diff --git a/phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-privileged--2rb9g7n.json b/phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-privileged--2rb9g7n.json new file mode 100644 index 0000000000000000000000000000000000000000..2c64ef735ba9492ad574ea2de0e488e1ad4e2983 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-privileged--3g32rxu.json b/phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-privileged--3g32rxu.json new file mode 100644 index 0000000000000000000000000000000000000000..7578e52b61111d4468e7cf1a897f8d837066f428 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-privileged--42vutws.json b/phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-privileged--42vutws.json new file mode 100644 index 0000000000000000000000000000000000000000..256ff2fec44027d7032e3058a6cfc5777f0d2fde --- /dev/null +++ b/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 各出现一次劈半，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" + } + } +} diff --git a/phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-privileged--6uivktn.json b/phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-privileged--6uivktn.json new file mode 100644 index 0000000000000000000000000000000000000000..2d0cb9c941559c265184263d235e0a9743c92337 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-privileged--isyjxcs.json b/phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-privileged--isyjxcs.json new file mode 100644 index 0000000000000000000000000000000000000000..ee3b5ac77025a71f73c1aa31477e2c6874763bd8 --- /dev/null +++ b/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：评分重放最终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" + } + } +} diff --git a/phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-privileged--zrknwzw.json b/phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-privileged--zrknwzw.json new file mode 100644 index 0000000000000000000000000000000000000000..c85b6a43e09097df19fc7eb7df7198e4c7478be3 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-standard--yfdkxqe.json b/phase2/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-standard--yfdkxqe.json new file mode 100644 index 0000000000000000000000000000000000000000..6980b1bff908f36b4610633c75a4035bc9491fdb --- /dev/null +++ b/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，未把持斧柄另算一次抓握。" + }, + { + "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计，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" + } + } +} diff --git a/phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-privileged--nmizqvc.json b/phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-privileged--nmizqvc.json new file mode 100644 index 0000000000000000000000000000000000000000..f728f147d673b716c977bf869d8f8d19c2222429 --- /dev/null +++ b/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。故初始关闭状态持续到片尾；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" + } + } +} diff --git a/phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-privileged--orkzqns.json b/phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-privileged--orkzqns.json new file mode 100644 index 0000000000000000000000000000000000000000..ebe1a4f0b7b206550cd4d844bb8694600878530c --- /dev/null +++ b/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。该动作只是取盒准备，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，末段关闭条件依操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" + } + } +} diff --git a/phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-privileged--stlncr2.json b/phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-privileged--stlncr2.json new file mode 100644 index 0000000000000000000000000000000000000000..0082b02be258cf1f592ac8f0769c0211a6a9c0e0 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-privileged--w5fmnvm.json b/phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-privileged--w5fmnvm.json new file mode 100644 index 0000000000000000000000000000000000000000..453c508004f1005d83ff78b2465a436b1165459b --- /dev/null +++ b/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；但证据中对视频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" + } + } +} diff --git a/phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-privileged--zsgcur8.json b/phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-privileged--zsgcur8.json new file mode 100644 index 0000000000000000000000000000000000000000..edcbc600150dbc1d90d3bf6bb63b04e6a1436c7e --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-standard--2x5t9ht.json b/phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-standard--2x5t9ht.json new file mode 100644 index 0000000000000000000000000000000000000000..8902310ab3d723ea30381a784598b47467dd916c --- /dev/null +++ b/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。这是到位前释放，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" + } + } +} diff --git a/phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-standard--8umdufi.json b/phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-standard--8umdufi.json new file mode 100644 index 0000000000000000000000000000000000000000..4f263ddf5186531b4355d3e73fe85bdda213ff1e --- /dev/null +++ b/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，且评分器 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" + } + } +} diff --git a/phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-standard--ibjvzub.json b/phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-standard--ibjvzub.json new file mode 100644 index 0000000000000000000000000000000000000000..d144cb527b7100f3e8ebf098b8c6944c643bbdc8 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-standard--wpmp2ge.json b/phase2/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-standard--wpmp2ge.json new file mode 100644 index 0000000000000000000000000000000000000000..da644012195091784c844e20f21eb48366848cd4 --- /dev/null +++ b/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 后续查询的桌面点呈明显高度梯度；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" + } + } +} diff --git a/phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-privileged--gffkbnx.json b/phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-privileged--gffkbnx.json new file mode 100644 index 0000000000000000000000000000000000000000..063cdfb23887ddbfc0f7417089de4bab4a8219df --- /dev/null +++ b/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上，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" + } + } +} diff --git a/phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-privileged--kfrywzn.json b/phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-privileged--kfrywzn.json new file mode 100644 index 0000000000000000000000000000000000000000..1c708a790cdb4865f47d54e942ccc80f29bb4b57 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-privileged--pnfrtth.json b/phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-privileged--pnfrtth.json new file mode 100644 index 0000000000000000000000000000000000000000..36f9febbd07e35a9ffee44397202b282f5881432 --- /dev/null +++ b/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，结合末次左臂放入过程，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" + } + } +} diff --git a/phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-privileged--stzj8vj.json b/phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-privileged--stzj8vj.json new file mode 100644 index 0000000000000000000000000000000000000000..3e5d332cd9b9dcabde440bc2e7bd2194cdebd11e --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-privileged--vgcmbq8.json b/phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-privileged--vgcmbq8.json new file mode 100644 index 0000000000000000000000000000000000000000..9a1f82508407173a9bd4450e918078ffc764b511 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-standard--cbc6pcf.json b/phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-standard--cbc6pcf.json new file mode 100644 index 0000000000000000000000000000000000000000..3d24ee8220bcb971062e5b40f666b52fd0d99365 --- /dev/null +++ b/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，替代方案可行性记为未知。" + } + ], + "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" + } + } +} diff --git a/phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-standard--ja4b3hz.json b/phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-standard--ja4b3hz.json new file mode 100644 index 0000000000000000000000000000000000000000..490c0437f993c4009a5f9c2d0a572fba6b201c49 --- /dev/null +++ b/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": "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" + } + } +} diff --git a/phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-standard--np46opx.json b/phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-standard--np46opx.json new file mode 100644 index 0000000000000000000000000000000000000000..c924fe3c851feea0830c3006516c5a476f3c9df7 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-standard--oexuybs.json b/phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-standard--oexuybs.json new file mode 100644 index 0000000000000000000000000000000000000000..ae501952323c35f8041335c5f596dcdc48f45d72 --- /dev/null +++ b/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": "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" + } + } +} diff --git a/phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-standard--pwwpoir.json b/phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-standard--pwwpoir.json new file mode 100644 index 0000000000000000000000000000000000000000..c648f6d70434a0aaafa2979a5f9cee0249ee2edb --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-standard--z44dbrh.json b/phase2/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-standard--z44dbrh.json new file mode 100644 index 0000000000000000000000000000000000000000..b1064eefddea965d2f4bf79f2a215737ad6cf407 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-privileged--75ardgd.json b/phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-privileged--75ardgd.json new file mode 100644 index 0000000000000000000000000000000000000000..9219ec6f8ebd4c31de33150235bad97e58d11e3f --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-privileged--gg6qfpc.json b/phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-privileged--gg6qfpc.json new file mode 100644 index 0000000000000000000000000000000000000000..ded258fd734b836d11e63785263d11fcae11f640 --- /dev/null +++ b/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_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" + } + } +} diff --git a/phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-privileged--kb2jmgc.json b/phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-privileged--kb2jmgc.json new file mode 100644 index 0000000000000000000000000000000000000000..2b43020760f41bcd9427563b675fb6aedb096ca1 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-privileged--x7igxvk.json b/phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-privileged--x7igxvk.json new file mode 100644 index 0000000000000000000000000000000000000000..927aac025013d15cf91bc1b9cf254c16e8881a34 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-standard--filivmn.json b/phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-standard--filivmn.json new file mode 100644 index 0000000000000000000000000000000000000000..7184bbb0d4e8ccc712bd6fac33f36efeee166bc8 --- /dev/null +++ b/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 的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" + } + } +} diff --git a/phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-standard--pvuunxd.json b/phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-standard--pvuunxd.json new file mode 100644 index 0000000000000000000000000000000000000000..4051fd73368dacf8d87767200f42a1aa4c985f5e --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-standard--pw2mxzf.json b/phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-standard--pw2mxzf.json new file mode 100644 index 0000000000000000000000000000000000000000..c40ebcdd7eb91370b7e3ecc65ca17ab609c4a978 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-standard--ram5pdm.json b/phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-standard--ram5pdm.json new file mode 100644 index 0000000000000000000000000000000000000000..82db52801f2196ac647ac97f7a429a82d3607aa9 --- /dev/null +++ b/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，因此终态熟培根数为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" + } + } +} diff --git a/phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-standard--vngydgn.json b/phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-standard--vngydgn.json new file mode 100644 index 0000000000000000000000000000000000000000..bce885e16f70811b28e61bce0d12776bf82904ec --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-standard--vz6k924.json b/phase2/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-standard--vz6k924.json new file mode 100644 index 0000000000000000000000000000000000000000..66890613bdc879fb1e22069249d6ddd4a5fbc5dd --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/cook_broccolini/trajectories/behavior-cook-broccolini-i00-privileged--ash5xdc.json b/phase2/behavior-1k/cook_broccolini/trajectories/behavior-cook-broccolini-i00-privileged--ash5xdc.json new file mode 100644 index 0000000000000000000000000000000000000000..4ce0c3f6c739dd50f79122396dfd38e2640544d0 --- /dev/null +++ b/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”。视频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" + } + } +} diff --git a/phase2/behavior-1k/cook_broccolini/trajectories/behavior-cook-broccolini-i00-privileged--fgmnxlx.json b/phase2/behavior-1k/cook_broccolini/trajectories/behavior-cook-broccolini-i00-privileged--fgmnxlx.json new file mode 100644 index 0000000000000000000000000000000000000000..7f7c90869d066699d9b07572082467723a03e365 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/cook_broccolini/trajectories/behavior-cook-broccolini-i00-privileged--ljkepmf.json b/phase2/behavior-1k/cook_broccolini/trajectories/behavior-cook-broccolini-i00-privileged--ljkepmf.json new file mode 100644 index 0000000000000000000000000000000000000000..432cfe9ade29e6460e59980f63c9ae990e2f0b70 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/cook_broccolini/trajectories/behavior-cook-broccolini-i00-privileged--spepmaf.json b/phase2/behavior-1k/cook_broccolini/trajectories/behavior-cook-broccolini-i00-privileged--spepmaf.json new file mode 100644 index 0000000000000000000000000000000000000000..a244ade83391001fb4073f8937e368208dd1f6cf --- /dev/null +++ b/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_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" + } + } +} diff --git a/phase2/behavior-1k/cook_broccolini/trajectories/behavior-cook-broccolini-i00-privileged--tqwkkvs.json b/phase2/behavior-1k/cook_broccolini/trajectories/behavior-cook-broccolini-i00-privileged--tqwkkvs.json new file mode 100644 index 0000000000000000000000000000000000000000..812ce5c1ed7469a687f3d395d287a14dc4c905d2 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/cook_broccolini/trajectories/behavior-cook-broccolini-i00-standard--8l3ychy.json b/phase2/behavior-1k/cook_broccolini/trajectories/behavior-cook-broccolini-i00-standard--8l3ychy.json new file mode 100644 index 0000000000000000000000000000000000000000..768eeace9529f0e4963f2d21230f4578a653bb8d --- /dev/null +++ b/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_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" + } + } +} diff --git a/phase2/behavior-1k/cook_broccolini/trajectories/behavior-cook-broccolini-i00-standard--ebjfshv.json b/phase2/behavior-1k/cook_broccolini/trajectories/behavior-cook-broccolini-i00-standard--ebjfshv.json new file mode 100644 index 0000000000000000000000000000000000000000..73e3a250be09015ec49cd5d6ac6dc3b480a5cea9 --- /dev/null +++ b/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，实际食材类别和取料先后顺序均未确认；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": 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"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" + } + } +} diff --git a/phase2/behavior-1k/cook_broccolini/trajectories/behavior-cook-broccolini-i00-standard--gkbgkal.json b/phase2/behavior-1k/cook_broccolini/trajectories/behavior-cook-broccolini-i00-standard--gkbgkal.json new file mode 100644 index 0000000000000000000000000000000000000000..74e9a14e08637c18b9fda11f9b0809dd0c0dab4f --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/cook_broccolini/trajectories/behavior-cook-broccolini-i00-standard--mgm5hqj.json b/phase2/behavior-1k/cook_broccolini/trajectories/behavior-cook-broccolini-i00-standard--mgm5hqj.json new file mode 100644 index 0000000000000000000000000000000000000000..0ec2dd6cb5729db74d069c9cd6072d505810d70a --- /dev/null +++ b/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。" + } + ] + }, + "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" + } + } +} diff --git a/phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-privileged--8gxztfx.json b/phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-privileged--8gxztfx.json new file mode 100644 index 0000000000000000000000000000000000000000..14b0f1bcc0190db4e26457c3538a85284e1ace84 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-privileged--beluygb.json b/phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-privileged--beluygb.json new file mode 100644 index 0000000000000000000000000000000000000000..9088bc14c4fda809dee2d1e704a03a5f85f7dda7 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-privileged--jyveh5d.json b/phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-privileged--jyveh5d.json new file mode 100644 index 0000000000000000000000000000000000000000..b90eef5496962ee943623caabe4468620c0cf402 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-privileged--kwmjxee.json b/phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-privileged--kwmjxee.json new file mode 100644 index 0000000000000000000000000000000000000000..a0abdb56095e1f17ba8399f0ebc1c78d482fddf5 --- /dev/null +++ b/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" + } + } +} diff --git a/phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-privileged--rrqgxsy.json b/phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-privileged--rrqgxsy.json new file mode 100644 index 0000000000000000000000000000000000000000..64c9a590f818655ba55b2b33aff75be7c4402ad5 --- /dev/null +++ b/phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-privileged--rrqgxsy.json @@ -0,0 +1,247 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-dispose-of-batteries-i00-privileged--rrqgxsy", + "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": 475, + "sim_steps": 475, + "fallen": 1, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 787.6, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 8, + "agent_resets": 14, + "agent_sim_steps": 3686, + "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-dispose-of-batteries-i00-privileged--rrqgxsy/replay.mp4", + "duration_s": 15.833, + "fps": 30.0, + "frames": 475, + "sha256": "ba3e34436ffcb1eb3dcb7102ee24d109574f5c64155114ab9b92e1d83907c698" + }, + "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": 0, + "log_step": null, + "text_zh": "观察：视频0.0 s至1.0 s机器人仍在橙色矮柜旁，腕部画面未见持有蓝色电池；视频1.4 s起视野明显仰向天花板，随后持续倾斜。" + }, + { + "t": 15.8, + "log_step": 274, + "text_zh": "观察：检查视频0.0–15.8 s及最后一秒，未见电池离开原支承面并进入垃圾桶，腕部画面也没有成功参考视频30.0 s、124.0 s、302.0 s所见的近处蓝色圆柱电池；log step 274核对最终交付文件为475行，与评分器n_actions=475一致。" + }, + { + "t": 15.8, + "log_step": null, + "text_zh": "推断：结合整段视频没有可见搬运及评分器q_score=0.0，终态没有新满足的电池入桶关系，第1个电池入桶为false；这不是仅以零分反推未尝试。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频约0.8–1.4 s机器人空手移动，柜体和门框在各相机中位移，继而整机视野倾倒；轮式底盘承担前往取电池的转场，未见夹爪夹住电池。" + } + ] + }, + "batteries_in_bin_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 15.8, + "log_step": null, + "text_zh": "观察：视频0.0–15.8 s未见两节电池的抓取、搬运或入桶；视频14.8–15.8 s各视图保持倾斜，无后续放置。" + }, + { + "t": 15.8, + "log_step": null, + "text_zh": "推断：评分器q_score=0.0不容许终态新满足两节电池入桶关系，结合全程无可见入桶动作，本节点未达到且final=false；垃圾桶在初态已有的地面关系不贡献该分数。" + } + ] + }, + "batteries_in_bin_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 15.8, + "log_step": null, + "text_zh": "观察：视频0.0–15.8 s没有三节电池移入桶内的过程，机器人在视频约1.4 s开始持续倾倒，末帧仍未恢复。" + }, + { + "t": 15.8, + "log_step": null, + "text_zh": "推断：评分器q_score=0.0和success=0与视频无入桶动作一致，三节电池入桶从未达到，final=false。" + } + ] + }, + "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与成功参考视频0.0 s呈相同的复印室初始布局，橙色矮柜旁下方可见黑色桶体轮廓；DAG的初态说明此桶已在复印室地面上。" + }, + { + "t": 15.8, + "log_step": null, + "text_zh": "推断：视频0.0–15.8 s未见机器人抓起或搬运垃圾桶，倾倒后的视图仍围绕原橙色矮柜和复印室门口，没有把桶运离房间或放上柜面的过程，因此将初始桶在目标地面的关系连续保留。桶底在后续视图被遮挡，此项依据场景连续性推断，不能逐帧直接验证；q_score=0.0不否定初始已成立的关系。" + } + ] + } + }, + "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": 1.4, + "log_step": null, + "where": "转场", + "evidence_zh": "观察：视频0.8–1.8 s机器人空手移动时，柜体和门框迅速倾斜，头部视野转向天花板；视频2.0–15.8 s没有恢复到可取放电池的姿态。推断：失败发生在前往获取第一节待入桶电池的空手转场，归第1个电池入桶节点；尚无任何电池入桶，评分器fallen=1与可见倾倒一致。" + }, + "unmet": { + "batteries_in_bin_1": false, + "batteries_in_bin_2": false, + "batteries_in_bin_3": false, + "bin_on_copy_room_floor": true + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 1.4, + "log_step": null, + "evidence_zh": "观察：视频1.2–2.0 s门框从近竖直转为大幅倾斜，头部相机朝向天花板；视频4.0–10.0 s腕部视野也不断翻转，视频11.0–15.8 s机器人停在侧倒视角，最后一秒没有起身，评分器fallen=1。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 1.4, + "log_step": 131, + "source_zh": "日志 / 视频", + "evidence_zh": "观察：会话测试log step 131记录底盘位移指令增大时up_z从约1降至0.657、0.594；log step 221、229显示agent反复修改底盘倾斜检测和停留恢复逻辑。评分视频1.4–15.8 s仍出现持续倾倒且无恢复。推断：底盘运动及姿态恢复控制未能使机器人保持稳定，导致取电池前的转场失败；只能归到控制，不能据会话测试断定交付轨迹用了哪一组不当参数。" + } + ], + "gap_zh": "没有状态日志。垃圾桶底部及部分机体接触区域在倾倒后遮挡，桶留地面按初态和未见搬离的连续性推断，无法精确判定底盘是否碰到桶；不增标碰撞或抓握。日志含多次reset及独立测试：log step 266、274的后续开门/进入办公室进展不在这段评分视频中，最终文件在log step 274仍为475行；不能将这些进展或log step 277自述的办公桌通道阻塞当成本次断点。具体引起倾倒的接触、关节状态和参数没有足够证据，根因保留在控制总类。" + }, + "summary_zh": "评分轨迹没有电池入桶，仅按初始布局及未见搬离的连续性推断保留垃圾桶在复印室地面这一节点，终态1/4。机器人在视频约1.4 s空手前往取电池的转场中持续失衡，至视频15.8 s未恢复，断在第1个电池入桶，根因仅能归于控制。无状态日志，桶底接触及具体失稳机制不能直接确认；执行时run.task_text采用目标关系同时成立即成功的旧规则，DAG新增的联合离手静置窗口不影响本次未入桶的判断。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "视频显示机器人在约1.4 s起倾倒并持续到结束，无电池入桶；节点值、断点（第1个电池入桶、转场）、平衡现象与控制根因均有证据支持，未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:14:49Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-dispose-of-batteries-i00-privileged--rrqgxsy/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-dispose-of-batteries-i00-privileged--rrqgxsy/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "973716334de8f68ee8b926bfa60c8fbb7dc87b0b458bf0df8328e4b98124b677", + "video_sha256": "ba3e34436ffcb1eb3dcb7102ee24d109574f5c64155114ab9b92e1d83907c698", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-standard--cxmnuyx.json b/phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-standard--cxmnuyx.json new file mode 100644 index 0000000000000000000000000000000000000000..4bf70c5273aff1f6d57f442e9d51b17604757ee4 --- /dev/null +++ b/phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-standard--cxmnuyx.json @@ -0,0 +1,299 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-dispose-of-batteries-i00-standard--cxmnuyx", + "taskKey": "behavior-1k/dispose_of_batteries", + "dag_sha256": "cea03abeb83d4300f1dad71a9475fc6f23368cd2df986081f39fd4829402e636", + "outcome": { + "success": 0, + "reward": 0.25, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "n_actions": 18849, + "sim_steps": 18849, + "physics_steps": 75396, + "steps": 18444, + "elapsed_s": 13859.1, + "video_rendered": 1, + "gpu_lost": 0, + "q_score": 0.25, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-dispose-of-batteries-i00-standard--cxmnuyx/replay.mp4", + "duration_s": 628.3, + "fps": 30.0, + "frames": 18849, + "sha256": "0742a1a7fb91c0d25696294ec50658009bba13257fc9a1db78db4167f5a97e39" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 1, + "peak": 2, + "final": 2, + "nodes": { + "batteries_in_bin_1": { + "method": "visual", + "intervals": [ + [ + 90.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 20.0, + "log_step": 67, + "text_zh": "观察：视频 18–25 s，右夹爪围住柜面蓝色电池并抬起，电池离开原柜面且随夹爪移动；视频 24–88 s 的右腕画面持续可见所持电池。" + }, + { + "t": 90.0, + "log_step": 136, + "text_zh": "观察：视频 89.5–91.5 s，右夹爪在橙色柜旁黑桶开口上方张开，蓝色电池从腕部近景缩小并落至深色桶腔内；视频 92–93 s 电池仍可见于桶内，右夹爪随后撤离。入桶锚点约为视频 90.0 s，误差约半秒。" + }, + { + "t": 628.23, + "log_step": null, + "text_zh": "推断：视频 98–628.23 s 机器人离开复印室后未再返回桶边，后续两个电池分别留在夹爪和桌上；结合评分器 q_score=0.25、live_matches_replay=1，终态保留首节入桶关系。垃圾桶开局已在地面，该初始关系不计入 q_score 的新增目标得分。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 18–89.5 s，右二指夹爪夹住柜上的蓝色电池并搬运，随后在桶口上方张开释放。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 24–88 s，轮式底盘承载机器人及右手电池，在柜旁、走廊与桶边之间行驶。" + } + ] + }, + "batteries_in_bin_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 359.0, + "log_step": 273, + "text_zh": "观察：视频 356–358.5 s 机器人空手向有两节电池的办公室入口前进；视频 359–361 s 相机随机器人向侧方翻转，随后机器人长期侧躺在门口，未能完成这次取送。" + }, + { + "t": 592.0, + "log_step": 555, + "text_zh": "观察：视频 589–592.8 s，左夹爪围住桌垫上的近侧蓝色电池，电池离开桌面并随左手抬起；视频 599–600 s 左腕仍显示该电池，另一节电池仍在桌上。抓起第二节不构成第二节入桶。" + }, + { + "t": 628.23, + "log_step": 608, + "text_zh": "观察：视频 623–628.23 s，左腕画面和头部画面可见左夹爪继续持有电池，机器人仍在办公桌前，尚未返回复印室垃圾桶。" + }, + { + "t": 628.23, + "log_step": null, + "text_zh": "推断：全片仅见一次向垃圾桶投放，且评分器 q_score=0.25 至多支持一节新增入桶电池，因此至少两节入桶从未成立，终值为假。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 589–592.8 s 左二指夹爪夹起桌垫上的电池，视频 628.23 s 仍夹持；此前视频 120–131 s 右夹爪曾围住所查办公室的门把手。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 138–153 s、338–352 s，右夹爪推办公室门板；视频 573–579 s 右手作用于椅子扶手，椅子随后倾倒，以腾出取第二节电池的通路。" + }, + { + "who": "双臂协作", + "how": "支撑", + "note_zh": "观察：视频 479.9 s 附近，左右手同时撑在门口地面，机器人尝试从侧倒姿态恢复。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 101–359 s 底盘空手移动、查找并接近办公室；视频 542–589 s 再次进入并靠近桌子，视频 593–628 s 持有第二节电池移动调整。" + } + ] + }, + "batteries_in_bin_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 599.9, + "log_step": 560, + "text_zh": "观察：视频 599.9–600 s，左手持一节电池，最后一节蓝色电池仍立在桌面远端；机器人开始沿桌前和墙边调整取物位置。" + }, + { + "t": 625.0, + "log_step": 603, + "text_zh": "观察：视频 623.8–625.2 s，机器人右臂向桌子远端伸出，头部视角随躯干明显上仰，随后收回；该电池未离开桌面。" + }, + { + "t": 628.23, + "log_step": 608, + "text_zh": "观察：视频 627.3–628.23 s，最后一节电池仍立在桌面靠墙一侧，左夹爪仍持第二节，右手在椅子附近横向移动，未发生第三节抓起或入桶。" + }, + { + "t": 628.23, + "log_step": null, + "text_zh": "推断：全片仅有首节入桶，评分器 q_score=0.25 也不允许三节入桶终态成立；该计数节点全程未达到。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 627.3–628.23 s，机器人右手在桌前接触并横向拨动椅子，为接近最后一节电池腾位；没有观察到右夹爪夹住该电池。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 599–623 s，底盘在桌前、椅旁及墙边行驶调整第三节电池的接近位置，左手同时携带前一节电池。" + } + ] + }, + "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 s，橙色矮柜旁的黑色垃圾桶立在复印室地面；视频 82.8–98 s 再次看见同一桶位于柜旁地面，机器人仅向其中释放电池，没有搬起垃圾桶。" + }, + { + "t": 628.23, + "log_step": null, + "text_zh": "推断：视频 98–628.23 s 机器人一直在走廊和办公室内，未回到桶旁操作，故垃圾桶留地面的初始关系持续成立；桶底的精确接触没有状态日志可复核。" + } + ] + } + }, + "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": 359.0, + "log_step": 273, + "where": "转场", + "evidence_zh": "观察：视频 359–361 s，机器人空手穿过目标办公室门口时向侧方翻倒，此后视频 368–537 s 仍反复侧躺、撑地和调整，约视频 542 s 才恢复直立；视频 592 s 虽拿起第二节电池，至视频 628.23 s 仍未将其送入桶内。推断：第2个电池入桶是这次侧翻所中断且最终未完成的步骤，恢复直立没有修复该目标关系。" + }, + "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": 359.0, + "log_step": 273, + "evidence_zh": "观察：视频 358.5 s 前门框大致竖直，视频 359–361 s 视野迅速旋转约四分之一圈，之后机器人长期侧躺并用双手撑地；log step 273 的实时机器人服务返回底座四元数约为[-0.5067,-0.4934,-0.5069,-0.4928]，log step 274 读取到底座 roll 约1.571 rad。推断：这是底座失去正常轮式支撑的侧翻，而非仅头部转动。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：机器人通过办公室入口的底盘运动控制未能保持支撑稳定。log step 272 下达横移后向前穿门的 drive 指令，log step 273 的同一实时服务先返回直立底座，再在前进后返回侧翻姿态，视频 359–361 s 与此吻合；后来视频 550–557 s 在重新对准并小步前进后可直立穿过同一入口，说明该入口存在可执行的通过方式。现有证据不能可靠区分路径设计、接触后的反馈或底盘控制参数，故保留到控制类别。" + } + ], + "gap_zh": "没有状态日志；视频 98 s 后未重访桶腔与桶底，首节电池及桶留地面的持续状态由此前可见投放、后续无再操作和最终评分共同推断。已对照参考成功视频 30–36 s、296–304 s 的腕部入桶视图，参考仅用于辨认可见线索。侧翻的精确碰撞部位及控制子类缺少独立接触、力或控制器诊断，未作更细归因。" + }, + "summary_zh": "机器人约在视频 90.0 s 将柜上的首节电池投入垃圾桶，垃圾桶始终留在复印室地面，终态为2/4个节点，评分器q_score=0.25只计一项新增目标。机器人在前往取第二节电池时于视频 359 s 侧翻，虽约在视频 542 s 恢复直立、视频 592 s 夹起第二节，结束时仍持有它，第三节仍在桌上；断点为第2个电池入桶，现象为平衡丧失，根因仅能确定到控制。没有状态日志，离开复印室后的桶内与桶底终态依连续行为和评分推断。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点时间（首节入桶约90 s、359 s侧翻）与帧一致，断点、现象、根因均有证据支持，未发现需改动之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:24:10Z", + "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-dispose-of-batteries-i00-standard--cxmnuyx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-dispose-of-batteries-i00-standard--cxmnuyx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "672d382312f19ebbd936a933888d3a2392c79d81c18dfd21291759e8ea5414c6", + "video_sha256": "0742a1a7fb91c0d25696294ec50658009bba13257fc9a1db78db4167f5a97e39", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-standard--nteeecm.json b/phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-standard--nteeecm.json new file mode 100644 index 0000000000000000000000000000000000000000..4c91d9f6ac0b445ba6904310af502b0bbb13abdf --- /dev/null +++ b/phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-standard--nteeecm.json @@ -0,0 +1,236 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-dispose-of-batteries-i00-standard--nteeecm", + "taskKey": "behavior-1k/dispose_of_batteries", + "dag_sha256": "cea03abeb83d4300f1dad71a9475fc6f23368cd2df986081f39fd4829402e636", + "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": 4513, + "sim_steps": 4512, + "physics_steps": 18048, + "steps": 4093, + "elapsed_s": 1510.7, + "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-dispose-of-batteries-i00-standard--nteeecm/replay.mp4", + "duration_s": 147.767, + "fps": 30.0, + "frames": 4433, + "sha256": "01769d49574e60e8ef1bb7a951a54cbe04d3c4367ecac21c2d103d3fe0a0d0ad" + }, + "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": 9.5, + "log_step": null, + "text_zh": "观察：视频约5.0–14.0 s，机器人空手在橙色矮柜旁转动、前移，随后三路相机中的墙线及门框明显倾斜；腕部没有出现被夹持的蓝色电池。视频约78.0–86.5 s机器人翻滚后恢复朝向办公区，仍未发生电池抓取或投放。" + }, + { + "t": 147.7, + "log_step": null, + "text_zh": "观察：已查看视频全程约每3秒的三视图，并加密检查视频5.0–12.0 s、78.0–86.5 s、94.0–101.5 s及146.7–147.7 s；机器人始终在扫视、移动和脱困，未出现蓝色电池由原位进入夹爪、再送入桶腔的过程。参考成功视频30.0–33.0 s的腕部蓝色电池及桶腔线索在本次所查画面中没有出现；参考仅用于辨认线索。" + }, + { + "t": 147.7, + "log_step": null, + "text_zh": "推断：run.json评分器q_score=0.0，live_matches_replay=0；该总分来自实时局，不用于重建回放时间，但与回放没有电池搬运的观察一致，进一步排除终态已有1节电池入桶。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频约0–147.7 s，机器人底盘在寻找首节电池的转场及脱困期间移动、转向，支承机体；未观察到夹爪夹住电池，故不填抓握。" + } + ] + }, + "batteries_in_bin_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 147.7, + "log_step": null, + "text_zh": "观察：视频全程粗查及视频146.7–147.7 s尾段均没有机器人持有蓝色电池或向垃圾桶投放的画面，也没有第二或第三次电池转移。" + }, + { + "t": 147.7, + "log_step": null, + "text_zh": "推断：未见任何电池入桶过程，实时评分器q_score=0.0也不容许终态新增2节电池入桶；live_matches_replay=0，故总分仅作与视频一致的终态旁证，不据此给回放指定动作或时刻。" + } + ] + }, + "batteries_in_bin_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 147.7, + "log_step": null, + "text_zh": "观察：视频全程粗查及视频146.7–147.7 s尾段均没有机器人持有蓝色电池或向垃圾桶投放的画面，也没有第二或第三次电池转移。" + }, + { + "t": 147.7, + "log_step": null, + "text_zh": "推断：未见任何电池入桶过程，实时评分器q_score=0.0也不容许终态新增3节电池入桶；live_matches_replay=0，故总分仅作与视频一致的终态旁证，不据此给回放指定动作或时刻。" + } + ] + }, + "bin_on_copy_room_floor": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：DAG的垃圾桶留地面节点明确初态成立，视频0.0–5.5 s显示同一橙色矮柜、黑色地面和门口场景；结合初始条件，将该保留目标从视频0.0 s起计入。桶底接触没有清晰特写，不把暗处轮廓当成独立接触证据。" + }, + { + "t": 147.7, + "log_step": null, + "text_zh": "推断：视频全程粗查及柜旁失衡、离开房间、末尾脱困的加密画面均未见机器人搬起垃圾桶、把桶移出房间或放上柜台；据初态及缺少改变该关系的动作，判断垃圾桶留在复印室地面的关系保留至视频147.7 s。q_score=0.0不排除这一初态目标，BEHAVIOR总分不为仍保留的初态关系增加分数。" + } + ] + } + }, + "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": 9.5, + "log_step": null, + "where": "转场", + "evidence_zh": "观察：视频约9.5–14.0 s，机器人尚空手，橙色柜旁的门框、墙角在三路相机中持续倾斜并转至侧向；之后反复翻滚和脱困，视频约84.5–86.5 s虽恢复直立视角，却一直没有完成首节电池入桶，视频约98.0 s起又在办公桌附近失衡。推断：首个未修复的失败属于为第1个电池入桶而进行的空手转场；机体起身不等于该节点完成。" + }, + "unmet": { + "batteries_in_bin_1": false, + "batteries_in_bin_2": false, + "batteries_in_bin_3": false, + "bin_on_copy_room_floor": true + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 9.5, + "log_step": null, + "evidence_zh": "观察：视频约9.5–14.0 s，机器人运动时门框和墙面由近竖直转为大角度倾斜，随后画面长时间朝向天花板并反复旋转；视频78.0–84.5 s还能看到明显翻滚。视频约98.0–101.5 s及146.7–147.7 s又出现机体倾倒和翻转，始终未转入电池操作。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "观察：log step 27的底盘控制脚本把base_pose定义为x,y,z,qx,qy,qz,qw，却在航向换算分母使用1-2*(qz²+qw²)，随后调用转向和前进；log step 28、30确实执行该脚本。log step 31–32才改成标准分母1-2*(qy²+qz²)并加入航向误差归一化。推断：早期航向控制计算错误使后续前进方向偏离期望，与视频约5.0–14.0 s在柜旁偏转、失衡的过程相符，是首节电池转场失败的有证据控制问题；回放与实时不完全匹配，不能把每个日志动作精确绑定到某帧。", + "source_zh": "日志", + "log_step": 27 + } + ], + "gap_zh": "没有状态日志；垃圾桶底部及大部分桶腔在头部/腕部视角中不可辨，桶留地面是结合DAG明确初态与未见搬桶动作的推断，不能逐帧确认其接触。run.json的deterministic=0、live_matches_replay=0；log step 121–123记载实时服务出现位置异常、四元数NaN并终止，但视频146.7–147.7 s仍是桌旁翻转画面，不能把该服务错误直接标成回放中的某一时刻或归咎环境。日志末尾4512个控制步与视频4433帧不一致，未转换日志时钟；本次仍按回放中更早且未完成该步骤的物理失衡标注。" + }, + "summary_zh": "三节电池均未入桶，垃圾桶留地面的初态关系按未见搬动的上下文推断保留，终态进度1/4。机器人在为首节电池空手转场时失衡，之后虽恢复直立仍未完成该步，日志中的航向换算错误支持控制根因。无状态日志且实时与回放不一致，桶底接触及日志末段仿真错误无法逐帧核实；本次task_text采用目标成立即结束的旧规则，未达电池容纳关系的结论不受DAG新增离手静置窗口影响。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值（三节电池未入桶、桶留地面从0起）、breakpoint（batteries_in_bin_1，转场，约视频9.5 s）、平衡现象和航向换算错误的控制根因均与视频及log一致，未发现需要改动的错误。log step 30 的服务读数 control_steps=327（≈视频11 s）与视频5–14 s柜旁失衡相符，可作为旁证，但不改变标签。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:13:35Z", + "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-dispose-of-batteries-i00-standard--nteeecm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-dispose-of-batteries-i00-standard--nteeecm/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e46c7e0b6109871dd52d943ef12156b2b418df117d7eb3f71f928a81a18d1ad0", + "video_sha256": "01769d49574e60e8ef1bb7a951a54cbe04d3c4367ecac21c2d103d3fe0a0d0ad", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-standard--pjwywlt.json b/phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-standard--pjwywlt.json new file mode 100644 index 0000000000000000000000000000000000000000..292a6ed3e7522b41379dde415ba10d288d5b0305 --- /dev/null +++ b/phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-standard--pjwywlt.json @@ -0,0 +1,284 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-dispose-of-batteries-i00-standard--pjwywlt", + "taskKey": "behavior-1k/dispose_of_batteries", + "dag_sha256": "cea03abeb83d4300f1dad71a9475fc6f23368cd2df986081f39fd4829402e636", + "outcome": { + "success": 0, + "reward": 0.25, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 3005, + "sim_steps": 3005, + "physics_steps": 12020, + "steps": 1002, + "elapsed_s": 4159.8, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 1, + "q_score": 0.25, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-dispose-of-batteries-i00-standard--pjwywlt/replay.mp4", + "duration_s": 100.167, + "fps": 30.0, + "frames": 3005, + "sha256": "402f4eb30f90decbc3591c966b2bfc8e19f6743f1636523f423db19eb35577ef" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 1, + "peak": 2, + "final": 2, + "nodes": { + "batteries_in_bin_1": { + "method": "visual", + "intervals": [ + [ + 23.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 18.5, + "log_step": 66, + "text_zh": "观察：视频 14.5–17.5 s 左腕画面中的蓝色圆柱电池位于柜面、两夹指之间；视频 18.0–19.0 s 电池随左夹爪上移，头部画面可见其原柜面位置已空，确认机器人夹起了电池。" + }, + { + "t": 23.3, + "log_step": 77, + "text_zh": "观察：视频 22.8–23.1 s 蓝色电池仍贴近左腕相机、位于桶口上方；视频 23.2–23.4 s 左夹爪张开后电池迅速下落，视频 23.7–24.4 s 可见蓝色小物位于黑色桶腔内（已检查提亮腕部裁图）。入桶起点取视频约 23.3 s，精度约 0.2 s。" + }, + { + "t": 100.1, + "log_step": null, + "text_zh": "推断：视频 24.4 s 后机器人收臂离开垃圾桶，此后直到视频 100.1 s 均未返回取出电池；inputs/run.json 的 q_score=0.25、live_matches_replay=1，与仅新增一节电池入桶一致。开局已成立且保留的桶在地面关系不计入该 q_score，故第1节电池入桶终态为真。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 17.0–23.1 s 机器人左二指夹爪夹住蓝色电池，提离柜面并搬到垃圾桶上方，视频 23.2 s 起张开释放。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人在复印室内行驶接近柜面，并在视频 19.0–22.5 s 持电池后退、横移到垃圾桶前；轮式底盘支承机体和所持电池。" + } + ] + }, + "batteries_in_bin_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 84.5, + "log_step": 174, + "text_zh": "观察：视频 74.0–84.5 s 机器人到达办公室、用右夹爪推门后空手进入；视频 84.0–86.5 s 桌面小圆柱仍在桌上，未见夹爪夹起下一节电池。视频 87.0–90.0 s 机器人沿桌旁移动时双夹爪为空，随后翻倒。" + }, + { + "t": 100.1, + "log_step": 219, + "text_zh": "观察：视频 90.2–100.1 s 机器人翻倒后尝试恢复，始终没有持电池返回垃圾桶或再次投放的画面；log step 219 的机器人服务状态为 done=True，reason=\"failure: the robot fell over\"，resumes=0。" + }, + { + "t": 100.1, + "log_step": null, + "text_zh": "推断：已观察到第1节电池入桶并保留；评分器 q_score=0.25 只容许一条新增电池入桶目标成立，初始桶在地面不计分，因此至少2节电池入桶的终态为假。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人在视频约 24.5–90.0 s 空手驶离复印室、沿走廊寻找电池并进入办公室，最后沿桌旁驶向取下一节电池的位置；轮式底盘支承机体。" + }, + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：为进入取下一节电池的办公室，视频约 78.0–79.5 s 机器人右夹爪以闭合端按压门把手，未形成对电池的抓握。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频约 79.5–83.0 s 机器人右夹爪持续顶推木门、扩大开口，随后收臂进入办公室；该接触作用于门，而非电池。" + } + ] + }, + "batteries_in_bin_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 86.5, + "log_step": null, + "text_zh": "观察：视频 24.5–86.5 s 机器人在走廊与办公室间空手行驶，进入办公室后没有从桌面取走电池，亦未返回垃圾桶进行第2次或第3次投放；视频 90.2–100.1 s 为翻倒及恢复尝试。" + }, + { + "t": 100.1, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.25，结合视频约 23.3 s 唯一一次实际入桶及其后无新增投放，可确定至少3节电池入桶终态为假；不能把 agent 在 log step 220 中识别出剩余电池的位置当成取放完成。" + } + ] + }, + "bin_on_copy_room_floor": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0–1.0 s 头部画面中黑色开口垃圾桶位于橙色矮柜旁的复印室地面；视频 23.0–24.4 s 的腕部画面显示投放时桶仍位于该地面，机器人没有夹住或提起桶。" + }, + { + "t": 100.1, + "log_step": null, + "text_zh": "推断：视频约 24.5 s 机器人离开复印室，之后在别处空手探索、开门、翻倒，直到视频 100.1 s 结束均无搬桶动作；据桶初态、投放前后位置和后续轨迹判断，桶在复印室地面关系全程保留。" + } + ] + } + }, + "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": 90.2, + "log_step": 187, + "where": "转场", + "evidence_zh": "观察：第1节电池在视频约 23.3 s 入桶后，机器人空手前往办公室取下一节。视频 84.0–90.0 s 机器人沿桌旁移动，夹爪未持电池，视频 90.1–91.5 s 画面突然侧翻至地面附近；视频 91.5–100.1 s 反复恢复仍未站稳，亦未再取放电池。log step 187 对应驶向桌北侧的动作块，log step 217 的机器人服务最终返回 failure: the robot fell over。因此失败步骤是第2个电池入桶，位置为空手取物途中的转场。" + }, + "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": 90.2, + "log_step": 190, + "evidence_zh": "观察：视频 90.1–91.5 s 机器人转向时头部及腕部视图一起大幅侧翻，随后贴近桌下和地面；视频 99.2–100.1 s 仍横卧、未恢复直立。log step 190 读取该动作块的本体记录，底座竖直分量由约1降到负值；log step 217 的服务结束原因明确为机器人翻倒。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "t": 90.2, + "log_step": 190, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：行驶中的躯干姿态跟踪失稳且未在转向前纠正，是此次翻倒的控制原因。log step 187 的脚本在整个行驶及转向块固定命令 torso_joint1=0.95 rad，log step 190 读取同一块服务返回的本体记录，却显示该关节从0.950依次降至0.279、-0.531、约-1.135 rad，之后脚本仍执行预定转向，底座竖直分量由约1降至0.729并最终为负。视频 87.0–90.0 s 摄像视线持续上仰，视频 90.1–91.5 s 随后侧翻，与该跟踪误差及失稳过程一致；恢复动作也未恢复直立。" + } + ], + "gap_zh": "本次没有模拟器状态日志或逐物体 inside/ontop 字段；视频约 24.5 s 后垃圾桶及已投入电池离开视野，其终态由投放前后画面、后续无返回动作及评分器总分联合推断。机载视角不能直接看清翻倒时躯干与桌沿的接触位置，也缺接触力与力矩记录，故不另标碰撞现象，不断言具体力矩饱和或碰撞致翻倒。" + }, + "summary_zh": "机器人在视频约 23.3 s 将1节电池放入垃圾桶，垃圾桶保留在复印室地面，最终成立2/4个节点；q_score=0.25对应一条新增电池入桶目标，另一个成立节点来自初态。机器人空手进入办公室取下一节电池，躯干角度持续偏离命令后在视频约 90.2 s 转向时翻倒，直到视频 100.1 s 仍未恢复，断在第2个电池入桶的转场，根因标为反馈控制。缺少状态日志，离开复印室后的桶与电池终态为视觉和评分总分支持的推断，桌沿接触及具体失稳力学尚不能确定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值、入桶时间（约23.3 s）、翻倒断点（约90 s，空手转场）与反馈控制根因与视频及 q_score=0.25 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": "2026-10-30T21:15:32Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-dispose-of-batteries-i00-standard--pjwywlt/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-dispose-of-batteries-i00-standard--pjwywlt/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "dc854108077b5cb5d9d2c2cf38722152eb3c2317b5034980f99887316721bd98", + "video_sha256": "402f4eb30f90decbc3591c966b2bfc8e19f6743f1636523f423db19eb35577ef", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-standard--qqvrj4x.json b/phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-standard--qqvrj4x.json new file mode 100644 index 0000000000000000000000000000000000000000..c57698037c3bb50348a68d48754962620c096c04 --- /dev/null +++ b/phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-standard--qqvrj4x.json @@ -0,0 +1,277 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-dispose-of-batteries-i00-standard--qqvrj4x", + "taskKey": "behavior-1k/dispose_of_batteries", + "dag_sha256": "cea03abeb83d4300f1dad71a9475fc6f23368cd2df986081f39fd4829402e636", + "outcome": { + "success": 0, + "reward": 0.25, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 14882, + "sim_steps": 14882, + "physics_steps": 59528, + "steps": 14822, + "elapsed_s": 3295.5, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 1, + "q_score": 0.25, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.239, + "peak_processes": 9, + "peak_disk_gb": 0.399, + "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-standard--qqvrj4x/replay.mp4", + "duration_s": 496.067, + "fps": 30.0, + "frames": 14882, + "sha256": "a80ff353ebc936fc3236e5999c944c3837f2cc25d3b6c1405f3caa9240296bce" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 1, + "peak": 2, + "final": 2, + "nodes": { + "batteries_in_bin_1": { + "method": "visual", + "intervals": [ + [ + 101.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 76, + "log_step": 59, + "text_zh": "观察：视频 75–80 s，左夹爪接近柜面上的蓝色电池并闭合；随后电池随夹爪抬起，柜面原位置变空，视频 82–90 s 底盘带着电池退离柜子并移向垃圾桶。" + }, + { + "t": 101.5, + "log_step": 68, + "text_zh": "观察：视频 101.0 s 左腕画面仍见夹爪内电池的蓝色端面；视频 101.5–104.5 s 端面离开夹爪，蓝色电池出现在黑色桶口内较深处，视频 108–110 s 仍可见桶内蓝色小物体。首次入桶取视频约 101.5 s，精度约半秒。" + }, + { + "t": 110, + "log_step": null, + "text_zh": "推断：视频 110 s 后机器人空手离开复印室，后续检查画面无取回首节电池或再次向桶中投放的动作；结合评分器 q_score=0.25、live_matches_replay=1，首节入桶关系保持至结束。初态已有的桶在地面关系不增加 q_score。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左二指夹爪夹住柜面电池并抬离柜面，运至垃圾桶上方后张开释放（视频 76–104 s）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：轮式底盘驶近柜子，随后支承机器人及左爪内的电池，退离柜子并平移至垃圾桶前（视频 50–90 s）。" + } + ] + }, + "batteries_in_bin_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 475, + "log_step": 171, + "text_zh": "观察：首节入桶后，视频约 130–480 s 机器人空手在走廊和几间办公室之间移动、扫描桌面，并用夹爪推门；视频 475–485 s 它进入另一间办公室，但没有从桌面夹起第二节电池或将第二节电池运回复印室。" + }, + { + "t": 496.03, + "log_step": 181, + "text_zh": "观察：视频 486–496.03 s 机器人在办公室门口倾倒并尝试调整躯干，始终没有完成第二次搬运入桶；log step 181 的机器人服务返回 done=True、reason=\"failure: the robot fell over\"。" + }, + { + "t": 496.03, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.25 且 live_matches_replay=1；四个目标文字条件中，初态已成立并保留的桶在地面关系不计新增得分，已见首节入桶对应唯一新增文字条件，因此最终桶内至少两节为假。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人为寻找下一节电池，空手沿走廊进入多间办公室，并在门口转向扫描；最后在这一转场中失衡（视频约 130–496 s）。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：机器人先后以单个夹爪顶推办公室门板以进入房间，包括视频约 150–180 s 的左爪、视频约 260–290 s 的右爪、视频约 435–475 s 先右后左的推门；未见夹爪抓住第二节电池。" + } + ] + }, + "batteries_in_bin_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 110, + "log_step": null, + "text_zh": "观察：视频 0–110 s 只见机器人从复印室柜面取走一节电池并投入桶中；此后机器人始终在空手找物、推门和转向，没有第三次电池拾取或入桶动作。" + }, + { + "t": 496.03, + "log_step": null, + "text_zh": "推断：视频直到 496.03 s 结束仍未出现其余电池的搬运；评分器 q_score=0.25、live_matches_replay=1 与仅一节新增入桶一致，排除三节入桶的终态。" + } + ] + }, + "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 黑色开口垃圾桶立在橙色矮柜旁的复印室地面上；视频 10 s、101.5–110 s 仍在该柜旁，机器人向其中释放电池时桶未被拿起或搬走。" + }, + { + "t": 110, + "log_step": null, + "text_zh": "推断：视频 110 s 后机器人离开复印室，后续画面显示它在走廊及办公室找物，未返回搬动垃圾桶；由初态、最后可见位置及后续动作，判定桶与复印室地面的关系持续成立。" + } + ] + } + }, + "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": 486.0, + "log_step": 171, + "where": "转场", + "evidence_zh": "观察：首节电池入桶后，视频 475–485 s 机器人空手进入办公室寻找下一节；视频约 486 s 门口转向时腕部视野突然落向地面，头部画面倾斜，视频 490–495.2 s 低头贴近地面。log step 173 的本体感测给出底座上轴竖直分量 0.0318，log step 181 的服务返回跌倒终止；第二节始终未入桶。" + }, + "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": 486.0, + "log_step": 173, + "evidence_zh": "观察：视频 485.5–486.5 s 机器人转向时发生明显俯倒，左右腕视野从门旁转到低处地面；视频 490–495.2 s 头部视野贴近办公室木地板。log step 173 本体感测报告底座高度约 0.249 m、上轴竖直分量约 0.0318；log step 181 仍为 0.0261，机器人服务以 failure: the robot fell over 结束。视频 495.5–496.03 s 头部视野抬起是躯干调整，不能据此认为底盘已恢复直立。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "evidence_zh": "推断：agent 在 log step 12 编写的 scan.py 以七段固定旋转命令完成环视，段间仅存图，未用底盘倾斜读数调整或停止运动；log step 171 在刚驶入门内后原样调用该扫描。视频约 486 s 已俯倒，扫描仍继续到视频约 494.8 s，agent 直到 log step 173 才检查上轴竖直分量并发现 0.0318；这种缺少姿态保护的连续转向控制未能保持或及时恢复底盘支撑，随后服务判跌倒。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有状态日志；桶腔较暗，首节入桶时间依据腕部画面及前后变化定位，约有半秒误差，机器人离开复印室后首节电池和桶的持续关系依赖上下文推断。门口倾倒时摄像机未直接拍到轮子与门板或门槛的接触点，因此无法确定触发失衡的具体接触和力矩；反馈保护缺失可由扫描代码核实，但不再细分机械触发原因。" + }, + "summary_zh": "机器人在视频约 101.5 s 将柜面的一节电池投入垃圾桶，垃圾桶保持在复印室地面，最终达到 2/4 个 DAG 节点；评分器 q_score=0.25 对应一节新增入桶，初态桶在地面的关系不增加该分数。寻找第二节电池的空手转场中，机器人在视频约 486 s 的办公室门口环视转向时倾倒，扫描缺少倾斜反馈保护，最终由服务判跌倒结束。无状态日志，桶离开视野后的保持关系及失衡接触点存在证据缺口；本运行 task_text 使用目标同时成立即结束的旧规则，DAG 所述离手静置窗口版本差异不改变本次仅一节入桶的节点判断。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "首节入桶约 101.5 s、桶在地面、第2/3节未达、断点在第2节转场、俯倒（平衡）+ 反馈控制均与视频和日志一致；无需改动。触发接触未直接可见，文件已在 gap_zh 中如实说明。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:13:54Z", + "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-dispose-of-batteries-i00-standard--qqvrj4x/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-dispose-of-batteries-i00-standard--qqvrj4x/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c55317dc11136cc258146de60c5a0ac42a42eb6068c831df2a1cadf898c49cc7", + "video_sha256": "a80ff353ebc936fc3236e5999c944c3837f2cc25d3b6c1405f3caa9240296bce", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-standard--r4uzude.json b/phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-standard--r4uzude.json new file mode 100644 index 0000000000000000000000000000000000000000..9d3e83918681d539930fa3f5c27e42839dafebd0 --- /dev/null +++ b/phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-standard--r4uzude.json @@ -0,0 +1,235 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-dispose-of-batteries-i00-standard--r4uzude", + "taskKey": "behavior-1k/dispose_of_batteries", + "dag_sha256": "cea03abeb83d4300f1dad71a9475fc6f23368cd2df986081f39fd4829402e636", + "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": 4318, + "sim_steps": 4318, + "physics_steps": 17272, + "steps": 4318, + "elapsed_s": 776.5, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 1, + "q_score": 0.0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-dispose-of-batteries-i00-standard--r4uzude/replay.mp4", + "duration_s": 143.933, + "fps": 30.0, + "frames": 4318, + "sha256": "7f7fca8eeba5b8177a616fa2e73fac9251ac36169e853101bed9bb4274eec8ca" + }, + "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": 0.0, + "log_step": null, + "text_zh": "观察：视频从0 s起机器人在橙色矮柜旁转身，随后沿走廊扫描和试探办公室入口；全片每4 s抽帧及视频12–19.5 s、128–143.9 s的密集画面均未见夹爪夹住蓝色电池或将其送入桶腔。" + }, + { + "t": 143.9, + "log_step": 127, + "text_zh": "推断：视频143.9 s机器人仍侧翻，未发生电池搬运；结合评分器q_score=0、live_matches_replay=1，终态没有电池入桶。此结论也依据全程没有取放动作，而非单由零分反推。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人为寻找首节电池和通路，在矮柜旁及办公室入口移动、原地旋转扫描；双夹爪未见抓住电池。" + } + ] + }, + "batteries_in_bin_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 143.9, + "log_step": 127, + "text_zh": "推断：视频0–143.9 s仅见机器人扫描、空手移动和最终侧翻，未见任何电池取放；连第1节入桶都未发生，故至少2节入桶的状态从未达到。评分器q_score=0且live_matches_replay=1支持终态为假，后续计数步骤未开始。" + } + ] + }, + "batteries_in_bin_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 143.9, + "log_step": 127, + "text_zh": "推断：视频0–143.9 s仅见机器人扫描、空手移动和最终侧翻，未见任何电池取放；连第1节入桶都未发生，故至少3节入桶的状态从未达到。评分器q_score=0且live_matches_replay=1支持终态为假，后续计数步骤未开始。" + } + ] + }, + "bin_on_copy_room_floor": { + "method": "visual", + "intervals": [ + [ + 0.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "推断：任务DAG明确垃圾桶开局已在复印室地面；视频0–19.5 s可见橙色矮柜与其旁地面区域，但桶底接触处在暗部和机体遮挡中。机器人未做抓桶、抬桶或搬桶动作，保留初始地面关系。" + }, + { + "t": 143.9, + "log_step": 144, + "text_zh": "推断：视频20–132 s机器人沿走廊及办公室入口移动，视频133.5–143.9 s在入口处侧翻，期间未见垃圾桶被抬离或带往另一房间；据已知初态和整段动作，垃圾桶留地面的关系持续成立。评分器q_score=0不否定这一初始即成立的目标。" + } + ] + } + }, + "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": 133.5, + "log_step": 125, + "where": "探索", + "evidence_zh": "观察：机器人尚未取到首节电池，在办公室入口附近反复扫描与试探移动；视频133.5 s附近转向时画面迅速侧倾，视频134–143.9 s始终歪斜并朝向天花板，未恢复。log step 125在转向调用期间收到服务的跌倒终止，log step 127服务状态为done=true、reason=\"failure: the robot fell over\"。这一探索失败阻断第1个电池入桶，后续未完成修复。" + }, + "unmet": { + "batteries_in_bin_1": false, + "batteries_in_bin_2": false, + "batteries_in_bin_3": false, + "bin_on_copy_room_floor": true + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 133.5, + "log_step": 127, + "evidence_zh": "观察：视频133.5–136 s机器人相机视野从水平办公室入口滚转至门框、天花板，视频142.9、143.1、143.3、143.5、143.7、143.9 s仍未立起。log step 144的服务本体读数为base z=0.435 m、rx=2.026 rad、ry=-0.638 rad，up轴竖直分量约-0.353；log step 127服务明确以机器人跌倒结束。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "evidence_zh": "推断：log step 53的rot_to循环只依据航向误差继续发送转向，未设倾斜触发的中止或恢复分支；log step 76新增的倾斜保护仅位于creep平移函数。log step 119记录连续前进命令下底盘位置停在约(13.59,-9.28) m，log step 125仍直接调用rot_to(1.5708)，随后服务终止。结合视频133.5–143.9 s转向后持续失衡，转向控制未按倾斜和受阻反馈及时退出并恢复支撑，导致翻倒未被纠正。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有状态日志；垃圾桶底部及其与地面的接触在本片中未清楚展示，其保持关系依据DAG已知初态、机器人始终未抓搬垃圾桶的动作过程推断。底盘碰撞点被机体遮挡，不能核实agent自述的具体碰撞体及虚拟关节力矩机制，故不另标碰撞现象或更具体的动力学根因。log step 144的服务control_steps=4318、sim_time_s=143.933与视频时长一致，且末帧侧翻相符；未把agent工作时间换算成视频时间。本次task_text使用目标同时成立即结束的旧规则，DAG现行规则另要求全体离手静置；本次没有电池入桶，版本差异不改变结果。" + }, + "summary_zh": "机器人仅保留垃圾桶在复印室地面的初始目标，三节电池均未入桶，终态1/4。寻找首节电池及通路期间，机器人约在视频133.5 s转向时失衡，持续侧翻至服务以跌倒结束；日志显示转向循环缺少倾斜触发的中止恢复控制。无状态日志，桶底接触及具体阻挡点被遮挡，地面关系和控制归因含推断。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值、断点（探索、约视频133.5 s侧翻）、平衡现象与反馈控制根因均与视频帧和日志服务读数一致，未发现需要改内容的错误。任务设计无明显问题。