.0、video_replay_matches=1；结合视频 4.0–14.0 s 食材留在原盘、log step 44 会话初态检查的代表西兰苔及蒜瓣最高温均为23摄氏度而烹饪阈值为58摄氏度，未有初始已熟证据，终态至少一个西兰苔已熟不可能由该总分支持。Cooked为历史最高温的保持状态，因此本片段没有已熟区间；这不是按食材颜色判断。"
+     }
+    ]
+   },
+   "cloves_cooked_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14.0,
+      "log_step": null,
+      "text_zh": "观察：视频 4.0–14.0 s，食材留在白盘，机器人只操作煎锅；未见食材移向热源或开火操作。"
+     },
+     {
+      "t": 20.2,
+      "log_step": 44,
+      "text_zh": "推断：评分器 reward.q_score=0.0、video_replay_matches=1；结合视频 4.0–14.0 s 食材留在原盘、log step 44 会话初态检查的代表西兰苔及蒜瓣最高温均为23摄氏度而烹饪阈值为58摄氏度，未有初始已熟证据，终态至少一个蒜瓣已熟不可能由该总分支持。Cooked为历史最高温的保持状态，因此本片段没有已熟区间；这不是按食材颜色判断。"
+     }
+    ]
+   },
+   "cloves_cooked_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14.0,
+      "log_step": null,
+      "text_zh": "观察：视频 4.0–14.0 s，食材留在白盘，机器人只操作煎锅；未见食材移向热源或开火操作。"
+     },
+     {
+      "t": 20.2,
+      "log_step": 44,
+      "text_zh": "推断：评分器 reward.q_score=0.0、video_replay_matches=1；结合视频 4.0–14.0 s 食材留在原盘、log step 44 会话初态检查的代表西兰苔及蒜瓣最高温均为23摄氏度而烹饪阈值为58摄氏度，未有初始已熟证据，终态至少一个蒜瓣已熟不可能由该总分支持。Cooked为历史最高温的保持状态，因此本片段没有已熟区间；这不是按食材颜色判断。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pan_on_stove",
+   "t": null,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 8.6–15.0 s，机器人右夹爪夹住锅柄并开始搬运，随后停留在柜边；视频 19.2–20.2 s 末段未发生煎锅落在炉灶上的放置，评分器 reward.q_score=0.0。推断：第一次持续未完成的工作是煎锅上灶，食材装载尚未开始；视频无法唯一定位一个导致搬运失败的物理事件，故断点时间留空。"
+  },
+  "unmet": {
+   "broccolini_in_pan_1": false,
+   "broccolini_in_pan_2": false,
+   "broccolini_in_pan_3": false,
+   "cloves_in_pan_1": false,
+   "cloves_in_pan_2": false,
+   "pan_on_stove": false,
+   "broccolini_cooked_1": false,
+   "broccolini_cooked_2": false,
+   "broccolini_cooked_3": false,
+   "cloves_cooked_1": false,
+   "cloves_cooked_2": false
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "交付",
+    "item": "交付操作出错",
+    "log_step": 76,
+    "evidence_zh": "观察：log step 73 的脚本输出记录试跑失败后保存 trajectory.npz，rows=763、success=False；log step 75 的文件列表显示该文件保存于会话 UTC 08:35，早于 log step 74 在会话 UTC 08:44:02 启动的修改后重跑；log step 76 只检查文件结构，得到 actions.shape=(763,25)。log step 77 中 agent 自述最后重跑尚未完成，否则沿用763行文件。评分器 inputs/run.json reward 则报告 n_actions=457、agent_replays=0、agent_resets=7、deterministic=1、instance_ok=1、video_replay_matches=1。推断：agent 保存并交付未经重放验收的动作文件，最终结构检查没有验证实际评分执行；按 DECISIONS.md N10 标为交付操作出错。763行与457行动作之间的具体来源差异未被日志解释，不能据此声称基准重放异常，也不能把试跑的阻挡或逆解失败当作本次视频的物理原因。",
+    "source_zh": "会话脚本保存输出与文件结构检查（log step 73、75、76）、agent 最终自述（log step 77，重跑状态仅为其自述）、inputs/run.json reward 评分器字段"
+   }
+  ],
+  "gap_zh": "本作业有本次视频、完整会话记录和成功参考视频，但没有状态日志。煎锅上灶未完成可确定；腕部局部遮挡和头部视角转动，使持锅搬运阶段是否发生具体阻挡、瞬时滑移或其他控制失败无法可靠区分，不能把未完成本身当作位姿不准，现象层仍留空（CASES.md FAIL-23）。log step 71、73 的会话试跑分别记录730、763行及搬运停滞、逆解失败；log step 75、76 确认最后检查的仍是会话 UTC 08:35 保存的763行文件，评分器却报告 n_actions=457、agent_replays=0。按 DECISIONS.md N10，保存并交付未重放验收的文件支持交付操作出错；但457行动作的完整生成结果及其与763行文件的关系未被记录，不能将会话试跑错误直接对应本次视频。开启热源节点还缺少其他可用热源的完整初态，保留未知；食材熟度终值由总分和初态、未搬动食材的画面联合推断，非颜色识别。"
+ },
+ "summary_zh": "本次机器人抓住煎锅长柄并开始搬运，但未把锅放到炉灶上，三根西兰苔及两瓣蒜仍留在原白盘；11个目标节点终态均为假，热源节点因其他潜在热源初态不明而未知，已确认完成0/12。断点为煎锅上灶的操作中阶段，评分器q_score=0.0；log step 73、75、76 的保存与结构检查及评分器 agent_replays=0 支持根因“交付·交付操作出错”。视��未清楚展示可独立归类的搬运失败事件，现象留空；会话检查的763行文件与评分457行动作的具体关系仍不明，不能把会话中的搬运阻挡及逆解失败直接搬入本次标注，故置信度维持6。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值、断点（pan_on_stove，操作中）与 contact_actual 与视频一致；但根因层留空不妥：log 证明交付文件（763 行 trajectory.npz，08:35 保存）从未被智能体重放（agent_replays=0），评分只重放了 457 行，且最后一次重跑在截止前被中断，符合 N10 的「交付 · 交付操作出错」。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点终值、pan_on_stove 的 contact_actual、断点（pan_on_stove，操作中）与视频一致：右夹爪夹住锅柄搬运，食材始终留在白盘，锅未放上炉灶。第1轮补入的根因“交付·交付操作出错”有 log step 73–77 和 agent_replays=0 支持，符合 N10。现象层留空并写了 gap_zh，符合 FAIL-23。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:44:21Z",
+  "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-broccolini-i00-privileged--ash5xdc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-broccolini-i00-privileged--ash5xdc/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-broccolini-i00-privileged--ash5xdc/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-cook-broccolini-i00-privileged--ash5xdc/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "13e729303d8fbacf74cf385e0bef759493696b21cb0311f7792ce7bb4e303084",
+   "video_sha256": "e1a2e5239838c5b47fd015acf8d873ac5c09568bcb0ab5b1120b0ddb8424844b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_broccolini/trajectories/behavior-cook-broccolini-i00-privileged--fgmnxlx.json

@@ -0,0 +1,537 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-broccolini-i00-privileged--fgmnxlx",
+ "taskKey": "behavior-1k/cook_broccolini",
+ "dag_sha256": "f1cd536622766f2334eaee5d52499d4d60bbd6e7ca60835a06f6a9df964b2826",
+ "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": 4918,
+   "sim_steps": 4918,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1254.7,
+   "replay_timeout_s": 4478.7,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 8,
+   "agent_resets": 0,
+   "agent_sim_steps": 9545,
+   "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": 7.262,
+   "peak_memory_gb": 12.818,
+   "peak_processes": 77,
+   "peak_disk_gb": 3.284,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-broccolini-i00-privileged--fgmnxlx/replay.mp4",
+  "duration_s": 163.933,
+  "fps": 30.0,
+  "frames": 4918,
+  "sha256": "8e332914ff6a8e8cfea0a0efb4ce8d8be66307243d56a086b47f16ae9cedf106"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 12,
+  "base": 0,
+  "peak": 3,
+  "final": 2,
+  "nodes": {
+   "heat_source_on": {
+    "method": "visual",
+    "intervals": [
+     [
+      129.25,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 128.75,
+      "log_step": null,
+      "text_zh": "观察：视频 128.75 s 左腕视角中，机器人左夹爪正对炉灶前面板，开关标记为红色；视频 129.25 s 标记变绿，随后机械臂退出。"
+     },
+     {
+      "t": 129.25,
+      "log_step": 230,
+      "text_zh": "推断：log step 230 来自最终保存的4918步生成运行，输出 TOGGLE final True True（ToggledOn和HeatSourceOrSink），与视频 129.25 s 开关变色相符，故开启热源记为达成；本次颜色方向与DAG描述的“变红”不同，不能仅凭红色认定已开。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人左夹爪指端伸入炉灶前面板开关标记区，按触开关；未见合爪夹住旋钮。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘从台面和炉灶侧方驶到开关前，支承左臂执行开火。"
+     }
+    ]
+   },
+   "broccolini_in_pan_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      17.5,
+      63.25
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.5 s 左腕视角中，机器人左夹爪在煎锅内张开并退出，锅中可见1根绿色西兰苔；原白盘上的数量相应减少。视频 48 s 锅中可见三根，白盘已无西兰苔。"
+     },
+     {
+      "t": 63.25,
+      "log_step": null,
+      "text_zh": "观察：视频 61.5–63.5 s 机器人左爪持锅随底盘行驶，食材从锅内越沿下落，三根入锅关系先后消失；视频 63.5 s 锅内已空，视频 84 s 与视频 163.9 s 可见地上的绿色长茎食材，未见重新拾回。至少1根的区间约在视频 63.25 s 结束，计数下降时刻有约0.5秒误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左二指夹爪夹住西兰苔，从白盘提起并搬至黑色煎锅内释放；此节点按至少1根计数，不固定实例。"
+     },
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "随后机器人持煎锅搬运，锅底从下方托住西兰苔；搬运时食材越过锅沿洒出。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在白盘和煎锅间携带被夹食材行驶，之后又携装有西兰苔的煎锅驶向炉灶。"
+     }
+    ]
+   },
+   "broccolini_in_pan_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      28.5,
+      62.5
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 28.5,
+      "log_step": null,
+      "text_zh": "观察：视频 28.5 s 左腕视角中，机器人左夹爪在煎锅内张开并退出，锅中可见2根绿色西兰苔；原白盘上的数量相应减少。视频 48 s 锅中可见三根，白盘已无西兰苔。"
+     },
+     {
+      "t": 62.5,
+      "log_step": null,
+      "text_zh": "观察：视频 61.5–63.5 s 机器人左爪持锅随底盘行驶，食材从锅内越沿下落，三根入锅关系先后消失；视频 63.5 s 锅内已空，视频 84 s 与视频 163.9 s 可见地上的绿色长茎食材，未见重新拾回。至少2根的区间约在视频 62.50 s 结束，计数下降时刻有约0.5秒误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左二指夹爪夹住西兰苔，从白盘提起并搬至黑色煎锅内释放；此节点按至少2根计数，不固定实例。"
+     },
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "随后机器人持煎锅搬运，锅底从下方托住西兰苔；搬运时食材越过锅沿洒出。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在白盘和煎锅间携带被夹食材行驶，之后又携装有西兰苔的煎锅驶向炉灶。"
+     }
+    ]
+   },
+   "broccolini_in_pan_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      44.5,
+      62.0
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 44.5,
+      "log_step": null,
+      "text_zh": "观察：视频 44.5 s 左腕视角中，机器人左夹爪在煎锅内张开并退出，锅中可见3根绿色西兰苔；原白盘上的数量相应减少。视频 48 s 锅中可见三根，白盘已无西兰苔。"
+     },
+     {
+      "t": 62.0,
+      "log_step": null,
+      "text_zh": "观察：视频 61.5–63.5 s 机器人左爪持锅随底盘行驶，食材从锅内越沿下落，三根入锅关系先后消失；视频 63.5 s 锅内已空，视频 84 s 与视频 163.9 s 可见地上的绿色长茎食材，未见重新拾回。至少3根的区间约在视频 62.00 s 结束，计数下降时刻有约0.5秒误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左二指夹爪夹住西兰苔，从白盘提起并搬至黑色煎锅内释放；此节点按至少3根计数，不固定实例。"
+     },
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "随后机器人持煎锅搬运，锅底从下方托住西兰苔；搬运时食材越过锅沿洒出。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在白盘和煎锅间携带被夹食材行驶，之后又携装有西兰苔的煎锅驶向炉灶。"
+     }
+    ]
+   },
+   "cloves_in_pan_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40,
+      "log_step": null,
+      "text_zh": "观察：视频 40 s 左腕视角可见白盘上的浅色蒜瓣；视频 88–112 s 机器人改为左爪持白盘，携盘行驶并在炉灶旁倾斜，视频 92 s 仍能看到盘上的小蒜瓣，没有看到蒜瓣落进煎锅。"
+     },
+     {
+      "t": 163.9,
+      "log_step": 230,
+      "text_zh": "推断：视频 112 s 和视频 163.9 s 的煎锅内未见蒜瓣；log step 230 的最终生成输出五件食材ontop均为False，评分器q_score=0，均不支持末态有1瓣蒜入锅。未将此前会话中的直接夹蒜测试算作本段轨迹的抓取。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "机器人左夹爪握住白盘盘沿，盘面托住蒜瓣，携盘移动并倾斜尝试倒入锅；未观察到蒜瓣进锅。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘携白盘从台面行驶到炉灶旁，尝试把蒜瓣随盘送到煎锅。"
+     }
+    ]
+   },
+   "cloves_in_pan_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40,
+      "log_step": null,
+      "text_zh": "观察：视频 40 s 左腕视角可见白盘上的浅色蒜瓣；视频 88–112 s 机器人改为左爪持白盘，携盘行驶并在炉灶旁倾斜，视频 92 s 仍能看到盘上的小蒜瓣，没有看到蒜瓣落进煎锅。"
+     },
+     {
+      "t": 163.9,
+      "log_step": 230,
+      "text_zh": "推断：视频 112 s 和视频 163.9 s 的煎锅内未见蒜瓣；log step 230 的最终生成输出五件食材ontop均为False，评分器q_score=0，均不支持末态有2瓣蒜入锅。未将此前会话中的直接夹蒜测试算作本段轨迹的抓取。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "机器人左夹爪握住白盘盘沿，盘面托住蒜瓣，携盘移动并倾斜尝试倒入锅；未观察到蒜瓣进锅。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘携白盘从台面行驶到炉灶旁，尝试把蒜瓣随盘送到煎锅。"
+     }
+    ]
+   },
+   "pan_on_stove": {
+    "method": "visual",
+    "intervals": [
+     [
+      79.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8,
+      "log_step": null,
+      "text_zh": "观察：视频 8 s 黑色煎锅仍在金属台面上，未在炉灶上。"
+     },
+     {
+      "t": 79.5,
+      "log_step": null,
+      "text_zh": "观察：视频 78–80 s 机器人左夹爪降低煎锅并松开，黑锅留在炉灶格栅上；视频 81.5 s 机器人空手退开，锅没有随手离开。"
+     },
+     {
+      "t": 163.9,
+      "log_step": 230,
+      "text_zh": "观察：视频 112 s、视频 132 s 及视频 163.9 s 头部视角仍可见黑色煎锅由炉灶格栅承托；白盘是另一个白色圆盘，不将它误认成黑锅。评分器q_score=0与此可见的锅上灶关系不一致，此节点保留视频判断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左二指夹爪夹住煎锅长柄，提锅、搬运、降低到炉灶并释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘支承持锅左臂，从金属台面驶向炉灶，携锅行驶后停靠放置。"
+     }
+    ]
+   },
+   "broccolini_cooked_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 163.9,
+      "log_step": 230,
+      "text_zh": "推断：视频 63.5 s 西兰苔已洒离锅，视频 88–112 s 持盘搬蒜未见蒜入锅，视频 129.25 s 才完成炉灶开关操作；此后视频至 163.9 s 锅内未见食材，地上仍有西兰苔，没有看到食材在有效热源处受热的过程。log step 230 的最终保存运行输出五件食材Cooked均为False，评分器q_score=0亦不支持至少1件西兰苔已熟。结论结合过程、末态及最终运行输出，并非根据绿色外观判熟。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "为尝试加热食材，机器人左夹爪指端按触炉灶前面板开关；实际未见食材留在受热的锅中。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘驶到炉灶开关前，支承左臂执行开火，随后机器人停留等待。"
+     }
+    ]
+   },
+   "broccolini_cooked_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 163.9,
+      "log_step": 230,
+      "text_zh": "推断：视频 63.5 s 西兰苔已洒离锅，视频 88–112 s 持盘搬蒜未见蒜入锅，视频 129.25 s 才完成炉灶开关操作；此后视频至 163.9 s 锅内未见食材，地上仍有西兰苔，没有看到食材在有效热源处受热的过程。log step 230 的最终保存运行输出五件食材Cooked均为False，评分器q_score=0亦不支持至少2件西兰苔已熟。结论结合过程、末态及最终运行输出，并非根据绿色外观判熟。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "为尝试加热食材，机器人左夹爪指端按触炉灶前面板开关；实际未见食材留在受热的锅中。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘驶到炉灶开关前，支承左臂执行开火，随后机器人停留等待。"
+     }
+    ]
+   },
+   "broccolini_cooked_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 163.9,
+      "log_step": 230,
+      "text_zh": "推断：视频 63.5 s 西兰苔已洒离锅，视频 88–112 s 持盘搬蒜未见蒜入锅，视频 129.25 s 才完成炉灶开关操作；此后视频至 163.9 s 锅内未见食材，地上仍有西兰苔，没有看到食材在有效热源处受热的过程。log step 230 的最终保存运行输出五件食材Cooked均为False，评分器q_score=0亦不支持至少3件西兰苔已熟。结论结合过程、末态及最终运行输出，并非根据绿色外观判熟。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "为尝试加热食材，机器人左夹爪指端按触炉灶前面板开关；实际未见食材留在受热的锅中。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘驶到炉灶开关前，支承左臂执行开火，随后机器人停留等待。"
+     }
+    ]
+   },
+   "cloves_cooked_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 163.9,
+      "log_step": 230,
+      "text_zh": "推断：视频 63.5 s 西兰苔已洒离锅，视频 88–112 s 持盘搬蒜未见蒜入锅，视频 129.25 s 才完成炉灶开关操作；此后视频至 163.9 s 锅内未见食材，地上仍有西兰苔，没有看到食材在有效热源处受热的过程。log step 230 的最终保存运行输出五件食材Cooked均为False，评分器q_score=0亦不支持至少1件蒜已熟。结论结合过程、末态及最终运行输出，并非根据绿色外观判熟。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "为尝试加热食材，机器人左夹爪指端按触炉灶前面板开关；实际未见食材留在受热的锅中。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘驶到炉灶开关前，支承左臂执行开火，随后机器人停留等待。"
+     }
+    ]
+   },
+   "cloves_cooked_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 163.9,
+      "log_step": 230,
+      "text_zh": "推断：视频 63.5 s 西兰苔已洒离锅，视频 88–112 s 持盘搬蒜未见蒜入锅，视频 129.25 s 才完成炉灶开关操作；此后视频至 163.9 s 锅内未见食材，地上仍有西兰苔，没有看到食材在有效热源处受热的过程。log step 230 的最终保存运行输出五件食材Cooked均为False，评分器q_score=0亦不支持至少2件蒜已熟。结论结合过程、末态及最终运行输出，并非根据绿色外观判熟。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "为尝试加热食材，机器人左夹爪指端按触炉灶前面板开关；实际未见食材留在受热的锅中。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘驶到炉灶开关前，支承左臂执行开火，随后机器人停留等待。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "broccolini_in_pan_3",
+   "t": 62.0,
+   "log_step": 226,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 48–60 s 三根西兰苔已在锅内；视频约 62 s 机器人左爪持锅随底盘移动，锅内食材开始越沿掉出，“至少三根在锅内”首先失去，视频 63.5 s 锅已空。视频 84 s 和视频 163.9 s 地面仍有西兰苔，之后没有拾回恢复；锅上灶和稍后的持盘倒蒜均未修复这一步。log step 226 的最终生成运行也输出起锅后三根在锅内、行驶后减少、停靠时三根均在地面。"
+  },
+  "unmet": {
+   "broccolini_in_pan_1": false,