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:13:34Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-dispose-of-batteries-i00-standard--r4uzude/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-dispose-of-batteries-i00-standard--r4uzude/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2a7fd063d6298538c203f031b1092ad4a5b94c048385ee0051bca1d1be7bf1f7", + "video_sha256": "7f7fca8eeba5b8177a616fa2e73fac9251ac36169e853101bed9bb4274eec8ca", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-standard--rkucjlt.json b/phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-standard--rkucjlt.json new file mode 100644 index 0000000000000000000000000000000000000000..4fbd79bc5efd66c58d7f88fc4a4e73bcd0ed9189 --- /dev/null +++ b/phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-standard--rkucjlt.json @@ -0,0 +1,318 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-dispose-of-batteries-i00-standard--rkucjlt", + "taskKey": "behavior-1k/dispose_of_batteries", + "dag_sha256": "cea03abeb83d4300f1dad71a9475fc6f23368cd2df986081f39fd4829402e636", + "outcome": { + "success": 0, + "reward": 0.25, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 19399, + "sim_steps": 19399, + "physics_steps": 77596, + "steps": 6177, + "elapsed_s": 6590.8, + "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": 0.25, + "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-dispose-of-batteries-i00-standard--rkucjlt/replay.mp4", + "duration_s": 646.7, + "fps": 10.0, + "frames": 6467, + "sha256": "27b677f581a8aaa32d28521c852c2e65c46ec4b227353d29d6d0bbe1df644362" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 1, + "peak": 2, + "final": 2, + "nodes": { + "batteries_in_bin_1": { + "method": "visual", + "intervals": [ + [ + 180.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 25.0, + "log_step": 83, + "text_zh": "观察：视频 23.0-25.0 s，左腕画面中的蓝黑圆柱电池从橙色柜面附近进入两指之间并随夹爪移离柜面；视频 30.0-170.0 s 的搬运画面持续可见左爪夹着该电池。" + }, + { + "t": 180.6, + "log_step": 276, + "text_zh": "观察：视频 179.8-180.4 s 电池仍在左爪前，视频 180.6-183.0 s 蓝色电池脱离夹爪、落到黑色桶腔所在的深色区域，随后空夹爪抬离；后续没有再次取出电池的动作。入桶起点约为视频 180.6 s，精度约半秒。" + }, + { + "t": 183.0, + "log_step": null, + "text_zh": "推断：上述下落及留在桶腔的腕部视觉变化与参考成功视频 30.0-35.0 s 的入桶变化一致；本次评分器 q_score=0.25，四个目标字面量中初始已成立且保留的桶留地面不计入 q_score，故最终有一节电池入桶，与本次可见的唯一投放相符。参考视频只用于辨认视觉线索，不作为本次执行证据。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：左二指夹爪先单独夹住柜上电池并搬运；视频 134.0-142.0 s 左爪持续夹持电池，同时右爪推门辅助通行，最后左爪在桶上方张开。" + }, + { + "who": "双臂协作", + "how": "推/扫", + "note_zh": "观察：视频 134.0-142.0 s 右侧张开的夹爪抵推木门板，左夹爪同时保持电池，双臂配合清理持物行进路线。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 30.0-170.0 s 轮式底盘支承持有电池的机器人，在柜旁、门口及桶旁之间移动。" + } + ] + }, + "batteries_in_bin_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 220.0, + "log_step": 332, + "text_zh": "观察：第一节投放后，视频 214.0-224.0 s 机器人空手推木门；视频 350.0-610.0 s 在长桌、椅子及墙边反复移动、用腕相机查看桌面，未见另一节电池进入夹爪或被送回桶内。" + }, + { + "t": 646.6, + "log_step": 747, + "text_zh": "观察：视频 636.5-646.6 s 机器人侧翻且未恢复；本次到结束只有一次可见电池投放，服务在 log step 747 返回 failure: the robot fell over。" + }, + { + "t": 646.6, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.25 只允许一个新增目标字面量满足；桶留地面从初始保留，不占此总分，因此至少两节电池在桶内的条件最终为假。结合全程只出现一节电池的搬运与投放，未见该计数条件在途中成立。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 214.0-224.0 s 右侧夹爪接触并推木门板以进入寻找后续电池的房间；未观察到该步骤抓住电池。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：第一节电池投放后，机器人空手驶过门口并沿长桌和椅子搜索；视频 632.0-637.5 s 在门边转向、失衡。" + } + ] + }, + "batteries_in_bin_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 646.6, + "log_step": null, + "text_zh": "观察：已检查本次视频全程的粗采样及唯一投放、末段翻倒的密集帧，未见第二次或第三次电池入桶；视频 646.6 s 机器人仍侧翻，未携带另两节电池。" + }, + { + "t": 646.6, + "log_step": null, + "text_zh": "推断：本次 q_score=0.25 对应一个新增目标字面量，不能支持三节电池同时入桶；第3个电池入桶最终为假，且没有可见的独立第三节操作。" + } + ] + }, + "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 s 起，橙色柜旁的黑色桶放在复印室深色地面；视频 150.0-183.0 s 机器人接近并向该桶投放电池，桶没有被夹起、搬走或放上柜面。" + }, + { + "t": 646.6, + "log_step": null, + "text_zh": "推断：投放后机器人离开桶旁，全程未观察到对桶的搬运或使其离地的动作；结束前的翻倒发生在门口，未见波及桶，故保留初始地面关系。末帧不直接显示桶底，依据前后画面及整段操作连续性判断。" + } + ] + } + }, + "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": 636.5, + "log_step": 732, + "where": "探索", + "evidence_zh": "观察：视频约 625.0-627.0 s 就已出现第一次门边转向的明显倾斜，早于最终侧翻；log step 727 转向后的服务底座高度为 0.183 m，log step 728-730 静止及后退后降到约 0.015 m。视频 632.0-636.5 s，机器人仍空手在木门边转向查看相邻走廊、寻找后续电池；视频 636.5-637.5 s 出现最终明显侧翻，此后直到视频 646.6 s 未恢复，也没有后续电池投放。log step 732 再次发出走廊转向命令后底座高度约 0.406 m，log step 735 的服务本体读数给出竖直分量约 -0.104，log step 747 返回跌倒终止；失败步骤为尚未完成的第2个电池入桶，t 保留为最终侧翻的导航锚点。" + }, + "unmet": { + "batteries_in_bin_1": true, + "batteries_in_bin_2": false, + "batteries_in_bin_3": false, + "bin_on_copy_room_floor": true + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 629.0, + "log_step": 727, + "evidence_zh": "观察：视频 625.0-633.0 s，木门板紧邻机器人相机，门口转向过程中三路画面明显倾斜，机器人没有平稳通过门口；log step 725 的服务底座高度约 0.006 m，log step 727 转向后为 0.183 m，log step 728-730 静止及后退后依次为 0.156、0.060、0.015 m，log step 732 再转向后为 0.406 m。推断：门板贴近、转向受限以及底座随转向抬升、后退下降共同支持门口发生阻挡接触；具体接触的是门板还是门框、哪个机器人连杆受阻不能确定，未将 agent 的动作备注作为接触事实。" + }, + { + "cat": "全身", + "item": "平衡", + "t": 636.5, + "log_step": 735, + "evidence_zh": "观察：视频 636.5-637.5 s 门口转向时三路相机随机器人快速侧滚，视频 638.0-646.6 s 机体侧躺、相机近地，恢复动作未使其站正；log step 735 的服务读数 cos(rx)·cos(ry)=-0.104，log step 747 明确返回 failure: the robot fell over。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 636.5, + "log_step": 732, + "source_zh": "日志", + "evidence_zh": "推断：log step 652 的实际驱动脚本在底盘运动中保持当前躯干及双臂关节姿态；log step 727 的门边转向已使底座升高并倾斜，log step 730 后退后底座高度恢复约 0.015 m，log step 732 再次执行转向后底座高度升到约 0.406 m，随后 log step 735 读到竖直分量为负。结合视频 632.0-638.5 s 的门边机体接近与侧翻，底盘及全身运动控制未在狭窄门口保持稳定支撑；具体受阻连杆及控制子类不能确定，停留在控制大类。" + } + ], + "gap_zh": "没有状态日志；腕部画面很暗，入桶关系的起点约有半秒误差，最终桶内数量结合本次唯一可见投放及评分器总分推断。桶底与最后时刻桶内不直接可见，保留关系依据操作连续性；门边翻倒时具体哪个连杆发生阻挡、接触力及详细控制失稳机制没有可用记录，故不细分控制根因。时钟核对使用本次实时单局服务的 control_steps：19399/30=646.63 s 与视频长度 646.7 s 一致；log step 734 的 19124/30=637.47 s 与视频约 637.5 s 已侧翻的画面相符，未用 agent 工作时间换算。" + }, + "summary_zh": "机器人把柜上的一节电池放入垃圾桶，并保留垃圾桶在复印室地面的关系，最终达到 2/4 个节点，另外两节电池未入桶。寻找第2节电池期间，机器人在门口转向中出现阻挡接触和倾斜，随后约视频 636.5 s 侧翻，恢复未果，服务以跌倒结束；证据支持全身运动控制失败。无状态日志，桶内终态及精确入桶起点需结合暗处腕部画面和 q_score=0.25 判断，受阻连杆及详细失稳机制仍不明确。", + "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（第1节入桶 180.6 s、桶留地面、第2/3节未达）和断点（第2节入桶，探索）与视频、q_score=0.25 一致。问题在失败原因：门口的接触/被挡没有作为现象标出，只给了平衡。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点（第1节入桶约180.6 s、桶留地面、第2/3节未达）、断点（第2节入桶·探索）、被挡/碰撞与平衡现象及控制根因均与视频帧、q_score=0.25和服务读数相符；上一轮意见已正确采纳，未发现需改内容的问题。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:45:37Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-dispose-of-batteries-i00-standard--rkucjlt/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-dispose-of-batteries-i00-standard--rkucjlt/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-dispose-of-batteries-i00-standard--rkucjlt/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-dispose-of-batteries-i00-standard--rkucjlt/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "dcc31aac3adb00d95fef631406d304c1f0c19b459d1d1979d4d090bbc0d3c9b0", + "video_sha256": "27b677f581a8aaa32d28521c852c2e65c46ec4b227353d29d6d0bbe1df644362", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-standard--v5nfe4x.json b/phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-standard--v5nfe4x.json new file mode 100644 index 0000000000000000000000000000000000000000..9ce33cf23278c72664418c4ef036a18c453cfc84 --- /dev/null +++ b/phase2/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-standard--v5nfe4x.json @@ -0,0 +1,250 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-dispose-of-batteries-i00-standard--v5nfe4x", + "taskKey": "behavior-1k/dispose_of_batteries", + "dag_sha256": "cea03abeb83d4300f1dad71a9475fc6f23368cd2df986081f39fd4829402e636", + "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": 6781, + "sim_steps": 6781, + "physics_steps": 27124, + "steps": 1534, + "elapsed_s": 2437.9, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 0, + "q_score": 0.0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.51, + "peak_processes": 6, + "peak_disk_gb": 0.086, + "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-standard--v5nfe4x/replay.mp4", + "duration_s": 226.033, + "fps": 30.0, + "frames": 6781, + "sha256": "b9c0c62399d9d06f031726e2c1ad57e5a5a34d5f8ec615cb339485daec529ae9" + }, + "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": 42.0, + "log_step": 126, + "text_zh": "观察：视频18–42 s机器人在橙色柜前伸臂、改变躯干姿态；视频37–42 s蓝色电池仍直立在原柜面上，没有随夹爪离开。log step 126执行的是柜上电池抓取脚本，不能把脚本中的闭爪和抬升命令视为已抓起。" + }, + { + "t": 170.0, + "log_step": null, + "text_zh": "观察：视频44–170 s检查的连续采样画面中，蓝色电池一直留在柜面，腕部视角未见夹持电池；视频约172 s以后机器人离开柜前前往办公室，直到视频226.0 s末帧均未见携带电池返回垃圾桶或将电池越过桶口。" + }, + { + "t": 226.0, + "log_step": null, + "text_zh": "推断：评分器q_score=0.0、live_matches_replay=1；开局已成立的垃圾桶在地面关系不计入新增得分，任何电池入桶都会贡献新增目标，因此终态桶内电池数为0。这与本次视频没有成功搬起、投放电池的过程一致。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：轮式底盘在视频0–18 s接近柜子，在后续柜前伸臂尝试间多次调整站位，并在视频约172 s后驶向办公室；移动时支承机器人，未见携带电池。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频18–170 s双臂先后在柜前运动，但腕部画面偏暗且常被柜沿遮挡，不能核定夹爪与柜体是否及如何接触；蓝色电池留在柜面，没有可确认的包夹抓握。" + } + ] + }, + "batteries_in_bin_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 170.0, + "log_step": null, + "text_zh": "观察：视频18–170 s柜前操作未见任何电池被搬离柜面；视频约172–225.6 s机器人在办公室及门口观察、移动和倾倒，未见电池入桶过程。" + }, + { + "t": 226.0, + "log_step": null, + "text_zh": "推断：评分器q_score=0.0且实时与重放一致，排除终态至少2节电池入桶；结合全段视频无首节入桶过程，此计数节点未达到。" + } + ] + }, + "batteries_in_bin_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 226.0, + "log_step": null, + "text_zh": "推断：全段视频未见任何电池越过垃圾桶口；柜上电池在视频170 s仍可见于原柜面，之后机器人在办公室搜寻并倾倒，视频225.7–226.0 s三路视角转为天空。评分器q_score=0.0且实时与重放一致，排除终态至少3节电池入桶，亦无三节曾入桶的可见过程。" + } + ] + }, + "bin_on_copy_room_floor": { + "method": "visual", + "intervals": [ + [ + 0.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频0.0 s头部画面中，橙色矮柜前的黑色开口垃圾桶直立于复印室深色地面上。" + }, + { + "t": 226.0, + "log_step": null, + "text_zh": "推断：视频全段机器人操作柜前电池并前往办公室，未见抓取、提起或搬运垃圾桶；后段桶离开视野，以开局落地状态及全程没有搬桶动作判断该关系保持到结束。q_score=0.0不否定这一初始即成立的目标。" + } + ] + } + }, + "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": 42.0, + "log_step": 126, + "where": "操作中", + "evidence_zh": "观察：视频37–42 s机器人完成一轮柜前伸臂尝试后，蓝色电池仍在柜面原处，所需夹持未建立；后续反复尝试到视频170 s仍未搬离电池，之后改去办公室也没有任何电池入桶。这是首个始终未修复的步骤，锚点取视频42 s附近。" + }, + "unmet": { + "batteries_in_bin_1": false, + "batteries_in_bin_2": false, + "batteries_in_bin_3": false, + "bin_on_copy_room_floor": true + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 42.0, + "log_step": 126, + "evidence_zh": "观察：视频37–46 s蓝色电池在柜面保持直立，机器人夹爪的伸出和收回没有带走它；视频64–130 s及144–170 s后续尝试中，电池仍留在柜面，未见形成能夹持和搬运电池的接触。log step 279转读的右臂抓取脚本记录也报告闭爪及抬升后的开口均为0，未抓到电池。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：目标选的是正确的柜上电池，但手臂执行没有把夹爪送到抓取位置。log step 101中IK报告位置误差约0.0003 m，实际执行后末端离目标约0.727 m；log step 108继续保持目标后仍误差约0.735 m，log step 109显示左臂前两关节力矩约−55与+55，与log step 200列出的55力矩上限相当。视频18–42 s及后续柜前画面同时显示手臂运动而电池不动，支持控制执行失败；现有证据不足以进一步区分轨迹受阻与关节跟踪问题。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有状态日志。腕部图像偏暗且柜沿遮挡接触区域，无法确认具体碰擦部位，故不把闭爪命令标为实际抓握，也不细分控制根因；垃圾桶后段不在视野内，其终态由初态及没有搬桶动作推断。视频225.7–226.0 s三路画面转为天空，log step 438读取到极大底座坐标，但异常发生前首节电池入桶已经长期失败；未据此假定任务或环境是早期抓取失败的原因。" + }, + "summary_zh": "三节电池均未入桶，仅保留开局已成立的垃圾桶在复印室地面关系，最终1/4；评分器q_score=0.0与此一致。机器人在柜前反复伸臂仍未夹持、搬离电池，断点为第1个电池入桶，日志显示目标末端位置与实际执行明显偏离，根因记为控制；后段转往办公室并倾倒也未修复该步骤。无状态日志，柜沿遮挡和暗部限制了接触细节判断，垃圾桶末态依保留初态推断。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点进度（1/4，仅开局即成立的垃圾桶在地面）、断点（第1个电池入桶，操作中）与「没建立接触」现象与视频、q_score=0.0、log 一致；控制根因证据偏弱但已如实声明不足，故不要求修改。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:18:37Z", + "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-dispose-of-batteries-i00-standard--v5nfe4x/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-dispose-of-batteries-i00-standard--v5nfe4x/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d73756b9e1323aa9b9275d747958348a96a6ab808c3a73960e1f6fd34e90efa6", + "video_sha256": "b9c0c62399d9d06f031726e2c1ad57e5a5a34d5f8ec615cb339485daec529ae9", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-privileged--a2ezh7t.json b/phase2/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-privileged--a2ezh7t.json new file mode 100644 index 0000000000000000000000000000000000000000..79eb57d52aab490079a52868950b2f6dc8d3c917 --- /dev/null +++ b/phase2/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-privileged--a2ezh7t.json @@ -0,0 +1,328 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-halve-an-egg-i00-privileged--a2ezh7t", + "taskKey": "behavior-1k/halve_an_egg", + "dag_sha256": "b96ade25db44205584f460c1b468077fcc7c5f585e7588ca96d55ad3f7042252", + "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": 6218, + "sim_breakdown": 0, + "goal": 1, + "settle_steps": 7, + "goal_first_step": 6186, + "sim_steps": 6225, + "fallen": 0, + "final_reward": 1.0, + "q_score": 1.0, + "replay_wall_s": 1620.5, + "replay_timeout_s": 5345.3, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 3, + "agent_resets": 7, + "agent_sim_steps": 26280, + "agent_records": 2, + "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-halve-an-egg-i00-privileged--a2ezh7t/replay.mp4", + "duration_s": 207.5, + "fps": 30.0, + "frames": 6225, + "sha256": "6b6c2f237c59d03ccd6cb0bae01da9b0a7116e2b63828453a23adb2c29d739ef" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 5, + "final": 5, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 41.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 39.5, + "log_step": null, + "text_zh": "观察：视频 35–40 s 冰箱白色门板仍贴近柜体；视频 41–42 s 机器人右夹爪拉动门板向外转开，头部画面开始露出低层搁板，视频 43–48 s 可见宽开的门和内部空间。达到可取蛋开口的时间约为视频 41.5 s，误差约 0.5 s。" + }, + { + "t": 105, + "log_step": null, + "text_zh": "观察：视频 90 s 左腕画面仍见鸡蛋在冰箱搁板上，视频 95–105 s 鸡蛋出现在左夹爪两指之间并随手退出，支持此前开口已足以让鸡蛋通过；此开门节点按事件保持完成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人右夹爪夹住冰箱门把手向外拉门；随后右手保持门开启，左手伸入取蛋。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 0–26 s 轮式底盘绕过厨房岛台并靠近冰箱，支承机器人调整开门工作位置。" + } + ] + }, + "egg_halved": { + "method": "visual", + "intervals": [ + [ + 191.25, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 176.5, + "log_step": null, + "text_zh": "观察：视频 174–176.5 s 左夹爪将整蛋降到红花盘上并张开，退手后鸡蛋留在盘内；视频 179–183 s 左夹爪从案板上的刀柄处闭合，刀随左手离开案板。" + }, + { + "t": 191.25, + "log_step": null, + "text_zh": "观察：视频 189.5–191.25 s 机器人左手持刀向红花盘内的鸡蛋下压；视频 191.5–192.25 s 刀向上撤离，盘内可见相邻的蛋块轮廓，夹爪持有的是刀。切割瞬间局部受刀刃遮挡。" + }, + { + "t": 191.25, + "log_step": null, + "text_zh": "推断：结合视频 191.25 s 前后的整蛋形态变化、抬刀后盘内蛋块及评分器 success=1、q_score=1.0，鸡蛋约在视频 191.25 s 被切成两半且保留至结束；两半紧邻、图像分辨率有限，切割时刻误差约 0.5 s。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "机器人左夹爪持切肉刀，用刀刃向下压切已经放在红花盘上的整蛋；切割接触链记刀刃与鸡蛋。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "切割准备时，左夹爪从冰箱搁板夹住整蛋并取出，搬到红花盘上后张开释放；此处为夹爪直接接触鸡蛋。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘在左手持整蛋时从冰箱旁移至盘子前，并在取刀前小幅换位。" + } + ] + }, + "egg_halves_on_plate_1": { + "method": "visual", + "intervals": [ + [ + 191.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 191.5, + "log_step": null, + "text_zh": "观察：视频 176.5–178.5 s 整蛋已离手留在红花盘内；视频 189.5–191.25 s 机器人直接在盘内压切，视频 191.5–192.25 s 抬刀后蛋块仍在盘面，未见夹爪夹持蛋块或将其带离盘子。" + }, + { + "t": 192, + "log_step": null, + "text_zh": "推断：盘内切割产生的两个半蛋直接由盘面承接，约视频 191.5 s 起至少有1个半蛋离手留盘。两半紧邻，无法逐帧量测微小运动；评分器最终 success=1、goal=1、q_score=1.0，且 video_replay_matches=1，确认第1半蛋最终满足留盘和静置验收。按盘上数量计数，不绑定外观身份。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "机器人左手持切肉刀在红花盘内下压整蛋，切出的两半直接由盘面承接；该计数节点由同一次盘内切割达成。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人先用左夹爪夹持整蛋，将其降至红花盘上并放开，为两半直接留盘准备位置。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘在左手夹持整蛋时从冰箱旁移至红花盘前，支承整蛋的上盘搬运。" + } + ] + }, + "egg_halves_on_plate_2": { + "method": "visual", + "intervals": [ + [ + 191.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 191.5, + "log_step": null, + "text_zh": "观察：视频 176.5–178.5 s 整蛋已离手留在红花盘内；视频 189.5–191.25 s 机器人直接在盘内压切，视频 191.5–192.25 s 抬刀后蛋块仍在盘面，未见夹爪夹持蛋块或将其带离盘子。" + }, + { + "t": 192, + "log_step": null, + "text_zh": "推断：盘内切割产生的两个半蛋直接由盘面承接，约视频 191.5 s 起至少有2个半蛋离手留盘。两半紧邻，无法逐帧量测微小运动；评分器最终 success=1、goal=1、q_score=1.0，且 video_replay_matches=1，确认第2半蛋最终满足留盘和静置验收。按盘上数量计数，不绑定外观身份。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "机器人左手持切肉刀在红花盘内下压整蛋，切出的两半直接由盘面承接；该计数节点由同一次盘内切割达成。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人先用左夹爪夹持整蛋，将其降至红花盘上并放开，为两半直接留盘准备位置。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘在左手夹持整蛋时从冰箱旁移至红花盘前，支承整蛋的上盘搬运。" + } + ] + }, + "knife_in_sink": { + "method": "visual", + "intervals": [ + [ + 206.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 199, + "log_step": null, + "text_zh": "观察：视频 193–197 s 机器人左夹爪持刀移至水槽处并下放；视频 198–201.5 s 刀已离手，却仍搁在盆腔旁的沥水台上，因此这一阶段不计入槽。" + }, + { + "t": 206.5, + "log_step": null, + "text_zh": "观察：视频 202–205.5 s 左夹爪重新夹住刀柄，提起刀并向盆腔内移；视频 206.0–206.5 s 夹爪张开，刀下落至水槽凹入的盆腔内。视频 206.5–207.25 s 以及末帧视频 207.47 s，刀留在盆腔内，机器人空夹爪退离。约视频 206.5 s 起记为放稳，误差约 0.5 s。" + }, + { + "t": 207.47, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段 success=1、all_success=1、goal=1、q_score=1.0、video_replay_matches=1，支持末帧刀具入槽及全体目标离手静置的联合验收。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左夹爪夹持刀柄从红花盘旁搬到水槽处，先放在沥水台上，随后再次夹起并移入盆腔后张开释放。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 192.5–195 s 机器人底盘在左手持刀时从切蛋位置移至水槽前。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 1.0, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": null, + "summary_zh": "机器人完成开冰箱、鸡蛋切半、两半留盘和刀具入槽，最终为 5/5；视频约 191.25 s 在盘内切蛋，两半直接留盘。刀首次落在沥水台上，随后重新夹起，至视频约 206.5 s 已离手放入盆腔，末帧视频 207.47 s 仍在槽内，评分器 success=1、q_score=1.0。无状态日志，切割瞬间局部遮挡、两半紧邻且结束时盘子在画外，节点时刻约有 0.5 s 误差，最终半蛋留盘与精确静置条件由成功评分补足；oracle 为本次运行本身，无独立参考视频。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "成功运行（success=1，q_score=1.0，goal_first_step=6186 即视频约 206.2 s，与刀入槽 206.5 s 吻合）。五个节点的时刻、final、contact_actual 与视频一致，failure 为 null 合理，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:36:33Z", + "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-halve-an-egg-i00-privileged--a2ezh7t/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-halve-an-egg-i00-privileged--a2ezh7t/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "52d7aca59596c3d241d2f7de8be08b56416b861ad07326b759a978c245e93370", + "video_sha256": "6b6c2f237c59d03ccd6cb0bae01da9b0a7116e2b63828453a23adb2c29d739ef", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-privileged--c58efdu.json b/phase2/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-privileged--c58efdu.json new file mode 100644 index 0000000000000000000000000000000000000000..ee0afe49a4b631cdb3504a54c1485bb34be2a1b0 --- /dev/null +++ b/phase2/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-privileged--c58efdu.json @@ -0,0 +1,251 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-halve-an-egg-i00-privileged--c58efdu", + "taskKey": "behavior-1k/halve_an_egg", + "dag_sha256": "b96ade25db44205584f460c1b468077fcc7c5f585e7588ca96d55ad3f7042252", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 844, + "sim_steps": 844, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 1198.6, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 20, + "agent_resets": 0, + "agent_sim_steps": 14222, + "agent_records": 6, + "agent_replays": 0, + "agent_cost_self_reported": 1 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-halve-an-egg-i00-privileged--c58efdu/replay.mp4", + "duration_s": 28.133, + "fps": 30.0, + "frames": 844, + "sha256": "17b08422c6cbe936a82e743e94f2e83bd7433d2ff1f118a0f91024e1981817b2" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 18.5, + "log_step": 218, + "text_zh": "观察：视频 12.0–28.1 s 的头部及腕部画面持续显示白色冰箱门板闭合；视频 18.5–20.0 s 左臂改变姿态抬向上方，没有带出门板。成功参考视频 60.0 s 可见门打开后的低层搁板，本次未出现该开口。" + }, + { + "t": 28.1, + "log_step": null, + "text_zh": "观察：视频 27.1–28.1 s 逐帧检查仍为闭门，未见可供鸡蛋通过的开口，因此开门事件从未达成。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0.0–16.5 s 轮式机器人绕过岛台并移到冰箱门前，底盘承担接近开门工作位的移动支撑。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 16.5–20.0 s 左臂在门旁运动，腕部视角随后抬高；门侧具体接触区被门板和机器人局部遮挡，无法确认左夹爪是否触碰门面及接触方式，未见夹住把手或拉开门。" + } + ] + }, + "egg_halved": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 27.8, + "log_step": 218, + "text_zh": "观察：视频 23.0–28.1 s 左夹爪伸向仍闭合的冰箱门附近，没有鸡蛋从冰箱内被取出，刀仍在相邻案板上；整段视频未见刀刃作用于鸡蛋或产生两个半蛋。" + }, + { + "t": 28.1, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.0，五个目标字面量均未获得分数；两半蛋的 real 条件原本不成立，结合视频中未取出鸡蛋、未切割的过程，鸡蛋切半终值为 false。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 21.0–23.0 s 机器人沿冰箱前方换位，随后左臂作取蛋准备；只进行了切蛋所需的取蛋前置动作。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 23.0–28.1 s 左夹爪在闭合门板外伸展，鸡蛋区域始终被门板遮挡，不能确认夹爪与鸡蛋的接触；未见持刀接触鸡蛋，不能标为工具压切或抓握鸡蛋。" + } + ] + }, + "egg_halves_on_plate_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 27.8, + "log_step": null, + "text_zh": "观察：视频 15.0–23.0 s 可见相邻台面的红花盘，未见半蛋；视频 27.1–28.1 s 机器人仍在闭合冰箱前，未搬运鸡蛋至盘子，整段视频没有装盘动作。" + }, + { + "t": 28.1, + "log_step": null, + "text_zh": "推断：鸡蛋没有切半，视频也未见盘上独立半蛋；评分器 q_score=0.0 排除原本不成立的半蛋上盘目标在终态成立，因此盘上至少1个半蛋的节点为 false。" + } + ] + }, + "egg_halves_on_plate_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 27.8, + "log_step": null, + "text_zh": "观察：视频 15.0–23.0 s 可见相邻台面的红花盘，未见半蛋；视频 27.1–28.1 s 机器人仍在闭合冰箱前，未搬运鸡蛋至盘子，整段视频没有装盘动作。" + }, + { + "t": 28.1, + "log_step": null, + "text_zh": "推断：鸡蛋没有切半，视频也未见盘上独立半蛋；评分器 q_score=0.0 排除原本不成立的半蛋上盘目标在终态成立，因此盘上至少2个半蛋的节点为 false。" + } + ] + }, + "knife_in_sink": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 27.9, + "log_step": null, + "text_zh": "观察：视频 16.5–23.0 s 以及视频 27.1–28.0 s 可见切肉刀一直留在相邻台面的案板上；机器人始终未拿刀或搬刀至水槽，未出现刀离开案板进入盆腔的过程。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "fridge_opened", + "t": 18.5, + "log_step": 218, + "where": "操作中", + "evidence_zh": "观察：视频 16.5–20.0 s 机器人已在冰箱前执行左臂接近动作，约视频 18.5 s 腕部画面转向上方，门板没有被带开；到视频 28.1 s 门仍关闭。log step 214 的交付脚本要求左末端先接近门侧，再压门拖动；log step 218 的最终录制输出为 approach.ok=false，随后没有 press/drag 输出，门角读数仍为 0.0。推断：开门接近失败后没有修复，是最早未完成的步骤。" + }, + "unmet": { + "egg_halved": false, + "egg_halves_on_plate_1": false, + "egg_halves_on_plate_2": false, + "knife_in_sink": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 18.5, + "log_step": 218, + "evidence_zh": "观察：视频 18.5–20.0 s 左臂接近冰箱后抬向上方，腕部视角离开低处门侧的工作区域，冰箱门保持闭合。log step 214 指定接近目标为 [7.58,-1.560,1.00]；最终交付运行的 log step 218 记录 approach.ok=false、实际末端 [8.095,-1.49,1.498]，随后跳过压门拖动分支。推断：左末端接近位姿没有到位，开门动作未能完成。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "观察：log step 214 的脚本用 ee_waypoints 和 move_ee 控制左臂接近门侧，接近失败即跳过实际压门拖动；log step 218 的最终运行记录 approach.ok=false，末端偏离接近目标且高度升至 1.498 米。该输出随后记录 saved、n_steps=844，log step 220 核对交付为 844×25 动作，评分器亦为 n_actions=844、deterministic=1；视频 18.5–20.0 s 的腕部抬高与此相符。推断：末端运动控制未实现接近目标，导致开门接触方案未执行；现有证据不能区分逆解、跟踪或姿态可达性，保留控制总类。" + } + ], + "gap_zh": "观察：inputs/ 没有状态日志，头部和腕部画面无法完整显示门侧的细小接触，也看不到闭门后的鸡蛋；因此开门及取蛋准备中的夹爪接触标未知。推断：节点终值由完整视频过程及评分器 q_score=0.0 共同限定；无法从现有记录细分末端接近失败的控制子因，未采用 agent 对所有开门方案均不可行的自述。" + }, + "summary_zh": "机器人绕过岛台到达冰箱前，但左臂接近门侧时位姿未到位，冰箱始终未打开，后续取蛋准备也没有取出鸡蛋；五个节点均未完成，刀仍留在案板上。断点为打开冰箱，现象为位姿不准，日志和视频支持控制层失败；无状态日志且门侧接触被遮挡，无法确认具体接触及控制子因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "五个节点均未达成、断点为打开冰箱、现象位姿不准、根因停在控制，与视频和日志一致；未发现需要改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:37:07Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-halve-an-egg-i00-privileged--c58efdu/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-halve-an-egg-i00-privileged--c58efdu/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "fd33152b2181df3a6387860ece2954ab86fcf18f95049470555eddc7a123bd9e", + "video_sha256": "17b08422c6cbe936a82e743e94f2e83bd7433d2ff1f118a0f91024e1981817b2", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-privileged--gxzq6ya.json b/phase2/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-privileged--gxzq6ya.json new file mode 100644 index 0000000000000000000000000000000000000000..70c25cf463068621d55c27065bfbb8080b3dc7a8 --- /dev/null +++ b/phase2/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-privileged--gxzq6ya.json @@ -0,0 +1,254 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-halve-an-egg-i00-privileged--gxzq6ya", + "taskKey": "behavior-1k/halve_an_egg", + "dag_sha256": "b96ade25db44205584f460c1b468077fcc7c5f585e7588ca96d55ad3f7042252", + "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": 1382, + "sim_steps": 1382, + "fallen": 1, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 1442.7, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 8, + "agent_resets": 5, + "agent_sim_steps": 8533, + "agent_records": 8, + "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-halve-an-egg-i00-privileged--gxzq6ya/replay.mp4", + "duration_s": 46.067, + "fps": 30.0, + "frames": 1382, + "sha256": "e1ae41f2169a3c69cec5a0c2d8feb263dfa37273228a905aa97fd4f81bf6bd67" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 28.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 26.0, + "log_step": null, + "text_zh": "观察：视频26.0 s冰箱白色门板正在外转；视频28.0–30.0 s门板已明显离开柜体，低层玻璃搁板与内部空间露出，开口足以通过鸡蛋。首次达成取视频约28.0 s，精度约0.5 s；此节点为开门事件，随后不撤销。" + }, + { + "t": 30.0, + "log_step": 253, + "text_zh": "观察：log step 253读取最终gen7录制的日志，开门结束记录door angle after open 1.278。log step 255确认该录制保存1382行，与评分器n_actions=1382一致；视频28.0–34.5 s也显示门打开，故采用本次录制而非更早试运行。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右夹爪在冰箱竖直把手处闭合并随门板向外运动，拉开冰箱门；腕部视角可见夹爪与门沿，最终录制日志也记录门被右夹爪抓住。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘支承机器人驶至冰箱前，并在拉门过程中小幅换位。" + } + ] + }, + "egg_halved": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 35.5, + "log_step": 253, + "text_zh": "观察：视频30.0–35.0 s机器人仍在打开的冰箱前调整位置，未见夹爪带出鸡蛋；视频35.5–36.5 s所有相机随机器人急剧倾斜，之后直到视频46.033 s末帧持续侧倒，未出现取蛋、持刀接触鸡蛋或两个半蛋。log step 253的最终录制日志显示取蛋前底盘移动301步，随后夹爪到取蛋目标误差约0.91–0.99米，carrying: None。" + }, + { + "t": 46.033, + "log_step": null, + "text_zh": "推断：任务初态为整蛋在冰箱内；视频中机器人开门后未带出鸡蛋即翻倒，未执行切割，故无切半区间。评分器q_score=0.0进一步限定最终两个real半蛋目标不能同时成立，切半节点final=false。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘在开门后空手移向冰箱内鸡蛋的取物位置，作为切蛋步骤的取蛋准备；途中翻倒，未见夹爪或刀刃接触鸡蛋。" + } + ] + }, + "egg_halves_on_plate_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 46.033, + "log_step": 253, + "text_zh": "推断：视频全程未出现切出半蛋或将半蛋送到红花盘的动作；视频35.5–36.5 s翻倒后至视频46.033 s末帧，机器人仍停留在冰箱旁。log step 253显示carrying: None，后续plate-base移动步数为0，整蛋仍存在；结合评分器q_score=0.0，盘上至少1个独立半蛋的最终条件不成立，无达成区间。日志中的阶段标题不计作实际装盘。" + } + ] + }, + "egg_halves_on_plate_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 46.033, + "log_step": 253, + "text_zh": "推断：视频全程未出现切出半蛋或将半蛋送到红花盘的动作；视频35.5–36.5 s翻倒后至视频46.033 s末帧，机器人仍停留在冰箱旁。log step 253显示carrying: None，后续plate-base移动步数为0，整蛋仍存在；结合评分器q_score=0.0，盘上至少2个独立半蛋的最终条件不成立，无达成区间。日志中的阶段标题不计作实际装盘。" + } + ] + }, + "knife_in_sink": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 46.033, + "log_step": 252, + "text_zh": "推断：视频0–46.033 s机器人先驶向冰箱、开门，随后在冰箱旁翻倒并停留到末帧；未见拿起刀具或搬到水槽。log step 252的最终录制日志记录knife grasp: None、sink-above/down/up均NO IK；这不构成实际刀入槽动作。结合初态刀在案板和评分器q_score=0.0，刀入水槽最终为false，未出现达成区间。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "egg_halved", + "t": 35.5, + "log_step": 253, + "where": "转场", + "evidence_zh": "观察：视频28.0–34.5 s冰箱已经打开，机器人空手调整到取蛋位置；视频35.5–36.5 s相机视野随本体急剧旋转，之后侧倒至视频46.033 s，未再取出鸡蛋或切割。log step 253的最终录制日志将开门后移动明确标为grasp egg的egg-base，之后carrying: None；log step 255保存的1382步结果和评分器均为fallen=True、q_score=0.0。推断：开门已完成，未修复的失败属于切蛋所需的取蛋准备，发生在空手转场中。" + }, + "unmet": { + "egg_halved": false, + "egg_halves_on_plate_1": false, + "egg_halves_on_plate_2": false, + "knife_in_sink": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 35.5, + "log_step": 253, + "evidence_zh": "观察：视频35.0 s仍可见竖直冰箱与搁板；视频35.5 s视点骤降，视频36.0–36.5 s头部及双腕画面一起大幅滚转；视频37.0–46.033 s保持同一侧倒朝向，没有站起恢复。评分器fallen=1，log step 255也记录最终fallen=True。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：视频35.5–36.5 s显示机器人在开门后的取蛋换位运动中失稳，尚未形成取蛋接触。log step 253中该次录制的egg-base目标为(7.900,-1.280)，301步后仍停在(7.962,-1.211)，其后手臂目标误差约0.91–0.99米且carrying: None，说明本体运动未能保持稳定并完成后续接近；归因至控制层。不能把倒下后出现的NO IK反当作翻倒的已证实原因。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "无状态日志，无法确定翻倒时的具体碰撞体对、接触力或底盘姿态数值；agent在log step 260自述撞到冰箱门沿，但相机没有清楚呈现碰撞点，故不另标被挡/碰撞，也不细分控制根因。鸡蛋和刀具的终态未被末帧直接摄入，依据整段动作、最终录制日志及评分器q_score=0.0推断未达成；节点时间取视频画面，未把agent工作时间换算为视频时间。" + }, + "summary_zh": "观察：本次评分轨迹完成打开冰箱，最终进度1/5；视频约28.0 s露出内部搁板，视频35.5–36.5 s机器人空手移向取蛋位置时翻倒，直到视频46.033 s末帧未恢复，切半、两半上盘及刀入水槽均未完成。推断：断点为鸡蛋切半的取蛋准备转场，现象为失衡，根因归控制；缺少状态日志及清楚的碰撞部位画面，不能确定具体碰撞或控制子类。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "开门约28 s达成、取蛋途中约35.5 s翻倒并持续到末帧，断点egg_halved/转场、现象平衡、根因控制均与视频和评分器fallen=1、q_score=0一致；未发现需改内容的错误，碰撞原因未定已在gap_zh说明。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:29:34Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-halve-an-egg-i00-privileged--gxzq6ya/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-halve-an-egg-i00-privileged--gxzq6ya/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "de88d1090eab46deb2e3f320b700579d3b6ab19221de37d222a24c2651d9d89a", + "video_sha256": "e1ae41f2169a3c69cec5a0c2d8feb263dfa37273228a905aa97fd4f81bf6bd67", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-privileged--y7go8mk.json b/phase2/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-privileged--y7go8mk.json new file mode 100644 index 0000000000000000000000000000000000000000..2e7a6a5756ba2ca8b145898fba5cb16f497270ed --- /dev/null +++ b/phase2/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-privileged--y7go8mk.json @@ -0,0 +1,340 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-halve-an-egg-i00-privileged--y7go8mk", + "taskKey": "behavior-1k/halve_an_egg", + "dag_sha256": "b96ade25db44205584f460c1b468077fcc7c5f585e7588ca96d55ad3f7042252", + "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": 3927, + "sim_steps": 3927, + "fallen": 0, + "final_reward": 1.0, + "q_score": 1.0, + "replay_wall_s": 1516.9, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 6, + "agent_resets": 2, + "agent_sim_steps": 15516, + "agent_records": 5, + "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-halve-an-egg-i00-privileged--y7go8mk/replay.mp4", + "duration_s": 130.9, + "fps": 30.0, + "frames": 3927, + "sha256": "c707a550a5182eeb44e534de8f55b08e9c23a4278cb4dbac90c5ff40e05e30f7" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 5, + "final": 5, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 24.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 24.0, + "log_step": null, + "text_zh": "观察：视频 21.0–22.5 s 机器人右夹爪位于冰箱门把手处；视频 23.5–24.0 s 白色门板向外转开、内层搁板露出，随后视频 30.0–36.0 s 开口进一步扩大，视频 56.0–60.0 s 右夹爪伸入并带走鸡蛋。开门达成时刻约为视频 24.0 s，误差约0.5秒。" + }, + { + "t": 36.0, + "log_step": null, + "text_zh": "观察：视频 36.0 s 冰箱门已大幅外开；此后机器人转身取蛋，开门事件保留至片尾。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人右夹爪合拢于冰箱门把手并向外拉门（视频 21.0–30.0 s）；结合夹爪与把手共同移动判断为夹握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘先驶到冰箱前，并在拉门后段随右臂横向调整位置（视频 0.0–36.0 s）。" + } + ] + }, + "egg_halved": { + "method": "visual", + "intervals": [ + [ + 107.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 56.5, + "log_step": null, + "text_zh": "观察：视频 53.0–55.5 s 完整熟鸡蛋仍在冰箱搁板上；视频 56.0–60.0 s 右夹爪包夹鸡蛋，鸡蛋离开原搁板并随夹爪移出。视频 69.0–81.5 s 机器人持蛋驶到台面并将其降到红花盘内。" + }, + { + "t": 107.5, + "log_step": null, + "text_zh": "观察：视频 103.8–107.0 s 机器人右夹爪持切肉刀向盘内完整鸡蛋压下；视频 107.5–108.5 s 盘内出现相邻的两块半蛋轮廓及切面，刀随后抬离。切半时刻取视频 107.5 s，约有0.5秒误差。" + }, + { + "t": 130.866, + "log_step": null, + "text_zh": "推断：视频 109.0–110.0 s 两块蛋仍留在盘内，之后机器人持刀离开；评分器 reward.q_score=1.0、all_success=1 表明结束时两个 real 半蛋目标均成立，支持切半状态保留到视频 130.87 s；并非仅凭总失败判定推断切割未完成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人右夹爪夹取完整熟鸡蛋并搬到盘内，视频 56.0–83.0 s 可见鸡蛋夹在两指间及随后松开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘支承持蛋搬运，从冰箱驶到红花盘前（视频 69.0–76.0 s）。" + }, + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "机器人右夹爪持切肉刀，用刀刃向红花盘内的鸡蛋压切（视频 103.8–107.5 s）；只标刀刃作用于鸡蛋的接触链。" + } + ] + }, + "egg_halves_on_plate_1": { + "method": "visual", + "intervals": [ + [ + 108.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 108.0, + "log_step": null, + "text_zh": "观察：视频 81.5–85.0 s 机器人右夹爪松开整蛋，整蛋留在红花盘面；视频 107.5–108.5 s 在盘内切割后可辨认两块相邻半蛋，右夹爪握的是刀，半蛋没有被夹持。第1半蛋按盘上数量计，约从视频 108.0 s 在盘面停稳；两项可同时达成，未要求切后另搬一次。" + }, + { + "t": 130.866, + "log_step": null, + "text_zh": "推断：视频 109.0–110.0 s 两半蛋继续留在红花盘中，机器人随后移向水槽，未再操作盘或半蛋；片尾盘子离开相机视野，但评分器 reward.q_score=1.0、all_success=1 决定最终至少1半蛋在盘上。终值采用视频过程与评分器五个目标字面量全满足的共同证据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人右夹爪先搬运完整鸡蛋并在红花盘上松开（视频 56.0–85.0 s），随后在盘内切割直接形成装盘结果。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘在夹持整蛋时从冰箱移动到红花盘前（视频 69.0–76.0 s）。" + }, + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "机器人右夹爪持刀在红花盘内压切整蛋，两半直接由盘面承接（视频 107.5–108.5 s），未分别抓取半蛋。" + } + ] + }, + "egg_halves_on_plate_2": { + "method": "visual", + "intervals": [ + [ + 108.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 108.0, + "log_step": null, + "text_zh": "观察：视频 81.5–85.0 s 机器人右夹爪松开整蛋，整蛋留在红花盘面；视频 107.5–108.5 s 在盘内切割后可辨认两块相邻半蛋，右夹爪握的是刀，半蛋没有被夹持。第2半蛋按盘上数量计，约从视频 108.0 s 在盘面停稳；两项可同时达成，未要求切后另搬一次。" + }, + { + "t": 130.866, + "log_step": null, + "text_zh": "推断：视频 109.0–110.0 s 两半蛋继续留在红花盘中，机器人随后移向水槽，未再操作盘或半蛋；片尾盘子离开相机视野，但评分器 reward.q_score=1.0、all_success=1 决定最终至少2半蛋在盘上。终值采用视频过程与评分器五个目标字面量全满足的共同证据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人右夹爪先搬运完整鸡蛋并在红花盘上松开（视频 56.0–85.0 s），随后在盘内切割直接形成装盘结果。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘在夹持整蛋时从冰箱移动到红花盘前（视频 69.0–76.0 s）。" + }, + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "机器人右夹爪持刀在红花盘内压切整蛋，两半直接由盘面承接（视频 107.5–108.5 s），未分别抓取半蛋。" + } + ] + }, + "knife_in_sink": { + "method": "visual", + "intervals": [ + [ + 130.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 99.0, + "log_step": null, + "text_zh": "观察：视频 93.0–99.0 s 机器人右夹爪围住刀柄，刀离开案板并随右手抬起；视频 109.0–115.0 s 机器人底盘持刀移向水槽。" + }, + { + "t": 130.0, + "log_step": null, + "text_zh": "观察：视频 125.0–129.4 s 机器人右手将刀降入右侧凹入盆腔；视频 129.6–130.2 s 刀与夹爪分离，落在盆腔内，视频 130.4–130.87 s 刀留在盆内、右夹爪在其上方。到位并静止的时刻约为视频 130.0 s，误差约0.5秒。" + }, + { + "t": 130.866, + "log_step": null, + "text_zh": "推断：视频最后一帧（视频 130.87 s）与参考成功视频的盆内放刀结果一致；评分器 reward.q_score=1.0、all_success=1 进一步确认 inside 刀具入水槽关系及联合松手静置验收已通过，不能把 deterministic=0 解读为刀未入盆。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人右夹爪夹住切肉刀刀柄，从案板拿起、持刀搬到水槽并在盆内松开（视频 93.0–130.0 s）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘支承持刀从盘与案板一侧驶到水槽前（视频 109.0–115.0 s）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 1.0, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "knife_in_sink", + "t": 130.8, + "log_step": 194, + "where": "终态验收", + "evidence_zh": "观察：视频 107.5–110.0 s 切开的两半蛋留在盘中，视频 130.0–130.87 s 刀已松开并留在水槽盆内；评分器 reward.all_success=1、q_score=1.0、instance_exact=1、infra_error=0，但 deterministic=0、success=0。log step 180 与 log step 190 对同一3927行动交付文件分别报告成功，却得到不同终态 state_sha（0b8d49aa338952ed 与20c6e40c79150b1b）；agent 在 log step 194 明确承认此差异后结束交付。推断：失败定位于最后完成的刀具入水槽之后的终态验收，未观察到该物理节点本身未完成。" + }, + "unmet": { + "egg_halved": true, + "egg_halves_on_plate_1": true, + "egg_halves_on_plate_2": true, + "knife_in_sink": true + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 无 states.jsonl，未提供两次评分回放的逐对象终态数值或第二段评分视频；视频离开盘子后不能直接继续检查两半蛋，但 reward.q_score=1.0、all_success=1 决定最终目标全部成立。任务设计问题：privileged 验收除两次完成目标外还要求终态哈希一致，本次 reward.deterministic=0 因而在 all_success=1 时仍判 success=0；log step 180、log step 190 的不同哈希及 log step 194 的最终自述相互印证。未见与该拒绝对应的机器人接触或运动失败，哈希差异涉及哪些状态及其成因未知，故现象、根因均留空；已有两次真实重放，不能仅凭哈希不同指认为保存错误。" + }, + "summary_zh": "观察：机器人完成开冰箱、盘内切蛋、两半蛋装盘及刀入水槽，五个节点最终均成立；视频 107.5–110.0 s 可见切半装盘结果，视频 130.0–130.87 s 可见盆内放刀，评分器 q_score=1.0、all_success=1。任务设计问题：两次回放都完成目标，但 privileged 的终态哈希一致性检查 deterministic=0 导致总判定 success=0，断点挂靠最后完成的刀具入水槽之后的终态验收。观察：无状态日志，无法定位具体哪个终态分量不一致；未见物理失败，现象与根因留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "五个节点终值与评分器 q_score=1.0、all_success=1 一致，视频中开冰箱、取蛋入盘、持刀移到水槽并放刀均可见；success=0 由 deterministic=0 造成，agent 自己的两次重放均报告 deterministic true 且 all_success 真，终态哈希不同（log step 180/190），因此不能归为交付错误，按任务设计问题（S9）留空现象与根因的处理合理。切半时刻（107.5 s）视角晃动，我只能确认大致范围，误差在可接受内。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:33:16Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-halve-an-egg-i00-privileged--y7go8mk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-halve-an-egg-i00-privileged--y7go8mk/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "af82a8bf9cd91c4dd331fb851f70f9a7d90f46bb28d4ce98efea84bcbbb85d6e", + "video_sha256": "c707a550a5182eeb44e534de8f55b08e9c23a4278cb4dbac90c5ff40e05e30f7", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-standard--9kdi2vn.json b/phase2/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-standard--9kdi2vn.json new file mode 100644 index 0000000000000000000000000000000000000000..f3815268eed212200f06521ec40aecbd821a1826 --- /dev/null +++ b/phase2/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-standard--9kdi2vn.json @@ -0,0 +1,272 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-halve-an-egg-i00-standard--9kdi2vn", + "taskKey": "behavior-1k/halve_an_egg", + "dag_sha256": "b96ade25db44205584f460c1b468077fcc7c5f585e7588ca96d55ad3f7042252", + "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": 1534, + "sim_steps": 1534, + "physics_steps": 6136, + "steps": 518, + "elapsed_s": 1143.6, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 1, + "q_score": 0.0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-halve-an-egg-i00-standard--9kdi2vn/replay.mp4", + "duration_s": 51.133, + "fps": 30.0, + "frames": 1534, + "sha256": "19d364d3af1ba6e56cd2f10e90ff10caa85e7e86585981f46d6636e38b47efa0" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 37.0, + "log_step": null, + "text_zh": "观察：视频 8 s、12 s、36–37.7 s 可见厨房台面与远处高柜，机器人未向冰箱门伸手；已检查的全程画面没有冰箱门板向外转开并露出低层搁板的过程。成功参考视频约 40 s 可在腕部画面辨认已打开的门和内部搁板，本次没有该线索。" + }, + { + "t": 51.1, + "log_step": 211, + "text_zh": "推断：机器人始终停留在场景观察、移动和扶正阶段，未进入冰箱门操作，故开门事件未达成；log step 211 的服务最终状态为 done=True、reason=\"failure: the robot fell over\"。" + } + ] + }, + "egg_halved": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 37.0, + "log_step": null, + "text_zh": "观察：视频 0–37.7 s 机器人观察厨房并空手移动，未见整蛋被取出或与刀接触；视频 38–51.1 s 为倾倒及扶正动作，没有出现两个独立半蛋。" + }, + { + "t": 51.1, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0、live_matches_replay=1；结合初始整蛋尚在冰箱及全程未见取蛋、切割，两个 real 半蛋目标在终态均未成立，鸡蛋切半 final=false。" + } + ] + }, + "egg_halves_on_plate_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 37.0, + "log_step": null, + "text_zh": "观察：视频 34–37.7 s 机器人空手面向水槽及相邻台面，没有将鸡蛋或半蛋送到盘上的动作；视频 38–51.1 s 机器人倾倒，双腕视角未显示持蛋或装盘。" + }, + { + "t": 51.1, + "log_step": null, + "text_zh": "推断：未见切半或半蛋转移，且评分器 reward.q_score=0、live_matches_replay=1；初始盘上没有目标半蛋，因此终态不满足至少1个半蛋上盘。" + } + ] + }, + "egg_halves_on_plate_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 37.0, + "log_step": null, + "text_zh": "观察：视频 0–37.7 s 未见切出两个半蛋或将半蛋放盘的过程，视频 38–51.1 s 机器人持续倾倒和调整姿态；没有两个独立半蛋由盘面承托的画面。" + }, + { + "t": 51.1, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0、live_matches_replay=1，结合目标半蛋初始不在盘上且没有可见装盘动作，终态不满足至少2个半蛋上盘。" + } + ] + }, + "knife_in_sink": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 37.0, + "log_step": null, + "text_zh": "观察：视频 34–37.7 s 头部画面可见水槽区域，左右腕部画面中的夹爪均空着；没有抓起刀、持刀搬运或向盆腔放刀的过程，视频 38–51.1 s 也没有此动作。" + }, + { + "t": 51.1, + "log_step": null, + "text_zh": "推断：刀的初始位置为台面案板，视频未显示其被转移；评分器 reward.q_score=0、live_matches_replay=1 进一步决定 inside(刀,水槽) 在终态不成立。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": 14.0, + "log_step": 103, + "where": "探索", + "evidence_zh": "观察：视频 12–13 s 机器人空手面向厨房通道，视频 13.5–14 s 头部视野迅速上仰朝向天花板，视频 16–32 s 机体视野持续大幅倾斜，视频 33–34 s 恢复直立厨房视野。log step 103 的本体感知读数为 rx=-1.1341、ry=-0.0415、up_z=0.4226；log step 125 扶正前 up_z=-0.001，log step 131 扶正后 up_z=1.000。视频约 38 s 再次倾倒，直到视频 51.1 s 仍未恢复；log step 211 服务返回 done=True、reason=\"failure: the robot fell over\"。推断：按 docs/03_trajectory.md Step 3.1，扶正不等于完成失败步骤，故以第一次失衡的视频约 14 s 为粗略断点锚点；日志引用独立列示，不将 agent 时间换算为视频时间。机器人当时仍在探索厨房，未开始明确的门、鸡蛋或刀具操作，无法将失败唯一归到某个 DAG 步骤，保留 ref=unknown、where=探索。" + }, + "unmet": { + "egg_halved": false, + "egg_halves_on_plate_1": false, + "egg_halves_on_plate_2": false, + "knife_in_sink": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 14.0, + "log_step": 103, + "evidence_zh": "观察：视频 13.5–14 s 机器人头部视野开始大幅上仰，视频 16–32 s 头部及腕部视野随本体倾转，视频 33–34 s 才恢复直立；log step 103 实测 up_z=0.4226，log step 125 扶正前为−0.001，log step 127 扶正后为0.927，log step 131 为1.000。视频约 38 s 机器人再次倾倒，视频 40–51.1 s 持续严重倾斜；log step 159 的 up_z≈0.517，log step 171 扶正后约为−0.163，log step 211 服务返回 failure: the robot fell over。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：agent 的导航与扶正控制未能稳定维持基座姿态。log step 92–93 的 enter_kitchen.py 令底盘转向并前进1.2米，log step 97–98 的 survey_mid.py 随后连续转向环视；这些脚本依据底盘位置和航向执行移动，没有基座倾斜反馈保护，log step 103 随后实测 rx=-1.1341、ry=-0.0415、up_z=0.4226，与视频约 14 s 开始的首次失衡一致。log step 125 扶正前 up_z=-0.001，log step 127、131 的控制将其恢复至0.927、1.000，但没有完成任务节点。log step 155 的接近台面脚本再次按位置与航向误差驱动底盘，log step 159 实测 up_z≈0.517；log step 161–162 后退后降至约0.299，log step 170–171 调整躯干并移动底盘后又降至约−0.163，与视频约 38–51.1 s 的再次翻倒一致。具体触发失衡的接触及动力学机制不明，证据不足以再细分控制子类。" + } + ], + "gap_zh": "没有状态日志，头部视野多次朝向天花板、柜体，无法直接检查终态每个目标物；各目标 final=false 由已检查画面、初始条件和评分器 q_score=0 共同判断。机器人在一般场景探索和接近台面时失衡，没有明确指向某个 DAG 节点的操作，因此断点 ref 保留 unknown；五个物理节点均未见实际尝试，未添加其 contact_actual。视频不能确定最初导致失衡的具体接触或动力学机制，根因仅标控制。" + }, + "summary_zh": "机器人只完成厨房观察、移动及多次扶正，打开冰箱、鸡蛋切半、两半上盘和刀具入水槽五个节点均未达成。视频约 14 s 首次失衡，视频约 33–34 s 恢复直立，但未完成任何任务节点；视频约 38 s 再次失衡，至视频 51.1 s 仍未恢复，服务最终判定跌倒，导航与扶正控制未能稳定本体。断点锚定第一次失衡；没有状态日志，且失衡时尚无明确目标操作，断点无法唯一对应 DAG 节点；终态目标均为假另有评分器 q_score=0 支持。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "五个节点全未达成、final=false 与评分器 q_score=0 一致，无异议。但标签漏掉了视频约 13–32 s 的第一次失衡：断点与现象证据只写了 38 s 那次，把 t=38 当作失衡起点，而 summary 又写“再次失衡”，证据中没有第一次的记录。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "五个节点未达成与 q_score=0 一致；断点已改为首次失衡（视频约 14 s），现象（平衡）与根因（控制，机制不明）有视频和 log 支持，无需修改。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:45:56Z", + "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-halve-an-egg-i00-standard--9kdi2vn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-halve-an-egg-i00-standard--9kdi2vn/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": 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"schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-halve-an-egg-i00-standard--cnjgzav", + "taskKey": "behavior-1k/halve_an_egg", + "dag_sha256": "b96ade25db44205584f460c1b468077fcc7c5f585e7588ca96d55ad3f7042252", + "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": 2087, + "sim_steps": 2087, + "physics_steps": 8348, + "steps": 1790, + "elapsed_s": 627.4, + "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": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.186, + "peak_processes": 10, + "peak_disk_gb": 0.263, + "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-halve-an-egg-i00-standard--cnjgzav/replay.mp4", + "duration_s": 69.567, + "fps": 30.0, + "frames": 2087, + "sha256": "ba831ea42b4ac338c027bac7b4617f9cd51f275aac49e38a540e4f89e4194e23" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 21.0, + "log_step": null, + "text_zh": "观察：视频 0–57 s 的巡视频帧中，机器人双臂保持收拢、夹爪空着，底盘转向及换位；视频 21 s 可见远处冰箱，未见机器人接近把手或把门板拉开、露出搁板。" + }, + { + "t": 59.2, + "log_step": 29, + "text_zh": "观察：视频 59.2–60 s 机器人在空手转向中翻倒，视频 69.53 s 仍未恢复；log step 29 的实际调用为 goto(6.8,-0.8,0.0)，服务返回机器人跌倒并结束回合，没有开门操作。对照 oracle 视频 45 s 可辨认拉出的白色门板及冰箱内部，该完成线索未在本回合出现。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0–59.2 s 轮式底盘支承机器人巡视、换位和空手转向；结合 log step 28–29，此后换位是为接近冰箱做准备。夹爪未接触门或把手，实际只有移动阶段的底盘支承接触。" + } + ] + }, + "egg_halved": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 57.0, + "log_step": null, + "text_zh": "观察：视频 0–57 s 机器人只巡视和移动，双腕视角未见夹爪持蛋或持刀，未见刀刃接触鸡蛋或产生两个独立半蛋；视频 59.2 s 后机器人翻倒直至结尾。" + }, + { + "t": 69.53, + "log_step": 30, + "text_zh": "推断：评分器 q_score=0、live_matches_replay=1；初始任务中的半蛋尚不存在，最终若有两个真实半蛋将贡献目标字面量，因此该总分排除最终切半成立。这与视频中未发生取蛋、切割的过程一致；log step 30 服务确认单回合已因跌倒终止。" + } + ] + }, + "egg_halves_on_plate_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 57.0, + "log_step": null, + "text_zh": "观察：视频 0–57 s 机器人没有搬运鸡蛋、半蛋或盘子，也没有在盘内切割；视频 59.2–69.53 s 机器人翻倒后未恢复操作。未见第1半蛋由盘面承托的达成过程。" + }, + { + "t": 69.53, + "log_step": null, + "text_zh": "推断：本回合评分器 q_score=0，且 live_matches_replay=1；第1半蛋上盘会增加非初始成立的目标字面量，因此最终该节点为假。视频未显示任何与此相反的搬运或切割结果。" + } + ] + }, + "egg_halves_on_plate_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 57.0, + "log_step": null, + "text_zh": "观察：视频 0–57 s 机器人没有搬运鸡蛋、半蛋或盘子，也没有在盘内切割；视频 59.2–69.53 s 机器人翻倒后未恢复操作。未见第2半蛋由盘面承托的达成过程。" + }, + { + "t": 69.53, + "log_step": null, + "text_zh": "推断：本回合评分器 q_score=0，且 live_matches_replay=1；第2半蛋上盘会增加非初始成立的目标字面量，因此最终该节点为假。视频未显示任何与此相反的搬运或切割结果。" + } + ] + }, + "knife_in_sink": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 18.0, + "log_step": null, + "text_zh": "观察：视频 15–21 s 机器人经过水槽方向时双腕仍朝向机体，夹爪未持刀；视频 0–57 s 未见抓刀或向盆腔放刀的动作，视频 59.2–69.53 s 机器人翻倒，未再进行放置。" + }, + { + "t": 69.53, + "log_step": null, + "text_zh": "推断：刀的初始位置由任务说明指定为台面案板，评分器 q_score=0 且 live_matches_replay=1，排除最终新增刀在水槽内的目标关系；未以零分单独推断机器人是否尝试，未尝试的判断来自全段巡视视频和动作日志。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "fridge_opened", + "t": 59.2, + "log_step": 29, + "where": "转场", + "evidence_zh": "观察：视频 58.7–59.1 s 机器人仍空手，视频约 59.2 s 开始明显侧倾，视频 59.6–60 s 画面旋转至横倒姿态，直到视频 69.53 s 未恢复。log step 28–29 显示 agent 估计冰箱方向后命令底盘换位，尚未接触门；log step 29–30 的服务结果为 failure: the robot fell over。推断：这是为打开冰箱而空手接近工作位置的转场失败，开门节点始终未完成。" + }, + "unmet": { + "egg_halved": false, + "egg_halves_on_plate_1": false, + "egg_halves_on_plate_2": false, + "knife_in_sink": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 59.2, + "log_step": 29, + "evidence_zh": "观察：视频 59.2–60 s，机器人转向时头部与双腕视角同步大幅倾转，厨房竖直边缘转至近横向；视频 60–69.53 s 机器人持续横倒，没有重新直立。log step 29–30 服务确认跌倒并终止单回合。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：底盘转向控制未能维持整机平衡。log step 24 的 base_move 将固定躯干关节目标与预计算底盘转角成批提交，每批最多290个控制步，仅检查 done，没有按基座倾角或躯干偏差调整动作；log step 29 在该转向过程中收到跌倒终止。视频约 59.2 s 的实际翻倒支持控制执行失稳。log step 21–23 还记录过先前运动后的躯干目标偏差和约±100的关节力矩，但不足以确定此次跌倒的具体动力学机制，故保留在控制大类。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "本回合没有状态日志，跌倒前后的逐控制步基座、关节和接触数据未保存，无法确定长转向、躯干振荡或其他具体动力学因素各自的贡献，也不能把 agent 在 log step 35 的推测当作已证实原因。鸡蛋与案板在多数画面中不可辨认；目标节点最终假值由完整视频中没有相应操作及评分器 q_score=0 共同约束，未虚构隐藏区域内的接触。" + }, + "summary_zh": "机器人只完成厨房巡视与底盘换位，打开冰箱、切半、两个半蛋上盘及刀具入水槽均未达成，最终为0/5。视频约 59.2 s，机器人在前往冰箱工作位置的空手转向中翻倒，此后未恢复，服务结束回合；现象为全身平衡失败，日志支持控制执行失稳。没有状态日志和跌倒时的逐步动力学数据，具体失稳机制无法进一步确定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频约59.2 s机器人在空手原地转向中翻倒并至69.5 s未恢复，与log step 29-30（failure: the robot fell over）一致；五个节点均未达成、q_score=0、断点为fridge_opened/转场、现象全身·平衡与根因控制均有证据支持，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": "2026-10-30T21:29:25Z", + "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-halve-an-egg-i00-standard--cnjgzav/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-halve-an-egg-i00-standard--cnjgzav/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2712ec70861e135ff0fd75d4db7e858c5edc7813adfb875f7f1443ea624ef111", + "video_sha256": "ba831ea42b4ac338c027bac7b4617f9cd51f275aac49e38a540e4f89e4194e23", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-standard--tndlkm5.json b/phase2/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-standard--tndlkm5.json new file mode 100644 index 0000000000000000000000000000000000000000..9d10936ea753e8a2fc2d4dabef49307263ee5140 --- /dev/null +++ b/phase2/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-standard--tndlkm5.json @@ -0,0 +1,258 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-halve-an-egg-i00-standard--tndlkm5", + "taskKey": "behavior-1k/halve_an_egg", + "dag_sha256": "b96ade25db44205584f460c1b468077fcc7c5f585e7588ca96d55ad3f7042252", + "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": 30052, + "sim_steps": 30052, + "physics_steps": 120208, + "steps": 7093, + "elapsed_s": 9952.2, + "video_rendered": 1, + "gpu_lost": 0, + "q_score": 0.0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-halve-an-egg-i00-standard--tndlkm5/replay.mp4", + "duration_s": 1001.733, + "fps": 30.0, + "frames": 30052, + "sha256": "f28d2f6cf13f55127afcce1e83a4365e99e93b4e0ce98d7044c402148333eba3" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 452.0, + "log_step": null, + "text_zh": "观察：视频 450–461 s，机器人右夹爪伸向白色冰箱门靠烤箱一侧，随后末端偏移、撤回，白色门板仍贴合柜体，未露出低层搁板。" + }, + { + "t": 731.0, + "log_step": null, + "text_zh": "观察：视频 720–759 s 的加密画面中，右夹爪反复靠近门沿再离开；视频 731 s 可见夹爪已在门前空处，白色门板仍关闭。全片粗看及视频 440–1000 s 每约4秒复查均未见符合判据的开口。" + }, + { + "t": 1001.65, + "log_step": 268, + "text_zh": "观察：视频 985 s、1001.0 s、1001.65 s 及末秒加密画面仍显示关闭的白色门板，没有内部搁板。agent 在 log step 268 自述“门保持65度”，但该说法不被本回合画面支持；成功参考视频 42 s 则能清楚看见敞开的门和内部搁板，参考仅用于辨认完成外观。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 450–461 s、720–759 s 及后续操作中，作用端主要为机器人右夹爪，也有左臂靠近门边；把手与指垫接触区被腕部和门沿遮挡，不能确认对向夹持或实际接触方式，不从闭爪命令推定抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人在视频 720–759 s、约850–880 s 的开门尝试间前后及侧向换位，移动底盘支承躯干与双臂。" + } + ] + }, + "egg_halved": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 743.0, + "log_step": null, + "text_zh": "观察：视频 743 s，台面案板仍在工作区，机器人手中未见鸡蛋；全片检查未见鸡蛋离开冰箱或刀蛋切割。机器人后续持续在冰箱门前操作，视频 1001.65 s 仍未打开冰箱。" + }, + { + "t": 1001.65, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0、live_matches_replay=1，且两半蛋并非初始存在的对象；切半成立至少需要两个新增real字面量，故最终鸡蛋切半为假。此总分用于约束终值，不作为未发生切割的唯一证据。" + } + ] + }, + "egg_halves_on_plate_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 743.0, + "log_step": null, + "text_zh": "观察：视频 743 s 及全片巡查未见机器人把鸡蛋搬到台面，未见盘内切割或半蛋放置；实际动作一直停留在冰箱门前，没有形成第1半蛋上盘的可见过程。" + }, + { + "t": 1001.65, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0 且 live_matches_replay=1；半蛋初始不存在，第1半蛋在盘上的目标若成立就会贡献新增目标字面量，因此最终为假。视频未见取蛋、切蛋或放半蛋与此一致。" + } + ] + }, + "egg_halves_on_plate_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 743.0, + "log_step": null, + "text_zh": "观察：视频 743 s 及全片巡查未见机器人把鸡蛋搬到台面，未见盘内切割或半蛋放置；实际动作一直停留在冰箱门前，没有形成第2半蛋上盘的可见过程。" + }, + { + "t": 1001.65, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0 且 live_matches_replay=1；半蛋初始不存在，第2半蛋在盘上的目标若成立就会贡献新增目标字面量，因此最终为假。视频未见取蛋、切蛋或放半蛋与此一致。" + } + ] + }, + "knife_in_sink": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 743.0, + "log_step": null, + "text_zh": "观察：视频 743 s 台面工作区仍可见案板及刀具；全片巡查中机器人未取刀，也未把任何刀具搬到水槽，后续均在冰箱门前调整机械臂。" + }, + { + "t": 1001.65, + "log_step": null, + "text_zh": "推断：刀初始位于案板而非水槽，评分器 reward.q_score=0.0、live_matches_replay=1，排除了新增的刀具inside水槽目标，故刀具入水槽最终为假。