+   "broccolini_in_pan_2": false,
+   "broccolini_in_pan_3": false,
+   "cloves_in_pan_1": false,
+   "cloves_in_pan_2": false,
+   "pan_on_stove": true,
+   "broccolini_cooked_1": false,
+   "broccolini_cooked_2": false,
+   "broccolini_cooked_3": false,
+   "cloves_cooked_1": false,
+   "cloves_cooked_2": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 62.0,
+    "log_step": 226,
+    "evidence_zh": "观察：视频 61.5–63.5 s 机器人仍握着锅柄，底盘携锅行驶时食材在锅内移动并从锅沿掉下，锅由装有三根变为空锅；视频 84 s 和视频 163.9 s 西兰苔留在地上。这里丢失的是持锅搬运时对食材的承托，属于搬运途中洒出，并非在目标处计划释放后才失稳。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 62.0,
+    "log_step": 219,
+    "evidence_zh": "推断：机器人已能把三根食材放进锅并握住锅柄，但视频 60–64 s 随底盘行驶时锅及食材明显晃动，承载未保持到炉灶。log step 219 的修改只在起锅后检查并修正锅的上方向，log step 226 最终运行输出起锅时pan up约为[−0.002,−0.001,1.000]、三根均在锅内，之后行驶使它们全部掉出，支持搬运控制未能维持装载状态；没有足够数据进一步区分姿态跟踪、加减速或承载接触设计。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "观察：本作业inputs中有完整视频和会话日志，但无逐帧状态日志或接触力读数；视频 61.5–63.5 s 食材互相遮挡且正越锅沿，各计数关系消失的时刻约有0.5秒误差，控制根因不细分。评分器q_score=0与视频 79.5–163.9 s 明确可见的黑锅在炉灶上不一致，无法解释该数值差异，故未用总分抹去这一直接观察；熟度没有独立逐帧温度记录，未熟结论结合未到热源的过程和log step 230 最终保存运行的Cooked全False。DAG将开关“变红”列作提示，本次视频 129.25 s 变绿而log step 230 输出热源已开，颜色提示也存在差异。"
+ },
+ "summary_zh": "三根西兰苔先后入锅，进度峰值为3/12；约视频 62 s 持锅搬运时食材洒出且未拾回，断在第3个西兰苔入锅关系的丢失，现象为没保持住，根因支持控制问题。末态仅保留煎锅上灶和开启热源两步（2/12），蒜未入锅，五件食材均未熟。无逐帧状态日志，洒落计数时刻和控制子类存在证据缺口；q_score=0与可见锅上灶关系、DAG的开关颜色提示与本次变绿均有不一致，按本次画面并结合最终运行日志判断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点区间、开火时刻（129.25 s）、断点（第3根入锅在约62 s丢失）与现象/根因与视频一致；q_score=0与可见锅上灶的差异已在gap中说明，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": "2026-10-30T21:21:55Z",
+  "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-cook-broccolini-i00-privileged--fgmnxlx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-broccolini-i00-privileged--fgmnxlx/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "743afdadf37d73af951a02030a6be4b7d2d9a53af8552b072d7542b70155df9a",
+   "video_sha256": "8e332914ff6a8e8cfea0a0efb4ce8d8be66307243d56a086b47f16ae9cedf106",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_broccolini/trajectories/behavior-cook-broccolini-i00-privileged--ljkepmf.json

@@ -0,0 +1,462 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-broccolini-i00-privileged--ljkepmf",
+ "taskKey": "behavior-1k/cook_broccolini",
+ "dag_sha256": "f1cd536622766f2334eaee5d52499d4d60bbd6e7ca60835a06f6a9df964b2826",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 0,
+   "n_actions": 9298,
+   "sim_steps": 9298,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 2789.8,
+   "replay_timeout_s": 5849.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 18,
+   "agent_resets": 0,
+   "agent_sim_steps": 43801,
+   "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-cook-broccolini-i00-privileged--ljkepmf/replay.mp4",
+  "duration_s": 309.933,
+  "fps": 30.0,
+  "frames": 9298,
+  "sha256": "3284d8b288fdfd00035a79161c2132218fc760dfdd84ac47ade9a383ba45a7dd"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 12,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "heat_source_on": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 176,
+      "log_step": null,
+      "text_zh": "观察：成功参照视频 176–178 s 的右腕视角可见炉灶旋钮区域亮红；本次视频 0–309.8 s 未见机器人操作炉灶或其他热源开关，末段携锅即倾倒。"
+     },
+     {
+      "t": 309.8,
+      "log_step": null,
+      "text_zh": "推断：可确认本次未执行开火动作，但没有状态日志，其他潜在热源的初始开关与有效供热状态也未被全部视角覆盖；本节点允许任意有效热源初始已开，故无法排除该情形，记未知。"
+     }
+    ]
+   },
+   "broccolini_in_pan_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      199.5,
+      290.5
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 199.5,
+      "log_step": null,
+      "text_zh": "观察：视频 190–191 s 左爪携一根西兰苔离开白盘；视频 192–199 s 将其降至锅内，视频 199.5–200.5 s 张爪后食材留在锅底，随后左爪空手返回白盘。"
+     },
+     {
+      "t": 290.5,
+      "log_step": null,
+      "text_zh": "推断：视频 260–261 s 可见锅内三根西兰苔和两瓣蒜；视频 289.75–294.5 s 机器人携锅时整体倾倒，随后头部视角可见绿色食材散落地面，视频 308.9–309.8 s 未恢复。评分器 reward.q_score=0，结合食材初始在白盘上，限定全部入锅目标终态为假；将失去关系统一近似定位在视频 290.5 s，逐件脱离的先后被锅柄及机体遮挡。"
+     }
+    ],
+    "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1个入锅的西兰苔，从白盘搬至黑色煎锅并张爪放下。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在白盘与煎锅旁的操作位置间移动底盘，支承左臂搬运第1个入锅的西兰苔。"
+     }
+    ]
+   },
+   "broccolini_in_pan_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      222,
+      290.5
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 222,
+      "log_step": null,
+      "text_zh": "观察：视频 204–211 s 左爪夹起下一根西兰苔并搬到锅上，视频 222–223 s 放开后锅内可见两根西兰苔，先前放入的食材仍在锅中。"
+     },
+     {
+      "t": 290.5,
+      "log_step": null,
+      "text_zh": "推断：视频 260–261 s 可见锅内三根西兰苔和两瓣蒜；视频 289.75–294.5 s 机器人携锅时整体倾倒，随后头部视角可见绿色食材散落地面，视频 308.9–309.8 s 未恢复。评分器 reward.q_score=0，结合食材初始在白盘上，限定全部入锅目标终态为假；将失去关系统一近似定位在视频 290.5 s，逐件脱离的先后被锅柄及机体遮挡。"
+     }
+    ],
+    "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2个入锅的西兰苔，从白盘搬至黑色煎锅并张爪放下。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在白盘与煎锅旁的操作位置间移动底盘，支承左臂搬运第2个入锅的西兰苔。"
+     }
+    ]
+   },
+   "broccolini_in_pan_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      259.5,
+      290.5
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 259.5,
+      "log_step": null,
+      "text_zh": "观察：视频 241–249 s 左爪从白盘夹起剩余西兰苔并移至煎锅，视频 259.5–261 s 张爪后，锅内清楚可见三根西兰苔和两瓣蒜。"
+     },
+     {
+      "t": 290.5,
+      "log_step": null,
+      "text_zh": "推断：视频 260–261 s 可见锅内三根西兰苔和两瓣蒜；视频 289.75–294.5 s 机器人携锅时整体倾倒，随后头部视角可见绿色食材散落地面，视频 308.9–309.8 s 未恢复。评分器 reward.q_score=0，结合食材初始在白盘上，限定全部入锅目标终态为假；将失去关系统一近似定位在视频 290.5 s，逐件脱离的先后被锅柄及机体遮挡。"
+     }
+    ],
+    "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3个入锅的西兰苔，从白盘搬至黑色煎锅并张爪放下。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在白盘与煎锅旁的操作位置间移动底盘，支承左臂搬运第3个入锅的西兰苔。"
+     }
+    ]
+   },
+   "cloves_in_pan_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      36,
+      290.5
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 36,
+      "log_step": null,
+      "text_zh": "观察：视频 26–33 s 左爪夹住一瓣蒜并从白盘搬至煎锅；视频 35.5–37 s 张爪后，蒜瓣留在黑色锅底，左爪空手返回白盘。"
+     },
+     {
+      "t": 290.5,
+      "log_step": null,
+      "text_zh": "推断：视频 260–261 s 可见锅内三根西兰苔和两瓣蒜；视频 289.75–294.5 s 机器人携锅时整体倾倒，随后头部视角可见绿色食材散落地面，视频 308.9–309.8 s 未恢复。评分器 reward.q_score=0，结合食材初始在白盘上，限定全部入锅目标终态为假；将失去关系统一近似定位在视频 290.5 s，逐件脱离的先后被锅柄及机体遮挡。"
+     }
+    ],
+    "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1瓣入锅的蒜，从白盘搬至黑色煎锅并张爪放下。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在白盘与煎锅旁的操作位置间移动底盘，支承左臂搬运第1瓣入锅的蒜。"
+     }
+    ]
+   },
+   "cloves_in_pan_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      236.5,
+      290.5
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 236.5,
+      "log_step": null,
+      "text_zh": "观察：视频 39–131 s 左爪多次在白盘上尝试夹另一瓣蒜，未完成搬运；视频 227–233 s 重试后蒜瓣随左爪离开白盘并移至锅内，视频 236.5–238.5 s 松开后两瓣蒜同时留在锅底。"
+     },
+     {
+      "t": 290.5,
+      "log_step": null,
+      "text_zh": "推断：视频 260–261 s 可见锅内三根西兰苔和两瓣蒜；视频 289.75–294.5 s 机器人携锅时整体倾倒，随后头部视角可见绿色食材散落地面，视频 308.9–309.8 s 未恢复。评分器 reward.q_score=0，结合食材初始在白盘上，限定全部入锅目标终态为假；将失去关系统一近似定位在视频 290.5 s，逐件脱离的先后被锅柄及机体遮挡。"
+     }
+    ],
+    "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2瓣入锅的蒜，从白盘搬至黑色煎锅并张爪放下。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在白盘与煎锅旁的操作位置间移动底盘，支承左臂搬运第2瓣入锅的蒜。"
+     }
+    ]
+   },
+   "pan_on_stove": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5,
+      "log_step": null,
+      "text_zh": "观察：视频 5–8 s 黑色煎锅初始位于金属工作台上，炉灶在其后方，锅不在炉灶上。"
+     },
+     {
+      "t": 264,
+      "log_step": null,
+      "text_zh": "观察：视频 262–264 s 左爪移到锅柄并闭合，随后锅柄相对夹爪保持固定、背景随携锅移动；视频 289.75–294.5 s 多个相机视角整体翻转，食材落到地面，直至视频 309.8 s 未见煎锅放上炉灶。"
+     },
+     {
+      "t": 309.8,
+      "log_step": null,
+      "text_zh": "推断：视频未出现成功参照视频 170–178 s 所示的煎锅接触多炉头炉灶的关系，评分器 reward.q_score=0 也排除煎锅上灶的终态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 264–309.8 s 机器人左侧二指夹爪夹住煎锅长柄，携锅时及倾倒后锅柄仍在两指之间。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 264–290 s 机器人携锅移动底盘，途中整体失稳倾倒，未把锅送上炉灶。"
+     }
+    ]
+   },
+   "broccolini_cooked_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 5–8 s 食材初始位于白盘上，煎锅在金属工作台上；视频 260–261 s 西兰苔已入锅，之后未见开火烹饪，末段机器人倾倒。"
+     },
+     {
+      "t": 309.8,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0；本任务初始未熟的食材，其 Cooked 条件属于评分目标且做熟后不会因冷却或掉落变回未熟，因此终态不允许任何西兰苔已熟，也排除中途曾做熟。此结论来自总分约束与不可逆熟度定义，不以绿色外观或未上灶单独判定熟度。"
+     }
+    ]
+   },
+   "broccolini_cooked_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 5–8 s 食材初始位于白盘上，煎锅在金属工作台上；视频 260–261 s 西兰苔已入锅，之后未见开火烹饪，末段机器人倾倒。"
+     },
+     {
+      "t": 309.8,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0；本任务初始未熟的食材，其 Cooked 条件属于评分目标且做熟后不会因冷却或掉落变回未熟，因此终态不允许任何西兰苔已熟，也排除中途曾做熟。此结论来自总分约束与不可逆熟度定义，不以绿色外观或未上灶单独判定熟度。"
+     }
+    ]
+   },
+   "broccolini_cooked_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 5–8 s 食材初始位于白盘上，煎锅在金属工作台上；视频 260–261 s 西兰苔已入锅，之后未见开火烹饪，末段机器人倾倒。"
+     },
+     {
+      "t": 309.8,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0；本任务初始未熟的食材，其 Cooked 条件属于评分目标且做熟后不会因冷却或掉落变回未熟，因此终态不允许任何西兰苔已熟，也排除中途曾做熟。此结论来自总分约束与不可逆熟度定义，不以绿色外观或未上灶单独判定熟度。"
+     }
+    ]
+   },
+   "cloves_cooked_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 5–8 s 食材初始位于白盘上，煎锅在金属工作台上；视频 260–261 s 蒜已入锅，之后未见开火烹饪，末段机器人倾倒。"
+     },
+     {
+      "t": 309.8,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0；本任务初始未熟的食材，其 Cooked 条件属于评分目标且做熟后不会因冷却或掉落变回未熟，因此终态不允许任何蒜已熟，也排除中途曾做熟。此结论来自总分约束与不可逆熟度定义，不以绿色外观或未上灶单独判定熟度。"
+     }
+    ]
+   },
+   "cloves_cooked_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 5–8 s 食材初始位于白盘上，煎锅在金属工作台上；视频 260–261 s 蒜已入锅，之后未见开火烹饪，末段机器人倾倒。"
+     },
+     {
+      "t": 309.8,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0；本任务初始未熟的食材，其 Cooked 条件属于评分目标且做熟后不会因冷却或掉落变回未熟，因此终态不允许任何蒜已熟，也排除中途曾做熟。此结论来自总分约束与不可逆熟度定义，不以绿色外观或未上灶单独判定熟度。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pan_on_stove",
+   "t": 289.8,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 260–261 s 五件食材已在锅内，视频 264 s 后机器人左爪握锅柄携锅移动；视频 289.75 s 起头部和右腕视角剧烈转倒，视频 294–298 s 地面可见散落食材，直至视频 309.8 s 没有把锅放上炉灶或恢复入锅关系。此前对白盘食材的失败抓取均在后续重试完成，故断点为携锅上灶。"
+  },
+  "unmet": {
+   "broccolini_in_pan_1": false,
+   "broccolini_in_pan_2": false,
+   "broccolini_in_pan_3": false,
+   "cloves_in_pan_1": false,
+   "cloves_in_pan_2": false,
+   "pan_on_stove": false,
+   "broccolini_cooked_1": false,
+   "broccolini_cooked_2": false,
+   "broccolini_cooked_3": false,
+   "cloves_cooked_1": false,
+   "cloves_cooked_2": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 289.8,
+    "log_step": null,
+    "evidence_zh": "观察：视频 289.75–292.75 s 机器人携锅时，头部画面从正常厨房景象转为地板近景和机体遮挡，右腕画面同时翻转；视频 294–309.8 s 视角持续大幅倾斜并可见地面散落食材，机器人未恢复正常站姿。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 289.8,
+    "log_step": null,
+    "source_zh": "视频",
+    "evidence_zh": "推断：视频 264–289.5 s 左爪已夹持锅柄并带锅移动，视频 289.75–294 s 本体倾倒而锅柄仍夹在左爪中，故主要失效在携锅移动时未保持本体稳定，归控制。画面不足以进一步区分底盘轨迹、负载重心或反馈控制，保留上位类别。"
+   }
+  ],
+  "gap_zh": "无状态日志。视频 262 s 后锅体及食材被腕部视角外的锅柄遮挡，逐件离锅时刻无法直接看见，依据视频 289.75–294.5 s 倾倒与散落及最终 q_score=0 将入锅区间终点近似定为视频 290.5 s；锅柄前的降落过程也无法精确分辨持物时首次接触锅底的瞬间，入锅起点采用可见松爪留锅时刻。潜在热源初态未被完整覆盖，开启热源节点记未知。日志有多次开发与录制尝试，log step 257–258 的 rec4 上灶自述不能证明评分视频已到炉灶，也没有足够交付记录把某次会话诊断精确对应至倒地事件；不据此推断交付错误，亦不能确定失稳的控制子类型。"
+ },
+ "summary_zh": "评分轨迹曾把三根西兰苔与两瓣蒜全部搬入煎锅，已确认的峰值达到5/12个节点；机器人随后携锅移动，在视频约290 s整体失稳倾倒，未完成煎锅上灶，最终q_score=0、已确认成立的节点终态0/12（另有1个热源节点未知）。失败现象为平衡，根因仅能归到控制，具体失稳机制及逐件离锅时刻缺乏状态证据；其他潜在热源初态不明，因此开启热源节点保留未知。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "标注与视频一致：五件食材在视频约260 s全部入锅，约289.75 s起携锅倾倒，断点pan_on_stove/操作中、平衡+控制均有帧证据支持；heat_source_on记未知合理（无状态日志，其他热源初态不明）。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": "2026-10-30T21:27:10Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-cook-broccolini-i00-privileged--ljkepmf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-broccolini-i00-privileged--ljkepmf/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5e3a3cd7cf6769c69a24c16a6b81d871ed9b51960e20b706de53b6f01f0c1579",
+   "video_sha256": "3284d8b288fdfd00035a79161c2132218fc760dfdd84ac47ade9a383ba45a7dd",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_broccolini/trajectories/behavior-cook-broccolini-i00-privileged--spepmaf.json

@@ -0,0 +1,496 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-broccolini-i00-privileged--spepmaf",
+ "taskKey": "behavior-1k/cook_broccolini",
+ "dag_sha256": "f1cd536622766f2334eaee5d52499d4d60bbd6e7ca60835a06f6a9df964b2826",
+ "outcome": {
+  "success": 0,
+  "reward": 0.6363636363636364,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 0,
+   "n_actions": 3518,
+   "sim_steps": 3518,
+   "fallen": 0,
+   "final_reward": 0.6363636363636364,
+   "q_score": 0.6363636363636364,
+   "replay_wall_s": 1030.2,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 53,
+   "agent_resets": 17,
+   "agent_sim_steps": 56101,
+   "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": 10.181,
+   "peak_memory_gb": 13.877,
+   "peak_processes": 75,
+   "peak_disk_gb": 5.288,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-broccolini-i00-privileged--spepmaf/replay.mp4",
+  "duration_s": 117.267,
+  "fps": 30.0,
+  "frames": 3518,
+  "sha256": "388097c796b5f19db065f90fa254aee3805552a27c6b8536825951c1efed3c48"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 12,
+  "base": 0,
+  "peak": 8,
+  "final": 8,
+  "nodes": {
+   "heat_source_on": {
+    "method": "visual",
+    "intervals": [
+     [
+      117.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 117.1,
+      "log_step": null,
+      "text_zh": "观察：视频 112.5–117.0 s 左腕视角可见机器人左夹爪向炉灶前方开关按进，标记仍红；视频 117.1–117.2 s 标记边缘及夹爪间出现绿色。"
+     },
+     {
+      "t": 117.2,
+      "log_step": 19,
+      "text_zh": "推断：log step 19 展示的 ToggledOn 源码明确规定开启为绿色、关闭为红色，因此将视频约 117.1 s 的变绿记为热源开启；DAG criterion_zh 的“变红”提示与此相反，不能把此前红色误记为开火。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人左夹爪闭合后，以指端朝炉灶前方开关按进，末段触发颜色变化；没有握住并转动旋钮。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "锅放下后机器人移动、转向，使左臂到达炉灶前方开关的按压位置。"
+     }
+    ]
+   },
+   "broccolini_in_pan_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      21.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 21.7,
+      "log_step": null,
+      "text_zh": "观察：视频 21.5–22.5 s 机器人倾倒白盘，绿色长茎食材落进煎锅；视频 30.0 s、52.0–55.0 s 和 70.0–74.5 s 的头部视角清楚显示锅内两根西兰苔接触锅底，达到至少1根。首次入锅约在视频 21.7 s，前后误差约半秒。"
+     },
+     {
+      "t": 111.0,
+      "log_step": null,
+      "text_zh": "观察：视频 75.0–103.5 s 机器人持锅搬向炉灶并放下；视频 108.0–111.5 s 仍见两根绿色长茎食材在锅内，此后没有再次取出食材的动作。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "左夹爪夹住白盘边缘，盘面从下方承托食材；机器人把白盘移到煎锅旁并倾斜，将食材倒向锅内。未逐根或逐瓣直接夹取。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘在持有装食材的白盘时移动，把白盘从原位置带到煎锅旁。"
+     }
+    ]
+   },
+   "broccolini_in_pan_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      21.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 21.7,
+      "log_step": null,
+      "text_zh": "观察：视频 21.5–22.5 s 机器人倾倒白盘，绿色长茎食材落进煎锅；视频 30.0 s、52.0–55.0 s 和 70.0–74.5 s 的头部视角清楚显示锅内两根西兰苔接触锅底，达到至少2根。首次入锅约在视频 21.7 s，前后误差约半秒。"
+     },
+     {
+      "t": 111.0,
+      "log_step": null,
+      "text_zh": "观察：视频 75.0–103.5 s 机器人持锅搬向炉灶并放下；视频 108.0–111.5 s 仍见两根绿色长茎食材在锅内，此后没有再次取出食材的动作。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "左夹爪夹住白盘边缘，盘面从下方承��食材；机器人把白盘移到煎锅旁并倾斜，将食材倒向锅内。未逐根或逐瓣直接夹取。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘在持有装食材的白盘时移动，把白盘从原位置带到煎锅旁。"
+     }
+    ]
+   },
+   "broccolini_in_pan_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.7,
+      "log_step": null,
+      "text_zh": "观察：视频 21.7–22.0 s 倾倒过程中，一根西兰苔越过锅的远侧边缘，落到锅外金属台面；视频 30.0 s、73.5–74.5 s 可同时看到锅内两根及锅外一根。没有观察到三根同时留在锅内，机器人随后搬锅离开，未取回台面上那根。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "左夹爪夹住白盘边缘，盘面从下方承托食材；机器人把白盘移到煎锅旁并倾斜，将食材倒向锅内。未逐根或逐瓣直接夹取。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘在持有装食材的白盘时移动，把白盘从原位置带到煎锅旁。"
+     }
+    ]
+   },
+   "cloves_in_pan_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      22.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 22.0,
+      "log_step": null,
+      "text_zh": "推断：视频 21.5–22.5 s 食材从白盘倒向锅内，约视频 22.0 s 记第一瓣蒜入锅，具体落下瞬间被白盘及夹爪遮住，时间误差约一秒；视频 30.0 s 和 52.0–55.0 s 可见浅色弯曲蒜瓣贴在锅底，搬锅前的视频 70.0–74.5 s 它仍在两根西兰苔旁。"
+     },
+     {
+      "t": 111.0,
+      "log_step": null,
+      "text_zh": "推断：机器人随后连锅搬运到炉灶，视频 108.0–111.5 s 的食材布局保持，未见蒜瓣再次离锅，故第一瓣蒜入锅关系保持到结束。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "左夹爪夹住白盘边缘，盘面从下方承托食材；机器人把白盘移到煎锅旁并倾斜，将食材倒向锅内。未逐根或逐瓣直接夹取。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘在持有装食材的白盘时移动，把白盘从原位置带到煎锅旁。"
+     }
+    ]
+   },
+   "cloves_in_pan_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 54.0,
+      "log_step": null,
+      "text_zh": "观察：视频 52.0–55.0 s、70.0–74.5 s 从变化的俯视角能看到锅内两根西兰苔和一瓣浅色蒜，未出现第二瓣蒜；白盘已空，机器人没有补取蒜瓣。第二瓣蒜的具体去向不清楚，但未见两瓣同时入锅，按可见锅内数量判本节点未达。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "左夹爪夹住白盘边缘，盘面从下方承托食材；机器人把白盘移到煎锅旁并倾斜，将食材倒向锅内。未逐根或逐瓣直接夹取。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘在持有装食材的白盘时移动，把白盘从原位置带到煎锅旁。"
+     }
+    ]
+   },
+   "pan_on_stove": {
+    "method": "visual",
+    "intervals": [
+     [
+      100.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 100.5,
+      "log_step": null,
+      "text_zh": "观察：视频 75.0–98.5 s 机器人左夹爪握住锅柄，把锅从金属台面带到炉灶前；视频 99.0–101.5 s 向炉架下降后张爪，约视频 100.5 s 锅落在炉架上，手臂随后撤离。"
+     },
+     {
+      "t": 108.0,
+      "log_step": null,
+      "text_zh": "观察：视频 108.0–111.5 s 可清楚看到煎锅独立平放在炉灶左侧炉架上；直至视频 117.2 s 没有再搬动锅。落灶时间受手臂遮挡，约有半秒误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左侧二指夹爪夹住煎锅长柄，抬起并搬到炉灶上，随后张爪放下。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘在左臂持锅时从工作台旁移动、转向至炉灶前，支承并运输煎锅。"
+     }
+    ]
+   },
+   "broccolini_cooked_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      117.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 117.2,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=7/11，视频中成立的位置目标为两根西兰苔入锅、一瓣蒜入锅及锅上灶，共4个；余下3个满足项只能来自熟度。锅外的西兰苔和未随锅到炉灶的另一瓣蒜没有可见加热路径，故将熟度归给随锅上灶的两根西兰苔和一瓣蒜。此判断来自终态总分与实际运输对象的合并推断，不是凭绿色外观认熟。"
+     },
+     {
+      "t": 117.2,
+      "log_step": null,
+      "text_zh": "推断：视频 117.1–117.2 s 才观察到炉灶开关变绿，末帧锅内食材已不在视野中心；把完成时间近似锚定为视频 117.2 s。无逐件 Cooked/温度状态日志，不能分辨三件食材各自越过阈值的精确时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "无接触",
+      "how": "不适用",
+      "note_zh": "设备完成：炉灶在末段开启后供热；机器人此前用白盘装载食材、搬锅并以左夹爪按开关，烹饪时未直接抓取食材。"
+     }
+    ]
+   },
+   "broccolini_cooked_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      117.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 117.2,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=7/11，视频中成立的位置目标为两根西兰苔入锅、一瓣蒜入锅及锅上灶，共4个；余下3个满足项只能来自熟度。锅外的西兰苔和未随锅到炉灶的另一瓣蒜没有可见加热路径，故将熟度归给随锅上灶的两根西兰苔和一瓣蒜。此判断来自终态总分与实际运输对象的合并推断，不是凭绿色外观认熟。"
+     },
+     {
+      "t": 117.2,
+      "log_step": null,
+      "text_zh": "推断：视频 117.1–117.2 s 才观察到炉灶开关变绿，末帧锅内食材已不在视野中心；把完成时间近似锚定为视频 117.2 s。无逐件 Cooked/温度状态日志，不能分辨三件食材各自越过阈值的精确时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "无接触",
+      "how": "不适用",
+      "note_zh": "设备完成：炉灶在末段开启后供热；机器人此前用白盘装载食材、搬锅并以左夹爪按开关，烹饪时未直接抓取食材。"
+     }
+    ]
+   },
+   "broccolini_cooked_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 117.2,
+      "log_step": null,
+      "text_zh": "推断：视频 21.7–22.0 s 落在工作台上的第三根西兰苔在视频 73.5–74.5 s 仍在那里，机器人搬锅后没有取回或给它另行加热；结合评分器 q_score=7/11 和已见的4个位置目标，终态最多只有3个新增熟度目标，按实际随锅受热的两根西兰苔及一瓣蒜分配，第三根西兰苔未熟。"
+     }
+    ]
+   },
+   "cloves_cooked_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      117.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 117.2,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=7/11，视频中成立的位置目标为两根西兰苔入锅、一瓣蒜入锅及锅上灶，共4个；余下3个满足项只能来自熟度。锅外的西兰苔和未随锅到炉灶的另一瓣蒜没有可见加热路径，故将熟度归给随锅上灶的两根西兰苔和一瓣蒜。此判断来自终态总分与实际运输对象的合并推断，不是凭绿色外观认熟。"
+     },
+     {
+      "t": 117.2,
+      "log_step": null,
+      "text_zh": "推断：视频 117.1–117.2 s 才观察到炉灶开关变绿，末帧锅内食材已不在视野中心；把完成时间近似锚定为视频 117.2 s。无逐件 Cooked/温度状态日志，不能分辨三件食材各自越过阈值的精确时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "无接触",
+      "how": "不适用",
+      "note_zh": "设备完成：炉灶在末段开启后供热；机器人此前用白盘装载食材、搬锅并以左夹爪按开关，烹饪时未直接抓取食材。"
+     }
+    ]
+   },
+   "cloves_cooked_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 117.2,
+      "log_step": null,
+      "text_zh": "推断：视频 52.0–55.0 s、70.0–74.5 s 的锅内只有一瓣可见蒜，另一瓣没有随锅到炉灶的可见路径，也未单独受热；评分器 q_score=7/11 扣除4个位置目标后只余3项熟度，已对应锅内两根西兰苔及一瓣蒜，故两瓣蒜均熟未达。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.6363636363636364,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "broccolini_in_pan_3",
+   "t": 21.7,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 21.7 s 机器人左手持白盘倾倒时，一根西兰苔越过锅边落在工作台，视频 30.0 s 和 73.5–74.5 s 仍在锅外；机器人后来搬走只装有两根西兰苔和一瓣可见蒜的锅，未修复第三根西兰苔入锅这一步。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 21.7,
+    "log_step": null,
+    "evidence_zh": "观察：视频 21.5–22.0 s 机器人倾斜白盘倒料时，一根绿色长茎食材落点超出煎锅远侧边缘，停在锅外金属台面；视频 30.0 s 及 73.5 s 仍能同时看到锅内两根和台面上一根。没有看到它先在锅内稳定放好再被取出。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频",
+    "evidence_zh": "推断：视频 20.5–22.5 s 机器人已持盘到达煎锅旁，倾倒确实把部分食材送入锅内，却把另一根西兰苔送到锅外；问题落在持盘倾倒时的落点与运动控制。画面不足以进一步区分末端跟踪、倾角或盘口定位中的哪项导致偏差，故停留在控制类别。"
+   }
+  ],
+  "gap_zh": "无状态日志，第二瓣蒜倾倒后的去向不清楚；熟度在本组相机中无法可靠直接辨认，三项熟度终态由可见入锅及上灶数量和评分器7/11总分共同推断，视频约117.2 s仅为末段锚点。日志含多次测试、重置和较早轨迹：例如log step 719的“ALL 5 ITEMS IN PAN”属于较早生成过程，log step 871最终交付3518行动，与本视频3518帧对应，不能把早期测试成功当成本次节点证据；最终log step 874仅称等待重放，未给出完成报告。DAG对热源开关“变红”的可见提示与log step 19源码相反，本次按末帧变绿标开启；未修改DAG。",
+  "unmet": {
+   "broccolini_in_pan_1": true,
+   "broccolini_in_pan_2": true,
+   "broccolini_in_pan_3": false,
+   "cloves_in_pan_1": true,
+   "cloves_in_pan_2": false,
+   "pan_on_stove": true,
+   "broccolini_cooked_1": true,
+   "broccolini_cooked_2": true,
+   "broccolini_cooked_3": false,
+   "cloves_cooked_1": true,
+   "cloves_cooked_2": false
+  }
+ },
+ "summary_zh": "机器人用白盘倾倒食材，实际仅两根西兰苔和一瓣可见蒜入锅，随后左手持锅搬上炉灶，并在视频约117.1 s触发开关；按位置证据和评分器7/11总分推断锅内三件食材终态已熟，共8/12个节点成立。最早未修复的失败在视频约21.7 s的第三根西兰苔入锅：倾倒落点超出锅边，食材留在台面，属于位姿不准及控制问题。无逐件熟度状态，完成时刻近似锚定末段；DAG开关颜色提示与日志源码相反，实际绿色表示开启。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "标注与视频一致：倾倒后锅内两根西兰苔加一瓣蒜、一根在锅外，锅上灶，开关在约117.1 s变绿；q=7/11 由 4 个位置项加 3 个熟度项合理推断，断点为第三根西兰苔入锅，位姿不准+控制可接受。熟度只在117.1 s开火后0.1 s内成立，物理上偏怪，但总分约束了终值，不改。",
+    "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": "2026-10-30T21:27:31Z",
+  "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-cook-broccolini-i00-privileged--spepmaf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-broccolini-i00-privileged--spepmaf/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ae03f2a1cf474faf11ffbd6a6c14d4583036ef438933e9fd52cfea9eaf8e993f",
+   "video_sha256": "388097c796b5f19db065f90fa254aee3805552a27c6b8536825951c1efed3c48",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_broccolini/trajectories/behavior-cook-broccolini-i00-privileged--tqwkkvs.json

@@ -0,0 +1,571 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-broccolini-i00-privileged--tqwkkvs",
+ "taskKey": "behavior-1k/cook_broccolini",
+ "dag_sha256": "f1cd536622766f2334eaee5d52499d4d60bbd6e7ca60835a06f6a9df964b2826",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 0,
+   "n_actions": 5358,
+   "sim_steps": 5358,
+   "fallen": 0,
+   "final_reward": 1.0,
+   "q_score": 1.0,
+   "replay_wall_s": 1427.7,
+   "replay_timeout_s": 3879.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 3,
+   "agent_resets": 5,
+   "agent_sim_steps": 10716,
+   "agent_records": 2,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 9.845,
+   "peak_memory_gb": 13.616,
+   "peak_processes": 49,
+   "peak_disk_gb": 1.103,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-broccolini-i00-privileged--tqwkkvs/replay.mp4",
+  "duration_s": 178.6,
+  "fps": 30.0,
+  "frames": 5358,
+  "sha256": "b45f2090e1f28421e7e9c45abf293d03703f92b661e549bc49966f7d62282602"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 12,
+  "base": 0,
+  "peak": 12,
+  "final": 12,
+  "nodes": {
+   "heat_source_on": {
+    "method": "visual",
+    "intervals": [
+     [
+      178.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 178.5,
+      "log_step": null,
+      "text_zh": "观察：视频 174.0–178.57 s，机器人右夹爪闭合后朝炉灶前方旋钮推进，末帧指尖压在旋钮区域；煎锅已留在炉灶上。"
+     },
+     {
+      "t": 178.5,
+      "log_step": 7,
+      "text_zh": "推断：结合末段压钮动作、reward.success=1、q_score=1.0，热源在视频末段已开启，视频 178.5 s 为约半秒精度的开启锚点；不把红色旋钮标记本身当作开火证明。DAG所述“变红”并非可靠开火线索：log step 7展示的ToggledOn实现为开时绿色、关时红色。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右夹爪闭合后以指尖按住炉灶前方旋钮区域，触发热源开关；没有握住旋钮旋拧。"
+     }
+    ]
+   },
+   "broccolini_in_pan_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      32.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 32.0,
+      "log_step": null,
+      "text_zh": "观察：视频 26.0–31.5 s，右夹爪夹着一根西兰苔离开白盘并移至黑锅上；视频 32.0–34.0 s夹爪张开、退离，西兰苔留在锅底，白盘上还剩两根。"
+     },
+     {
+      "t": 178.57,
+      "log_step": null,
+      "text_zh": "观察：视频 122.5–162.5 s机器人持锅搬运，绿色食材随锅移动；视频 168.0–178.57 s食材仍可见于炉灶上的锅内，未见离锅。"
+     },
+     {
+      "t": 178.57,
+      "log_step": null,
+      "text_zh": "推断：reward.success=1且q_score=1.0确认终态三根西兰苔在锅上；同种食材按入锅数量计数，不依赖实例外观身份。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右侧二指夹爪对向夹住第1根入锅的西兰苔，从白盘提起、移至煎锅并张爪放下；左夹爪未参与。"
+     }
+    ]
+   },
+   "broccolini_in_pan_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      51.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 51.0,
+      "log_step": null,
+      "text_zh": "观察：视频 42.0–48.0 s，右夹爪从白盘提走下一根西兰苔并移向煎锅；视频 50.8–51.8 s张爪退开，锅底可见两根，白盘上只剩一根。"
+     },
+     {
+      "t": 178.57,
+      "log_step": null,
+      "text_zh": "观察：视频 122.5–162.5 s机器人持锅搬运，绿色食材随锅移动；视频 168.0–178.57 s食材仍可见于炉灶上的锅内，未见离锅。"
+     },
+     {
+      "t": 178.57,
+      "log_step": null,
+      "text_zh": "推断：reward.success=1且q_score=1.0确认终态三根西兰苔在锅上；同种食材按入锅数量计数，不依赖实例外观身份。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右侧二指夹爪对向夹住第2根入锅的西兰苔，从白盘提起、移至煎锅并张爪放下；左夹爪未参与。"
+     }
+    ]
+   },
+   "broccolini_in_pan_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      68.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 68.5,
+      "log_step": null,
+      "text_zh": "观察：视频 64.0–67.5 s，右夹爪夹着最后一根西兰苔越过锅沿并降低；视频 68.5–70.5 s张爪离开，三根西兰苔均留在锅底，白盘上已无西兰苔。"
+     },
+     {
+      "t": 178.57,
+      "log_step": null,
+      "text_zh": "观察：视频 122.5–162.5 s机器人持锅搬运，绿色食材随锅移动；视频 168.0–178.57 s食材仍可见于炉灶上的锅内，未见离锅。"
+     },
+     {
+      "t": 178.57,
+      "log_step": null,
+      "text_zh": "推断：reward.success=1且q_score=1.0确认终态三根西兰苔在锅上；同种食材按入锅数量计数，不依赖实例外观身份。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右侧二指夹爪对向夹住第3根入锅的西兰苔，从白盘提起、移至煎锅并张爪放下；左夹爪未参与。"
+     }
+    ]
+   },
+   "cloves_in_pan_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      99.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 99.5,
+      "log_step": null,
+      "text_zh": "观察：视频 91.0–94.5 s右夹爪夹着浅色蒜瓣离开白盘；视频 96.5–99.0 s夹持蒜瓣降低至锅内，视频 99.5–100.0 s张爪退开，蒜瓣留在锅内。"
+     },
+     {
+      "t": 178.57,
+      "log_step": null,
+      "text_zh": "推断：视频后段食材随锅搬到炉灶，末段蒜瓣细小且部分被绿色食材遮挡；reward.success=1、q_score=1.0确认两瓣蒜的终态在锅关系，未以调试会话的抓取读数替代视频搬移。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右侧二指夹爪对向夹住第1瓣入锅的蒜，从白盘提起并搬至煎锅内张爪放下；左夹爪未参与。"
+     }
+    ]
+   },
+   "cloves_in_pan_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      117.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 117.5,
+      "log_step": null,
+      "text_zh": "观察：视频 111.0–113.5 s右夹爪夹住白盘上剩余蒜瓣并提离，白盘变空；视频 115.5–117.0 s把蒜瓣降至锅内，视频 117.5–119.0 s张爪退开，可见两处浅色蒜瓣与三根西兰苔同在锅中。"