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "fridge_opened", + "t": 454.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频约450–461 s，机器人右夹爪靠近门沿后偏移、撤回，白色门板没有转开到露出内部搁板；视频 720–759 s 和后续多轮尝试也未修复，直到视频 1001.65 s 仍关闭。第一个持续未完成的步骤为打开冰箱，后续没有取蛋、切半、装盘或收刀动作。" + }, + "unmet": { + "egg_halved": false, + "egg_halves_on_plate_1": false, + "egg_halves_on_plate_2": false, + "knife_in_sink": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 454.0, + "log_step": null, + "evidence_zh": "观察：视频 452–461 s 右夹爪伸向冰箱门边后向外、向下偏移，未带着门板转动；视频 728 s、731 s 及755 s 又可见夹爪在门前空处或烤箱前移动，白色冰箱门依然关闭。机械臂的接近与回撤没有形成所需的开门位姿变化。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：机械臂执行和共享躯干协调未保持所需的操作位姿。log step 180 的机器人本体读数显示闭爪后右TCP从先前接近点偏到[7.993,-1.228,0.730]；log step 217 中agent检查自己的脚本，发现把IK所需躯干关节覆盖为home值；log step 259 的输出又显示左臂侦察时右TCP降到约0.43米高度。视频 452–461 s、755 s、985 s 可见相应类型的末端漂移和空中回撤，但门没有打开；不能据此进一步断言是夹持几何还是接触力参数。" + }, + { + "cat": "认知", + "item": "感知", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：agent错误估计了冰箱的实际开合状态，并据此反复执行“向敞开腔体内侦察”。log step 217 的脚本把TCP跟踪误差小于0.03米当作held；log step 218 据此声称门已开约26度，log step 268 又声称门保持65度，log step 271 甚至推测另有第二扇关闭门。视频 720–759 s、985 s 及1001.65 s 的白色门板仍贴合柜体，始终没有参考视频 42 s 的敞开腔体；这些开门角度是agent的错误判断，不能替代目标门的观测。" + } + ], + "gap_zh": "观察：本作业没有状态日志，腕部画面也没有清楚展现把手两侧指垫的接触；无法分辨是否短暂擦碰、夹空或曾有极短的夹持，故开门步骤的夹爪实际接触记未知，不标没建立接触或没保持住。门板开合本身在头部视角可见，且与成功参考外观对照后未达到判据，因此该节点为假而非未知；其余目标终值同时受评分器q_score=0约束。日志与视频未作agent时间换算，所列视频时刻均来自抽帧。" + }, + "summary_zh": "评分回合始终未把冰箱打开到露出取蛋搁板，五个节点最终均未完成；未见取蛋、切半、装盘或刀具入水槽。断点在打开冰箱的操作中：机械臂接近、闭爪和回撤未产生有效开门，控制中的躯干协调问题与agent把末端运动误当成门已打开的判断共同使尝试反复停滞。缺少状态日志且把手接触被遮挡，不能确定夹爪具体接触方式。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "抽帧复查视频 5–1001 s（440–1000 s 每20 s），白色冰箱门始终贴合柜体，未见取蛋、切半、装盘或刀入水槽；五个节点均为假、q_score=0 约束终值，断点在 fridge_opened、现象与根因有证据支持，未发现需要修改之处。", + "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": "2026-10-30T21:35:59Z", 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"fps": 30.0, + "frames": 3471, + "sha256": "7c356070e494f201e51c441892f8b2e3ae675962f52648c0a48829b3b750c125" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": null, + "peak": null, + "final": null, + "nodes": { + "glue_in_bag": { + "method": "visual", + "intervals": [ + [ + 48.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 33.0, + "log_step": null, + "text_zh": "观察：视频 33.0 s，机器人左夹爪两指夹住胶棒，腕部视图可见该物体随夹爪离开桌面；随后的头部视图显示机器人将它搬向地板上的手提袋。" + }, + { + "t": 47.5, + "log_step": null, + "text_zh": "观察：视频 47.0 s，左腕视图中胶棒仍在夹爪间、手提袋袋口位于下方；视频 47.5 s，夹爪张开，物体向袋口落下；视频 49.0 s，夹爪已空并抬离。袋内底部被袋沿和相机视角遮住。" + }, + { + "t": 48.0, + "log_step": 94, + "text_zh": "推断：结合视频中这次释放、后续未见胶棒滑出或被重新取出，以及最终评分器 q_score=1.0（五个初始均为假的目标关系全部满足；log step 94 的交付文件独立重放同样为 q_score=1.0），判定胶棒入袋并保留到结束。首次离手落定约在视频 48.0 s，因袋内遮挡时间约有 0.5–1 s 不确定性；不是仅凭物体消失判定。随后机器人搬袋时按 DAG 的持物冻结约定保留该关系。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左二指夹爪夹住胶棒，携带至袋口后张开释放；右夹爪未参与此件文具的搬运。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人取送胶棒时轮式底盘在书桌与地板手提袋之间移动，支承机器人及左臂所持文具。" + } + ] + }, + "eraser_in_bag": { + "method": "visual", + "intervals": [ + [ + 70.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 57.0, + "log_step": null, + "text_zh": "观察：视频 57.0 s，机器人左夹爪两指夹住橡皮，腕部视图可见该物体随夹爪离开桌面；随后的头部视图显示机器人将它搬向地板上的手提袋。" + }, + { + "t": 69.5, + "log_step": null, + "text_zh": "观察：视频 69.0 s，左腕视图中橡皮仍在夹爪间、手提袋袋口位于下方；视频 69.5 s，夹爪张开，物体向袋口落下；视频 71.0 s，夹爪已空并抬离。袋内底部被袋沿和相机视角遮住。" + }, + { + "t": 70.0, + "log_step": 94, + "text_zh": "推断：结合视频中这次释放、后续未见橡皮滑出或被重新取出，以及最终评分器 q_score=1.0（五个初始均为假的目标关系全部满足；log step 94 的交付文件独立重放同样为 q_score=1.0），判定橡皮入袋并保留到结束。首次离手落定约在视频 70.0 s，因袋内遮挡时间约有 0.5–1 s 不确定性；不是仅凭物体消失判定。随后机器人搬袋时按 DAG 的持物冻结约定保留该关系。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左二指夹爪夹住橡皮，携带至袋口后张开释放；右夹爪未参与此件文具的搬运。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人取送橡皮时轮式底盘在书桌与地板手提袋之间移动，支承机器人及左臂所持文具。" + } + ] + }, + "brush_in_bag": { + "method": "visual", + "intervals": [ + [ + 94.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 81.0, + "log_step": null, + "text_zh": "观察：视频 81.0 s，机器人左夹爪两指夹住画笔，腕部视图可见该物体随夹爪离开桌面；随后的头部视图显示机器人将它搬向地板上的手提袋。" + }, + { + "t": 93.5, + "log_step": null, + "text_zh": "观察：视频 93.0 s，左腕视图中画笔仍在夹爪间、手提袋袋口位于下方；视频 93.5 s，夹爪张开，物体向袋口落下；视频 95.0 s，夹爪已空并抬离。袋内底部被袋沿和相机视角遮住。" + }, + { + "t": 94.0, + "log_step": 94, + "text_zh": "推断：结合视频中这次释放、后续未见画笔滑出或被重新取出，以及最终评分器 q_score=1.0（五个初始均为假的目标关系全部满足；log step 94 的交付文件独立重放同样为 q_score=1.0），判定画笔入袋并保留到结束。首次离手落定约在视频 94.0 s，因袋内遮挡时间约有 0.5–1 s 不确定性；不是仅凭物体消失判定。随后机器人搬袋时按 DAG 的持物冻结约定保留该关系。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左二指夹爪夹住画笔，携带至袋口后张开释放；右夹爪未参与此件文具的搬运。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人取送画笔时轮式底盘在书桌与地板手提袋之间移动，支承机器人及左臂所持文具。" + } + ] + }, + "marker_in_bag": { + "method": "visual", + "intervals": [ + [ + 22.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.0, + "log_step": null, + "text_zh": "观察：视频 6.0 s，机器人左夹爪两指夹住记号笔，腕部视图可见该物体随夹爪离开桌面；随后的头部视图显示机器人将它搬向地板上的手提袋。" + }, + { + "t": 21.5, + "log_step": null, + "text_zh": "观察：视频 21.0 s，左腕视图中记号笔仍在夹爪间、手提袋袋口位于下方；视频 21.5 s，夹爪张开，物体向袋口落下；视频 24.0 s，夹爪已空并抬离。袋内底部被袋沿和相机视角遮住。" + }, + { + "t": 22.0, + "log_step": 94, + "text_zh": "推断：结合视频中这次释放、后续未见记号笔滑出或被重新取出，以及最终评分器 q_score=1.0（五个初始均为假的目标关系全部满足；log step 94 的交付文件独立重放同样为 q_score=1.0），判定记号笔入袋并保留到结束。首次离手落定约在视频 22.0 s，因袋内遮挡时间约有 0.5–1 s 不确定性；不是仅凭物体消失判定。随后机器人搬袋时按 DAG 的持物冻结约定保留该关系。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左二指夹爪夹住记号笔，携带至袋口后张开释放；右夹爪未参与此件文具的搬运。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人取送记号笔时轮式底盘在书桌与地板手提袋之间移动，支承机器人及左臂所持文具。" + } + ] + }, + "bag_on_desk": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 的桌面没有手提袋；视频 97.0–100.0 s，机器人左夹爪夹住地板手提袋的红色提手；视频 103.0–111.0 s，袋子被抬起并随机器人向书桌移动。初态此节点不成立。" + }, + { + "t": 115.6, + "log_step": null, + "text_zh": "观察：已逐帧查看视频 115.0–115.67 s；左腕视图直到视频约 115.57 s 仍显示两指夹着红色提手，视频约 115.60–115.67 s 两指开始明显张开。视频随即结束，没有后续撤手或稳定放置画面，袋底与桌面的接触区域不在相机视野内。" + }, + { + "t": 115.67, + "log_step": 94, + "text_zh": "推断：评分器 q_score=1.0 与 log step 94 的交付文件重放成功支持袋子最终满足原生 ontop 几何关系，但不能证明 DAG 另需的离手和静止。最后开爪只占视频末尾约 0.1 s，缺少辅助抓取附着状态及速度，无法判定此时是否已经脱离并落定；因此该节点严格验收值为未知，而非由总分强行记真或由失败强行记假。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 97.0–115.57 s，左二指夹爪夹住手提袋一侧红色提手并抬起搬运；视频约 115.6 s 开始张开。右手未参与搬袋。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频约 104.0–113.0 s，机器人底盘支承持袋的左臂，从地板取袋处驶向书桌。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 1.0, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "bag_on_desk", + "t": 115.6, + "log_step": 94, + "where": "终态验收", + "evidence_zh": "推断：视频中机器人完成四件文具的释放后，将袋子搬到书桌并在视频约 115.6 s 才开始开爪，随后视频结束；评分器 q_score=1.0、all_success=1、deterministic=1，而 success=0，regrade_0154 明记 old=1、new=0、why=\"stricter rule\"。故断点定位为最后的手提袋上桌验收，未见更早未修复的物理失败。log step 94 是实际交付文件的独立重放，不能将会话中早期试验的翻袋、漏抓当成本视频的失败。" + }, + "unmet": { + "glue_in_bag": true, + "eraser_in_bag": true, + "brush_in_bag": true, + "marker_in_bag": true, + "bag_on_desk": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 有完整视频及 run.json，但没有状态日志，oracle.json 标明参考运行无视频；袋内与最后袋底接触区域受遮挡。视频约 115.6 s 才开始张爪，不能确认末态辅助抓取附着、各对象线速度及连续 30 步联合窗口；重评字段只写 stricter rule，没有逐条件诊断。推断：任务设计问题：run.json 的 task_text 明确声称五个原生关系一成立便自动结束，log step 94 的正式重放也报告成功，但当前 DAG 还要求离手、静止及连续 30 个控制步，且目录记录按更严格规则改判失败；现有视频没有给出开爪后约 1 s 的验收窗口。这一规则差异足以解释原重放成功与重评失败并存，不据此虚构机器人控制或认知根因，也不将最后才开始张爪标成“没松开”。具体被拒绝的严格子条件仍不能确定，故现象与根因均留空。" + }, + "summary_zh": "机器人按记号笔、胶棒、橡皮、画笔的顺序逐件抓取并在袋口释放，四件入袋获视频动作与最终 q_score=1.0 相互支持；随后搬袋到书桌，视频约 115.6 s 才开始开爪，袋上桌的离手静止验收仍未知。任务设计问题：原指令声明原生关系满足即自动结束，log step 94 的交付重放成功，而目录以 stricter rule 从成功改判失败，当前 DAG 另要求离手静止并共同保持 30 个控制步。断点为手提袋上桌的终态验收，节点 hold_s=0 且 30 步窗口属于整体成功，不能仅凭末尾不足一秒将节点判假；缺少附着、速度和逐条件重评记录，仍无法决定性排除节点终值为 false，故置信度由 6 降为 5，现象与根因保持空。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "四件文具入袋与断点定位基本可信；但 bag_on_desk 记 unknown 不当：视频显示袋子在桌上，夹爪直到约 115.57 s 才开始张开，视频（=3471 控制步）在约 0.1 s 后结束，不可能满足“离手并静止、连续 30 步”，该节点终态应记 false（离手未成立）。任务设计问题的说明保留。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "四件文具入袋与 q_score=1.0 相互支持；bag_on_desk 的离手静止在视频最后约 0.1 s 开爪后无法由帧、状态日志或评分数字决定，保持 unknown 合理；任务设计问题说明、空现象/根因与 gap_zh 可接受。第 1 轮提出的 false 缺乏末态速度与附着证据，不再坚持。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:45:45Z", + "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-organizing-art-supplies-i00-privileged--guejt3a/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-organizing-art-supplies-i00-privileged--guejt3a/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-organizing-art-supplies-i00-privileged--guejt3a/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-organizing-art-supplies-i00-privileged--guejt3a/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "98e73bc4a82f560a85745a31f84a216ac2b54aed170db1ac74a5f7283ab2473f", + "video_sha256": "7c356070e494f201e51c441892f8b2e3ae675962f52648c0a48829b3b750c125", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/organizing_art_supplies/trajectories/behavior-organizing-art-supplies-i00-privileged--tzqrcna.json b/phase2/behavior-1k/organizing_art_supplies/trajectories/behavior-organizing-art-supplies-i00-privileged--tzqrcna.json new file mode 100644 index 0000000000000000000000000000000000000000..26e58921e527673969cafa37192606bbae2f21ac --- /dev/null +++ b/phase2/behavior-1k/organizing_art_supplies/trajectories/behavior-organizing-art-supplies-i00-privileged--tzqrcna.json @@ -0,0 +1,334 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-organizing-art-supplies-i00-privileged--tzqrcna", + "taskKey": "behavior-1k/organizing_art_supplies", + "dag_sha256": "a05b0a960700fb93d0f7eacd83754f0d4bb6000a0831d5e2a7b21bdcc373cb9d", + "outcome": { + "success": 0, + "reward": 0.8, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 3194, + "sim_steps": 3194, + "fallen": 0, + "final_reward": 0.8, + "q_score": 0.8, + "replay_wall_s": 1158.1, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 5, + "agent_resets": 3, + "agent_sim_steps": 0, + "agent_records": 3, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-organizing-art-supplies-i00-privileged--tzqrcna/replay.mp4", + "duration_s": 106.467, + "fps": 30.0, + "frames": 3194, + "sha256": "43229f834f54446c7e84926bb73e08b07c01ba9e1fc6f1cca6316bcf509aeedf" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 4, + "final": 4, + "nodes": { + "glue_in_bag": { + "method": "visual", + "intervals": [ + [ + 26.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 26.5, + "log_step": null, + "text_zh": "观察：视频 16.0–25.0 s 左夹爪夹持绿黄胶棒，机器人驶到地板上的手提袋旁；视频 25.0–26.0 s 胶棒离开张开的夹爪落向袋内，视频 26.5–28.0 s 夹爪空手撤离，未见胶棒落在袋外。" + }, + { + "t": 106.4, + "log_step": null, + "text_zh": "推断：最终重放评分器 q_score=0.8，五个初始为假的目标关系中有四个成立；视频 83.0–106.4 s 手提袋一直留在地板上、未上桌，因此四件用品入袋的最终关系均成立。结合本件用品的可见释放过程，将首次落稳时间估为视频 26.5 s（约有 0.5–1 s 不确定性）；袋沿遮挡，未直接测得静止速度。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左臂二指夹爪夹住胶棒，从桌面提离并搬至袋口后松开；右臂未参与。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：轮式底盘支承机器人，在桌面取物处与地板手提袋间移动，并在左夹爪持有胶棒时搬送。" + } + ] + }, + "eraser_in_bag": { + "method": "visual", + "intervals": [ + [ + 42.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 42.0, + "log_step": null, + "text_zh": "观察：视频 36.0–41.0 s 左夹爪夹持绿色块状橡皮并随底盘移到袋口；视频 41.5 s 橡皮已离爪落入袋口以内，视频 42.0–44.0 s 空爪撤回，未见橡皮滑出。" + }, + { + "t": 106.4, + "log_step": null, + "text_zh": "推断：最终重放评分器 q_score=0.8，五个初始为假的目标关系中有四个成立；视频 83.0–106.4 s 手提袋一直留在地板上、未上桌，因此四件用品入袋的最终关系均成立。结合本件用品的可见释放过程，将首次落稳时间估为视频 42.0 s（约有 0.5–1 s 不确定性）；袋沿遮挡，未直接测得静止速度。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左臂二指夹爪夹住橡皮，从桌面提离并搬至袋口后松开；右臂未参与。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：轮式底盘支承机器人，在桌面取物处与地板手提袋间移动，并在左夹爪持有橡皮时搬送。" + } + ] + }, + "brush_in_bag": { + "method": "visual", + "intervals": [ + [ + 59.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 59.0, + "log_step": null, + "text_zh": "观察：视频 48.0 s 画笔仍在桌面，视频 52.0–57.6 s 红柄宽头画笔已被左夹爪夹起并搬到袋口；视频 57.8 s 夹爪张开，画笔向袋腔内下落，视频 58.0–59.4 s 被袋沿遮住，未见落在袋外。" + }, + { + "t": 106.4, + "log_step": null, + "text_zh": "推断：最终重放评分器 q_score=0.8，五个初始为假的目标关系中有四个成立；视频 83.0–106.4 s 手提袋一直留在地板上、未上桌，因此四件用品入袋的最终关系均成立。结合本件用品的可见释放过程，将首次落稳时间估为视频 59.0 s（约有 0.5–1 s 不确定性）；袋沿遮挡，未直接测得静止速度。" + }, + { + "t": 59.0, + "log_step": 116, + "text_zh": "观察：log step 116 的会话自测记载 paintbrush inside=False、q_score=0.6，log step 117 确认交付 3194 行动作；最终重放同为 3194 步但评分器 q_score=0.8。推断：会话自测不能代替重放节点值，画笔终值依据重放视频与最终评分。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左臂二指夹爪夹住画笔，从桌面提离并搬至袋口后松开；右臂未参与。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：轮式底盘支承机器人，在桌面取物处与地板手提袋间移动，并在左夹爪持有画笔时搬送。" + } + ] + }, + "marker_in_bag": { + "method": "visual", + "intervals": [ + [ + 80.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 80.5, + "log_step": null, + "text_zh": "观察：视频 68.0 s 黑色记号笔仍在桌面，视频 72.0–79.0 s 左夹爪将其夹起搬到袋口；视频 79.5 s 记号笔离爪向袋内下落，视频 80.0–82.0 s 夹爪空手撤离，未见记号笔落在袋外。" + }, + { + "t": 106.4, + "log_step": null, + "text_zh": "推断：最终重放评分器 q_score=0.8，五个初始为假的目标关系中有四个成立；视频 83.0–106.4 s 手提袋一直留在地板上、未上桌，因此四件用品入袋的最终关系均成立。结合本件用品的可见释放过程，将首次落稳时间估为视频 80.5 s（约有 0.5–1 s 不确定性）；袋沿遮挡，未直接测得静止速度。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左臂二指夹爪夹住记号笔，从桌面提离并搬至袋口后松开；右臂未参与。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：轮式底盘支承机器人，在桌面取物处与地板手提袋间移动，并在左夹爪持有记号笔时搬送。" + } + ] + }, + "bag_on_desk": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 85.0, + "log_step": null, + "text_zh": "观察：视频 83.0–84.0 s 底盘向地板手提袋靠近，视频 84.8–86.6 s 左夹爪在袋沿附近闭合后张开、空手退回；视频 89.0–105.5 s 机器人又数次下探并闭爪，袋子始终没有随手臂提起。" + }, + { + "t": 106.4, + "log_step": null, + "text_zh": "观察：视频 105.5–106.4 s 手提袋仍在地板上，书桌桌面没有袋子；末次夹爪退回时也是空手。此节点全程未成立。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：左夹爪在视频 84.8–105.5 s 多次向袋沿闭合，但未夹起袋子；袋沿与夹爪互相遮挡，无法确认是否有指腹擦碰或短暂对向夹持，故不把闭爪动作直接记为抓握接触。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 83.0–84.0 s 底盘支承机器人驶近地板上的手提袋，随后停在袋旁尝试取袋。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.8, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "bag_on_desk", + "t": 85.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 84.8–86.6 s 机器人左夹爪在袋沿附近闭合后空手回撤，手提袋仍在地板；视频 89.0–106.4 s 后续尝试同样未提起袋子，最终未搬上桌。推断：四件用品入袋由可见投放及重放 q_score=0.8 支持，首个未修复的失败步骤为手提袋上桌。" + }, + "unmet": { + "glue_in_bag": true, + "eraser_in_bag": true, + "brush_in_bag": true, + "marker_in_bag": true, + "bag_on_desk": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 85.0, + "log_step": null, + "evidence_zh": "观察：视频 84.8–86.6 s 左夹爪向袋沿闭合，回撤时两指之间没有袋子；视频 89.0–105.5 s 重复下探、闭合、空手退回，袋子未离地。推断：搬袋所需的承载抓取始终未建立；不排除指尖有擦碰，但没有先抓稳再脱落的画面。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "source_zh": "日志 / 视频", + "t": 85.0, + "log_step": 115, + "evidence_zh": "观察：log step 111 的脚本用五组固定袋沿坐标和相同朝下夹爪姿态逐点闭合，log step 115 生成的交付脚本仅调整这些候选的顺序，没有重新根据装袋后的袋沿选择夹持几何；视频 85.0–86.2 s 两指在近侧袋沿下方合拢，回撤时袋沿没有进入承载夹持，视频 89.0–105.5 s 换点仍未夹起。推断：所选单爪下探夹取几何未形成有效夹持，阻止搬袋开始；替代抓法在本次重放中未验证。" + } + ], + "gap_zh": "无状态日志，成功参考运行也无视频；袋沿遮挡用品的最终落稳位置，入袋起时由释放后的相邻画面估计，四件最终值由重放 q_score=0.8 与袋未上桌联合推定。袋沿遮挡指腹，实际擦碰或对向夹持细节不可确定；根因中的接触几何为视频与交付脚本支持的推断。log step 116 的会话自测 q_score=0.6、画笔未入袋，与最终重放总分不同，未将会话诊断直接用作重放事实。" + }, + "summary_zh": "评分重放中四件用品依次由左夹爪从书桌搬到地板手提袋并释放，最终达到四个入袋节点（4/5，q_score=0.8）。视频约 85.0 s 起搬袋步骤在袋沿夹取处失败，后续反复闭爪仍空手回撤，袋子到视频 106.4 s 仍未上桌，证据支持夹取接触几何未建立有效承载。无状态日志，入袋落稳时间有约 0.5–1 s 的视觉估计误差；会话自测与评分重放不同，采用后者。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值、时间与断点（bag_on_desk，袋子始终留在地板）与帧和 q_score=0.8 一致；现象“没建立接触”和根因“抓取和接触设计”有证据支持，未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:22:25Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-organizing-art-supplies-i00-privileged--tzqrcna/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-organizing-art-supplies-i00-privileged--tzqrcna/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "14f358860bba3e9fddccce46ede1f6e8e9a3697720cd94dd36eb86f7c32d8487", + "video_sha256": "43229f834f54446c7e84926bb73e08b07c01ba9e1fc6f1cca6316bcf509aeedf", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/organizing_art_supplies/trajectories/behavior-organizing-art-supplies-i00-privileged--xnyapv6.json b/phase2/behavior-1k/organizing_art_supplies/trajectories/behavior-organizing-art-supplies-i00-privileged--xnyapv6.json new file mode 100644 index 0000000000000000000000000000000000000000..8e11c960040e5235383e8b44a8a333b7e93a3fe2 --- /dev/null +++ b/phase2/behavior-1k/organizing_art_supplies/trajectories/behavior-organizing-art-supplies-i00-privileged--xnyapv6.json @@ -0,0 +1,341 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-organizing-art-supplies-i00-privileged--xnyapv6", + "taskKey": "behavior-1k/organizing_art_supplies", + "dag_sha256": "a05b0a960700fb93d0f7eacd83754f0d4bb6000a0831d5e2a7b21bdcc373cb9d", + "outcome": { + "success": 0, + "reward": 0.8, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 3382, + "sim_steps": 3382, + "fallen": 0, + "final_reward": 0.8, + "q_score": 0.8, + "replay_wall_s": 881.8, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 24, + "agent_resets": 0, + "agent_sim_steps": 40596, + "agent_records": 9, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-organizing-art-supplies-i00-privileged--xnyapv6/replay.mp4", + "duration_s": 112.733, + "fps": 30.0, + "frames": 3382, + "sha256": "f9c8176bcaf7a0fd7aacf5ce11ca2dcd3d3ea98870b42fe91a731dae479a984a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 4, + "final": 4, + "nodes": { + "glue_in_bag": { + "method": "visual", + "intervals": [ + [ + 55.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 46.0, + "log_step": null, + "text_zh": "观察：视频 40–42 s，绿黄圆柱胶棒仍在桌面；视频 44–46 s，机器人左夹爪夹住胶棒，胶棒离开原位并随左腕移动。" + }, + { + "t": 55.5, + "log_step": null, + "text_zh": "观察：视频 51–54.5 s，左腕相机可见胶棒被夹持在袋口上方；视频 55 s 胶棒已脱离夹爪，视频 55.5–56.5 s 空爪撤开。" + }, + { + "t": 112.7, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.8 对应五个初始均不成立的目标中四个成立；视频最后一段的记号笔抓取未成功且没有入袋搬送，因此另外四个目标最终成立。袋沿遮挡落定位置，达成时刻按可见松爪、物体下落及夹爪撤离估计，约有 0.5 s 误差，不能仅凭物体消失判定。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 44–54.5 s，机器人左二指夹爪夹持胶棒，物体随左腕移动；随后夹爪在袋口张开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘在取送胶棒期间移动，支承机器人及左臂所持物体。" + } + ] + }, + "eraser_in_bag": { + "method": "visual", + "intervals": [ + [ + 70.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 63.0, + "log_step": null, + "text_zh": "观察：视频 60 s，绿白色橡皮在桌面；视频 62–64 s，左二指夹爪夹住橡皮并提起，随后橡皮保持在两指间随机器人移向袋口。" + }, + { + "t": 70.0, + "log_step": null, + "text_zh": "观察：视频 67.5–69 s，左腕相机可见夹持的橡皮移动到手提袋开口上方；视频 69.5–70 s 物体脱离夹爪，空爪随后撤开。" + }, + { + "t": 112.7, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.8 对应五个初始均不成立的目标中四个成立；视频最后一段的记号笔抓取未成功且没有入袋搬送，因此另外四个目标最终成立。袋沿遮挡落定位置，达成时刻按可见松爪、物体下落及夹爪撤离估计，约有 0.5 s 误差，不能仅凭物体消失判定。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 62–69 s，机器人左二指夹爪夹持橡皮，物体随左腕移动；随后夹爪在袋口张开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘在取送橡皮期间移动，支承机器人及左臂所持物体。" + } + ] + }, + "brush_in_bag": { + "method": "visual", + "intervals": [ + [ + 36.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 28.0, + "log_step": null, + "text_zh": "观察：视频 23 s，红柄画笔仍在书桌上；视频 24–28 s 左夹爪合拢在画笔柄部，画笔离开原桌面位置，随后随左腕和底盘移向手提袋。" + }, + { + "t": 36.0, + "log_step": null, + "text_zh": "观察：视频 33.5–35 s，左腕相机可见夹持的画笔对着袋口，视频 35.5–36 s 画笔脱离夹爪，随后空爪撤开。" + }, + { + "t": 112.7, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.8 对应五个初始均不成立的目标中四个成立；视频最后一段的记号笔抓取未成功且没有入袋搬送，因此另外四个目标最终成立。袋沿遮挡落定位置，达成时刻按可见松爪、物体下落及夹爪撤离估计，约有 0.5 s 误差，不能仅凭物体消失判定。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 24–35 s，机器人左二指夹爪夹持画笔，物体随左腕移动；随后夹爪在袋口张开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人轮式底盘在取送画笔期间移动，支承机器人及左臂所持物体。" + } + ] + }, + "marker_in_bag": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 77.5, + "log_step": null, + "text_zh": "观察：视频 73–75 s，机器人转向袋旁的桌面区域；视频 75.5–80.5 s 左夹爪反复开合，张开时两指之间没有可见持物，未出现类似前三件文具的提起和搬送。" + }, + { + "t": 112.7, + "log_step": null, + "text_zh": "推断：视频 81–111 s 机器人继续在同一桌面区域开合、调整左夹爪，未见记号笔随夹爪离桌并送入袋口；视频 111.6–112.7 s 末尾仍为空爪停在桌前。结合评分器仅有四个目标成立，判记号笔入袋未达成。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 75.5–111 s 机器人左夹爪反复尝试抓记号笔；目标附近被夹爪本体及腕部视野边缘遮挡，无法确认是否有短暂触碰或按压，未见成功夹持，故不填抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 72–75 s 机器人底盘由橡皮投放位置移动至袋旁桌面取记号笔的位置，支承机器人。" + } + ] + }, + "bag_on_desk": { + "method": "visual", + "intervals": [ + [ + 20.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.0, + "log_step": null, + "text_zh": "观察：视频 2–8 s，机器人左夹爪接近地板上的红色手提袋、闭合并将袋子提起；视频 8–18.5 s 底盘携袋驶向书桌。" + }, + { + "t": 20.0, + "log_step": null, + "text_zh": "观察：视频 18–20.5 s，机器人将手提袋降低至桌面并撤离左夹爪；视频 20–23 s 袋子独立立在桌面，后续直到视频 112.7 s 仍留在书桌上。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 4–19 s，机器人左二指夹爪夹住手提袋袋沿附近，将其从地板提起，搬到书桌后松开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0–4 s 底盘驶向地板上的袋子，视频 8–18 s 携袋移动到书桌前，支承机器人和持袋左臂。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.8, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "marker_in_bag", + "t": 76.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "推断：视频 75.5–80.5 s，机器人开始对记号笔所在桌面区域反复闭合左夹爪，却没有建立能提起文具的抓持；此后直到视频 112.7 s 未见记号笔被搬送或放入手提袋，故这是最早未被修复的失败步骤。此前袋子上桌及三件文具的搬送均已发生，评分器 q_score=0.8 与仅缺记号笔一致。" + }, + "unmet": { + "glue_in_bag": true, + "eraser_in_bag": true, + "brush_in_bag": true, + "marker_in_bag": false, + "bag_on_desk": true + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 76.0, + "log_step": null, + "evidence_zh": "推断：视频 75.5–80.5 s 及视频 90–111 s，机器人左夹爪多次闭合、重新张开，张开视图未见记号笔被夹住，机器人没有进入持笔抬升、运送阶段；判定未建立所需抓持接触，不能据此排除瞬间的单侧触碰。视频 111.6–112.7 s 末尾也没有持笔。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：视频 75.5–111 s 机器人已到取物桌面并持续执行夹爪定位、闭合和重试，却未形成抓持。会话中的独立记号笔测试也记录过夹爪接触桌面/记号笔而 in_hand=None，随后改变细小接触偏移后 in_hand=marker.n.03_1（log step 255–256）；这些是会话证据，不能当作评分视频的持物状态，但共同支持抓取执行层面的控制问题。缺少评分轨迹的接触与关节记录，无法可靠细分控制子类。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "没有状态日志，成功参考运行也没有视频；袋沿遮挡了三件文具落定后的内部位置与速度，因此其最终值结合评分器四个目标成立的总分推断，入袋时刻由视频松爪动作估计。记号笔附近的直接接触被夹爪本体及视野边缘遮挡，无法确认微小触碰及具体控制子因。日志含多轮独立测试与脚本改写，最后一条 agent 自述仅称已启动脚本并将等待（log step 271），没有将某次保存与评分视频逐步对应的完整输出；节点和断点时间均取自视频，未把会话测试结果计入进度。" + }, + "summary_zh": "评分轨迹先将手提袋搬上书桌，再依次夹取画笔、胶棒和橡皮并在袋口松开；结合评分器 q_score=0.8，最终完成五个目标中的四个。机器人在视频约 76 s 开始的记号笔抓取中反复空夹，此步骤始终未修复，根因支持到控制层。袋内落定及记号笔微小接触缺少状态记录和无遮挡视图，三个入袋时刻为约半秒精度的视觉估计。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "三件文具（画笔≈36 s、胶棒≈55.5 s、橡皮≈70 s）的松爪时刻与帧一致；记号笔在 75–112 s 未见被夹起，与 q_score=0.8（四个目标成立）一致；断点、没建立接触、控制（未细分）均有帧与评分器支持，gap_zh 如实说明了遮挡与会话证据的限度。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:26:30Z", + "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-organizing-art-supplies-i00-privileged--xnyapv6/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-organizing-art-supplies-i00-privileged--xnyapv6/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "17f4306510dc51654d40e9663648b1422fbb3a6d72f082e4477f37dbb17514b8", + "video_sha256": "f9c8176bcaf7a0fd7aacf5ce11ca2dcd3d3ea98870b42fe91a731dae479a984a", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/organizing_art_supplies/trajectories/behavior-organizing-art-supplies-i00-privileged--ylebxbg.json b/phase2/behavior-1k/organizing_art_supplies/trajectories/behavior-organizing-art-supplies-i00-privileged--ylebxbg.json new file mode 100644 index 0000000000000000000000000000000000000000..44a522bdc51c94868bd5433f6cdd94ac4b203798 --- /dev/null +++ b/phase2/behavior-1k/organizing_art_supplies/trajectories/behavior-organizing-art-supplies-i00-privileged--ylebxbg.json @@ -0,0 +1,316 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-organizing-art-supplies-i00-privileged--ylebxbg", + "taskKey": "behavior-1k/organizing_art_supplies", + "dag_sha256": "a05b0a960700fb93d0f7eacd83754f0d4bb6000a0831d5e2a7b21bdcc373cb9d", + "outcome": { + "success": 0, + "reward": 0.2, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 2487, + "sim_steps": 2487, + "fallen": 0, + "final_reward": 0.2, + "q_score": 0.2, + "replay_wall_s": 1059.1, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 12, + "agent_resets": 0, + "agent_sim_steps": 3078, + "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-organizing-art-supplies-i00-privileged--ylebxbg/replay.mp4", + "duration_s": 82.9, + "fps": 30.0, + "frames": 2487, + "sha256": "b0ce929b56505a379c074274d0ec74d3f7c24c56fe699b1d277760d0e4acc992" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "glue_in_bag": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 18.0, + "log_step": 161, + "text_zh": "观察：视频 13.0–22.0 s，机器人调整底盘并用左臂反复接近桌面中部黄绿色胶棒，胶棒仍留在桌面；视频 26.0 s、45.0 s、55.0 s 仍能看见它，未发生从桌面到袋子的搬运。log step 161 的该轮输出记载胶棒 PICK FAILED，随后转向橡皮。" + }, + { + "t": 82.8, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.2 只允许五个目标中的一个为真；结合末段手提袋已上桌，胶棒入袋终值为假。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 13.0–22.0 s 左爪接近胶棒，但局部被桌沿、腕部遮挡，未见胶棒被二指夹持抬起；有无轻触及具体接触方式无法确定。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 13.0–16.5 s 以及重试时机器人移动底盘，调整取胶棒的位置。" + } + ] + }, + "eraser_in_bag": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 34.0, + "log_step": 163, + "text_zh": "观察：视频 27.0–45.0 s 左腕画面可见绿色带白端的橡皮；机器人左夹爪数次下降、合拢、张开，橡皮在桌面上转动及小幅移位，夹爪抬起时橡皮仍在桌面，没有随爪离桌或被送入袋中。log step 163 对应橡皮的多次闭爪反馈为 None。" + }, + { + "t": 82.8, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.2，结合手提袋上桌已经占据唯一满足的目标关系，橡皮入袋终值为假。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频约 31.5–33.0 s、38.0–39.0 s，机器人左夹爪下降靠拢橡皮，橡皮被拨转、在桌面小幅移动；未见形成夹持后抬离桌面。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 24.0–27.0 s 及后续重试，机器人用轮式底盘调整橡皮前方的工作位置。" + } + ] + }, + "brush_in_bag": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 53.0, + "log_step": null, + "text_zh": "观察：视频 50.3–55.7 s，机器人左臂在桌边接近红柄画笔，红柄画笔始终平放在桌面左侧，未被夹起；视频约 56.0 s 后机器人转去地板上的手提袋，没有把画笔送入袋子的动作。" + }, + { + "t": 82.8, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.2，已确认的手提袋上桌占据唯一满足的目标关系，所以画笔入袋终值为假。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 50.3–55.7 s 左臂接近画笔；画笔附近的夹爪与桌沿存在遮挡，未见包夹或离桌搬运，不能确定有无轻触及方式。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频约 46.3–50.3 s，机器人移动底盘调整取画笔的位置。" + } + ] + }, + "marker_in_bag": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.0, + "log_step": 159, + "text_zh": "观察：视频 5.0–12.7 s，机器人左臂多次改变接近姿态，黑色细长记号笔仍躺在桌面后侧；视频 16.0 s、26.0 s、55.0 s 仍可见它，没有被夹起或送往地板上的袋子。log step 159 显示该轮先处理 marker.n.03_1。" + }, + { + "t": 82.8, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.2，五个初始均为假的目标关系只满足一个；视频末段已确认手提袋上桌，因此记号笔入袋终值为假。这与此前记号笔始终留在桌面的观察一致。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 5.0–12.7 s 机器人用左臂接近记号笔，但桌沿及腕部遮住部分接近路径，未见二指包夹记号笔；无法确定是否曾轻触，不记为实际抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频约 2.0–5.0 s 及后续重试中，轮式底盘移动、调整取记号笔的位置并支承机器人。" + } + ] + }, + "bag_on_desk": { + "method": "visual", + "intervals": [ + [ + 79.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 63.0, + "log_step": 165, + "text_zh": "观察：视频 58.0–63.0 s，机器人左夹爪伸向地板上的红黑手提袋，夹住袋沿后抬起；视频 64.0–76.0 s 袋子随左臂和底盘移动到书桌旁。" + }, + { + "t": 79.6, + "log_step": 167, + "text_zh": "观察：视频 78.7–80.5 s 左爪张开，袋子下落、侧倒并留在书桌桌面；视频 81.4–82.87 s 夹爪退开，袋子仍由桌面支承，没有掉到地板。取视频约 79.6 s 为离手落稳的到达时刻，精度约半秒。" + }, + { + "t": 79.6, + "log_step": 167, + "text_zh": "推断：log step 167 明确记录本次保存的 2487 步轨迹，释放前 control step 2359、释放后 2389，按 30 Hz 对应视频 78.63 s、79.63 s；与视频约 78.7–79.6 s 的松手落桌事件核对一致。该轮最终 carryall_top=True，且评分器 q_score=0.2 支持袋上桌为唯一完成关系。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 60.0–78.7 s，机器人左二指夹爪夹住手提袋袋沿，抬起、搬运到书桌后松开；右臂未参与持袋。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频约 56.0–59.0 s 底盘驶向地板上的手提袋，视频约 68.0–76.0 s 底盘支承持袋机器人并驶回书桌放置。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.2, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "marker_in_bag", + "t": 6.0, + "log_step": 159, + "where": "操作中", + "evidence_zh": "观察：log step 159 记录本次保存轨迹先取记号笔；视频 5.0–12.7 s 左臂反复接近而黑色记号笔仍平躺桌面，未建立可抬起物体的夹持，随后机器人转去其他文具。视频 55.0 s 记号笔仍在桌面；这一步在整段评分轨迹中从未补做成功，是最早未修复的失败。" + }, + "unmet": { + "glue_in_bag": false, + "eraser_in_bag": false, + "brush_in_bag": false, + "marker_in_bag": false, + "bag_on_desk": true + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 6.0, + "log_step": 159, + "evidence_zh": "观察：视频 5.0–12.7 s 机器人左臂反复改变姿态，但所需的夹爪—记号笔夹持没有建立，黑色记号笔始终留在桌面；视频 16.0 s、26.0 s、55.0 s 仍可见它，未出现先持住再滑落的过程。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：失败出在左臂接近及抓取动作的执行。agent 在 log step 180 针对早期已保存运行自述全局逆解产生的关节插值路径会撞桌，随后改用带种子的逆解；log step 209 的另一次会话诊断记录了数值逆解误差约 0.0005 m、实际执行后末端误差约 0.7274 m，且额外保持仍未收敛。结合视频 5.0–12.7 s 记号笔未被夹起，支持控制层归因；诊断是会话证据，不能当作评分视频的接触或节点事实，也不足以唯一分清逆解路径、阻挡与跟踪问题，因此保留在“控制”。" + } + ], + "gap_zh": "观察：inputs/ 无状态日志，oracle.json 也无参考视频。记号笔、胶棒和画笔的部分接近路径被桌沿或腕部遮挡，不能确定短暂轻触及接触方式，contact_actual 相应记未知；不影响从文具仍在桌面、无搬运过程及评分总数确定其未入袋。袋子离手落稳时刻约有半秒误差。log step 167 证明交付来自较早的 2487 步运行，log step 315–316 仍显示旧轨迹未更新；log step 298–302 的后续装袋测试和 log step 317 的最终自述不属于评分视频，所述袋底体积问题不能作为本次失败的已证实原因。" + }, + "summary_zh": "评分轨迹依次尝试抓取四件文具，但没有把它们从桌面搬入袋中；随后左夹爪将地板上的手提袋搬到书桌，最终完成 1/5，与 q_score=0.2 一致。最早未修复的失败是记号笔入袋，接近动作未建立夹持，日志诊断支持控制层问题。提交的是早期保存的 2487 步轨迹，后续会话中的成功抓取与装袋没有写入交付；无状态日志且局部接触被遮挡，不能进一步确定具体控制子因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值、袋子上桌时间（log step 167 的 control step 2359/2389 ≙ 视频 78.6/79.6 s，帧中可见）、断点（记号笔最早未修复）与 q_score=0.2 一致；视频中四件文具始终留在桌面。根因“控制”证据偏弱（引用的是其他会话的诊断），但评分轨迹日志 step 161 的 ee 预抓取位姿误差 0.38→0.09 与 PICK FAILED 也支持，故不要求修改。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:20:18Z", + "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-organizing-art-supplies-i00-privileged--ylebxbg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-organizing-art-supplies-i00-privileged--ylebxbg/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3154fe0728aadb7c290c1f0ada187933dd8b7b5919271118cb467ce680438f48", + "video_sha256": "b0ce929b56505a379c074274d0ec74d3f7c24c56fe699b1d277760d0e4acc992", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/organizing_art_supplies/trajectories/behavior-organizing-art-supplies-i00-privileged--zw2asrb.json b/phase2/behavior-1k/organizing_art_supplies/trajectories/behavior-organizing-art-supplies-i00-privileged--zw2asrb.json new file mode 100644 index 0000000000000000000000000000000000000000..17fa3388d3a2ee1840a84311791745f8aa365a67 --- /dev/null +++ b/phase2/behavior-1k/organizing_art_supplies/trajectories/behavior-organizing-art-supplies-i00-privileged--zw2asrb.json @@ -0,0 +1,297 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-organizing-art-supplies-i00-privileged--zw2asrb", + "taskKey": "behavior-1k/organizing_art_supplies", + "dag_sha256": "a05b0a960700fb93d0f7eacd83754f0d4bb6000a0831d5e2a7b21bdcc373cb9d", + "outcome": { + "success": 0, + "reward": 0.4, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 8788, + "sim_steps": 8788, + "fallen": 0, + "final_reward": 0.4, + "q_score": 0.4, + "replay_wall_s": 1975.4, + "replay_timeout_s": 5594.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 13, + "agent_resets": 0, + "agent_sim_steps": 42993, + "agent_records": 1, + "agent_replays": 7, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-organizing-art-supplies-i00-privileged--zw2asrb/replay.mp4", + "duration_s": 292.933, + "fps": 30.0, + "frames": 8788, + "sha256": "520529a1992160aa0bc419e5ded7cea9e441b6c6b1f150d6c8d562b8a9f7eccb" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "glue_in_bag": { + "method": "visual", + "intervals": [ + [ + 15.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8.0, + "log_step": null, + "text_zh": "观察：视频 7.0–8.0 s 左夹爪闭合夹住黄绿胶棒，胶棒随后随手离开桌面；视频 12.5–14.0 s 被送至地板上手提袋的开口，视频 14.5–16.0 s 胶棒离开张开的夹爪视野，机器人随后空手退回书桌。" + }, + { + "t": 15.0, + "log_step": null, + "text_zh": "推断：胶棒入袋并静止的起点取视频约 15.0 s（袋沿遮挡，约有 1 s 不确定性）；此后未见胶棒被取出。评分器 q_score=0.4 对应五个初态皆假的目标中两项成立，而画笔、记号笔和袋上桌三项的末态均为假，因此胶棒与橡皮的末态必须为真；并非仅凭物体消失或 agent 的入袋自述判断。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 7.0–14.5 s 左臂二指夹爪夹住胶棒、搬送至袋口后张开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 8.0–13.5 s 机器人持胶棒从书桌驶向地板上的手提袋。" + } + ] + }, + "eraser_in_bag": { + "method": "visual", + "intervals": [ + [ + 104.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 97.0, + "log_step": null, + "text_zh": "观察：机器人此前多次在桌面橡皮两侧闭爪；视频 95.0–98.5 s 绿色带白端的橡皮被左夹爪夹住并随手离开桌面，视频 101.0–103.0 s 随手移至地板上的袋口；视频 103.5–106.0 s 夹爪张开，橡皮落入袋沿遮挡区，随后手退出。" + }, + { + "t": 104.5, + "log_step": null, + "text_zh": "推断：橡皮入袋静置起点取视频约 104.5 s（袋内遮挡，约有 1 s 不确定性）。视频末段画笔仍在地板、袋子仍在地板，记号笔从未被搬入袋；结合评分器 q_score=0.4=2/5，另两项只能是胶棒和橡皮入袋，故本节点 final=true。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左夹爪多次闭合尝试橡皮；视频 95.0–103.5 s 最终夹住并搬至袋口松开，早期尝试伴随橡皮在桌面被拨动。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 98.5–102.5 s 机器人持橡皮由书桌驶向手提袋。" + } + ] + }, + "brush_in_bag": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 114.0, + "log_step": null, + "text_zh": "观察：视频 112.0–122.0 s 左夹爪多次接近红柄画笔并闭合，抬手后画笔仍留在桌面；视频 185.0–230.0 s 机器人继续换位尝试，画笔在桌面被拨动。" + }, + { + "t": 240.0, + "log_step": null, + "text_zh": "观察：视频 235.5–239.0 s 右腕相机可见画笔在地板，视频 239.5–240.5 s 右夹爪夹住画笔并抬离地板，之后画笔随手搬运至袋边。" + }, + { + "t": 266.5, + "log_step": null, + "text_zh": "观察：视频 264.0–266.5 s 右夹爪持画笔停在袋外；视频 267.0 s 画笔已经离手躺在袋旁地板，袋子也向旁边倾倒。机器人随后尝试重抓，视频 292.0–292.9 s 画笔仍贴着地板而未被提起，整个过程未见离手静置在袋内。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左、右二指夹爪先后尝试画笔，早期闭爪拨动画笔；视频约 240.0 s 右夹爪成功夹住画笔，搬至袋外后松开，视频末段再闭爪未将画笔提起。两臂未同时协作。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人在反复尝试画笔时绕书桌换位，视频约 241.0–264.0 s 右手持画笔驶向手提袋。" + } + ] + }, + "marker_in_bag": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 215.0, + "log_step": null, + "text_zh": "观察：视频 189.0–215.0 s 书桌上仍可见细长深色记号笔，机器人操作的是红柄画笔；后续机器人留在袋旁重抓画笔，没有取走记号笔或送入袋的动作。" + }, + { + "t": 292.9, + "log_step": null, + "text_zh": "推断：记号笔一直未被搬运，末态未入袋；这与评分器 q_score=0.4 所允许的两项完成关系一致。" + } + ] + }, + "bag_on_desk": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 102.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 起袋子位于地板，机器人把胶棒与橡皮搬向此处；视频 101.0–103.0 s 腕部视角清楚显示袋子处于书桌之外的地面。" + }, + { + "t": 292.9, + "log_step": null, + "text_zh": "观察：视频 266.5–267.0 s 袋子在机器人放画笔时倾倒，视频 292.0–292.9 s 袋子仍在机器人旁的地板上，未出现抓袋、抬袋或将袋放上书桌的动作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.4, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "brush_in_bag", + "t": 266.5, + "log_step": 258, + "where": "操作中", + "evidence_zh": "观察：机器人从视频约 112.0 s 开始处理画笔，反复尝试后虽于视频约 240.0 s 抓起，但视频 266.5–267.0 s 在袋外松手，画笔落在地板；最后重抓至视频 292.9 s 仍未完成入袋。log step 258 记录这一保存前缀的 released inside=false；log step 299 显示后续重抓失败后保存 8788 行，与评分器重放动作数一致。胶棒和橡皮的早期抓取失败已修复，画笔步骤始终未完成，后续记号笔与袋上桌均未启动。" + }, + "unmet": { + "glue_in_bag": true, + "eraser_in_bag": true, + "brush_in_bag": false, + "marker_in_bag": false, + "bag_on_desk": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 266.5, + "log_step": 258, + "evidence_zh": "观察：视频 264.0–266.5 s 右夹爪持画笔处在袋外，视频 267.0 s 松开的画笔落在袋旁地板，未落入袋腔；视频 292.9 s 仍在地板。log step 258 的 released 字段为 inside=false。松手时目标关系未成立，不能记作袋内放稳后又滑出。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：视频 266.5–267.0 s 的袋外释放表明机器人未把画笔控制到可接受的入袋位姿。log step 219 的实际前缀生成函数 put_inside 在一次 move_ee 后立即 open_gripper，直到释放并等待后才检查 inside；log step 258 记录该次检查失败。log step 299 的后续恢复又多次 held=null，至视频 292.9 s 仍未提起画笔。证据支持操作控制失败，但不能唯一分清逆解误差、接触几何与跟踪误差，故只标控制。" + } + ], + "gap_zh": "没有状态日志，成功参考也没有视频。胶棒和橡皮释放后的袋内位置、速度被袋沿遮挡，终态由可见搬送释放过程及评分器两项目标总量共同推断，入袋静置时间约有 1 s 不确定性；不能逐帧核实袋子倾倒时二者的内部运动。画笔袋外释放和最后未抓起可见，但没有足够传感或轨迹误差记录确定控制根因的子类。log step 298 的进程崩溃发生在失败检查点保存之后；交付的 8788 行已经由评分器正常重放，且物理失败此前已发生，故不视为外因中断。" + }, + "summary_zh": "机器人将胶棒和橡皮搬送并释放到地板上的手提袋，结合评分器 q_score=0.4 判定最终完成 2/5；记号笔仍未装袋，袋子始终未上桌。画笔步骤多次抓取失败后曾成功抓起，但在视频约 266.5 s 袋外松手，后续重抓未修复，根因可确定到控制层。袋沿遮挡且无状态日志，两件已装文具的静置时刻只能估计，画笔控制失败的具体子类无法确认。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽查帧与标签一致：胶棒约 9–13.5 s 被夹持搬送，橡皮约 105 s 前后在袋口，画笔 265–267.5 s 在袋外松手落地；q_score=0.4 对应两项成立的推断合理。断点 brush_in_bag 与现象（位姿不准）、根因（控制）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": "2026-10-30T21:27:27Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-organizing-art-supplies-i00-privileged--zw2asrb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-organizing-art-supplies-i00-privileged--zw2asrb/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "31ae970fabf55e9c43ee2ca64631cfee7793239d25c1a2fe00e16624f7b12559", + "video_sha256": "520529a1992160aa0bc419e5ded7cea9e441b6c6b1f150d6c8d562b8a9f7eccb", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/organizing_art_supplies/trajectories/behavior-organizing-art-supplies-i00-standard--ezfnshn.json b/phase2/behavior-1k/organizing_art_supplies/trajectories/behavior-organizing-art-supplies-i00-standard--ezfnshn.json new file mode 100644 index 0000000000000000000000000000000000000000..e1986ec4b00b80626b821ef490e85e49d30b1288 --- /dev/null +++ b/phase2/behavior-1k/organizing_art_supplies/trajectories/behavior-organizing-art-supplies-i00-standard--ezfnshn.json @@ -0,0 +1,273 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-organizing-art-supplies-i00-standard--ezfnshn", + "taskKey": "behavior-1k/organizing_art_supplies", + "dag_sha256": "a05b0a960700fb93d0f7eacd83754f0d4bb6000a0831d5e2a7b21bdcc373cb9d", + "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": 2985, + "sim_steps": 2985, + "physics_steps": 11940, + "steps": 2641, + "elapsed_s": 2093.6, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 1, + "q_score": 0.0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.392, + "peak_processes": 10, + "peak_disk_gb": 1.072, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-organizing-art-supplies-i00-standard--ezfnshn/replay.mp4", + "duration_s": 99.5, + "fps": 30.0, + "frames": 2985, + "sha256": "f76908eed9a35e60e79c43ce2b5d4673041d850f73e054fe66788fde12fd8b17" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "glue_in_bag": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.0, + "log_step": null, + "text_zh": "观察：视频 12.0 s 文具散放在书桌桌面，夹爪没有持物；随后视频 27.0–89.0 s 的操作围绕地板上的手提袋进行，未见机器人抓起或将胶棒送入袋子的动作。" + }, + { + "t": 99.45, + "log_step": 266, + "text_zh": "推断：末帧（视频 99.45 s）未朝向袋内，不能直接看清胶棒；但五个目标关系初态均为假，评分器 reward.q_score=0.0 且 live_matches_replay=1，因此胶棒入袋的终值为假。log step 266 的服务状态确认同一回合已因跌倒结束，resumes=0。" + } + ] + }, + "eraser_in_bag": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.0, + "log_step": null, + "text_zh": "观察：视频 12.0 s 文具散放在书桌桌面，夹爪没有持物；随后视频 27.0–89.0 s 的操作围绕地板上的手提袋进行，未见机器人抓起或将橡皮送入袋子的动作。" + }, + { + "t": 99.45, + "log_step": 266, + "text_zh": "推断：末帧（视频 99.45 s）未朝向袋内，不能直接看清橡皮；但五个目标关系初态均为假，评分器 reward.q_score=0.0 且 live_matches_replay=1，因此橡皮入袋的终值为假。log step 266 的服务状态确认同一回合已因跌倒结束，resumes=0。" + } + ] + }, + "brush_in_bag": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.0, + "log_step": null, + "text_zh": "观察：视频 12.0 s 文具散放在书桌桌面，夹爪没有持物；随后视频 27.0–89.0 s 的操作围绕地板上的手提袋进行，未见机器人抓起或将画笔送入袋子的动作。" + }, + { + "t": 99.45, + "log_step": 266, + "text_zh": "推断：末帧（视频 99.45 s）未朝向袋内，不能直接看清画笔；但五个目标关系初态均为假，评分器 reward.q_score=0.0 且 live_matches_replay=1，因此画笔入袋的终值为假。log step 266 的服务状态确认同一回合已因跌倒结束，resumes=0。" + } + ] + }, + "marker_in_bag": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.0, + "log_step": null, + "text_zh": "观察：视频 12.0 s 文具散放在书桌桌面，夹爪没有持物；随后视频 27.0–89.0 s 的操作围绕地板上的手提袋进行，未见机器人抓起或将记号笔送入袋子的动作。" + }, + { + "t": 99.45, + "log_step": 266, + "text_zh": "推断：末帧（视频 99.45 s）未朝向袋内，不能直接看清记号笔；但五个目标关系初态均为假，评分器 reward.q_score=0.0 且 live_matches_replay=1，因此记号笔入袋的终值为假。log step 266 的服务状态确认同一回合已因跌倒结束，resumes=0。" + } + ] + }, + "bag_on_desk": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 27.0, + "log_step": 204, + "text_zh": "观察：视频 27.0 s 红色手提袋在门旁格架前的地板上；视频 29.5–44.5 s 机器人两臂伸到袋子上方，反复下探、合爪和抬手，袋子未随手抬离地板。log step 204 开始执行双臂预抓取。" + }, + { + "t": 46.5, + "log_step": 237, + "text_zh": "观察：视频 45.0–47.0 s 两臂撤回，袋子仍在原地板区域；视频 58.0 s、61.0–63.0 s 换位后的头部画面再次显示袋子在地板上，没有放上书桌。log step 237 是机器人收臂和恢复躯干姿态，并非重置回合。" + }, + { + "t": 89.5, + "log_step": 264, + "text_zh": "观察：视频 89.5–94.5 s 相机画面剧烈翻转并贴近格架，机器人随后未恢复正常直立视野；视频 99.45 s 仍是倾斜的墙面和地板视野。log step 264 的控制调用收到 EpisodeOver: failure: the robot fell over，log step 266 确认回合结束。" + }, + { + "t": 99.45, + "log_step": 266, + "text_zh": "推断：全程未见袋子搬上桌，且评分器 q_score=0.0、live_matches_replay=1；五项初态均不成立，因此手提袋上桌的终值为假。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "压/擦", + "note_zh": "观察：视频 33.5–44.5 s 及 66.0–80.0 s，左右夹爪同时下探袋面和袋沿，夹指在红色表面抵压、合拢；未见任一夹爪包住袋沿后带袋离地，不能记为已建立抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 15.0–27.0 s 机器人驶向地板上的手提袋，视频 58.0–63.0 s 绕袋调整取物位置；轮式底盘移动并支承双臂操作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "bag_on_desk", + "t": 35.5, + "log_step": 214, + "where": "操作中", + "evidence_zh": "观察：视频约 35.0–38.0 s，机器人对地板上的袋子合爪后抬手，但袋子留在地板上；视频 45.0–47.0 s 撤手后袋子仍在原处，后续换位重试也没有搬上桌。log step 214 明确执行下探、合爪和抬升；log steps 247、254、256 又尝试夹袋，均未完成该步。推断：这是最早开始且始终未修复的失败步骤；视频约 89.5 s 后的翻倒和 log step 266 的服务跌倒判负发生在后续驶向书桌阶段，不改变此断点。" + }, + "unmet": { + "glue_in_bag": false, + "eraser_in_bag": false, + "brush_in_bag": false, + "marker_in_bag": false, + "bag_on_desk": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 35.5, + "log_step": 214, + "evidence_zh": "观察：视频 33.5–38.0 s 双夹爪在袋面上合拢、抬起，袋子没有随夹爪离地；视频 45.0–47.0 s 撤手后袋子仍在地板上，视频 66.0–80.0 s 再次合爪也未形成携袋运动。推断：所需的承载抓握没有建立；这里并非没有碰到袋面，而是没有夹住袋沿或提手。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "观察：log step 214 下探目标 TCP 高度为 0.21 m，实际左右 TCP 为 0.237/0.244 m；log step 247 下探目标为 0.18 m，实际为 0.236/0.239 m，重复修正后仍未到达目标，合爪读数均为零。log step 233 还记录左 TCP 与目标存在显著偏差，log step 254 持续调整夹点后 found=False。视频 35.0–38.0 s、45.0–47.0 s 显示抬手与撤手没有带起袋子。推断：夹爪接近与闭合执行未形成有效夹持，属控制失败；现有证据不足以唯一分清接触几何、碰撞阻挡与轨迹跟踪各自的作用。" + } + ], + "gap_zh": "没有状态日志或成功参考视频。腕部画面可见夹指贴近袋面，但缺少接触对、接触力与附着标志，无法细分控制根因；末帧未看向文具或袋内，四件文具的终值由全假初态、视频中无搬送动作及 q_score=0.0 联合判定，未由 agent 的完成自述赋值。跌倒的直接触发接触也无法从相机唯一确定。" + }, + "summary_zh": "机器人首先观察桌上文具，随后尝试先把地板上的手提袋搬上桌；双夹爪反复下探、合爪和抬手均未带起袋子，五个节点全程未达成，终值为 0/5，与 q_score=0.0 一致。最早未修复的失败是手提袋上桌所需抓握未建立，证据支持控制失败；之后视频约 89.5 s 起机器人翻倒，服务以跌倒结束回合。无状态日志和成功参考视频，末帧也未朝向袋内，具体接触力及控制子类无法确定。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点全假、终值0/5与q_score=0.0一致；断点bag_on_desk（先搬空袋上桌的抓握未建立）和「没建立接触」有视频与log 214/233/247/254读数支持；跌倒发生在其后且未被当作断点。根因「控制」证据偏弱但已如实声明无法细分，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": "2026-10-30T21:30:52Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-organizing-art-supplies-i00-standard--ezfnshn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-organizing-art-supplies-i00-standard--ezfnshn/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2203e28e397a2a3b2a8647d2c27252069c163624b80cb7ce23cb58850daba679", + "video_sha256": "f76908eed9a35e60e79c43ce2b5d4673041d850f73e054fe66788fde12fd8b17", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/organizing_art_supplies/trajectories/behavior-organizing-art-supplies-i00-standard--hyvxrw8.json b/phase2/behavior-1k/organizing_art_supplies/trajectories/behavior-organizing-art-supplies-i00-standard--hyvxrw8.json new file mode 100644 index 0000000000000000000000000000000000000000..6a7bf746ce2174b788ed77c2aed75d3429d2b3f1 --- /dev/null +++ b/phase2/behavior-1k/organizing_art_supplies/trajectories/behavior-organizing-art-supplies-i00-standard--hyvxrw8.json @@ -0,0 +1,268 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-organizing-art-supplies-i00-standard--hyvxrw8", + "taskKey": "behavior-1k/organizing_art_supplies", + "dag_sha256": "a05b0a960700fb93d0f7eacd83754f0d4bb6000a0831d5e2a7b21bdcc373cb9d", + "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": 841, + "sim_steps": 841, + "physics_steps": 3364, + "steps": 841, + "elapsed_s": 691.3, + "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-organizing-art-supplies-i00-standard--hyvxrw8/replay.mp4", + "duration_s": 28.033, + "fps": 30.0, + "frames": 841, + "sha256": "18786b5c54c2b4b66164a558c98f333c3cd67e4b96d5746d2980278d0d048942" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "glue_in_bag": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.0, + "log_step": null, + "text_zh": "观察：视频 5.0–6.5 s 环视到书桌及桌面小件，视频 7.0–10.5 s 可见手提袋仍在搁架前的地板上；全片机器人没有从书桌抓起并搬送胶棒的动作，视频 27.0–28.0 s 仍在搁架旁倾倒，没有装袋过程。桌面分辨率不足以逐件辨认文具细节。" + }, + { + "t": 28.0, + "log_step": null, + "text_zh": "推断：任务 DAG 的五个目标初态均为假，视频中无文具转移；评分器 reward.q_score=0.0，且 live_matches_replay=1、deterministic=1。五个目标原子中没有初态已满足的关系，因此总分将胶棒入袋的终值确定为 false；此判断并非仅凭零分推断未尝试。" + } + ] + }, + "eraser_in_bag": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.0, + "log_step": null, + "text_zh": "观察：视频 5.0–6.5 s 环视到书桌及桌面小件，视频 7.0–10.5 s 可见手提袋仍在搁架前的地板上；全片机器人没有从书桌抓起并搬送橡皮的动作，视频 27.0–28.0 s 仍在搁架旁倾倒，没有装袋过程。桌面分辨率不足以逐件辨认文具细节。" + }, + { + "t": 28.0, + "log_step": null, + "text_zh": "推断：任务 DAG 的五个目标初态均为假，视频中无文具转移；评分器 reward.q_score=0.0，且 live_matches_replay=1、deterministic=1。五个目标原子中没有初态已满足的关系，因此总分将橡皮入袋的终值确定为 false；此判断并非仅凭零分推断未尝试。" + } + ] + }, + "brush_in_bag": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.0, + "log_step": null, + "text_zh": "观察：视频 5.0–6.5 s 环视到书桌及桌面小件，视频 7.0–10.5 s 可见手提袋仍在搁架前的地板上；全片机器人没有从书桌抓起并搬送画笔的动作，视频 27.0–28.0 s 仍在搁架旁倾倒，没有装袋过程。桌面分辨率不足以逐件辨认文具细节。" + }, + { + "t": 28.0, + "log_step": null, + "text_zh": "推断：任务 DAG 的五个目标初态均为假，视频中无文具转移；评分器 reward.q_score=0.0，且 live_matches_replay=1、deterministic=1。五个目标原子中没有初态已满足的关系，因此总分将画笔入袋的终值确定为 false；此判断并非仅凭零分推断未尝试。" + } + ] + }, + "marker_in_bag": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.0, + "log_step": null, + "text_zh": "观察：视频 5.0–6.5 s 环视到书桌及桌面小件，视频 7.0–10.5 s 可见手提袋仍在搁架前的地板上；全片机器人没有从书桌抓起并搬送记号笔的动作，视频 27.0–28.0 s 仍在搁架旁倾倒，没有装袋过程。桌面分辨率不足以逐件辨认文具细节。" + }, + { + "t": 28.0, + "log_step": null, + "text_zh": "推断：任务 DAG 的五个目标初态均为假，视频中无文具转移；评分器 reward.q_score=0.0，且 live_matches_replay=1、deterministic=1。五个目标原子中没有初态已满足的关系，因此总分将记号笔入袋的终值确定为 false；此判断并非仅凭零分推断未尝试。" + } + ] + }, + "bag_on_desk": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.5, + "log_step": null, + "text_zh": "观察：视频 7.0–10.5 s 红色手提袋立在门旁搁架前的地板上，书桌在其侧方；机器人环视后空手驶向袋子。" + }, + { + "t": 13.5, + "log_step": 40, + "text_zh": "观察：视频 11.5–13.5 s 头部视角上仰且腕部视角明显倾斜，袋子仍可在腕部画面看到，未被夹爪提起；log step 40 的导航脚本目标是先驶到手提袋附近。" + }, + { + "t": 18.0, + "log_step": 62, + "text_zh": "观察：视频 16.3–17.3 s 袋子仍在机器人前方地面，视频 17.5–21.0 s 机器人再次倾倒，头部视角压低并逼近搁架，袋子在画面下缘；没有抓袋、搬到桌面或桌面释放的过程。" + }, + { + "t": 28.0, + "log_step": 77, + "text_zh": "推断：视频 27.0–28.0 s 头部画面仍被近处搁架遮挡，腕部只见地板及机器人部件；结合此前袋子一直未被提起和评分器 q_score=0.0，手提袋上桌终值为 false。log step 77 服务状态为 control_steps=841、done=True、reason=\"failure: the robot fell over\"。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 10.0–13.5 s 轮式底盘支承机器人空手驶向手提袋并调整朝向，随后继续调整取袋位置和尝试恢复倾倒姿态；全片未见夹爪合拢夹住或提起袋子，因此不记抓握。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "bag_on_desk", + "t": 11.5, + "log_step": 40, + "where": "转场", + "evidence_zh": "观察：视频 10.0–13.5 s 机器人空手驶向地板上的红色手提袋，头部画面先大幅上仰，随后腕部画面也明显倾斜；log step 40 的脚本正在驶向袋子。推断：首次失衡发生在取袋转场中，故断点归于手提袋上桌；虽然 log step 46、50 回读显示机器人短暂恢复直立，袋子始终未搬上桌，视频 17.5 s 起又倾倒且到视频 28.0 s 仍未恢复，此步骤从未补完。" + }, + "unmet": { + "glue_in_bag": false, + "eraser_in_bag": false, + "brush_in_bag": false, + "marker_in_bag": false, + "bag_on_desk": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 11.5, + "log_step": 77, + "evidence_zh": "观察：视频 11.5–13.5 s 头部朝天、腕部视角大幅歪斜；视频 17.5–18.5 s 头部又迅速俯向搁架，视频 22.5–28.0 s 持续停在搁架近处，未恢复正常站姿视野。log step 46 回读首次倾倒的底座上轴 z 分量为 0.688，短暂恢复至 0.987；log step 62 再次回读为 0.633，log step 72 六次恢复后仍为 0.606–0.663，log step 77 服务最终明确判定机器人跌倒。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：底盘移动及倾倒恢复控制未维持或恢复稳定支撑。log step 39–40 脚本在分段底盘位移中保持固定躯干关节目标，log step 43 回读躯干首关节已偏到 -0.459，log step 49 所读初始目标为 1.022；视频 10.7–13.5 s 对应出现上仰和整体倾斜。log step 62 再次后退后，底座上轴 z 分量由 0.987 降至 0.633；log step 72 的恢复脚本连续六次使用同方向正向底盘命令，回读始终低于 0.75，视频 19.0–24.5 s 机器人持续逼近搁架而未直立。证据足以归于控制，未证明某个参数或具体接触布局是首因，故不进一步细分。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "观察：inputs/ 中没有状态日志，成功参考的 oracle.json 也说明无参考视频；本次三路相机没有外部全身视角，桌面小件在环视画面中分辨率较低，末段袋子部分被遮挡。推断：文具节点终值由全片无转移、DAG 全假初态与评分器总分共同确定；最初导致躯干偏移和底座失稳的接触位置、受力及控制器内部状态无法核实，不将 agent 关于受撞或卡住位置的自述当成确定机制。" + }, + "summary_zh": "观察：机器人环视房间后空手驶向地板上的手提袋，未抓起袋子，也未搬送四件文具；评分器 q_score=0.0，五个目标节点最终均为假。推断：运行断在手提袋上桌的取袋转场，机器人首次失衡后虽短暂直立，该步骤未完成，随后再次倾倒且恢复控制未能救回，服务以跌倒结束。观察：没有状态日志或成功参考视频，近景遮挡与低分辨率限制了对初次失稳具体受力机制的判断。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "五个目标节点全程未达成（视频无抓袋或搬运文具，q_score=0）。断点在取袋转场的失衡，平衡现象和控制根因与视频及日志一致，未发现需要改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:29:27Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-organizing-art-supplies-i00-standard--hyvxrw8/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-organizing-art-supplies-i00-standard--hyvxrw8/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "83bf07d5049eac855665a6c510d1c0b506f8920ff77e1debdee1c8c70ccfa0f9", + "video_sha256": "18786b5c54c2b4b66164a558c98f333c3cd67e4b96d5746d2980278d0d048942", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/organizing_art_supplies/trajectories/behavior-organizing-art-supplies-i00-standard--ommipmf.json b/phase2/behavior-1k/organizing_art_supplies/trajectories/behavior-organizing-art-supplies-i00-standard--ommipmf.json new file mode 100644 index 0000000000000000000000000000000000000000..dafc12b187d0a8bd032e2bb3b8cbc1af3649d016 --- /dev/null +++ b/phase2/behavior-1k/organizing_art_supplies/trajectories/behavior-organizing-art-supplies-i00-standard--ommipmf.json @@ -0,0 +1,285 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-organizing-art-supplies-i00-standard--ommipmf", + "taskKey": "behavior-1k/organizing_art_supplies", + "dag_sha256": "a05b0a960700fb93d0f7eacd83754f0d4bb6000a0831d5e2a7b21bdcc373cb9d", + "outcome": { + "success": 0, + "reward": 0.2, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 3852, + "sim_steps": 3852, + "physics_steps": 15408, + "steps": 1259, + "elapsed_s": 6812.3, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 0, + "q_score": 0.2, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-organizing-art-supplies-i00-standard--ommipmf/replay.mp4", + "duration_s": 128.4, + "fps": 30.0, + "frames": 3852, + "sha256": "783e42804518932d1bab41bfca36236f783c0a42c5bb5686a05d8c8673c18f1d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "glue_in_bag": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.0, + "log_step": null, + "text_zh": "观察：视频 10.0 s 桌面中部可见黄绿色胶棒；视频 128.36 s 左腕相机仍可见它留在桌面、袋外。全片抽帧与放袋过程密集帧中，机器人操作的对象一直是手提袋，没有把胶棒从原位置抓起、搬入袋中的动作。" + }, + { + "t": 128.36, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.2、live_matches_replay=1，五个目标初态均不成立；视频 127.4–128.36 s 明确显示袋子离手留在书桌上，占用唯一满足的目标关系，因此胶棒入袋的终值为假。" + } + ] + }, + "eraser_in_bag": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.0, + "log_step": null, + "text_zh": "观察：视频 10.0 s 桌面近沿可见绿色小块；视频 44.0 s 及视频 76.0–90.0 s 可见绿色小块落在桌前地面，机器人没有将其拾起送袋。全片抽帧与放袋过程密集帧中，机器人操作的对象一直是手提袋，没有把橡皮从原位置抓起、搬入袋中的动作。" + }, + { + "t": 128.36, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.2、live_matches_replay=1，五个目标初态均不成立；视频 127.4–128.36 s 明确显示袋子离手留在书桌上，占用唯一满足的目标关系，因此橡皮入袋的终值为假。" + } + ] + }, + "brush_in_bag": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.0, + "log_step": null, + "text_zh": "观察：视频 10.0 s 桌面后部可见细长画笔；视频 128.36 s 左腕相机仍可见细长物留在袋旁桌面。全片抽帧与放袋过程密集帧中，机器人操作的对象一直是手提袋，没有把画笔从原位置抓起、搬入袋中的动作。" + }, + { + "t": 128.36, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.2、live_matches_replay=1，五个目标初态均不成立；视频 127.4–128.36 s 明确显示袋子离手留在书桌上，占用唯一满足的目标关系，因此画笔入袋的终值为假。" + } + ] + }, + "marker_in_bag": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.0, + "log_step": null, + "text_zh": "观察：视频 10.0 s 桌面左侧可见记号笔，视频 74.0 s 左腕相机及视频 110.0 s 头部相机仍可见红色记号笔留在桌上。全片抽帧与放袋过程密集帧中，机器人操作的对象一直是手提袋，没有把记号笔从原位置抓起、搬入袋中的动作。" + }, + { + "t": 128.36, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.2、live_matches_replay=1，五个目标初态均不成立；视频 127.4–128.36 s 明确显示袋子离手留在书桌上，占用唯一满足的目标关系，因此记号笔入袋的终值为假。" + } + ] + }, + "bag_on_desk": { + "method": "visual", + "intervals": [ + [ + 42.0, + 75.5 + ], + [ + 125.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0–16.0 s 的扫描和靠近过程中，红色手提袋位于门边地板，四件文具在书桌上。" + }, + { + "t": 42.0, + "log_step": 97, + "text_zh": "观察：视频 40.5–42.0 s 机器人左夹爪松开并撤离，袋子侧倒后留在书桌面，视频 42.0–60.5 s 仍由桌面承托。log step 97 的脚本执行放袋和张爪；关系首次成立时间取视频约 42.0 s，未用 agent 工作时间换算。" + }, + { + "t": 61.5, + "log_step": 177, + "text_zh": "观察：视频 61.0–70.0 s 机器人左夹爪重新夹住袋沿并提转袋子；视频 70.5–74.0 s 松手后袋子仍躺在桌面。推断：按 DAG 的持物冻结规则，这次持袋调整不另截断已经成立的放桌关系。" + }, + { + "t": 75.5, + "log_step": 202, + "text_zh": "观察：视频 74.5–76.5 s 机器人空夹爪和手臂撤离时袋子向桌前移动，随后跌到桌前下方；视频 78.0–90.0 s 袋子仍在桌前低处。视频 96.0–103.0 s 的再次搬放仍有左夹爪接触，视频 103.5–105.0 s 袋子离开桌面向地面跌落，没有观察到离手静止的桌上放置。" + }, + { + "t": 125.6, + "log_step": 310, + "text_zh": "观察：视频 123.0–125.4 s 机器人左夹爪张开并水平退出袋口/提手区域；视频 125.6 s 袋子已独立直立在书桌面，视频 126.0–128.36 s 机器人退开而袋子留在桌上，终帧双爪均为空。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 17.0–24.0 s 左二指夹爪夹住手提袋提手并抬离地面，之后多次重新夹住袋沿或提手搬放；视频 114.0–125.4 s 最后一次持袋并放桌。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 74.5–76.0 s 左夹爪张开后的撤臂接触带动侧躺袋子向桌前移动，袋子随后离开桌面。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 24.0–35.0 s 及视频 115.0–121.0 s 轮式底盘在左夹爪持袋时移动，将袋子从取物位置运向书桌。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.2, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 315, + "where": "首步前", + "evidence_zh": "观察：视频 0–128.36 s 机器人反复搬放手提袋，视频 125.6–128.36 s 袋上桌已恢复，但四件文具的入袋动作均未启动。log step 309–311 的最后执行脚本仍是放袋和退开，log step 315 仅测量桌面胶棒与画笔。推断：未修复的缺口是四个入袋步骤均未开始；DAG 无先后依赖，日志也没有选定下一件文具，无法唯一指定其中一个节点，故 ref=unknown。" + }, + "unmet": { + "glue_in_bag": false, + "eraser_in_bag": false, + "brush_in_bag": false, + "marker_in_bag": false, + "bag_on_desk": true + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": null, + "log_step": 315, + "evidence_zh": "观察：视频全程只有手提袋被夹持、搬运和放下；机器人没有对胶棒、橡皮、画笔或记号笔执行抓起并向袋内搬送的动作。视频 127.4–128.36 s 放袋结束后双爪为空，文具仍在袋外；log step 315 结束于坐标测量，没有文具搬运动作。" + } + ], + "root_causes": [], + "gap_zh": "观察：inputs/ 没有状态日志，成功参考 inputs/oracle/oracle.json 也注明无视频、无状态日志；袋内及小件有遮挡，节点终值结合评分器总分判断。推断：无法从四个并列且均未启动的入袋节点中唯一定位下一步；没有证据证明代理为何尚未开始装文具，也不能仅由停止或预算结束归因于规划。反复放袋的早期失误最终已修复，不将其接触现象或控制问题直接移作未尝试入袋的根因，因此根因层留空。" + }, + "summary_zh": "机器人将手提袋从地面搬到书桌，视频约 42.0 s 曾达成、视频约 75.5 s 丢失，最终在视频约 125.6 s 恢复；四件文具均未入袋，最终 1/5，与评分器 q_score=0.2 一致。四个并列入袋步骤均未启动，无法唯一指定断点节点，现象为没尝试；缺少选定下一件文具及为何未开始装袋的证据，根因留空。没有状态日志，时间按视频帧估计，持袋重调期间遵循 DAG 的持物冻结约定。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "袋上桌的区间（约42–75.5 s、125.6 s起）与帧一致，视频106 s袋在地面、126–128 s袋立于桌面；四件文具未入袋与q_score=0.2吻合；四个并列节点无法唯一定位，ref=unknown、没尝试、根因留空可接受。", + "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": "2026-10-30T21:36:36Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-organizing-art-supplies-i00-standard--ommipmf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-organizing-art-supplies-i00-standard--ommipmf/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0cda092744c6fe7a8794dca4d6723ec0dee522b82cd90375c36c4f1c65514dd2", + "video_sha256": "783e42804518932d1bab41bfca36236f783c0a42c5bb5686a05d8c8673c18f1d", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/rearranging_kitchen_furniture/trajectories/behavior-rearranging-kitchen-furniture-i00-privileged--56v9vax.json b/phase2/behavior-1k/rearranging_kitchen_furniture/trajectories/behavior-rearranging-kitchen-furniture-i00-privileged--56v9vax.json new file mode 100644 index 0000000000000000000000000000000000000000..521bb284a22511d7b5fb947b826a79d2c9b24943 --- /dev/null +++ b/phase2/behavior-1k/rearranging_kitchen_furniture/trajectories/behavior-rearranging-kitchen-furniture-i00-privileged--56v9vax.json @@ -0,0 +1,256 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-rearranging-kitchen-furniture-i00-privileged--56v9vax", + "taskKey": "behavior-1k/rearranging_kitchen_furniture", + "dag_sha256": "c2cd92aef5b1a32fe7dfa519e8e28b4115648494e5b651c881fe0bce10664da7", + "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": 251, + "sim_steps": 251, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 731.3, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 2, + "agent_resets": 2, + "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-rearranging-kitchen-furniture-i00-privileged--56v9vax/replay.mp4", + "duration_s": 8.367, + "fps": 30.0, + "frames": 251, + "sha256": "3977abe0fc9e6ae4b0d456c858a9c268dabc64ebd24a91f13fe24fc720b05c24" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00 s 的头部画面中，厨房吊柜门板闭合；视频 4.83–8.33 s 的腕部近景显示深色门板及门缝，末段可见把手，未见门板向外摆开或柜内空间露出。" + }, + { + "t": 5.0, + "log_step": 209, + "text_zh": "推断：log step 209 的录制脚本指定 cabinet.n.01_1，先移动底盘再用左臂向柜门伸出、回退；log step 210 保存 251 个动作，与评分视频 251 帧相符。结合视频 4.83–8.33 s 的门板近景，开柜事件未达到；较早会话中的抓取测试不计入此轨迹。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0.00–3.50 s，轮式底盘承载机器人转向并移动至厨房柜前；这是开柜尝试的接近阶段。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 4.50–8.33 s，腕部相机靠近深色柜门，但指尖与门板或把手之间的接触区未清楚呈现，不能确定左夹爪实际接触的方式，也不能确认抓握。" + } + ] + }, + "toaster_in_cabinet": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.333, + "log_step": 209, + "text_zh": "观察：视频 0.00–8.33 s 仅见机器人移动和空手伸臂试门，未见烤面包机被拿起、携带或送入橱柜；log step 209 所保存的录制段也只包含底盘移动与左臂试门，没有取放物体动作。" + }, + { + "t": 8.333, + "log_step": null, + "text_zh": "推断：烤面包机初态在柜外台面上，评分器 reward.q_score=0.0；BEHAVIOR 的初态关柜条件不增加此分数，任何新增入柜关系都会使其大于零，因此该入柜节点终态为 false。结合全段未见搬运，不记达成区间。" + } + ] + }, + "processor_in_cabinet": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.333, + "log_step": 209, + "text_zh": "观察：视频 0.00–8.33 s 仅见机器人移动和空手伸臂试门，未见食物料理机被拿起、携带或送入橱柜；log step 209 所保存的录制段也只包含底盘移动与左臂试门，没有取放物体动作。" + }, + { + "t": 8.333, + "log_step": null, + "text_zh": "推断：食物料理机初态在柜外台面上，评分器 reward.q_score=0.0；BEHAVIOR 的初态关柜条件不增加此分数，任何新增入柜关系都会使其大于零，因此该入柜节点终态为 false。结合全段未见搬运，不记达成区间。" + } + ] + }, + "press_in_cabinet": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.333, + "log_step": 209, + "text_zh": "观察：视频 0.00–8.33 s 仅见机器人移动和空手伸臂试门，未见法压壶被拿起、携带或送入橱柜；log step 209 所保存的录制段也只包含底盘移动与左臂试门，没有取放物体动作。" + }, + { + "t": 8.333, + "log_step": null, + "text_zh": "推断：法压壶初态在柜外台面上，评分器 reward.q_score=0.0；BEHAVIOR 的初态关柜条件不增加此分数，任何新增入柜关系都会使其大于零，因此该入柜节点终态为 false。结合全段未见搬运，不记达成区间。" + } + ] + }, + "cabinet_closed": { + "method": "visual", + "intervals": [ + [ + 0.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00 s，厨房吊柜的深色门板贴合柜体，没有敞开的内腔；关柜状态从初态计入。" + }, + { + "t": 8.333, + "log_step": 209, + "text_zh": "推断：沿用 log step 209 选择的 cabinet.n.01_1；视频 4.83–8.33 s 的门板近景未见外摆，最后一秒仍可见贴合的门板与把手。结合开柜尝试始终未使门打开，关闭状态保持至末帧；这是初态保留，机器人没有执行装入后的关门动作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "ratio", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "cabinet_opened", + "t": 5.0, + "log_step": 209, + "where": "操作中", + "evidence_zh": "观察：视频约 4.50 s 开始，机器人的左腕视角移至柜门附近；视频 4.83–8.33 s 可见门板，却一直没有开门露出内腔。log step 209 的交付录制段正在尝试打开 cabinet.n.01_1，随后即停止录制并保存；该步骤之后未修复，也未进入三件电器的搬放。" + }, + "unmet": { + "toaster_in_cabinet": false, + "processor_in_cabinet": false, + "press_in_cabinet": false, + "cabinet_closed": true + }, + "phenomena": [], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "log_step": 209, + "source_zh": "日志", + "evidence_zh": "推断：log step 114 的会话几何测量给出柜门板位于世界 x≈8.024–8.082 m；log step 209 的交付脚本把左夹爪目标送至 x=8.15 m，再沿负 x 方向逐点退至 x=7.73 m，全段没有夹住把手或门沿的指令。由柜外进入闭合门板后再空手回退，缺少将门向外牵引的接触连接；相同运动的会话测试在 log step 187 中记录末端已退到 x=7.85 m、门角仍为 0，交付脚本继续采用这一接触方案。视频 4.83–8.33 s 的门板不外摆与此一致；可行的替代接触方案未获验证。" + } + ], + "gap_zh": "没有逐帧状态日志，也没有成功参考视频；腕部近景能判断门板未打开，但手指与门板/把手的具体接触区被遮挡，无法区分没有建立有效接触、受阻或接触力不足，故失败现象层留空。根因是依据交付脚本及同方案会话测试对接触设计的推断，不能确定实际接触力或碰撞对；头部视角随运动倾斜不足以证明底盘失衡。三件电器末段部分在视野外，终态入柜值结合评分器总分判断，未采用会话抓取测试作为进度。" + }, + "summary_zh": "评分回放只进行了底盘移位和左臂开柜尝试，未见三件电器入柜；仅初态已有的柜门关闭状态保留，终态为 1/5。断点在打开橱柜，交付脚本采用未夹住门板的进退方案，结合先前同方案测试推断接触设计未能带动柜门。没有状态日志且指尖接触区被遮挡，具体接触失败现象无法确定，故现象层留空。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值（1/5，仅 cabinet_closed 初态为真，q_score=0 与之相容）、断点（cabinet_opened，操作中）和接触设计根因均有视频与 log step 209/210 支撑；现象层留空并有 gap_zh，合理。未发现需要修改的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:21:10Z", + "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-rearranging-kitchen-furniture-i00-privileged--56v9vax/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-rearranging-kitchen-furniture-i00-privileged--56v9vax/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1bbf5b7e9487ef43151e6e00c222909602e5ea88234f52a7ef4c06904c52321b", + "video_sha256": "3977abe0fc9e6ae4b0d456c858a9c268dabc64ebd24a91f13fe24fc720b05c24", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/rearranging_kitchen_furniture/trajectories/behavior-rearranging-kitchen-furniture-i00-privileged--7dfqdrv.json b/phase2/behavior-1k/rearranging_kitchen_furniture/trajectories/behavior-rearranging-kitchen-furniture-i00-privileged--7dfqdrv.json new file mode 100644 index 0000000000000000000000000000000000000000..d4167ec3aca1106a94131dbc057ec22b752eeda5 --- /dev/null +++ b/phase2/behavior-1k/rearranging_kitchen_furniture/trajectories/behavior-rearranging-kitchen-furniture-i00-privileged--7dfqdrv.json @@ -0,0 +1,320 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-rearranging-kitchen-furniture-i00-privileged--7dfqdrv", + "taskKey": "behavior-1k/rearranging_kitchen_furniture", + "dag_sha256": "c2cd92aef5b1a32fe7dfa519e8e28b4115648494e5b651c881fe0bce10664da7", + "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": 3237, + "sim_steps": 3237, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 1229.6, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 31, + "agent_resets": 1, + "agent_sim_steps": 46569, + "agent_records": 10, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 7.572, + "peak_memory_gb": 12.537, + "peak_processes": 43, + "peak_disk_gb": 4.773, + "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-rearranging-kitchen-furniture-i00-privileged--7dfqdrv/replay.mp4", + "duration_s": 107.9, + "fps": 30.0, + "frames": 3237, + "sha256": "33a5262852fcadd45747a39723a245066826e9b76cbe299c4c6eb10082ff10f8" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [ + [ + 15.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 与视频 9.0–14.0 s，水槽上方两个候选吊柜的门板贴合柜体；机器人先驶近该吊柜。" + }, + { + "t": 15.5, + "log_step": null, + "text_zh": "观察：视频 14.5–18.0 s，机器人右夹爪夹住右侧候选柜门下缘把手并向外拉，门板逐渐离开柜框；视频 18.0–22.0 s 可见内腔与搁板。开门阈值的视觉锚点取视频约 15.5 s，误差约 0.5 s。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人右夹爪从两侧夹住所选吊柜门下缘把手，拉动门板打开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人在视频 1.0–9.0 s 驶向水槽上方吊柜，底盘承载并调整开门操作位置。" + } + ] + }, + "toaster_in_cabinet": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 54.0, + "log_step": null, + "text_zh": "观察：视频 50.0–57.0 s，机器人左夹爪夹住面包机，面包机离开原台面并随左手上升，腕部视图近距离可见两个面包槽。" + }, + { + "t": 65.0, + "log_step": null, + "text_zh": "观察：视频 63.0–64.5 s，面包机悬在夹爪下方、吊柜入口外侧且低于柜内搁板；视频 64.7–65.3 s 面包机向柜外下落，随后腕部视图可见空的内腔与搁板，未见物体中心进入柜内。" + }, + { + "t": 107.8, + "log_step": null, + "text_zh": "推断：视频 65.3 s 后机器人未再取回面包机；评分器 reward.q_score=0.0 排除它在终态满足新增入柜目标。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左夹爪夹住面包机机身并提离台面，携至吊柜前；视频约 64.7 s 后物体离手并在柜外下落。" + } + ] + }, + "processor_in_cabinet": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 74.0, + "log_step": null, + "text_zh": "观察：视频 71.0–75.0 s，机器人左夹爪下探台面上的料理机上部；视频 75.5–82.0 s，料理机仍留在台面，左腕视图可见其黑色上盖与透明杯体，未随左手移入吊柜。" + }, + { + "t": 90.0, + "log_step": null, + "text_zh": "观察：视频 84.0–94.0 s，机器人左夹爪在吊柜入口伸入、撤回，料理机仍立在台面上；视频 89.0–91.0 s 头部视图同时显示料理机与空柜搁板。" + }, + { + "t": 107.8, + "log_step": null, + "text_zh": "推断：视频中未见料理机进入任一候选柜，评分器 reward.q_score=0.0 也排除终态料理机入柜。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "机器人左夹爪在视频 71.0–75.0 s 对料理机上部实施抓取尝试；上盖、杯体与夹指在腕部视图中互相遮挡，不能确认对向夹持或推压接触，物体未被提走。" + } + ] + }, + "press_in_cabinet": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 34.0, + "log_step": null, + "text_zh": "观察：视频 29.0–33.0 s，机器人左夹爪伸向台面法压壶附近；视频 34.0–38.5 s 左手抬起、撤离时，法压壶仍留在台面，随后机器人将空夹爪移向柜口。" + }, + { + "t": 90.0, + "log_step": null, + "text_zh": "观察：视频 42.0 s、视频 67.0 s 和视频 89.0–91.0 s，带把手的法压壶仍在台面上；回放中未见它进入任一吊柜。" + }, + { + "t": 107.8, + "log_step": 408, + "text_zh": "推断：评分器 reward.q_score=0.0，且视频中的法压壶未被搬入柜内，因此终态入柜为假；log step 408 的法压壶 Inside=True 属于另一段 3462 动作的调试结果，不能用来给这段 3237 帧的交付回放记进度。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "视频 29.0–36.5 s 可见机器人左夹爪在法压壶附近下探、合拢，但夹指与壶身接触区域受邻近料理机及机械臂遮挡，不能确认实际是夹碰、推压还是空夹；不将预期抓握记为已发生。" + } + ] + }, + "cabinet_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 15.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 和视频 9.0–14.0 s，实际操作的水槽上方右侧候选吊柜门板处于贴合柜框的初始关闭状态；该 state 节点从初态计入。" + }, + { + "t": 15.5, + "log_step": null, + "text_zh": "观察：视频约 15.5 s 所选柜门已向外转开，视频 18.0–22.0 s 明显露出柜内；此后直至搬运三物期间都未合拢。关闭状态结束时间为视觉估计，误差约 0.5 s。" + }, + { + "t": 100.0, + "log_step": null, + "text_zh": "观察：视频 97.0–105.0 s，机器人右夹爪向打开的门板下缘附近伸出并作关门方向的运动，门板始终与柜框有很大夹角。" + }, + { + "t": 107.8, + "log_step": null, + "text_zh": "观察：已检查视频 106.83–107.83 s 的密集末帧，所选柜门仍敞开、内腔与搁板清楚可见，未恢复关闭；旁边闲置柜的关闭不计作所选柜关闭。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "视频 97.0–105.0 s 可见机器人右夹爪在柜门下缘附近作推门尝试，但腕部视图未清楚显示夹指是否真正抵住门板，不能确认实际推压接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "ratio", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "press_in_cabinet", + "t": 34.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 29.0–38.5 s，机器人先在法压壶附近下探夹爪，再抬臂向吊柜移动，但法压壶留在原台面；视频 42.0 s、视频 67.0 s 与视频 89.0–91.0 s 仍能看到它。推断：这是三物搬运中第一个未完成且后续未修复的步骤，故断点为法压壶入柜；后续面包机柜外下落、料理机未搬走和关门未合拢均未修复这一失败。" + }, + "unmet": { + "toaster_in_cabinet": false, + "processor_in_cabinet": false, + "press_in_cabinet": false, + "cabinet_closed": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 34.0, + "log_step": null, + "evidence_zh": "推断：视频 29.0–33.0 s 机器人左夹爪在法压壶处下探合拢，视频 34.0–38.5 s 抬臂时壶仍留在台面，视频 42.0 s 空夹爪到达柜口；所需的承载抓握没有建立。此判断来自物体原位置与抬臂后夹爪的连续画面。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：视频 29.0–38.5 s 机器人左夹爪已到法压壶所在的台面区域，执行下探、合拢、抬升后未带起物体，仍继续向柜口运动；故失败发生于抓取执行及未抓起后的处理。没有接触力、夹指位置或该次 IK 误差记录，不能进一步确定接触几何、跟踪或逆解中的哪一类问题。", + "source_zh": "视频" + } + ], + "gap_zh": "没有逐帧状态日志与成功参考视频，柜门超过总行程 5% 的时刻只能视觉近似；法压壶和料理机抓取处受物体及机械臂遮挡，未能确认夹指实际接触方式，也缺少接触力与逆解误差以细分控制根因。面包机的几何中心相对内腔缺少数值记录，按视频柜外下落与终态 q_score=0.0 判定未入柜。日志包含多次调试与不同长度的录制，log step 408 报告的 3462 动作、法压壶入柜结果不属于这段 3237 帧回放；本文件全部视频时间均取自所查看的回放帧，没有由 agent 时间换算。" + }, + "summary_zh": "交付回放中机器人打开一个候选吊柜，三件电器均未达到入柜关系，柜门的初始关闭状态也未恢复，终态为 1/5，原生 q_score=0.0。首个未修复断点是法压壶入柜：左夹爪抬起后壶仍在台面，所需抓握未建立；随后面包机在柜外下落、料理机留在台面，视频 107.83 s 柜门仍敞开。没有状态日志，夹指接触方式及控制子类无法进一步确认；会话其他调试结果未计入本回放进度。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 5, + "summary_zh": "合同校验通过；进度 1/5（开柜为真、关柜自初态起至约15.5 s 后失去、三物未入柜）与 q_score=0.0 一致，所选柜至终帧仍敞开，面包机在约65 s 于柜外落下。断点取法压壶（29–38 s 抓取未带起物体）可由连续画面支持，但左腕视图在该段主要被黑色圆盘状物体占满，物体身份与接触方式本就被标为未知，未发现可证伪的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:28:19Z", + "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-rearranging-kitchen-furniture-i00-privileged--7dfqdrv/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-rearranging-kitchen-furniture-i00-privileged--7dfqdrv/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a4d02fd9240cfa260cc2b67bef80b78da61c14585923db91730fb8e3aeefe83f", + "video_sha256": "33a5262852fcadd45747a39723a245066826e9b76cbe299c4c6eb10082ff10f8", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/rearranging_kitchen_furniture/trajectories/behavior-rearranging-kitchen-furniture-i00-privileged--huknucp.json b/phase2/behavior-1k/rearranging_kitchen_furniture/trajectories/behavior-rearranging-kitchen-furniture-i00-privileged--huknucp.json new file mode 100644 index 0000000000000000000000000000000000000000..c8c235cb3bf7e19ffea4310bbe92f2e414b16e81 --- /dev/null +++ b/phase2/behavior-1k/rearranging_kitchen_furniture/trajectories/behavior-rearranging-kitchen-furniture-i00-privileged--huknucp.json @@ -0,0 +1,257 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-rearranging-kitchen-furniture-i00-privileged--huknucp", + "taskKey": "behavior-1k/rearranging_kitchen_furniture", + "dag_sha256": "c2cd92aef5b1a32fe7dfa519e8e28b4115648494e5b651c881fe0bce10664da7", + "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": 1586, + "sim_steps": 1586, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 1062.6, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 1, + "agent_resets": 2, + "agent_sim_steps": 0, + "agent_records": 40, + "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-rearranging-kitchen-furniture-i00-privileged--huknucp/replay.mp4", + "duration_s": 52.867, + "fps": 30.0, + "frames": 1586, + "sha256": "8cd457cc99989f6532c9c8ada6c38e4ad9fa13e8736780d2a72c1a95b24007a2" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.0, + "log_step": null, + "text_zh": "观察：视频 0–10 s 机器人在远离厨房台面的位置抬起机械臂，腕部视图中夹爪前方没有柜把，头部视图仍隔着大片地面看向关闭的吊柜；视频 10–32 s 机械臂继续运动，柜门没有离开柜框、未露出内腔。" + }, + { + "t": 52.8, + "log_step": 64, + "text_zh": "观察：视频 33–35 s 机器人转向餐桌，视频 40–52.8 s 空手伸臂，未回到厨房柜前；全片未见夹爪接触候选柜。log step 48、64 的开门角度读数属于交互会话，不能替代本评分录像。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 32–35 s 底盘承载机器人转向餐桌，属于交付开柜动作序列中的位置调整；双夹爪虽有动作，但未接触橱柜，未记为抓握柜门。" + } + ] + }, + "toaster_in_cabinet": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 32.0, + "log_step": null, + "text_zh": "观察：视频 0 s、16 s、24 s、32 s 的头部视图可见远处厨房台面及关闭的吊柜，机器人没有到台面抓取或搬运烤面包机，双腕视图没有持有该物体；视频 33–52.8 s 机器人转向餐桌后空手运动，未见该物体进入任何候选柜。" + }, + { + "t": 52.8, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，且全片没有抓取或入柜事件，故烤面包机最终不在候选柜内。初始即关闭的柜门不增加该部分目标分数，不能把 q_score=0 解释成柜门打开。" + } + ] + }, + "processor_in_cabinet": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 32.0, + "log_step": null, + "text_zh": "观察：视频 0 s、16 s、24 s、32 s 的头部视图可见远处厨房台面及关闭的吊柜，机器人没有到台面抓取或搬运料理机，双腕视图没有持有该物体；视频 33–52.8 s 机器人转向餐桌后空手运动，未见该物体进入任何候选柜。" + }, + { + "t": 52.8, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，且全片没有抓取或入柜事件，故料理机最终不在候选柜内。初始即关闭的柜门不增加该部分目标分数，不能把 q_score=0 解释成柜门打开。" + } + ] + }, + "press_in_cabinet": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 32.0, + "log_step": null, + "text_zh": "观察：视频 0 s、16 s、24 s、32 s 的头部视图可见远处厨房台面及关闭的吊柜，机器人没有到台面抓取或搬运法压壶，双腕视图没有持有该物体；视频 33–52.8 s 机器人转向餐桌后空手运动，未见该物体进入任何候选柜。" + }, + { + "t": 52.8, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，且全片没有抓取或入柜事件，故法压壶最终不在候选柜内。初始即关闭的柜门不增加该部分目标分数，不能把 q_score=0 解释成柜门打开。" + } + ] + }, + "cabinet_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0 s 两个候选厨房吊柜的门板贴合柜体；视频 1–32 s 的已检画面中，吊柜仍关闭，机器人始终在柜外远处活动，没有推拉门板。" + }, + { + "t": 52.8, + "log_step": null, + "text_zh": "推断：视频 33–35 s 机器人转向餐桌，视频 40–52.8 s 仍远离橱柜且空手伸臂；未发生触柜或开门事件，因此所选 cabinet.n.01_1 的初始关闭状态保持到结束。本节点按状态计入，与装入物体的前置边无关，并非借用闲置柜代替收纳柜。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "ratio", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "cabinet_opened", + "t": 1.0, + "log_step": 45, + "where": "操作中", + "evidence_zh": "观察：视频 0–10 s 机器人已执行开柜序列的抬臂与夹爪动作，但底盘没有先驶到橱柜前，夹爪周围是空处，厨房吊柜仍隔着大片地面且保持关闭；视频 10–32 s 柜门仍未打开，视频 33–52.8 s 转向餐桌后也没有修复。log step 45 重新执行辅助脚本后开始录制柜把接近动作，log step 66 保存这些动作；断点属于交付录像中的开柜尝试。" + }, + "unmet": { + "toaster_in_cabinet": false, + "processor_in_cabinet": false, + "press_in_cabinet": false, + "cabinet_closed": true + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 1.0, + "log_step": null, + "evidence_zh": "观察：视频 0–10 s 腕部视图显示夹爪随机械臂运动，但没有柜把或门板进入夹爪；视频 10–32 s 头部视图中的橱柜始终远离机器人且门板未动。视频 40–52.8 s 机械臂又在餐桌方向空手伸出，整段评分录像没有建立开柜所需的夹爪与柜门接触。" + } + ], + "root_causes": [ + { + "cat": "交付", + "item": "交付操作出错", + "source_zh": "日志 / 视频 / 评分器字段", + "evidence_zh": "推断：log step 41 写出的 helpers.py 顶层包含 CH=[]、SN=[]，allrec() 仅拼接 CH；log step 43 将 reset 后驶到柜前及右臂预定位录入 CH，log step 45 却再次 exec 整个 helpers.py，清空这两段已录动作，且未同步 reset 仿真，再从柜把附近继续录制。log step 54、56–58 又恢复会话快照并截取动作列表，log step 66 最终保存 allrec() 的 1586 行，评分器 agent_replays=0，log step 68 也承认未做新进程回放。视频 0–10 s 实际从远处初态抬臂、没有驶向柜前，正与丢失接近前缀的录制错误一致；会话中开柜的成功不能由这份交付动作复现。" + } + ], + "gap_zh": "没有逐帧状态日志或成功参考录像，无法读出精确的柜门关节开度；视频后段头部相机转向餐桌，关柜状态持续保持及三件电器的终态结合未接近、未触及和评分器 q_score=0.0 推断。log step 65 的抓取试探发生在保存之后，log step 66 恢复快照后保存的交付不含该试探；log step 68 自述的开柜及扫落物体属于会话结果，与本评分录像不符，未据此标为已发生。" + }, + "summary_zh": "评分录像中机器人在远离橱柜处执行机械臂动作，随后转向餐桌；未开柜、未搬入任何电器，仅初始关柜状态保持，最终为 1/5。断点是开柜时未建立接触，日志显示重载辅助脚本清空动作列表、丢失接近前缀后仍保存且未经回放核验，根因为交付操作出错。没有状态日志，后段柜门离开头部视野，终态结合录像与 q_score=0.0 判断；会话自述的开柜与扫落不作为评分轨迹事实。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标注与录像、日志和 q_score=0 一致：全片机器人远离橱柜，未开柜、未搬电器，cabinet_closed 自初态保持（q 不计初态已真的文字），断点在开柜、没建立接触，根因为交付操作出错（helpers.py 重复 exec 清空 CH，log id 45，且未回放核验）有日志支撑。未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:16:41Z", + "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-rearranging-kitchen-furniture-i00-privileged--huknucp/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-rearranging-kitchen-furniture-i00-privileged--huknucp/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "310e618f7bfef609825e950fc5ad44c5dcd783fbac1f23b220d005696e99ccac", + "video_sha256": "8cd457cc99989f6532c9c8ada6c38e4ad9fa13e8736780d2a72c1a95b24007a2", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/rearranging_kitchen_furniture/trajectories/behavior-rearranging-kitchen-furniture-i00-privileged--jftrnys.json b/phase2/behavior-1k/rearranging_kitchen_furniture/trajectories/behavior-rearranging-kitchen-furniture-i00-privileged--jftrnys.json new file mode 100644 index 0000000000000000000000000000000000000000..af0b3e855f1dcdb6ad0e2907ed6ed04cef115137 --- /dev/null +++ b/phase2/behavior-1k/rearranging_kitchen_furniture/trajectories/behavior-rearranging-kitchen-furniture-i00-privileged--jftrnys.json @@ -0,0 +1,330 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-rearranging-kitchen-furniture-i00-privileged--jftrnys", + "taskKey": "behavior-1k/rearranging_kitchen_furniture", + "dag_sha256": "c2cd92aef5b1a32fe7dfa519e8e28b4115648494e5b651c881fe0bce10664da7", + "outcome": { + "success": 0, + "reward": 0.5, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 7402, + "sim_steps": 7402, + "fallen": 0, + "final_reward": 0.5, + "q_score": 0.5, + "replay_wall_s": 3161.0, + "replay_timeout_s": 4901.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 3, + "agent_resets": 1, + "agent_sim_steps": 12733, + "agent_records": 2, + "agent_replays": 1, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-rearranging-kitchen-furniture-i00-privileged--jftrnys/replay.mp4", + "duration_s": 246.733, + "fps": 30.0, + "frames": 7402, + "sha256": "07cbda0a1327b43a8377231dec7a430448dfca8a5aec3e8ad036513a5c7fd6b8" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 1, + "peak": 3, + "final": 3, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [ + [ + 18.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 18.0, + "log_step": null, + "text_zh": "观察：视频 16.5–22.5 s，机器人右夹爪夹住水槽上方所选吊柜的横把手并向外拉，门板逐渐离开柜框，视频 22.5 s 可见柜内层板；首次超过小开度的时间约为视频 18 s，误差约1秒。" + }, + { + "t": 65.0, + "log_step": null, + "text_zh": "观察：视频 62–65 s，机器人左夹爪又拉住同一柜门，门板向外转开，柜内空间完整露出。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：右夹爪夹住所选柜门横把手拉开；随后左夹爪夹住该门把手继续打开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0–5 s，轮式底盘将机器人从初始位置移到水槽和吊柜前方。" + } + ] + }, + "toaster_in_cabinet": { + "method": "visual", + "intervals": [ + [ + 34.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 34.0, + "log_step": null, + "text_zh": "观察：视频 25–36 s，机器人右夹爪夹持银色双槽面包机，抬起、转到侧放姿态并送入已开的柜口；约视频 34 s 到达柜内，门板遮住跨越柜口的精确时刻，时间约有1秒误差。视频 39 s、65 s 及68–75 s 可见面包机留在柜内下层。" + }, + { + "t": 246.7, + "log_step": null, + "text_zh": "观察：视频 235–236 s、240.5–241 s 及245.5–246.7 s，腕部画面仍显示双槽面包机位于该柜下层，未见其被移出。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人右侧二指夹爪夹住面包机上沿，持物抬升、转向并送入柜内，随后松开。" + } + ] + }, + "processor_in_cabinet": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 96.5, + "log_step": null, + "text_zh": "观察：视频 84–96.5 s，机器人右夹爪在料理机上方和侧部反复接近，料理机盖打开、机身在台面上转动，未被送入吊柜；视频 100–130 s，右臂朝柜口做搬运轨迹时，腕部画面中的料理机仍在台面。" + }, + { + "t": 236.0, + "log_step": null, + "text_zh": "观察：视频 218–236 s，机器人右夹爪终于持料理机接近柜口，但腕部画面显示透明杯体和下部机身仍悬在柜口外侧下方；视频 235–236 s 可见柜内已有的面包机与法压壶，未见料理机获得完整入柜的可确认状态。" + }, + { + "t": 246.7, + "log_step": null, + "text_zh": "推断：评分器最终 q_score=0.5，目标选项共四个literal；末尾视频 245.5–246.7 s 可见面包机、法压壶仍在柜内而柜门打开，已占满两个满足项，因此料理机入柜的 final 必为 false。初态已关闭的柜门不另贡献 q_score。" + }, + { + "t": null, + "log_step": 323, + "text_zh": "观察：log step 323 的补救会话输出曾报告 INSIDE3 True，但 log step 324 保存7402行时 q_score 已为0.5；不能把前一个瞬时会话输出当成交付回放已完成入柜的证明。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 94–97 s 及后续台面重试中，机器人右夹爪接触并拨动料理机，机身转动和倾侧，未随每次空手抬升离开台面。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：后段机器人右二指夹爪夹住料理机盖上较窄的进料管部位，将料理机从台面提起并搬向柜口，杯体悬在夹爪下方；视频 218–236 s 腕部画面可见持物。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 190–218 s，机器人调整朝向和位置，在台面寻找料理机抓点后持物返回吊柜前。" + } + ] + }, + "press_in_cabinet": { + "method": "visual", + "intervals": [ + [ + 67.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 67.0, + "log_step": null, + "text_zh": "观察：视频 40–57 s，机器人右夹爪所持黑色法压壶悬在柜外；视频 62–67 s 左夹爪握门保持打开、右夹爪将壶送入下层。约视频 67 s 壶已越过柜口并处于面包机上方；视频 74.5–75 s 右手撤离后可见壶留在面包机上，入柜时间约有1秒误差。" + }, + { + "t": 246.7, + "log_step": null, + "text_zh": "观察：视频 235–236 s、241 s 和245.5–246.7 s，黑色法压壶仍与面包机一起位于同一吊柜下层。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：机器人右夹爪夹持法压壶把手搬运和侧向送入；视频 62–67 s 左夹爪同时夹住所选柜门横把手，将门保持在打开位置。" + } + ] + }, + "cabinet_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 18.0 + ] + ], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0–16.5 s 初始查看和到达柜前时，两候选吊柜门板均贴合柜框；所选柜约视频 18 s 被拉开，关闭状态随之失去。" + }, + { + "t": 160.0, + "log_step": null, + "text_zh": "观察：视频 137–160 s，机器人左夹爪握住所选柜门把手将门往回带，门板接近柜框但仍留开口；视频 161–165 s 又将门拉开，未确认恢复到关闭阈值。" + }, + { + "t": 246.7, + "log_step": null, + "text_zh": "观察：视频 237–246.7 s，机器人在柜门附近继续伸手和回撤，所选柜左门仍明显外张，腕部相机可直视柜内的面包机和法压壶；视频最后一帧仍未关柜。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 137–160 s，机器人左夹爪夹住已打开柜门的横把手，沿合门方向带动门板，但未关到位；末段还再次向门把手位置伸手。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.5, + "unit": "ratio", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "processor_in_cabinet", + "t": 236.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 84 s 后机器人一直尝试抓取、调整和搬放料理机；视频 235–236 s 的最终送柜中，腕部画面可见料理机杯体仍在柜口外侧下方，而柜内面包机和法压壶保持原位。推断：结合最终 q_score=0.5，料理机入柜是首个尝试后始终未完成的节点；后续柜门也未关上，不能替代此前入柜失败。" + }, + "unmet": { + "toaster_in_cabinet": true, + "processor_in_cabinet": false, + "press_in_cabinet": true, + "cabinet_closed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 236.0, + "log_step": null, + "evidence_zh": "观察：视频 230–236 s，机器人右手抬高并朝柜内送料理机，但透明杯体和下部机身悬在柜口外侧下方，未出现像面包机和法压壶那样留在柜内的结果；视频 245.5–246.7 s 柜内仍只可见原有两件。推断：最终评分 q_score=0.5 也排除料理机仍在柜内。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：料理机搬放的执行到位检查不足。log step 255 定义的 mv 只按IK求解成功返回True，执行固定步数的关节移动后仅打印实际末端位置；log step 321 因而在动作后继续松手，log step 323 显示目标末端[8.27,0.04,1.78]而实际为[8.1345,0.0455,1.8668]，位置仍偏差约0.16米。该记录是生成交付动作的补救会话证据；视频 230–236 s 也显示末端已靠柜而料理机主体仍悬在柜外，支持控制未把物体可靠送到目标内腔。尚不足以区分碰撞、握在活动盖上和关节跟踪各自的贡献。" + } + ], + "gap_zh": "无逐帧状态日志和成功参考视频；门板及手臂遮挡了面包机、法压壶跨越柜口的精确时刻，料理机末段的松手落点也未完整露出。料理机时间区间只记录可确认的结果，未将 log step 323 的瞬时 inside=True 外推到视频；最终 false 由两件已入柜、柜门仍开和 q_score=0.5 共同确定。控制根因有生成动作会话证据，但无法进一步唯一定位物理阻挡或接触几何。" + }, + "summary_zh": "交付回放完成了开柜、面包机入柜和法压壶入柜，最终保持3/5个节点；关柜从初态成立，在约视频 18 s 开门后失去。料理机多次抓取与搬放均未留下可确认的入柜结果，最后送柜仍偏在柜口外，所选柜门也未关闭，评分器 q_score=0.5、success=0。生成补救动作的日志显示实际末端尚有明显误差便继续松手；无逐帧状态日志，遮挡限制了精确入柜时刻和更细的控制归因。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点时间、终态与 q_score=0.5 一致；视频可见面包机与法压壶在柜内、料理机未入柜、柜门仍开。断点与现象基本受支持，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": "2026-10-30T21:39:43Z", + "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-rearranging-kitchen-furniture-i00-privileged--jftrnys/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-rearranging-kitchen-furniture-i00-privileged--jftrnys/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3bdc0913add5c25ea6442d724fda06b1b4adad0007ba831cbfe3d469ac4b19bf", + "video_sha256": "07cbda0a1327b43a8377231dec7a430448dfca8a5aec3e8ad036513a5c7fd6b8", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/rearranging_kitchen_furniture/trajectories/behavior-rearranging-kitchen-furniture-i00-standard--8dx8lqx.json b/phase2/behavior-1k/rearranging_kitchen_furniture/trajectories/behavior-rearranging-kitchen-furniture-i00-standard--8dx8lqx.json new file mode 100644 index 0000000000000000000000000000000000000000..12cb9b73d56c21963aaa44e2800f809a13fc0e21 --- /dev/null +++ b/phase2/behavior-1k/rearranging_kitchen_furniture/trajectories/behavior-rearranging-kitchen-furniture-i00-standard--8dx8lqx.json @@ -0,0 +1,291 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-rearranging-kitchen-furniture-i00-standard--8dx8lqx", + "taskKey": "behavior-1k/rearranging_kitchen_furniture", + "dag_sha256": "c2cd92aef5b1a32fe7dfa519e8e28b4115648494e5b651c881fe0bce10664da7", + "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": 3005, + "sim_steps": 3005, + "physics_steps": 12020, + "steps": 3005, + "elapsed_s": 1500.7, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 1, + "q_score": 0.0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.398, + "peak_processes": 12, + "peak_disk_gb": 1.066, + "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-rearranging-kitchen-furniture-i00-standard--8dx8lqx/replay.mp4", + "duration_s": 100.167, + "fps": 30.0, + "frames": 3005, + "sha256": "9eecf658a3082518e356a1a7560ec2775c61e909dfbedf926aec146be4edc0eb" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 可见厨房吊柜门板贴合柜体；视频 16–22 s、76–80 s 的巡视画面及视频 89.2–90.4 s 的翻倒前后画面均未见门板拉开或柜内空间露出，双腕视角也未见夹爪伸向柜门实施拉开。" + }, + { + "t": 89.2, + "log_step": 200, + "text_zh": "观察：视频 89.2–91.2 s，机器人在改变观察朝向时画面剧烈侧转，随后头部视角贴近地板；log step 200 的实际调用先将躯干目标改为 −0.6 rad，再转动底盘拍摄吊柜，尚未执行拉门，服务返回倒地结束。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0–22 s、64–89 s，机器人轮式底盘承载机体移动、转向以寻找厨房操作位置及观察吊柜；未见夹爪抓握柜门或把手。" + } + ] + }, + "toaster_in_cabinet": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 88, + "log_step": null, + "text_zh": "观察：视频 20 s、56–60 s、80 s、86–88.8 s，白色双槽烤面包机仍在灶台左侧台面，未见夹爪夹起、携带或送入吊柜。" + }, + { + "t": 100.13, + "log_step": null, + "text_zh": "推断：视频 89.2 s 后机器人翻倒，视频 99–100.13 s 的头部视角仍朝地板；评分器 reward.q_score=0、live_matches_replay=1，与此前烤面包机仍在台面且没有搬运相符，终态入柜为假。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 86–88.8 s，机器人移动到烤面包机前方并改变躯干姿态近看（log step 190、197 为接近和拍摄）；尚未见夹爪接触或抓握烤面包机。" + } + ] + }, + "processor_in_cabinet": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 88, + "log_step": null, + "text_zh": "观察：检查视频 0–88.8 s 的巡视、接近台面和近看画面，双腕视角没有持物，未见机器人从台面取走电器或将其搬入吊柜，柜门也未打开。" + }, + { + "t": 100.13, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0、live_matches_replay=1；料理机入柜属于初态不成立的目标 literal，零新增目标得分排除其终态成立。视频 89.2–100.13 s 的倒地过程未见搬运，故结合画面判定料理机入柜未达成，而非仅凭零分判定未尝试。" + } + ] + }, + "press_in_cabinet": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 88, + "log_step": null, + "text_zh": "观察：视频 56–60 s 和 86–88.8 s，烤面包机后侧的深色带柄壶状物仍在台面；未见机器人夹起壶或把壶送入柜体，双腕视角未见持物。" + }, + { + "t": 100.13, + "log_step": null, + "text_zh": "推断：视频 89.2–100.13 s 机器人翻倒后持续面向地板，没有后续入柜操作；评分器 reward.q_score=0、live_matches_replay=1，排除初态不成立的法压壶入柜目标在终态成立。" + } + ] + }, + "cabinet_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 厨房吊柜门板均处于贴合柜体的初态；视频 16–22 s、76–80 s 及 89.2–90.4 s 的可见柜门仍贴合，未见机器人拉开柜门。" + }, + { + "t": 100.13, + "log_step": null, + "text_zh": "推断：两个候选柜从初态关闭，整段视频没有开柜或关柜操作，故关柜状态保留为视频 [0 s, 结束]；没有实际收纳柜选择，也不以关柜状态推断三物同柜。评分器 q_score=0 不计入初态已经成立并保持的关柜条件。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "ratio", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "cabinet_opened", + "t": 89.2, + "log_step": 200, + "where": "探索", + "evidence_zh": "观察：视频约 89–90 s，机器人探查吊柜时画面开始明显翻转，视频 91.2 s 头部视角已落向地板，至视频 100.13 s 未恢复；断点视频 89.2 s 是按画面选取的近似锚点，不是由 log step 200 的内部动作时刻换算。log step 200 为调整躯干并转向拍摄吊柜，服务在 log step 202 报告 control_steps=3005、done=true、reason=\"failure: the robot fell over\"。视频约 2–6 s 已出现明显倾斜，log step 65、69 返回 base_z=0.2763、tilt=0.257，log step 72 返回 tilt 从 0.257 升至 0.81，log step 84 最终返回 tilt=0.999、base_z=0.017、done=false，视频约 6–7 s 视角恢复直立。推断：早期底盘被抬高、失衡后已恢复，是同类平衡事件的前例，不另记断点；开柜前提始终未达成，本次不可恢复的失败落在打开橱柜的探索阶段，三项入柜尚未实施。" + }, + "unmet": { + "toaster_in_cabinet": false, + "processor_in_cabinet": false, + "press_in_cabinet": false, + "cabinet_closed": true + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 89.2, + "log_step": 200, + "evidence_zh": "观察：视频 88.8 s 仍近看灶台，视频 89.2–90.8 s 机载视角迅速侧转，视频 91.2 s 起头部几乎贴向地板，视频 99–100.13 s 仍未恢复；log step 200、202 的机器人服务明确以倒地终止回合。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "观察：inputs/run.json 的 log step 197 返回 tilt=0.905、trunk=0.62、control_steps=2662；log step 127 的 tilt_of 定义为 cos(rx)×cos(ry)，并给出 ramp 的关节目标线性插值实现。log step 200 调用 ramp(r,1.2,trunk=(-0.6,0,0,0))，随后调用 turn_to 扫视吊柜；该调用内服务返回 failure: the robot fell over，log step 202 确认 done=true、control_steps=3005。视频 88.8 s 仍近看灶台，视频约 89–90 s 开始明显翻转，视频 99–100.13 s 仍朝向地板。推断：底盘尚有倾斜时，脚本选择在名义 1.2 s 内把躯干目标从约 +0.62 rad 反摆到 −0.6 rad（目标变化约 1.22 rad），再转动底盘，这组动作使本体进一步失稳并倒地；没有实际关节跟踪误差、支撑力或重心轨迹，不能分清躯干反摆与随后转向各自的作用，也不能证实反馈跟踪失稳，故停在“控制”。log step 37 报告控制率为 30 Hz，2662/30≈视频 88.73 s，已与视频 88.8 s 的近看姿态核对；3005/30≈100.17 s 与视频总时长一致。此对应不提供 log step 200 内各动作的精确视频时刻，未用 agent 工作时间换算。" + } + ], + "gap_zh": "没有逐帧状态日志或成功参考视频，无法确定底盘与家具的具体碰撞点及每个门关节的数值开度；倒地后的末段遮住目标物，三项入柜终态由此前画面和评分器零新增目标总分共同判定。料理机在低分辨率画面中的独立外形不清，未把浅蓝色箱形电器直接认作料理机，也未从 agent 写在回合结束后的示例脚本补计任何开柜或放入动作。 躯干实际运动轨迹、支撑力与重心变化未记录，反摆和转向对失稳的具体作用只能推断，无法细分控制根因。" + }, + "summary_zh": "评分回合仅保留初态关柜条件，终态为 1/5；未见开柜，也未见三件目标电器入柜。机器人在探查吊柜时于视频约 89–90 s 失衡并倒地，画面锚点取视频 89.2 s；日志显示此前底盘已倾斜，脚本仍指令躯干大幅反摆后转向，根因保留为“控制”。无状态日志与成功参考，末段目标物被遮挡，三项入柜终态结合先前画面和 q_score=0 判定；控制失稳的具体机制缺少实际运动和支撑力证据，因此 conf 从 8 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": "节点值（五节点中仅关柜初态保持，final=1）、断点（cabinet_opened/探索/约 89 s）和平衡现象与视频及 log 一致；问题在根因：把倒地归为“反馈控制”缺少证据，实际可证实的触发动作是 log step 200 里 1.2 s 内将躯干从 +0.62 摆到 −0.6 rad 的大幅快速动作。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值（仅关柜初态保持，final=1）、断点（cabinet_opened/探索/约89 s）、平衡现象和“控制”根因均与视频及log一致，且已按上一轮意见修正；未发现新错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:46:09Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-rearranging-kitchen-furniture-i00-standard--8dx8lqx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-rearranging-kitchen-furniture-i00-standard--8dx8lqx/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-rearranging-kitchen-furniture-i00-standard--8dx8lqx/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-rearranging-kitchen-furniture-i00-standard--8dx8lqx/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3c9e682e04ec2bf21cc4fba032d2b03823036a2c9fe20c9ccee99c254a0c18fa", + "video_sha256": "9eecf658a3082518e356a1a7560ec2775c61e909dfbedf926aec146be4edc0eb", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/rearranging_kitchen_furniture/trajectories/behavior-rearranging-kitchen-furniture-i00-standard--avkwnfw.json b/phase2/behavior-1k/rearranging_kitchen_furniture/trajectories/behavior-rearranging-kitchen-furniture-i00-standard--avkwnfw.json new file mode 100644 index 0000000000000000000000000000000000000000..b420f57095ae5e4822e02c5cf9ee02eaf485e50d --- /dev/null +++ b/phase2/behavior-1k/rearranging_kitchen_furniture/trajectories/behavior-rearranging-kitchen-furniture-i00-standard--avkwnfw.json @@ -0,0 +1,274 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-rearranging-kitchen-furniture-i00-standard--avkwnfw", + "taskKey": "behavior-1k/rearranging_kitchen_furniture", + "dag_sha256": "c2cd92aef5b1a32fe7dfa519e8e28b4115648494e5b651c881fe0bce10664da7", + "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": 3196, + "sim_steps": 3196, + "physics_steps": 12784, + "steps": 1002, + "elapsed_s": 1245.0, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 1, + "q_score": 0.0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.507, + "peak_processes": 6, + "peak_disk_gb": 0.277, + "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-rearranging-kitchen-furniture-i00-standard--avkwnfw/replay.mp4", + "duration_s": 106.533, + "fps": 30.0, + "frames": 3196, + "sha256": "5874b8d03047f5285da00fa9e0e8d9dcc504508b070daccc2c7c4e82975a7751" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [ + [ + 90.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 90.8, + "log_step": 94, + "text_zh": "观察：视频90.3 s右夹爪围住吊柜靠右一组门的左侧门把手；视频90.8–91.5 s夹爪拉动门板，门板明显离开柜框并露出内侧空间。达到时间约有0.3 s误差；此为event节点，之后保持已达到。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频90.3–92.0 s右侧二指夹爪夹住吊柜门把手向外拉，随后松开并撤回；左夹爪未共同操作。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人在视频0–38 s移动、转向并接近水槽上方的目标吊柜，轮式底盘承载到达开柜位置。" + } + ] + }, + "toaster_in_cabinet": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 27.0, + "log_step": null, + "text_zh": "观察：视频27.0 s可见烤面包机仍在灶台左侧的台面物品组中；全片粗检及视频83–100.5 s密集检查只见机器人操作柜门，没有夹爪携带该物体进入柜腔的动作。" + }, + { + "t": 106.5, + "log_step": 105, + "text_zh": "推断：视频95.3–97.0 s机器人空手转向后倾倒，至视频106.5 s未恢复搬运，末尾台面物品被视角遮挡；评分器q_score=0且live_matches_replay=1，将本来不在柜内的烤面包机最终仍未入柜判为false。此总分仅约束终值，未被用作抓取或搬放证据。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：视频95.3–96.5 s机器人空手调整朝向，结合log step 99先检查面包机抓取及放入、log step 102调用底盘导航以转向台面，将此转场归于下一项面包机搬放；底盘在移动，尚未见夹爪接触面包机。" + } + ] + }, + "processor_in_cabinet": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 27.0, + "log_step": null, + "text_zh": "观察：视频27.0 s可见食物料理机仍在灶台左侧的台面物品组中；全片粗检及视频83–100.5 s密集检查只见机器人操作柜门，没有夹爪携带该物体进入柜腔的动作。" + }, + { + "t": 106.5, + "log_step": 105, + "text_zh": "推断：视频95.3–97.0 s机器人空手转向后倾倒，至视频106.5 s未恢复搬运，末尾台面物品被视角遮挡；评分器q_score=0且live_matches_replay=1，将本来不在柜内的食物料理机最终仍未入柜判为false。此总分仅约束终值，未被用作抓取或搬放证据。" + } + ] + }, + "press_in_cabinet": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 27.0, + "log_step": null, + "text_zh": "观察：视频27.0 s可见法压壶仍在灶台左侧的台面物品组中；全片粗检及视频83–100.5 s密集检查只见机器人操作柜门，没有夹爪携带该物体进入柜腔的动作。" + }, + { + "t": 106.5, + "log_step": 105, + "text_zh": "推断：视频95.3–97.0 s机器人空手转向后倾倒，至视频106.5 s未恢复搬运，末尾台面物品被视角遮挡；评分器q_score=0且live_matches_replay=1，将本来不在柜内的法压壶最终仍未入柜判为false。此总分仅约束终值，未被用作抓取或搬放证据。" + } + ] + }, + "cabinet_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 90.8 + ] + ], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频0.0 s吊柜门板贴合柜体；视频30–85 s接近后的连续抽帧中，选中吊柜的门板仍齐平关闭。按state规则从视频0 s计入，不受三个入柜节点的after门控。" + }, + { + "t": 91.0, + "log_step": 94, + "text_zh": "观察：视频90.8–91.5 s右夹爪将选中吊柜门拉离柜框，关闭状态失去；视频91.5–100.5 s及视频105.6–106.5 s门板一直向外突出，末帧仍未贴回柜框，未见推关或握把关门动作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "ratio", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "toaster_in_cabinet", + "t": 95.8, + "log_step": 102, + "where": "转场", + "evidence_zh": "推断：开柜已于视频约90.8 s完成。视频95.3–97.0 s机器人空手调整朝向后持续倾斜，没有开始电器抓取；log step 99首先检查面包机的抓取及入柜逆解，log step 102随后调用导航转向台面，因此把首次电器搬放前的这一转场归于面包机入柜。log step 105服务报告done=true、reason=\"failure: the robot fell over\"；之后未恢复该步。" + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 95.8, + "log_step": 105, + "evidence_zh": "观察：视频95.3 s后头部及腕部视图迅速倾斜，视频95.8–97.0 s机身侧倾、视线抬向吊柜和天花板；视频97–106.5 s保持倾倒后的姿态。log step 105的机器人服务状态明确报告机器人倒地，结束在control_steps=3196；与视频106.533 s的总长相符。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 31的navigate_to脚本仅用平面位置与偏航误差产生底盘命令，并保持当前躯干、手臂关节，不根据机身横滚或俯仰调整或停止。log step 102在开柜后直接调用同一控制器转向，视频95.3–97.0 s随之出现持续失衡，说明该姿态下的移动控制未维持全身稳定；现有证据不足以细分具体接触或动力学机制。", + "source_zh": "日志" + } + ], + "gap_zh": "无逐帧状态日志及成功参考视频，柜门5%阈值的越界时刻按画面估计。倒地前后的相机看不到底盘与台面边缘的接触，agent在log step 112自述撞到台面不能单独证实碰撞，故不增加碰撞现象；无法确定失稳的具体力学机制。末尾三件电器区域被遮挡，终值结合全片未发生搬运及评分器q_score=0推断；将空手转场归于面包机入柜依据log step 99的检查顺序。", + "unmet": { + "toaster_in_cabinet": false, + "processor_in_cabinet": false, + "press_in_cabinet": false, + "cabinet_closed": false + } + }, + "summary_zh": "机器人于视频约90.8 s抓住把手打开一个吊柜，三件电器均未搬入，选中柜也未重新关闭；初始关闭节点失去后，最终仅开柜事件达成。视频约95.8 s在转向台面准备搬放面包机的空手转场中失衡，服务随后以倒地终止，控制脚本未在该移动过程中维持机身稳定。没有状态日志，底盘是否碰到台面不可确认，电器终值结合未见搬运动作与q_score=0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": "开柜于视频约90.8 s达成、柜门其后一直保持打开（视频93.2–95.6 s密集帧确认），三物未搬运、cabinet_closed在90.8 s失去，均与画面和q_score=0一致；视频95 s后头部视角倾斜、服务在log step 105报告倒地且control_steps=3196，与视频总长吻合。断点、平衡现象与控制根因（已标推断并在gap_zh说明限度）可接受，未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:35:42Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-rearranging-kitchen-furniture-i00-standard--avkwnfw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-rearranging-kitchen-furniture-i00-standard--avkwnfw/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "48d6074fc515af0dc37d2dd01b95e3e63107e0b8edb4005c4c080656a7f09325", + "video_sha256": "5874b8d03047f5285da00fa9e0e8d9dcc504508b070daccc2c7c4e82975a7751", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/rearranging_kitchen_furniture/trajectories/behavior-rearranging-kitchen-furniture-i00-standard--flzoj6r.json b/phase2/behavior-1k/rearranging_kitchen_furniture/trajectories/behavior-rearranging-kitchen-furniture-i00-standard--flzoj6r.json new file mode 100644 index 0000000000000000000000000000000000000000..f659c0c79aafe3b5ea1a24700e730136ee8daa99 --- /dev/null +++ b/phase2/behavior-1k/rearranging_kitchen_furniture/trajectories/behavior-rearranging-kitchen-furniture-i00-standard--flzoj6r.json @@ -0,0 +1,375 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-rearranging-kitchen-furniture-i00-standard--flzoj6r", + "taskKey": "behavior-1k/rearranging_kitchen_furniture", + "dag_sha256": "c2cd92aef5b1a32fe7dfa519e8e28b4115648494e5b651c881fe0bce10664da7", + "outcome": { + "success": 0, + "reward": 0.75, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 23874, + "sim_steps": 23874, + "physics_steps": 95496, + "steps": 7934, + "elapsed_s": 6776.1, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 0, + "q_score": 0.75, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.327, + "peak_processes": 8, + "peak_disk_gb": 0.867, + "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-rearranging-kitchen-furniture-i00-standard--flzoj6r/replay.mp4", + "duration_s": 795.8, + "fps": 30.0, + "frames": 23874, + "sha256": "3409d6cf6e313349434beeb135cd29048e177c8eda47c5f0061bf4f2f14ef500" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 1, + "peak": 4, + "final": 4, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [ + [ + 44.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 44.0, + "log_step": 68, + "text_zh": "推断：视频 41.0–45.0 s 左腕画面中，机器人左夹爪合拢在吊柜银色把手两侧并向外带门，视频 46.0–54.0 s 可见门板逐渐离开柜框；首次超过小开度阈值约在视频 44.0 s，误差约1–2秒。" + }, + { + "t": 350.0, + "log_step": 234, + "text_zh": "观察：视频 330.0–350.0 s，机器人左夹爪持法压壶，右夹爪夹住同一吊柜把手继续向外拉；视频 357.0 s 与 367.0 s 可见柜内层板，开柜已完成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 43.0–54.0 s 左夹爪夹住水槽上方所选吊柜把手向外拉；视频 330.0–350.0 s 改由右夹爪抓把手扩大开度。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0.0–32.0 s 轮式底盘靠近吊柜并后退、重新接近，调整开门工作位置。" + } + ] + }, + "toaster_in_cabinet": { + "method": "visual", + "intervals": [ + [ + 600.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 494.0, + "log_step": 304, + "text_zh": "观察：视频 490.0–494.0 s 左夹爪从面包机上方夹紧，白色双槽面包机随手抬起；台面原位置腾空，随后机器人携带它转向吊柜。" + }, + { + "t": 600.5, + "log_step": 379, + "text_zh": "推断：视频 590.0–603.0 s 左手持面包机在打开的吊柜上层继续向内送入；视频 605.0–608.0 s 左手张开并退离，另一腕部画面可见白色双槽机留在上层。关系起点约为视频 600.5 s，门板和近距离持物遮挡使误差约2–3秒；没有把松手时刻另当成入柜条件。" + }, + { + "t": 776.0, + "log_step": null, + "text_zh": "观察：视频 744.0–776.0 s 远处打开的同一吊柜上层可见白色面包机，下层可见黑色电器；机器人此后继续操作柜门，未将面包机移出。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 490.0–494.0 s 左夹爪从面包机槽口处夹住并提起；左手搬运、转侧并送入上层，视频 605.0–608.0 s 松开退出。" + }, + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 550.0–574.0 s 左夹爪保持夹持面包机，右夹爪抓柜门把手重新打开入口，两臂共同完成入柜所需的让位。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 494.0–502.0 s 底盘载着面包机转向吊柜，随后在柜前调整机器人位置。" + } + ] + }, + "processor_in_cabinet": { + "method": "visual", + "intervals": [ + [ + 446.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 394.0, + "log_step": 258, + "text_zh": "观察：视频 388.0–394.0 s，机器人左夹爪夹住料理机的上部进料管，透明碗及黑色底座一同离开台面并随手上升。" + }, + { + "t": 446.0, + "log_step": 281, + "text_zh": "推断：视频 438.0–447.0 s 左腕画面可见机器人持料理机侧向靠入所选吊柜下层并下放；视频 448.0–454.0 s 张爪撤手后物体留在柜内，视频 570.0–588.0 s 开柜视角仍见下层黑色料理机。以视频 446.0 s 作为内腔关系成立的近似起点，遮挡使精度约为2秒。" + }, + { + "t": 776.0, + "log_step": null, + "text_zh": "推断：视频 744.0–776.0 s 下层电器仍在柜内，关门重试中未见料理机离柜；评分器最终 q_score=0.75 且 live_matches_replay=1，与三件物体入同柜、柜未关闭的画面一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 388.0–394.0 s 左夹爪夹住料理机进料管提起整机；视频 430.0–448.0 s 左手旋转整机、侧放进下层后张爪。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 395.0–404.0 s 底盘载着左手夹持的料理机转向所选吊柜。" + } + ] + }, + "press_in_cabinet": { + "method": "visual", + "intervals": [ + [ + 362.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 292.0, + "log_step": 205, + "text_zh": "观察：视频 288.0–292.0 s，机器人左夹爪夹住侧倒法压壶并抬离台面；壶随左手上升，原位置只余料理机和面包机。" + }, + { + "t": 362.5, + "log_step": 239, + "text_zh": "推断：视频 360.0–366.0 s 左腕画面中的法压壶随左手进入打开吊柜的下层，视频 367.0–370.0 s 左手退出后壶仍留在层板上；据前后位置，进入内腔约为视频 362.5 s，存在约1–2秒的遮挡误差。" + }, + { + "t": 776.0, + "log_step": null, + "text_zh": "观察：视频 570.0–588.0 s 和 744.0–776.0 s 可见所选柜下层仍有已收纳电器，后续操作围绕柜门进行，未见机器人把法压壶取回台面或丢到柜外。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 288.0–292.0 s 左夹爪夹住法压壶壶身一端并抬起，随后保持夹持搬入所选吊柜下层，视频 365.0–367.0 s 张爪退出。" + }, + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 330.0–350.0 s 左夹爪持法压壶等待，右夹爪抓柜门把手扩大开口，两臂配合为壶入柜清出通路。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 292.0–302.0 s 底盘载着左手中的法压壶后退并转向水槽上方吊柜。" + } + ] + }, + "cabinet_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 44.0 + ] + ], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 厨房吊柜门板贴合柜体，视频 10.0 s 所选水槽上方吊柜仍关闭；机器人开门后，此初始成立的状态在约视频 44.0 s 失去。" + }, + { + "t": 636.0, + "log_step": 397, + "text_zh": "观察：视频 630.0–636.0 s 机器人右夹爪夹住把手尝试带回柜门，腕部画面中门板与夹爪运动停滞，门未回到柜框；视频 645.0–650.0 s 再次握把尝试仍未完成关闭。" + }, + { + "t": 776.0, + "log_step": 459, + "text_zh": "观察：视频 685.0–705.0 s 机器人改用左夹爪推门，门接近柜面但未把所选柜全部关好；视频 744.0–776.0 s 仍能看到柜内层板与电器，至少一扇门明显外张。" + }, + { + "t": 795.7, + "log_step": 467, + "text_zh": "推断：视频 784.0 s 后机器人从另一侧推门，视频 794.8–795.7 s 的右腕画面仍能看到暴露的柜内层板；末段头部视角朝向窗户，不能量出门关节角度。结合三物留柜的前后画面和评分器最终 success=0、q_score=0.75，所选柜关闭未恢复，不能用旁边闲置柜的关闭代替。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 628.0–651.0 s 右夹爪合拢在吊柜把手两侧尝试带门关闭，视频 711.0–727.0 s 左夹爪又抓把手重新开门调整。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 654.0 s 后右夹爪尝试推门，视频 680.0–701.0 s 左夹爪闭合后用外侧推门板，视频 784.0 s 后右夹爪从另一侧再次推门。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 637.0–640.0 s 底盘后退为门摆动让位，视频 756.0–778.0 s 底盘侧移绕行后重新接近柜门。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.75, + "unit": "ratio", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "cabinet_closed", + "t": 636.0, + "log_step": 397, + "where": "操作中", + "evidence_zh": "观察：视频 630.0–650.0 s 机器人在三件电器装入后用右夹爪握把关门，门板没有随关门动作充分合回；后续视频 685.0–705.0 s 推门及视频 784.0 s 后从另一侧重试仍未恢复所选柜全部关闭。此前抓取和插入困难均在后续完成相应入柜关系，首个未修复步骤是关上橱柜。" + }, + "unmet": { + "toaster_in_cabinet": true, + "processor_in_cabinet": true, + "press_in_cabinet": true, + "cabinet_closed": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "接触力异常", + "t": 636.0, + "log_step": 397, + "evidence_zh": "观察：视频 632.0–636.0 s 右夹爪已夹在门把手上，继续带门时手与门板基本停在原处，视频 645.0–650.0 s 的重复操作仍未使门到位；视频 685.0–705.0 s 左手推门仅使门接近柜面，所选柜始终没有完成全部关闭。此处是有接触后的门运动受阻，未将早先已修复的抓取问题作为失败现象。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：视频 632.0–650.0 s 可见握把关门停滞；log step 396 将右末端目标改到 y=0.354 米，log step 397 服务实测右末端仍约为 y=0.0845 米，与 log step 395 的 y=0.0884 米接近，说明闭门动作未按意图执行。机器人后来换为推门并换臂仍未关妥，支持机构操作的控制失败；具体接触几何、轨迹与力控制问题不能从现有证据细分。计时对应由服务 control_steps/30 得到：log step 397 的 19094/30=视频 636.47 s；以 log step 382 的松爪 control_steps=18134 对应视频 604.47 s、视频 605.0–606.0 s 所见松爪撤手核对，末次 23873/30=视频 795.77 s 也与视频长度一致。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有状态日志和成功参考视频。腕部近距离持物及门板遮挡使三件电器包围盒中心首次越过内腔边界只能由前后画面估计，入柜时刻约有1–3秒误差；关门末段头部转向窗户，未提供关节开度、接触对或门的受力，无法确认是具体哪个接触或控制环节阻碍关严。最终关系由已观察的放置、后续柜内画面和评分总量共同支持，未采用 agent 自述的完成断言替代搬运证据。" + }, + "summary_zh": "观察：机器人打开水槽上方吊柜，依次把法压壶、料理机放入下层，把面包机放入上层；最终开柜及三件入柜节点成立，为4/5，评分器 q_score=0.75。推断：失败停在关上橱柜，视频 632.0–650.0 s 握把带门停滞，随后多次推门、换臂和移位也未完成关闭，支持控制失败。观察：没有状态日志或成功参考，持物与门板遮挡限制了入柜边界时刻和具体阻挡机制的判断。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点进度（开柜+三电器入柜，关柜未达成）与评分器 q_score=0.75 一致，断点在关柜、时钟换算有说明；抽查帧未发现矛盾。根因“控制”仅有部分证据，但已声明无法细分。