+     },
+     {
+      "t": 178.57,
+      "log_step": null,
+      "text_zh": "推断：视频后段食材随锅搬到炉灶，末段蒜瓣细小且部分被绿色食材遮挡；reward.success=1、q_score=1.0确认两瓣蒜的终态在锅关系，未以调试会话的抓取读数替代视频搬移。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右侧二指夹爪对向夹住第2瓣入锅的蒜，从白盘提起并搬至煎锅内张爪放下；左夹爪未参与。"
+     }
+    ]
+   },
+   "pan_on_stove": {
+    "method": "visual",
+    "intervals": [
+     [
+      164.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 164.0,
+      "log_step": null,
+      "text_zh": "观察：视频 122.5–127.5 s右夹爪在锅柄处闭合，锅随后离开金属台面；视频 132.5–157.5 s机器人底盘绕台面行驶并携锅至炉灶前；视频 159.0–164.0 s右臂把锅移到炉头并降低。"
+     },
+     {
+      "t": 165.5,
+      "log_step": null,
+      "text_zh": "观察：视频 164.0–165.5 s锅落在炉灶支架上，右夹爪张开并上提，锅没有跟随；视频 178.57 s末帧锅仍在炉灶上。落灶时刻按视频估计约为视频 164.0 s，误差约半秒。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右二指夹爪夹住黑色煎锅长柄，提锅、搬运、下降至炉灶后松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘在右夹爪持锅时绕金属台面行驶，将装有食材的锅搬至炉灶前。"
+     }
+    ]
+   },
+   "broccolini_cooked_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      178.57,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 178.57,
+      "log_step": null,
+      "text_zh": "观察：视频 174.0–178.57 s煎锅和食材留在炉灶上，机器人右夹爪末段压向热源旋钮；西兰苔仍呈绿色，小蒜瓣部分遮挡，不能从颜色逐件辨熟。"
+     },
+     {
+      "t": 178.57,
+      "log_step": null,
+      "text_zh": "推断：本次reward.success=1、all_success=1、q_score=1.0；本次task_text明确成功同时要求三根西兰苔和两瓣蒜全部Cooked为真，因此至少1件西兰苔已熟、final=true。视频 178.57 s采用已检查终帧作为保守达成锚点，各件首次Cooked的先后及更精确时刻无状态日志可核验，不以入锅或红色标记单独判熟。"
+     },
+     {
+      "t": 178.57,
+      "log_step": 117,
+      "text_zh": "观察：log step 114记录最终5358行轨迹成功后保存，log step 117的新进程重放报告success=true、q_score=1.0并与生成终态哈希一致；此前log step 98的开关试验属于较早调试，未用于本段节点定时。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右二指夹爪此前逐件夹持西兰苔装入锅，并握锅柄把装有食材的锅移到炉灶；升温本身由设备完成。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右夹爪闭合，以指尖按炉灶前方旋钮区域启动供热；食材没有被夹爪直接加热。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘在持锅阶段绕台面移动，把锅内西兰苔带到炉灶供热位置。"
+     }
+    ]
+   },
+   "broccolini_cooked_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      178.57,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 178.57,
+      "log_step": null,
+      "text_zh": "观察：视频 174.0–178.57 s煎锅和食材留在炉灶上，机器人右夹爪末段压向热源旋钮；西兰苔仍呈绿色，小蒜瓣部分遮挡，不能从颜色逐件辨熟。"
+     },
+     {
+      "t": 178.57,
+      "log_step": null,
+      "text_zh": "推断：本次reward.success=1、all_success=1、q_score=1.0；本次task_text明确成功同时要求三根西兰苔和两瓣蒜全部Cooked为真，因此至少2件西兰苔已熟、final=true。视频 178.57 s采用已检查终帧作为保守达成锚点，各件首次Cooked的先后及更精确时刻无状态日志可核验，不以入锅或红色标记单独判熟。"
+     },
+     {
+      "t": 178.57,
+      "log_step": 117,
+      "text_zh": "观察：log step 114记录最终5358行轨迹成功后保存，log step 117的新进程重放报告success=true、q_score=1.0并与生成终态哈希一致；此前log step 98的开关试验属于较早调试，未用于本段节点定时。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右二指夹爪此前逐件夹持西兰苔装入锅，并握锅柄把装有食材的锅移到炉灶；升温本身由设备完成。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右夹爪闭合，以指尖按炉灶前方旋钮区域启动供热；食材没有被夹爪直接加热。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘在持锅阶段绕台面移动，把锅内西兰苔带到炉灶供热位置。"
+     }
+    ]
+   },
+   "broccolini_cooked_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      178.57,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 178.57,
+      "log_step": null,
+      "text_zh": "观察：视频 174.0–178.57 s煎锅和食材留在炉灶上，机器人右夹爪末段压向热源旋钮；西兰苔仍呈绿色，小蒜瓣部分遮挡，不能从颜色逐件辨熟。"
+     },
+     {
+      "t": 178.57,
+      "log_step": null,
+      "text_zh": "推断：本次reward.success=1、all_success=1、q_score=1.0；本次task_text明确成功同时要求三根西兰苔和两瓣蒜全部Cooked为真，因此至少3件西兰苔已熟、final=true。视频 178.57 s采用已检查终帧作为保守达成锚点，各件首次Cooked的先后及更精确时刻无状态日志可核验，不以入锅或红色标记单独判熟。"
+     },
+     {
+      "t": 178.57,
+      "log_step": 117,
+      "text_zh": "观察：log step 114记录最终5358行轨迹成功后保存，log step 117的新进程重放报告success=true、q_score=1.0并与生成终态哈希一致；此前log step 98的开关试验属于较早调试，未用于本段节点定时。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右二指夹爪此前逐件夹持西兰苔装入锅，并握锅柄把装有食材的锅移到炉灶；升温本身由设备完成。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右夹爪闭合，以指尖按炉灶前方旋钮区域启动供热；食材没有被夹爪直接加热。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘在持锅阶段绕台面移动，把锅内西兰苔带到炉灶供热位置。"
+     }
+    ]
+   },
+   "cloves_cooked_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      178.57,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 178.57,
+      "log_step": null,
+      "text_zh": "观察：视频 174.0–178.57 s煎锅和食材留在炉灶上，机器人右夹爪末段压向热源旋钮；西兰苔仍呈绿色，小蒜瓣部分遮挡，不��从颜色逐件辨熟。"
+     },
+     {
+      "t": 178.57,
+      "log_step": null,
+      "text_zh": "推断：本次reward.success=1、all_success=1、q_score=1.0；本次task_text明确成功同时要求三根西兰苔和两瓣蒜全部Cooked为真，因此至少1件蒜瓣已熟、final=true。视频 178.57 s采用已检查终帧作为保守达成锚点，各件首次Cooked的先后及更精确时刻无状态日志可核验，不以入锅或红色标记单独判熟。"
+     },
+     {
+      "t": 178.57,
+      "log_step": 117,
+      "text_zh": "观察：log step 114记录最终5358行轨迹成功后保存，log step 117的新进程重放报告success=true、q_score=1.0并与生成终态哈希一致；此前log step 98的开关试验属于较早调试，未用于本段节点定时。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右二指夹爪此前逐件夹持蒜瓣装入锅，并握锅柄把装有食材的锅移到炉灶；升温本身由设备完成。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右夹爪闭合，以指尖按炉灶前方旋钮区域启动供热；食材没有被夹爪直接加热。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘在持锅阶段绕台面移动，把锅内蒜瓣带到炉灶供热位置。"
+     }
+    ]
+   },
+   "cloves_cooked_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      178.57,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 178.57,
+      "log_step": null,
+      "text_zh": "观察：视频 174.0–178.57 s煎锅和食材留在炉灶上，机器人右夹爪末段压向热源旋钮；西兰苔仍呈绿色，小蒜瓣部分遮挡，不能从颜色逐件辨熟。"
+     },
+     {
+      "t": 178.57,
+      "log_step": null,
+      "text_zh": "推断：本次reward.success=1、all_success=1、q_score=1.0；本次task_text明确成功同时要求三根西兰苔和两瓣蒜全部Cooked为真，因此至少2件蒜瓣已熟、final=true。视频 178.57 s采用已检查终帧作为保守达成锚点，各件首次Cooked的先后及更精确时刻无状态日志可核验，不以入锅或红色标记单独判熟。"
+     },
+     {
+      "t": 178.57,
+      "log_step": 117,
+      "text_zh": "观察：log step 114记录最终5358行轨迹成功后保存，log step 117的新进程重放报告success=true、q_score=1.0并与生成终态哈希一致；此前log step 98的开关试验属于较早调试，未用于本段节点定时。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右二指夹爪此前逐件夹持蒜瓣装入锅，并握锅柄把装有食材的锅移到炉灶；升温本身由设备完成。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右夹爪闭合，以指尖按炉灶前方旋钮区域启动供热；食材没有被夹爪直接加热。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘在持锅阶段绕台面移动，把锅内蒜瓣带到炉灶供热位置。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 1.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人用右夹爪逐件把三根西兰苔和两瓣蒜送入煎锅，再握锅柄携锅绕台面移至炉灶并按旋钮，评分success=1、q_score=1.0支持全部12个节点终态成立，无失败断点。无状态日志，熟度无法从颜色逐件判断，五个做熟节点以视频 178.57 s终帧作保守达成锚点；开启热源的时间由末段压钮及成功结果推断，DAG所述旋钮“变红”不单独作为开火证据。本次task_text采用目标同时成立即结束的旧版规则，未要求DAG现行连续30控制步的联合离手静置窗口，按本次实际评分规则标注成功。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "抽查视频帧与标注一致：三根西兰苔、两瓣蒜依次入锅，持锅搬至炉灶，末段按钮；成功且 q_score=1.0，无断点。五个做熟节点以终帧为保守锚点，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": "2026-10-30T21:19:37Z",
+  "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-cook-broccolini-i00-privileged--tqwkkvs/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-broccolini-i00-privileged--tqwkkvs/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "404f40f762fcb3001777876897d6642a337116168033e9c680972c0f486eed00",
+   "video_sha256": "b45f2090e1f28421e7e9c45abf293d03703f92b661e549bc49966f7d62282602",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_broccolini/trajectories/behavior-cook-broccolini-i00-standard--8l3ychy.json

@@ -0,0 +1,409 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-broccolini-i00-standard--8l3ychy",
+ "taskKey": "behavior-1k/cook_broccolini",
+ "dag_sha256": "f1cd536622766f2334eaee5d52499d4d60bbd6e7ca60835a06f6a9df964b2826",
+ "outcome": {
+  "success": 0,
+  "reward": 0.2727272727272727,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 2838,
+   "sim_steps": 2838,
+   "physics_steps": 11352,
+   "steps": 324,
+   "elapsed_s": 6874.3,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "q_score": 0.2727272727272727,
+   "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-broccolini-i00-standard--8l3ychy/replay.mp4",
+  "duration_s": 94.6,
+  "fps": 30.0,
+  "frames": 2838,
+  "sha256": "c17866501ab03ff2183e7ff27e0ab20fe65c81dfc5eb68a1e270c7ad7c0d092b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 12,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "heat_source_on": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 33,
+      "log_step": 72,
+      "text_zh": "观察：视频约 30–34 s 机器人接近并查看炉灶，随后转向金属台面；全片没有机器人操作热源开关的动作。成功参考视频约 175–178 s 的右腕视图显示炉灶旋钮区域变红，但本片没有对应操作。"
+     },
+     {
+      "t": 94.5,
+      "log_step": null,
+      "text_zh": "推断：未操作开关不排除某个其他热源初始已开启；DAG明确未核实烤箱及平面烤炉初态，本片也无可辨识的全热源状态，故开启至少一个有效热源的条件无法确定。"
+     }
+    ]
+   },
+   "broccolini_in_pan_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      69,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 69,
+      "log_step": 180,
+      "text_zh": "观察：视频约 66–68 s 右夹爪夹住西兰苔并将其抬离白盘；视频约 69 s 食材落入锅底，锅内当前至少1根，后续直到视频 94.5 s 均未移出。到达时刻按半秒采样取近似值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右侧二指夹爪夹住第1根实际成功搬运的西兰苔，抬离白盘并在黑色煎锅内张开放下；按入锅数量编号。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人在首次尝试搬西兰苔前沿台面调整底盘位置；视频约 55–58 s 可见视点向盘靠近，log step 125、170记录该次底盘移动。"
+     }
+    ]
+   },
+   "broccolini_in_pan_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      74,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 74,
+      "log_step": 188,
+      "text_zh": "观察：视频约 71–73 s 右夹爪夹住西兰苔并将其抬离白盘；视频约 74 s 食材落入锅底，锅内当前至少2根，后续直到视频 94.5 s 均未移出。到达时刻按半秒采样取近似值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右侧二指夹爪夹住第2根实际成功搬运的西兰苔，抬离白盘并在黑色煎锅内张开放下；按入锅数量编号。"
+     }
+    ]
+   },
+   "broccolini_in_pan_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      79,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 79,
+      "log_step": 203,
+      "text_zh": "观察：视频约 76–78 s 右夹爪夹住西兰苔并将其抬离白盘；视频约 79 s 食材落入锅底，锅内当前至少3根，后续直到视频 94.5 s 均未移出。到达时刻按半秒采样取近似值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右侧二指夹爪夹住第3根实际成功搬运的西兰苔，抬离白盘并在黑色煎锅内张开放下；按入锅数量编号。"
+     }
+    ]
+   },
+   "cloves_in_pan_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 82,
+      "log_step": 234,
+      "text_zh": "观察：视频 81.5–83.25 s 右夹爪在白盘上的蒜瓣旁闭合，蒜瓣偏在指尖前侧，随后仍留在盘上；视频 83.5–85 s 右臂移向煎锅时夹爪内无蒜瓣。"
+     },
+     {
+      "t": 89,
+      "log_step": 271,
+      "text_zh": "观察：视频 87.5–89.75 s 机器人再次闭合右夹爪并抬起，蒜瓣仍在白盘原区域；视频 90–92 s 锅内仍只见三根西兰苔。"
+     },
+     {
+      "t": 94.5,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0.2727272727272727=3/11，live_matches_replay=1；三根西兰苔入锅已占满这三个新增目标字面量，因此末态连第1瓣蒜入锅也不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "右夹爪闭合时指尖触碰、轻拨白盘上的蒜瓣，未形成包夹；两次随后向锅移动均为空夹，不能标抓握。"
+     }
+    ]
+   },
+   "cloves_in_pan_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 93,
+      "log_step": 271,
+      "text_zh": "观察：视频 92.5–94.5 s 机器人将右臂移开并改变观察视角，扫视白盘及邻近台面；没有第二瓣蒜被抬起、搬至锅内的画面。log step 271的末段动作是为寻找另一瓣蒜拍摄相机视图。"
+     },
+     {
+      "t": 94.5,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=3/11 与视频末态三根西兰苔入锅一致，两个蒜入锅目标均未满足；不以实例身份区分蒜瓣。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "无接触",
+      "how": "不适用",
+      "note_zh": "机器人末段以头部和右腕相机观察白盘及邻近台面以寻找另一瓣蒜，未见夹爪接触这瓣蒜。"
+     }
+    ]
+   },
+   "pan_on_stove": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50,
+      "log_step": 107,
+      "text_zh": "观察：视频约 47–53 s 机器人用左夹爪夹持锅边，抬起煎锅后将其移近白盘，仍放在金属台面上。"
+     },
+     {
+      "t": 94.5,
+      "log_step": null,
+      "text_zh": "观察：视频 94.0 s 和 94.5 s 的末段视图均显示黑锅与白盘同处金属台面，没有锅与炉灶接触的关系；成功参考视频约 160 s 则可见锅直接落在炉架上。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左夹爪夹住黑色煎锅边缘，先把锅移到白盘旁作为装载准备；本片未把锅搬上炉灶。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人沿台面行驶并接近煎锅与白盘的操作位置（视频约 36–44 s），随后抓锅。"
+     }
+    ]
+   },
+   "broccolini_cooked_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 94.5,
+      "log_step": null,
+      "text_zh": "推断：本片末态三根西兰苔入锅已直接由视频确认，占据评分器 q_score=3/11 的全部三个新增目标字面量；故至少1个西兰苔已熟这一条件为假。Cooked按历史最高温度保留，末态为假也排除了此前曾熟的区间。视频中机器人只在白盘与台面煎锅间搬食材，没有将食材送到热源处；此判断不依赖颜色。"
+     }
+    ]
+   },
+   "broccolini_cooked_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 94.5,
+      "log_step": null,
+      "text_zh": "推断：本片末态三根西兰苔入锅已直接由视频确认，占据评分器 q_score=3/11 的全部三个新增目标字面量；故至少2个西兰苔已熟这一条件为假。Cooked按历史最高温度保留，末态为假也排除了此前曾熟的区间。视频中机器人只在白盘与台面煎锅间搬食材，没有将食材送到热源处；此判断不依赖颜色。"
+     }
+    ]
+   },
+   "broccolini_cooked_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 94.5,
+      "log_step": null,
+      "text_zh": "推断：本片末态三根西兰苔入锅已直接由视频确认，占据评分器 q_score=3/11 的全部三个新增目标字面量；故至少3个西兰苔已熟这一条件为假。Cooked按历史最高温度保留，末态为假也排除了此前曾熟的区间。视频中机器人只在白盘与台面煎锅间搬食材，没有将食材送到热源处；此判断不依赖颜色。"
+     }
+    ]
+   },
+   "cloves_cooked_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 94.5,
+      "log_step": null,
+      "text_zh": "推断：本片末态三根西兰苔入锅已直接由视频确认，占据评分器 q_score=3/11 的全部三个新增目标字面量；故至少1个蒜已���这一条件为假。Cooked按历史最高温度保留，末态为假也排除了此前曾熟的区间。视频中机器人只在白盘与台面煎锅间搬食材，没有将食材送到热源处；此判断不依赖颜色。"
+     }
+    ]
+   },
+   "cloves_cooked_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 94.5,
+      "log_step": null,
+      "text_zh": "推断：本片末态三根西兰苔入锅已直接由视频确认，占据评分器 q_score=3/11 的全部三个新增目标字面量；故至少2个蒜已熟这一条件为假。Cooked按历史最高温度保留，末态为假也排除了此前曾熟的区间。视频中机器人只在白盘与台面煎锅间搬食材，没有将食材送到热源处；此判断不依赖颜色。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.2727272727272727,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cloves_in_pan_1",
+   "t": 82,
+   "log_step": 234,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 82 s 机器人完成三根西兰苔入锅后，右夹爪闭合抓蒜却没有夹住，蒜仍留在白盘上；视频 83.5–85 s 空夹移到锅上。视频约 88–90 s 的重试后蒜仍未入锅，直到视频 94.5 s 结束也未修复。此前未成功的西兰苔抓取后来已完成，锅的早期搬移则明确只是移近白盘（log step 107）。"
+  },
+  "unmet": {
+   "broccolini_in_pan_1": true,
+   "broccolini_in_pan_2": true,
+   "broccolini_in_pan_3": true,
+   "cloves_in_pan_1": false,
+   "cloves_in_pan_2": false,
+   "pan_on_stove": false,
+   "broccolini_cooked_1": false,
+   "broccolini_cooked_2": false,
+   "broccolini_cooked_3": false,
+   "cloves_cooked_1": false,
+   "cloves_cooked_2": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 82,
+    "log_step": 234,
+    "evidence_zh": "观察：视频 81.75–83.25 s 右夹爪的两指在蒜瓣前下侧合拢，蒜瓣没有被包夹，右臂抬起后仍留在盘上；视频 88–89.75 s 重试也空夹。这里缺少所需的夹持接触，只有指尖拨动，不是已持住后掉落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "推断：视频 81.75–82.75 s 与 88–89.25 s 均可见蒜瓣偏在合拢指尖前侧，未落入相对指面之间，夹爪闭合后直接空夹抬起；所执行的夹取几何没有建立能带起蒜瓣的对向接触。log step 234和271均明确编排了下降、闭爪、抬升及向锅转移，故目标是抓蒜入锅。未用状态日志证实精确间隙，也未验证本机器人其他握法是否可行。",
+    "source_zh": "视频"
+   }
+  ],
+  "gap_zh": "没有模拟器状态日志，微小蒜瓣的精确接触位置、另一瓣蒜在前段被遮挡后的去向及各食材温度未直接记录；已熟终值由评分总量与三根西兰苔入锅的视觉事实联合确定。DAG未核实其他潜在热源的初始开关及加热能力，本片也未给出可辨识的完整状态，因此heat_source_on保留未知；不能仅因机器人没有按开关就断言所有热源均关。各到达时刻约有0.5秒视觉采样误差。"
+ },
+ "summary_zh": "机器人将三根西兰苔依次放入台面上的煎锅，最终确认完成3/12个节点，另有1个节点未知；锅未上灶，两瓣蒜均未入锅，评分器q_score=3/11支持五件食材均未做熟。断点在视频约82 s 的第1瓣蒜入锅：夹爪的指尖合拢位置没有包夹蒜瓣，随后空夹移锅，重试仍未修复。无状态日志，其他热源初态无法确定，开启热源节点保留未知。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "抽查帧与标注一致：三根西兰苔入锅、蒜仍在白盘、锅未上灶，q_score=3/11 支持其余节点为假；断点在第1瓣蒜入锅，现象与根因有视频支撑。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": "2026-10-30T21:22:59Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-cook-broccolini-i00-standard--8l3ychy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-broccolini-i00-standard--8l3ychy/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "cc963ce8b23826caecc51dc5526755b29f1b15eafbe76d0286e70456dcb3ecf8",
+   "video_sha256": "c17866501ab03ff2183e7ff27e0ab20fe65c81dfc5eb68a1e270c7ad7c0d092b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_broccolini/trajectories/behavior-cook-broccolini-i00-standard--ebjfshv.json

@@ -0,0 +1,406 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-broccolini-i00-standard--ebjfshv",
+ "taskKey": "behavior-1k/cook_broccolini",
+ "dag_sha256": "f1cd536622766f2334eaee5d52499d4d60bbd6e7ca60835a06f6a9df964b2826",
+ "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": 53309,
+   "sim_steps": 53309,
+   "physics_steps": 213236,
+   "steps": 50017,
+   "elapsed_s": 8349.5,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-cook-broccolini-i00-standard--ebjfshv/replay.mp4",
+  "duration_s": 1776.967,
+  "fps": 30.0,
+  "frames": 53309,
+  "sha256": "36dc3c4f5ccb11c5186d0022fdf09a40a5701f5428e1666309006c5e0a2cb469"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 12,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "heat_source_on": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 1776.9,
+      "log_step": null,
+      "text_zh": "观察：全片粗查及视频 1487–1503 s、1769–1776.9 s 的密集帧中，机器人没有执行可确认的热源开关操作；末帧头部朝向天花板，腕部也没有完整显示热源开关。场景设备的一般红色指示灯不能替代有效供热状态；本局无热源状态日志，无法排除其他有效热源初始已开，因此该节点未知。"
+     }
+    ]
+   },
+   "broccolini_in_pan_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1147.5,
+      "log_step": null,
+      "text_zh": "观察：视频 1147.5 s，货架后方的金属工作台上，装有绿色食材的白盘和黑色煎锅仍分置；视频 1489.5–1498 s 的取料动作发生在窗下空台面，夹爪开合后没有带走绿色长茎食材。"
+     },
+     {
+      "t": 1776.9,
+      "log_step": 281,
+      "text_zh": "推断：已检查全片每约15秒的画面、取料密集帧和视频 1776.9 s 末帧，未见西兰苔由白盘移到锅内；评分字段 q_score=0、live_matches_replay=1 约束终态不可能满足至少1根入锅。结合初始食材在白盘及始终未见有效搬移，记无已达区间、final=false。"
+     }
+    ]
+   },
+   "broccolini_in_pan_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1147.5,
+      "log_step": null,
+      "text_zh": "观察：视频 1147.5 s，货架后方的金属工作台上，装有绿色食材的白盘和黑色煎锅仍分置；视频 1489.5–1498 s 的取料动作发生在窗下空台面，夹爪开合后没有带走绿色长茎食材。"
+     },
+     {
+      "t": 1776.9,
+      "log_step": 281,
+      "text_zh": "推断：已检查全片每约15秒的画面、取料密集帧和视频 1776.9 s 末帧，未见西兰苔由白盘移到锅内；评分字段 q_score=0、live_matches_replay=1 约束终态不可能满足至少2根入锅。结合初始食材在白盘及始终未见有效搬移，记无已达区间、final=false。"
+     }
+    ]
+   },
+   "broccolini_in_pan_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1147.5,
+      "log_step": null,
+      "text_zh": "观察：视频 1147.5 s，货架后方的金属工作台上，装有绿色食材的白盘和黑色煎锅仍分置；视频 1489.5–1498 s 的取料动作发生在窗下空台面，夹爪开合后没有带走绿色长茎食材。"
+     },
+     {
+      "t": 1776.9,
+      "log_step": 281,
+      "text_zh": "推断：已检查全片每约15秒的画面、取料密集帧和视频 1776.9 s 末帧，未见西兰苔由白盘移到锅内；评分字段 q_score=0、live_matches_replay=1 约束终态不可能满足至少3根入锅。结合初始食材在白盘及始终未见有效搬移，记无已达区间、final=false。"
+     }
+    ]
+   },
+   "cloves_in_pan_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1490.5,
+      "log_step": 223,
+      "text_zh": "观察：视频约 1489.5–1491 s，机器人左夹爪朝窗下金属台面的白色反光区域下降、闭合、抬起；腕部视角可见两指间没有蒜瓣，原操作位置也没有食材被带走。视频约 1492–1498 s 又出现空夹，未见向黑锅的有效搬运或落料。"
+     },
+     {
+      "t": 1776.9,
+      "log_step": 280,
+      "text_zh": "推断：视频 1776–1776.9 s 的最后取料动作后仍未见夹爪持有食材或蒜瓣入锅；log step 280 也返回空夹。评分字段 q_score=0 且 live_matches_replay=1，不允许终态满足至少1瓣蒜入锅；结合全片未见有效转移，记无已达区间、final=false。"
+     },
+     {
+      "t": 1490.5,
+      "log_step": 223,
+      "text_zh": "观察：log step 220 将检测位置认作盘，log step 223 明确按白色目标执行左爪下降、闭合、抬起；视频约 1489.5–1491 s 对应动作没有带走可辨认食材。推断：将这次首轮取料失败暂归入第1瓣蒜入锅，依据是针对白色目标的取料尝试及该入锅节点始终未满足；画面不能确认目标是蒜，实际执行日志也不能确立先蒜后西兰苔的顺序，此节点归属不唯一。log step 170 是事后记录脚本，不能证明实际取料计划。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "未知",
+      "note_zh": "视频约 1490–1498 s 可见左二指夹爪在窗下台面上方开合并空手抬起，后续右夹爪也向台面探伸；没有建立对蒜瓣的夹持，不能记抓握。腕部与台面局部遮挡，无法确认指端是否擦碰金属表面及其接触方式。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约 1460–1487 s 以及后续沿台面的移动中，轮式底盘支承机器人驶向其认定的取料位置并重新停靠；这些移动服务于首轮食材取料尝试，暂随推断的蒜瓣断点归入本节点。"
+     }
+    ]
+   },
+   "cloves_in_pan_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1490.5,
+      "log_step": 223,
+      "text_zh": "观察：视频约 1489.5–1491 s，机器人左夹爪朝窗下金属台面的白色反光区域下降、闭合、抬起；腕部视角可见两指间没有蒜瓣，原操作位置也没有食材被带走。视频约 1492–1498 s 又出现空夹，未见向黑锅的有效搬运或落料。"
+     },
+     {
+      "t": 1776.9,
+      "log_step": 280,
+      "text_zh": "推断：视频 1776–1776.9 s 的最后取料动作后仍未见夹爪持有食材或蒜瓣入锅；log step 280 也返回空夹。评分字段 q_score=0 且 live_matches_replay=1，不允许终态满足至少2瓣蒜入锅；结合全片未见有效转移，记无已达区间、final=false。"
+     }
+    ]
+   },
+   "pan_on_stove": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1147.5,
+      "log_step": null,
+      "text_zh": "观察：视频 1147.5 s，黑色煎锅仍在货架后方金属工作台上、位于白盘右侧；视频后段机器人伸爪检查的是窗下其他台面，未见夹持锅柄、提锅或将锅放上炉灶。"
+     },
+     {
+      "t": 1776.9,
+      "log_step": 281,
+      "text_zh": "推断：全片粗查和视频 1776.9 s 末帧未见持锅搬运，且本局评分字段 q_score=0、live_matches_replay=1；煎锅并非初始就在炉灶上的保留目标，因此终态上灶关系为假，无可确认已达区间。"
+     }
+    ]
+   },
+   "broccolini_cooked_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1776.9,
+      "log_step": 281,
+      "text_zh": "推断：本局评分字段 q_score=0、live_matches_replay=1；结合任务初始食材放在白盘、视频 1147.5 s 仍盘锅分置、全片未见有效取料或供热动作，终态不能新增满足至少1件西兰苔已熟。Cooked 达成后不可因冷却失去，因此无已达区间、final=false。此终值由评分总量与画面共同约束，并非凭绿色或白色外观判断熟度；视频 1776.9 s 末帧没有可供独立测温的视图。"
+     }
+    ]
+   },
+   "broccolini_cooked_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1776.9,
+      "log_step": 281,
+      "text_zh": "推断：本局评分字段 q_score=0、live_matches_replay=1；结合任务初始食材放在白盘、视频 1147.5 s 仍盘锅分置、全片未见有效取料或供热动作，终态不能新增满足至少2件西兰苔已熟。Cooked 达成后不可因冷却失去，因此无已达区间、final=false。此终值由评分总量与画面共同约束，并非凭绿色或白色外观判断熟度；视频 1776.9 s 末帧没有可供独立测温的视图。"
+     }
+    ]
+   },
+   "broccolini_cooked_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1776.9,
+      "log_step": 281,
+      "text_zh": "推断：本局评分字段 q_score=0、live_matches_replay=1；结合任务初始食材放在白盘、视频 1147.5 s 仍盘锅分置、全片未见有效取料或供热动作，终态不能新增满足至少3件西兰苔已熟。Cooked 达成后不可因冷却失去，因此无已达区间、final=false。此终值由评分总量与画面共同约束，并非凭绿色或白色外观判断熟度；视频 1776.9 s 末帧没有可供独立测温的视图。"
+     }
+    ]
+   },
+   "cloves_cooked_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1776.9,
+      "log_step": 281,
+      "text_zh": "推断：本局评分字段 q_score=0、live_matches_replay=1；结合任务初始食材放在白盘、视频 1147.5 s 仍盘锅分置、全片未见有效取料或供热动作，终态不能新增满足至少1件蒜已熟。Cooked 达成后不可因冷却失去，因此无已达区间、final=false。此终值由评分总量与画面共同约束，并非凭绿色或白色外观判断熟度；视频 1776.9 s 末帧没有可供独立测温的视图。"
+     }
+    ]
+   },
+   "cloves_cooked_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1776.9,
+      "log_step": 281,
+      "text_zh": "推断：本局评分字段 q_score=0、live_matches_replay=1；结合任务初始食材放在白盘、视频 1147.5 s 仍盘锅分置、全片未见有效取料或供热动作，终态不能新增满足至少2件蒜已熟。Cooked 达成后不可因冷却失去，因此无已达区间、final=false。此终值由评分总量与画面共同约束，并非凭绿色或白色外观判断熟度；视频 1776.9 s 末帧没有可供独立测温的视图。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cloves_in_pan_1",
+   "t": 1490.5,
+   "log_step": 223,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 1489.5–1491 s，机器人左爪在窗下空台面白色反光处闭合并空手抬起，视频约 1492–1498 s 重试仍未带走食材，此后也没有蒜入锅。log step 220 认定已经找到盘并驶向抓取位置，log step 223 明确执行下降、闭爪、抬起的抓取序列；因此该锚点处已经投入取料操作，where 保留操作中。推断：把对白色目标的首轮取料失败暂归入第1瓣蒜入锅，食材类别不能由画面确认，也没有可靠的实际先蒜后西兰苔顺序证据；log step 170 的事后记录脚本不作为计划依据。此视频锚点来自密集帧；另核对 log step 230 的实时 control_steps=44954，在30赫兹下对应视频约1498.47 s，与该处空夹后停靠画面一致，未把agent工作时间换算为视频时间。"
+  },
+  "unmet": {
+   "broccolini_in_pan_1": false,
+   "broccolini_in_pan_2": false,
+   "broccolini_in_pan_3": false,
+   "cloves_in_pan_1": false,
+   "cloves_in_pan_2": false,
+   "pan_on_stove": false,
+   "broccolini_cooked_1": false,
+   "broccolini_cooked_2": false,
+   "broccolini_cooked_3": false,
+   "cloves_cooked_1": false,
+   "cloves_cooked_2": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 1490.5,
+    "log_step": 223,
+    "evidence_zh": "观察：视频约 1490–1491 s，机器人左二指夹爪在没有可见食材的台面区域合拢，腕部画面显示指间为空；视频约 1492–1498 s 再次开合也未携出食材。log step 223、228、229 的取料反馈均显示空夹；这轮尝试始终没有形成搬运蒜瓣所需的夹持。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 219–223 将窗下白色区域定位为盘及食材并据此抓取；视频约 1487–1498 s 对应台面可见的是反光，未见白盘或蒜瓣。log step 233 随后明确承认此前白色区域只是金属台面高光；视频 1147.5 s 的白盘与黑锅实际出现在货架后方另一工作台。推断：机器人按错误的物体身份和位置估计执行了首轮取料，导致对空台面闭爪。"
+   },
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 223、228、249 的取料代码把 proprio 的 p[6:24] 直接作为按躯干、左臂、右臂分块排列的关节向量；log step 251 的服务规格明确测量关节中的左右臂实际交错排列，log step 252 则说明动作仍按左右臂分块。log step 249 的若干抓取末端明显偏离命令位置，log step 253–255 才改为 p[10:24:2]、p[11:24:2] 并放慢过渡。推断：取料控制脚本错误解码关节状态，干扰逆解种子及后续运动衔接，进一步妨碍该取料步骤；现有证据不足以细分为单一逆解或反馈控制问题。"
+   }
+  ],
+  "gap_zh": "没有状态日志。五件食材的逐件熟度及全时段微小接触无法从这些相机直接读取；11个目标节点的终值采用评分 q_score=0 与未见搬移/加热的画面共同约束。开启热源不是q_score目标，所有潜在热源的完整初态和开关状态未被拍清，故该节点保留未知。首轮被抓区域没有真实食材可辨认，蒜瓣断点仅是对白色目标取料失败的节点归属推断，实际食材类别和取���先后顺序均未确认；log step 170 是事后记录脚本，不作实际计划证据。接触方式保留未知，不把空夹算作抓握。观察：视频 115、200–201、450–451、650–651 s 的头部画面主要显示瓷砖墙面，腕部画面未显示可确认的接触阻断，视频 700 s 又可见厨房内部；这些抽查帧不能区分受阻、头部朝向或搜索行为，也不能证明其妨碍取料，故不标被挡/碰撞。agent 在log step 170、282 声称底盘控制器异常，没有独立证据排除操作及碰撞因素，不据此归因仿真或环境故障。"
+ },
+ "summary_zh": "本局未确认任何节点达成：11个目标节点终态均为假，开启有效热源的状态未知；视频 115、200、450、650 s 的抽查帧中，机器人头部画面主要只见瓷砖墙面，之后继续搜索和移动，视频约1490 s 起多次向窗下空台面取料，未见食材入锅或煎锅上灶。断点暂归为第1瓣蒜入锅，首轮空夹已是投入取料的操作，证据支持目标误定位以及取料脚本错误读取交错关节状态。无状态日志，熟度终值结合评分总量推断，热源初态和首轮目标食材类别仍有缺口；移除事后脚本的计划证据后，蒜瓣节点归属不唯一，conf由6降为5。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "终态节点（11个为假、热源未知）与断点节点基本可信，但标注漏掉了视频前约 1000 s 机器人被墙/障碍卡住、视野只见瓷砖墙面的长时间受阻，断点 where 标为“操作中”也与此前 1490 s 都在搜索定位不符；断点依据 log step 170 的“取料计划”实为事后写的记录脚本。",
+    "n_issues": 3,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "终态节点（11个为假、热源未知）与断点节点基本可信。但现象“被挡/碰撞”缺少阻挡接触的证据：视频 200/450/650 s 头部画面只是对着瓷砖墙面或天花板，不能证明机器人被墙卡住；该条主要靠推断，应降级或删除。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "I1 的接受已完整落实：被挡/碰撞已删除，仅保留没建立接触，summary_zh 与 gap_zh 已改为只见墙面、原因无法确定。",
+    "n_issues": 0,
+    "n_checks": 1
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "I1 的接受已完整落实：被挡/碰撞已删除，仅保留没建立接触，summary_zh 与 gap_zh 已改为只见墙面、原因无法确定。",
+   "checks_ok": "1/1",
+   "n_factual_errors": 0
+  }
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:47:48Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-cook-broccolini-i00-standard--ebjfshv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-broccolini-i00-standard--ebjfshv/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-broccolini-i00-standard--ebjfshv/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-cook-broccolini-i00-standard--ebjfshv/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-cook-broccolini-i00-standard--ebjfshv/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/behavior-cook-broccolini-i00-standard--ebjfshv/06_confirm_r3"
+   }
+  ],
+  "confirm_prompt": "prompts/06_confirm.md",
+  "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267",
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6ee58847ce7628f083faf94dff1cd9d8306797a90cbe57fa8b423dc48256c9a6",
+   "video_sha256": "36dc3c4f5ccb11c5186d0022fdf09a40a5701f5428e1666309006c5e0a2cb469",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_broccolini/trajectories/behavior-cook-broccolini-i00-standard--gkbgkal.json

@@ -0,0 +1,476 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-broccolini-i00-standard--gkbgkal",
+ "taskKey": "behavior-1k/cook_broccolini",
+ "dag_sha256": "f1cd536622766f2334eaee5d52499d4d60bbd6e7ca60835a06f6a9df964b2826",
+ "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": 10731,
+   "sim_steps": 10881,
+   "physics_steps": 43524,
+   "steps": 331,
+   "elapsed_s": 6838.9,
+   "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-cook-broccolini-i00-standard--gkbgkal/replay.mp4",
+  "duration_s": 362.8,
+  "fps": 10.0,
+  "frames": 3628,
+  "sha256": "2f3205ef01b9878e6a7e84d03ac6bea9e6905098faa5e5ec2401d8d6f586fcb4"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 12,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "heat_source_on": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 357.0,
+      "log_step": 850,
+      "text_zh": "观察：视频 350–357 s 机器人空手向设备区移动并伸臂，至视频 362.7 s 未见夹爪操作炉灶旋钮。成功参考视频 178.5 s 的炉灶操作处有显著红亮旋钮；本段未见对应的启用变化。"
+     },
+     {
+      "t": 362.7,
+      "log_step": null,
+      "text_zh": "推断：只能确认没有观察到开启炉灶的动作；DAG允许其他有效热源且注明其初态待核实，本视频不能确定所有烤炉、烤箱的初始开关状态，也无设备状态日志，因此“任一有效热源已开”全段记未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘向炉灶控制区移动；未观察到夹爪与开关建立接触。"
+     }
+    ]
+   },
+   "broccolini_in_pan_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      265.0,
+      267.6
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 148.5,
+      "log_step": null,
+      "text_zh": "观察：视频 135–148 s 右爪夹持并搬运西兰苔，视频 148.5–150 s 松手后该根停在煎锅外的金属台面；视频 153–181 s 的重抓、拨推后仍在锅外。"
+     },
+     {
+      "t": 231.0,