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:34:12Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-rearranging-kitchen-furniture-i00-standard--flzoj6r/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-rearranging-kitchen-furniture-i00-standard--flzoj6r/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c78f9b94db5e03ad32fc90f66d6375c4f96484684bc89b8b286dd9526dc8488d", + "video_sha256": "3409d6cf6e313349434beeb135cd29048e177c8eda47c5f0061bf4f2f14ef500", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/rearranging_kitchen_furniture/trajectories/behavior-rearranging-kitchen-furniture-i00-standard--wnqemir.json b/phase2/behavior-1k/rearranging_kitchen_furniture/trajectories/behavior-rearranging-kitchen-furniture-i00-standard--wnqemir.json new file mode 100644 index 0000000000000000000000000000000000000000..0100fe2de7e09258d6048b5d6384bf1d28afadf9 --- /dev/null +++ b/phase2/behavior-1k/rearranging_kitchen_furniture/trajectories/behavior-rearranging-kitchen-furniture-i00-standard--wnqemir.json @@ -0,0 +1,297 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-rearranging-kitchen-furniture-i00-standard--wnqemir", + "taskKey": "behavior-1k/rearranging_kitchen_furniture", + "dag_sha256": "c2cd92aef5b1a32fe7dfa519e8e28b4115648494e5b651c881fe0bce10664da7", + "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": 22036, + "sim_steps": 22036, + "physics_steps": 88144, + "steps": 21811, + "elapsed_s": 8269.3, + "video_rendered": 1, + "gpu_lost": 0, + "q_score": 0.0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-rearranging-kitchen-furniture-i00-standard--wnqemir/replay.mp4", + "duration_s": 734.533, + "fps": 30.0, + "frames": 22036, + "sha256": "a0dbac38833b09db4227bd71eec7560d3c9684e551568f6c0f900a86cac8c90c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 两个候选吊柜的深色门板均贴合柜体；视频 70–300 s 及视频 560–566 s 可见吊柜仍关闭，没有露出内腔。" + }, + { + "t": 440, + "log_step": 233, + "text_zh": "观察：视频 434 s 机器人左夹爪夹住水槽下方横把手，视频 436–440 s 门板向下翻开，露出金属碗篮；这是台面下的洗碗机构，不是 DAG 的候选吊柜。agent 在 log step 233 也自述它可能是洗碗机。" + }, + { + "t": 566, + "log_step": null, + "text_zh": "推断：全段所见开合操作只作用于上述台面下机构，未完成候选吊柜的打开；不能把这次开门当作 cabinet_opened。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左夹爪夹住水槽下洗碗机构的横把手并向外拉，门板随后下翻；这是为开收纳柜而误操作的机构，并非候选吊柜。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人移动底盘到水槽下横把手前，调整位置后尝试开门。" + } + ] + }, + "toaster_in_cabinet": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 315.5, + "log_step": 145, + "text_zh": "观察：视频 313.5–315.5 s 机器人左夹爪在白色面包机前方靠近并闭合，面包机始终支承在灶台左侧台面上。log step 145 的动作先前伸再闭爪，服务返回闭合开度为零。" + }, + { + "t": 319.5, + "log_step": 147, + "text_zh": "观察：视频 316–319.5 s 左夹爪上抬、横移，面包机没有随手离开原台面，腕部视图仍可见它的顶面和插槽；没有建立可搬运的抓握。" + }, + { + "t": 566, + "log_step": 260, + "text_zh": "观察：视频 566 s 面包机仍在灶台左侧台面，未进入吊柜；随后视频为机器人翻倒与恢复动作，没有送物入柜的画面。" + }, + { + "t": 734.5, + "log_step": null, + "text_zh": "推断：评分器 q_score=0、live_matches_replay=1，与面包机一直未入柜的画面一致；末帧视频 734.5 s 已看不到厨房，终值由此前动作连续性及评分总量共同支持为 false。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "视频 313.5–315.5 s 机器人左夹爪指尖抵靠面包机前表面并闭合，未见两侧包夹，随后抬手未带起面包机；不记为抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人在伸手接近面包机前移动底盘、调整与台面的距离，后续仍空手重新接近目标物区域。" + } + ] + }, + "processor_in_cabinet": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 319.5, + "log_step": null, + "text_zh": "观察：视频 316.5–319.5 s 左腕视图可见透明杯体料理机仍直立在面包机后方台面，机器人抬起的是空夹爪，没有搬走料理机。" + }, + { + "t": 566, + "log_step": null, + "text_zh": "观察：视频 566 s 料理机仍与另外两件电器同处灶台左侧台面；所见后续动作没有抓取并送入候选吊柜。" + }, + { + "t": 734.5, + "log_step": null, + "text_zh": "推断：评分器 q_score=0 且 live_matches_replay=1，不允许任何原本在柜外的入柜目标在终态成立；结合未见搬运，终值为 false，末帧视频 734.5 s 的厨房已离开视野。" + } + ] + }, + "press_in_cabinet": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 319.5, + "log_step": null, + "text_zh": "观察：视频 316–319.5 s 腕部与头部视图中的黑色法压壶仍在面包机旁台面，机器人没有带走它。" + }, + { + "t": 566, + "log_step": null, + "text_zh": "观察：视频 566 s 法压壶仍留在灶台左侧电器组中，候选吊柜未打开；没有法压壶离开旧位置并进入柜内的画面。" + }, + { + "t": 734.5, + "log_step": null, + "text_zh": "推断：评分器 q_score=0、live_matches_replay=1，与此前法压壶未入柜的画面一致，终值为 false；视频 734.5 s 不能直接看到目标物。" + } + ] + }, + "cabinet_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 候选吊柜门板均在柜框内闭合；视频 70–300 s 可见的吊柜门板一直未离开柜体。" + }, + { + "t": 566, + "log_step": null, + "text_zh": "观察：视频 560–566 s 两个深色候选吊柜仍关闭；打开且留开的台面下洗碗机构不是候选柜，不能据此扣除候选柜关闭状态。" + }, + { + "t": 734.5, + "log_step": null, + "text_zh": "推断：随后机器人翻倒、恢复失败并远离厨房，未再操作吊柜，故延续两个候选柜的初始关闭状态至视频 734.5 s。该节点按 state 从初态计数，不受三件电器未入柜的 after 边门控；不代表完成收纳后的关门动作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "ratio", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "toaster_in_cabinet", + "t": 316.0, + "log_step": 147, + "where": "操作中", + "evidence_zh": "观察：视频 313.5–319.5 s 机器人左夹爪闭合后上抬并横移，白色面包机仍留在原台面，未随手移动；log steps 145、147、152 分别记录前伸闭爪、抬手和横移命令。推断：面包机入柜是最早实际抓取尝试失败且后来始终未完成的步骤，因此以视频约 316 s 空抬为断点；后来改开水槽下洗碗机构及翻倒都没有修复这一步。" + }, + "unmet": { + "toaster_in_cabinet": false, + "processor_in_cabinet": false, + "press_in_cabinet": false, + "cabinet_closed": true + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 316.0, + "log_step": 147, + "evidence_zh": "观察：视频 313.5–315.5 s 左夹爪靠在面包机前部闭合，视频 316–319.5 s 夹爪抬起而面包机仍在台面，未发生成功持物后掉落。推断：入柜所需的稳定抓握从未建立，前表面抵靠不等于抓住。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "t": 315.5, + "log_step": 145, + "source_zh": "日志 / 视频", + "evidence_zh": "观察：log step 145 的脚本以手指横向闭合的姿态把左夹爪推向面包机前部，再直接闭爪；服务返回开度为零。视频 313.5–319.5 s 可见指尖在前表面附近，抬手时物体不随动。推断：该次接触位置与闭合方向没有形成面包机两侧的有效夹持，抓取接触设计未实现搬运所需约束；现有证据未验证可行替代握法，不采用 agent 在 log step 156 所称“面包机太宽”作为已测尺寸结论。" + } + ], + "gap_zh": "无逐帧状态日志和成功参考视频；指尖局部被夹爪及物体遮挡，缺少接触对与力数据，不能确认精确碰触点或可行替代握法。视频 566 s 后厨房反复离开视野，视频 733.6–734.5 s 仅见天空与机器人，三物终态由已见未搬运过程和评分器 q_score=0 共同推断，候选柜关闭由最后可见状态及其后未操作延续。" + }, + "summary_zh": "三件电器均未入候选吊柜，候选柜也未打开，最终仅初始即成立的关柜状态保留，进度为 1/5。最早未修复的失败是面包机抓取：视频约 316 s 机器人闭爪后空抬，接触设计未形成有效夹持；后来打开的是水槽下带碗篮的洗碗机构，并在多次翻倒后失去继续操作能力。无状态日志和成功参考，末段厨房离开视野，入柜终值结合评分器 q_score=0 判定。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值、断点和根因与视频一致：视频约313–320 s 左夹爪在面包机前闭合后面包机未离开台面，约320–400 s 手臂静置，之后翻倒并打开水槽下洗碗机构；三物未入柜，关柜自初态成立，final=1/5 与 q_score=0 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": "2026-10-30T21:43:50Z", + "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-rearranging-kitchen-furniture-i00-standard--wnqemir/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-rearranging-kitchen-furniture-i00-standard--wnqemir/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "465ad62019925c33970d69b58d71e2077a094ae84a0d5843d754c032f36a4b0e", + "video_sha256": "a0dbac38833b09db4227bd71eec7560d3c9684e551568f6c0f900a86cac8c90c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-privileged--abrz83t.json b/phase2/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-privileged--abrz83t.json new file mode 100644 index 0000000000000000000000000000000000000000..a7f8849a7a6d0facddf0e5615186db90a9a886d6 --- /dev/null +++ b/phase2/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-privileged--abrz83t.json @@ -0,0 +1,332 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-slicing-vegetables-i00-privileged--abrz83t", + "taskKey": "behavior-1k/slicing_vegetables", + "dag_sha256": "99d09e28bac5957b4feb1a4ef7ff3a7d55e0b7e9535a2cb9387a47fa9e6c206f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 4105, + "sim_steps": 4105, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 3255.3, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 15, + "agent_resets": 0, + "agent_sim_steps": 6868, + "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-slicing-vegetables-i00-privileged--abrz83t/replay.mp4", + "duration_s": 136.833, + "fps": 30.0, + "frames": 4105, + "sha256": "e2f521fa418d4b998cb4397b9b8703bb1b0df54332de7d2249e5997821e97af2" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "refrigerator_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.4, + "log_step": null, + "text_zh": "观察：视频 8.0–21.0 s，机器人左夹爪在白色冰箱门外改变高度并反复开合；视频 12.4 s 两指空合，未见门板夹在两指间，门未随手移动。视频 22.0–35.0 s 机器人继续在门外操作，仍未露出冰箱内部。" + }, + { + "t": 136.8, + "log_step": null, + "text_zh": "观察：视频 62.0–67.0 s、88.0–136.8 s 再次出现冰箱门时，门仍贴合柜体，未见任何达到打开判据的开门动作；末段夹爪仍为空。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0.0–8.0 s，机器人底盘承载机体移动到冰箱门前；视频 22.0–24.0 s 又调整站位。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 8.0–35.0 s 左夹爪在冰箱门面及门缘附近开合、移动，未形成可见包夹；手指与门面的细小间隙和可能的擦碰无法由这些视角分清，不记为实际抓握。" + } + ] + }, + "bell_peppers_diced_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 98.0, + "log_step": null, + "text_zh": "观察：视频 35.0–79.0 s 与 88.0–136.8 s，机器人在关闭的冰箱外反复伸手、开合夹爪；未见蔬菜从冰箱移到手中或台面，未见整蔬菜变为半块或丁状产物。视频 98.0 s 可见操作夹爪为空。" + }, + { + "t": 136.8, + "log_step": null, + "text_zh": "推断：第1个甜椒切丁未达到。视频中的取菜准备与后续空手尝试没有形成可见切割；评分器 reward.q_score=0.0 又限定末态没有新增的目标字面量成立，因此该切丁节点 final=false。初始已成立的冰箱关闭不计入此 q_score，不能据零分否定它。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "推断：机器人反复取菜的准备动作归入第1个甜椒切丁步骤；log step 116 的脚本运行输出列出五个蔬菜的取菜顺序，视频 35.0–79.0 s 与 88.0–136.8 s 可见相应连续伸手尝试，但目标在关着的冰箱内，不能逐一核实手指是否触到该蔬菜。未见夹爪实际握住蔬菜，也未见持刀切割，不照抄典型持刀接触。" + } + ] + }, + "bell_peppers_diced_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 98.0, + "log_step": null, + "text_zh": "观察：视频 35.0–79.0 s 与 88.0–136.8 s，机器人在关闭的冰箱外反复伸手、开合夹爪；未见蔬菜从冰箱移到手中或台面，未见整蔬菜变为半块或丁状产物。视频 98.0 s 可见操作夹爪为空。" + }, + { + "t": 136.8, + "log_step": null, + "text_zh": "推断：第2个甜椒切丁未达到。视频中的取菜准备与后续空手尝试没有形成可见切割；评分器 reward.q_score=0.0 又限定末态没有新增的目标字面量成立，因此该切丁节点 final=false。初始已成立的冰箱关闭不计入此 q_score，不能据零分否定它。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "推断：机器人反复取菜的准备动作归入第2个甜椒切丁步骤；log step 116 的脚本运行输出列出五个蔬菜的取菜顺序，视频 35.0–79.0 s 与 88.0–136.8 s 可见相应连续伸手尝试，但目标在关着的冰箱内，不能逐一核实手指是否触到该蔬菜。未见夹爪实际握住蔬菜，也未见持刀切割，不照抄典型持刀接触。" + } + ] + }, + "beets_diced_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 98.0, + "log_step": null, + "text_zh": "观察：视频 35.0–79.0 s 与 88.0–136.8 s，机器人在关闭的冰箱外反复伸手、开合夹爪；未见蔬菜从冰箱移到手中或台面，未见整蔬菜变为半块或丁状产物。视频 98.0 s 可见操作夹爪为空。" + }, + { + "t": 136.8, + "log_step": null, + "text_zh": "推断：第1个甜菜切丁未达到。视频中的取菜准备与后续空手尝试没有形成可见切割；评分器 reward.q_score=0.0 又限定末态没有新增的目标字面量成立，因此该切丁节点 final=false。初始已成立的冰箱关闭不计入此 q_score，不能据零分否定它。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "推断：机器人反复取菜的准备动作归入第1个甜菜切丁步骤；log step 116 的脚本运行输出列出五个蔬菜的取菜顺序，视频 35.0–79.0 s 与 88.0–136.8 s 可见相应连续伸手尝试，但目标在关着的冰箱内，不能逐一核实手指是否触到该蔬菜。未见夹爪实际握住蔬菜，也未见持刀切割，不照抄典型持刀接触。" + } + ] + }, + "beets_diced_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 98.0, + "log_step": null, + "text_zh": "观察：视频 35.0–79.0 s 与 88.0–136.8 s，机器人在关闭的冰箱外反复伸手、开合夹爪；未见蔬菜从冰箱移到手中或台面，未见整蔬菜变为半块或丁状产物。视频 98.0 s 可见操作夹爪为空。" + }, + { + "t": 136.8, + "log_step": null, + "text_zh": "推断：第2个甜菜切丁未达到。视频中的取菜准备与后续空手尝试没有形成可见切割；评分器 reward.q_score=0.0 又限定末态没有新增的目标字面量成立，因此该切丁节点 final=false。初始已成立的冰箱关闭不计入此 q_score，不能据零分否定它。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "推断：机器人反复取菜的准备动作归入第2个甜菜切丁步骤；log step 116 的脚本运行输出列出五个蔬菜的取菜顺序，视频 35.0–79.0 s 与 88.0–136.8 s 可见相应连续伸手尝试，但目标在关着的冰箱内，不能逐一核实手指是否触到该蔬菜。未见夹爪实际握住蔬菜，也未见持刀切割，不照抄典型持刀接触。" + } + ] + }, + "zucchini_diced": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 98.0, + "log_step": null, + "text_zh": "观察：视频 35.0–79.0 s 与 88.0–136.8 s，机器人在关闭的冰箱外反复伸手、开合夹爪；未见蔬菜从冰箱移到手中或台面，未见整蔬菜变为半块或丁状产物。视频 98.0 s 可见操作夹爪为空。" + }, + { + "t": 136.8, + "log_step": null, + "text_zh": "推断：西葫芦切丁未达到。视频中的取菜准备与后续空手尝试没有形成可见切割；评分器 reward.q_score=0.0 又限定末态没有新增的目标字面量成立，因此该切丁节点 final=false。初始已成立的冰箱关闭不计入此 q_score，不能据零分否定它。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "推断：机器人反复取菜的准备动作归入西葫芦切丁步骤；log step 116 的脚本运行输出列出五个蔬菜的取菜顺序，视频 35.0–79.0 s 与 88.0–136.8 s 可见相应连续伸手尝试，但目标在关着的冰箱内，不能逐一核实手指是否触到该蔬菜。未见夹爪实际握住蔬菜，也未见持刀切割，不照抄典型持刀接触。" + } + ] + }, + "refrigerator_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8.0, + "log_step": null, + "text_zh": "观察：视频 8.0 s 冰箱门贴合柜体；视频 8.0–35.0 s 的开门尝试未将门打开。" + }, + { + "t": 136.8, + "log_step": null, + "text_zh": "推断：结合 DAG 给定初始关闭条件、视频 62.0–67.0 s 及 88.0–136.8 s 再次看见的闭合门板，冰箱关闭状态从视频 0.0 s 保留至末尾。视频 135.8–136.8 s 以约0.2秒间隔检查，未见末秒开门；此节点是保留初始状态，不表示成功完成了一次开门后的恢复。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 62.0–67.0 s 机器人承载机体调整到冰箱门附近，随后离开门前。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "推断：log step 85 的脚本在取菜后仍安排关门动作，视频 62.0–67.0 s 左夹爪在已闭合门板附近移动；门始终关闭，实际指尖触碰方式无法确认，不能记为握把关门。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "refrigerator_opened", + "t": 12.4, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 8.0–21.0 s 机器人左手先后在冰箱门外不同高度接近并合拢，视频 12.4 s 夹爪空合，未夹住或带动门；视频 22.0–35.0 s 的后续操作仍未打开门。此后直到视频 136.8 s 都未修复开门这一步，也未取出蔬菜；这是最早尝试后始终未完成的节点。" + }, + "unmet": { + "bell_peppers_diced_1": false, + "bell_peppers_diced_2": false, + "beets_diced_1": false, + "beets_diced_2": false, + "zucchini_diced": false, + "refrigerator_closed": true + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 12.4, + "log_step": null, + "evidence_zh": "观察：视频 8.0–21.0 s，机器人左夹爪反复在门外开合，视频 12.4 s 两指间为空，门板未被包夹；视频 22.0–35.0 s 门仍不随手移动。未建立能拉开门的有效接触；这里不排除轻微擦碰，也不是曾抓住后滑脱。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：视频 8.0–35.0 s 显示机器人已到门前并反复执行夹取动作，却始终未让夹爪包夹并带动门。log step 113 的 move_ee_try 代码即使末端误差超过0.03米也只记录误差而返回 True，后续仍可执行闭爪；log step 117 的运行输出连续三次 door grasp 为 None，随后仍执行推门且开度近零。该执行策略没有确保形成开门所需接触，支持归为控制问题；日志属于会话证据，不据此赋予视频节点进度，也不足以在抓取几何、逆解或跟踪之间唯一细分。" + } + ], + "gap_zh": "未提供状态日志与成功 oracle；冰箱门遮住蔬菜，无法逐物体直接核实接触，故五个切丁节点的末态同时使用视频未发生取出/切割和评分器 q_score=0.0 的约束判断，接触详情保留未知。视频中的空合可确认未建立有效开门接触，但无触点或关节轨迹可区分轻微擦碰、目标几何与末端运动问题。log step 212、214 的文件信息及 log step 215 的 agent 最终自述说明交付是较早保存的失败轨迹，后续调试不作为这段视频的进度或现象。" + }, + "summary_zh": "机器人始终未打开冰箱，五个蔬菜切丁节点均未达到；最终仅保留初始即成立的冰箱关闭状态，进度为1/7，评分器 q_score=0.0。最早未修复的断点是视频约12.4 s 的开门夹取：夹爪空合而门未动，现象为没建立接触，日志与视频支持控制问题。没有状态日志或成功 oracle，蔬菜被门遮挡，具体接触及控制子类仍无法确定；会话后续调试不计入交付轨迹。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽查视频全程帧：冰箱门始终闭合、夹爪为空，五个切丁节点未达到、冰箱关闭保持初始成立，q_score=0.0 限定了 final；断点、没建立接触与控制归因与证据一致，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:09:48Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-slicing-vegetables-i00-privileged--abrz83t/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-slicing-vegetables-i00-privileged--abrz83t/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "98b85fc2e8dbb54d53b5040c1a788c17c6e4c55c5a96ef608a00015065cc0590", + "video_sha256": "e2f521fa418d4b998cb4397b9b8703bb1b0df54332de7d2249e5997821e97af2", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-privileged--upnf2bx.json b/phase2/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-privileged--upnf2bx.json new file mode 100644 index 0000000000000000000000000000000000000000..a3262f5d5ca9fdd68a6b5051fb2e1794ca04a4b8 --- /dev/null +++ b/phase2/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-privileged--upnf2bx.json @@ -0,0 +1,298 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-slicing-vegetables-i00-privileged--upnf2bx", + "taskKey": "behavior-1k/slicing_vegetables", + "dag_sha256": "99d09e28bac5957b4feb1a4ef7ff3a7d55e0b7e9535a2cb9387a47fa9e6c206f", + "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": 1048, + "sim_steps": 1048, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 1525.8, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 7, + "agent_resets": 4, + "agent_sim_steps": 2232, + "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-slicing-vegetables-i00-privileged--upnf2bx/replay.mp4", + "duration_s": 34.933, + "fps": 30.0, + "frames": 1048, + "sha256": "94f46466bc5c7ac0a9fc228cec667af22710d57c7a5979e91ad92358429186b3" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "refrigerator_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.0, + "log_step": null, + "text_zh": "观察：视频 0–7.0 s 机器人移动到水槽旁的削皮刀附近；视频 7.0–34.9 s 只见夹爪在此处反复伸出、开合，没有操作冰箱门或露出冰箱内部的动作。" + }, + { + "t": 34.9, + "log_step": 274, + "text_zh": "推断：评分轨迹在取刀阶段结束，未到达开门阶段；log step 272 的生成日志记录“ABORT: no knife”，log step 274 确认交付的是该1048步轨迹。先前会话中的开门探测不计入本视频。" + } + ] + }, + "bell_peppers_diced_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 30.4, + "log_step": null, + "text_zh": "观察：视频 29.4–34.9 s 左腕视角显示削皮刀仍平放台面，左夹爪在红色刀柄附近开合，未见提刀或接触蔬菜；全视频没有整甜椒变成半块或甜椒丁的动作。" + }, + { + "t": 34.9, + "log_step": 274, + "text_zh": "推断：评分器 q_score=0.0，甜椒丁存在和原始整甜椒消失均属于初始不成立的目标，因此本节点终值为false；这也与视频只停留在取刀准备阶段一致。脚本的蔬菜处理顺序以甜椒为首（log step 153、161），故把共用的取刀失败归到第1个甜椒切丁。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0–7.0 s 底盘承载机器人移动到水槽旁的削皮刀台面，为切菜取刀。" + }, + { + "who": "手指/夹爪", + "how": "未知", + "note_zh": "观察：视频 29.4–34.9 s 左夹爪在削皮刀红色刀柄两侧张开、闭合，但刀始终留在台面；腕部视角无法确认指尖是否实际形成相向接触，不能认定成功抓握，亦无持刀切菜接触。" + } + ] + }, + "bell_peppers_diced_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 34.9, + "log_step": null, + "text_zh": "观察：视频 0–34.9 s 中机器人移动至刀所在台面后反复空夹，削皮刀没有被带走，未见机器人取出、切开第2个甜椒或生成对应蔬菜丁。" + }, + { + "t": 34.9, + "log_step": 274, + "text_zh": "推断：评分器 q_score=0.0；本节点要求新生成同类蔬菜丁及原始整蔬菜消失，若终态成立必有新增目标字面量得分，故第2个甜椒切丁终值为false。此判断结合视频中无切割动作，未以零分单独推断过程。" + } + ] + }, + "beets_diced_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 34.9, + "log_step": null, + "text_zh": "观察：视频 0–34.9 s 中机器人移动至刀所在台面后反复空夹，削皮刀没有被带走，未见机器人取出、切开第1个甜菜或生成对应蔬菜丁。" + }, + { + "t": 34.9, + "log_step": 274, + "text_zh": "推断：评分器 q_score=0.0；本节点要求新生成同类蔬菜丁及原始整蔬菜消失，若终态成立必有新增目标字面量得分，故第1个甜菜切丁终值为false。此判断结合视频中无切割动作，未以零分单独推断过程。" + } + ] + }, + "beets_diced_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 34.9, + "log_step": null, + "text_zh": "观察：视频 0–34.9 s 中机器人移动至刀所在台面后反复空夹，削皮刀没有被带走，未见机器人取出、切开第2个甜菜或生成对应蔬菜丁。" + }, + { + "t": 34.9, + "log_step": 274, + "text_zh": "推断：评分器 q_score=0.0；本节点要求新生成同类蔬菜丁及原始整蔬菜消失，若终态成立必有新增目标字面量得分，故第2个甜菜切丁终值为false。此判断结合视频中无切割动作，未以零分单独推断过程。" + } + ] + }, + "zucchini_diced": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 34.9, + "log_step": null, + "text_zh": "观察：视频 0–34.9 s 中机器人移动至刀所在台面后反复空夹，削皮刀没有被带走，未见机器人取出、切开西葫芦或生成对应蔬菜丁。" + }, + { + "t": 34.9, + "log_step": 274, + "text_zh": "推断：评分器 q_score=0.0；本节点要求新生成同类蔬菜丁及原始整蔬菜消失，若终态成立必有新增目标字面量得分，故西葫芦切丁终值为false。此判断结合视频中无切割动作，未以零分单独推断过程。" + } + ] + }, + "refrigerator_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "推断：DAG说明初始冰箱关闭；视频 0–34.9 s 中机器人仅移动到刀所在台面并尝试取刀，未接近或操作冰箱，故关闭状态从视频 0 s 保持至末尾。门关节没有状态日志，5%阈值不能直接量测。" + }, + { + "t": 34.9, + "log_step": 274, + "text_zh": "观察：log step 272–274 表明最终交付在取刀失败时结束；评分器 q_score=0.0。初始已成立的冰箱关闭目标不贡献新增目标分，故该分数不否定保留的关闭状态。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "bell_peppers_diced_1", + "t": 30.4, + "log_step": 272, + "where": "操作中", + "evidence_zh": "观察：视频 30.4 s 左夹爪在刀柄附近闭合，之后再次张开、下探至视频 34.9 s，刀一直留在台面。log step 272 记录最终生成轨迹“knife in hand: False None / ABORT: no knife”，log step 274 核实交付1048步；推断：机器人在切菜的取刀准备环节失败且未修复，按脚本首先处理甜椒的顺序（log step 153、161），归到第1个甜椒切丁；没有另建拿刀节点，也不把先前测试的开门失败算入评分轨迹。" + }, + "unmet": { + "bell_peppers_diced_1": false, + "bell_peppers_diced_2": false, + "beets_diced_1": false, + "beets_diced_2": false, + "zucchini_diced": false, + "refrigerator_closed": true + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 30.4, + "log_step": 272, + "evidence_zh": "观察：视频 29.4–34.9 s 左夹爪数次在红色刀柄周围闭合后张开，削皮刀始终平放原台面，未随夹爪提起；log step 272 的最终取刀结果为None并中止。推断：没有建立后续切割所需的刀具握持；并非已抓住后滑落。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "观察：log step 263 的最终脚本先令左夹爪闭合后下探，失败再改为张开下探、闭合；log step 268 记录前三次下探末端位置分别为[6.884,-1.502,0.847]、[6.808,-1.500,0.829]、[6.761,-1.493,0.894]，没有达到脚本按刀中心[6.406,-1.869,0.895]设置的下探目标（目标高度0.92米）。视频 8.0–29.0 s 夹爪反复活动，视频 29.4–34.9 s 仍未取起刀；log step 272 最终也未握刀。推断：取刀动作的控制执行未形成可用握持，阻断切割；尚不能细分接触几何、轨迹或反馈问题。agent 在log step 275 自述末端总能准确到位，不能覆盖最终生成日志中的偏差。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有状态日志或成功oracle；冰箱门及内部蔬菜未被近距离展示，关闭保持由已知初态和全程未操作冰箱推断，切丁终值由视频过程与评分器零新增目标分共同限定。腕部画面可见刀与夹爪但不能确定相向接触，故实际手部接触方式标未知；缺少指尖接触、关节误差和力的记录，控制根因不细分。取刀是多个切割节点共享的准备动作，其归属按脚本首先处理甜椒的顺序确定，视频锚点取最后清楚可见的闭合失败。" + }, + "summary_zh": "评分轨迹只完成到台面前取刀的准备动作，冰箱保持初始关闭，最终节点为1/7，五个切丁节点及开冰箱均未达成。视频 29.4–34.9 s 可见夹爪反复开合而刀未离开台面，最终交付日志也记录取刀失败中止，断点归入第1个甜椒切丁，现象为没建立接触，根因为控制。无状态日志，冰箱关闭保持和切丁终值含上下文推断，指尖实际接触与控制子类无法确定。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点终值、断点（取刀失败归入第1个甜椒切丁）、现象（没建立接触）和根因（控制）与视频及log一致；冰箱未操作、五个切丁节点未达成、final=1/7 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": "2026-10-30T21:08:48Z", + "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-slicing-vegetables-i00-privileged--upnf2bx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-slicing-vegetables-i00-privileged--upnf2bx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "27480c8053cddfdeb49970929aa229b80c40f820dd6d1e0385c6f26edfdc3824", + "video_sha256": "94f46466bc5c7ac0a9fc228cec667af22710d57c7a5979e91ad92358429186b3", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-privileged--utkpyuv.json b/phase2/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-privileged--utkpyuv.json new file mode 100644 index 0000000000000000000000000000000000000000..dfd67c0b51a20bc99fd4996d87c3f3d87dea0e0f --- /dev/null +++ b/phase2/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-privileged--utkpyuv.json @@ -0,0 +1,400 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-slicing-vegetables-i00-privileged--utkpyuv", + "taskKey": "behavior-1k/slicing_vegetables", + "dag_sha256": "99d09e28bac5957b4feb1a4ef7ff3a7d55e0b7e9535a2cb9387a47fa9e6c206f", + "outcome": { + "success": 0, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 1, + "deterministic": 0, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 8032, + "sim_steps": 8031, + "final_reward": 1.0, + "q_score": 1.0, + "replay_wall_s": 3088.9, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 4, + "agent_resets": 1, + "agent_sim_steps": 33949, + "agent_records": 2, + "agent_replays": 2, + "agent_cost_self_reported": 1 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-slicing-vegetables-i00-privileged--utkpyuv/replay.mp4", + "duration_s": 267.733, + "fps": 30.0, + "frames": 8032, + "sha256": "eea7cb5b6c393b19c97ad9e060edcdcba3452abe2ec8254653096f3bc7f0315c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 1, + "peak": 7, + "final": 7, + "nodes": { + "refrigerator_opened": { + "method": "visual", + "intervals": [ + [ + 42.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 42.0, + "log_step": null, + "text_zh": "观察：视频41.0–44.5 s，机器人右夹爪拉住冰箱门边把手，门向外转动，内部搁板和食材逐渐露出；视频42.0 s已明显打开。以视频42.0 s为越过关闭容差的近似锚点，误差约0.5 s。" + }, + { + "t": 48.0, + "log_step": null, + "text_zh": "观察：视频48.0–57.5 s，门继续展开、夹爪随后离开把手，内部各层可见；此事件达到后锁存。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频41.0–48.0 s，右夹爪夹住门把手并随门转动，将门向外拉开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频17.5–22.5 s，底盘承载机器人由取刀的台面驶向冰箱，随后右手接近门把手。" + } + ] + }, + "bell_peppers_diced_1": { + "method": "visual", + "intervals": [ + [ + 207.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 207.5, + "log_step": null, + "text_zh": "观察：视频200.0–201.5 s，中层右侧甜椒被刀切成部分；视频207.5–209.0 s，刀旁出现多个分离的红色小块，仍留一个红色半块。按达成顺序把中层甜椒记为第1个，节点近似从视频207.5 s成立，误差约0.5 s。" + }, + { + "t": 237.5, + "log_step": null, + "text_zh": "观察：视频211.0–237.5 s，中层的红色小块持续存在，未见恢复为完整甜椒。" + }, + { + "t": 267.7, + "log_step": null, + "text_zh": "推断：评分器reward.q_score=1.0、all_success=1支持本节点终态成立；残留半块不否定DAG所绑定的原始整对象消失判据。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：视频199.0–209.0 s，左夹爪持刀接近并向下压切中层右侧甜椒及其半块。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频149.5–192.5 s，底盘多次退让、侧移和转向，使持刀手改为接近中层右侧甜椒。" + } + ] + }, + "bell_peppers_diced_2": { + "method": "visual", + "intervals": [ + [ + 222.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 222.5, + "log_step": null, + "text_zh": "观察：视频220.0–222.5 s，左手持刀接近底层原有红色甜椒；视频222.75–223.75 s，刀旁红色部分呈分开的切开形态，中层甜椒丁仍在。底层食材部分被刀和夹爪遮挡，首次切开近似取视频222.5 s，误差约1 s。" + }, + { + "t": 229.0, + "log_step": null, + "text_zh": "观察：视频228.5–230.0 s，刀退出时底层可见分开的红色块状物，原完整甜椒不再位于原位置；中层仍有红色丁。" + }, + { + "t": 267.7, + "log_step": null, + "text_zh": "推断：结合视频底层切割前后变化及评分器reward.q_score=1.0、all_success=1，2只原始整甜椒均已被切开且同类丁存在，故第2个节点终态成立。本节点按DAG口径从第2只切开计，不等待其全部半块变为丁。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：视频220.0–229.5 s，左手持刀向底层甜椒压切，随后切其部分并退出。" + } + ] + }, + "beets_diced_1": { + "method": "visual", + "intervals": [ + [ + 80.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 80.0, + "log_step": null, + "text_zh": "观察：视频69.0–79.5 s，机器人左手持刀反复接近上层甜菜并切割；视频80.0–81.5 s，原位置出现一串分离的亮粉色小块，完整甜菜不再可见，右侧西葫芦仍在。按切割达成顺序把上层这只记为第1只甜菜。" + }, + { + "t": 237.5, + "log_step": null, + "text_zh": "推断：视频133.5–237.5 s仍可见上层粉色丁状产物，未观察到完整甜菜恢复；评分器reward.q_score=1.0且all_success=1，支持本节点终态成立。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：视频69.0–81.5 s，左夹爪持削皮刀，刀刃接近并压切上层甜菜及其切开部分，生成粉色丁。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频57.5–69.0 s，机器人移动到冰箱敞口前，调整持刀手接近上层甜菜的位置。" + } + ] + }, + "beets_diced_2": { + "method": "visual", + "intervals": [ + [ + 137.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 137.0, + "log_step": null, + "text_zh": "观察：视频135.5–136.5 s，中层左侧仍为带叶完整甜菜；视频137.0–139.5 s，刀刃切入后出现分开的粉色半块，原完整轮廓消失，而第1只甜菜的丁状产物仍在上层。按DAG“至少2只原始甜菜不再存在且同类丁已存在”的口径，约视频137.0 s达成。" + }, + { + "t": 143.0, + "log_step": null, + "text_zh": "观察：视频142.5–149.5 s，机器人继续切中层甜菜半块，中层左侧出现亮粉色碎粒；视频207.5–237.5 s这些产物仍可见。" + }, + { + "t": 267.7, + "log_step": null, + "text_zh": "推断：评分器reward.q_score=1.0且all_success=1支持第2只甜菜节点的终态成立。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：视频136.5–149.5 s，左手持刀压切中层左侧甜菜及其半块。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频133.5–136.5 s，机器人调整到中层食材前的位置，配合持刀手降低到中层甜菜。" + } + ] + }, + "zucchini_diced": { + "method": "visual", + "intervals": [ + [ + 132.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 132.5, + "log_step": null, + "text_zh": "观察：视频123.0–132.0 s，机器人左手持刀接近上层长条绿色西葫芦；视频132.5–134.5 s，其原有长条轮廓变为右侧短半块和旁边浅绿色碎粒。首次丁状产物出现受夹爪局部遮挡，达到时间估为视频132.5 s，误差约0.5 s。" + }, + { + "t": 237.5, + "log_step": null, + "text_zh": "观察：视频229.0–237.5 s，机器人又将刀送向上层剩余绿色半块；浅绿色产物仍在。" + }, + { + "t": 267.7, + "log_step": null, + "text_zh": "推断：评分器reward.q_score=1.0、all_success=1与上述切割画面一致，西葫芦节点终态成立；DAG只要求原始整物体消失并有该类丁状产物。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：视频123.0–134.5 s及视频231.0–237.5 s，左手持刀压切上层西葫芦及其半块。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频84.0–122.5 s，底盘多次侧移、退回和转向，配合持刀手接近上层西葫芦。" + } + ] + }, + "refrigerator_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 42.0 + ], + [ + 267.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 22.5, + "log_step": null, + "text_zh": "观察：视频22.5–40.5 s，冰箱门仍贴合柜体，机器人右夹爪在把手处准备开门；视频42.0 s内部搁板已露出，关闭状态失去。" + }, + { + "t": 0, + "log_step": null, + "text_zh": "推断：DAG的初态说明冰箱关闭，结合视频首次正对冰箱时门闭合且此前只有取刀和驶近动作，关闭区间从视频0 s开始。" + }, + { + "t": 267.0, + "log_step": null, + "text_zh": "观察：视频252.0–267.7 s，右夹爪夹住把手，机器人配合移动将门逐渐带回柜体；视频267.1–267.7 s的末秒密集帧显示门保持接近闭合，夹爪仍在把手处。" + }, + { + "t": 267.7, + "log_step": null, + "text_zh": "推断：评分器reward.q_score=1.0、all_success=1表明关闭字面量在终态满足；视频末段门回到柜体与此一致。越过5%关闭阈值的时刻只能由图像估计为视频267.0 s，误差约0.5 s；freeze_held=false，握住门把手不妨碍本节点成立。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频252.0–267.7 s，右夹爪夹住冰箱门把手并将门沿反向弧线带回柜体。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频239.0–252.0 s，底盘驶近敞开的门把手；视频252.0–267.7 s，底盘继续配合关门弧线移动。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 1.0, + "unit": "1", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "refrigerator_closed", + "t": null, + "log_step": null, + "where": "终态验收", + "evidence_zh": "推断：视频267.1–267.7 s门已回到柜体，结合评分器reward.all_success=1、q_score=1.0，物理目标均已达到；reward.success=0、deterministic=0而instance_ok=1、instance_exact=1、grader_error=0。DAG的open_questions_zh说明privileged验收还要求两次新进程回放末态哈希一致，因此失败定位在最后关门后的终态一致性验收，关联最后一步refrigerator_closed；没有可定位到视频某一帧的未修复物理失败事件，故t=null。" + }, + "unmet": { + "bell_peppers_diced_1": true, + "bell_peppers_diced_2": true, + "beets_diced_1": true, + "beets_diced_2": true, + "zucchini_diced": true, + "refrigerator_closed": true + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/中有完整视频和run.json，但没有状态日志、成功oracle或两次评分回放各自的末态哈希/逐对象差异；部分切割瞬间受持刀夹爪遮挡，门的5%阈值也只能视觉估时。log step 415–417记录修正轨迹的保存，log step 472的自测只有一个replays条目且success=true、state_sha=c3385dcd87fbde0f，log step 474据此报告成功；它不能替代评分器的双回放一致性结果。推断：现有证据只确定评分时deterministic=0，不能确定差异来自哪个物体、哪个接触或哪项交付操作，故失败现象和根因均留空。任务设计问题：物理目标全部满足仍会因末态哈希不一致判失败；另按DAG评分口径，原始整蔬菜消失并有同类丁即可，视频209.0–237.5 s可见残留甜椒半块也不阻止节点成立。" + }, + "summary_zh": "观察：机器人开冰箱后在搁板上持刀切两只甜菜、西葫芦及两只甜椒，生成三类丁状产物，最终握住门把手关回冰箱；按DAG评分口径终态7/7，评分器q_score=1.0、all_success=1。推断：任务设计问题：privileged还要求两次回放末态哈希一致，本次deterministic=0使总结果success=0，断点关联最后关门后的终态验收；切丁判据也允许视频中残留甜椒半块。观察：未提供状态日志或两次评分末态详情，无法识别一致性失败的物理现象或根因。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点时间与视频帧一致（开门约42 s、各切丁节点、末段关门）；评分器 q_score=1.0、all_success=1 但 deterministic=0，标注把断点放在终态验收、现象/根因留空并写 gap_zh，符合 N10（没有证据说明差异来源，且agent 的 log 415-418、472-473 显示曾做过一次新进程回放并哈希一致，不是交付操作出错的证据）。未发现需要改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:11:40Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-slicing-vegetables-i00-privileged--utkpyuv/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-slicing-vegetables-i00-privileged--utkpyuv/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8ef59e83ab63d61b8ab310f9ac8e3a90254be39ae254a2b09f5669d78262fae7", + "video_sha256": "eea7cb5b6c393b19c97ad9e060edcdcba3452abe2ec8254653096f3bc7f0315c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-privileged--uunyjns.json b/phase2/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-privileged--uunyjns.json new file mode 100644 index 0000000000000000000000000000000000000000..f93c2c4565d127129a97a94317d51c8dabe4e8d9 --- /dev/null +++ b/phase2/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-privileged--uunyjns.json @@ -0,0 +1,414 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-slicing-vegetables-i00-privileged--uunyjns", + "taskKey": "behavior-1k/slicing_vegetables", + "dag_sha256": "99d09e28bac5957b4feb1a4ef7ff3a7d55e0b7e9535a2cb9387a47fa9e6c206f", + "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": 4484, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 4634, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 1820.2, + "replay_timeout_s": 4189.3, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 3, + "agent_resets": 0, + "agent_sim_steps": 4544, + "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-slicing-vegetables-i00-privileged--uunyjns/replay.mp4", + "duration_s": 154.467, + "fps": 30.0, + "frames": 4634, + "sha256": "534277d2ba0fecfee39e62a0ab3ceeb95d70f858771c2e51513b23486a068b28" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 1, + "peak": 2, + "final": 2, + "nodes": { + "refrigerator_opened": { + "method": "visual", + "intervals": [ + [ + 13.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 13.0, + "log_step": 122, + "text_zh": "观察：视频约12.5–17.0 s，机器人左夹爪夹住冰箱把手，门板随拉动转离原位置；视频约23–43 s又对把手操作。开门首次越过判据的时刻估计为视频13.0 s，误差约0.5 s。" + }, + { + "t": 44.0, + "log_step": 123, + "text_zh": "推断：log step 123来自log step 120启动的交付生成进程，记载door_open_final为[0.845,true]，与视频开门后接着取物的顺序相符；这支持门已超过5%开度。该日志的nav_fetch控制步1332/30=视频44.4 s，与视频约44–46 s转到取物姿态核对一致；未把agent工作时间换算成视频时间。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "视频约12.5–17 s及后续重试中，左夹爪合拢夹住冰箱门把手并拉动门板。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人在视频0–8 s驶到冰箱前，拉门期间还移动和转动底盘。" + } + ] + }, + "bell_peppers_diced_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 65.0, + "log_step": 123, + "text_zh": "观察：视频约62–69 s，机器人右夹爪降低到冰箱中层位置再伸出、撤回，未见甜椒被带出；log step 123记录fetch_bell_pepp为FAIL。" + }, + { + "t": 140.0, + "log_step": null, + "text_zh": "观察：视频约98–115 s机器人在台面取得刀，随后视频约116–143 s持刀返回冰箱附近移动；可见台面、夹爪和刀附近均未出现取出的目标蔬菜或切开、切丁的过程。视频153.5–154.43 s仍无可见菜丁结果。" + }, + { + "t": 154.3, + "log_step": null, + "text_zh": "推断：结合取物未见成功、随后刀未见作用于食材，以及评分器q_score=0、video_replay_matches=1，最终本切丁节点为假。初始已成立的冰箱关闭不贡献q_score增量；任何一个本类切丁节点为真都需新增原始整蔬菜消失及本类丁存在的目标，因而与零增量不相容。过程中未见已切开后恢复整物体的事件，故无可确认的达成区间。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "机器人实际进行了本步的冰箱内取物准备；白色门板遮挡食材及夹爪内侧，无法确认夹爪是否碰到食材或形成何种接触。后续虽持刀运动，未把计划中的刀刃压切记为实际食材接触。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人为取物调整冰箱前位置，之后驶到台面取得刀并持刀返回冰箱附近；这些是各蔬菜切丁尝试共用的准备移动。" + } + ] + }, + "bell_peppers_diced_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 82.0, + "log_step": 118, + "text_zh": "观察：视频约79–86 s，机器人进一步向冰箱低处伸爪并撤回，未见甜椒随夹爪离开；log step 118交付脚本最后安排低层的另一只甜椒。" + }, + { + "t": 140.0, + "log_step": null, + "text_zh": "观察：视频约98–115 s机器人在台面取得刀，随后视频约116–143 s持刀返回冰箱附近移动；可见台面、夹爪和刀附近均未出现取出的目标蔬菜或切开、切丁的过程。视频153.5–154.43 s仍无可见菜丁结果。" + }, + { + "t": 154.3, + "log_step": null, + "text_zh": "推断：结合取物未见成功、随后刀未见作用于食材，以及评分器q_score=0、video_replay_matches=1，最终本切丁节点为假。初始已成立的冰箱关闭不贡献q_score增量；任何一个本类切丁节点为真都需新增原始整蔬菜消失及本类丁存在的目标，因而与零增量不相容。过程中未见已切开后恢复整物体的事件，故无可确认的达成区间。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "机器人实际进行了本步的冰箱内取物准备；白色门板遮挡食材及夹爪内侧，无法确认夹爪是否碰到食材或形成何种接触。后续虽持刀运动，未把计划中的刀刃压切记为实际食材接触。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人为取物调整冰箱前位置，之后驶到台面取得刀并持刀返回冰箱附近；这些是各蔬菜切丁尝试共用的准备移动。" + } + ] + }, + "beets_diced_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 57.0, + "log_step": 123, + "text_zh": "观察：视频约54–61 s，机器人右夹爪再次伸向冰箱较高处并空手撤回，未见甜菜取出。log step 123记载紧随西葫芦的fetch_beet2为FAIL；同类计数节点不固定原始实例。" + }, + { + "t": 140.0, + "log_step": null, + "text_zh": "观察：视频约98–115 s机器人在台面取得刀，随后视频约116–143 s持刀返回冰箱附近移动；可见台面、夹爪和刀附近均未出现取出的目标蔬菜或切开、切丁的过程。视频153.5–154.43 s仍无可见菜丁结果。" + }, + { + "t": 154.3, + "log_step": null, + "text_zh": "推断：结合取物未见成功、随后刀未见作用于食材，以及评分器q_score=0、video_replay_matches=1，最终本切丁节点为假。初始已成立的冰箱关闭不贡献q_score增量；任何一个本类切丁节点为真都需新增原始整蔬菜消失及本类丁存在的目标，因而与零增量不相容。过程中未见已切开后恢复整物体的事件，故无可确认的达成区间。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "机器人实际进行了本步的冰箱内取物准备；白色门板遮挡食材及夹爪内侧，无法确认夹爪是否碰到食材或形成何种接触。后续虽持刀运动，未把计划中的刀刃压切记为实际食材接触。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人为取物调整冰箱前位置，之后驶到台面取得刀并持刀返回冰箱附近；这些是各蔬菜切丁尝试共用的准备移动。" + } + ] + }, + "beets_diced_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 73.0, + "log_step": 118, + "text_zh": "观察：视频约70–78 s，机器人右夹爪继续在冰箱中低位置尝试取物后撤回，未见甜菜随动；log step 118交付脚本的取物顺序在首个甜椒之后安排另一只甜菜。" + }, + { + "t": 140.0, + "log_step": null, + "text_zh": "观察：视频约98–115 s机器人在台面取得刀，随后视频约116–143 s持刀返回冰箱附近移动；可见台面、夹爪和刀附近均未出现取出的目标蔬菜或切开、切丁的过程。视频153.5–154.43 s仍无可见菜丁结果。" + }, + { + "t": 154.3, + "log_step": null, + "text_zh": "推断：结合取物未见成功、随后刀未见作用于食材，以及评分器q_score=0、video_replay_matches=1，最终本切丁节点为假。初始已成立的冰箱关闭不贡献q_score增量；任何一个本类切丁节点为真都需新增原始整蔬菜消失及本类丁存在的目标，因而与零增量不相容。过程中未见已切开后恢复整物体的事件，故无可确认的达成区间。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "机器人实际进行了本步的冰箱内取物准备；白色门板遮挡食材及夹爪内侧，无法确认夹爪是否碰到食材或形成何种接触。后续虽持刀运动，未把计划中的刀刃压切记为实际食材接触。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人为取物调整冰箱前位置，之后驶到台面取得刀并持刀返回冰箱附近；这些是各蔬菜切丁尝试共用的准备移动。" + } + ] + }, + "zucchini_diced": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 49.0, + "log_step": 123, + "text_zh": "观察：视频约46–53 s，右夹爪向冰箱上层位置伸去，腕部视野被白色门板占据，之后撤回时未见西葫芦随夹爪离开冰箱。log step 118的交付脚本把西葫芦列为首个取物目标，log step 123记录fetch_zucchini1为FAIL；其控制步1587/30=视频52.9 s，与视频撤回时刻相符。" + }, + { + "t": 140.0, + "log_step": null, + "text_zh": "观察：视频约98–115 s机器人在台面取得刀，随后视频约116–143 s持刀返回冰箱附近移动；可见台面、夹爪和刀附近均未出现取出的目标蔬菜或切开、切丁的过程。视频153.5–154.43 s仍无可见菜丁结果。" + }, + { + "t": 154.3, + "log_step": null, + "text_zh": "推断：结合取物未见成功、随后刀未见作用于食材，以及评分器q_score=0、video_replay_matches=1，最终本切丁节点为假。初始已成立的冰箱关闭不贡献q_score增量；任何一个本类切丁节点为真都需新增原始整蔬菜消失及本类丁存在的目标，因而与零增量不相容。过程中未见已切开后恢复整物体的事件，故无可确认的达成区间。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "机器人实际进行了本步的冰箱内取物准备；白色门板遮挡食材及夹爪内侧，无法确认夹爪是否碰到食材或形成何种接触。后续虽持刀运动，未把计划中的刀刃压切记为实际食材接触。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人为取物调整冰箱前位置，之后驶到台面取得刀并持刀返回冰箱附近；这些是各蔬菜切丁尝试共用的准备移动。" + } + ] + }, + "refrigerator_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 13.0 + ], + [ + 86.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8.0, + "log_step": null, + "text_zh": "观察：视频约8–12 s机器人到达冰箱前时，门板尚与柜体合拢；视频约13–17 s被左夹爪拉开。初始关闭也与任务DAG给出的初态一致。" + }, + { + "t": 86.5, + "log_step": null, + "text_zh": "观察：视频约79–86.5 s机器人右夹爪在门前低处运动，随后撤开；视频86.5–93 s可见白色门板回到柜体前并对齐。恢复关闭时间估计为视频86.5 s，误差约0.5 s。" + }, + { + "t": 154.3, + "log_step": null, + "text_zh": "观察：视频约144–154.43 s，机器人持刀停在台面旁，冰箱门保持合拢；已检查视频153.5–154.43 s末段，未见再次开门。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "视频约79–86.5 s，右夹爪在冰箱门前低处向门面推进，门随后合回；未见夹爪围住门把手。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频约79–87 s底盘调整门前位置，随后转向台面。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "zucchini_diced", + "t": 49.0, + "log_step": 123, + "where": "操作中", + "evidence_zh": "推断：视频约46–53 s首个取物动作中，右夹爪停留在冰箱门板前并撤回，未见西葫芦被拿出；log step 118的交付脚本和log step 123的fetch_zucchini1 FAIL将此动作定位为西葫芦准备。之后机器人继续尝试其他蔬菜、取刀并返回，但截至视频154.43 s未完成西葫芦切丁，因此它是最早未修复的失败步骤。" + }, + "unmet": { + "bell_peppers_diced_1": false, + "bell_peppers_diced_2": false, + "beets_diced_1": false, + "beets_diced_2": false, + "zucchini_diced": false, + "refrigerator_closed": true + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 49.0, + "log_step": 123, + "evidence_zh": "推断：视频约46–53 s，机器人右夹爪伸至白色门板前，撤回时夹爪可见部分为空，未见西葫芦搬出；随后可见台面也没有待切的西葫芦。log step 123的同一交付生成进程报告fetch_zucchini1为FAIL。结合前后帧，取物所需的有效抓持未建立；食材接触点本身被门板遮挡。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 118交付脚本按任务要求先取西葫芦，log step 123的同一生成进程却依次报告西葫芦、甜菜及甜椒取物FAIL；会话试验log step 113也记录五个食材全部GRASPFAIL。视频约46–78 s对应显示右夹爪在门板前不同高度反复伸出并空手撤回，随后取刀但未搬出食材。取物目标及顺序符合任务，而多次运动未能形成有效抓持，支持控制层面的取物失败；门板遮挡使接触几何、轨迹求解和跟踪的贡献无法细分。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "无状态日志及成功oracle。冰箱门遮挡五个蔬菜和夹爪内侧，不能直接确认夹爪与食材的触点，也不能精确测量开闭关节角；开闭区间边界为视频几何估计。视频可核对取物失败及无切丁结果，最终切丁值还受评分器q_score=0约束。log step 118脚本中段被输入日志截断，log step 123后没有完整的交付生成输出或最终报告，因此未将后续编辑的脚本或会话试验视为已执行成功，也未细分控制根因。" + }, + "summary_zh": "交付轨迹完成打开冰箱，并在视频约86.5 s恢复关闭，最终为2/7节点；五个切丁节点均未达成，评分器q_score=0。最早未修复的失败是视频约46–53 s为西葫芦切丁准备的取物：右夹爪未建立有效抓持，之后其他取物和持刀运动也未带来切丁结果。门板遮挡食材触点，且没有状态日志，控制问题的具体机制无法细分。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值、时间、断点和现象基本与视频、log step 118/123的读数及q_score=0一致；未发现需要改内容的错误。冰箱门遮挡取物过程，根因'控制'证据较弱但已在gap_zh中如实说明。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:09:51Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-slicing-vegetables-i00-privileged--uunyjns/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-slicing-vegetables-i00-privileged--uunyjns/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e72ef2a619af28d52febcbf9f00a0f9626b904834d1e946327c27d840da9e7ab", + "video_sha256": "534277d2ba0fecfee39e62a0ab3ceeb95d70f858771c2e51513b23486a068b28", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-privileged--zxftdcn.json b/phase2/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-privileged--zxftdcn.json new file mode 100644 index 0000000000000000000000000000000000000000..bbd4f662635c786fb60eb6b3de94dc13a498d604 --- /dev/null +++ b/phase2/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-privileged--zxftdcn.json @@ -0,0 +1,462 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-slicing-vegetables-i00-privileged--zxftdcn", + "taskKey": "behavior-1k/slicing_vegetables", + "dag_sha256": "99d09e28bac5957b4feb1a4ef7ff3a7d55e0b7e9535a2cb9387a47fa9e6c206f", + "outcome": { + "success": 0, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 0, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 1, + "n_actions": 5515, + "sim_breakdown": 0, + "goal": 1, + "settle_steps": 1, + "goal_first_step": 5487, + "sim_steps": 5665, + "fallen": 0, + "final_reward": 1.0, + "q_score": 1.0, + "replay_wall_s": 1842.2, + "replay_timeout_s": 4876.7, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 0, + "agent_sessions": 1, + "agent_resets": 5, + "agent_sim_steps": 0, + "agent_records": 25, + "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-slicing-vegetables-i00-privileged--zxftdcn/replay.mp4", + "duration_s": 183.867, + "fps": 30.0, + "frames": 5516, + "sha256": "1ac2af46606fe048ba0707bd97a55af1ba39eab4cfb587232fc458b8cf373e70" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 1, + "peak": 7, + "final": 7, + "nodes": { + "refrigerator_opened": { + "method": "visual", + "intervals": [ + [ + 41.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 41.5, + "log_step": null, + "text_zh": "观察：视频 41.0–43.0 s，机器人左夹爪夹住冰箱门把手，底盘绕门铰链转动，门板离开原来贴合柜体的位置；视频 64.0 s 可见门敞开、内部三层食材露出。" + }, + { + "t": 41.5, + "log_step": null, + "text_zh": "推断：结合门板连续转出及之后露出的冰箱内部，打开阈值约在视频 41.5 s 越过，视觉估时误差约 0.5 s；作为 event，之后关门不撤销本节点。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "视频 27–41 s 左夹爪合拢夹住冰箱把手，随后保持握把拉开门；右手持刀未参与开门。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 41–48 s 底盘承载机器人绕冰箱铰链移动，配合左夹爪握把开门。" + } + ] + }, + "bell_peppers_diced_1": { + "method": "visual", + "intervals": [ + [ + 136.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 110.0, + "log_step": null, + "text_zh": "观察：视频 88–91 s，右夹爪持刀接触中层甜椒后出现分开的红色半块；视频 105–110 s，下层原来的一只甜椒也变成相邻两半。" + }, + { + "t": 136.0, + "log_step": null, + "text_zh": "观察：视频 135.0–136.5 s，机器人右手持刀再次接触中层甜椒半块，视频 136.0 s 该处由红色半块变为较小的橙红色丁状团；视频 139.0 s 和 167.0 s 仍可见该产物。" + }, + { + "t": 136.0, + "log_step": null, + "text_zh": "推断：本节点按同类计数而非固定实例编号；两只原始甜椒此前均已切半消失，视频约 136.0 s 首次产生甜椒丁后，第1个计数条件成立。两个甜椒节点因此同时达到，不表示两只甜椒的所有半块都已切丁。" + }, + { + "t": 183.8, + "log_step": null, + "text_zh": "推断：视频中的半块替代与丁状产物支持末态成立，reward.goal=1、q_score=1.0 进一步支持所有目标字面量成立；video_replay_matches=0，评分总量只作不与画面冲突的末态支持，不用于给视频定时。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "机器人右夹爪持削皮刀向冰箱层板上的甜椒及其半块前伸压切；刀与食材的链路只记一次，未见左手固定甜椒。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 56–68 s 底盘载着右手持刀的机器人绕过打开的门并驶到冰箱前，这是五个切割计数节点共用的准备过程；食材留在层板上，之后停驻切割。" + } + ] + }, + "bell_peppers_diced_2": { + "method": "visual", + "intervals": [ + [ + 136.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 110.0, + "log_step": null, + "text_zh": "观察：视频 88–91 s，右夹爪持刀接触中层甜椒后出现分开的红色半块；视频 105–110 s，下层原来的一只甜椒也变成相邻两半。" + }, + { + "t": 136.0, + "log_step": null, + "text_zh": "观察：视频 135.0–136.5 s，机器人右手持刀再次接触中层甜椒半块，视频 136.0 s 该处由红色半块变为较小的橙红色丁状团；视频 139.0 s 和 167.0 s 仍可见该产物。" + }, + { + "t": 136.0, + "log_step": null, + "text_zh": "推断：本节点按同类计数而非固定实例编号；两只原始甜椒此前均已切半消失，视频约 136.0 s 首次产生甜椒丁后，第2个计数条件成立。两个甜椒节点因此同时达到，不表示两只甜椒的所有半块都已切丁。" + }, + { + "t": 183.8, + "log_step": null, + "text_zh": "推断：视频中的半块替代与丁状产物支持末态成立，reward.goal=1、q_score=1.0 进一步支持所有目标字面量成立；video_replay_matches=0，评分总量只作不与画面冲突的末态支持，不用于给视频定时。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "机器人右夹爪持削皮刀向冰箱层板上的甜椒及其半块前伸压切；刀与食材的链路只记一次，未见左手固定甜椒。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 56–68 s 底盘载着右手持刀的机器人绕过打开的门并驶到冰箱前，这是五个切割计数节点共用的准备过程；食材留在层板上，之后停驻切割。" + } + ] + }, + "beets_diced_1": { + "method": "visual", + "intervals": [ + [ + 128.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 110.0, + "log_step": null, + "text_zh": "观察：视频 80–84 s，上层甜菜经右手持刀接触后分成半块；视频 96–100 s，中层甜菜也在刀接触后出现分开的紫红色部分；视频 110.0 s 两处均为切开后的形态。" + }, + { + "t": 128.5, + "log_step": null, + "text_zh": "观察：视频 127.0–130.5 s，右夹爪持刀伸向上层甜菜半块，撤开时上层左侧出现鲜紫红色的小块团，原半块形态改变；视频 130.5 s、139.0 s 及 167.0 s 可继续看到该丁状产物。" + }, + { + "t": 128.5, + "log_step": null, + "text_zh": "推断：两只原始甜菜在视频 100 s 前已被切半，按 DAG 的整物体消失数量加同类丁产物存在口径，第1个甜菜计数条件随第一份甜菜丁同时成立；首次变丁约在视频 128.5 s，夹爪短时遮住切割点，估时约有 0.5 s 误差。" + }, + { + "t": 183.8, + "log_step": null, + "text_zh": "推断：之后未见产物被移除或整甜菜恢复；reward.goal=1、q_score=1.0 与上述画面一致，支持末态为真。video_replay_matches=0，因此未用会话里的对象存在读数直接代替视频进度。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "机器人右夹爪持削皮刀，向冰箱上层和中层甜菜及半块前伸压切；食材由层板承托，未见另一手夹持食材。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 56–68 s 底盘载着右手持刀的机器人绕过打开的门并驶到冰箱前，这是五个切割计数节点共用的准备过程；食材留在层板上，之后停驻切割。" + } + ] + }, + "beets_diced_2": { + "method": "visual", + "intervals": [ + [ + 128.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 110.0, + "log_step": null, + "text_zh": "观察：视频 80–84 s，上层甜菜经右手持刀接触后分成半块；视频 96–100 s，中层甜菜也在刀接触后出现分开的紫红色部分；视频 110.0 s 两处均为切开后的形态。" + }, + { + "t": 128.5, + "log_step": null, + "text_zh": "观察：视频 127.0–130.5 s，右夹爪持刀伸向上层甜菜半块，撤开时上层左侧出现鲜紫红色的小块团，原半块形态改变；视频 130.5 s、139.0 s 及 167.0 s 可继续看到该丁状产物。" + }, + { + "t": 128.5, + "log_step": null, + "text_zh": "推断：两只原始甜菜在视频 100 s 前已被切半，按 DAG 的整物体消失数量加同类丁产物存在口径，第2个甜菜计数条件随第一份甜菜丁同时成立；首次变丁约在视频 128.5 s，夹爪短时遮住切割点，估时约有 0.5 s 误差。" + }, + { + "t": 183.8, + "log_step": null, + "text_zh": "推断：之后未见产物被移除或整甜菜恢复；reward.goal=1、q_score=1.0 与上述画面一致，支持末态为真。video_replay_matches=0，因此未用会话里的对象存在读数直接代替视频进度。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "机器人右夹爪持削皮刀，向冰箱上层和中层甜菜及半块前伸压切；食材由层板承托，未见另一手夹持食材。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 56–68 s 底盘载着右手持刀的机器人绕过打开的门并驶到冰箱前，这是五个切割计数节点共用的准备过程；食材留在层板上，之后停驻切割。" + } + ] + }, + "zucchini_diced": { + "method": "visual", + "intervals": [ + [ + 155.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 80.0, + "log_step": null, + "text_zh": "观察：视频 76–80 s，机器人右夹爪持刀接触上层西葫芦，随后上层可见分开的绿色部分；视频 110.0 s 仍可见绿色半块。" + }, + { + "t": 155.5, + "log_step": null, + "text_zh": "观察：视频 153.0–158.5 s，机器人再次把持刀右手伸向上层绿色半块；视频 155.0–156.0 s 刀下的绿色部分形态改变，撤手后可见较小的绿色团，另一绿色部分仍在旁边。" + }, + { + "t": 155.5, + "log_step": null, + "text_zh": "推断：结合切前绿色半块、刀接触后的较小绿色产物，以及 reward.goal=1、q_score=1.0，判定西葫芦丁已生成，首次时刻约为视频 155.5 s；刀和夹爪遮挡使估时约有 1 s 误差。仅需原始整西葫芦消失且该类丁存在，残留半块不使本节点失效。" + }, + { + "t": 183.8, + "log_step": null, + "text_zh": "推断：视频 158.5–170.5 s 的上层绿色产物持续存在，之后机器人只放刀并关门，未见恢复整西葫芦；评分器满目标值支持末态成立。video_replay_matches=0，未将 log step 72 的会话成功读数当作视频时间或逐实例状态。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "右夹爪持削皮刀，对冰箱上层西葫芦及半块前伸压切；未见夹爪直接抓取西葫芦，也未见另一只手固定食材。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 56–68 s 底盘载着右手持刀的机器人绕过打开的门并驶到冰箱前，这是五个切割计数节点共用的准备过程；食材留在层板上，之后停驻切割。" + } + ] + }, + "refrigerator_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 41.5 + ], + [ + 183.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 20.0, + "log_step": null, + "text_zh": "观察：视频 20.0–41.0 s，机器人到达冰箱后，门板仍贴在柜体前方；视频 41.0–43.0 s 门板开始转开，视频 64.0–170.5 s 可见内部层板，期间未关闭。" + }, + { + "t": 0, + "log_step": null, + "text_zh": "推断：DAG 明示冰箱初始关闭，首次靠近时的视频 20.0 s 画面也显示门关闭，故关闭条件从视频 0 s 成立，到约视频 41.5 s 开门时失去。" + }, + { + "t": 183.0, + "log_step": null, + "text_zh": "观察：视频 171.5–180.0 s，机器人驶回门侧，左夹爪推门，门板随手臂和底盘运动向柜体转回；视频 182.85 s、183.0–183.8 s 门板回到柜前，手撤离后未见再次打开。" + }, + { + "t": 183.0, + "log_step": null, + "text_zh": "推断：关闭恢复约在视频 183.0 s，视角位于门外侧，无法量出全行程 5% 的精确边界，约有 1 s 估时误差；reward.goal=1、q_score=1.0 支持最终关闭。渲染视频与评分回放不完全匹配，未用 reward.goal_first_step 换算视频时刻。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "视频 175–183 s 左夹爪抵住冰箱门板并推回柜体，随后撤开；没有把推门接触写成握把抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 171.5–175 s 底盘绕回门外侧，随后承载机器人转动并配合左手将门推合。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 1.0, + "unit": "1", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 73, + "where": "终态验收", + "evidence_zh": "观察：视频所示开门、切割及最后关门均有进展，末态目标没有可定位的未修复物理失败；reward 同时报 goal=1、q_score=1.0、deterministic=0、success=0、video_replay_matches=0。推断：失败位于交付轨迹的确定性联合验收，现有资料不能把不同回放的分歧归到一个 DAG 物理步骤，故 ref 留 unknown，且没有可定位的视频失败时刻。" + }, + "unmet": { + "bell_peppers_diced_1": true, + "bell_peppers_diced_2": true, + "beets_diced_1": true, + "beets_diced_2": true, + "zucchini_diced": true, + "refrigerator_closed": true + }, + "phenomena": [], + "root_causes": [ + { + "cat": "交付", + "item": "交付操作出错", + "source_zh": "日志 / 评分器字段", + "log_step": 73, + "evidence_zh": "观察：log step 36、47、62、64、65、67、72、73 的脚本在分段开始前反复 load_state/load 恢复保存状态；log step 73 将 A1a、A1b、A2、A3、A4、A6、A7、A8、A9z、A9 拼接为 5515 行交付。log step 75–76 的文件回放在 reset 中报错，尚未执行动作；log step 77 的 agent 自述未完成从初态的干净回放。评分器字段 deterministic=0、agent_replays=0、goal=1、success=0。推断：agent 提交了跨恢复状态拼接且未验证的动作记录，未满足可重复交付要求；归为交付操作出错，不把会话 reset 崩溃当成视频内的机器人接触失败。" + } + ], + "gap_zh": "inputs/ 有完整视频和 run.json，但没有状态日志或成功 oracle；各类变丁的局部接触点受夹爪遮挡，节点时间由前后画面估计。评分器 video_replay_matches=0、deterministic=0，却未提供两次评分回放各自的节点状态或哈希差异位置；goal=1 与 q_score=1.0 不能说明另一回放在哪一步发生分歧。因此无法指定失败的物理节点，也无依据填写可见失败现象；现象层留空。" + }, + "summary_zh": "视频中机器人开冰箱，在层板上用右手持刀切开五个蔬菜并产生三类丁状产物，最后关门；按 DAG 的计数验收末态为 7/7，评分器也报告 goal=1、q_score=1.0。总判定 success=0 对应 deterministic=0；日志记录跨状态恢复拼接且未完成文件回放验证，支持交付操作出错，但缺少不同评分回放的逐步状态，无法定位物理失败步骤，现象层留空。任务设计问题：验收只要求五个整蔬菜消失和每类丁存在，视频仍留有半块也可满足节点，并不证明所有半块都已切丁。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点时间、末态7/7与评分器goal=1/q_score=1.0一致；success=0对应deterministic=0，跨load_state拼接且未回放的交付被标为交付操作出错，breakpoint留unknown并附gap_zh，符合N10/FAIL-19。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": "2026-10-30T21:11:51Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-slicing-vegetables-i00-privileged--zxftdcn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-slicing-vegetables-i00-privileged--zxftdcn/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b438f884c3c16d8d75157cb3b76fbf7400fe26d67e0fa688d3489303287c8409", + "video_sha256": "1ac2af46606fe048ba0707bd97a55af1ba39eab4cfb587232fc458b8cf373e70", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-standard--fs2cbwp.json b/phase2/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-standard--fs2cbwp.json new file mode 100644 index 0000000000000000000000000000000000000000..a18940ed76792ac982794d6fafa6dd5c979665af --- /dev/null +++ b/phase2/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-standard--fs2cbwp.json @@ -0,0 +1,298 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-slicing-vegetables-i00-standard--fs2cbwp", + "taskKey": "behavior-1k/slicing_vegetables", + "dag_sha256": "99d09e28bac5957b4feb1a4ef7ff3a7d55e0b7e9535a2cb9387a47fa9e6c206f", + "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": 2693, + "sim_steps": 2693, + "physics_steps": 10772, + "steps": 2693, + "elapsed_s": 879.2, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 1, + "q_score": 0.0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.2, + "peak_processes": 11, + "peak_disk_gb": 0.26, + "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-slicing-vegetables-i00-standard--fs2cbwp/replay.mp4", + "duration_s": 89.767, + "fps": 30.0, + "frames": 2693, + "sha256": "65303fd00faaec83f1bd2e12b313f1501e415da7486b7d6028675bd40ded0c29" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "refrigerator_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 53.0, + "log_step": 37, + "text_zh": "观察：视频 51.0–55.0 s，机器人空手横移经过烤箱旁的白色高门板，门板仍贴合柜体，没有露出冰箱内部食材；全片粗看及视频 23.0–31.0 s、72.0–83.0 s 和88.7–89.7 s细看均未见夹爪伸向把手或门扇拉开。" + }, + { + "t": 74.5, + "log_step": 42, + "text_zh": "观察：视频 74.5 s 起机器人在空手行驶时倾斜，视频 80.0–80.5 s迅速翻倒，视频 89.7 s仍未起身；log step 42的实际执行命令仍是goto前往冰箱候选位置，尚未调用新定义的reach或set_grip操作门。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0–74.5 s，机器人底盘承载机体在厨房转向、寻找并靠近冰箱候选门板；视频 74.5–80.5 s再次倾斜并翻倒。未见夹爪接触冰箱把手，不标抓握或勾。" + } + ] + }, + "bell_peppers_diced_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 57.0, + "log_step": null, + "text_zh": "观察：视频 0–72.0 s的巡看和视频 51.0–55.0 s的门板近景未见冰箱开启或食材取出；视频 57.0 s台面上的刀、砧板没有被机器人拿起，未见蔬菜切开或生成丁状物；视频 74.5–89.7 s机器人倾倒，仍无食材操作。" + }, + { + "t": 89.7, + "log_step": null, + "text_zh": "推断：结合DAG所列初始食材在关闭冰箱内、视频中没有取菜或切割过程，第1个甜椒切丁在本回合未达到；reward.q_score=0.0也将其终值约束为false，因为本节点成立必须新增原始整蔬菜消失及同类丁状产物存在的目标字面量。此判断没有把零分单独当作未操作的证据。" + } + ] + }, + "bell_peppers_diced_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 57.0, + "log_step": null, + "text_zh": "观察：视频 0–72.0 s的巡看和视频 51.0–55.0 s的门板近景未见冰箱开启或食材取出；视频 57.0 s台面上的刀、砧板没有被机器人拿起，未见蔬菜切开或生成丁状物；视频 74.5–89.7 s机器人倾倒，仍无食材操作。" + }, + { + "t": 89.7, + "log_step": null, + "text_zh": "推断：结合DAG所列初始食材在关闭冰箱内、视频中没有取菜或切割过程，第2个甜椒切丁在本回合未达到；reward.q_score=0.0也将其终值约束为false，因为本节点成立必须新增原始整蔬菜消失及同类丁状产物存在的目标字面量。