+      "log_step": 663,
+      "text_zh": "观察：视频 219–227 s 搬起的另一根在视频 228–232 s 已落在锅外台面；锅内仍空。agent 自述“在锅内”（log step 663）与画面不符，不能据此提前记入锅。"
+     },
+     {
+      "t": 265.0,
+      "log_step": 714,
+      "text_zh": "观察：视频 254–264.6 s 右爪从台面重新夹起一根并移至锅内，视频 264.8 s 张爪，视频 265–267.2 s 可见这一根落在锅底；这里按实际锅内数量记第1个，不沿用agent自称的“第二个”。"
+     },
+     {
+      "t": 267.6,
+      "log_step": 719,
+      "text_zh": "观察：视频 267.3–267.7 s 退臂时煎锅翻动，西兰苔从锅内滑离；视频 270.4–271.8 s 锅和绿色食材分别在地面。视频 339 s 仍见地上的空锅，之后直到视频 362.7 s 未见恢复入锅。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右侧二指夹爪包夹西兰苔花球或茎，搬运并张爪放下；最后一次确实落在锅底。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "右爪在早期放偏后反复拨推锅外的西兰苔；退臂时还碰动了锅，具体碰撞部位无法从腕视图辨清。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘在最初持西兰苔从白盘向煎锅搬运时沿台面移动，支承机械臂和所持食材。"
+     }
+    ]
+   },
+   "broccolini_in_pan_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 228.0,
+      "log_step": 656,
+      "text_zh": "观察：视频 219–227 s 右爪将另一根西兰苔从地面搬到台面，但视频 228–232 s 松手后该根仍在锅外；此时另有一根在锅外台面，未形成两根在锅内。"
+     },
+     {
+      "t": 267.2,
+      "log_step": 719,
+      "text_zh": "观察：视频 265–267.2 s 锅内只看见一根，随后锅翻落，视频 271 s 及视频 339 s 未见两根在锅内。agent 在 log step 719 声称“第二根已入锅”，但此前的锅外放置不计数。"
+     },
+     {
+      "t": 362.7,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0，且初始五件食材均在白盘而不在锅内，终态不可能有两个新增入锅目标成立；与后段锅空置于地面的画面一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右侧二指夹爪夹住从地面拾起的另一根西兰苔花球并运到锅旁，张爪后落在锅外台面；未达到两根入锅。"
+     }
+    ]
+   },
+   "broccolini_in_pan_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 188.0,
+      "log_step": null,
+      "text_zh": "观察：视频 185–189 s 右爪在白盘剩余食材处探取，白盘翻下台面，随后地面可见白盘与散落绿色食材；后续未见三根同时在锅内。"
+     },
+     {
+      "t": 267.2,
+      "log_step": null,
+      "text_zh": "观察：视频 265–267.2 s 唯一明确的入锅画面只有一根，之后锅翻落；未见第三根的独立成功搬运。"
+     },
+     {
+      "t": 362.7,
+      "log_step": null,
+      "text_zh": "推断：初始三根西兰苔在白盘，终态 reward.q_score=0 排除三根在锅内的关系成立，后段地面空锅也支持未达。"
+     }
+    ]
+   },
+   "cloves_in_pan_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 279.0,
+      "log_step": 754,
+      "text_zh": "观察：视频 274–289 s 右爪在地面浅色蒜瓣旁反复合拢、抬起，蒜瓣被拨动但仍留在地面，没有随夹爪离地或转移至锅内。"
+     },
+     {
+      "t": 339.0,
+      "log_step": null,
+      "text_zh": "观察：视频 339 s 煎锅空置于地面，没有浅色蒜瓣在锅内；后续机器人空手离开。"
+     },
+     {
+      "t": 362.7,
+      "log_step": null,
+      "text_zh": "推断：初始两瓣蒜在白盘，评分器 reward.q_score=0 排除终态任何新增蒜入锅关系成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "右爪在地面蒜瓣旁合拢和抬起，实际拨动了蒜瓣，未建立可将其提起的包夹。"
+     }
+    ]
+   },
+   "cloves_in_pan_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 289.0,
+      "log_step": null,
+      "text_zh": "观察：视频 274–289 s 的地面蒜瓣抓取没有提起食材，之后未见另一瓣蒜的独立搬运，也没有两瓣在锅内的画面。"
+     },
+     {
+      "t": 362.7,
+      "log_step": null,
+      "text_zh": "推断：初始蒜瓣在白盘，评分器 reward.q_score=0 排除终态两瓣蒜在锅内；后段可见地面空锅。"
+     }
+    ]
+   },
+   "pan_on_stove": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 150.0,
+      "log_step": null,
+      "text_zh": "观察：视频 150 s 煎锅仍在金属备餐台上，与对面多炉头炉灶分开。"
+     },
+     {
+      "t": 271.0,
+      "log_step": null,
+      "text_zh": "观察：视频 267.3–271 s 煎锅从台面翻落地面，没有到炉灶上；视频 339 s 仍在地上。"
+     },
+     {
+      "t": 350.0,
+      "log_step": 850,
+      "text_zh": "观察：视频 293–350 s 机器人在原锅位置、通道与设备区之间搜索、伸臂，未见抓住锅柄携锅上灶；末段直到视频 362.7 s 亦无锅上灶。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "轮式底盘在原备餐台位置与炉灶区之间往返寻找煎锅；未观察到锅柄抓握或携锅上灶。"
+     }
+    ]
+   },
+   "broccolini_cooked_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 265.0,
+      "log_step": null,
+      "text_zh": "观察：本次运行的西兰苔只在白盘、台面、地面或备餐台上的锅处被操作；视频 265 s 煎锅仍未上炉灶，之后翻落地面，未见食材受热过程。"
+     },
+     {
+      "t": 362.7,
+      "log_step": null,
+      "text_zh": "推断：结合任务给定的待烹饪食材初态、全片未见有效加热以及评分器 reward.q_score=0，终态不能增加任何已熟目标，故至少1件西兰苔已熟为假；Cooked一旦成立会历史保持，因此该节点也没有较早的成立区间。颜色本身不作为熟度判据。"
+     }
+    ]
+   },
+   "broccolini_cooked_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 265.0,
+      "log_step": null,
+      "text_zh": "观察：本次运行的西兰苔只在白盘、台面、地面或备餐台上的锅处被操作；视频 265 s 煎锅仍未上炉灶，之后翻落地面，未见食材受热过程。"
+     },
+     {
+      "t": 362.7,
+      "log_step": null,
+      "text_zh": "推断：结合任务给定的待烹饪食材初态、全片未见有效加热以及评分器 reward.q_score=0，终态不能增加任何已熟目标，故至少2件西兰苔已熟为假；Cooked一旦成立会历史保持，因此该节点也没有较早的成立区间。颜色本身不作为熟度判据。"
+     }
+    ]
+   },
+   "broccolini_cooked_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 265.0,
+      "log_step": null,
+      "text_zh": "观察：本次运行的西兰苔只在白盘、台面、地面或备餐台上的锅处被操作；视频 265 s 煎锅仍未上炉灶，之后翻落地面，未见食材受热过程。"
+     },
+     {
+      "t": 362.7,
+      "log_step": null,
+      "text_zh": "推断：结合任务给定的待烹饪食材初态、全片未见有效加热以及评分器 reward.q_score=0，终态不能增加任何已熟目标，故至少3件西兰苔已熟为假；Cooked一旦成立会历史保持，因此该节点也没有较早的成立区间。颜色本身不作为熟度判据。"
+     }
+    ]
+   },
+   "cloves_cooked_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 265.0,
+      "log_step": null,
+      "text_zh": "观察：本次运行的蒜瓣只在白盘、台面、地面或备餐台上的锅处被操作；视频 265 s 煎锅仍未上炉灶，之后翻落地面，未见食材受热过程。"
+     },
+     {
+      "t": 362.7,
+      "log_step": null,
+      "text_zh": "推断：结合任务给定的待烹饪食材初态、全片未见有效加热以及评分器 reward.q_score=0，终态不能增加任何已熟目标，故至少1件蒜瓣已熟为假；Cooked一旦成立会历史保持，因此该节点也没有较早的成立区间。颜色本身不作为熟度判据。"
+     }
+    ]
+   },
+   "cloves_cooked_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 265.0,
+      "log_step": null,
+      "text_zh": "观察：本次运行的蒜瓣只在白盘、台面、地面或备餐台上的锅处被操作；视频 265 s 煎锅仍未上炉灶，之后翻落地面，未见食材受热过程。"
+     },
+     {
+      "t": 362.7,
+      "log_step": null,
+      "text_zh": "推断：结合任务给定的待烹饪食材初态、全片未见有效加热以及评分器 reward.q_score=0，终态不能增加任何已熟目标，故至少2件蒜瓣已熟为假；Cooked一旦成立会历史保持，因此该节点也没有较早的成立区间。颜色本身不作为熟度判据。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "broccolini_in_pan_1",
+   "t": 267.6,
+   "log_step": 719,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 265–267.2 s 右爪松开后，一根西兰苔确实停在锅底；视频 267.3–268.2 s 放置后的撤臂过程中，煎锅翻动并离开台面，视频 270.4–271.8 s 可见锅与绿色食材分离在地面，后续至视频 362.7 s 未见恢复入锅。推断：log step 719 的动作是放置后向地面食材区撤臂；视频 148.5 s、228–232 s 的锅外释放发生在首次实际入锅之前，已由视频 265 s 达到第1个入锅计数补救，不能按所搬物体的身份把视频 228 s 固定为第2个计数的断点。按 docs/03_trajectory.md Step 3.1，断点取第1个入锅关系在撤臂中丢失且未恢复之处。"
+  },
+  "unmet": {
+   "broccolini_in_pan_1": false,
+   "broccolini_in_pan_2": false,
+   "broccolini_in_pan_3": false,
+   "cloves_in_pan_1": false,
+   "cloves_in_pan_2": false,
+   "pan_on_stove": false,
+   "broccolini_cooked_1": false,
+   "broccolini_cooked_2": false,
+   "broccolini_cooked_3": false,
+   "cloves_cooked_1": false,
+   "cloves_cooked_2": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 267.6,
+    "log_step": 719,
+    "evidence_zh": "观察：视频 265–267.2 s 食材在锅底，视频 267.3–268.2 s 机器人执行放置后的撤臂动作时，煎锅突然翻动、食材滑离锅底，随后视频 270.4–271.8 s 可见锅与绿色食材分别在地面。推断：撤臂时机械臂或夹爪与煎锅发生干涉并将其碰翻，破坏了已完成的入锅关系；具体接触的是锅沿、锅柄还是其他部位，腕部视图无法辨清，不将相机转动本身当作碰撞证据。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "无模拟器状态日志或接触对记录。log step 719 显示脚本向右末端目标 [-8.93,-4.74,1.12] 求逆解并以关节位置命令撤臂，视频 267.3–268.2 s 可见锅随之翻动，但不足以区分撤臂轨迹、接触几何、跟踪偏差或环境位置估计的作用，也未验证可行替代轨迹，故根因留空，不从碰翻锅直接指定“轨迹或逆解”。视频 228 s 的位置估计错误只支持先前锅外释放的感知解释，不解释此次断点。炉灶未见被开启，但其他潜在有效热源的开关初态未获核实，故热源节点记未知；熟度缺少逐件温度读数，以待烹饪初态、无加热过程、q_score=0与Cooked历史保持性推断为假。日志多次称食材入锅，视频却显示其仍在锅外，节点和时刻均以画面为准。"
+ },
+ "summary_zh": "机器人反复抓取并从地面回收食材，视频约 265 s 仅确认一根西兰苔入锅；视频约 267.6 s 放置后撤臂碰翻煎锅，使第1个入锅关系丢失且此后未恢复，这是断点，现象为被挡/碰撞。此前视频 148.5 s、228 s 的锅外释放已由首次实际入锅补救；终态蒜未入锅、锅未上灶、食材未熟。无状态日志，具体碰撞部位及控制根因无法确定，根因留空；其他潜在热源初态未核实，热源节点保持未知。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值与时间基本与画面一致（265–267.6 s 仅一根入锅、锅翻落）。但断点与现象选错：真正使整个run无法恢复的失败是视频约 267.6 s 退臂碰翻煎锅、已入锅的西兰苔丢失；断点却锚在 228 s 的锅外释放，该次失败已被 265 s 的入锅补救，碰翻锅这一现象完全缺失。",
+    "n_issues": 3,
+    "n_major": 3
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点（仅一根在 265–267.6 s 入锅、随后锅翻落、其余未达）、断点（broccolini_in_pan_1，约 267.6 s，操作中）与现象（被挡/碰撞，标注为推断）与画面一致；根因留空并有 gap_zh 说明，可接受。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:45:56Z",
+  "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-cook-broccolini-i00-standard--gkbgkal/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-broccolini-i00-standard--gkbgkal/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-broccolini-i00-standard--gkbgkal/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-cook-broccolini-i00-standard--gkbgkal/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4bc7dd34df1139384459cb975458116fa7fc5577afc007c057e45b6e88f5eed2",
+   "video_sha256": "2f3205ef01b9878e6a7e84d03ac6bea9e6905098faa5e5ec2401d8d6f586fcb4",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_broccolini/trajectories/behavior-cook-broccolini-i00-standard--mgm5hqj.json

@@ -0,0 +1,456 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-broccolini-i00-standard--mgm5hqj",
+ "taskKey": "behavior-1k/cook_broccolini",
+ "dag_sha256": "f1cd536622766f2334eaee5d52499d4d60bbd6e7ca60835a06f6a9df964b2826",
+ "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": 9302,
+   "sim_steps": 9302,
+   "physics_steps": 37208,
+   "steps": 3101,
+   "elapsed_s": 3628.1,
+   "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": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 19.416,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.265,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_memory_gb": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-cook-broccolini-i00-standard--mgm5hqj/replay.mp4",
+  "duration_s": 310.067,
+  "fps": 30.0,
+  "frames": 9302,
+  "sha256": "e7153f53bdbc801200268ae7bc2d2bc9fecf8f7e7edbaaa0d4c5b092460575e3"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 12,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "heat_source_on": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 298.0,
+      "log_step": 435,
+      "text_zh": "观察：视频 0–298 s，机器人操作台面上的锅和食材，未到热源开关前执行开启动作；成功参考视频 178.5 s可见的红色旋钮近景在本次没有出现。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：未见开启热源不等于所有热源初始关闭；本作业没有状态日志，其他烤炉及烤箱的初始有效供热状态不能由相机确定，因此本事件是否从初始成立保留未知。"
+     }
+    ]
+   },
+   "broccolini_in_pan_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      264.5,
+      269.7
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 70.0,
+      "log_step": 200,
+      "text_zh": "观察：视频 65–69 s左夹爪夹起一根西兰苔，视频 70–74 s在白盘旁松开，食材落在裸金属台面，未落进右手所持煎锅；此后多次移放也把食材留在盘沿或台面。"
+     },
+     {
+      "t": 264.5,
+      "log_step": 408,
+      "text_zh": "观察：视频 263–264.25 s左爪仍夹着西兰苔，视频约 264.5 s张开后，一根西兰苔落在右手所持黑色锅面；视频 265–269.5 s可见其留在锅面，按DAG的裸ontop关系记1根，不要求锅已上灶或右手已松锅。"
+     },
+     {
+      "t": 269.7,
+      "log_step": 413,
+      "text_zh": "观察：视频约 269.7 s，机器人在左臂调整期间转动持锅右手，原先锅面上的绿色食材离开锅面；视频 270–276 s锅面为空，视频 277–280 s可见绿色食材落向下方地面，之后至视频 309.9 s无重新装锅。"
+     },
+     {
+      "t": 309.9,
+      "log_step": null,
+      "text_zh": "推断：评分器q_score=0且live_matches_replay=1，与视频末段空锅一致，故本节点终态为假；短暂入锅区间边界为视觉估计，误差约0.5秒。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 65–69 s、99–103 s、248–250 s及260–264 s，左二指夹爪夹住西兰苔茎部并搬移，右夹爪同时持续握住煎锅柄；同种食材按数量判断，不固定实例身份。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "推/扫",
+      "note_zh": "观察：视频 140–174 s及180–198 s的后续补救中，左夹爪以指端扫过盘面、盘沿和台面，推动盘及散落西兰苔，右手继续持锅。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 49–54 s及242–244 s，轮式底盘携右手所持煎锅调整相对白盘的位置，为继续搬移食材提供支承。"
+     }
+    ]
+   },
+   "broccolini_in_pan_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 103.0,
+      "log_step": 208,
+      "text_zh": "观察：视频 78–84 s及99–109 s，左夹爪依次夹起西兰苔后移至白盘旁释放，西兰苔散落在台面及盘沿；视频 110–244 s的抓取与扫拨补救未形成多根同时在锅面。"
+     },
+     {
+      "t": 268.0,
+      "log_step": 408,
+      "text_zh": "观察：视频 264.5–269.5 s只见1根西兰苔在锅面，其余仍在台面；视频 269.7 s后锅面食材丢失，没有至少2根同时在锅的可见区间。"
+     },
+     {
+      "t": 309.9,
+      "log_step": null,
+      "text_zh": "推断：评分器q_score=0、live_matches_replay=1进一步限定终态没有新增食材在锅目标，故至少2根在锅的终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 65–69 s、99–103 s、248–250 s及260–264 s，左二指夹爪夹住西兰苔茎部并搬移，右夹爪同时持续握住煎锅柄；同种食材按数量判断，不固定实例身份。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "推/扫",
+      "note_zh": "观察：视频 140–174 s及180–198 s的后续补救中，左夹爪以指端扫过盘面、盘沿和台面，推动盘及散落西兰苔，右手继续持锅。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 49–54 s及242–244 s，轮式底盘携右手所持煎锅调整相对白盘的位置，为继续搬移食材提供支承。"
+     }
+    ]
+   },
+   "broccolini_in_pan_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 103.0,
+      "log_step": 208,
+      "text_zh": "观察：视频 78–84 s及99–109 s，左夹爪依次夹起西兰苔后移至白盘旁释放，西兰苔散落在台面及盘沿；视频 110–244 s的抓取与扫拨补救未形成多根同时在锅面。"
+     },
+     {
+      "t": 268.0,
+      "log_step": 408,
+      "text_zh": "观察：视频 264.5–269.5 s只见1根西兰苔在锅面，其余仍在台面；视频 269.7 s后锅面食材丢失，没有至少3根同时在锅的可见区间。"
+     },
+     {
+      "t": 309.9,
+      "log_step": null,
+      "text_zh": "推断：评分器q_score=0、live_matches_replay=1进一步限定终态没有新增食材在锅目标，故至少3根在锅的终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 65–69 s、99–103 s、248–250 s及260–264 s，左二指夹爪夹住西兰苔茎部并搬移，右夹爪同时持续握住煎锅柄；同种食材按数量判断，不固定实例身份。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "推/扫",
+      "note_zh": "观察：视频 140–174 s及180–198 s的后续补救中，左夹爪以指端扫过盘面、盘沿和台面，推动盘及散落西兰苔，右手继续持锅。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 49–54 s及242–244 s，轮式底盘携右手所持煎锅调整相对白盘的位置，为继续搬移食材提供支承。"
+     }
+    ]
+   },
+   "cloves_in_pan_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 111.0,
+      "log_step": 208,
+      "text_zh": "观察：视频 109.5–112.5 s，左腕视角可见浅色蒜瓣仍在白盘上，左爪在其附近合拢、移开；视频 113–115 s未见蒜瓣随爪离盘并抵达锅面。log step 208及216的脚本包括蒜瓣移放，但脚本命名和完成输出不能替代搬移画面。"
+     },
+     {
+      "t": 309.9,
+      "log_step": null,
+      "text_zh": "推断：视频未出现浅色蒜瓣落在黑色锅面的可辨识区间；评分器q_score=0、live_matches_replay=1将本新增入锅目标的终态限定为假。两瓣按数量判断，不依赖实例身份。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 109.5–115 s可见左爪对蒜瓣区域执行取放尝试，右爪持锅，但微小蒜瓣与指面实际接触及是否被夹住受遮挡和分辨率限制，无法确认；不把脚本的闭爪命令标成实际抓握。"
+     }
+    ]
+   },
+   "cloves_in_pan_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 111.0,
+      "log_step": 208,
+      "text_zh": "观察：视频 109.5–112.5 s，左腕视角可见浅色蒜瓣仍在白盘上，左爪在其附近合拢、移开；视频 113–115 s未见蒜瓣随爪离盘并抵达锅面。log step 208及216的脚本包括蒜瓣移放，但脚本命名和完成输出不能替代搬移画面。"