此判断没有把零分单独当作未操作的证据。" + } + ] + }, + "beets_diced_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 57.0, + "log_step": null, + "text_zh": "观察：视频 0–72.0 s的巡看和视频 51.0–55.0 s的门板近景未见冰箱开启或食材取出；视频 57.0 s台面上的刀、砧板没有被机器人拿起，未见蔬菜切开或生成丁状物；视频 74.5–89.7 s机器人倾倒，仍无食材操作。" + }, + { + "t": 89.7, + "log_step": null, + "text_zh": "推断：结合DAG所列初始食材在关闭冰箱内、视频中没有取菜或切割过程，第1个甜菜切丁在本回合未达到；reward.q_score=0.0也将其终值约束为false，因为本节点成立必须新增原始整蔬菜消失及同类丁状产物存在的目标字面量。此判断没有把零分单独当作未操作的证据。" + } + ] + }, + "beets_diced_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 57.0, + "log_step": null, + "text_zh": "观察：视频 0–72.0 s的巡看和视频 51.0–55.0 s的门板近景未见冰箱开启或食材取出；视频 57.0 s台面上的刀、砧板没有被机器人拿起，未见蔬菜切开或生成丁状物；视频 74.5–89.7 s机器人倾倒，仍无食材操作。" + }, + { + "t": 89.7, + "log_step": null, + "text_zh": "推断：结合DAG所列初始食材在关闭冰箱内、视频中没有取菜或切割过程，第2个甜菜切丁在本回合未达到；reward.q_score=0.0也将其终值约束为false，因为本节点成立必须新增原始整蔬菜消失及同类丁状产物存在的目标字面量。此判断没有把零分单独当作未操作的证据。" + } + ] + }, + "zucchini_diced": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 57.0, + "log_step": null, + "text_zh": "观察：视频 0–72.0 s的巡看和视频 51.0–55.0 s的门板近景未见冰箱开启或食材取出；视频 57.0 s台面上的刀、砧板没有被机器人拿起，未见蔬菜切开或生成丁状物；视频 74.5–89.7 s机器人倾倒，仍无食材操作。" + }, + { + "t": 89.7, + "log_step": null, + "text_zh": "推断：结合DAG所列初始食材在关闭冰箱内、视频中没有取菜或切割过程，西葫芦切丁在本回合未达到；reward.q_score=0.0也将其终值约束为false，因为本节点成立必须新增原始整蔬菜消失及同类丁状产物存在的目标字面量。此判断没有把零分单独当作未操作的证据。" + } + ] + }, + "refrigerator_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 53.0, + "log_step": null, + "text_zh": "推断：DAG记载冰箱初始关闭；视频 0–72.0 s巡看中没有门被拉开的动作，视频 51.0–55.0 s可见烤箱旁白色高门板贴合柜体，之后机器人空手移开并在视频 74.5–89.7 s倾倒。故关闭关系从视频 0 s保持至结束，未发生主动关门操作；末帧未直接看见冰箱，连续性由未操作门及此前面板状态推断。" + }, + { + "t": 89.7, + "log_step": null, + "text_zh": "推断：reward.q_score=0.0不否定本节点；BEHAVIOR的该分数不累计从初始就成立且仍保持的冰箱关闭字面量。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "refrigerator_opened", + "t": 74.5, + "log_step": 42, + "where": "转场", + "evidence_zh": "观察：机器人一直未开冰箱；视频 72.0–74.0 s仍空手在厨房行驶，视频 74.5–79.5 s视野持续倾斜，视频 80.0–80.5 s翻倒，视频 88.7–89.7 s仍侧倒。log step 42执行goto(7.25,-0.8,-pi/2)准备靠近冰箱，随后服务报告failure: the robot fell over；log step 43确认done=True、control_steps=2693。推断：失败发生在去开冰箱的空手转场，打开冰箱是尚未完成的当前步骤；视频 26.0–28.0 s的较早倾斜在视频 28.5 s恢复直立，最终这次失衡未恢复。" + }, + "unmet": { + "bell_peppers_diced_1": false, + "bell_peppers_diced_2": false, + "beets_diced_1": false, + "beets_diced_2": false, + "zucchini_diced": false, + "refrigerator_closed": true + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 74.5, + "log_step": 42, + "evidence_zh": "观察：视频 74.5–79.5 s机器人机载画面明显侧倾；视频 80.0–80.5 s画面快速翻转，机体部件和柜面占据视野，视频 88.7–89.7 s仍未恢复直立。log step 42的本体读数tilt=-0.2290，服务直接返回failure: the robot fell over，log step 43确认回合已结束。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：agent为返回冰箱候选位置选择了再次贴近已知危险岛台角的直达路线。log step 26–27的底盘位置约(6.277,-0.518)及倾斜读数0.8776、log step 29的侧退后恢复读数约1.0，对应视频 26.0–28.5 s的倾斜和恢复；此后log step 39回到约(5.2,-0.5)，log step 42仍直接命令goto(7.25,-0.8,-pi/2)，未设置绕过先前倾斜区域的中间点。视频 74.5–80.5 s机器人再次在岛台附近倾斜并翻倒，与这条未避开已知障碍区域的路线相符；log step 47中agent也自述直线路线重经同一角落。" + } + ], + "gap_zh": "观察：inputs/提供了完整视频和run.json，但无状态日志或成功参考视频。机载视角没有直接显示轮子与岛台底座的接触点，无法精确确认碰撞链路及门的5%行程；关闭关系依据DAG初态、可见贴合门板和全程未开门推断，食材在冰箱内遮挡，切丁终值另以评分总量约束。" + }, + "summary_zh": "本回合仅保留了初始冰箱关闭关系，终态为1/7；机器人始终在厨房空手巡看、寻找冰箱，没有打开冰箱或切割五个蔬菜。视频 74.5 s起机器人在返回冰箱候选位置途中倾斜，视频 80.0–80.5 s翻倒且未恢复，断点为打开冰箱；日志命令表明路线再次经过先前引发倾斜的岛台角附近，支持推理/规划根因。无状态日志及成功参考视频，轮子与家具的接触点不可见，冰箱关闭终值通过初态和全程未操作门推断。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值（仅冰箱关闭为真，终值1/7）、断点（打开冰箱，转场，约74.5 s）、平衡现象与规划根因均与视频和日志一致；视频 74–80.5 s可见持续倾斜并翻倒，log step 43 确认failure: the robot fell over。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:12:01Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-slicing-vegetables-i00-standard--fs2cbwp/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-slicing-vegetables-i00-standard--fs2cbwp/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7c07611d42604fcc22237cddc4a1655b184162de14f9d2b8bbc2c5dcc4a9e9ee", + "video_sha256": "65303fd00faaec83f1bd2e12b313f1501e415da7486b7d6028675bd40ded0c29", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-standard--ntrpkzw.json b/phase2/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-standard--ntrpkzw.json new file mode 100644 index 0000000000000000000000000000000000000000..6cfb00c010be502d2490632a2fad1476f226d488 --- /dev/null +++ b/phase2/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-standard--ntrpkzw.json @@ -0,0 +1,300 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-slicing-vegetables-i00-standard--ntrpkzw", + "taskKey": "behavior-1k/slicing_vegetables", + "dag_sha256": "99d09e28bac5957b4feb1a4ef7ff3a7d55e0b7e9535a2cb9387a47fa9e6c206f", + "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": 430, + "sim_steps": 430, + "physics_steps": 1720, + "steps": 430, + "elapsed_s": 285.5, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 1, + "q_score": 0.0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-slicing-vegetables-i00-standard--ntrpkzw/replay.mp4", + "duration_s": 14.333, + "fps": 30.0, + "frames": 430, + "sha256": "bbf5880a20158997a49750f4f9b8716f3a4893def9200c6025c6e8aa215894d9" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "refrigerator_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.5, + "log_step": 56, + "text_zh": "观察：视频 0.5 s 的厨房视图中远处冰箱门贴合柜体；视频 0–2.6 s 机器人只转向观察和空手驶向厨房，没有夹爪拉门或门向外打开的动作。" + }, + { + "t": 2.8, + "log_step": 61, + "text_zh": "观察：视频约 2.8 s 机器人在中岛台面和高脚凳附近开始明显倾斜，随后翻倒；检查至视频 14.30 s 未见恢复或开门。log step 61 的脚本执行驶向厨房，服务最终报告 failure: the robot fell over。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0–2.8 s 轮式底盘承载机器人转向查看环境并空手驶向厨房，随后翻倒；归入开冰箱前的接近阶段，未见夹爪接触冰箱门或把手。" + } + ] + }, + "bell_peppers_diced_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.6, + "log_step": 61, + "text_zh": "观察：视频 0–2.6 s 机器人仅转向并驶向厨房，双腕视图未见取出蔬菜、持刀或切割；视频约 2.8 s 开始翻倒，至视频 14.30 s 未见任何切割或丁状产物生成。" + }, + { + "t": 14.3, + "log_step": null, + "text_zh": "推断：结合全片没有取菜或切割动作、DAG 的整蔬菜初态以及评分器 q_score=0、live_matches_replay=1，第1个甜椒切丁未达到。q_score 不计一直保留的初始冰箱关闭条件，因此该初始条件不与零分冲突；此处未仅凭零分推断没有操作。" + } + ] + }, + "bell_peppers_diced_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.6, + "log_step": 61, + "text_zh": "观察：视频 0–2.6 s 机器人仅转向并驶向厨房，双腕视图未见取出蔬菜、持刀或切割；视频约 2.8 s 开始翻倒，至视频 14.30 s 未见任何切割或丁状产物生成。" + }, + { + "t": 14.3, + "log_step": null, + "text_zh": "推断：结合全片没有取菜或切割动作、DAG 的整蔬菜初态以及评分器 q_score=0、live_matches_replay=1，第2个甜椒切丁未达到。q_score 不计一直保留的初始冰箱关闭条件，因此该初始条件不与零分冲突；此处未仅凭零分推断没有操作。" + } + ] + }, + "beets_diced_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.6, + "log_step": 61, + "text_zh": "观察：视频 0–2.6 s 机器人仅转向并驶向厨房，双腕视图未见取出蔬菜、持刀或切割；视频约 2.8 s 开始翻倒，至视频 14.30 s 未见任何切割或丁状产物生成。" + }, + { + "t": 14.3, + "log_step": null, + "text_zh": "推断：结合全片没有取菜或切割动作、DAG 的整蔬菜初态以及评分器 q_score=0、live_matches_replay=1，第1个甜菜切丁未达到。q_score 不计一直保留的初始冰箱关闭条件，因此该初始条件不与零分冲突；此处未仅凭零分推断没有操作。" + } + ] + }, + "beets_diced_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.6, + "log_step": 61, + "text_zh": "观察：视频 0–2.6 s 机器人仅转向并驶向厨房，双腕视图未见取出蔬菜、持刀或切割；视频约 2.8 s 开始翻倒，至视频 14.30 s 未见任何切割或丁状产物生成。" + }, + { + "t": 14.3, + "log_step": null, + "text_zh": "推断：结合全片没有取菜或切割动作、DAG 的整蔬菜初态以及评分器 q_score=0、live_matches_replay=1，第2个甜菜切丁未达到。q_score 不计一直保留的初始冰箱关闭条件，因此该初始条件不与零分冲突；此处未仅凭零分推断没有操作。" + } + ] + }, + "zucchini_diced": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.6, + "log_step": 61, + "text_zh": "观察：视频 0–2.6 s 机器人仅转向并驶向厨房，双腕视图未见取出蔬菜、持刀或切割；视频约 2.8 s 开始翻倒，至视频 14.30 s 未见任何切割或丁状产物生成。" + }, + { + "t": 14.3, + "log_step": null, + "text_zh": "推断：结合全片没有取菜或切割动作、DAG 的整蔬菜初态以及评分器 q_score=0、live_matches_replay=1，西葫芦切丁未达到。q_score 不计一直保留的初始冰箱关闭条件，因此该初始条件不与零分冲突；此处未仅凭零分推断没有操作。" + } + ] + }, + "refrigerator_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.5, + "log_step": null, + "text_zh": "观察：视频 0.5 s 厨房远处的冰箱门贴合柜体，没有露出内部食材；DAG 明确给出冰箱初始关闭。" + }, + { + "t": 14.3, + "log_step": 61, + "text_zh": "推断：视频 0–2.6 s 机器人只转向及空手接近厨房，未到冰箱把手处；视频约 2.8 s 后翻倒，检查至视频 14.30 s 未见开门动作。结合 DAG 的初始关闭状态，冰箱关闭条件从视频 0 s 保持至终点；没有额外完成关门操作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "refrigerator_opened", + "t": 2.8, + "log_step": 61, + "where": "转场", + "evidence_zh": "推断：视频 2.4–2.8 s 机器人空手驶入中岛旁通道，约视频 2.8 s 明显侧倾，之后始终未恢复，也未开始拉冰箱门；log step 61 的脚本为驶向厨房，log step 63 的机器人服务状态报告 control_steps=430、done=true、failure: the robot fell over。本次失败发生在取得冰箱内食材之前的接近阶段，归于首个必经步骤“打开冰箱”的转场，未将跌倒约束作为断点。" + }, + "unmet": { + "bell_peppers_diced_1": false, + "bell_peppers_diced_2": false, + "beets_diced_1": false, + "beets_diced_2": false, + "zucchini_diced": false, + "refrigerator_closed": true + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 2.8, + "log_step": 61, + "evidence_zh": "观察：视频 2.6 s 前厨房视图基本直立，视频 2.8–3.2 s 头部及腕部视图一起大幅旋转，中岛与地面在画面中倾斜；视频 4.4–6.0 s 机器人继续翻滚，视频 7.0–14.30 s 保持翻倒姿态，未恢复直立。log step 63 的机器人服务确认 episode 因 failure: the robot fell over 结束。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "t": 2.8, + "log_step": 61, + "source_zh": "日志", + "evidence_zh": "推断：log step 61 的驱动程序在驶向厨房时连续输出 base stuck?，例如 achieved -0.064 wanted -0.85，随后仍反复出现接近零的实际位移与非零目标位移，直至服务报告跌倒；视频 2.8–6.0 s 同期可见机器人从倾斜发展为翻倒。已有位移受阻反馈没有触发有效停驶或姿态恢复，说明该次底盘闭环未能处理阻塞与失衡；无需依赖 agent 对速度或碰撞机理的事后自述。" + } + ], + "gap_zh": "没有状态日志或成功 oracle。摄像机看不到底盘与家具之间的全部接触区域，无法确认最初致倾的具体碰撞部件或接触力；log step 39 的 drive 函数正文也被输入日志截断，不能核实全部保护分支。转场仅直接显示驶向厨房，“打开冰箱”的节点归属依据食材都在冰箱内且尚无其他操作作出推断；冰箱末态部分时间在画外，关闭的连续区间结合初态、可见行驶范围和全片无开门动作判断。" + }, + "summary_zh": "本次评分轨迹仅保留初始冰箱关闭状态，节点终态为 1/7；未打开冰箱，五个切丁节点均未达到。机器人在前往厨房的转场中于视频约 2.8 s 失衡翻倒，驱动程序反复报告位移受阻却未有效停止或恢复，最终服务因跌倒终止。无状态日志，致倾的具体接触部位不可见；结束后的修订脚本未在评分片段中执行（log step 89、106）。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标签与视频和日志一致：视频 2.8 s 起机器人侧倾翻倒，未开冰箱、未取菜或切割；断点在“打开冰箱”的转场，平衡现象和反馈控制根因有日志证据支持。q_score=0 与保留 refrigerator_closed 的处理符合 PROG-10。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:15:59Z", + "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-slicing-vegetables-i00-standard--ntrpkzw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-slicing-vegetables-i00-standard--ntrpkzw/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "194314f770b619ddcaffd7901b16bfcd4992383fe8839b58f1ce7f9dfacd214e", + "video_sha256": "bbf5880a20158997a49750f4f9b8716f3a4893def9200c6025c6e8aa215894d9", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-standard--rmblqfy.json b/phase2/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-standard--rmblqfy.json new file mode 100644 index 0000000000000000000000000000000000000000..0aa6691bfa75c25e50fd17ac7ee70cd4dcef9fd9 --- /dev/null +++ b/phase2/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-standard--rmblqfy.json @@ -0,0 +1,371 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-slicing-vegetables-i00-standard--rmblqfy", + "taskKey": "behavior-1k/slicing_vegetables", + "dag_sha256": "99d09e28bac5957b4feb1a4ef7ff3a7d55e0b7e9535a2cb9387a47fa9e6c206f", + "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": 36630, + "sim_steps": 36630, + "physics_steps": 146520, + "steps": 9813, + "elapsed_s": 13845.4, + "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-slicing-vegetables-i00-standard--rmblqfy/replay.mp4", + "duration_s": 1221.0, + "fps": 30.0, + "frames": 36630, + "sha256": "940ef1bb6e5a8a000131a47140c1ae1ebf77d55abf3aba65d6b5234c2314f7a6" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "refrigerator_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 95, + "log_step": 249, + "text_zh": "观察：视频 91–100 s，机器人左夹爪在白色平面前伸出、闭合并退回，未见冰箱门展开或内部食材露出；视频 112–140 s 实际出现的开门运动属于带烤箱旋钮和玻璃窗的黑色电器下门。log step 249–250 是 agent 发起并自述的“开冰箱”操作，不能把它当作开门成功。" + }, + { + "t": 900, + "log_step": null, + "text_zh": "观察：视频 340–840 s 的后续推拉仍集中在黑色烤箱及旁边白色平面，视频 900–921 s 左夹爪再次在白色平面前开合，未见储物内腔；视频 1080–1220.75 s 继续持刀扫动和推面板，也未露出冰箱内部或五个食材。推断：开冰箱步骤始终未达，早期失败未被后续操作修复。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 130 s 左夹爪夹住并带动黑色烤箱下部门把手；这是误认目标后的实际抓握，不是抓住冰箱把手。视频 93–99 s 的空夹不计作已抓握冰箱。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 75–91 s 底盘承载机器人持刀驶向并转向电器工作区，随后机器人尝试开门。" + } + ] + }, + "bell_peppers_diced_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 245, + "log_step": 489, + "text_zh": "观察：视频 172–190 s、238–248 s 及后续持刀扫动中，右腕相机近景的红色圆件带固定金属座，位于黑色烤箱控制面板；并非从冰箱取出的甜椒。机器人用刀在该圆件及面板附近扫擦，未见完整甜椒变为半块或生成甜椒丁。" + }, + { + "t": 1220.5, + "log_step": null, + "text_zh": "推断：视频全程未见第1个甜椒切丁达成的变化；评分器报告 q_score=0、live_matches_replay=1，且切丁所需的原始蔬菜消失与丁状产物存在均不是初始成立的字面量，因此终态不可能满足本节点，final=false。初始冰箱关闭不计入该 q_score 的新增目标数。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：机器人右夹爪持削皮刀，视频 238–248 s、308–338 s 及后续全范围扫切实际扫擦的是黑色烤箱控制面板/圆形指示件；未见刀接触真实第1个甜椒。这是日志所称“处理全部蔬菜”的同一组误目标扫切，不表示存在另一次或另一个食材接触；握刀不再重复标注。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 75–91 s 机器人持削皮刀行驶、转向到电器前；这是随后各类蔬菜共用的持刀准备和接近阶段。" + } + ] + }, + "bell_peppers_diced_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 248, + "log_step": 516, + "text_zh": "观察：视频 172–190 s、238–248 s 及后续持刀扫动中，右腕相机近景的红色圆件带固定金属座，位于黑色烤箱控制面板；并非从冰箱取出的甜椒。机器人用刀在该圆件及面板附近扫擦，未见完整甜椒变为半块或生成甜椒丁。" + }, + { + "t": 1220.5, + "log_step": null, + "text_zh": "推断：视频全程未见第2个甜椒切丁达成的变化；评分器报告 q_score=0、live_matches_replay=1，且切丁所需的原始蔬菜消失与丁状产物存在均不是初始成立的字面量，因此终态不可能满足本节点，final=false。初始冰箱关闭不计入该 q_score 的新增目标数。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：机器人右夹爪持削皮刀，视频 238–248 s、308–338 s 及后续全范围扫切实际扫擦的是黑色烤箱控制面板/圆形指示件；未见刀接触真实第2个甜椒。这是日志所称“处理全部蔬菜”的同一组误目标扫切，不表示存在另一次或另一个食材接触；握刀不再重复标注。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 75–91 s 机器人持削皮刀行驶、转向到电器前；这是随后各类蔬菜共用的持刀准备和接近阶段。" + } + ] + }, + "beets_diced_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 380, + "log_step": 516, + "text_zh": "观察：视频 340–590 s、590–840 s 的全范围扫切和推门片段显示机器人围绕黑色烤箱面板及空腔操作，未见甜菜被取出、切开或生成甜菜丁；视频 1080–1220.75 s 的最后一轮持刀动作也未出现这些变化。" + }, + { + "t": 1220.5, + "log_step": null, + "text_zh": "推断：视频全程未见第1个甜菜切丁达成的变化；评分器报告 q_score=0、live_matches_replay=1，且切丁所需的原始蔬菜消失与丁状产物存在均不是初始成立的字面量，因此终态不可能满足本节点，final=false。初始冰箱关闭不计入该 q_score 的新增目标数。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：机器人右夹爪持削皮刀，视频 238–248 s、308–338 s 及后续全范围扫切实际扫擦的是黑色烤箱控制面板/圆形指示件；未见刀接触真实第1个甜菜。这是日志所称“处理全部蔬菜”的同一组误目标扫切，不表示存在另一次或另一个食材接触；握刀不再重复标注。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 75–91 s 机器人持削皮刀行驶、转向到电器前；这是随后各类蔬菜共用的持刀准备和接近阶段。" + } + ] + }, + "beets_diced_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 500, + "log_step": 516, + "text_zh": "观察：视频 340–590 s、590–840 s 的全范围扫切和推门片段显示机器人围绕黑色烤箱面板及空腔操作，未见甜菜被取出、切开或生成甜菜丁；视频 1080–1220.75 s 的最后一轮持刀动作也未出现这些变化。" + }, + { + "t": 1220.5, + "log_step": null, + "text_zh": "推断：视频全程未见第2个甜菜切丁达成的变化；评分器报告 q_score=0、live_matches_replay=1，且切丁所需的原始蔬菜消失与丁状产物存在均不是初始成立的字面量，因此终态不可能满足本节点，final=false。初始冰箱关闭不计入该 q_score 的新增目标数。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：机器人右夹爪持削皮刀，视频 238–248 s、308–338 s 及后续全范围扫切实际扫擦的是黑色烤箱控制面板/圆形指示件；未见刀接触真实第2个甜菜。这是日志所称“处理全部蔬菜”的同一组误目标扫切，不表示存在另一次或另一个食材接触；握刀不再重复标注。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 75–91 s 机器人持削皮刀行驶、转向到电器前；这是随后各类蔬菜共用的持刀准备和接近阶段。" + } + ] + }, + "zucchini_diced": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 320, + "log_step": 627, + "text_zh": "观察：视频 308–338 s 右腕相机中的绿色圆件带固定金属座和圆形端面，仍附着在烤箱控制面板上；机器人把刀移到其附近反复扫擦，未见西葫芦本体或西葫芦丁。log step 627–628 将这轮动作命名为“西葫芦切丁”，但画面中的对象是电器圆形指示件。" + }, + { + "t": 1220.5, + "log_step": null, + "text_zh": "推断：视频全程未见西葫芦切丁达成的变化；评分器报告 q_score=0、live_matches_replay=1，且切丁所需的原始蔬菜消失与丁状产物存在均不是初始成立的字面量，因此终态不可能满足本节点，final=false。初始冰箱关闭不计入该 q_score 的新增目标数。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：机器人右夹爪持削皮刀，视频 238–248 s、308–338 s 及后续全范围扫切实际扫擦的是黑色烤箱控制面板/圆形指示件；未见刀接触真实西葫芦。这是日志所称“处理全部蔬菜”的同一组误目标扫切，不表示存在另一次或另一个食材接触；握刀不再重复标注。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 75–91 s 机器人持削皮刀行驶、转向到电器前；这是随后各类蔬菜共用的持刀准备和接近阶段。" + } + ] + }, + "refrigerator_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：任务 DAG 给定冰箱初始关闭；从视频初段巡视、视频 91–166 s 的开门尝试到视频 340–1220.75 s 的反复操作，未见冰箱门展开或冰箱食材露出。实际被开合的是带旋钮、玻璃窗的黑色烤箱门，因此按初态和后续动作上下文判断冰箱关闭条件一直保持，区间为 [0, null]。" + }, + { + "t": 1220.5, + "log_step": null, + "text_zh": "观察：视频 1219.5–1220.75 s 机器人仍握刀停在电器旁，没有可见的冰箱开门运动。推断：结合全程未建立冰箱开门事件，终态保留初始关闭；q_score=0 不能否定一个从初始即成立的关闭条件。本判断没有关节角度日志支持。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 214–224 s、590–840 s 及后续关门尝试中，机器人左夹爪推黑色烤箱门/旁边白色平面；实际记录误认目标后的推门接触，不据此认定曾打开或重新关闭冰箱。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "refrigerator_opened", + "t": 95.0, + "log_step": 249, + "where": "操作中", + "evidence_zh": "观察：视频 93–100 s 机器人左夹爪闭合、外拉后没有冰箱门展开；视频 112–140 s 被拉动的是黑色烤箱下门，视频 152 s 可见其旋钮、面板和玻璃窗。log step 249–250 把当前动作称为开冰箱，其后 log step 395 又把黑色电器的底部开口当作待查食材区；视频后续直到 1220.75 s 仍未见真正冰箱内部或取出的蔬菜。推断：第一个始终未修复的失败步骤是打开冰箱，后续挥刀没有补回这一步。" + }, + "unmet": { + "bell_peppers_diced_1": false, + "bell_peppers_diced_2": false, + "beets_diced_1": false, + "beets_diced_2": false, + "zucchini_diced": false, + "refrigerator_closed": true + }, + "phenomena": [ + { + "cat": "其他", + "item": "操作对象错误", + "t": 130.0, + "log_step": 395, + "evidence_zh": "观察：视频 130 s，机器人左夹爪拉开的门属于带旋钮和玻璃窗的黑色烤箱；视频 245 s 和 320 s，右夹爪持刀贴近的是同一电器上的红色、绿色圆形指示件，没有冰箱储物层或真实蔬菜。log step 395 的脚本却将该黑色电器底部开口作为“打开的隔间”检查。", + "note_zh": "候选名“操作对象错误”：机器人实际操作了另一电器；现有失败现象条目没有准确描述这种对象选择错误的项。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "感知", + "source_zh": "日志 / 视频", + "evidence_zh": "观察：log step 1164 摘录的 agent 推理将黑色电器判断为冰箱，并在对白色平面与黑色电器的身份、朝向判断之间反复变更；log step 437、439 将黑色面板上的红色像素定位为“red pepper”，log step 489 据此规划切割，log step 627 又将邻近位置命名为西葫芦。视频 152 s 清楚显示烤箱旋钮和玻璃窗，视频 245 s、320 s 的红绿圆件具有固定金属座及同类圆形端面。推断：agent 对电器身份和圆形指示件的类别估计错误，使机器人反复开合烤箱、持刀擦电器，始终没有打开存有蔬菜的冰箱。" + } + ], + "gap_zh": "没有状态日志，也没有成功 oracle。真正冰箱内部及五个蔬菜未在已检视画面中露出，不能逐个读取其存在标志或测量冰箱关节的5%阈值；切丁终值由未见食材操作的画面与评分器 q_score=0 联合判定，关闭的全程保持由初始条件和操作对象上下文推断。接触标签记录机器人误认目标后的实际电器接触，不表示刀刃或夹爪接触过真实蔬菜；同一轮扫切意图覆盖全部蔬菜，无法分出逐个实物的接触时刻。" + }, + "summary_zh": "推断：本次运行仅保留初始冰箱关闭，最终为 1/7 节点；未打开冰箱，也未完成任何蔬菜切丁。观察：机器人反复开合黑色烤箱并用刀扫擦其红绿圆形指示件，而 log step 437、439、627 将这些位置识别为蔬菜，支持感知误认导致操作对象错误。推断：无状态日志和成功 oracle，冰箱关闭的持续保持依赖初态与全程上下文，五个切丁节点终态另由 q_score=0 约束。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值（仅冰箱关闭保持，其余未达）、断点（开冰箱）、现象（其他·操作对象错误）与根因（感知）与视频一致：视频 130 s、152 s 可见被操作的是带旋钮和玻璃窗的黑色烤箱，未见冰箱内部。验证器通过。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": "2026-10-30T21:21:48Z", + "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-slicing-vegetables-i00-standard--rmblqfy/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-slicing-vegetables-i00-standard--rmblqfy/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2bf70bc079c3b3ad35f156f3b8e50507118c6a61b5dbc19cbd0fafe198e3ee37", + "video_sha256": "940ef1bb6e5a8a000131a47140c1ae1ebf77d55abf3aba65d6b5234c2314f7a6", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-standard--tewruar.json b/phase2/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-standard--tewruar.json new file mode 100644 index 0000000000000000000000000000000000000000..7c9e00afcf0341c558f358c9ea0d3ac17b2b02e6 --- /dev/null +++ b/phase2/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-standard--tewruar.json @@ -0,0 +1,344 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-slicing-vegetables-i00-standard--tewruar", + "taskKey": "behavior-1k/slicing_vegetables", + "dag_sha256": "99d09e28bac5957b4feb1a4ef7ff3a7d55e0b7e9535a2cb9387a47fa9e6c206f", + "outcome": { + "success": 0, + "reward": 0.1111111111111111, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 3237, + "sim_steps": 3237, + "physics_steps": 12948, + "steps": 1029, + "elapsed_s": 6557.0, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 0, + "q_score": 0.1111111111111111, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "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-slicing-vegetables-i00-standard--tewruar/replay.mp4", + "duration_s": 107.9, + "fps": 30.0, + "frames": 3237, + "sha256": "d1179c026b594430b1a1e3fece4b7f0a3aee0f1134a614dab8b1d26842b309f6" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "refrigerator_opened": { + "method": "visual", + "intervals": [ + [ + 23.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 23.5, + "log_step": 65, + "text_zh": "观察：视频 23.0–25.5 s，机器人左夹爪夹在门把手处向外拉，门板从贴合柜体变为明显斜开；视频 70.0–72.0 s 门大开，内部三层食材可见。首次越过打开容差约为视频 23.5 s，时间误差约0.5秒。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 22.0–30.0 s 左夹爪合拢夹住冰箱把手外拉；视频 62.0–68.0 s 改用右夹爪夹持把手继续拉门，两臂先后操作。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 40.0–60.0 s 机器人还用伸出的单侧夹爪抵推门面，尝试扩大开度。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 10.0–22.0 s 底盘载机器人接近冰箱，后续多次移动位置配合拉门、推门。" + } + ] + }, + "bell_peppers_diced_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 91.5, + "log_step": 258, + "text_zh": "观察：视频 90.75–91.75 s，机器人右夹爪持刀向中层甜椒下切，原整甜椒变成两块，随后两块留在中层靠后位置；这只是切半，未见甜椒丁生成。" + }, + { + "t": 95.25, + "log_step": 270, + "text_zh": "观察：视频 94.75–98.5 s 机器人持刀再次前伸、下压并横移，刀和夹爪仍在两块甜椒的前方；视频 98.0–107.75 s 两块甜椒仍可辨，未见进一步切丁。" + }, + { + "t": 107.75, + "log_step": null, + "text_zh": "推断：评分器 q_score=1/9 且 live_matches_replay=1；本DAG任一切丁节点都至少需要“原整蔬菜消失”和“同类丁状产物存在”两个新增目标字面量，单个已满足字面量不足以使任一切丁节点在终态成立。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：视频 91.0–91.5 s 右夹爪握削皮刀，刀刃下压中层甜椒并使其成为两半；视频 94.75–98.5 s 后续切丁时刀刃未到达靠后的半块，不能据此追加刀与半块的接触。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 74.0–91.0 s 底盘载机器人去台面取得刀并持刀返回冰箱；视频 94.75–96.5 s 再向前和横向移动配合处理两半甜椒。" + } + ] + }, + "bell_peppers_diced_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 107.75, + "log_step": null, + "text_zh": "观察：视频 72.0 s、90.0 s、106.75–107.75 s，另一完整红色甜椒仍在最下层；未见机器人对其实施下切或使其变成半块、丁状物。" + }, + { + "t": 107.75, + "log_step": null, + "text_zh": "推断：评分器 q_score=1/9 且 live_matches_replay=1；本DAG任一切丁节点都至少需要“原整蔬菜消失”和“同类丁状产物存在”两个新增目标字面量，单个已满足字面量不足以使任一切丁节点在终态成立。" + } + ] + }, + "beets_diced_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 101.5, + "log_step": 285, + "text_zh": "观察：视频 99.75–101.75 s 机器人右臂持刀朝中层甜菜方向伸入、下移后收回；中层带叶紫色甜菜仍保持完整，视频 106.75–107.75 s 也未见甜菜丁。" + }, + { + "t": 107.75, + "log_step": null, + "text_zh": "推断：评分器 q_score=1/9 且 live_matches_replay=1；本DAG任一切丁节点都至少需要“原整蔬菜消失”和“同类丁状产物存在”两个新增目标字面量，单个已满足字面量不足以使任一切丁节点在终态成立。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 99.75–101.75 s 机器人右夹爪持刀尝试处理中层甜菜；腕部画面主要被刀柄占据，头部视角中刀刃与甜菜之间的细部受层板遮挡，无法确认刀是否实际碰到甜菜或层板。按尝试顺序将中层甜菜尝试记入第1个计数节点。" + } + ] + }, + "beets_diced_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 105.5, + "log_step": 285, + "text_zh": "观察：视频 103.5–107.75 s 机器人右臂持刀抬升并向上层甜菜方向伸入，但上层紫色甜菜及叶片保持完整，没有分半或生成丁状物。" + }, + { + "t": 107.75, + "log_step": null, + "text_zh": "推断：评分器 q_score=1/9 且 live_matches_replay=1；本DAG任一切丁节点都至少需要“原整蔬菜消失”和“同类丁状产物存在”两个新增目标字面量，单个已满足字面量不足以使任一切丁节点在终态成立。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 103.5–107.75 s 右夹爪持刀尝试处理上层甜菜；刀刃接近层板处被遮挡，不能确认对甜菜或层板的实际接触方式。上层甜菜是本次第二个不同甜菜的尝试，记录于第2个计数节点，不表示第1个已完成。" + } + ] + }, + "zucchini_diced": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 107.75, + "log_step": null, + "text_zh": "观察：视频 72.0 s、91.25 s、106.75–107.75 s，上层右侧绿色西葫芦保持完整；机器人后段刀具动作位于左侧甜菜附近，未见对西葫芦下切。" + }, + { + "t": 107.75, + "log_step": null, + "text_zh": "推断：评分器 q_score=1/9 且 live_matches_replay=1；本DAG任一切丁节点都至少需要“原整蔬菜消失”和“同类丁状产物存在”两个新增目标字面量，单个已满足字面量不足以使任一切丁节点在终态成立。" + } + ] + }, + "refrigerator_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 23.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：DAG说明初始冰箱关闭，视频 18.0–23.0 s 机器人接近后可见白色门板贴合柜体；据初态及开门前画面，关闭状态从视频 0 s 开始成立。" + }, + { + "t": 23.5, + "log_step": 65, + "text_zh": "观察：视频 23.0–25.5 s 左夹爪外拉使冰箱门明显离开柜体，约视频 23.5 s 失去关闭状态；后续机器人继续开门。" + }, + { + "t": 107.75, + "log_step": null, + "text_zh": "观察：视频 70.0–107.75 s 冰箱内部持续可见，门板留在柜体右侧敞开，结尾没有推门合拢动作，关闭状态未恢复。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.1111111111111111, + "unit": "1", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "bell_peppers_diced_1", + "t": 95.25, + "log_step": 270, + "where": "操作中", + "evidence_zh": "观察：视频 91.0–91.5 s 机器人已将一个甜椒切半，但视频 94.75–98.5 s 继续对两半进行切丁时，刀具在目标前方运动，两半未变成丁状物；视频 98.0–107.75 s 两半仍留在中层后方。推断：这是本次最先尝试而始终未补救的节点，随后改切甜菜并未完成这一步。" + }, + "unmet": { + "bell_peppers_diced_1": false, + "bell_peppers_diced_2": false, + "beets_diced_1": false, + "beets_diced_2": false, + "zucchini_diced": false, + "refrigerator_closed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 95.25, + "log_step": 270, + "evidence_zh": "观察：视频 94.75–98.5 s 机器人右手持刀前伸、下压和横移时，刀具停在中层靠后两块甜椒的前方，甜椒半块未被进一步切开。推断：后续切丁的刀具位置没有对准半块所在位置。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "观察：log step 269 的切丁脚本将右末端目标设到世界坐标Y=-2.073米；log step 276 对这次执行的本体反馈检查显示右末端在前伸/下切阶段仍约Y=-1.67米，且躯干姿态明显偏离种子姿态；视频 94.75–98.5 s 同样可见刀具未深入到半块所在后方。推断：控制执行未实现脚本要求的切丁位姿，导致刀刃没有到达目标；现有证据不足以细分为碰撞阻挡、逆解路径或跟踪控制问题。" + } + ], + "gap_zh": "无状态日志、无成功参考视频；头部视角的层板和腕部视角中的刀柄遮挡了后续切割时刀刃附近，无法确认甜菜尝试的实际接触，也无法确定甜椒切丁位姿偏差的具体机械原因。切丁终态由可见完整/半块形态及评分器1/9总分共同判断，不能从切半推定已生成丁状产物。" + }, + "summary_zh": "机器人打开了冰箱并取得削皮刀，将中层一个甜椒切成两半，但没有完成任何切丁节点，结尾冰箱仍敞开，DAG终态为1/7（仅开门事件保留）。首个未补救断点是第1个甜椒切丁：后续刀具未到达靠后的半块位置，日志中的目标与实际末端位置偏差支持控制层面的失败；层板与刀柄遮挡使具体阻挡或跟踪原因不能进一步确认。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "标签与视频、日志一致：开冰箱约23.5 s，甜椒仅切半（q_score=1/9 支持无丁状产物），断点为第1个甜椒切丁，根因停在“控制”并如实说明无法细分。未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:12:47Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-slicing-vegetables-i00-standard--tewruar/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-slicing-vegetables-i00-standard--tewruar/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "51ac77dabfd0d872d2402202029cac6a5815a3a4e608954bf4db389742050fe4", + "video_sha256": "d1179c026b594430b1a1e3fece4b7f0a3aee0f1134a614dab8b1d26842b309f6", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-privileged--5c3ditr.json b/phase2/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-privileged--5c3ditr.json new file mode 100644 index 0000000000000000000000000000000000000000..ac13aa80e3a5095fe4ee87005b921297a3fa1b29 --- /dev/null +++ b/phase2/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-privileged--5c3ditr.json @@ -0,0 +1,221 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sweeping-garage-i00-privileged--5c3ditr", + "taskKey": "behavior-1k/sweeping_garage", + "dag_sha256": "f3475aaaadbe01ae8e931c4ff7e60b637f0158bfa5997c7f098b427fd6767c9d", + "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": 3494, + "sim_steps": 3494, + "fallen": 0, + "final_reward": 1.0, + "q_score": 1.0, + "replay_wall_s": 1140.6, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 3, + "agent_resets": 0, + "agent_sim_steps": 10482, + "agent_records": 1, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-sweeping-garage-i00-privileged--5c3ditr/replay.mp4", + "duration_s": 116.467, + "fps": 30.0, + "frames": 3494, + "sha256": "7e665a63c03e7787d7c8e6af5930a6c0adf9da5c66509e201a65dcf0007da4e4" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "floor_clear_of_sand": { + "method": "visual", + "intervals": [ + [ + 75.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": 43, + "text_zh": "观察：视频0.0 s扫帚躺在车库地板上；视频3.0–5.0 s可见地板散落小斑点。log step 43 的初始系统输出列出13个沙子粒子，沙子初态未清除。" + }, + { + "t": 75.5, + "log_step": 76, + "text_zh": "观察：视频74.0、74.5、75.0 s机器人沿红车旁前进，地板前方可见小黑斑；视频75.5、76.0、76.5 s该处小斑不再可见，左夹爪持扫帚沿地面移动。log step 76 在控制步2221报告沙子2、灰尘1，在控制步2295报告沙子0、灰尘1及q_score=0.5。" + }, + { + "t": 104.6, + "log_step": 91, + "text_zh": "推断：本次交付来自连续录制，log step 99 保存3494行，log step 126、143 的两次新进程重放均在控制步3494成功且末态哈希一致，评分器亦报告 deterministic=1、sim_steps=3494；3494/30=视频116.467 s。因此以控制步/30定位，已用 log step 91 控制步3139对应视频104.63 s核对：视频104.0–106.0 s门板贴近相机、扫帚离地的阶段与该条输出吻合；此映射不使用agent工作时间。" + }, + { + "t": 75.5, + "log_step": 76, + "text_zh": "推断：上述粒子输出属于最终保存并成功重放的连续录制；沙子清完发生在控制步2221/30=视频74.03 s至2295/30=视频76.5 s之间，结合视频75.0–75.5 s斑点消失取视频75.5 s为近似首次完成时刻（约半秒精度，画面不能逐一核对全部沙粒）。此后各次输出沙子均为0，评分器最终success=1、q_score=1.0，视频终帧116.43 s未见相反证据，故保持至结尾。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频12.0–76.5 s左夹爪持扫帚，扫帚低贴地板随机器人经过红车旁和墙边；推断：结合该连续交付log step 61–76的沙粒减少至0，实际作用端为扫帚清扫部，对象为地板沙子；不另重复计握柄。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频18.0–76.5 s相机随机器人在红车周围平移、转向，机器人携扫帚清扫；轮式底盘在地板上移动并支承机器人。" + } + ] + }, + "floor_clear_of_dust": { + "method": "visual", + "intervals": [ + [ + 116.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": 43, + "text_zh": "观察：视频0.0 s扫帚尚在地板上，视频3.0–5.0 s地面有散落小斑点；log step 43 的初始系统输出列出12个灰尘粒子，灰尘初态未清除，画面中的微小斑点本身不能可靠区分沙子与灰尘。" + }, + { + "t": 104.6, + "log_step": 91, + "text_zh": "观察：视频96.0–108.0 s机器人在木门旁转向，门板遮住大部分前方地面，之后机器人后退绕行；log step 91 控制步3139及log step 96控制步3384仍报告沙子0、灰尘1，说明这一阶段灰尘尚未全部清完。" + }, + { + "t": 104.6, + "log_step": 91, + "text_zh": "推断：本次交付来自连续录制，log step 99 保存3494行，log step 126、143 的两次新进程重放均在控制步3494成功且末态哈希一致，评分器亦报告 deterministic=1、sim_steps=3494；3494/30=视频116.467 s。因此以控制步/30定位，已用 log step 91 控制步3139对应视频104.63 s核对：视频104.0–106.0 s门板贴近相机、扫帚离地的阶段与该条输出吻合；此映射不使用agent工作时间。" + }, + { + "t": 116.43, + "log_step": 98, + "text_zh": "观察：视频113.0–116.43 s左夹爪保持夹住扫帚柄，机器人向门旁移动，扫帚头在视频115.0–116.43 s从画面左侧沿地板扫过；最后一秒无放下扫帚动作。log step 98 的控制步3494输出success=True、sand=0、dust=0；评分器报告success=1、q_score=1.0、all_success=1。" + }, + { + "t": 116.4, + "log_step": 98, + "text_zh": "推断：控制步3384/30=视频112.8 s仍有1个灰尘粒子，最终控制步3494/30=视频116.467 s清零并自动结束，画面最后一次靠门扫动与之吻合，取视频116.4 s为完成锚点。末段门边清扫区局部遮挡，无法逐帧看清最后灰尘消失，但评分器成功决定该目标终值为真；未将agent最终自述当作完成依据。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频18.0–76.5 s机器人左夹爪持扫帚低贴地面清扫，视频115.0–116.43 s扫帚头再次沿门边地板移过；推断：结合已重放交付的灰尘粒子逐渐减少、log step 98清零，扫帚清扫部实际作用于灰尘；不重复计夹爪握柄。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频18.0–76.5 s机器人携扫帚绕红车移动，视频96.0–116.43 s在门旁转向、后退并再次前进清扫，轮式底盘在地板上移动并支承机器人。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 1.0, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": null, + "summary_zh": "机器人持扫帚并移动底盘清扫车库，沙子约于视频75.5 s清完，灰尘于视频116.4 s的末段清扫完成，最终2/2节点成立，评分器与两次新进程重放均成功。无状态日志，微小粒子种类及门边末次清扫区不能完全由画面分辨，完成时刻结合已核对控制步映射的连续交付输出推断，沙子时刻尤其为近似值。按DECISIONS.md P19采用本次运行的旧版目标成立即结束规则；DAG所述现行30控制步联合静置窗口未由本次记录证明，末帧仍持扫帚不妨碍本次受评目标。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "两个节点的终值、时间（沙子约视频75.5 s，落在控制步2221–2295对应的74.0–76.5 s窗口内；灰尘116.4 s，落在控制步3285–3494即视频109.5–116.5 s窗口内，由最后一次REACH扫帚包围盒覆盖灰尘坐标支持）与接触标注均有证据支持；控制步/30映射有说明且已核对，成功运行无失败层，未发现需要修改之处。", + "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": "2026-10-30T21:33:50Z", + "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-sweeping-garage-i00-privileged--5c3ditr/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sweeping-garage-i00-privileged--5c3ditr/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0e45c462520b64ef9c0d8948a90324a98763d1a938ea534b47affd8c64d9a6f5", + "video_sha256": "7e665a63c03e7787d7c8e6af5930a6c0adf9da5c66509e201a65dcf0007da4e4", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-privileged--qymvkze.json b/phase2/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-privileged--qymvkze.json new file mode 100644 index 0000000000000000000000000000000000000000..082817445a1a14d24986ce118cbb3b6f117658a7 --- /dev/null +++ b/phase2/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-privileged--qymvkze.json @@ -0,0 +1,196 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sweeping-garage-i00-privileged--qymvkze", + "taskKey": "behavior-1k/sweeping_garage", + "dag_sha256": "f3475aaaadbe01ae8e931c4ff7e60b637f0158bfa5997c7f098b427fd6767c9d", + "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": 8470, + "sim_steps": 8470, + "fallen": 0, + "final_reward": 1.0, + "q_score": 1.0, + "replay_wall_s": 1999.0, + "replay_timeout_s": 5435.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 3, + "agent_resets": 17, + "agent_sim_steps": 8470, + "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": 9.432, + "peak_memory_gb": 13.743, + "peak_processes": 48, + "peak_disk_gb": 1.106, + "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-sweeping-garage-i00-privileged--qymvkze/replay.mp4", + "duration_s": 282.333, + "fps": 30.0, + "frames": 8470, + "sha256": "56b1c0e4ab9a377e5d46af2ac69e1133e4a3f134cf5e68e7a91e16279f8757cf" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": null, + "peak": null, + "final": 2, + "nodes": { + "floor_clear_of_sand": { + "method": "visual", + "intervals": null, + "final": true, + "evidence": [ + { + "t": 22.5, + "log_step": null, + "text_zh": "观察：视频约 22.5 s，右夹爪围住扫帚柄，扫帚随机器人移动而离开原先的位置；后续视频 122.5–277.5 s，机器人保持持握并移动底盘，使扫帚沿地板扫过红车周围、桶旁及门边。该动作证明机器人实际尝试清扫，不能单凭扫帚经过判定全地板已清除沙子。" + }, + { + "t": 282.3, + "log_step": 118, + "text_zh": "观察：视频 280.8–282.3 s 仍可见机器人持扫帚沿地板移动，末帧只覆盖车旁的局部地板。log step 110 组装最终交付脚本，log step 114 启动该脚本；其生成输出在 log step 118 记录最后一趟开始前 sand=1、dust=2，结束时 sand=0、dust=0、success=True，并保存8470条动作；这与评分录像的连续清扫过程一致。" + }, + { + "t": 282.3, + "log_step": 122, + "text_zh": "推断：inputs/run.json 的评分器字段 success=1、all_success=1、q_score=1.0、deterministic=1，且 log step 122 对已交付文件的新进程重放同样成功，故清除沙子节点的末态为真。视频最后一秒及对照成功录像均不能独立显示全地板所有微小粒子；没有逐控制步的物质谓词或剩余粒子记录，不能可靠定位该物质首次全部清除的时刻，因此 intervals 保留 null，未把视频终点冒充首次完成时刻。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频约 22.5 s 及 122.5–277.5 s，机器人右夹爪持扫帚柄，使扫帚沿地板低位移动清扫沙子；作用端为扫帚、对象为地板污物，不重复计入夹爪握柄。微小粒子的具体接触部位无法逐一辨认。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 122.5–277.5 s 的连续视角变化显示轮式底盘支承机器人，在持扫帚清扫时往返移动、转向，覆盖车旁、墙边和门边地板。" + } + ] + }, + "floor_clear_of_dust": { + "method": "visual", + "intervals": null, + "final": true, + "evidence": [ + { + "t": 22.5, + "log_step": null, + "text_zh": "观察：视频约 22.5 s，右夹爪围住扫帚柄，扫帚随机器人移动而离开原先的位置；后续视频 122.5–277.5 s，机器人保持持握并移动底盘，使扫帚沿地板扫过红车周围、桶旁及门边。该动作证明机器人实际尝试清扫，不能单凭扫帚经过判定全地板已清除灰尘。" + }, + { + "t": 282.3, + "log_step": 118, + "text_zh": "观察：视频 280.8–282.3 s 仍可见机器人持扫帚沿地板移动，末帧只覆盖车旁的局部地板。log step 110 组装最终交付脚本，log step 114 启动该脚本；其生成输出在 log step 118 记录最后一趟开始前 sand=1、dust=2，结束时 sand=0、dust=0、success=True，并保存8470条动作；这与评分录像的连续清扫过程一致。" + }, + { + "t": 282.3, + "log_step": 122, + "text_zh": "推断：inputs/run.json 的评分器字段 success=1、all_success=1、q_score=1.0、deterministic=1，且 log step 122 对已交付文件的新进程重放同样成功，故清除灰尘节点的末态为真。视频最后一秒及对照成功录像均不能独立显示全地板所有微小粒子；没有逐控制步的物质谓词或剩余粒子记录，不能可靠定位该物质首次全部清除的时刻，因此 intervals 保留 null，未把视频终点冒充首次完成时刻。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频约 22.5 s 及 122.5–277.5 s，机器人右夹爪持扫帚柄，使扫帚沿地板低位移动清扫灰尘；作用端为扫帚、对象为地板污物，不重复计入夹爪握柄。微小粒子的具体接触部位无法逐一辨认。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 122.5–277.5 s 的连续视角变化显示轮式底盘支承机器人，在持扫帚清扫时往返移动、转向，覆盖车旁、墙边和门边地板。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 1.0, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": null, + "summary_zh": "机器人右夹爪持扫帚并移动底盘清扫车库，最终清除沙子、清除灰尘两项目标均为真（2/2），评分器与交付文件的新进程重放都报告成功。无状态日志，录像只显示局部地板且微小污物难以分类；最终脚本输出仅给出分段粒子计数，故保留两节点首次完成时间未知，末态依据评分结果确认。规则版本差异：本次任务文字规定两项谓词成立即自动结束，最终输出未报告当前DAG所述30控制步联合静置计数，按本次实际评分规则记成功，不额外推定该窗口已被验证。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "成功运行，两节点 final=true 由评分器 q_score=1.0 与交付重放支持；接触标注（手持工具推/扫＋底盘支撑）与画面一致，无失败层，无时钟转换问题。intervals 为 null 属保守但有说明的处理，不构成错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:22:56Z", + "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-sweeping-garage-i00-privileged--qymvkze/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sweeping-garage-i00-privileged--qymvkze/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2445bbb9db18818d7cee4d082b696ef180349cd3df3802e398498010b2c223b5", + "video_sha256": "56b1c0e4ab9a377e5d46af2ac69e1133e4a3f134cf5e68e7a91e16279f8757cf", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-privileged--wltsjxa.json b/phase2/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-privileged--wltsjxa.json new file mode 100644 index 0000000000000000000000000000000000000000..b3eba0d453c1086b1c31631eabf9d97a1631de55 --- /dev/null +++ b/phase2/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-privileged--wltsjxa.json @@ -0,0 +1,234 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sweeping-garage-i00-privileged--wltsjxa", + "taskKey": "behavior-1k/sweeping_garage", + "dag_sha256": "f3475aaaadbe01ae8e931c4ff7e60b637f0158bfa5997c7f098b427fd6767c9d", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 498, + "sim_steps": 498, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 587.5, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 47, + "agent_resets": 14, + "agent_sim_steps": 15464, + "agent_records": 2, + "agent_replays": 0, + "agent_cost_self_reported": 1 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-sweeping-garage-i00-privileged--wltsjxa/replay.mp4", + "duration_s": 16.6, + "fps": 30.0, + "frames": 498, + "sha256": "99854f6994c4e672c2d0cf06d1970c2520ca78bc9f60db6bbc943c1ee2b4a2fe" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "floor_clear_of_sand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 631, + "text_zh": "观察：视频 0.0–4.5 s 中机器人向地上的扫帚靠近，地面有散布的深色污物；log step 631 所读任务初态同时列出地板被沙子和灰尘覆盖。画面不能逐粒区分两种污物。" + }, + { + "t": 16.5, + "log_step": null, + "text_zh": "观察：视频 5.0–16.5 s 中左夹爪反复闭合、调整，扫帚仍平放原处，周围污物仍可见，没有持扫帚覆盖地板的清扫过程；评分器 reward.q_score=0.0，success=0，交付动作数为498。" + }, + { + "t": 16.5, + "log_step": null, + "text_zh": "推断：两项清洁目标初态均为假，评分器 q_score=0/2 决定末态“清除沙子”为假；结合视频全程未取得扫帚、未进行清扫，未见该目标曾经成立，故区间为空。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0.0–4.5 s 中轮式底盘移动、转向并支承机器人靠近扫帚，为两种污物的清扫取工具。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 5.0–16.5 s 中左夹爪在扫帚刷头附近反复闭合，扫帚没有被带离原位。推断：夹爪与扫帚的精确接触点被夹爪和刷毛遮挡，无接触日志，无法确定是否发生单侧触碰；不能标成已建立抓握或手持工具清扫。" + } + ] + }, + "floor_clear_of_dust": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 631, + "text_zh": "观察：视频 0.0–4.5 s 中机器人向地上的扫帚靠近，地面有散布的深色污物；log step 631 所读任务初态同时列出地板被沙子和灰尘覆盖。画面不能逐粒区分两种污物。" + }, + { + "t": 16.5, + "log_step": null, + "text_zh": "观察：视频 5.0–16.5 s 中左夹爪反复闭合、调整，扫帚仍平放原处，周围污物仍可见，没有持扫帚覆盖地板的清扫过程；评分器 reward.q_score=0.0，success=0，交付动作数为498。" + }, + { + "t": 16.5, + "log_step": null, + "text_zh": "推断：两项清洁目标初态均为假，评分器 q_score=0/2 决定末态“清除灰尘”为假；结合视频全程未取得扫帚、未进行清扫，未见该目标曾经成立，故区间为空。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0.0–4.5 s 中轮式底盘移动、转向并支承机器人靠近扫帚，为两种污物的清扫取工具。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 5.0–16.5 s 中左夹爪在扫帚刷头附近反复闭合，扫帚没有被带离原位。推断：夹爪与扫帚的精确接触点被夹爪和刷毛遮挡，无接触日志，无法确定是否发生单侧触碰；不能标成已建立抓握或手持工具清扫。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "floor_clear_of_sand", + "t": 5.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频约 5.0 s 左夹爪第一次在扫帚附近闭合，此后持续调整至视频 16.5 s，扫帚始终没有被夹起或拖动，清扫没有展开。推断：失败发生在清扫所需的取工具动作；该动作同时服务于沙子和灰尘两个并行节点，使用清除沙子节点作为共同失败的锚点，不能据此判定机器人先清沙子。" + }, + "unmet": { + "floor_clear_of_sand": false, + "floor_clear_of_dust": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 5.0, + "log_step": null, + "evidence_zh": "观察：视频 4.5–5.75 s 左夹爪接近扫帚刷头并闭合；视频 5.5–16.5 s 夹爪继续开合、调整，扫帚始终平放地面，未被带离原位，没有持工具清扫。推断：本次取工具尝试未建立可操纵扫帚的有效夹持，按 TAXONOMY_v2.md §3 对 failed grasp 的定义标为没建立接触；精确接触类型无法由画面确定，不能排除夹爪已触到刷毛，也没有先持住后滑落的证据。" + } + ], + "root_causes": [ + { + "cat": "交付", + "item": "交付操作出错", + "source_zh": "日志 / 评分器字段 / 视频", + "evidence_zh": "观察：log step 79 的生成脚本在 record_stop 后调用 save_trajectory 保存轨迹，log step 175 的文件清单显示已有 trajectory.npz（59416字节，修改时间11:14）；后续会话 log step 186、347、481、657 的工具输出显示 broom.n.01_1 已附着夹爪，且 log step 186、347 有持扫帚移动、粒子数下降的输出。log step 679–685 仍返回运行中 session_id=92098，log step 686 的 agent 自述仍在重试并将在结束时保存；run.json 的 wall_s=time_limit_s=14400、reward.agent_replays=0、deterministic=1、instance_exact=1、n_actions=498。视频 0.0–16.5 s 只含靠近及取扫帚尝试，未出现这些会话清扫动作。推断：已有保存文件未经回放验收，后续会话清扫未成为交付中经验证的内容，属于保存与验收衔接的交付操作出错（03 Step 3.3、DECISIONS.md N10）；不能继续用早期失败抓法解释全部交付结果，也不据此归咎评分器。" + } + ], + "gap_zh": "无状态日志及接触对，画面不能逐粒区分沙子与灰尘，也不能确定夹爪是否单侧触碰刷毛；两节点末态由评分器总分约束。会话中多次重置后的成功持握与清扫输出不计入交付进度；log step 678 自述只剩各一粒、log step 686 自述还会保存，均非已完成保存或交付成功的证明。按 DECISIONS.md N10 记录已有文件未回放验收的交付问题，但日志没有最终文件哈希或完整保存回执，无法精确确认498步交付文件来自哪次录制，不能断言最后一次录制已保存、旧文件被覆盖或具体截断原因。" + }, + "summary_zh": "交付录像中机器人靠近扫帚并反复尝试左手夹持，扫帚始终留在地面，清除沙子和清除灰尘均未达成，末态为0/2；现象是未建立有效夹持，不能据此断言没有任何触碰。后续会话输出已能持扫帚清扫，但已有保存文件未经回放验收（agent_replays=0），交付录像未包含会话清扫，根因改为交付操作出错。置信度由7降为6：无状态及接触日志，且最终文件与各次录制的精确对应仍不明，不能保留原抓取设计根因。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点末态（0/2）、断点位置与时间基本可信，但根因有问题：会话日志显示同一抓取设计（eef 高度约0.10 m）在 log step 475/651 已稳定夹住扫帚并清扫到只剩各1粒，说明抓取与接触设计并非交付录像失败的原因；交付录像只有498步（16.6 s）的取扫帚尝试，agent 在14400 s 限时前一直在重跑，reward.agent_replays=0，从未保存并回放验证最终轨迹。标注把交付差异当成抓取设计问题，缺 交付·交付操作出错。另外引用的 log step 91 并不含所述输出。", + "n_issues": 3, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点末态0/2由 q_score=0 约束，视频 0–16.5 s 只见靠近并在扫帚刷头附近反复闭合夹爪、扫帚始终未动，与标注一致；引用的 log step（按 id：79、175、186、347、481、657、679–686、631）均存在且内容与所述相符；交付根因与第1轮意见一致且 gap_zh 已写明限度。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": "2026-10-30T21:46:29Z", + "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-sweeping-garage-i00-privileged--wltsjxa/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sweeping-garage-i00-privileged--wltsjxa/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sweeping-garage-i00-privileged--wltsjxa/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-sweeping-garage-i00-privileged--wltsjxa/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7645b59174f805cbee501ce03b59f1932c0e341c97666d3bc67c1fc5e0bc6659", + "video_sha256": "99854f6994c4e672c2d0cf06d1970c2520ca78bc9f60db6bbc943c1ee2b4a2fe", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-privileged--x3ffrkr.json b/phase2/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-privileged--x3ffrkr.json new file mode 100644 index 0000000000000000000000000000000000000000..1c26233b6ac6610b677dcf23eadecb79deccebc9 --- /dev/null +++ b/phase2/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-privileged--x3ffrkr.json @@ -0,0 +1,236 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sweeping-garage-i00-privileged--x3ffrkr", + "taskKey": "behavior-1k/sweeping_garage", + "dag_sha256": "f3475aaaadbe01ae8e931c4ff7e60b637f0158bfa5997c7f098b427fd6767c9d", + "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": 3249, + "sim_steps": 3249, + "fallen": 1, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 1084.2, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 15, + "agent_resets": 0, + "agent_sim_steps": 12319, + "agent_records": 6, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-sweeping-garage-i00-privileged--x3ffrkr/replay.mp4", + "duration_s": 108.3, + "fps": 30.0, + "frames": 3249, + "sha256": "61d84786528a5d97b6d4eae75a65f6a89038683450fbef372145695932f8c60c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "floor_clear_of_sand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 9.2, + "log_step": 306, + "text_zh": "观察：视频 0–6 s 扫帚起初躺在地板上，视频 7–9.2 s 左夹爪已夹住扫帚柄，扫帚随后随机器人移动；视频 12–28 s、44–90 s 可见机器人持扫帚穿行车库和红车周围。log step 306、308 的 genB 输出记录清扫中沙子和灰尘数量逐渐减少。" + }, + { + "t": 97.5, + "log_step": 313, + "text_zh": "推断：固定初态的 log step 147 把坐标约 (-9.26, 3.19) 识别为沙子；交付 genB 的 log step 313 显示控制步 2926 仍以此点为目标。视频 97–99 s 机器人在门边持扫帚转动后视野明显翻转，视频 108.2 s 未恢复；结合 log step 310 的末尾沙子剩余1个和评分器结果，清除沙子也未完成。" + }, + { + "t": 108.2, + "log_step": 346, + "text_zh": "观察：log step 310 的 genB 在控制步 3249 保存轨迹，输出 particles (1, 1)、success False、fallen True；log step 321 备份该文件，log step 344、346 核实并恢复这份 3249 行文件作为最终交付。评分器 n_actions=3249、sim_steps=3249、deterministic=1、q_score=0、fallen=1；视频 97–108.2 s 出现明显翻转，末帧朝向天花板，未恢复清扫。" + }, + { + "t": 108.2, + "log_step": 310, + "text_zh": "推断：两个清洁目标初始均不成立，评分器 q_score=0 因而把两节点的最终值均限定为 false；视频没有相反证据。交付的 genB 在各段输出中始终有两类残留，末尾各余1个；结合持续清扫、未见再撒布污物的过程，判断本次两项全清条件均未曾成立，区间记为空。局部地板显得干净不能替代全车库清除。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 9.2 s 左夹爪夹住扫帚柄，视频 12–28 s、44–90 s 扫帚随底盘移动并反复被调整到近地位置，清扫地板上的污物；推断：结合交付 genB 的两类粒子数量下降，扫帚实际作用于沙子和灰尘。夹爪握柄属于同一工具链，不重复计。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0–7 s 底盘接近扫帚，随后持扫帚在红车周围和门边多次移动、转向，地板相对相机持续位移；底盘在清扫中承担移动与支承。" + } + ] + }, + "floor_clear_of_dust": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 9.2, + "log_step": 306, + "text_zh": "观察：视频 0–6 s 扫帚起初躺在地板上，视频 7–9.2 s 左夹爪已夹住扫帚柄，扫帚随后随机器人移动；视频 12–28 s、44–90 s 可见机器人持扫帚穿行车库和红车周围。log step 306、308 的 genB 输出记录清扫中沙子和灰尘数量逐渐减少。" + }, + { + "t": 34.0, + "log_step": 306, + "text_zh": "推断：log step 147 对固定初态的粒子检查把门边坐标约 (-9.26, 4.79) 识别为灰尘；交付 genB 的 log step 306 在控制步 687 开始接近该目标。视频 29–39 s 机器人在木质车库门前反复转动和抬压扫帚，扫帚贴到门板、离开地面，视频 43–44 s 转离；末尾仍有灰尘残留，结合固定初态、后续目标和 agent 在 log step 353 的残留位置自述，判断这次门边灰尘清扫失败后未补成。身份和残留位置为上下文推断，非画面逐粒辨认。" + }, + { + "t": 108.2, + "log_step": 346, + "text_zh": "观察：log step 310 的 genB 在控制步 3249 保存轨迹，输出 particles (1, 1)、success False、fallen True；log step 321 备份该文件，log step 344、346 核实并恢复这份 3249 行文件作为最终交付。评分器 n_actions=3249、sim_steps=3249、deterministic=1、q_score=0、fallen=1；视频 97–108.2 s 出现明显翻转，末帧朝向天花板，未恢复清扫。" + }, + { + "t": 108.2, + "log_step": 310, + "text_zh": "推断：两个清洁目标初始均不成立，评分器 q_score=0 因而把两节点的最终值均限定为 false；视频没有相反证据。交付的 genB 在各段输出中始终有两类残留，末尾各余1个；结合持续清扫、未见再撒布污物的过程，判断本次两项全清条件均未曾成立，区间记为空。局部地板显得干净不能替代全车库清除。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 9.2 s 左夹爪夹住扫帚柄，视频 12–28 s、44–90 s 扫帚随底盘移动并反复被调整到近地位置，清扫地板上的污物；推断：结合交付 genB 的两类粒子数量下降，扫帚实际作用于沙子和灰尘。夹爪握柄属于同一工具链，不重复计。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0–7 s 底盘接近扫帚，随后持扫帚在红车周围和门边多次移动、转向，地板相对相机持续位移；底盘在清扫中承担移动与支承。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "floor_clear_of_dust", + "t": 34.0, + "log_step": 306, + "where": "操作中", + "evidence_zh": "推断：首个未补成的清扫环节是门边灰尘，而非末段跌倒时才开始失败。交付 genB 的 log step 306 在控制步 687 选中约 (-9.26, 4.79) 的目标，固定初态 log step 147 将该点识别为灰尘；视频 29–39 s 机器人持扫帚贴着木质车库门反复调整，视频 43–44 s 离开该处，之后也未完成灰尘全清。log step 310 的同一轨迹末尾仍余沙子、灰尘各1个，最终评分器 q_score=0。视频 97–108.2 s 的后续翻倒没有修复这一先前失败；视频 34 s 是门前受阻过程的粗略导航锚点。" + }, + "unmet": { + "floor_clear_of_sand": false, + "floor_clear_of_dust": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 34.0, + "log_step": 306, + "evidence_zh": "观察：视频 29–39 s 机器人把所持扫帚带到木质车库门前；视频 34–39 s 扫帚的柄、刷头先后贴压门板附近，刷头被抬离地面，机器人反复调整，未形成顺畅的沿地清扫。推断：门板对扫帚形成阻挡；结合 log step 306 的门边灰尘目标及 log step 310 的灰尘残留，该处清扫未完成。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：门边工具与底盘的协调控制未能维持有效近地清扫。生成交付 genB 的 log step 302 代码依扫帚包围盒偏置旋转底盘、依次缩短接近距离，工具离地时恢复同一组持握关节角，仍不到位时再用手臂平移；视频 29–39 s 实际出现扫帚贴门、抬起和反复调整，随后离开而残留未清（log step 310）。证据支持操作控制未处理好门边阻挡，尚不足以区分接触布局、轨迹或反馈控制的具体子类。" + } + ], + "gap_zh": "没有状态日志；头部及腕部相机受机体遮挡，微小污物难以逐粒区分，不能独立用末帧判定全车库清洁或精确的工具—粒子接触。节点终值由评分器总分限定，未达区间、门边残留身份与首个未修复步骤结合已核实交付的 genB 日志和固定初态推断；不将其他试验中的清沙成功用于本次。控制步时钟为30赫兹：log step 306 的控制步276约为视频9.2 s，已与所见夹持核对，3249步对应视频108.3 s；仅用于核对所属轨迹及定位搜索，标签锚点来自实际帧。缺少接触对、受力、关节限位和底盘支承数据，无法进一步确定门边受阻及后续翻倒的精确机制。" + }, + "summary_zh": "本次交付轨迹中机器人夹持扫帚移动清扫，但沙子和灰尘均未全部清除，节点最终为0/2；交付 genB 的末尾输出各余1个，评分器 q_score=0。首个未补成的环节为视频约34 s 的门边灰尘清扫：扫帚受门板阻挡、反复抬转后离开，门边工具与底盘控制未能完成有效覆盖；视频约97–99 s 继续清沙时又翻倒，直到视频108.2 s 未恢复。无状态日志，粒子类别、残留位置和未达区间需结合已核实交付日志推断，接触及失稳的具体控制子类仍不确定。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "标签与证据基本一致：两节点终值 false 由 q_score=0 限定；交付 genB 日志显示控制步 687–1407（视频约 23–47 s）灰尘数停在 7 不降，与视频 29–39 s 扫帚抵木门反复调整相符，断点定在门边灰尘合理；视频 97–108 s 翻倒与日志 upz 1.00→-0.22 一致，未被当作断点。控制步 276≈视频 9.2 s 已核对。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:26:19Z", + "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-sweeping-garage-i00-privileged--x3ffrkr/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sweeping-garage-i00-privileged--x3ffrkr/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3775686796c7fa1a07e98730962e90411b4d4502577d334bce16ea8979ffde3e", + "video_sha256": "61d84786528a5d97b6d4eae75a65f6a89038683450fbef372145695932f8c60c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-privileged--xamrimn.json b/phase2/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-privileged--xamrimn.json new file mode 100644 index 0000000000000000000000000000000000000000..2b9953416ea9436e1b15eec4beca48cf86bb63bf --- /dev/null +++ b/phase2/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-privileged--xamrimn.json @@ -0,0 +1,228 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sweeping-garage-i00-privileged--xamrimn", + "taskKey": "behavior-1k/sweeping_garage", + "dag_sha256": "f3475aaaadbe01ae8e931c4ff7e60b637f0158bfa5997c7f098b427fd6767c9d", + "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": 2178, + "sim_steps": 2178, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 892.9, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 65, + "agent_resets": 0, + "agent_sim_steps": 6373, + "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": 9.764, + "peak_memory_gb": 8.709, + "peak_processes": 19, + "peak_disk_gb": 15.211, + "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-sweeping-garage-i00-privileged--xamrimn/replay.mp4", + "duration_s": 72.6, + "fps": 30.0, + "frames": 2178, + "sha256": "7efc64da6a5a2fe5f81b6fcd953dd40b3bf376e66056f16d83e2f419593bc604" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "floor_clear_of_sand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.0, + "log_step": 547, + "text_zh": "观察：视频 0–5.5 s 中扫帚从地面被机器人左夹爪拿起，视频 6–37 s 中机器人持扫帚随底盘移动清扫红车周围地面；视频 38–50 s 中继续沿车旁通道移动。log step 547 的最终交付脚本交错针对沙子和灰尘清扫，主地板循环仅选取 x≥-8.8 的粒子。" + }, + { + "t": 72.566, + "log_step": 559, + "text_zh": "观察：视频 69–72.566 s 中机器人仍持扫帚，木质车库门保持关闭；画面只显示局部地板。log step 559 是最终生成任务的输出，记录保存2178条动作，末态沙子剩余1个，位置为(-9.258, 3.192)，并报告 success=False、q_score=0；与评分器2178步、deterministic=1、q_score=0一致。" + }, + { + "t": 72.566, + "log_step": 559, + "text_zh": "推断：两项目标初态均为假，评分器 q_score=0 限定两者末态均为假；结合最终交付脚本只删除污物、各阶段输出始终留有沙子，以及视频中没有开门后清扫门外区域的过程，判定本节点全段未成立。不能用局部地面看似干净代替全地板清除。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "机器人左夹爪持扫帚，扫帚作用端沿地板移动清扫沙子；视频 6–37 s 可见持工具贴近地面的扫动，log step 559 的对应录制输出确认该物质数量减少。夹爪握工具不另重复计入。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 6–50 s 及视频 51–69 s 中轮式底盘移动，承载机器人并携带扫帚覆盖红车周围、通道和墙边区域。" + } + ] + }, + "floor_clear_of_dust": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.0, + "log_step": 547, + "text_zh": "观察：视频 0–5.5 s 中扫帚从地面被机器人左夹爪拿起，视频 6–37 s 中机器人持扫帚随底盘移动清扫红车周围地面；视频 38–50 s 中继续沿车旁通道移动。log step 547 的最终交付脚本交错针对沙子和灰尘清扫，主地板循环仅选取 x≥-8.8 的粒子。" + }, + { + "t": 72.566, + "log_step": 559, + "text_zh": "观察：视频 69–72.566 s 中机器人仍持扫帚，木质车库门保持关闭；画面只显示局部地板。log step 559 是最终生成任务的输出，记录保存2178条动作，末态灰尘剩余1个，位置为(-9.257, 4.788)，并报告 success=False、q_score=0；与评分器2178步、deterministic=1、q_score=0一致。" + }, + { + "t": 72.566, + "log_step": 559, + "text_zh": "推断：两项目标初态均为假，评分器 q_score=0 限定两者末态均为假；结合最终交付脚本只删除污物、各阶段输出始终留有灰尘，以及视频中没有开门后清扫门外区域的过程，判定本节点全段未成立。不能用局部地面看似干净代替全地板清除。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "机器人左夹爪持扫帚，扫帚作用端沿地板移动清扫灰尘；视频 6–37 s 可见持工具贴近地面的扫动，log step 559 的对应录制输出确认该物质数量减少。夹爪握工具不另重复计入。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "视频 6–50 s 及视频 51–69 s 中轮式底盘移动，承载机器人并携带扫帚覆盖红车周围、通道和墙边区域。