+     },
+     {
+      "t": 309.9,
+      "log_step": null,
+      "text_zh": "推断：视频未出现浅色蒜瓣落在黑色锅面的可辨识区间；评分器q_score=0、live_matches_replay=1将本新增入锅目标的终态限定为假。两瓣按数量判断，不依赖实例身份。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 109.5–115 s可见左爪对蒜瓣区域执行取放尝试，右爪���锅，但微小蒜瓣与指面实际接触及是否被夹住受遮挡和分辨率限制，无法确认；不把脚本的闭爪命令标成实际抓握。"
+     }
+    ]
+   },
+   "pan_on_stove": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 28.0,
+      "log_step": 122,
+      "text_zh": "观察：视频 25–33 s右夹爪握锅柄，把黑色煎锅从金属台面提起；视频 274–298 s机器人仍持锅离开备料台，锅没有落在多炉头炉灶上。"
+     },
+     {
+      "t": 309.9,
+      "log_step": 439,
+      "text_zh": "观察：视频 299–303 s机器人视角快速侧翻，视频 309.9 s仍倾倒且右手握锅悬在身侧；log step 439的机器人服务status返回done=True、reason=\"failure: the robot fell over\"。全片没有煎锅接触炉灶的区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 25–33 s右二指夹爪夹住锅柄并提锅，至视频 309.9 s仍握锅柄。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 274–298 s轮式底盘支承机械臂，携右手所持煎锅离开备料台，未把锅送上炉灶。"
+     }
+    ]
+   },
+   "broccolini_cooked_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 309.9,
+      "log_step": null,
+      "text_zh": "推断：本任务食材以待烹饪状态开始，视频中食材留在白盘、冷台面或短暂在未上灶的锅面，没有可见受热过程；评分器q_score=0且live_matches_replay=1，故新增Cooked目标数量为0，至少1件西兰苔已熟的终态为假。Cooked按DAG为历史最高温度达到阈值后持续为真，因此终态为假也排除途中曾熟；并非凭绿色外观判断生熟。"
+     }
+    ]
+   },
+   "broccolini_cooked_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 309.9,
+      "log_step": null,
+      "text_zh": "推断：本任务食材以待烹饪状态开始，视频中食材留在白盘、冷台面或短暂在未上灶的锅面，没有可见受热过程；评分器q_score=0且live_matches_replay=1，故新增Cooked目标数量为0，至少2件西兰苔已熟的终态为假。Cooked按DAG为历史最高温度达到阈值后持续为真，因此终态为假也排除途中曾熟；并非凭绿色外观判断生熟。"
+     }
+    ]
+   },
+   "broccolini_cooked_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 309.9,
+      "log_step": null,
+      "text_zh": "推断：本任务食材以待烹饪状态开始，视频中食材留在白盘、冷台面或短暂在未上灶的锅面，没有可见受热过程；评分器q_score=0且live_matches_replay=1，故新增Cooked目标数量为0，至少3件西兰苔已熟的终态为假。Cooked按DAG为历史最高温度达到阈值后持续为真，因此终态为假也排除途中曾熟；并非凭绿色外观判断生熟。"
+     }
+    ]
+   },
+   "cloves_cooked_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 309.9,
+      "log_step": null,
+      "text_zh": "推断：本任务食材以待烹饪状态开始，视频中食材留在白盘、冷台面或短暂在未上灶的锅面，没有可见受热过程；评分器q_score=0且live_matches_replay=1，故新增Cooked目标数量为0，至少1件蒜已熟的终态为假。Cooked按DAG为历史最高温度达到阈值后持续为真，因此终态为假也排除途中曾熟；并非凭绿色外观判断生熟。"
+     }
+    ]
+   },
+   "cloves_cooked_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 309.9,
+      "log_step": null,
+      "text_zh": "推断：本任务食材以待烹饪状态开始，视频中食材留在白盘、冷台面或短暂在未上灶的锅面，没有可见受热过程；评分器q_score=0且live_matches_replay=1，故新增Cooked目标数量为0，至少2件蒜已熟的终态为假。Cooked按DAG为历史最高温度达到阈值后持续为真，因此终态为假也排除途中曾熟；并非凭绿色外观判断生熟。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "broccolini_in_pan_1",
+   "t": 269.7,
+   "log_step": 413,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 264.5 s左爪计划松手后，1根西兰苔已落到右手所持锅面；视频约 269.7 s持锅姿态改变时该食材离开锅面，视频 270–276 s锅面为空，此后无补装。推断：先前的第1根入锅失误曾由这次落锅短暂修复，但本次状态丢失始终未修复，断点归第1个西兰苔入锅；视频约 300 s后的跌倒是更晚的终止事件，不能代替较早的未修复步骤。"
+  },
+  "unmet": {
+   "broccolini_in_pan_1": false,
+   "broccolini_in_pan_2": false,
+   "broccolini_in_pan_3": false,
+   "cloves_in_pan_1": false,
+   "cloves_in_pan_2": false,
+   "pan_on_stove": false,
+   "broccolini_cooked_1": false,
+   "broccolini_cooked_2": false,
+   "broccolini_cooked_3": false,
+   "cloves_cooked_1": false,
+   "cloves_cooked_2": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "放后不稳",
+    "t": 269.7,
+    "log_step": 413,
+    "evidence_zh": "观察：视频 264.5–269.5 s西兰苔在左爪松开后留在锅面；视频约 269.7 s机器人转动持锅姿态时，西兰苔从倾斜锅面离开，视频 270–276 s锅面已空，视频 277–280 s绿色食材出现在下方地面方向。食材已抵达目标后才丢失。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "t": 269.7,
+    "log_step": 413,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 413的检查脚本给右手设置当前完整TCP位姿作为终点目标，但随后把躯干、左右臂关节分别以np.linspace插值执行，未在运动中持续保持右手的笛卡尔位姿。视频 269–270 s可见左臂调整时右手所持锅也明显转动、倾斜，锅面食材随即离开；这支持保持持锅姿态的轨迹控制失效，而不是目标应放在哪里或先做哪一步的策略错误。"
+   }
+  ],
+  "gap_zh": "本作业没有状态日志。短暂锅面接触及其丢失按三路相机估计，不能直接核验原生ontop；Cooked终态由q_score总量限定，非颜色判断。蒜瓣的具体指面接触和移放中间状态受遮挡及分辨率限制；其他潜在热源的初始开关状态未给，heat_source_on保留未知。跌倒的具体碰撞或地形原因没有独立证据，未采用agent在log step 444的地形归因。"
+ },
+ "summary_zh": "机器人持锅并多次夹取、扫拨食材，大部分落在盘旁台面；视频约 264.5–269.7 s有1根西兰苔短暂在锅面，随后因持锅承载姿态变化离锅且未恢复，最终明确成立0/12个节点，q_score=0。煎锅始终未上灶，机器人后在视频约 300 s侧翻并由服务结束episode，断点保留为更早丢失的第1根西兰苔入锅。无状态日志，热源初态未知，熟度终态依评分总量推断，蒜瓣接触及短暂入锅时界有视觉证据局限。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "抽查视频 262–279 s及 log step 408/413/439：264.5–269.7 s 1根西兰苔短暂在锅面、之后锅面为空、q_score=0，节点终态、短暂入锅区间、断点（第1根入锅）以及放后不稳＋轨迹或逆解的归因均有证据支持，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": "2026-10-30T21:22:05Z",
+  "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-cook-broccolini-i00-standard--mgm5hqj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-broccolini-i00-standard--mgm5hqj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f8efadca8253f41f01f0aefa78de54fb1c499010e92534457e6ac4a97581a7b8",
+   "video_sha256": "e7153f53bdbc801200268ae7bc2d2bc9fecf8f7e7edbaaa0d4c5b092460575e3",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-privileged--8gxztfx.json

@@ -0,0 +1,259 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-dispose-of-batteries-i00-privileged--8gxztfx",
+ "taskKey": "behavior-1k/dispose_of_batteries",
+ "dag_sha256": "cea03abeb83d4300f1dad71a9475fc6f23368cd2df986081f39fd4829402e636",
+ "outcome": {
+  "success": 0,
+  "reward": 0.25,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 1158,
+   "sim_steps": 1158,
+   "final_reward": 0.25,
+   "q_score": 0.25,
+   "replay_wall_s": 763.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 30,
+   "agent_resets": 0,
+   "agent_sim_steps": 28823,
+   "agent_records": 0,
+   "agent_replays": 15,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-dispose-of-batteries-i00-privileged--8gxztfx/replay.mp4",
+  "duration_s": 38.6,
+  "fps": 30.0,
+  "frames": 1158,
+  "sha256": "eb2822bc7478dd91fec75b5b9dd3246cee9d5de2e3363c31a42655186d61b18d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "batteries_in_bin_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      37.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 20.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.5–20.5 s，机器人左二指夹爪在蓝色电池两侧合拢并抬起；电池离开橙色柜面，随后随夹爪移动，柜面原位已空。"
+     },
+     {
+      "t": 37.2,
+      "log_step": 349,
+      "text_zh": "推断：视频 34.5–37.2 s，左腕画面中电池随手下探至深色区域，视频约 37.2 s 电池离开夹爪并向下远离相机；该可见释放与参考成功视频 31–33 s 的下落外观一致。log step 349 记录该段释放后 inside=True，并保存 1158 步检查点；log step 351 核对文件确为该检查点，评分器对同一长度重放给 q_score=0.25。结合全片只搬一节、初始桶留地面的目标不计新增 q_score，判定首节已入桶；以视频约 37.2 s 可见下落为保守到达锚点，持物时可能已更早成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 18.5–34.5 s，左二指夹爪夹持柜上蓝色电池，搬至桶所在区域后下探并释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–16 s 底盘移动至柜前；视频 24–33 s 持电池移动和转向，底盘承载机器人及电池。"
+     }
+    ]
+   },
+   "batteries_in_bin_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 38.5,
+      "log_step": 351,
+      "text_zh": "观察：视频 0–38.5 s 只有柜上的一节电池被夹起、搬运和释放，机器人未到办公室取桌上两节电池；视频最后一秒停在首节释放后的视角。log step 351 的交付文件元数据为 placed battery.n.02_3，共 1158 步；没有第2节电池的取放片段。"
+     },
+     {
+      "t": 38.5,
+      "log_step": null,
+      "text_zh": "推断：本次评分器 q_score=0.25，结合只见一节电池离开来源位置，终态不足2节入桶；不能把日志中后续单独会话的办公室导航测试计入交付进度。"
+     }
+    ]
+   },
+   "batteries_in_bin_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 38.5,
+      "log_step": 351,
+      "text_zh": "观察：视频 0–38.5 s 只有柜上的一节电池被夹起、搬运和释放，机器人未到办公室取桌上两节电池；视频最后一秒停在首节释放后的视角。log step 351 的交付文件元数据为 placed battery.n.02_3，共 1158 步；没有第3节电池的取放片段。"
+     },
+     {
+      "t": 38.5,
+      "log_step": null,
+      "text_zh": "推断：本次评分器 q_score=0.25，结合只见一节电池离开来源位置，终态不足3节入桶；不能把日志中后续单独会话的办公室导航测试计入交付进度。"
+     }
+    ]
+   },
+   "bin_on_copy_room_floor": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG 确认黑色垃圾桶初始位于复印室地面；视频 0–38.5 s 机器人只抓取电池，未见夹取或抬走垃圾桶、将桶搬离房间的动作，故保留初始地面关系。桶底接触在相机中被遮挡。"
+     },
+     {
+      "t": 38.5,
+      "log_step": 371,
+      "text_zh": "推断：log step 371 对同一 1158 步检查点的重放给出桶包围盒中心高度约 0.230 m、竖直尺寸约 0.445 m，与地面位置一致；配合视频全片及首节释放后的末帧���没有桶离开地面的证据，判定该初始关系持续成立。该反馈仅作与交付相符的辅助证据。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.25,
+   "unit": "无量纲",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "batteries_in_bin_2",
+   "t": 38.5,
+   "log_step": 351,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 37.2–38.5 s 首节电池释放后画面停止，机器人尚未启程取第二节；log step 351 核对交付文件只含 placed battery.n.02_3 的 1158 步。log step 443 再次读取仍为该检查点，后续办公室路线与推门调试不在此视频内。"
+  },
+  "unmet": {
+   "batteries_in_bin_1": true,
+   "batteries_in_bin_2": false,
+   "batteries_in_bin_3": false,
+   "bin_on_copy_room_floor": true
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 38.5,
+    "log_step": 351,
+    "evidence_zh": "观察：视频 0–38.5 s 完成柜上首节电池的搬运后即结束，未包含去办公室取第二节的导航或抓取；log step 351 显示实际交付停在首节放置检查点。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 661,
+    "source_zh": "日志",
+    "evidence_zh": "推断：未继续第二节的原因可追溯到后续会话无法执行通往办公室的导航与门操作：log step 349 的脚本因 No traversable path 抛错；log step 661 的最后一次续跑中，底盘连续十次推门均停在相同位置，门关节仍为 1.197 rad，脚本最终抛出 Could not open office door。log step 443 核对交付仍是首节检查点；这些会话失败解释为何未形成后续交付动作，不作为交付视频中的碰撞或门操作现象。证据仅支持控制层面，不能确定更细子类。"
+   }
+  ],
+  "gap_zh": "无状态日志；腕部桶腔很暗，桶沿与桶底接触无法直接核实，首节在持物下降阶段首次满足容纳关系的准确时刻不明，视频约 37.2 s 使用可见释放下落作保守锚点，终态结合评分及对应交付检查点判定。后续会话虽显示办公室通路执行受阻，但交付不含这些动作，无法进一步区分接触方案、路径生成或跟踪原因。日志末尾没有最终总结，不能把调试结束视作完成声明。"
+ },
+ "summary_zh": "交付视频中机器人夹起柜上的一节电池，搬运并在视频约 37.2 s 释放入桶；垃圾桶留在复印室地面的初始目标得到保留，终态为 2/4 节点。交付停在首节放置检查点，第2、3节未开始；后续会话在办公室通路的导航与推门执行中受阻，未形成更长交付。无状态日志且桶腔较暗，首节首次入桶时刻及桶底接触主要依靠上下文、对应检查点和评分推断；本次 task_text 为目标同时成立即成功的旧规则，与 DAG 新增的全体离手静置窗口不同，此差异不改变只入桶一节的失败结论。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点标注（bin_1 约 37.2 s 达到、bin_2/3 未达、桶在地面、final=2/4、断点 batteries_in_bin_2 首步前/没尝试）与视频和 q_score=0.25 一致。唯一问题：根因“控制”完全建立在评分局之外的后续会话（办公室导航/推门失败）上，该文件自己也写明这些不是交付视频中的现象；交付里没有任何控制失败的证据，且规范禁止从“没尝试/缺交付”反推根因。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点（bin_1 约37.2 s 达到、bin_2/3 未达、桶在地面、final=2/4）、断点（batteries_in_bin_2 首步前/没尝试）与视频和 q_score=0.25 一致。第1轮提出的根因问题已被标注者以 03 文档与 FAIL-22（会话证据可至多用于根因，控制）反驳，该理由成立，不再重复。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:44:08Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-dispose-of-batteries-i00-privileged--8gxztfx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-dispose-of-batteries-i00-privileged--8gxztfx/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-dispose-of-batteries-i00-privileged--8gxztfx/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-dispose-of-batteries-i00-privileged--8gxztfx/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b105840f41c5d3542b0fe6fa6e26fd539b6cd72c55a93ac63229e38c3691dbe3",
+   "video_sha256": "eb2822bc7478dd91fec75b5b9dd3246cee9d5de2e3363c31a42655186d61b18d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-privileged--beluygb.json

@@ -0,0 +1,277 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-dispose-of-batteries-i00-privileged--beluygb",
+ "taskKey": "behavior-1k/dispose_of_batteries",
+ "dag_sha256": "cea03abeb83d4300f1dad71a9475fc6f23368cd2df986081f39fd4829402e636",
+ "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": 711,
+   "sim_breakdown": 0,
+   "goal": 0,
+   "settle_steps": 150,
+   "goal_first_step": -1,
+   "sim_steps": 861,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 725.4,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "video_replay_matches": 1,
+   "agent_sessions": 1,
+   "agent_resets": 6,
+   "agent_sim_steps": 0,
+   "agent_records": 1,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-dispose-of-batteries-i00-privileged--beluygb/replay.mp4",
+  "duration_s": 28.7,
+  "fps": 30.0,
+  "frames": 861,
+  "sha256": "5fba9efc6e12cc549a3bd63b95eecb7c449dd759b98929d06d5b2e6d40ff4636"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "batteries_in_bin_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.5,
+      "log_step": 88,
+      "text_zh": "观察：视频 5.0–8.5 s，机器人右夹爪接近柜台上的蓝色电池并从两侧合拢；视频 10.0–18.5 s，电池随右夹爪离开柜台并随机器人移动。此时只是抓取、搬运，尚未进入桶内。"
+     },
+     {
+      "t": 19.7,
+      "log_step": 88,
+      "text_zh": "观察：视频 19.5–19.8 s，右夹爪在裸露的条纹地面上方张开，蓝色电池向下落，周围没有垃圾桶口或桶壁；视频 20.0–28.67 s，电池作为蓝色小物体留在地面，未被再次抓起。"
+     },
+     {
+      "t": 28.67,
+      "log_step": 89,
+      "text_zh": "推断：全段只有这一次取放，电池从柜台经夹爪落至桶外地面，未见任何电池进入桶腔，故本计数节点从未成立；评分器 q_score=0.0 与最终无新增电池目标相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.5–19.5 s，机器人右二指夹爪夹住蓝色圆柱电池并搬运，随后张爪释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–4.0 s 机器人底盘向柜台移动；视频约 12.5–16.5 s，底盘支承持有电池的机器人移往投放位置。"
+     }
+    ]
+   },
+   "batteries_in_bin_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 28.67,
+      "log_step": 88,
+      "text_zh": "观察：视频 0.0–28.67 s 的评分轨迹始终在复印室，只对柜上的一节蓝色电池进行取放，最终该电池留在桶外地面；机器人没有前往办公室取另外两节电池。"
+     },
+     {
+      "t": 28.67,
+      "log_step": 89,
+      "text_zh": "推断：评分视频没有任何电池入桶，故至少2节入桶的条件从未成立；评分器 q_score=0.0 也排除了最终存在新增入桶目标。log step 88 的最终保存脚本只录制柜上这一节电池，不能把此前会话测试的取物记入本段。"
+     }
+    ]
+   },
+   "batteries_in_bin_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 28.67,
+      "log_step": 88,
+      "text_zh": "观察：视频 0.0–28.67 s 的评分轨迹始终在复印室，只对柜上的一节蓝色电池进行取放，最终该电池留在桶外地面；机器人没有前往办公室取另外两节电池。"
+     },
+     {
+      "t": 28.67,
+      "log_step": 89,
+      "text_zh": "推断：评分视频没有任何电池入桶，故至少3节入桶的条件从未成立；评分器 q_score=0.0 也排除了最终存在新增入桶目标。log step 88 的最终保存脚本只录制柜上这一节电池，不能把此前会话测试的取物记入本段。"
+     }
+    ]
+   },
+   "bin_on_copy_room_floor": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–3.75 s 的头部及腕部画面可见机器人、橙色矮柜、墙面和深色地面，无法可靠辨认黑色垃圾桶或桶底接触；全段机器人只抓取、搬运电池，未见主动抓握或举起垃圾桶。"
+     },
+     {
+      "t": 28.67,
+      "log_step": 89,