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "floor_clear_of_sand", + "t": 50.0, + "log_step": 559, + "where": "操作中", + "evidence_zh": "推断：两种污物交错清扫；取先结束针对性清扫且未修复的“清除沙子”为断点。视频约 50–51 s 中机器人结束通道方向的持帚移动并转向，随后视频 53–66 s 在另一侧墙边扫动；log step 547 表明通道阶段后只针对东侧灰尘，log step 559 对应输出在通道返回后 sand=1、dust=2，末态仍 sand=1、dust=1。视频 72.566 s 前没有返回补扫剩余沙子的过程；视频 50 s 是粗略导航锚点，并非精确粒子事件时刻。" + }, + "phenomena": [ + { + "cat": "其他", + "item": "清洁不彻底", + "t": 50.0, + "log_step": 559, + "evidence_zh": "推断：视频 6–50 s 可见机器人持扫帚在车库内实际清扫，末尾视频 69–72.566 s 仍留在关闭的车库门内；log step 559 的最终录制输出显示沙子及灰尘各剩1个，评分器两项清洁目标均未满足。这里的缺陷是清扫后仍有残留，无法从画面确认是一次接触未建立、滑脱或碰撞。", + "note_zh": "按 CASES.md OPEN-19 / DECISIONS.md D25(a) 使用候选“清洁不彻底”：已清扫而未完全清除的结果没有专门现象值，不用“没尝试”，也不虚构具体接触故障。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "log_step": 547, + "evidence_zh": "推断：log step 547 的最终交付脚本将主地板粒子限定为 x≥-8.8，后两阶段只补扫通道与东侧，完全没有处理位于 x≈-9.257 的两粒残留的路线；log step 559 输出确认这两粒被保留并直接保存轨迹。agent 在 log step 573 自述它们在门外且门被物理锁死，因此只清理23/25；但成功参考录像视频 94–100 s 可见门扇打开，不能据这些会话测试排除全部可行路线。归因为最终清扫覆盖方案遗漏已知残留，而非据零分猜测控制故障。", + "source_zh": "日志" + } + ], + "gap_zh": "本运行没有状态日志；头部及腕部画面只覆盖局部地板，门外两粒残留在本片中无法直接辨认并区分物质，因此末态依评分总分和与2178条交付一致的录制输出共同判断，未达时间区间依覆盖路线推断。两种污物交错清扫，断点按先结束针对性清扫的沙子节点选取，视频约 50 s 的阶段边界为粗略锚点。agent 所称门锁死仅有会话测试和自述支持，未证明所有合法路线均不可行；参考视频仅用于对照，不作为本运行已开门的证据。", + "unmet": { + "floor_clear_of_sand": false, + "floor_clear_of_dust": false + } + }, + "summary_zh": "机器人左夹爪拿起扫帚并随底盘移动清扫红车周围、通道及墙边，最终录制输出报告清除23/25个粒子，但沙子和灰尘各剩1个，两个节点均未完成。断点取通道清扫后未再修复的清除沙子：最终方案排除了已知的门外残留区域，随后仅补扫东侧灰尘并保存轨迹。相机不能直接辨认门外残留，节点末态由评分器 q_score=0 与对应交付输出共同确定；agent 关于门锁死的解释未获充分证实。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "标签与视频、log step 547/559/573 及评分器 q_score=0 一致：两节点末态为假、断点选沙子节点、无时钟换算。残留两粒在门外、规划遗漏的归因有日志支持，未发现需要改动的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:25:41Z", + "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-sweeping-garage-i00-privileged--xamrimn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sweeping-garage-i00-privileged--xamrimn/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1b8a091e0e6d87cc40a297d82d0c879d1e8d4707c9f9413722974cc775d8f89b", + "video_sha256": "7efc64da6a5a2fe5f81b6fcd953dd40b3bf376e66056f16d83e2f419593bc604", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-privileged--z2ejyy7.json b/phase2/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-privileged--z2ejyy7.json new file mode 100644 index 0000000000000000000000000000000000000000..d3adb7fdd3c14736722553aaa11def513fa2259c --- /dev/null +++ b/phase2/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-privileged--z2ejyy7.json @@ -0,0 +1,206 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sweeping-garage-i00-privileged--z2ejyy7", + "taskKey": "behavior-1k/sweeping_garage", + "dag_sha256": "f3475aaaadbe01ae8e931c4ff7e60b637f0158bfa5997c7f098b427fd6767c9d", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 9097, + "sim_steps": 9097, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 1740.7, + "replay_timeout_s": 5748.5, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 26, + "agent_resets": 1, + "agent_sim_steps": 46375, + "agent_records": 6, + "agent_replays": 1, + "agent_cost_self_reported": 1 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-sweeping-garage-i00-privileged--z2ejyy7/replay.mp4", + "duration_s": 303.233, + "fps": 30.0, + "frames": 9097, + "sha256": "c79db053a60f54e76cc7e377b46549115c503017c03cff349bd5873816ec1e28" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "floor_clear_of_sand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.0, + "log_step": null, + "text_zh": "观察：本次视频 0–8 s 扫帚原在地面，视频 9–14 s 左夹爪夹住扫帚柄并将其带离原位；视频 14–19 s 腕部视角可见持握的扫帚和地板上的零散小斑点。机器人随后持扫帚移动，在墙边、木质车库门前及红车周围反复降低和移动扫帚，已实际开展清扫；画面不能逐粒区分沙子与灰尘。" + }, + { + "t": 104.0, + "log_step": 224, + "text_zh": "推断：log step 224 的最终脚本把 x≤−8.9 的门后粒子从清扫目标中排除，禁用门边宏动作；本次视频 96–144 s 的密集检查显示机器人在关闭的车库门内侧持扫帚作业并转走，没有打开门接近门后地带。结合初始残留粒子和最终仍有同种物质的输出，没有依据认定沙子曾被全部清除，故达成区间为空。" + }, + { + "t": 303.2, + "log_step": 236, + "text_zh": "推断：评分器 reward.q_score=0.0；DAG 的两个目标字面量均初始为假，因而该总分决定清除沙子的最终值为假，而不是仅凭总分推断未尝试。log step 233 的交付生成输出报告 sand/dust 剩余数为 1/1、两个 covered 均为 True，保存 9097 动作；log step 236 的新进程重放同为 9097 步、q_score=0.0 且末态哈希相同。视频 302.2–303.2 s 机器人仍持扫帚，最后局部地板画面不能反驳该终态结果。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 14–19 s、96–110 s 等腕部画面显示机器人左夹爪持扫帚，在地板污点区域降低并移动扫帚清扫；作用端为扫帚，对象为含沙子和灰尘的地板区域。两种细小污物不能逐粒辨认，接触按共同清扫过程记录，未声称扫到最后的门后残留。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：本次视频 0–8 s 机器人移动接近扫帚，随后持扫帚在红车周围、墙边与车库门内侧之间行驶（如视频 96–144 s）；轮式底盘在移动清扫过程中支承机器人。" + } + ] + }, + "floor_clear_of_dust": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.0, + "log_step": null, + "text_zh": "观察：本次视频 0–8 s 扫帚原在地面，视频 9–14 s 左夹爪夹住扫帚柄并将其带离原位；视频 14–19 s 腕部视角可见持握的扫帚和地板上的零散小斑点。机器人随后持扫帚移动，在墙边、木质车库门前及红车周围反复降低和移动扫帚，已实际开展清扫；画面不能逐粒区分沙子与灰尘。" + }, + { + "t": 104.0, + "log_step": 224, + "text_zh": "推断：log step 224 的最终脚本把 x≤−8.9 的门后粒子从清扫目标中排除，禁用门边宏动作；本次视频 96–144 s 的密集检查显示机器人在关闭的车库门内侧持扫帚作业并转走，没有打开门接近门后地带。结合初始残留粒子和最终仍有同种物质的输出，没有依据认定灰尘曾被全部清除，故达成区间为空。" + }, + { + "t": 303.2, + "log_step": 236, + "text_zh": "推断：评分器 reward.q_score=0.0；DAG 的两个目标字面量均初始为假，因而该总分决定清除灰尘的最终值为假，而不是仅凭总分推断未尝试。log step 233 的交付生成输出报告 sand/dust 剩余数为 1/1、两个 covered 均为 True，保存 9097 动作；log step 236 的新进程重放同为 9097 步、q_score=0.0 且末态哈希相同。视频 302.2–303.2 s 机器人仍持扫帚，最后局部地板画面不能反驳该终态结果。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 14–19 s、96–110 s 等腕部画面显示机器人左夹爪持扫帚，在地板污点区域降低并移动扫帚清扫；作用端为扫帚，对象为含沙子和灰尘的地板区域。两种细小污物不能逐粒辨认，接触按共同清扫过程记录，未声称扫到最后的门后残留。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：本次视频 0–8 s 机器人移动接近扫帚，随后持扫帚在红车周围、墙边与车库门内侧之间行驶（如视频 96–144 s）；轮式底盘在移动清扫过程中支承机器人。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "floor_clear_of_sand", + "t": null, + "log_step": 224, + "where": "操作中", + "evidence_zh": "推断：清除沙子已开展但始终未完成，最后清扫动作也针对沙子；本次视频 96–144 s 机器人在关闭的车库门内侧清扫后离开，视频末尾仍未处理门后区域。log step 224 的交付脚本主动排除门后粒子，log step 233 报告最后一次沙子清扫后仍剩 1 粒沙子和 1 粒灰尘而保存轨迹，log step 236 重放确认失败。断点取清除沙子；清除灰尘同样未完成。无法从视频定位跳过门后残留的唯一发生瞬间，因此 t 留空，log step 224 仅定位规划证据。" + }, + "unmet": { + "floor_clear_of_sand": false, + "floor_clear_of_dust": false + }, + "phenomena": [], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "log_step": 224, + "evidence_zh": "推断：log step 223 将闭门后的污物认定为不可达，log step 224 据此把门板作为固定障碍加入规划、设置 WEST_DONE=True 并仅选择 x>−8.9 的粒子；log step 233 记录因仅剩门后两粒而结束并保存。错误在于把当前闭门条件当成不能改变的可达性限制，选择只清扫门内区域的策略。本次视频 96–144 s 显示门保持关闭；作为可行路线对照，成功参考视频 82–85 s 清楚显示机器人持扫帚推动车库门、门扇打开，参考视频 86–116 s 继续在门口清扫。这一对照只证明开门路线存在，不用于给本次运行计进度。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有状态日志；头部与腕部相机只覆盖局部地板，无法直接辨认最后一粒沙子和一粒灰尘，也不能给出逐粒实际接触对。最终两个节点为假由评分器总分决定；全程未达成的区间结合脚本明确排除门后初始粒子、视频未开门及交付末态输出推断。会话早期的门板卡阻和逆解失败不等于本次交付轨迹的失败现象；本次画面没有显示对门后残留建立接触的尝试，无法据此区分接触未建立、受阻或其他具体物理现象，因此现象层留空。" + }, + "summary_zh": "机器人成功拿起扫帚并在车库地板多处清扫，但清除沙子、清除灰尘两个节点均未达成，最终为 0/2；交付生成记录报告两种污物各剩一粒，新进程重放及评分器均确认 q_score=0。agent 将闭门后的污物判为不可达，并在最终脚本中跳过这些目标，没有采用成功参考视频展示的开门清扫路线，断点归于清除沙子。无状态日志，门后残留不可直接看清，具体物理失败现象留空。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "两个节点终值为假由评分器 q_score=0 决定且区间为空，断点（清除沙子）、根因（推理/规划，log step 224 脚本排除门后粒子并加门板障碍，对照视频显示开门路线可行）和空现象层加 gap_zh 均有证据支持；log step 编号为 run.json 的 id，均存在，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": "2026-10-30T21:31:48Z", + "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-sweeping-garage-i00-privileged--z2ejyy7/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sweeping-garage-i00-privileged--z2ejyy7/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "4aa7d054300d8b25de677ef71756300068c5607b6e7ed9db7dfaeff96cbfa7c8", + "video_sha256": "c79db053a60f54e76cc7e377b46549115c503017c03cff349bd5873816ec1e28", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-standard--m49by6v.json b/phase2/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-standard--m49by6v.json new file mode 100644 index 0000000000000000000000000000000000000000..f41763d67418772a62f157888348611d75d7c6a9 --- /dev/null +++ b/phase2/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-standard--m49by6v.json @@ -0,0 +1,208 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sweeping-garage-i00-standard--m49by6v", + "taskKey": "behavior-1k/sweeping_garage", + "dag_sha256": "f3475aaaadbe01ae8e931c4ff7e60b637f0158bfa5997c7f098b427fd6767c9d", + "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": 4331, + "sim_steps": 4330, + "physics_steps": 17320, + "steps": 4331, + "elapsed_s": 3299.2, + "video_rendered": 1, + "gpu_lost": 0, + "q_score": 0.0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-sweeping-garage-i00-standard--m49by6v/replay.mp4", + "duration_s": 142.633, + "fps": 30.0, + "frames": 4279, + "sha256": "0126d7c2881467a49791b23ac8c6653e8f22491402b5cc329a000111f8b9c610" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "floor_clear_of_sand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 的头部视角中，扫帚躺在木制车库门前，灰色地板上有分散的小斑点；随后机器人转动底盘和躯干观察环境。" + }, + { + "t": 124.0, + "log_step": null, + "text_zh": "观察：已从视频开头至结尾每约4秒检查画面，并加密检查视频 0–22 s、118–142.6 s；未见机器人持扫帚扫地。视频约 123–126 s 短暂恢复站姿后，扫帚仍躺在门前；视频约 129–132 s 地面仍有可见斑点，视频 142.6 s 末帧相机已朝向天空。" + }, + { + "t": 142.6, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，两个目标均非初始成立，因此最终没有任何一个清洁字面量成立，清除沙子的 final=false。live_matches_replay=0，故此总分来自现场回合；录像未出现清扫或清洁完成的相反证据。全程未见有效清扫，结合初态残留和末态总分，判定无达成区间，不能把局部地面或扫帚进入视野当作完成。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频约 0–9 s 及 123–130 s，机器人在车库地板上转动、移动底盘，进行两项清洁共同的环境与工具搜索；轮式底盘承重。未见夹爪握住扫帚或扫帚受控清扫污物，不添加手持工具接触。" + } + ] + }, + "floor_clear_of_dust": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 的头部视角中，扫帚躺在木制车库门前，灰色地板上有分散的小斑点；随后机器人转动底盘和躯干观察环境。" + }, + { + "t": 124.0, + "log_step": null, + "text_zh": "观察：已从视频开头至结尾每约4秒检查画面，并加密检查视频 0–22 s、118–142.6 s；未见机器人持扫帚扫地。视频约 123–126 s 短暂恢复站姿后，扫帚仍躺在门前；视频约 129–132 s 地面仍有可见斑点，视频 142.6 s 末帧相机已朝向天空。" + }, + { + "t": 142.6, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，两个目标均非初始成立，因此最终没有任何一个清洁字面量成立，清除灰尘的 final=false。live_matches_replay=0，故此总分来自现场回合；录像未出现清扫或清洁完成的相反证据。全程未见有效清扫，结合初态残留和末态总分，判定无达成区间，不能把局部地面或扫帚进入视野当作完成。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频约 0–9 s 及 123–130 s，机器人在车库地板上转动、移动底盘，进行两项清洁共同的环境与工具搜索；轮式底盘承重。未见夹爪握住扫帚或扫帚受控清扫污物，不添加手持工具接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": 9.0, + "log_step": null, + "where": "探索", + "evidence_zh": "观察：视频约 8.5–10.0 s，机器人在转动并观察地面时，腕部与头部视角中的墙、门、红车开始大幅倾斜；视频 18–22 s 已明显侧倒，随后长期以倾斜姿态尝试恢复，未进入持扫帚清扫。推断：失败发生在两项清洁共用的找工具、扫描环境阶段；没有证据表明机器人当时已选择只处理沙子或只处理灰尘，故无法唯一指定两个 DAG 节点中的一个，ref 填 unknown。后来的起身没有完成任一清洁目标，未修复本次失败。" + }, + "unmet": { + "floor_clear_of_sand": false, + "floor_clear_of_dust": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 9.0, + "log_step": null, + "evidence_zh": "观察：视频约 9–22 s 机器人视角从观察地面变为明显侧斜，红车与门近乎横置；视频 26–118 s 的多数检查帧维持严重倾斜并反复转动，视频约 123–126 s 才短暂站稳，视频约 129–131 s 再次失衡，随后恢复动作中继续翻滚，视频 142.6 s 相机朝向天空。机器人未能保持清扫所需的直立支撑。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": null, + "log_step": 75, + "source_zh": "日志", + "evidence_zh": "推断：agent 的移动与恢复控制未能维持机体稳定。log step 75 的扫描脚本在固定低头躯干姿态下连续执行六组底盘转动，没有根据底座抬高或倾斜中止；log step 76 的服务本体读数中底座高度从0.005米逐组升至0.308米，脚本仍完成全部转动。log step 80 随后的连续后退使底座升到约0.40米且姿态进一步偏离直立；录像视频约 9–22 s 独立显示失衡，之后大量恢复动作未转化为清扫。证据支持移动控制失稳，但不足以区分具体的接触几何、轨迹求解或反馈环节，故停在“控制”。日志仅作控制机制证据，不将其读数按 agent 时间换算到视频。" + } + ], + "gap_zh": "无状态日志或逐物质剩余粒子记录，画面中的微小斑点不能可靠区分沙子与灰尘；两节点末值结合初态和现场 q_score=0 推断。reward.live_matches_replay=0、deterministic=0，不能将现场日志中的坐标、倾角或控制步直接当作录像的精确状态与时间；节点区间和失衡时间以实际检查的录像为准。底盘附近接触被机体遮挡，无法确认首次失衡是否由撞桶触发，也不足以细分控制根因。首次失衡时是两节点共用的工具搜索阶段，无法唯一确定一个物质节点作为断点。" + }, + "summary_zh": "机器人只进行了环境扫描、工具搜索和多轮倾倒恢复，未见持扫帚清扫；清除沙子与清除灰尘均未达成，最终进度0/2。视频约 9 s 在共同探索阶段失衡，此后短暂站稳又倾倒，移动控制未能维持稳定；日志末段服务报出非有限姿态错误，但此前已存在可见物理失败。无状态日志且现场与回放不一致，末态逐物质判断由现场总分与录像共同支持；共同探索无法唯一归入一个清洁节点，断点 ref 为 unknown。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "两节点均未达成、final=false、进度0/2与q_score=0及录像相符；9 s 起失衡倒地、此后长期倾斜，帧上可见。断点ref=unknown（共用的找工具阶段）、全身·平衡、根因停在控制均有证据支持，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:29:00Z", + "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-sweeping-garage-i00-standard--m49by6v/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sweeping-garage-i00-standard--m49by6v/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c49084c5820fe23f4b63a3b0c5abc9397a092c1ad13592565bfd1ef9cdac1a53", + "video_sha256": "0126d7c2881467a49791b23ac8c6653e8f22491402b5cc329a000111f8b9c610", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-standard--mtqmg6b.json b/phase2/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-standard--mtqmg6b.json new file mode 100644 index 0000000000000000000000000000000000000000..29ab5928312d057a014f75cdcf64e375f6b8dc3f --- /dev/null +++ b/phase2/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-standard--mtqmg6b.json @@ -0,0 +1,211 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sweeping-garage-i00-standard--mtqmg6b", + "taskKey": "behavior-1k/sweeping_garage", + "dag_sha256": "f3475aaaadbe01ae8e931c4ff7e60b637f0158bfa5997c7f098b427fd6767c9d", + "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": 49218, + "sim_steps": 49218, + "physics_steps": 196872, + "steps": 49218, + "elapsed_s": 14001.3, + "video_rendered": 1, + "gpu_lost": 0, + "q_score": 0.0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-sweeping-garage-i00-standard--mtqmg6b/replay.mp4", + "duration_s": 1640.6, + "fps": 30.0, + "frames": 49218, + "sha256": "52cee91f062da0110118d505e2281b591ec8c051181d4033173afc5a96330987" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "floor_clear_of_sand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 扫帚尚躺在地板上，视频 12–18 s 可见地板多处深色颗粒或小斑块；任务 DAG 将初态记为沙子和灰尘均覆盖地板。画面本身不能可靠区分两种物质。" + }, + { + "t": 900, + "log_step": 427, + "text_zh": "观察：视频 899–910 s 左腕视角可见扫帚刷毛到达地板，机器人持扫帚移动清扫；视频 42–640 s、720–1020 s、1140–1639.6 s 的抽查画面显示反复往返与补扫，构成实际清扫尝试。" + }, + { + "t": 1640.56, + "log_step": 619, + "text_zh": "推断：评分器 reward.q_score=0.0、success=0、live_matches_replay=1；目标只有清除沙子和清除灰尘两个初态不成立的字面量，故清除沙子的末态必为 false。视频 1639.6、1639.9、1640.2、1640.56 s 只显示局部地板与持扫帚状态，不能由局部干净推断全地板清除。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：全程抽查未见向地板重新添加沙子或灰尘，未发现“全部清除后再污染”的过程；结合初态及两项均不成立的最终评分，未标出任何完整清除区间。缺少逐种物质谓词和粒子计数，区间判断的精度弱于末态判断。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 899–910 s 的左腕视角可见右夹爪所持扫帚的刷毛贴近地板，随机器人平移清扫；视频 42–1639.6 s 多次往返扫过地板。两种污物在同一清扫过程中处理，画面不能逐粒区分沙子与灰尘；不重复记录夹爪握柄接触。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 42–60 s、900–910 s、1629.8–1639.6 s 场景随机器人底盘移动而平移，底盘支承机器人并携带扫帚覆盖不同地板区域。" + } + ] + }, + "floor_clear_of_dust": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0 s 扫帚尚躺在地板上，视频 12–18 s 可见地板多处深色颗粒或小斑块；任务 DAG 将初态记为沙子和灰尘均覆盖地板。画面本身不能可靠区分两种物质。" + }, + { + "t": 900, + "log_step": 427, + "text_zh": "观察：视频 899–910 s 左腕视角可见扫帚刷毛到达地板，机器人持扫帚移动清扫；视频 42–640 s、720–1020 s、1140–1639.6 s 的抽查画面显示反复往返与补扫，构成实际清扫尝试。" + }, + { + "t": 1640.56, + "log_step": 619, + "text_zh": "推断：评分器 reward.q_score=0.0、success=0、live_matches_replay=1；目标只有清除沙子和清除灰尘两个初态不成立的字面量，故清除灰尘的末态必为 false。视频 1639.6、1639.9、1640.2、1640.56 s 只显示局部地板与持扫帚状态，不能由局部干净推断全地板清除。" + }, + { + "t": null, + "log_step": null, + "text_zh": "推断：全程抽查未见向地板重新添加沙子或灰尘，未发现“全部清除后再污染”的过程；结合初态及两项均不成立的最终评分，未标出任何完整清除区间。缺少逐种物质谓词和粒子计数，区间判断的精度弱于末态判断。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 899–910 s 的左腕视角可见右夹爪所持扫帚的刷毛贴近地板，随机器人平移清扫；视频 42–1639.6 s 多次往返扫过地板。两种污物在同一清扫过程中处理，画面不能逐粒区分沙子与灰尘；不重复记录夹爪握柄接触。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 42–60 s、900–910 s、1629.8–1639.6 s 场景随机器人底盘移动而平移，底盘支承机器人并携带扫帚覆盖不同地板区域。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 619, + "where": "操作中", + "evidence_zh": "观察：视频 1629.8–1639.6 s 机器人仍持扫帚移动补扫；log step 619 的最后报告也称下一条补扫正在进行，没有报告成功。评分器两项清洁目标均未满足。推断：清除沙子和清除灰尘由同一批动作共同尝试，现有视角不能识别最后残留的种类、位置或其最初漏扫时刻，无法唯一选定其中一个节点为首先未修复的断点。" + }, + "unmet": { + "floor_clear_of_sand": false, + "floor_clear_of_dust": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 提供完整运行日志、本次视频和成功参考视频，但没有状态日志或逐种物质的剩余粒子/谓词读数。头部及腕部相机只覆盖局部，扫帚作用区经常被手臂遮挡；成功参考视频的末态同样不能提供本次残留粒子的位置。视频 654.7–664.7 s、1079.7–1084.7 s 可见机器人在车后狭窄区域推进停滞并发生姿态变化，随后退回；log step 341、498 也记录该处运动偏差。然而后续仍继续清扫，证据不能证明最终残留位于受阻区域，也不能区分漏扫、刷毛有效覆盖不足或其他具体机制。因此无法唯一确定断点节点及失败时刻，现象和根因均留空；不能把最终零分直接解释为未尝试、没建立接触或某一控制/规划错误。" + }, + "summary_zh": "机器人拿起扫帚，右夹爪持握并驱动底盘在主地板、墙边和车旁反复清扫，录像结束前仍在补扫；评分器 q_score=0，两项清洁节点末态均未完成，最终进度为 0/2。视频中车后狭窄区域曾推进受阻，但无法证明该处就是最终残留所在，故不能在并行清除的沙子与灰尘节点中唯一选定断点，现象与根因留空。无状态日志或逐物质粒子读数，局部视角不足以定位残留或精确验证中途的全地板清除状态。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "两节点末态 false 由 q_score=0、success=0 界定，无区间、无时间换算，与帧一致；断点 unknown 与空现象/根因附 gap_zh 对仅凭局部视角、无状态日志的并行清扫任务是可接受的保守处理，未发现需要改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:37:25Z", + "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-sweeping-garage-i00-standard--mtqmg6b/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sweeping-garage-i00-standard--mtqmg6b/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0f2c04fb922b9edab11c6380b5ca5a96535ffaf2b3c8ca7ab77092b2513e27d5", + "video_sha256": "52cee91f062da0110118d505e2281b591ec8c051181d4033173afc5a96330987", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-standard--scyqvvr.json b/phase2/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-standard--scyqvvr.json new file mode 100644 index 0000000000000000000000000000000000000000..598cbdd86800e837a374e35aa1c09cca0962ae45 --- /dev/null +++ b/phase2/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-standard--scyqvvr.json @@ -0,0 +1,231 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sweeping-garage-i00-standard--scyqvvr", + "taskKey": "behavior-1k/sweeping_garage", + "dag_sha256": "f3475aaaadbe01ae8e931c4ff7e60b637f0158bfa5997c7f098b427fd6767c9d", + "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": 3182, + "sim_steps": 3182, + "physics_steps": 12728, + "steps": 1085, + "elapsed_s": 977.8, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 1, + "q_score": 0.0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-sweeping-garage-i00-standard--scyqvvr/replay.mp4", + "duration_s": 106.067, + "fps": 30.0, + "frames": 3182, + "sha256": "4240793fa5d27fe6db516ea515b53a84d865893f2b2771176f2f6f194dc50a3b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "floor_clear_of_sand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 地板有散布的小斑点，扫帚平放在木门前；运行任务文字及 DAG 初态说明地板同时覆盖沙子和灰尘。画面不足以按颜色可靠区分两种物质。" + }, + { + "t": 80.0, + "log_step": 104, + "text_zh": "观察：视频 44–90 s 机器人空夹爪在门边低位移动，未见扫帚被拿起；视频 80.0 s 手臂仍伸向门边地板，视频 94.5 s、97.0 s 地板仍有散布的深色小斑点。log step 104 的脚本命令左夹爪下降并横向试拖地面，右腕相机观察，没有完成全车库清扫的画面。" + }, + { + "t": 106.033, + "log_step": 131, + "text_zh": "推断：评分器 reward.q_score=0.0，且 live_matches_replay=1；两项目标初态均不成立，任一清除目标在终态成立都会贡献至少一个目标字面量，因此沙子清除目标终态为假。结合整段仅勘察、局部试拖及随后翻倒的画面，没有该物质全部清除的成立区间；这不表示机器人从未尝试。视频 105.3–106.033 s 仅见翻倒后的倾斜视野和遮挡，不能单独据片尾判断污物种类。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0–44 s 及视频 91–97 s 场景随机器人底盘旋转、平移而变化，底盘支承机器人进行地板勘察与试拖前后的移动；这段工作同时针对沙子和灰尘。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 53–80 s 左臂末端在门边极低位置运动，接触端多次被手臂、门及相机近场遮挡。log step 104 命令左夹爪试拖地面，但各视角不能确定指端是否及如何接触具体污物；不把命令或 agent 自述当作已发生的擦扫接触，也不标手持扫帚。" + } + ] + }, + "floor_clear_of_dust": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 地板有散布的小斑点，扫帚平放在木门前；运行任务文字及 DAG 初态说明地板同时覆盖沙子和灰尘。画面不足以按颜色可靠区分两种物质。" + }, + { + "t": 80.0, + "log_step": 104, + "text_zh": "观察：视频 44–90 s 机器人空夹爪在门边低位移动，未见扫帚被拿起；视频 80.0 s 手臂仍伸向门边地板，视频 94.5 s、97.0 s 地板仍有散布的深色小斑点。log step 104 的脚本命令左夹爪下降并横向试拖地面，右腕相机观察，没有完成全车库清扫的画面。" + }, + { + "t": 106.033, + "log_step": 131, + "text_zh": "推断：评分器 reward.q_score=0.0，且 live_matches_replay=1；两项目标初态均不成立，任一清除目标在终态成立都会贡献至少一个目标字面量，因此灰尘清除目标终态为假。结合整段仅勘察、局部试拖及随后翻倒的画面，没有该物质全部清除的成立区间；这不表示机器人从未尝试。视频 105.3–106.033 s 仅见翻倒后的倾斜视野和遮挡，不能单独据片尾判断污物种类。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0–44 s 及视频 91–97 s 场景随机器人底盘旋转、平移而变化，底盘支承机器人进行地板勘察与试拖前后的移动；这段工作同时针对沙子和灰尘。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 53–80 s 左臂末端在门边极低位置运动，接触端多次被手臂、门及相机近场遮挡。log step 104 命令左夹爪试拖地面，但各视角不能确定指端是否及如何接触具体污物；不把命令或 agent 自述当作已发生的擦扫接触，也不标手持扫帚。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": 96.0, + "log_step": 119, + "where": "探索", + "evidence_zh": "观察：视频 95.5 s 机器人视野仍朝向近处地面，视频 96.0–97.5 s 三个相机视野突变、倾斜，随后视频 102.5–105.5 s 可见红车、墙和天花板连续侧转，视频 106.033 s 仍未恢复。log step 118–121 显示机器人正在继续车库地板勘察与建图；log step 123 的机器人服务状态（现场回合的执行反馈）报告 done=True、reason=\"failure: the robot fell over\"、control_steps=3182、resumes=0。推断：失稳发生在两个清洁目标共用的探索工作中，画面及日志均未显示该动作专门针对沙子或灰尘，无法有证据地唯一指定其中一个节点，故 ref=unknown；不是把跌倒约束另当步骤。" + }, + "unmet": { + "floor_clear_of_sand": false, + "floor_clear_of_dust": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 96.0, + "log_step": 123, + "evidence_zh": "观察：视频 96.0–97.5 s 机器人各相机视角突然倾斜，视频 102.5–105.5 s 视野转向天花板、红车及侧墙，至视频 106.033 s 仍处于翻倒姿态。log step 123 的现场服务报告机器人跌倒；log step 131 读取现场服务末态本体感知，底座 z=0.4434 m，底座竖直轴分量 cos(rx)cos(ry)=-0.4373，支持已经失去正常支撑。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：低位伸臂、弯躯干后的底盘运动缺少全身稳定控制，导致这次失衡。log step 104 的执行脚本将左末端目标降至地板上方 0.03 m 后横移并保持；log step 110 随后驱动底盘并把躯干关节目标设为 1.75 rad；log step 119 的勘察脚本保持躯干目标 1.62 rad，以每控制步至多 0.12 m 的底盘分量、每批10步驱动，只按平面距离更新，没有倾角检查或先收臂恢复姿态的动作。视频 94.5–97.5 s 显示低位姿态后开始失稳；log step 131 的服务本体感知确认末态翻倒。没有力传感或完整姿态序列，不能进一步确定是指端顶地、负载布局还是惯性冲击占主导，因此根因停在控制，不采信 agent 在 log step 150 将穿地反力说成已证实事实的自述。" + } + ], + "gap_zh": "没有 inputs/states.jsonl；三路相机不能可靠区分沙子与灰尘，也未持续露出左指端与地板/粒子的接触点，因此物质清除的终态由 q_score 总数约束，试拖的具体接触保留未知。已比较成功参考录像，其持扫帚清扫和片尾地板画面只用于理解可见线索，不作为本次进度证据。本次探索同时服务两个清洁节点，无法唯一指定断点物质，故 breakpoint.ref=unknown；缺少接触力和连续底座姿态，不能验证 agent 自述的穿地反力机制。" + }, + "summary_zh": "机器人完成了车库地板的多次转向勘察、移动和左夹爪低位试拖，未见拿起扫帚或完成全地板清扫；评分器 q_score=0，两项清除目标终态均未完成（0/2）。机器人约在视频 96 s 继续勘察时失衡，至视频 106.033 s 仍未恢复，现场服务以跌倒结束回合；日志支持低位姿态下移动缺少全身稳定控制，但不足以断言指端穿地反力。两种污物及指端接触点难以区分，不能将共用探索动作唯一归到一个清洁节点。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "两个清除节点终态 false（q_score=0、无任何清除画面）、breakpoint 为探索中失衡（平衡）、时钟均标明视频时间，均与视频和 log step 114/123/131 一致；ref=unknown 因两节点共用同一探索动作而可接受。根因停在控制是推断且已标注，未发现需要修改的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:34:49Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-sweeping-garage-i00-standard--scyqvvr/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sweeping-garage-i00-standard--scyqvvr/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "cc8d14b43814925c1d05050af9ed48e2778b7cbbc34ff98364fbf533e4781051", + "video_sha256": "4240793fa5d27fe6db516ea515b53a84d865893f2b2771176f2f6f194dc50a3b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-standard--tprdozt.json b/phase2/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-standard--tprdozt.json new file mode 100644 index 0000000000000000000000000000000000000000..53cfecfa8ae2a778d22b5b1eabde7e9d8df671d4 --- /dev/null +++ b/phase2/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-standard--tprdozt.json @@ -0,0 +1,224 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sweeping-garage-i00-standard--tprdozt", + "taskKey": "behavior-1k/sweeping_garage", + "dag_sha256": "f3475aaaadbe01ae8e931c4ff7e60b637f0158bfa5997c7f098b427fd6767c9d", + "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": 7011, + "sim_steps": 7011, + "physics_steps": 28044, + "steps": 2337, + "elapsed_s": 1412.4, + "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": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.218, + "peak_processes": 9, + "peak_disk_gb": 0.256, + "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-sweeping-garage-i00-standard--tprdozt/replay.mp4", + "duration_s": 233.7, + "fps": 30.0, + "frames": 7011, + "sha256": "1e8928af63cf5df938873c0f020696d7d3e176620f265c0ce807dbacd3f12df5" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "floor_clear_of_sand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 扫帚平放在车库地板，地板有散布的细小斑点；任务DAG给定初态两种污物均覆盖地板，清除沙子不是初始成立条件。" + }, + { + "t": 30.0, + "log_step": null, + "text_zh": "观察：视频 20.0–27.0 s 机器人右夹爪靠近并夹持扫帚，扫帚离开原来的平放位置；视频 30.0–37.0 s 刷头贴近地面横向扫动，视频 52.5–72.5 s、112.5–127.5 s 机器人持帚沿地板行进。该清扫同时处理沙子与灰尘，不能把持帚和局部扫过当作全地板清除。" + }, + { + "t": 233.66, + "log_step": 128, + "text_zh": "推断：视频 0.0–233.66 s 抽查的清扫过程没有可确认的全地板沙子清空时段，也未见机器人引入新的沙子或灰尘；视频 233.0–233.66 s 末段只露出门边局部地面，不能逐粒分类。评分器 reward.q_score=0.0、live_matches_replay=1；两项目标初态均假，故末态满足的目标数为0，清除沙子的 final 必为 false。结合持续清扫而无重新撒入的过程，不记录曾达成后又失去的区间。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 30.0–37.0 s、52.5–72.5 s 可见机器人右夹爪持扫帚，使刷头在灰色车库地板上横向扫动并随行进移过地面；作用端为扫帚刷头，对象为待清扫地面污物。推断：这同一接触过程用于清除沙子；画面不能把每次刷头接触的微粒分别归为沙子或灰尘，不声称已清除该物质。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 52.5–72.5 s、92.5–152.5 s 机器人持帚沿车库多条路线行进、换向；轮式底盘在地板上移动并支承持帚清扫作业。" + } + ] + }, + "floor_clear_of_dust": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 扫帚平放在车库地板，地板有散布的细小斑点；任务DAG给定初态两种污物均覆盖地板，清除灰尘不是初始成立条件。" + }, + { + "t": 30.0, + "log_step": null, + "text_zh": "观察：视频 20.0–27.0 s 机器人右夹爪靠近并夹持扫帚，扫帚离开原来的平放位置；视频 30.0–37.0 s 刷头贴近地面横向扫动，视频 52.5–72.5 s、112.5–127.5 s 机器人持帚沿地板行进。该清扫同时处理沙子与灰尘，不能把持帚和局部扫过当作全地板清除。" + }, + { + "t": 233.66, + "log_step": 128, + "text_zh": "推断：视频 0.0–233.66 s 抽查的清扫过程没有可确认的全地板灰尘清空时段，也未见机器人引入新的沙子或灰尘；视频 233.0–233.66 s 末段只露出门边局部地面，不能逐粒分类。评分器 reward.q_score=0.0、live_matches_replay=1；两项目标初态均假，故末态满足的目标数为0，清除灰尘的 final 必为 false。结合持续清扫而无重新撒入的过程，不记录曾达成后又失去的区间。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 30.0–37.0 s、52.5–72.5 s 可见机器人右夹爪持扫帚，使刷头在灰色车库地板上横向扫动并随行进移过地面；作用端为扫帚刷头，对象为待清扫地面污物。推断：这同一接触过程用于清除灰尘；画面不能把每次刷头接触的微粒分别归为沙子或灰尘，不声称已清除该物质。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 52.5–72.5 s、92.5–152.5 s 机器人持帚沿车库多条路线行进、换向；轮式底盘在地板上移动并支承持帚清扫作业。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "floor_clear_of_sand", + "t": 221.5, + "log_step": 128, + "where": "操作中", + "evidence_zh": "观察：视频 208.0–218.0 s 机器人仍持帚沿墙边工作，视频 219.4–224.4 s 接近木制车库门时，头部及腕部视角连续急转、倾斜，随后在门边保持异常视角至视频 233.66 s；log step 128 的机器人服务状态报告 done=True、reason=\"failure: the robot fell over\"，无重置或恢复。推断：这是持帚清扫与换向过程中的失衡，尚在同一清洁步骤操作中；两种污物共同处理且末态均未完成，以DAG首个并行清洁节点 floor_clear_of_sand 记录共同作业的断点，不表示只尝试了沙子或已清除了灰尘。视频 221.5 s 是明显翻转的近似导航锚点。" + }, + "unmet": { + "floor_clear_of_sand": false, + "floor_clear_of_dust": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 221.5, + "log_step": 128, + "evidence_zh": "观察：视频 219.4–224.4 s 机器人相机视角在门边大幅翻转，视频 232.5 s、233.0 s、233.66 s 未显示恢复正常清扫；log step 128 的机器人服务明确以 failure: the robot fell over 结束本次单一现场回合，log step 130 再次提交动作得到 EpisodeOver 的相同原因。推断：机器人失去稳定支撑，属于全身平衡失败，不将同一次翻倒再标为违反约束。" + } + ], + "root_causes": [], + "gap_zh": "没有状态日志，也没有逐物质 covered 谓词或剩余粒子计数；相机只覆盖局部地面，无法精确定位沙子、灰尘各自的残留或每粒实际接触，末态两节点由初态与评分总量共同约束。两节点在同一清扫作业中并行，不能把翻倒单独归给某一种污物。末段画面和服务足以确认失衡，但看不到底盘支承和触发接触点，无法分清是工具/门墙阻挡、机身姿态还是运动控制导致；log step 120 的导航代码在输入记录中有删节，也缺少失衡时的倾角、力和动作反馈，因此根因层留空。" + }, + "summary_zh": "机器人拿起扫帚并持帚执行多条车库地板清扫路线，实际发生工具扫动与底盘移动，但两类污物均未全部清除，末态为0/2（q_score=0）。视频约 221.5 s 的门边持帚换向过程中视角明显翻转，机器人服务在 log step 128 报告翻倒并结束；以清除沙子节点定位这次同时处理沙子与灰尘的共同失败。无状态日志及逐物质剩余量，无法确定各自残留位置或触发失衡的具体原因。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "视频 219–233 s 画面翻转并停在门边，与 log step 128 服务状态 'failure: the robot fell over'（control_steps 7011 = 视频末帧）一致；两节点 false、q_score=0、断点 floor_clear_of_sand、平衡现象、根因留空并附 gap_zh 均有证据支持，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:31:06Z", + "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-sweeping-garage-i00-standard--tprdozt/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sweeping-garage-i00-standard--tprdozt/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "67258d19c7567adce5fc5dcf9591b8e3176c237220b983d54079ec75ae0bc32a", + "video_sha256": "1e8928af63cf5df938873c0f020696d7d3e176620f265c0ce807dbacd3f12df5", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-standard--wkxxzkd.json b/phase2/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-standard--wkxxzkd.json new file mode 100644 index 0000000000000000000000000000000000000000..10f02d3be8af2c4d5205981521f972e55b47d088 --- /dev/null +++ b/phase2/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-standard--wkxxzkd.json @@ -0,0 +1,276 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sweeping-garage-i00-standard--wkxxzkd", + "taskKey": "behavior-1k/sweeping_garage", + "dag_sha256": "f3475aaaadbe01ae8e931c4ff7e60b637f0158bfa5997c7f098b427fd6767c9d", + "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": 11211, + "sim_steps": 11211, + "physics_steps": 44844, + "steps": 3737, + "elapsed_s": 6833.6, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 0, + "q_score": 0.0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-sweeping-garage-i00-standard--wkxxzkd/replay.mp4", + "duration_s": 373.7, + "fps": 30.0, + "frames": 11211, + "sha256": "a580a136b96daae92818d8b0945e10917693cf4817db1c4a496dd3fdbae34586" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "floor_clear_of_sand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 22.0, + "log_step": 54, + "text_zh": "观察：视频 20–27 s，机器人右夹爪靠近地上的扫帚柄，随后扫帚离开原位置并随右手移动，周围地板可见多个小斑点；视频 43–55 s，机器人持扫帚移动扫地。这是实际清扫尝试，不能以扫帚经过代替全地板清除。" + }, + { + "t": 373.667, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，live_success=replay_success=0，live_matches_replay=1；DAG 两个目标字面量初始均不成立，所以末态没有任何一个清洁目标成立，清除沙子的 final 为 false。视频 372.7–373.667 s 只显示局部地板和仍在右手中的扫帚，不能从局部干净推翻这个总分约束。" + }, + { + "t": 55.0, + "log_step": null, + "text_zh": "推断：视频 43–55 s、92–94 s 及后续清扫画面仍可见刷头周围未扫到的小斑点，未见全量清除后再铺回污物的过程；结合最终两项谓词均未满足，不标记完成区间。微小斑点不能仅凭颜色可靠逐一分成沙子或灰尘，历史区间判断的精度有限。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 27–55 s 及120 s之后，机器人右夹爪持扫帚柄，刷头沿有污物的地板移动清扫，作用端为扫帚刷毛，目标包括地板上的沙子；两种污物交错清扫，画面不能逐一分辨刷毛触及的粒子类别。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 43–55 s、128–248 s 及344–373 s，轮式底盘支承机器人并移动，使右手所持扫帚跨过不同地面区域。" + } + ] + }, + "floor_clear_of_dust": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 22.0, + "log_step": 54, + "text_zh": "观察：视频 20–27 s，机器人右夹爪靠近地上的扫帚柄，随后扫帚离开原位置并随右手移动，周围地板可见多个小斑点；视频 43–55 s，机器人持扫帚移动扫地。这是实际清扫尝试，不能以扫帚经过代替全地板清除。" + }, + { + "t": 373.667, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.0，live_success=replay_success=0，live_matches_replay=1；DAG 两个目标字面量初始均不成立，所以末态没有任何一个清洁目标成立，清除灰尘的 final 为 false。视频 372.7–373.667 s 只显示局部地板和仍在右手中的扫帚，不能从局部干净推翻这个总分约束。" + }, + { + "t": 55.0, + "log_step": null, + "text_zh": "推断：视频 43–55 s、92–94 s 及后续清扫画面仍可见刷头周围未扫到的小斑点，未见全量清除后再铺回污物的过程；结合最终两项谓词均未满足，不标记完成区间。微小斑点不能仅凭颜色可靠逐一分成沙子或灰尘，历史区间判断的精度有限。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频 27–55 s 及120 s之后，机器人右夹爪持扫帚柄，刷头沿有污物的地板移动清扫，作用端为扫帚刷毛，目标包括地板上的灰尘；两种污物交错清扫，画面不能逐一分辨刷毛触及的粒子类别。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 43–55 s、128–248 s 及344–373 s，轮式底盘支承机器人并移动，使右手所持扫帚跨过不同地面区域。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "floor_clear_of_sand", + "t": 45.0, + "log_step": 80, + "where": "操作中", + "evidence_zh": "观察：视频 43–55 s，机器人已经持扫帚移动清扫，但刷头左侧、前方仍有小斑点，扫过路线未覆盖全部污物；视频 96–120 s 的扫帚姿态恢复、放下和重抓之后，机器人又持续清扫到结尾。推断：清除沙子与清除灰尘由同一轮扫地动作同步尝试，均未完成；以清除沙子节点定位这一未修复的清扫失败，视频 45 s 为首轮漏扫的粗略导航锚点，并非断言该斑点的物质身份。最终 q_score=0.0 确认两个清除节点都没有完成。" + }, + "unmet": { + "floor_clear_of_sand": false, + "floor_clear_of_dust": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 45.0, + "log_step": 80, + "evidence_zh": "观察：视频 43–55 s，机器人持扫帚沿地面移动时，刷头旁的数个小斑点处在刷毛扫掠范围之外；视频 50 s 和55 s 仍可见刷头左前方的残留。推断：清扫工具的实际扫掠位置未覆盖全部污物，属于清扫位姿及覆盖不到位；并非从 q_score=0 单独推出现象。" + } + ], + "root_causes": [], + "gap_zh": "没有状态日志，也没有评分器逐物质谓词或剩余粒子计数；视频的头部及腕部视图仅覆盖局部，微小残留难以可靠区分沙子和灰尘。两个 final=false 由 q_score=0 的总量约束确定，未达成的历史区间结合清扫过程推断；同步清扫的两个节点无法定位各自独立失败时刻，断点以清除沙子代表共同失败的操作。观察：log step 90、147 的已记录本体数据诊断显示较早扫地段末端抬高，log step 276 对后段055的诊断则显示末端高度约0.082–0.117米；log step 277–278 的 agent 像素脚本仍报告疑似沙/尘，且 log step 279 在另一局部深度筛选范围内报告两类像素数均为0，这些估算不是评分器的真实剩余粒子计数。视频 43–55 s、299–301 s 及372.7–373.667 s 只显示局部地板与扫帚，不能确定刷毛接触高度或覆盖全貌。推断：后段读数说明早期抬高已有缓解，但不足以证明所有后续清扫的姿态均已修复；也不足以证明早期控制偏差导致最终未清完，现有证据无法区分持续控制偏差与清扫覆盖规划，根因留空。" + }, + "summary_zh": "机器人实际拿起扫帚并多轮移动清扫，中途将扫帚竖起、放下后重新抓取继续作业，但清除沙子和清除灰尘最终均未完成（0/2，q_score=0）。断点为清扫操作中的覆盖不到位；较早扫地段的末端抬高在后段诊断中已有缓解，缺少把该偏差与最终残留相联系的证据，不能确定控制或覆盖规划根因。没有状态日志或逐物质剩余量，历史达成时刻和因果判断存在缺口，因此conf从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": "节点 final=false 由 q_score=0 约束成立，可接受；但根因「控制」的证据全部来自 agent 会话内的测试仿真（012/021/024 号试验的 proprio 读数），不是被评分的那一局，不能当作被评分回放的事实；且 step 90 是 024_drop_and_look（松手观察），并非扫地。视频局部画面也看不到 43–55 s 的残留斑点（50 s、300 s、372 s 帧只见局部地板）。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "fix", + "conf": 6, + "summary_zh": "两个节点 final=false 由 q_score=0 约束成立，节点、断点位置可接受（日志即被评分会话：sim_total.reset=0、live_matches_replay=1）。问题在根因：「控制」只由早期扫地段(log 90/147)的末端抬高支持，而日志后段(step 276)显示末端高度已回到约0.08–0.09 m、仍有残留，说明该控制偏差并非最终未修复失败的原因，现有证据无法区分是控制还是覆盖规划。", + "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：root_causes 已置空，gap_zh 如实记录早期抬高与后段较低读数且说明无法区分控制与覆盖规划，conf 降为 5，summary_zh 同步，未以时间耗尽归因。", + "n_issues": 0, + "n_checks": 1 + } + ], + "open_zh": [], + "confirm": { + "verdict": "confirmed", + "summary_zh": "I1 的接受已完整落实：root_causes 已置空，gap_zh 如实记录早期抬高与后段较低读数且说明无法区分控制与覆盖规划，conf 降为 5，summary_zh 同步，未以时间耗尽归因。", + "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": "2026-10-30T21:50:36Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-sweeping-garage-i00-standard--wkxxzkd/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sweeping-garage-i00-standard--wkxxzkd/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sweeping-garage-i00-standard--wkxxzkd/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-sweeping-garage-i00-standard--wkxxzkd/04_review_r2" + }, + { + "stage": "reconcile", + "round": 2, + "ok": true, + "space": "work/runs/behavior-sweeping-garage-i00-standard--wkxxzkd/05_reconcile_r2" + }, + { + "stage": "confirm", + "round": 3, + "ok": true, + "space": "work/runs/behavior-sweeping-garage-i00-standard--wkxxzkd/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": "7e3bda335725111eb04102620b36f4912c003be9b01e506e515627677b91dbed", + "video_sha256": "a580a136b96daae92818d8b0945e10917693cf4817db1c4a496dd3fdbae34586", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/thawing_frozen_food/trajectories/behavior-thawing-frozen-food-i00-privileged--fmdi9qd.json b/phase2/behavior-1k/thawing_frozen_food/trajectories/behavior-thawing-frozen-food-i00-privileged--fmdi9qd.json new file mode 100644 index 0000000000000000000000000000000000000000..7d27afb7d9bffced504a5759fc3c314f5afb9dc9 --- /dev/null +++ b/phase2/behavior-1k/thawing_frozen_food/trajectories/behavior-thawing-frozen-food-i00-privileged--fmdi9qd.json @@ -0,0 +1,336 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-thawing-frozen-food-i00-privileged--fmdi9qd", + "taskKey": "behavior-1k/thawing_frozen_food", + "dag_sha256": "82a242d812ea54f09bbc77d5564e98f497c43288405c90e222ff841a14ff303f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 0, + "n_actions": 750, + "sim_steps": 750, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 718.3, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 5, + "agent_resets": 1, + "agent_sim_steps": 750, + "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-thawing-frozen-food-i00-privileged--fmdi9qd/replay.mp4", + "duration_s": 25.0, + "fps": 30.0, + "frames": 750, + "sha256": "f03b7597b6d27d3a5d01224e0224883e943378ae92a53ee771ba0a9817eeed3f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 11, + "base": 4, + "peak": 4, + "final": 4, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.5, + "log_step": null, + "text_zh": "观察：视频 3.0–5.0 s 的腕部画面显示冰箱双门贴合箱体；机器人随后调整手臂与躯干，视频 5.5–14.75 s 冰箱门面仍闭合，未露出内腔。" + }, + { + "t": 24.967, + "log_step": null, + "text_zh": "观察：视频 15.0–24.967 s 机器人继续改变手臂及躯干姿态，未出现冰箱开门或取物画面；最后一秒仍无开门结果。" + }, + { + "t": null, + "log_step": 176, + "text_zh": "观察：log step 176 的已录制会话输出为 pre-press False、press False、attached False，门角读数 0.0004；log step 178 左臂重试后门角为 -0.0，log step 179 保存这次会话的 750 个动作。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0.0–约 4.5 s 机器人移动底盘，从厨房外侧驶向冰箱前，轮式底盘由地面承托。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 5.5–24.967 s 机器人在冰箱前调整手臂；腕部视图多被机器人自身遮挡或朝向别处，无法确认夹爪与门面是否有瞬时接触，不能认定抓握、勾或推压。" + } + ] + }, + "microwave_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 9.5, + "log_step": null, + "text_zh": "观察：视频 5.5–17.0 s 多次可见台面上的微波炉门贴合炉体，机器人未伸手操作该炉门，全片没有露出炉腔或装炉动作。" + } + ] + }, + "chicken_on_plate": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：task/task_dag.json 明确鸡肉初始在任务盘上；视频 0.0–24.967 s 冰箱未被打开，机器人未取出盘子或食物，故保留初始留盘关系。冰箱内的盘面全程被门遮挡，此项为初态与全段动作结合的推断。" + } + ] + }, + "bread_on_plate": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：task/task_dag.json 明确面包初始在任务盘上；视频 0.0–24.967 s 冰箱未被打开，机器人未取出盘子或食物，故保留初始留盘关系。冰箱内的盘面全程被门遮挡，此项为初态与全段动作结合的推断。" + } + ] + }, + "chicken_in_microwave": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 9.5, + "log_step": null, + "text_zh": "推断：视频 3.0–14.75 s 冰箱门始终贴合，视频全段未见机器人取出鸡肉或盘子、打开微波炉及装炉；任务初态的盘装鸡肉仍在冰箱内，因此未达成入炉。评分器 q_score=0.0 与无新增目标关系相符。" + } + ] + }, + "bread_on_counter": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.5, + "log_step": null, + "text_zh": "推断：视频 0.0–24.967 s 没有从冰箱取出盘装面包或在指定台面释放的动作；视频 5.5–17.0 s 所见台面未出现新放置的盘装面包。结合冰箱从未打开及初态面包在箱内，判为未达成。" + } + ] + }, + "microwave_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 9.5, + "log_step": null, + "text_zh": "观察：视频 1.0 s、5.5–17.0 s 可见微波炉门贴合炉体，机器人全段未操作炉门。" + }, + { + "t": 24.967, + "log_step": null, + "text_zh": "推断：任务 DAG 指明微波炉初始关闭，视频全段无开炉动作，后段视角偏离设备时仍保留其关闭状态；state 节点从视频 0.0 s 计入，不由前驱开门事件门控。" + } + ] + }, + "microwave_on": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 9.5, + "log_step": null, + "text_zh": "推断：任务 DAG 指明微波炉初始未开机；视频 0.0–24.967 s 机器人仅在冰箱前活动，未触碰微波炉按钮，未见设备开机变化；评分器 q_score=0.0 排除终态新增的开机目标。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.5, + "log_step": null, + "text_zh": "观察：视频 3.0–5.0 s 腕部相机显示冰箱两片门板均闭合，视频 5.5–14.75 s 头部视图中的门面也未转开。" + }, + { + "t": 24.967, + "log_step": null, + "text_zh": "推断：视频 15.0–24.967 s 未见门板打开或内腔露出，结合前段闭合画面，冰箱关闭关系从初态一直保留；机器人没有完成一次先开后关。" + } + ] + }, + "chicken_thawed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.967, + "log_step": 182, + "text_zh": "推断：评分器 reward.q_score=0.0（log step 182 的交付文件重放同为 0.0）；鸡肉非冻结不是初始成立的目标，因此该总数排除终态解冻，final=false。任务初态为冷冻，视频 0.0–24.967 s 冰箱保持关闭、食物未被取出，故推定全段未解冻；视频无温度曲线，不能直接核验中间温度。" + } + ] + }, + "bread_thawed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.967, + "log_step": 182, + "text_zh": "推断：评分器 reward.q_score=0.0（log step 182 的交付文件重放同为 0.0）；面包非冻结不是初始成立的目标，因此该总数排除终态解冻，final=false。任务初态为冷冻，视频 0.0–24.967 s 冰箱保持关闭、食物未被取出，故推定全段未解冻；视频无温度曲线，不能直接核验中间温度。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "fraction", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "fridge_opened", + "t": 6.5, + "log_step": 176, + "where": "操作中", + "evidence_zh": "观察：视频约 5.5–8.5 s 机器人已到冰箱前并调整右臂，右腕画面转向机器人和餐厅方向，未形成对门面操作的姿态；视频 9.0–14.75 s 门仍关闭，后续重试直到视频 24.967 s 也未开门。log step 176、178 记录对冰箱门接近位置的失败重试，log step 179 保存这些动作，log step 182 重放失败。" + }, + "unmet": { + "chicken_on_plate": true, + "bread_on_plate": true, + "chicken_in_microwave": false, + "bread_on_counter": false, + "microwave_closed": true, + "microwave_on": false, + "fridge_closed": true, + "chicken_thawed": false, + "bread_thawed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 6.5, + "log_step": 176, + "evidence_zh": "观察：视频 6.0–8.5 s 右腕视图由手臂自身转向餐桌，视频 11.5–14.75 s 夹爪和机械臂仍在机器人附近反复调整，未见末端到门面建立开门姿态，冰箱门始终贴合；log step 176 同次录制的接近及压门检查均为 False。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：log step 174 定义的控制器对冰箱门目标求逆解后，重复发送躯干和手臂关节目标并测量实际末端误差；log step 176 的右臂输出 tcp_err=0.254–0.380、trunk_dev=0.233–0.552，接近及压门均失败；log step 178 左臂输出 tcp_err=0.377–1.241，也未到接近位置。这些动作随 log step 179 保存，并在视频 5.5–24.967 s 表现为反复变姿而不开门，支持控制执行未能实现目标末端位姿；现有证据不足以区分逆解、关节跟踪或自碰撞原因。" + } + ], + "gap_zh": "没有逐帧状态日志及成功参考视频；冰箱内部食物与盘面的持续关系由 DAG 初态和全段未开门推断，夹爪对门面是否发生瞬时接触不可辨。两份食物没有温度或冻结状态曲线，解冻终态由 q_score=0.0 排除（初始已真的留盘、关门条件不计入该分数），中间持续冻结为闭门冷藏情境下的推断。头部画面后段大幅旋转不足以证明底盘倒地，未标平衡；日志中的关节偏差不能单独证明模拟器故障或排除所有合法方案。" + }, + "summary_zh": "交付视频中机器人驶到冰箱前反复调整双臂和躯干，但未打开冰箱，也未取出食物、装炉或把面包放到台面；保留两份食物在盘上、冰箱关闭和微波炉关闭四个初始条件，终态 4/11。断点是打开冰箱，末端位姿未到位；同次录制日志的反复关节执行偏差支持控制失败。无状态日志，箱内留盘关系及持续冻结依赖初态和动作推断，解冻终态由评分器零新增目标分数约束。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "标签与视频、日志一致：冰箱始终关闭，终态 4/11 与 q_score=0 相符；断点、位姿不准与控制根因有日志（tcp_err 0.25–1.24、press False）支持，未发现需要改的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:33:06Z", + "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-thawing-frozen-food-i00-privileged--fmdi9qd/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-thawing-frozen-food-i00-privileged--fmdi9qd/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "022401429db7d1d2d3d8b1b3786f1060b28b6dc1ecc3207e0cb0a32d54cb3778", + "video_sha256": "f03b7597b6d27d3a5d01224e0224883e943378ae92a53ee771ba0a9817eeed3f", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/thawing_frozen_food/trajectories/behavior-thawing-frozen-food-i00-privileged--lehjazu.json b/phase2/behavior-1k/thawing_frozen_food/trajectories/behavior-thawing-frozen-food-i00-privileged--lehjazu.json new file mode 100644 index 0000000000000000000000000000000000000000..1ad06444f7e45134cd2f22785b315ba5dd30932d --- /dev/null +++ b/phase2/behavior-1k/thawing_frozen_food/trajectories/behavior-thawing-frozen-food-i00-privileged--lehjazu.json @@ -0,0 +1,495 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-thawing-frozen-food-i00-privileged--lehjazu", + "taskKey": "behavior-1k/thawing_frozen_food", + "dag_sha256": "82a242d812ea54f09bbc77d5564e98f497c43288405c90e222ff841a14ff303f", + "outcome": { + "success": 0, + "reward": 0.3333333333333333, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 10311, + "sim_steps": 10311, + "fallen": 0, + "final_reward": 0.3333333333333333, + "q_score": 0.3333333333333333, + "replay_wall_s": 2196.1, + "replay_timeout_s": 6355.5, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 1, + "agent_resets": 1, + "agent_sim_steps": 22999, + "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": 7.854, + "peak_memory_gb": 13.463, + "peak_processes": 47, + "peak_disk_gb": 1.47, + "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-thawing-frozen-food-i00-privileged--lehjazu/replay.mp4", + "duration_s": 343.7, + "fps": 30.0, + "frames": 10311, + "sha256": "514d0d8e077a69ed3bc96c5a9b24266621cc5769c5224b1055250ad1b0074353" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 11, + "base": null, + "peak": null, + "final": null, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 14.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 14.5, + "log_step": 213, + "text_zh": "观察：视频 14.0–15.0 s，机器人左夹爪沿把手拉门，门板转离箱体，白色门内侧和内部空间露出；开门时刻约为视频 14.5 s。" + }, + { + "t": 334.5, + "log_step": null, + "text_zh": "观察：视频 334.5 s，冰箱两扇门均明显敞开，内部搁架可见。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左、右二指夹爪先后夹持对应冰箱门把手拉开门，之后还重抓左门；两臂未同时协作拉门。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人移动底盘接近冰箱，并绕到不同侧调整开门工作位置。" + } + ] + }, + "microwave_opened": { + "method": "visual", + "intervals": [ + [ + 158.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 158.5, + "log_step": 242, + "text_zh": "观察：视频 158.0–160.0 s，左腕视图中夹爪贴着微波炉门前缘，门边与炉框逐渐分离并转开；视频 165.5 s 的头部视图清楚显示门板大幅外翻、炉腔露出，开门锚点约为视频 158.5 s。" + }, + { + "t": 329.5, + "log_step": null, + "text_zh": "观察：视频 329.5 s，微波炉门仍向左敞开，炉腔可见。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左夹爪夹住微波炉门的突出前缘，随门转动拉开；此前在门顶和门前缘试探夹持。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘从台面附近移到微波炉前调整开门位置。" + } + ] + }, + "chicken_on_plate": { + "method": "visual", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 268.0, + "log_step": null, + "text_zh": "观察：视频 260.0、264.0、268.0、272.0 s 的右腕近景可见灰色任务盘承托浅色鸡胸肉；结合 task/task_dag.json 中本关系初始成立的说明，保留初始及这一阶段留盘的判断。" + }, + { + "t": 324.0, + "log_step": 310, + "text_zh": "观察：视频 288.0–319.0 s 的逐秒帧显示机器人抽出、降低上层盘并驶向微波炉，但盘面及鸡肉受夹爪、视角边缘遮挡；视频 320.0–333.5 s 的半秒帧可见盘子送入炉腔，却看不清盘上有无鸡肉。log step 310 返回 CHICKENGOAL False True 及接近地面的鸡肉坐标，但这是会话读数；log step 316 的会话 q_score=4/9，与 inputs/run.json reward.q_score=3/9 不同，不能直接用它判定回放中鸡肉离盘。" + }, + { + "t": 343.45, + "log_step": null, + "text_zh": "推断：已检查的后续帧直到视频 343.45 s 既不能确认鸡肉落地，也不能确认它仍由盘承托，删除原视频 315.0 s 的离盘锚点，最终值为未知。docs/03_trajectory.md:185–187 与 CASES.md PROG-10 规定初始持续成立的关系不计 q_score，故 3/9 不能单独决定本关系。区间字段无法表达已知初始成立、后段未知而非已失去，intervals 记 null，初始成立保留在证据中。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "机器人右夹爪持上层任务盘，早期近景可见盘面从下方承托鸡肉；随后抽盘和搬运时的鸡肉承托状态受遮挡，无法确认是否丢失。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人右臂持盘时移动底盘，从冰箱驶向微波炉。" + } + ] + }, + "bread_on_plate": { + "method": "visual", + "intervals": [ + [ + 0, + 111.0 + ] + ], + "final": false, + "evidence": [ + { + "t": 99.0, + "log_step": null, + "text_zh": "观察：视频 98.0–99.0 s，黄色面包片在冰箱下层的圆盘上，机器人夹爪接近盘沿；视频 100.0–108.5 s，该盘和面包离开原来的搁架位置。" + }, + { + "t": 111.0, + "log_step": 236, + "text_zh": "推断：视频 108.5–113.0 s 机器人抬臂并开始搬运，盘面大部分位于相机下缘；视频 112.75 s 的腕部视图已可见地面上的黄色面包，视频 118.75 s 头部视图也见面包留在冰箱前地面。因此留盘关系在这次搬运中丢失，视频 111.0 s 为近似锚点，误差约数秒。log step 236 的会话查询也返回 carried False，但不据此指定回放时刻。" + }, + { + "t": 334.5, + "log_step": null, + "text_zh": "观察：视频 334.5 s，黄色面包与灰色盘子分离，均在冰箱前的地面区域；视频 336.0–343.45 s，机器人低位伸爪后没有把面包送回任一盘。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "机器人左夹爪持面包盘，盘面从下方承托面包，随后搬运中该承托关系丢失；末段低位夹取未见建立新的持物关系。" + } + ] + }, + "chicken_in_microwave": { + "method": "visual", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 268.0, + "log_step": null, + "text_zh": "观察：视频 260.0–272.0 s 的右腕近景可见鸡肉在冰箱上层任务盘上；随后机器人抽出并搬运该盘。" + }, + { + "t": 329.5, + "log_step": null, + "text_zh": "观察：视频 320.0–330.0 s 的半秒帧显示机器人右臂将灰色任务盘送入已打开的微波炉并撤爪；视频 324.0、327.0、329.5 s 的炉腔与腕部视图受蓝绿色调、近距离盘体及夹爪遮挡，看不清盘面有无鸡肉，不能称为观察到空盘。" + }, + { + "t": 343.45, + "log_step": null, + "text_zh": "推断：视频 331.0–343.45 s 未见再次完成鸡肉转移，但不能据此否定此前随盘入炉。评分总分支持盘在炉内这一原子谓词及两项解冻（见解冻节点证据），不决定初始鸡肉留盘关系；task/task_dag.json 本节点要求同一盘同时承托鸡肉并在炉内，后一个条件不能代替前一个。因此本复合节点最终及完整区间均为未知，不由会话 CHICKENGOAL 查询补判。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人先用左夹爪尝试上层盘沿，再换右夹爪夹住露出的盘沿，抽出、降低并把盘送进微波炉；盘上鸡肉是否随同送达无法确认。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人右臂持盘期间，底盘从冰箱向微波炉移动。" + } + ] + }, + "bread_on_counter": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 118.75, + "log_step": null, + "text_zh": "观察：视频 118.75 s，机器人已开始离开冰箱前往台面，面包仍可见于冰箱前地面。" + }, + { + "t": 334.5, + "log_step": null, + "text_zh": "观察：视频 334.5 s，面包和灰色任务盘均留在冰箱前地面，二者相互分离；视频 336.0–343.45 s 的低位抓取没有形成面包上盘并送往台面的转移。" + }, + { + "t": 125.0, + "log_step": 235, + "text_zh": "推断：机器人在视频 120.0–134.0 s 对台面执行放置和撤臂动作，但未送达盘装面包；log step 235–236 的会话返回空盘在台面，不能替代回放中面包与盘子都落在冰箱前的事实。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左夹爪夹持面包盘沿并将盘从冰箱抽出，搬运时未保持盘装食物；其后对台面的放置动作未完成所需关系。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人底盘由冰箱向台面行驶，末段又返回冰箱前尝试恢复面包。" + } + ] + }, + "microwave_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 158.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 130.0, + "log_step": null, + "text_zh": "观察：视频 125.0–145.0 s，微波炉正面门板仍贴合炉框；机器人随后试探门缘。" + }, + { + "t": 158.5, + "log_step": null, + "text_zh": "观察：视频 158.0–160.0 s 门板被左夹爪转开，原有关闭状态丢失；视频 165.5–329.5 s 各次微波炉视图均见门板敞开。" + }, + { + "t": 340.0, + "log_step": null, + "text_zh": "观察：视频 340.0 s 的头部视图中，远处微波炉门仍向左敞开；后续视频 342.7–343.45 s 机器人在地面附近活动，未回炉门处关门。" + } + ] + }, + "microwave_on": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 329.5, + "log_step": 304, + "text_zh": "推断：微波炉初始关闭开关；检查视频全段后，机器人在微波炉附近的操作为抓门、开门和装入盘子，未见对开关按钮进行持续按触，装炉后即撤离。故未建立开机状态；画面中的红色圆形标记不被当成开机指示。视频 329.5 s 为装炉后的导航锚点。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 14.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 5.0, + "log_step": null, + "text_zh": "观察：视频 5.0–9.0 s，冰箱两扇门贴合箱体，门缝闭合。" + }, + { + "t": 14.5, + "log_step": null, + "text_zh": "观察：视频 14.0–15.0 s，左门被机器人拉开，原有关闭状态丢失；视频 55.0–334.5 s 的各次冰箱视图均仍有敞开的门，未见恢复关闭。" + }, + { + "t": 334.5, + "log_step": null, + "text_zh": "观察：视频 334.5 s，冰箱两扇门均敞开；视频 339.0–342.0 s 的末段转身视图仍可见敞开的门，最后视频 342.7–343.45 s 机器人低位伸爪，没有关门。" + } + ] + }, + "chicken_thawed": { + "method": "visual", + "intervals": null, + "final": true, + "evidence": [ + { + "t": 334.5, + "log_step": null, + "text_zh": "推断：inputs/run.json reward.q_score=3/9。按 docs/03_trajectory.md:182–189 和 CASES.md PROG-10，初始已成立的两项食物留盘及两项关门状态不为持续保持而加分，DAG 真值节点数也不等于原子谓词计分数。视频 334.5 s 见一只任务盘和面包分离地留在冰箱前地面，视频 320.0–330.0 s 见另一只任务盘送入微波炉，末段没有盘在指定台面上；全段未见开机动作。因此可计分的五个非初始字面量中，盘在台面上与开机被排除，3/9 对应盘在炉内、鸡肉非冻结、面包非冻结，故保留本节点 final=true。此为总分与画面合并的逻辑推断，并非外观或会话温度读数；初始鸡肉留盘是否保持不影响该排除法，也不能由此确认复合的鸡肉入炉节点。缺少逐帧温度或 frozen 状态，解冻时刻无法确定，intervals 保留 null。" + } + ], + "contact_actual": [ + { + "who": "无接触", + "how": "不适用", + "note_zh": "未见机器人专门接触食物实施加热；最终解冻由评分总分推断，装载和搬运接触已记在对应物理步骤，具体热交换过程不可见。" + } + ] + }, + "bread_thawed": { + "method": "visual", + "intervals": null, + "final": true, + "evidence": [ + { + "t": 334.5, + "log_step": null, + "text_zh": "推断：inputs/run.json reward.q_score=3/9。按 docs/03_trajectory.md:182–189 和 CASES.md PROG-10，初始已成立的两项食物留盘及两项关门状态不为持续保持而加分，DAG 真值节点数也不等于原子谓词计分数。视频 334.5 s 见一只任务盘和面包分离地留在冰箱前地面，视频 320.0–330.0 s 见另一只任务盘送入微波炉，末段没有盘在指定台面上；全段未见开机动作。因此可计分的五个非初始字面量中，盘在台面上与开机被排除，3/9 对应盘在炉内、鸡肉非冻结、面包非冻结，故保留本节点 final=true。此为总分与画面合并的逻辑推断，并非外观或会话温度读数；初始鸡肉留盘是否保持不影响该排除法，也不能由此确认复合的鸡肉入炉节点。缺少逐帧温度或 frozen 状态，解冻时刻无法确定，intervals 保留 null。" + } + ], + "contact_actual": [ + { + "who": "无接触", + "how": "不适用", + "note_zh": "未见机器人专门接触食物实施加热；最终解冻由评分总分推断，装载和搬运接触已记在对应物理步骤，具体热交换过程不可见。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.3333333333333333, + "unit": "fraction", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "bread_on_counter", + "t": 111.0, + "log_step": 231, + "where": "操作中", + "evidence_zh": "推断：视频 98.0–108.5 s，机器人左夹爪把面包盘抽离冰箱，正在执行盘装面包上台面的搬运；视频 112.75 s、118.75 s 已见面包落在冰箱前地面，视频 334.5 s 面包与盘仍分离地留在那里。此后低位恢复没有送达盘装面包，因此这是最早启动而未修复的放置失败；视频 111.0 s 是承托丢失的近似锚点。log step 231 为对应搬运脚本，非用 agent 时间换算。" + }, + "unmet": { + "chicken_on_plate": null, + "bread_on_plate": false, + "chicken_in_microwave": null, + "bread_on_counter": false, + "microwave_closed": false, + "microwave_on": false, + "fridge_closed": false, + "chicken_thawed": true, + "bread_thawed": true + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 111.0, + "log_step": 236, + "evidence_zh": "推断：视频 98.0–99.0 s 面包在冰箱下层圆盘上；机器人抽盘、抬臂后，视频 112.75 s 的腕部视图与视频 118.75 s 的头部视图可见面包落在地面，视频 334.5 s 还可见盘子也留在冰箱前、与面包分离。面包在到达台面前丢失盘面承托，后续未恢复，不是到达目标后的放后不稳。