+      "text_zh": "推断：task/task_dag.json 的 bin_on_copy_room_floor 节点说明该关系开局已成立；视频全段机器人只搬运电池，未见举桶、把桶放上柜台或带离复印室的动作。log step 89 的最终保存脚本反馈给出桶位置 [10.438,-9.640,0.150]，其高度与桶仍受地面支承相容，据此推断桶留地面从开局保持至结束。画面不能直接确认桶底接触及细小瞬时接触变化；本节点按 ontop 判定，不另要求桶直立或留在原坐标。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "推断：视频 1.0–3.75 s 的近身区域中桶不可辨；log step 89 的最终保存脚本反馈显示桶相对脚本目标坐标有水平偏移，但桶移位的时刻和原因未知，不能确定机器人是否直接触桶及接触部位、方式，未见主动抓握搬桶。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "无量纲",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "batteries_in_bin_1",
+   "t": 19.6,
+   "log_step": 88,
+   "where": "操作中",
+   "evidence_zh": "观察：机器人在视频 19.6 s 左右张开右夹爪，把已夹持搬运的第一节电池释放到没有桶口的裸露地面上；视频 20.0–28.67 s 电池留在该地面上，机器人没有补救。log step 88 是最终单电池录制，log step 89 确认保存 711 行动作，与评分器 n_actions=711 一致；此前办公室测试不属于这段评分轨迹。"
+  },
+  "unmet": {
+   "batteries_in_bin_1": false,
+   "batteries_in_bin_2": false,
+   "batteries_in_bin_3": false,
+   "bin_on_copy_room_floor": true
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 19.6,
+    "log_step": 88,
+    "evidence_zh": "观察：视频 19.5 s 电池仍稳定夹在右爪内，视频约 19.6–19.8 s 夹爪张开后电池直接落向条纹地面，释放处看不到垃圾桶的容器边界；视频 28.67 s 电池仍在地面，未曾显示进入桶腔。log step 88 的脚本明确在这一段执行 open_gripper，是在桶外计划释放。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "没有状态日志；视频 0.0–3.75 s 及释放前后不能可靠辨认黑桶和桶底接触，垃圾桶实际接触保持未知，留地面由 DAG 所述初态、全段未见举桶动作及 log step 89 桶 z=0.150 推断。log step 88 的脚本使用固定投放目标 (9.6746,-9.7864)，投放前后未重读桶位；log step 89 的坐标是张爪、等待和撤臂均结束后的读数，桶距脚本目标约0.78米，电池距该目标约0.08米。这只能证实脚本结束时的位置关系，不能确定桶在松爪时的位置、何时移位或是否由底盘/手臂碰撞、松手后碰撞造成；因此不把原因写成过期位置判断，也不足以确定反馈控制根因，根因层留空。不把此前会话测试中的跌倒或抓取结果用于本段节点进度。"
+ },
+ "summary_zh": "评分轨迹只抓取并搬运柜上的一节电池，在视频约 19.6 s 于桶外松爪，电池落地后未补救，三项入桶节点均未达成；垃圾桶留地面依据 DAG 所述初态、全段未见举桶动作及脚本结束后的桶高度推断，最终为1/4。脚本使用固定投放坐标，结束后桶位置与该目标水平相差约0.78米、电池相差约0.08米，但桶移位时刻与原因不明，不能确定感知或反馈控制根因，故根因层留空；缺少状态日志、桶底接触不可辨且关键因果未能确定，置信度降至6。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点进度（bin_1/2/3 未达成、桶留地面 true、final 1/4，与 q_score=0 及 base 规则一致）、断点 batteries_in_bin_1/操作中、位姿不准现象均有视频与日志支持。问题在根因：把‘感知’归因于桶位置过期，但日志只给出脚本结束后的桶位置，桶何时、因何移位无证据，电池落点反而紧贴脚本假定的桶心，不是‘估计错误’的证据。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（三项入桶未达成，桶留地面为推断成立，final 1/4 与 q_score=0 相符）、断点 batteries_in_bin_1/操作中、位姿不准现象均有视频和日志支持；根因层留空并有 gap_zh 说明，符合证据，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:44:30Z",
+  "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-dispose-of-batteries-i00-privileged--beluygb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-dispose-of-batteries-i00-privileged--beluygb/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-dispose-of-batteries-i00-privileged--beluygb/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-dispose-of-batteries-i00-privileged--beluygb/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "753b60255a93cc51000742fae6dcbdd2202ad1e05bc8241a9bae5a7c318b3a46",
+   "video_sha256": "5fba9efc6e12cc549a3bd63b95eecb7c449dd759b98929d06d5b2e6d40ff4636",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-privileged--jyveh5d.json

@@ -0,0 +1,262 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-dispose-of-batteries-i00-privileged--jyveh5d",
+ "taskKey": "behavior-1k/dispose_of_batteries",
+ "dag_sha256": "cea03abeb83d4300f1dad71a9475fc6f23368cd2df986081f39fd4829402e636",
+ "outcome": {
+  "success": 0,
+  "reward": 0.25,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 981,
+   "sim_steps": 981,
+   "fallen": 1,
+   "final_reward": 0.25,
+   "q_score": 0.25,
+   "replay_wall_s": 892.7,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 43,
+   "agent_resets": 0,
+   "agent_sim_steps": 34081,
+   "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-dispose-of-batteries-i00-privileged--jyveh5d/replay.mp4",
+  "duration_s": 32.7,
+  "fps": 30.0,
+  "frames": 981,
+  "sha256": "b457bd2dbe1350914176b652fa48205231b681581791ae665f58eaf4e11b46d3"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "batteries_in_bin_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      27.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 13.5,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0–9.5 s 可见蓝色电池位于橙色柜面；视频 13.5–16.5 s 右夹爪从两侧夹住电池，电池离开柜面并随右腕移动。"
+     },
+     {
+      "t": 27.5,
+      "log_step": null,
+      "text_zh": "观察：视频 27.2 s 电池仍夹在右爪间，视频 27.3–27.7 s 右爪松开，蓝色电池向黑色桶腔内下落并缩小，视频 28.0–29.0 s 仍可见桶内蓝点；其外观与参考视频 32.0–35.0 s 的入桶过程一致。入桶时刻约为视频 27.5 s，误差约0.2秒。"
+     },
+     {
+      "t": 32.6,
+      "log_step": 712,
+      "text_zh": "推断：本次视频全程仅搬运这一节电池，入桶后未见再取出；评分器 q_score=0.25 与新增一节电池入桶相符，终态至少1节入桶。log step 712 保存的981行动记录及 fallen=True 与本次981帧重放一致；日志对另外两节的“已投放”不作为进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 13.5–27.2 s 机器人右二指夹爪从两侧夹住柜上的蓝色电池并搬运，视频 27.3 s 起松开，使电池进入垃圾桶；左爪未参与这一搬运。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–6 s 轮式底盘驱动机器人接近柜面；视频 17–23 s 持有首节电池时继续移动、转向垃圾桶，随后机身严重倾斜。"
+     }
+    ]
+   },
+   "batteries_in_bin_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：视频 27.5 s 仅有首节电池落入桶中；此后至视频 32.6 s，机器人停留在同一室内并保持侧倾，双臂继续运动但未去其他位置取电池，也未出现第二次入桶。"
+     },
+     {
+      "t": 32.6,
+      "log_step": 712,
+      "text_zh": "推断：评分器 q_score=0.25 只允许一个新增目标字面量成立，且画面已确认首节入桶；因此至少2节入桶在终态为假。log step 712 的另两节抓取返回 None，叙述中的“已投放”没有相应视频动作。"
+     }
+    ]
+   },
+   "batteries_in_bin_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 32.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0–32.6 s 只出现柜上一节电池的夹取、搬运与释放，尾段未出现第三节电池的取放。"
+     },
+     {
+      "t": 32.6,
+      "log_step": null,
+      "text_zh": "推断：本次评分器 q_score=0.25、可见仅一次入桶，共同排除至少3节电池入桶；终态为假。"
+     }
+    ]
+   },
+   "bin_on_copy_room_floor": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 黑色开口垃圾桶位于橙色矮柜旁的复印室地面上；视频 6.0 s 仍在柜旁，机器人没有夹取垃圾桶。"
+     },
+     {
+      "t": 28.0,
+      "log_step": null,
+      "text_zh": "观察：视频 27.5–29.0 s 右腕画面可见黑色桶体下沿及其直接下方的地面，桶仍在原房间地面上；视频 32.6 s 桶与柜面的相对位置未改变。"
+     },
+     {
+      "t": 32.6,
+      "log_step": null,
+      "text_zh": "推断：视频全程没有垃圾桶离地或跨房间搬运过程，局部遮挡期间前后位置连续，故该初始目标关系保持至结束。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.25,
+   "unit": "无量纲",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "batteries_in_bin_2",
+   "t": 29.0,
+   "log_step": 712,
+   "where": "转场",
+   "evidence_zh": "观察：机器人在视频 20–25 s 持首节电池移动时机身大幅倾倒，头部视野转向墙顶；视频 27.5 s 首节电池仍成功落入垃圾桶，但视频 29.0–32.6 s 机身持续侧倾、没有转场取下一节。log step 712 保存的交付记录为981行动，终态 success=False、fallen=True，与评分器及本次视频一致。推断：首节的容纳关系后来已完成，剩余未修复的失败是持续失衡使机器人无法转场取第二节，因此断点归第2个电池入桶；视频 29.0 s 是首节释放后失衡仍阻断转场的导航锚点。"
+  },
+  "unmet": {
+   "batteries_in_bin_1": true,
+   "batteries_in_bin_2": false,
+   "batteries_in_bin_3": false,
+   "bin_on_copy_room_floor": true
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 22.5,
+    "log_step": 712,
+    "evidence_zh": "观察：视频 20–25 s 机器人持首节电池移动时画面连续大幅滚转，随后头部视野固定朝向墙面与天花板交角；视频 27.5 s 首节释放后直到视频 32.6 s 仍未恢复正常机身姿态。log step 712 的交付终态与评分器均报告 fallen=True；这次持续失衡阻断随后去取第二节电池。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 22.5,
+    "log_step": 712,
+    "source_zh": "视频 / 日志 / 评分器字段",
+    "evidence_zh": "推断：视频 17–25 s 中，机器人能够保持右爪对电池的夹持，却在持物行驶及转向过程中失去底盘姿态稳定性，失衡后仍继续执行右臂投放和回撤，视频 29.0–32.6 s 未恢复支撑姿态。log step 712 的981行动交付记录最终 fallen=True，表明本次动作执行未维持或恢复机身稳定，导致第二节电池的转场无法开展；证据只支持归于控制，无法确定更细的控制子类。"
+   }
+  ],
+  "gap_zh": "本任务没有状态日志。视频能确认首节进入桶腔，但桶内较暗，入桶时刻仅能定位至视频 27.5 s 左右；桶底接触在部分帧被遮挡，依据前后连续画面判断。摄像机未显示底盘与环境的全部接触，无法确定失衡由哪一处碰撞、承载布局或跟踪误差引起，故根因停在控制。log step 712 之后为独立测试，末次发言 log step 807 仅称启动往返测试，不能用于补充本次交付的第二、第三节电池进度；参考视频仅用来辨认入桶外观。"
+ },
+ "summary_zh": "本次重放保留了垃圾桶在复印室地面的初始关系，并在视频约27.5 s 将柜上一节电池放入桶内，终态为2/4节点。机器人在首节搬运后段倾倒，虽然随后完成首节入桶，视频29.0–32.6 s 仍持续失衡，无法转场取第二节，断点归第2个电池入桶；评分器报告 fallen=1、q_score=0.25。缺少状态日志及完整底盘接触视角，具体致倾机理不能细分，日志中另外两节“已投放”的文字不计为进度。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "首节电池约27.5 s入桶、桶始终在地面、其余两节未动，与q_score=0.25一致；断点归第2节、现象平衡、根因控制均有帧支持，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:13:22Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-dispose-of-batteries-i00-privileged--jyveh5d/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-dispose-of-batteries-i00-privileged--jyveh5d/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "415bc4e0ddeaa65f7d42651d048fa0cf3dfcad431f31e5312a52526a6a9d70c0",
+   "video_sha256": "b457bd2dbe1350914176b652fa48205231b681581791ae665f58eaf4e11b46d3",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-privileged--kwmjxee.json

@@ -0,0 +1,277 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-dispose-of-batteries-i00-privileged--kwmjxee",
+ "taskKey": "behavior-1k/dispose_of_batteries",
+ "dag_sha256": "cea03abeb83d4300f1dad71a9475fc6f23368cd2df986081f39fd4829402e636",
+ "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": 9136,
+   "sim_steps": 9136,
+   "fallen": 0,
+   "final_reward": 1.0,
+   "q_score": 1.0,
+   "replay_wall_s": 2031.4,
+   "replay_timeout_s": 5768.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 5,
+   "agent_resets": 2,
+   "agent_sim_steps": 43788,
+   "agent_records": 1,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 9.906,
+   "peak_memory_gb": 11.84,
+   "peak_processes": 32,
+   "peak_disk_gb": 1.532,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-dispose-of-batteries-i00-privileged--kwmjxee/replay.mp4",
+  "duration_s": 304.533,
+  "fps": 30.0,
+  "frames": 9136,
+  "sha256": "570f6ad869054e39d04babf005448685974aa42075713aab0a25d7778a64d3cf"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "batteries_in_bin_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      32.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 19.0,
+      "log_step": null,
+      "text_zh": "观察：视频 17.0–20.0 s，机器人左二指夹爪合拢夹住橙色矮柜上的蓝色电池并抬走；原柜面上的电池随夹爪离开，腕部画面持续可见被夹持的电池。"
+     },
+     {
+      "t": 32.5,
+      "log_step": null,
+      "text_zh": "观察：视频 31.5–33.5 s，机器人左爪在黑色垃圾桶口上方松开，蓝色电池从腕部近处下落并在深色桶腔内变小；视频 32.5 s 可见桶内蓝色电池，首次入桶时间约为视频 32.5 s，误差约0.5秒。"
+     },
+     {
+      "t": 304.5,
+      "log_step": 245,
+      "text_zh": "推断：后续视频未见机器人取出这节电池，视频 125.5 s、304.5 s 均向同一桶添加电池；评分器字段 success=1、q_score=1.0，且 log step 238、245 对最终交付文件的两次独立重放均报告 success=true、sim_steps=9136、终态哈希一致，因此第1个电池入桶关系保持至结束。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 17.0–32.5 s，机器人左二指夹爪夹持柜上蓝色电池，抬起、运到桶口后张开释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 23.0–29.0 s，轮式底盘承载机器人及左爪所持电池，从柜前退开并横移至垃圾桶旁。"
+     }
+    ]
+   },
+   "batteries_in_bin_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      125.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 84.0,
+      "log_step": null,
+      "text_zh": "观察：视频 76.0–85.0 s，机器人左爪在办公桌灰色桌垫上的一节电池处合拢并抬起；蓝色电池随左爪离开桌面，腕部画面显示它被两指夹住，机器人随后持物离开办公室。"
+     },
+     {
+      "t": 125.5,
+      "log_step": null,
+      "text_zh": "观察：视频 121.0–127.5 s，机器人左爪将所持电池带回原黑桶上方并松开；腕部近处的蓝色电池下落后缩小到桶腔深处，第二次入桶约在视频 125.5 s，误差约0.5秒。"
+     },
+     {
+      "t": 304.5,
+      "log_step": 245,
+      "text_zh": "推断：视频 130.0–300.0 s 的后续取物、搬运过程未见机器人从桶中取物，最后只添加剩余一节；最终评分器 success=1、q_score=1.0，log step 238、245 的交付文件重放均成功，支持桶内至少两节电池的关系保持到视频结束。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 78.0–125.5 s，机器人左二指夹爪夹住办公桌上的电池并搬运，在复印室桶口上方释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 85.0–120.0 s，轮式底盘承载机器人及左爪所持电池驶离办公室，沿走廊返回复印室并移至垃圾桶旁。"
+     }
+    ]
+   },
+   "batteries_in_bin_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      304.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 177.0,
+      "log_step": null,
+      "text_zh": "观察：视频 170.0–185.0 s，机器人左夹爪在办公桌前灰色椅子的扶手附近顶推并尝试合拢，随后撤开；视频 195.0–210.0 s，机器人缓慢向桌前移动并调整左臂接近剩余电池。"
+     },
+     {
+      "t": 225.0,
+      "log_step": null,
+      "text_zh": "观察：视频 216.0–228.0 s，机器人左二指夹爪在桌上剩余蓝色电池处合拢，随后将它抬离桌面；腕部画面可见电池随夹爪移动，原桌面位置不再留有该电池，机器人持物返回复印室。"
+     },
+     {
+      "t": 304.5,
+      "log_step": 245,
+      "text_zh": "观察：视频 301.0–304.3 s，机器人左爪持最后一节电池停在原黑桶口上方；视频 304.43–304.50 s 的尾帧中，蓝色电池向深色桶腔下降，在腕部画面中明显缩小。log step 238、245 对最终交付的9136行动文件均报告 success=true、q_score=1.0、fallen=false，且与评分器记录一致。"
+     },
+     {
+      "t": 304.5,
+      "log_step": null,
+      "text_zh": "推断：桶口和桶腔较暗，无法只凭尾帧精确判定电池包围盒中心跨越内部容积边界；结合视频 304.43–304.50 s 的下降变化与本次交付重放成功，将第3个电池入桶定位为视频约 304.5 s，最终为真。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 170.0–180.0 s，机器人左夹爪侧面顶推桌前灰色椅子的扶手，以便接近最后一节电池；未将尝试合拢等同于抓住椅子。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 220.0–304.5 s，机器人左二指夹爪夹住最后一节蓝色电池，将其抬离桌面、搬到复印室黑桶上方，尾帧中电池下降入桶。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 195.0–210.0 s，轮式底盘缓慢调整桌前位置；视频 230.0–295.0 s，底盘承载机器人及左爪所持电池驶经走廊返回复印室并靠近垃圾桶。"
+     }
+    ]
+   },
+   "bin_on_copy_room_floor": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，黑色垃圾桶位于橙色矮柜旁的复印室地面；视频 32.5 s、125.5 s、304.5 s，机器人均在这一原位黑桶上方投放电池，未见夹持或搬动垃圾桶。"
+     },
+     {
+      "t": 304.5,
+      "log_step": 245,
+      "text_zh": "推断：机器人仅搬运电池，未见桶被拿离地面或移出复印室；结合初态位置、各次返回画面及评分器 success=1，以及 log step 238、245 对交付文件的成功重放，垃圾桶在目标地面上的关系从视频 0.0 s 保持至结束。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 1.0,
+   "unit": "无量纲",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人用左夹爪将柜上1节和办公桌上2节电池分三次送入原位黑桶，约在视频 32.5 s、125.5 s、304.5 s 达到三个计数节点；垃圾桶留在复印室地面的节点自视频 0.0 s 保持，最终4/4，评分成功。规则版本差异：本次运行 task_text 规定目标关系同时成立即结束，未要求当前 DAG 描述中的全体离手、静置30控制步窗口，故按本次执行时的旧规则接受成功。无状态日志且桶腔昏暗，末次入桶边界由尾帧下降变化与交付文件两次成功重放联合确定，无法独立复核当前版静置窗口。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行；三个入桶节点时间（视频约 32.5 s、125.5 s、304.5 s）与帧一致，桶节点自 0 s 保持，接触标签合理，校验通过。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:15:43Z",
+  "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-dispose-of-batteries-i00-privileged--kwmjxee/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-dispose-of-batteries-i00-privileged--kwmjxee/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "feba666fa1c36b368a5f2d8f26ebe5a6d16c150b596a2b611fd0e2b912fa41f6",
+   "video_sha256": "570f6ad869054e39d04babf005448685974aa42075713aab0a25d7778a64d3cf",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}