log step 236 的会话查询 carried False 只作相符的旁证。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频 / 日志", + "evidence_zh": "推断：视频 98.0–113.0 s 的目标与动作方向是把下层面包盘搬往台面，但夹持和搬运未保持盘装负载；视频 334.5 s 仍见盘与面包分离地留在冰箱前。log step 225、231 的脚本尝试夹盘、调平、抬盘并移动底盘，log step 236 的查询报告搬运前留盘为真、搬运后为假，表明失败发生在持盘运动的执行与承载保持。现有视角不能区分盘沿夹持、途中姿态跟踪或接触扰动各自的贡献，停留在控制类。" + } + ], + "gap_zh": "观察：inputs/ 提供完整评分视频和会话日志，但没有逐帧状态日志、成功参考视频或评分回放的逐物体温度读数。面包离盘阶段的盘面主要在相机下缘，视频 108.5–113.0 s 的失去时刻只能近似定位；视频 288.0–333.5 s 鸡肉运输及入炉的盘面受遮挡，无法确认鸡肉是否离盘，故删除原视频 315.0 s 的失去锚点，鸡肉留盘与盘装鸡肉入炉的最终值均为未知。两项解冻由最终总分与可见关系排除推断，不能填写解冻时间区间。log step 316 的会话末分为 4/9，而 inputs/run.json reward.q_score 为 3/9；会话中空盘上台面的结果也与回放中冰箱前落盘不一致，未将会话 CHICKENGOAL 或落地坐标直接当作回放状态。推断：按 CASES.md PROG-10，初始持续成立的关系不计 q_score，3/9 不能用于要求恰有三个 DAG 目标节点最终为真；确定最终成立至少 4/11，另有两个鸡肉关系节点未知，精确 progress.final 记 null。" + }, + "summary_zh": "评分回放打开了冰箱和微波炉，搬运中丢失面包的盘面承托，面包和盘最终留在冰箱前地面，两台电器的门均未关回且未见开机；最早未修复的断点仍是盘装面包上台面的搬运，现象为没保持住，证据支持控制层归因。最终确认两项开门事件及由 q_score=3/9 排除推断的两项解冻，至少 4/11 节点为真；初始持续成立的关系不计 q_score，原子谓词总分不能直接当作 DAG 节点数。鸡肉后段留盘与盘装鸡肉入炉因盘面遮挡均改为未知，删除原视频 315.0 s 离盘判断；解冻时刻也未知，因此精确最终进度记 null，conf 从 6 降至 5。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "面包侧（面包离盘、面包上台面为断点）与开门节点与视频相符；但 chicken_on_plate 的「315 s 失去、final=false」只靠会话日志（回放已与会话分歧），与评分器 q=3/9 不自洽，应改为 unknown 或按回放帧重判。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "第二轮复核：面包离盘断点、开门节点、鸡肉相关节点置未知、两项解冻按 q=3/9 的逻辑推断均与视频、run.json 评分和 PROG-10 相符；未发现需要改动的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + 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"efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-thawing-frozen-food-i00-privileged--rl2axhy", + "taskKey": "behavior-1k/thawing_frozen_food", + "dag_sha256": "82a242d812ea54f09bbc77d5564e98f497c43288405c90e222ff841a14ff303f", + "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": 1216, + "sim_steps": 1216, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 914.5, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 5, + "agent_resets": 1, + "agent_sim_steps": 4960, + "agent_records": 3, + "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-thawing-frozen-food-i00-privileged--rl2axhy/replay.mp4", + "duration_s": 40.533, + "fps": 30.0, + "frames": 1216, + "sha256": "b7c0d74227fee0e86e399042fbd803bf98a574a6b1e51a7d795623a73c712080" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 11, + "base": null, + "peak": null, + "final": 4, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 8.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.5, + "log_step": null, + "text_zh": "观察：视频 6.0–7.5 s，机器人左夹爪两指位于冰箱中央门沿两侧，随后向外牵引门板；视频 8.0–10.5 s 门板与箱体之间出现明显开口，可见内部水平搁架。开门时刻约为视频 8.0 s，阈值穿越有约半秒误差。" + }, + { + "t": 10.0, + "log_step": 247, + "text_zh": "观察：log step 247 是最终生成器 gen4 的输出，记录左门曾到 0.522 rad，后回到 0.341 rad；log step 249、254 确认保存及重放的是 1216 步轨迹。这里只用视频确定开门时刻，不把会话中的其他开门测试计入。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 6.0–10.5 s，左夹爪两指夹住冰箱门的中央竖直边沿并牵引，门随夹爪转开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人在视频 0–3 s 驱动轮式底盘接近冰箱，视频 11–13 s 又移动底盘调整拉门位置。" + } + ] + }, + "microwave_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 31.5, + "log_step": null, + "text_zh": "观察：视频 28.5–35.5 s，机器人转向微波炉并将左夹爪移近炉门，腕部相机持续看到贴合炉体的黑色门面，未见门板转开或内腔开口；视频 39.5–40.5 s 炉门仍关闭。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 31–35.5 s 左腕靠近微波炉门，但门边与夹爪接触区域在腕部视野边缘，不能确认手指是否接触或夹住门沿。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 27.5–29.5 s 机器人驱动底盘从冰箱前转向微波炉，空手接近炉门。" + } + ] + }, + "chicken_on_plate": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：任务 DAG 的 chicken_on_plate 判据及 inputs/run.json 的 task_text 明确初始鸡肉由盘子承托。视频 0–40.5 s 未见鸡肉或盘子被带到箱外；视频 18–21.5 s 左腕面对闭合的金属门面，夹爪取盘动作停在箱外，因此按未扰动初态推断鸡肉留盘关系持续成立。鸡肉与盘面的接触本身被门遮挡，此关系并非直接视觉确认。" + }, + { + "t": 40.5, + "log_step": 254, + "text_zh": "推断：评分器 q_score=0 不排除持续保留的初始鸡肉留盘关系，因为 BEHAVIOR 不把初始已成立且保持的目标谓词计作新增得分；不能据零分认定鸡肉离盘。" + } + ] + }, + "bread_on_plate": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：任务 DAG 的 bread_on_plate 判据及 inputs/run.json 的 task_text 明确初始面包在另一只盘上。视频 22–27.5 s 左夹爪仍在冰箱金属门外移动，未见它持盘、持面包或将食物取出；结合初态和未进入箱内的动作，推断面包留盘关系持续成立。面包与盘面的实际支撑点被门遮挡。" + }, + { + "t": 40.5, + "log_step": 254, + "text_zh": "推断：评分器 q_score=0 不否定保留初始面包留盘关系，该关系在初始即成立，不是新增得分；没有据零分推断面包掉落。" + } + ] + }, + "chicken_in_microwave": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 18.5, + "log_step": null, + "text_zh": "观察：视频 17.5–21.5 s，机器人左腕接近冰箱带出水口的金属门，随后手指停在门板外侧；腕部画面只有门面，没有盘子或鸡肉进入夹爪。视频 27.5–29.5 s 机器人转向微波炉时仍空手，视频 31–35.5 s 微波炉门保持关闭，未见盘装鸡肉入炉。" + }, + { + "t": 40.5, + "log_step": 254, + "text_zh": "推断：log step 249、254 的最终 1216 步轨迹与确定性重放均为 q_score=0；鸡肉盘入炉是初始不成立的目标，若末态成立会增加得分，因此末态为假，也与视频中未取出盘子的过程一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 18–21.5 s，取鸡肉盘时左夹爪两指顶在冰箱仍关闭的金属门外侧，实际接触的是门板，未见夹住盘沿。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 17–18 s，机器人驱动底盘调整取鸡肉盘的站位；全程未见持盘搬运。" + } + ] + }, + "bread_on_counter": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.0, + "log_step": null, + "text_zh": "观察：视频 22–27.5 s 左夹爪在冰箱门外尝试较低位置的取物动作，腕部仍只见金属门面，没有盘子随夹爪移动；机器人随后空手转向微波炉，未见把面包盘放到台面。" + }, + { + "t": 40.5, + "log_step": 254, + "text_zh": "推断：最终交付及重放的 q_score 均为 0（log step 249、254），初始不成立的面包盘上台面关系末态不能成立；视频也没有显示任何盘子被取出和放到台面。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 22–26 s 左夹爪仍顶靠冰箱金属门外侧，在取面包盘的动作中实际接触门板；未见抓到盘子。" + } + ] + }, + "microwave_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.0, + "log_step": null, + "text_zh": "推断：任务 DAG 指明微波炉初始关闭；视频 2–16 s 背景中的微波炉门面保持贴合炉体，视频 28.5–35.5 s 的近景也未见打开。" + }, + { + "t": 40.5, + "log_step": null, + "text_zh": "观察：视频 39.5–40.5 s，左腕相机可见微波炉正面，黑色炉门仍贴合外框；全片没有可见的开门区间，故关闭状态从视频 0 s 持续到末帧。" + } + ] + }, + "microwave_on": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 38.5, + "log_step": null, + "text_zh": "观察：视频 37.5–40.5 s 左夹爪移到微波炉红色按钮附近并顶靠控制面板右侧，没有可辨识的开机指示变化；没有逐帧设备开关状态，不能仅凭此动作写出开机区间。" + }, + { + "t": 40.5, + "log_step": 254, + "text_zh": "推断：log step 254 对最终 1216 步文件的确定性重放报告 q_score=0，且 inputs/run.json.reward.q_score=0。开机初始为假，若末态为真必贡献新增目标得分，因此末态为假；中途是否短暂翻转不能由总分确定，intervals 留 null。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 38–40 s，左夹爪顶靠微波炉控制面板右侧、红色按钮附近；不能确认按钮是否满足连续触碰触发条件。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 35.5–37.5 s，机器人驱动底盘转向并接近微波炉控制面板。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 8.0 + ] + ], + "final": false, + "evidence": [ + { + "t": 2.0, + "log_step": null, + "text_zh": "观察：视频 2–7.5 s 冰箱两片门板仍并拢贴合；视频约 8.0 s 一片门被左夹爪拉开，视频 9–16 s 中央开口持续可见，关闭状态在此丢失。" + }, + { + "t": 40.5, + "log_step": null, + "text_zh": "观察：视频 18–27.5 s 冰箱门缝仍敞开；视频 35.5–40.5 s 从侧面看门板仍未完全回到贴合位置。没有观察到一次完成的关门恢复，故关闭状态末态为假；不把开门时的门沿抓握重复当作关门尝试。" + } + ] + }, + "chicken_thawed": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 40.5, + "log_step": null, + "text_zh": "观察：视频 0–40.5 s 没有显示鸡肉的温度或 frozen 状态，食物也没有被可见地搬入微波炉或放上台面；不能由外观或开过冰箱推定解冻时刻。" + }, + { + "t": 40.5, + "log_step": 254, + "text_zh": "推断：任务初态规定鸡肉冻结，而评分器对最终交付重放给出的 q_score=0（log step 254；亦见 inputs/run.json.reward）。非冻结是初始不成立的目标谓词，末态若解冻会增加得分，因此该节点 final=false；缺乏中途温度或冻结读数，intervals=null。" + } + ] + }, + "bread_thawed": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 40.5, + "log_step": null, + "text_zh": "观察：视频 0–40.5 s 没有显示面包的温度或 frozen 状态，食物也没有被可见地搬入微波炉或放上台面；不能由外观或开过冰箱推定解冻时刻。" + }, + { + "t": 40.5, + "log_step": 254, + "text_zh": "推断：任务初态规定面包冻结，而评分器对最终交付重放给出的 q_score=0（log step 254；亦见 inputs/run.json.reward）。非冻结是初始不成立的目标谓词，末态若解冻会增加得分，因此该节点 final=false；缺乏中途温度或冻结读数，intervals=null。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "fraction", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "chicken_in_microwave", + "t": 18.5, + "log_step": 247, + "where": "操作中", + "evidence_zh": "观察：视频 18–21.5 s，机器人开始取鸡肉盘时左夹爪顶在带出水口的闭合冰箱门外，左腕近景被金属门面占满，没有盘子进入夹爪；之后空手去微波炉，直到视频 40.5 s 都没有补成鸡肉盘入炉。推断：这是一片门已打开后，首次取盘搬运未完成且未修复的步骤；将取盘作为鸡肉入微波炉的一部分，而非另建抓取节点。log step 247 记录最终生成器首个 plate lifted=False、hand=None，与视频相符。" + }, + "unmet": { + "chicken_on_plate": true, + "bread_on_plate": true, + "chicken_in_microwave": false, + "bread_on_counter": false, + "microwave_closed": true, + "microwave_on": false, + "fridge_closed": false, + "chicken_thawed": false, + "bread_thawed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 18.5, + "log_step": null, + "evidence_zh": "观察：视频 18–21.5 s 左腕与两指停在仍闭合的冰箱金属门外侧，腕部画面清楚显示门面、出水口附近结构及夹爪阴影；头部视图中另一片门虽然已有开口，取鸡肉盘的夹爪却没有通过该开口，未见盘子被取出。推断：取盘路径受到闭合门板阻挡，随后也没有完成该次搬运。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "t": 18.5, + "log_step": 232, + "source_zh": "日志", + "evidence_zh": "观察：log step 232 把生成脚本从“打开左门”至“鸡肉盘入炉”之间的代码整体替换为只拉左门的序列；log step 242 确认脚本此处直接进入鸡肉盘阶段，log step 244 只增加继续拉同一左门的动作，log step 245 启动此最终生成器。视频 18–21.5 s 则显示机器人在另一扇仍关闭的金属门外取盘。推断：交付方案没有先建立鸡肉盘所在侧的开放取物通道，就直接执行取盘路径；跨阶段的门状态与取盘路径安排不相容，导致门板阻挡。" + } + ], + "gap_zh": "输入有完整视频和运行日志，但无状态日志、无成功参考视频；鸡肉、面包及其盘面在本次视角中被门遮挡，两项留盘关系依据已知初态与夹爪未进入箱内的连续过程推断，不能直接核实支撑接触。开关、两份食物冻结状态仅能由最终 q_score=0 限定末态，无法标定中途区间；微波炉开门尝试的具体手指接触也不可见。log step 213 的生成代码中段在原始记录中被截断，未用它补造视频中未见的关门或搬运动作。agent 自述的盘厚、夹爪尺寸及“没有合法抓法”未得到本次视频验证，不据此归因任务或环境。" + }, + "summary_zh": "观察：评分轨迹打开了一片冰箱门，微波炉全程保持关闭，未完成鸡肉盘入炉或面包盘上台面；评分器末态 q_score=0，开机与两份解冻目标末态均为假。推断：首个未修复断点是鸡肉入微波炉的取盘阶段（视频约 18.5 s），只打开一片门就执行朝另一片闭门后的取盘路径，夹爪被门板挡住；两份食物留盘按初态及未进入箱内的过程推断保留。观察：无状态日志，食物支撑关系被遮挡，开关与温度缺乏逐帧读数，相应未知时间区间已留空。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值、时间、断点（鸡肉入微波炉取盘阶段）与根因（右门未开即取盘）与视频、log 和 q_score=0 一致；未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:44:50Z", + "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-thawing-frozen-food-i00-privileged--rl2axhy/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-thawing-frozen-food-i00-privileged--rl2axhy/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c160259e1f05517674ae85cf06cd034f7de1c5c23f332ec1368be74bf789fd0e", + "video_sha256": "b7c0d74227fee0e86e399042fbd803bf98a574a6b1e51a7d795623a73c712080", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/thawing_frozen_food/trajectories/behavior-thawing-frozen-food-i00-privileged--wtckb8n.json b/phase2/behavior-1k/thawing_frozen_food/trajectories/behavior-thawing-frozen-food-i00-privileged--wtckb8n.json new file mode 100644 index 0000000000000000000000000000000000000000..c9534047b33d5ce77c4631de619525992bbff05e --- /dev/null +++ b/phase2/behavior-1k/thawing_frozen_food/trajectories/behavior-thawing-frozen-food-i00-privileged--wtckb8n.json @@ -0,0 +1,410 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-thawing-frozen-food-i00-privileged--wtckb8n", + "taskKey": "behavior-1k/thawing_frozen_food", + "dag_sha256": "82a242d812ea54f09bbc77d5564e98f497c43288405c90e222ff841a14ff303f", + "outcome": { + "success": 0, + "reward": 0.2222222222222222, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 3347, + "sim_steps": 3347, + "fallen": 0, + "final_reward": 0.2222222222222222, + "q_score": 0.2222222222222222, + "replay_wall_s": 1255.6, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 2, + "agent_resets": 1, + "agent_sim_steps": 0, + "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-thawing-frozen-food-i00-privileged--wtckb8n/replay.mp4", + "duration_s": 111.567, + "fps": 30.0, + "frames": 3347, + "sha256": "80da295d5100ca89048ab70a678ce87d39d230b6174732d852645b36ddd2fdf3" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 11, + "base": null, + "peak": null, + "final": 6, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 8.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8.0, + "log_step": null, + "text_zh": "观察：视频 7.5–8.5 s，机器人左夹爪在冰箱把手处拉动，门板转离箱体并露出内侧白色搁架；开门界限约在视频 8.0 s，误差约半秒。" + }, + { + "t": 21.0, + "log_step": null, + "text_zh": "观察：视频 21.0 s 冰箱一侧门已大幅打开；视频 111.4 s 结束时仍敞开。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 6.5–10.5 s 左侧二指夹爪夹住冰箱竖直把手并牵引门板；随后换位再次握把手继续拉开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0–5.0 s 底盘驶近冰箱，视频 12.0–18.0 s 退让并换位，以继续开门。" + } + ] + }, + "microwave_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 111.4, + "log_step": null, + "text_zh": "观察：视频 0–111.4 s 的全段粗看与抓盘段加密帧中，机器人操作冰箱和面包盘，微波炉门始终贴合炉体；视频 54.0 s、60.0 s、110.7 s 均可见关闭的炉门，没有开门或露出内腔的事件。" + } + ] + }, + "chicken_on_plate": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：inputs/run.json 的 task_text 明确鸡肉初始在冰箱内的任务盘上；DAG 同样规定本关系初始成立。" + }, + { + "t": 111.4, + "log_step": 63, + "text_zh": "推断：视频 0–111.4 s 机器人只开冰箱的一侧门并尝试取低层面包盘，未操作鸡肉所在的另一侧高层区域；log step 62、63 的交付录制诊断中鸡肉及其盘的位置均保持在初始高层位置。因此将初始盘装关系保留到结束；鸡肉受未打开的另一侧门遮挡，末态关系并非直接看见。" + } + ] + }, + "bread_on_plate": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 29.5, + "log_step": null, + "text_zh": "观察：视频 23.0–34.5 s，低层搁架上的白盘承托面包；机器人左夹爪靠近后撤回，盘和面包仍在搁架上，未出现面包离盘。" + }, + { + "t": 85.0, + "log_step": null, + "text_zh": "观察：视频 66.0–89.0 s 再次伸手与撤手期间，腕部画面中面包仍在白盘上，头部画面中两者未离开低层搁架。" + }, + { + "t": 111.4, + "log_step": null, + "text_zh": "推断：视频 89.0–111.4 s 机器人空手离开冰箱向台面移动，没有再搬动该盘；结合视频 85.0 s 的盘装关系，末态仍成立。" + } + ] + }, + "chicken_in_microwave": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 111.4, + "log_step": null, + "text_zh": "观察：视频 0–111.4 s 没有鸡肉或承鸡肉的盘被取出、搬运或送入微波炉；微波炉门一直关闭。机器人只尝试低层面包盘，因而盘装鸡肉从未入炉。" + } + ] + }, + "bread_on_counter": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 31.5, + "log_step": null, + "text_zh": "观察：视频 29.0–33.0 s 左夹爪靠近低层盘后撤回，白盘和面包仍留在原搁架，夹爪未携盘。" + }, + { + "t": 85.5, + "log_step": null, + "text_zh": "观察：视频 66.0–85.5 s 的再次伸手没有带走盘和面包；视频 89.0–111.4 s 机器人向台面移动并下降、抬起空夹爪，目标台面未出现面包盘。" + }, + { + "t": 111.4, + "log_step": 63, + "text_zh": "观察：log step 63 是将累计 3347 条录制动作保存为最终交付文件的步骤，诊断输出 placed False True（盘不在台面、面包仍在盘上）；这与视频中抓盘后原位留下盘和面包的画面相符，区别于 log step 52 的早期调试成功。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 29.0–32.0 s、66.0–85.5 s 左夹爪伸向面包盘并闭合、撤回，但没有夹住并带走该盘；指尖与盘沿接触处受腕部和搁架遮挡，不能确认实际触碰方式，不能标成抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人在视频 23.0–29.0 s、61.0–66.0 s 靠近面包盘，并在视频 35.0–60.0 s、89.0–111.4 s 空手驶向台面执行搬放动作。" + } + ] + }, + "microwave_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 60.0, + "log_step": null, + "text_zh": "观察：视频 0 s 的微波炉门贴合炉体；视频 18.0 s、54.0–60.0 s、110.7–111.4 s 炉门均关闭，整个操作没有打开微波炉，初始关闭状态保留。" + } + ] + }, + "microwave_on": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 111.4, + "log_step": null, + "text_zh": "观察：视频 0–111.4 s 机器人没有伸手按压微波炉开关；视频 60.0 s、110.7–111.4 s 未见明确开机指示。" + }, + { + "t": 111.4, + "log_step": 63, + "text_zh": "推断：log step 62、63 的交付录制诊断均读出微波炉 on False，视频也无开机操作；评分器 q_score=2/9 的新增满足量已由两种食物非冻结解释，故末态开机为假。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 8.0 + ] + ], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0–7.5 s 冰箱门处于贴合箱体的初始关闭位置。" + }, + { + "t": 8.0, + "log_step": null, + "text_zh": "观察：视频 7.5–8.5 s 机器人拉开门，关闭状态在约视频 8.0 s 丢失；之后逐段粗看及视频 110.7–111.4 s 的末段检查，冰箱门一直敞开，机器人未执行关门。" + } + ] + }, + "chicken_thawed": { + "method": "visual", + "intervals": null, + "final": true, + "evidence": [ + { + "t": 111.4, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.2222222222222222=2/9；视频显示盘装鸡肉未入炉、面包盘未上台面、微波炉未开机且冰箱开着，鸡肉留盘、面包留盘及微波炉关闭是初始已真而不新增计分的条件。因此两个新增满足的目标只能是鸡肉与面包非冻结，两者末态均为真。视频没有温度或冻结状态指示，不能确定首次解冻时刻，intervals 保留 null。" + }, + { + "t": 111.4, + "log_step": 63, + "text_zh": "观察：log step 63 保存累计 3347 步的最终交付录制，并读出鸡肉温度为 18.6 摄氏度；log step 62 的前段录制诊断也已读出正温。它们支持评分总数所决定的末态，但不把早期调试的解冻时刻移入本视频。" + } + ], + "contact_actual": [ + { + "who": "无接触", + "how": "不适用", + "note_zh": "推断：设备完成：环境热交换使鸡肉回温；视频 0–111.4 s 未见机器人针对鸡肉进行加热操作，微波炉未开启，非冻结末态由评分总数支持。" + } + ] + }, + "bread_thawed": { + "method": "visual", + "intervals": null, + "final": true, + "evidence": [ + { + "t": 111.4, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.2222222222222222=2/9；视频显示盘装鸡肉未入炉、面包盘未上台面、微波炉未开机且冰箱开着，鸡肉留盘、面包留盘及微波炉关闭是初始已真而不新增计分的条件。因此两个新增满足的目标只能是鸡肉与面包非冻结，两者末态均为真。视频没有温度或冻结状态指示，不能确定首次解冻时刻，intervals 保留 null。" + }, + { + "t": 111.4, + "log_step": 63, + "text_zh": "观察：log step 63 保存累计 3347 步的最终交付录制，并读出面包温度为 18.4 摄氏度；log step 62 的前段录制诊断也已读出正温。它们支持评分总数所决定的末态，但不把早期调试的解冻时刻移入本视频。" + } + ], + "contact_actual": [ + { + "who": "无接触", + "how": "不适用", + "note_zh": "推断：设备完成：环境热交换使面包回温；视频 0–111.4 s 未见机器人针对面包进行加热操作，微波炉未开启，非冻结末态由评分总数支持。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.2222222222222222, + "unit": "fraction", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "bread_on_counter", + "t": 31.5, + "log_step": 62, + "where": "操作中", + "evidence_zh": "观察：视频 29.0–33.0 s，机器人左夹爪向低层面包盘闭合后撤回，盘和面包仍在搁架上；随后机器人空手向台面行驶。视频 66.0–85.5 s 的重试仍未取走盘，到视频 111.4 s 也未放上台面。这是打开冰箱后首个开始操作、失败且一直未修复的步骤；log step 62、63 的最终录制诊断均为手中无物、盘不在台面。" + }, + "unmet": { + "chicken_on_plate": true, + "bread_on_plate": true, + "chicken_in_microwave": false, + "bread_on_counter": false, + "microwave_closed": true, + "microwave_on": false, + "fridge_closed": false, + "chicken_thawed": true, + "bread_thawed": true + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 31.5, + "log_step": 62, + "evidence_zh": "观察：视频 29.0–33.0 s 左夹爪在面包盘旁闭合、抬起并后撤，但原搁架上的盘和面包未被带起；视频 66.0–85.5 s 重试后仍留在原处，未出现先持盘再滑脱的阶段。所需的夹持接触未建立；log step 62 的 inhand None 与 log step 63 各次 try 的 None 支持这一观察。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频 / 日志", + "evidence_zh": "推断：视频 29.0–33.0 s、66.0–85.5 s 机器人已朝正确的面包盘执行抓取动作，却始终没有带走盘。log step 62 抓盘结果为 None；log step 63 改变抓取高度到 0.728、0.724、0.720 米仍均为 None，并打印约 0.09–0.20 米的末端位置残差，随后继续空手搬放。证据支持抓取动作执行未形成有效夹持的控制问题；没有足够证据把它细分为碰撞、逆解、接触几何或某个参数错误。" + } + ], + "gap_zh": "没有状态日志或成功参考视频；抓盘时指尖与盘沿局部遮挡，无法确认是否有擦碰以及具体阻挡物，故该处 contact_actual 为未知且不细分控制根因。鸡肉被另一侧未打开的冰箱门遮挡，留盘末态由初始条件、整段未操作及最终录制诊断推断。两种食物的非冻结末态由 q_score 总数和交付录制诊断交叉支持，但无逐帧温度，首次解冻时刻未知，两个 intervals 为 null；progress.base、peak 因此由规则保留未知。任务设计问题：任务说明允许向室温自然回温，本次微波炉未开启、食物未搬出也得到两项解冻计分；此现象不作为机器人失败原因。" + }, + "summary_zh": "评分轨迹打开冰箱，保持两份食物留盘和微波炉关闭，评分总数支持两份食物末态均已解冻，最终为 6/11 节点成立。机器人在视频约 31.5 s 抓面包盘失败，之后重试仍未形成夹持，空手完成搬放动作，断点为面包放上台面，根因为控制；早期调试的搬运成功不属于交付轨迹。任务设计问题：自然回温使未搬出的食物也获得解冻计分；无状态日志，解冻时刻和抓盘局部接触方式无法确认。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值、断点（面包放上台面，视频约31.5 s 抓盘失败）、没建立接触与控制根因均与视频帧和 log step 62/63 一致；解冻两节点由 q_score=2/9 推断，标注为推断，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": "2026-10-30T21:35:29Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": 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0000000000000000000000000000000000000000..7ba374a1f43bf2525bb3ac152f6e56c83f3eac5e --- /dev/null +++ b/phase2/behavior-1k/thawing_frozen_food/trajectories/behavior-thawing-frozen-food-i00-standard--6c2p2ky.json @@ -0,0 +1,484 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-thawing-frozen-food-i00-standard--6c2p2ky", + "taskKey": "behavior-1k/thawing_frozen_food", + "dag_sha256": "82a242d812ea54f09bbc77d5564e98f497c43288405c90e222ff841a14ff303f", + "outcome": { + "success": 0, + "reward": 0.3333333333333333, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 15794, + "sim_steps": 15794, + "physics_steps": 63176, + "steps": 15695, + "elapsed_s": 6807.9, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 0, + "q_score": 0.3333333333333333, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.33, + "peak_processes": 11, + "peak_disk_gb": 1.078, + "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-thawing-frozen-food-i00-standard--6c2p2ky/replay.mp4", + "duration_s": 526.467, + "fps": 30.0, + "frames": 15794, + "sha256": "7d266b8d2bbfc824314913fea9fb4780f74316a1406c334b72968473e7dc6ced" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 11, + "base": null, + "peak": null, + "final": null, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 22.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 22.5, + "log_step": 51, + "text_zh": "观察：视频 21.0–22.0 s 冰箱门仍贴合，视频 22.5–24.5 s 机器人右夹爪随把手向外拉，门板明显转开并露出搁架；视频 38–46 s 两片门都已打开。开门时刻取视频约 22.5 s，精度约半秒。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右夹爪先夹住一侧冰箱门把手外拉，随后左夹爪夹住另一侧把手开门；两手先后操作，没有同时合作开同一片门。" + } + ] + }, + "microwave_opened": { + "method": "visual", + "intervals": [ + [ + 269.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 269.5, + "log_step": 244, + "text_zh": "观察：视频 268.5–269.0 s 微波炉门仍贴合；视频 269.5–272.0 s 机器人右夹爪抓住门沿向外带，门板转开并露出内腔。开门事件在后来关门后保留。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右夹爪夹住微波炉门右侧门沿/把手，将门向外拉开。" + } + ] + }, + "chicken_on_plate": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：任务 DAG 说明鸡肉初始由盘子承托，但开局相机面对房间，不能直接看到鸡肉；这只说明已知初态，不能证明后续整段留盘。" + }, + { + "t": 300, + "log_step": 258, + "text_zh": "观察：视频 284–350 s 机器人在冰箱两侧搁架、门内和下部抽屉附近改变头部与腕部视角，未取得能辨明鸡肉及其承托盘的画面；视频 525.5–526.43 s 也没有鸡肉留盘的可用视图。无状态日志或逐目标评分字段，最终关系无法确认。" + } + ] + }, + "bread_on_plate": { + "method": "visual", + "intervals": [ + [ + 0, + 102.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 46, + "log_step": 77, + "text_zh": "观察：视频 42–58 s 可见冰箱低层搁架上的面包片由盘面承托。推断：结合 DAG 给定的初始盘装关系，将此初始成立区间从视频 0 s 计入。" + }, + { + "t": 102.5, + "log_step": 128, + "text_zh": "观察：视频 101.5–103.25 s 右夹爪闭合后抬起面包，视频 104–106 s 面包随手离开搁架，原盘仍留在箱内；离盘界点取视频约 102.5 s，存在约半秒误差。" + }, + { + "t": 251, + "log_step": 236, + "text_zh": "观察：视频 115.5–117 s 机器人将面包单独松在微波炉旁的台面；视频 141–251 s 两只夹爪先后多次接近、闭合和抬起，但面包仍在微波炉旁，未见送回盘面。视频 369–373 s 原盘落地，视频 450、460、500、525.5–526.43 s 面包仍单独在原台面一侧，留盘关系没有恢复。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右夹爪实际夹住面包片并将其单独取出；后续左右夹爪先后回抓，未再次形成能带走面包的抓持。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "回盘尝试中夹爪触及面包边缘并将面包在台面上推移，没有使面包回到盘上。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "右夹爪携带面包时，轮式底盘从冰箱驶向微波炉旁台面。" + } + ] + }, + "chicken_in_microwave": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 272, + "log_step": 246, + "text_zh": "观察：视频 269.5–274 s 炉门打开后，机器人空手退开并转向冰箱；视频 284–350 s 只见寻找和伸入冰箱的动作，没有鸡肉或鸡肉盘离开冰箱并随夹爪搬运。" + }, + { + "t": 442.5, + "log_step": 328, + "text_zh": "观察：视频 438–443.5 s 机器人直接将空着的微波炉关回，未在开门期间搬入任何食物或盘子。炉内原有结构不可当成任务盘；视频末段面包仍在炉外，鸡肉入炉关系未达成。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "机器人为寻找鸡肉而驶回冰箱并调整位置，随后空手返回微波炉。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "探索冰箱期间鸡肉始终未在相机里清楚显露，不能确认夹爪是否曾碰到隐藏的鸡肉或其盘子；没有可确认的抓握或搬运。" + } + ] + }, + "bread_on_counter": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 116.5, + "log_step": 140, + "text_zh": "观察：视频 104–114.5 s 右夹爪携带的是单独面包，视频 115.5–117 s 将其释放在微波炉旁台面，盘子仍在冰箱；此时只成立面包直接在台面，未成立同盘配对支撑。" + }, + { + "t": 143, + "log_step": 160, + "text_zh": "观察：视频 132–140 s 机器人将另行取出的空盘运到灶台另一侧台面；视频 141–251 s 面包仍在微波炉旁，与空盘分处两处，左右夹爪回抓后均未把面包送到盘内。" + }, + { + "t": 371, + "log_step": 297, + "text_zh": "观察：视频 360–368 s 机器人试图重取台面上的空盘，视频 369–373 s 盘离开台面后落到地面，视频 378–428 s 的恢复动作未把盘放回台面；视频 525.5–526.43 s 面包仍单独留在微波炉旁。全过程未见面包与台面上的同一盘共同成立支撑关系。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右夹爪先实际抓住面包搬到微波炉旁，再单独抓住空盘搬到灶台另一侧；两只夹爪后来先后回抓面包并尝试回收盘子，未完成盘装放置。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "夹爪回抓面包时多次推动面包，使它在微波炉旁台面移动；后段取盘也带动盘子移出原位。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘先携带面包驶向微波炉，再携带空盘驶向灶台另一侧，并在两处之间移动以尝试组合放置。" + } + ] + }, + "microwave_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 269.5 + ], + [ + 442, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 14, + "log_step": null, + "text_zh": "观察：视频 10–22 s 的厨房视图以及视频 260–269 s 操作前的视图均显示微波炉门贴合炉体；初始关闭从视频 0 s 计入。视频 269.5 s 门板转开，关闭状态失去。" + }, + { + "t": 442, + "log_step": 328, + "text_zh": "观察：视频 438–441.5 s 左腕视角可见左夹爪带动微波炉门沿回转；视频约 442–443.5 s 门沿回到炉体边缘并贴合，视频 447–462 s 和视频 525.5–526.43 s 的炉体正面仍为关闭外观。关回时刻约视频 442 s，精度约半秒。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左夹爪夹住微波炉门沿/把手，沿关门方向带回门板，之后张开夹爪撤离。" + } + ] + }, + "microwave_on": { + "method": "visual", + "intervals": [ + [ + 458.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 458.5, + "log_step": 339, + "text_zh": "观察：视频 450–458.2 s 微波炉开关指示为红色，右夹爪调整到开关上方后按触；视频 458.4–459.4 s 指示转为绿色，视频 460 s、500 s 及视频 525.5–526.43 s 仍可见绿色。开机区间从视频约 458.5 s 计入，依据可见指示变化而非仅凭按压动作。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "右夹爪手指按触微波炉开关按钮，最后一次接近后指示由红变绿。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 22.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 16, + "log_step": null, + "text_zh": "观察：视频 10–22 s 两片冰箱门均贴合箱体，视频 22.5 s 第一片门转开并露出搁架；关闭状态初始成立，随后失去。" + }, + { + "t": 526.433, + "log_step": 370, + "text_zh": "观察：视频 470–525 s 机器人先后用左、右夹爪抓拉门把手、推门面并调整底盘，冰箱内部仍多次露出；视频 525.5、525.7、525.9、526.1、526.3、526.43 s 的腕部画面仍显示门板敞开和搁架，未恢复所有门均关闭。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "末段左、右夹爪先后尝试夹住冰箱门把手/门沿，将门带向关闭方向。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "机器人随后用张开的夹爪推冰箱门外侧面，门没有完全关回。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "为重新对齐冰箱门的推动位置，机器人在末段关门尝试中移动底盘。" + } + ] + }, + "chicken_thawed": { + "method": "visual", + "intervals": null, + "final": true, + "evidence": [ + { + "t": 526.433, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=1/3，live_matches_replay=1、deterministic=1；任务目标的同盘配对方案含9个原子条件，因此为3/9项新增满足。鸡肉留盘、面包留盘、两台电器关闭是DAG给定的初始真条件，按BEHAVIOR计分规则不贡献新增分数；视频全程没有鸡肉盘入炉，面包也未与台面上的盘配对，视频末段唯一可见新增设备条件是微波炉开启。故其余两项新增满足只能是鸡肉与面包均非冻结，二者最终均判真；相机没有温度显示，不能据此定位各自解冻时刻。" + } + ], + "contact_actual": [ + { + "who": "无接触", + "how": "不适用", + "note_zh": "非冻结终值由评分总分推得；解冻是热状态变化，没有可确认的夹爪加热接触，不能认定空炉开机造成了鸡肉解冻。" + } + ] + }, + "bread_thawed": { + "method": "visual", + "intervals": null, + "final": true, + "evidence": [ + { + "t": 526.433, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=1/3，live_matches_replay=1、deterministic=1；任务目标的同盘配对方案含9个原子条件，因此为3/9项新增满足。鸡肉留盘、面包留盘、两台电器关闭是DAG给定的初始真条件，按BEHAVIOR计分规则不贡献新增分数；视频全程没有鸡肉盘入炉，面包也未与台面上的盘配对，视频末段唯一可见新增设备条件是微波炉开启。故其余两项新增满足只能是鸡肉与面包均非冻结，二者最终均判真；相机没有温度显示，不能据此定位各自解冻时刻。" + } + ], + "contact_actual": [ + { + "who": "无接触", + "how": "不适用", + "note_zh": "面包最终非冻结，但发生时刻未知；按任务给定的环境热交换机制，该热状态步骤无需机器人接触，搬运与推移接触已在放置节点记录。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.3333333333333333, + "unit": "fraction", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "bread_on_counter", + "t": 102.5, + "log_step": 128, + "where": "操作中", + "evidence_zh": "观察：视频 58–100 s 机器人为搬运盘装面包多次接近盘沿并闭爪抬臂，盘仍在搁架；视频约 102.5–106 s 右爪只带走面包，盘留在冰箱。视频 115.5–117 s 面包被单独放在台面，此后视频 141–251 s 的回抓没有将其送回盘上，视频 369–373 s 空盘又落地。推断：首次未修复的步骤是盘装面包上台面，早先取盘失败和随后分开搬运均未在本步恢复；后续转向鸡肉、关电器并没有完成本步。" + }, + "unmet": { + "chicken_on_plate": null, + "bread_on_plate": false, + "chicken_in_microwave": false, + "bread_on_counter": false, + "microwave_closed": true, + "microwave_on": true, + "fridge_closed": false, + "chicken_thawed": true, + "bread_thawed": true + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 147, + "log_step": 162, + "evidence_zh": "观察：视频 141–151 s 右夹爪在微波炉旁面包边缘反复闭合、抬起，手离开后面包仍在原台面；视频 154–180 s 以及视频 203–251 s 左右夹爪先后重复接近和闭合，面包只被推动，未随手搬往空盘。推断：完成盘装放置所需的再次抓持没有建立，而不是面包已被搬到盘上后又滑落。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "t": 147, + "log_step": 188, + "source_zh": "视频 / 日志", + "evidence_zh": "推断：视频 141–180 s、203–251 s 的夹爪接近多为指尖抵压薄面包的上面或边缘，闭合后无法形成带离台面的包夹，抬臂时面包仍受台面支撑；log step 165、168、177、183、188、199、211、217、230、234 的控制命令依次更换倾斜、俯抓、侧抓和部分闭合，均没有在视频中建立可搬运的抓持。接触布局未适配贴着台面的薄片，是反复空抬和推移的有据解释；本段未验证能把面包重新夹起的替代握法。" + } + ], + "gap_zh": "观察：inputs/ 有完整视频和运行日志，但无状态日志、无成功参考视频，也无逐目标温度/冻结状态。鸡肉及其承托盘未在任何已检查视角中清楚显露，因此鸡肉留盘的最终值未知；两项解冻仅能由评分总分与已排除的其他新增目标推得终值，无法给出解冻区间。门状态阈值按可见开缝和贴合近似，时间约有半秒误差。" + }, + "summary_zh": "机器人打开冰箱和微波炉，随后关回并开启微波炉；面包被单独移至台面，空盘后来落地，盘装面包上台面、鸡肉入炉和冰箱关回均未完成，最终确定6/11个节点为真。最早未修复的操作是搬运盘装面包，分开搬运后反复回抓未建立有效抓持，接触布局未适配贴台面的薄片。鸡肉留盘状态未知，两项解冻的最终真值由原生3/9新增目标分数推断，缺少可定位其时刻的温度状态。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 5, + "summary_zh": "节点时间、终值和断点与抽查帧一致（冰箱开启约 22.5 s，面包于约 100–104 s 被单独取离搁架，微波炉开关约 458 s 变绿）；q_score=1/3 的推断链合理，未发现需改动的内容。未能逐帧核对 141–251 s 的回抓段，因此置信度保守。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:44:15Z", + "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-thawing-frozen-food-i00-standard--6c2p2ky/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-thawing-frozen-food-i00-standard--6c2p2ky/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "228aa4fa68b0d89a7f217a3b687a9715a4b996ef41967bcf43ba5dcf13fc7a43", + "video_sha256": "7d266b8d2bbfc824314913fea9fb4780f74316a1406c334b72968473e7dc6ced", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/thawing_frozen_food/trajectories/behavior-thawing-frozen-food-i00-standard--dmmjwsl.json b/phase2/behavior-1k/thawing_frozen_food/trajectories/behavior-thawing-frozen-food-i00-standard--dmmjwsl.json new file mode 100644 index 0000000000000000000000000000000000000000..1490c7058ee8b571269ec60ab1c375945a8c7281 --- /dev/null +++ b/phase2/behavior-1k/thawing_frozen_food/trajectories/behavior-thawing-frozen-food-i00-standard--dmmjwsl.json @@ -0,0 +1,471 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-thawing-frozen-food-i00-standard--dmmjwsl", + "taskKey": "behavior-1k/thawing_frozen_food", + "dag_sha256": "82a242d812ea54f09bbc77d5564e98f497c43288405c90e222ff841a14ff303f", + "outcome": { + "success": 0, + "reward": 0.2222222222222222, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 15147, + "sim_steps": 15147, + "physics_steps": 60588, + "steps": 6084, + "elapsed_s": 3817.5, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 0, + "q_score": 0.2222222222222222, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 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-thawing-frozen-food-i00-standard--dmmjwsl/replay.mp4", + "duration_s": 504.9, + "fps": 30.0, + "frames": 15147, + "sha256": "4ea238cf9b12eb7a14711131cf7a275481fa0d38b8fba9555e20775aaede07bf" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 11, + "base": null, + "peak": null, + "final": 6, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 24.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 24.5, + "log_step": 31, + "text_zh": "观察：视频 23.0–26.5 s，机器人左夹爪握住冰箱把手向外拉，左腕视野中的门板与箱体分离，随后露出内部搁架；首次超过开门界限约在视频 24.5 s，误差约 1 s。" + }, + { + "t": 76, + "log_step": 42, + "text_zh": "观察：视频约 70–85 s，机器人另一夹爪拉开另一片冰箱门，两个储藏区均露出。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 23–41 s 左夹爪握住一片冰箱门的把手拉门，视频约 70–78 s 右夹爪握住另一片门的把手；两臂先后操作。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：机器人随后用夹爪拨推门板扩大开度，视频约 45–57 s、80–87 s 可见门板继续转动。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频约 130–140 s 机器人移动底盘换站位后继续调整冰箱门。" + } + ] + }, + "microwave_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 362, + "log_step": 129, + "text_zh": "观察：视频 360–368 s 可见微波炉门完整贴合炉体，机器人只靠近并用腕部相机观察，未见拉门或内腔露出。" + }, + { + "t": 504.87, + "log_step": 164, + "text_zh": "观察：后续视频 374–504.87 s 机器人操作冰箱里的面包盘，微波炉没有开门过程；log step 164 的 agent 最终报告也明确自述未打开微波炉。" + } + ] + }, + "chicken_on_plate": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 347, + "log_step": 127, + "text_zh": "观察：视频约 346–347 s，高位左腕视野在冰箱上层看到白盘及盘上的浅色食物，机器人没有把该盘或食物带出。" + }, + { + "t": 504.87, + "log_step": null, + "text_zh": "推断：任务 DAG 与 run.json 的初始描述均为鸡肉在盘上；全片所见的食品抓取都针对下层面包盘，上层鸡肉没有可见搬动或掉落，故将初始留盘关系延续至视频 504.87 s。" + } + ] + }, + "bread_on_plate": { + "method": "visual", + "intervals": [ + [ + 0, + 430.5 + ], + [ + 432, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 55, + "log_step": null, + "text_zh": "观察：视频约 49–62 s 的冰箱视野已经可见面包由深色盘承托；与任务初态一致，首次区间从视频 0 s 计入。" + }, + { + "t": 431, + "log_step": 151, + "text_zh": "观察：视频 430.5–431.5 s，左夹爪单独提起面包，深色盘留在搁架，面包底面与盘面出现间隔；视频约 432 s 松手后面包又落回原盘。已核对视频 428–434 s 的连续四分之一秒采样，区间边界约有 0.5 s 不确定性。" + }, + { + "t": 504.87, + "log_step": 162, + "text_zh": "观察：视频 496.5–504.87 s，机器人退手后，面包仍由冰箱搁架上的深色盘承托；后续没有再次拿起。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 421–432 s 左夹爪夹住面包本身；视频 430.5–431.5 s 单独提起面包后松手使其回到盘上，未持盘托运。" + } + ] + }, + "chicken_in_microwave": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 347, + "log_step": 127, + "text_zh": "观察：视频约 346–347 s，鸡肉盘仍在冰箱上层，机器人只是举腕查看。" + }, + { + "t": 504.87, + "log_step": 164, + "text_zh": "推断：全片没有鸡肉盘离开冰箱或进炉的运动，微波炉门也从未打开；视频 374–504.87 s 的实际抓取围绕面包盘，鸡肉入炉未成立。log step 164 的 agent 自述未移动鸡肉盘，与可见过程相符。" + } + ] + }, + "bread_on_counter": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 382, + "log_step": 138, + "text_zh": "观察：视频约 376–386.5 s，机器人左夹爪伸向面包盘前缘、闭合并尝试上抬，夹爪退开时盘子仍在原搁架上；没有建立能把盘带走的夹持。" + }, + { + "t": 432, + "log_step": 151, + "text_zh": "观察：视频约 398–432 s 多次改变接近方向，只有面包本身短暂被提起，盘子始终没有随夹爪离架。" + }, + { + "t": 504.87, + "log_step": 162, + "text_zh": "观察：视频 496.5–504.87 s，机器人撤回手臂，面包和深色盘仍在冰箱里，没有到台面的放置。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频约 398–420 s、478–495 s，左夹爪手指在盘前缘附近拨、推及向外拖动尝试；没有看到盘缘被两指有效夹住。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 421–432 s 左夹爪夹住并短暂提起面包本身，随即松回盘上；这是取盘失败过程中的实际抓握，未夹持盘子。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频约 370–374 s，机器人移动底盘回到面包盘前，再进行抓取；未曾持盘行驶。" + } + ] + }, + "microwave_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：run.json 的任务初态与 DAG 表明微波炉开始关闭；视频中未出现任何开门操作。" + }, + { + "t": 362, + "log_step": 129, + "text_zh": "观察：视频 360–368 s，微波炉正面及门窗可见，门板贴合炉体；此后机器人转向面包盘，直到视频结束也没有改变炉门。" + } + ] + }, + "microwave_on": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 362, + "log_step": 129, + "text_zh": "观察：视频 360–368 s 微波炉正面的红色按钮可见，但机器人未触按开关，不能把按钮本身的颜色当作开机指示。" + }, + { + "t": 504.87, + "log_step": 164, + "text_zh": "推断：DAG 的初态为微波炉关闭开关，全片没有按压按钮或其他启机动作，且 log step 164 的 agent 自述没有开启微波炉；因此开关未从初始关闭状态翻转。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 24.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 21, + "log_step": 31, + "text_zh": "观察：视频 15–23 s 冰箱两片门贴合箱体；视频约 24.5 s 首片门被拉开，关闭状态失去。" + }, + { + "t": 233, + "log_step": 77, + "text_zh": "观察：视频 195–245 s 期间，机器人虽一度带回其中一片门，另一储藏区仍敞开；没有两片门同时合拢的区间。" + }, + { + "t": 504.87, + "log_step": 162, + "text_zh": "观察：视频 503.5–504.87 s，冰箱内搁架与两侧门内面仍明显露出，关冰箱的目标未恢复。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频约 165–175 s 机器人右夹爪推回一片冰箱门，另一片仍开着；这是途中调门，未达到整台冰箱关闭。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 206–212 s，左夹爪仍牵住把手时随手臂回撤带回另一门板；并非完成整台冰箱的关门验收。" + } + ] + }, + "chicken_thawed": { + "method": "visual", + "intervals": null, + "final": true, + "evidence": [ + { + "t": 504.87, + "log_step": null, + "text_zh": "推断：run.json 评分器 q_score=0.2222222222222222，即 2/9，live_matches_replay=1。初始已成立的食物留盘与电器关门关系不计入这个新增目标分数；终态两盘仍在冰箱、冰箱敞开、微波炉未开机，两个目的地关系及其他新增设备条件均未达成，故这两项新增真值只能是鸡肉与面包均已非冻结。总分决定本节点 final=true，但无法决定解冻的具体视频时刻，intervals 保留 null。" + }, + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/ 中有完整视频和运行记录，但没有逐帧状态日志；run.json 未报告单独温度或 frozen 读数，相机也没有温度显示。" + } + ], + "contact_actual": [ + { + "who": "无接触", + "how": "不适用", + "note_zh": "推断：食物没有进入运行中的微波炉，终态解冻由评分总分确定；结合任务描述的室温回温机制，此处为环境热交换，无机器人加热接触。" + } + ] + }, + "bread_thawed": { + "method": "visual", + "intervals": null, + "final": true, + "evidence": [ + { + "t": 504.87, + "log_step": null, + "text_zh": "推断：run.json 评分器 q_score=0.2222222222222222，即 2/9，live_matches_replay=1。初始已成立的食物留盘与电器关门关系不计入这个新增目标分数；终态两盘仍在冰箱、冰箱敞开、微波炉未开机，两个目的地关系及其他新增设备条件均未达成，故这两项新增真值只能是鸡肉与面包均已非冻结。总分决定本节点 final=true，但无法决定解冻的具体视频时刻，intervals 保留 null。" + }, + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/ 中有完整视频和运行记录，但没有逐帧状态日志；run.json 未报告单独温度或 frozen 读数，相机也没有温度显示。" + } + ], + "contact_actual": [ + { + "who": "无接触", + "how": "不适用", + "note_zh": "推断：食物没有进入运行中的微波炉，终态解冻由评分总分确定；结合任务描述的室温回温机制，此处为环境热交换，无机器人加热接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.2222222222222222, + "unit": "fraction", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "bread_on_counter", + "t": 382, + "log_step": 138, + "where": "操作中", + "evidence_zh": "观察：视频约 376–386.5 s，机器人开始为面包上台面抓取盘缘，夹爪闭合与上提后盘仍留架；视频 398–496 s 反复重试也未把盘取出，最终在视频 496.5–504.87 s 撤手停下（log step 138、142–159、162）。此前对微波炉的行为为靠近查看，没有执行开门抓拉；最早明确开始且一直未完成的目标搬运是面包上台面。" + }, + "unmet": { + "chicken_on_plate": true, + "bread_on_plate": true, + "chicken_in_microwave": false, + "bread_on_counter": false, + "microwave_closed": true, + "microwave_on": false, + "fridge_closed": false, + "chicken_thawed": true, + "bread_thawed": true + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 382, + "log_step": 138, + "evidence_zh": "观察：视频 380–386.5 s 夹爪闭合、上移，深色盘仍在原搁架；视频 398–420 s 及 440–496 s 的换向重试仍未建立能携盘离架的夹持。视频 430.5–431.5 s 被提起的是面包本身，盘没有随动，因此不是盘子曾被握住后掉落。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "t": 430.5, + "log_step": 148, + "evidence_zh": "推断：视频 398–420 s 两指在贴近搁架的薄盘沿前闭合而盘不随动，视频 430.5–431.5 s 改抓侧缘却夹起面包本身；所选接触位置和夹持方向没有形成承载盘子的对向接触。log step 142–148、156–159 的脚本确实逐次改用斜向、侧向、水平和上方接近盘缘，与视频动作相符；未验证任何成功替代抓法。", + "source_zh": "视频 / 日志" + } + ], + "gap_zh": "没有逐帧状态日志或成功示范；鸡肉留盘主要由已知初态、上层腕部片段及未被操作的连续过程推断。两个解冻节点的终值由评分总分排除推得，缺少温度/冻结读数，无法给出区间；门的 5% 界限与短暂面包离盘时刻仅能作近似视觉定位。任务设计问题：run.json 的任务说明明示食物会向 23 摄氏度室温回温，解冻验收没有要求由微波炉加热造成；本次两份食物未到目的地也获得这两项新增目标分数，但失败仍有明确的放置与设备条件未完成。" + }, + "summary_zh": "机器人打开冰箱，最终两份食物仍在盘上、微波炉保持关闭；结合 q_score=2/9 可推得两份食物最终已解冻，共有 6/11 节点终值为真。面包上台面的取盘阶段反复未形成有效夹持，虽曾单独提起面包并放回，盘子始终留在冰箱，最后主动撤手停止，鸡肉入炉、面包上台面、开炉门、开机与关冰箱均未完成。任务设计问题：两份食物可按任务说明自行回温，所得解冻分数不代表搬运或加热成功；解冻时刻及被遮挡的细节缺少状态日志，不能精确定位。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值、时间、断点（面包取盘，没建立接触 + 抓取和接触设计）与视频一致；q_score=2/9 推得两个解冻节点为真合理，未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:40:13Z", + "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-thawing-frozen-food-i00-standard--dmmjwsl/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-thawing-frozen-food-i00-standard--dmmjwsl/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "bcdc7a8f0e419eca988b09567ef130602933d7dcd502c3e9cb7eeae0d04aa61a", + "video_sha256": "4ea238cf9b12eb7a14711131cf7a275481fa0d38b8fba9555e20775aaede07bf", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/thawing_frozen_food/trajectories/behavior-thawing-frozen-food-i00-standard--kr43mta.json b/phase2/behavior-1k/thawing_frozen_food/trajectories/behavior-thawing-frozen-food-i00-standard--kr43mta.json new file mode 100644 index 0000000000000000000000000000000000000000..f4606346dcbb768b8fc84a9eb44096a3f4524e7a --- /dev/null +++ b/phase2/behavior-1k/thawing_frozen_food/trajectories/behavior-thawing-frozen-food-i00-standard--kr43mta.json @@ -0,0 +1,360 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-thawing-frozen-food-i00-standard--kr43mta", + "taskKey": "behavior-1k/thawing_frozen_food", + "dag_sha256": "82a242d812ea54f09bbc77d5564e98f497c43288405c90e222ff841a14ff303f", + "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": 618, + "sim_steps": 618, + "physics_steps": 2472, + "steps": 509, + "elapsed_s": 573.6, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 1, + "q_score": 0.0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-thawing-frozen-food-i00-standard--kr43mta/replay.mp4", + "duration_s": 20.6, + "fps": 30.0, + "frames": 618, + "sha256": "324e262e419edb3791913fab7ed206ecf7e42fe38986d1356f7f066cff52dcfd" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 11, + "base": null, + "peak": null, + "final": 4, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.0, + "log_step": 62, + "text_zh": "观察：视频 0–20.57 s 中机器人主要快速转向扫描，视频 3.0 s 可见厨房及闭合的高柜式冰箱外门，未见门板拉开、箱内搁架露出或夹爪操作门把手；log step 62 执行的是全景扫描脚本。" + } + ] + }, + "microwave_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 8.0, + "log_step": 62, + "text_zh": "观察：视频 0–20.57 s 未见机器人将夹爪伸向微波炉开门，扫描经过厨房后机器人侧倒，未出现炉门开启和内腔暴露的过程；log step 62、71、73 的实际执行分别为底盘扫描、姿态与底盘运动测试。" + } + ] + }, + "chicken_on_plate": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：DAG 的 chicken_on_plate 判据明确鸡肉初始即在任务盘上；视频 0–20.57 s 冰箱未被打开，机器人未取出食物或盘子，故将该初始关系推定为持续保留。鸡肉在箱内被遮挡，未直接看见盘面接触。" + } + ] + }, + "bread_on_plate": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：DAG 的 bread_on_plate 判据明确面包初始即在任务盘上；视频 0–20.57 s 未发生开冰箱、取盘或单独抓取面包，故将初始留盘关系推定为持续保留；箱内食物本身不可见。" + } + ] + }, + "chicken_in_microwave": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.57, + "log_step": 83, + "text_zh": "观察：视频 0–20.57 s 没有盘装鸡肉从冰箱取出、搬运和进入炉腔的过程；机器人空手扫描后侧倒至结束。log step 83 服务以机器人倒地终止本次实时局，run.json 的 q_score=0.0。" + }, + { + "t": 20.57, + "log_step": null, + "text_zh": "推断：结合食物在冰箱内的初态、始终未开门和未搬运的画面，盘装鸡肉入炉关系未建立；并非仅由零分推定没有操作。" + } + ] + }, + "bread_on_counter": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.57, + "log_step": 83, + "text_zh": "观察：视频 0–20.57 s 未见机器人拿起面包或盘子，亦未见盘装面包移到台面；视频 19.6–20.57 s 机器人持续侧倒。" + }, + { + "t": 20.57, + "log_step": null, + "text_zh": "推断：面包初始在冰箱内，结合冰箱未开、未取物的过程，盘装面包上台面未达成；run.json 的 q_score=0.0 与此相符。" + } + ] + }, + "microwave_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：DAG 的 microwave_closed 判据明确炉门初始关闭；视频 0–20.57 s 没有操作炉门、放入食物或出现敞开炉腔，故关闭状态从视频 0 s 持续计入。这是保留初态，并非机器人完成了一次关门。" + } + ] + }, + "microwave_on": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.57, + "log_step": null, + "text_zh": "推断：DAG 说明微波炉初始关闭开关，视频 0–20.57 s 未见夹爪按压开关或明确开机指示。run.json 报告 q_score=0.0，该新满足的开机目标若在终态成立会贡献正分，故终态为假；结合无开关操作，判断本局未开启。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.0, + "log_step": null, + "text_zh": "观察：视频 3.0 s 扫描可见厨房冰箱的外门保持闭合，未见机器人抓把手或拉开门；视频后段机器人侧倒，未进行关门操作。" + }, + { + "t": 20.57, + "log_step": null, + "text_zh": "推断：DAG 指明冰箱初始关闭，视频 0–20.57 s 没有开门过程，故关闭关系从视频 0 s 保留至结束，不受其 after 边门控。" + } + ] + }, + "chicken_thawed": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 20.57, + "log_step": null, + "text_zh": "推断：run.json 的 q_score=0.0，按本任务原生分数对新增满足目标计分的约定，初始冻结的鸡肉若终态已解冻将贡献正分，因此解冻终值为假。视频 0–20.57 s 无温度或 frozen 服务读数，且鸡肉始终未被取出；不能给出逐时刻温度状态，故 intervals 保留 null，不由外观或未开机推定整段冻结。" + } + ] + }, + "bread_thawed": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 20.57, + "log_step": null, + "text_zh": "推断：run.json 的 q_score=0.0，按本任务原生分数对新增满足目标计分的约定，初始冻结的面包若终态已解冻将贡献正分，因此解冻终值为假。视频 0–20.57 s 无温度或 frozen 服务读数，且面包始终未被取出；不能给出逐时刻温度状态，故 intervals 保留 null，不由外观或未开机推定整段冻结。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "fraction", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "fridge_opened", + "t": 10.5, + "log_step": null, + "where": "探索", + "evidence_zh": "观察：视频 0–10.5 s 机器人在厨房及玻璃外门附近反复快速转向，镜头多次大幅倾斜；视频 10.5–12.0 s 画面翻转为持续侧视，视频 19.6–20.57 s 仍侧倒，全程未见冰箱门拉开或夹爪操作门把手。task/task_dag.json 的 fridge_opened 为 after=[] 的开门事件，食物初始在闭合冰箱内；log step 75 本体读数 tilt=0.1672，log step 83 服务返回 failure: the robot fell over。推断：本局在打开冰箱前的场景探索中失衡，首个未达成的取物前置步骤为 fridge_opened，故将断点绑定该步骤，where 保持探索；视频 10.5 s 仅作持续侧倒前后的粗略导航锚点，未将其唯一对应到 log step 62、71 或 73。" + }, + "unmet": { + "chicken_on_plate": true, + "bread_on_plate": true, + "chicken_in_microwave": false, + "bread_on_counter": false, + "microwave_closed": true, + "microwave_on": false, + "fridge_closed": true, + "chicken_thawed": false, + "bread_thawed": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 10.5, + "log_step": 75, + "evidence_zh": "观察：视频 10.5–12.0 s 机器人镜头翻滚后维持接近横向的低位视角，直到视频 20.57 s 仍未站正。log step 75 报告本体竖直分量 cos(rx)cos(ry)=0.1672，log step 83 的实时服务在 control_steps=618 时以机器人倒地终止。推断：这是实际失衡侧倒；control_hz=30（log step 45），618/30=视频 20.6 s，与末帧侧倒状态核对一致；没有将 agent 工作时间换算为视频时间。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 75, + "source_zh": "日志", + "evidence_zh": "观察：log step 58 的 base_footprint_rx_joint 与 ry_joint 均约 0.0001，机器人直立；log step 62 执行全景转向扫描，log step 63 输出位置从约 (7.63,2.27) 漂至 (8.21,3.16)，但没有倾斜读数。log step 71 随后将躯干设为 [0,-0.35,0,0]（首段 act 执行 51 个控制步）并测试底盘往返转向，log step 73 又测试转向和平移。log step 75 在 control_steps=509 时读到 tilt cos=0.1672、base_z=0.3189；视频 7.0–12.0 s 可见连续大幅旋转和翻滚，随后持续侧倒至末帧。推断：失衡发生于 log step 58 的直立观测之后、log step 75 的侧倒读数之前，支持探索中的运动控制失稳；现有日志未逐段给出与视频倾倒窗口对应的 control_steps 边界，不能将致倒动作唯一归到 log step 62 的扫描末段或 log step 71/73 的躯干与底盘测试。保留控制类别，不认定具体参数或控制子类，也不以 agent 的事后归因代替证据。" + } + ], + "gap_zh": "没有状态日志和成功参考视频。食物与盘子在闭合冰箱内不可见，留盘关系依据 DAG 初态及全局未取物过程推断；设备关闭关系也部分依赖初态和未操作过程。两项解冻的终值由 q_score=0.0 约束为假，但温度时程没有观测，intervals 为 null。断点按尚未完成的取物前置步骤绑定 fridge_opened，where 为探索；探索中的具体致倒动作缺少逐段 control_steps 与视频事件的唯一映射，不能确定是扫描末段还是后续躯干与底盘测试。agent 在 log step 120 自述未到厨房，但视频 3.0 s、8.0 s 可见厨房设备，未采用其位置判断；本体倒地读数与画面相符。" + }, + "summary_zh": "本次实时局仅扫描场景和测试躯干、底盘，未完成开门、取盘或放置；推断保留两份食物留盘及两台设备闭门四项初始关系，终态为 4/11，q_score=0.0。机器人在打开冰箱前的探索中剧烈转向并侧倒，视频约 10.5–12.0 s 后持续失衡，服务最终以倒地结束，断点为 fridge_opened（探索），根因保留控制。置信度降至 6：具体致倒动作无法在扫描与后续测试之间唯一确定，食物支撑关系依赖初态推断，解冻终值由评分总分约束而温度时程未知。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点终值（4/11，符合 PROG-10 对 q_score=0 的约束）和 平衡 现象基本成立；但断点 ref 不应为 unknown（首个未完成步骤是打开冰箱，where=探索 已写明），且把倾倒归因到 log step 62 的扫描控制器缺少 control_steps 映射支持：step 71（躯干-0.35 + 底盘转向测试）同样落在视频倾倒窗口内。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "第一轮问题已修正；节点终值（4/11，受 q_score=0 约束）、断点 fridge_opened（探索）、平衡现象与控制根因（已标明为推断并说明归因边界）均有视频与日志支持，未发现新的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:47:20Z", + "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-thawing-frozen-food-i00-standard--kr43mta/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-thawing-frozen-food-i00-standard--kr43mta/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-thawing-frozen-food-i00-standard--kr43mta/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-thawing-frozen-food-i00-standard--kr43mta/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f4a4583aa5ba567d0879bf0b18f77ae08038b72c902ed285315be116df6dc703", + "video_sha256": "324e262e419edb3791913fab7ed206ecf7e42fe38986d1356f7f066cff52dcfd", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/thawing_frozen_food/trajectories/behavior-thawing-frozen-food-i00-standard--qgmapx2.json b/phase2/behavior-1k/thawing_frozen_food/trajectories/behavior-thawing-frozen-food-i00-standard--qgmapx2.json new file mode 100644 index 0000000000000000000000000000000000000000..f8f62a8c9e587308986b4df9859c8300e2ef5617 --- /dev/null +++ b/phase2/behavior-1k/thawing_frozen_food/trajectories/behavior-thawing-frozen-food-i00-standard--qgmapx2.json @@ -0,0 +1,440 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-thawing-frozen-food-i00-standard--qgmapx2", + "taskKey": "behavior-1k/thawing_frozen_food", + "dag_sha256": "82a242d812ea54f09bbc77d5564e98f497c43288405c90e222ff841a14ff303f", + "outcome": { + "success": 0, + "reward": 0.2222222222222222, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "n_actions": 9844, + "sim_steps": 9844, + "physics_steps": 39376, + "steps": 1018, + "elapsed_s": 12144.7, + "video_rendered": 1, + "gpu_lost": 0, + "q_score": 0.2222222222222222, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-thawing-frozen-food-i00-standard--qgmapx2/replay.mp4", + "duration_s": 328.133, + "fps": 30.0, + "frames": 9844, + "sha256": "1af5f45a13406763fc276fb0cc50f73bef66b6a97979b53c5f9aa29ae7267cbc" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 11, + "base": null, + "peak": null, + "final": null, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 31.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 31.5, + "log_step": null, + "text_zh": "观察：视频 31.0–33.5 s，机器人左夹爪在带饮水口的冰箱门把手处拉动，门板离开箱体并形成明显夹角；视频 56 s 门仍敞开。首次越过开门阈值约在视频 31.5 s，视觉估时误差约 0.5 s。" + }, + { + "t": 116, + "log_step": null, + "text_zh": "观察：视频 115.5–118 s，机器人又把另一侧带深色面板的冰箱门拉开，搁架完全露出。" + }, + { + "t": 95.5, + "log_step": 292, + "text_zh": "观察：视频 92–98 s 操作对象仍是银色冰箱及其深色面板门；log step 292 的“先前操作的是露台门”是 agent 的自述，与这段画面不符。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 31.5–33.5 s、115.5–118 s，左侧二指夹爪夹住冰箱竖直把手并带动门板转开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人在冰箱开门及重新接近把手的操作中多次移动底盘，例如视频 86–100 s 的后退、转向与接近。" + } + ] + }, + "microwave_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 180, + "log_step": null, + "text_zh": "观察：视频 6 s、98 s、166–183 s 和结束前的可见厨房画面中，台面上浅蓝色微波炉门始终贴合炉体，没有门板转出或内腔开口；机器人后续伸臂也未打开它。" + } + ] + }, + "chicken_on_plate": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：任务 DAG 与 inputs/run.json 的 task_text 指定鸡肉初始在任务盘上，因此初始关系成立；这不是由最终 q_score 反推的。" + }, + { + "t": 262, + "log_step": null, + "text_zh": "观察：已检查视频 118–175 s、230–288 s 的取盘、转移以及视频 327.1–328.1 s 的终段；关键盘面多次位于腕部镜头上缘、夹爪背面或画面外，不能确定鸡肉是否一直由某只任务盘承托，也不能可靠定位可能的失去／恢复时刻。此节点的完整区间与终值留未知，避免把未观察到的滑落或成功留盘写成事实。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：机器人曾用右夹爪尝试连盘搬运食物，但盘与鸡肉的实际接触、是否经过持盘托举链路无法由现有视角确定。" + } + ] + }, + "bread_on_plate": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：任务 DAG 与 inputs/run.json 的 task_text 指定面包初始在任务盘上，因此初始关系成立；这不是由最终 q_score 反推的。" + }, + { + "t": 169, + "log_step": null, + "text_zh": "观察：已检查视频 118–175 s、230–288 s 的取盘、转移以及视频 327.1–328.1 s 的终段；关键盘面多次位于腕部镜头上缘、夹爪背面或画面外，不能确定面包是否一直由某只任务盘承托，也不能可靠定位可能的失去／恢复时刻。此节点的完整区间与终值留未知，避免把未观察到的滑落或成功留盘写成事实。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：机器人曾用右夹爪尝试连盘搬运食物，但盘与面包的实际接触、是否经过持盘托举链路无法由现有视角确定。" + } + ] + }, + "chicken_in_microwave": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 262, + "log_step": null, + "text_zh": "观察：视频 230–262 s 机器人右夹爪在冰箱下层盘沿附近反复接近、闭合和外拉；盘与食物的支撑面受夹爪和搁架遮挡，不能由这段画面确认盘装鸡肉已经随手离架。" + }, + { + "t": 286, + "log_step": null, + "text_zh": "观察：视频 280–288 s，机器人从冰箱前向台面方向移动并侧翻；视频 288–328.1 s 始终未恢复直立，未见盘装鸡肉进入微波炉。" + }, + { + "t": 328.1, + "log_step": 595, + "text_zh": "推断：微波炉整个视频未打开，且所有搬运、伸臂尝试都没有出现盘进入炉腔的画面，所以鸡肉入炉条件始终未成立；log step 595、607 的入炉目标仅说明 agent 在尝试这一步。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 230–278 s 可见右夹爪对冰箱下层盘沿合拢、外拉，但对向夹持面与食物承托面被遮住，不能确认抓握建立或盘装食物实际随手搬运。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 278–286 s，机器人在下层盘抓取尝试之后驶向台面／微波炉方向，随后侧翻；底盘移动参与这一入炉尝试。" + } + ] + }, + "bread_on_counter": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 132, + "log_step": null, + "text_zh": "观察：视频 118–132 s 机器人右手在冰箱搁架处多次闭合、外拉，视频 132–166 s 离开冰箱驶向台面；所持物的上表面与食物是否离开原位置未能在这些视角中连续辨明。" + }, + { + "t": 169, + "log_step": null, + "text_zh": "观察：视频 166–175 s 机器人右臂在灶台右侧台面边缘下放、松手并撤回，但盘面及落点在手臂后方或画面边缘，未见足以确认“面包在盘上且同盘由指定台面承托”的画面；视频 176–183 s 复看也未完整覆盖落点。" + }, + { + "t": 180, + "log_step": 436, + "text_zh": "观察：log step 423 的脚本发出松手命令；log step 436 中 agent 自述没有在台面画面里看到盘子，但称投影位置在画面边缘。这不能代替放置完成证据。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 118–175 s，右夹爪执行搁架取盘与台面边缘松手动作；关键夹持面和落点受遮挡，无法确认是否实际握住、搬运并释放了装面包的盘。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 132–166 s，底盘从冰箱前移动到台面边，参与第一轮放置尝试。" + } + ] + }, + "microwave_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6, + "log_step": null, + "text_zh": "观察：视频 6 s 微波炉门关闭；视频 98 s、166–183 s 再次看见时仍关闭，全片未见开门动作或敞开的炉腔。结合任务初态，关闭状态从视频 0 s 保留至结束。" + } + ] + }, + "microwave_on": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 180, + "log_step": null, + "text_zh": "推断：任务初态微波炉未开机；视频 166–183 s 炉门贴合，机器人未触压其右侧按钮，视频 286–328.1 s 机器人侧翻后手臂也未到达微波炉。完整运行记录没有按微波炉开关的操作，因此没有触发从关到开的动作；不能把面板上的红色圆点本身当作开机指示。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 31.5 + ], + [ + 95.5, + 115.5 + ], + [ + 181, + 195.5 + ], + [ + 205.5, + 214 + ], + [ + 218, + 219.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：任务初态冰箱关闭；视频 4–30.5 s 门板贴合，视频约 31.5 s 左门转开，关闭状态首次失去。" + }, + { + "t": 96, + "log_step": null, + "text_zh": "观察：已逐段检查视频 31.5–95.5 s 的开门期间；视频 95.5–115 s 两门回到贴合位置，视频 115.5 s 再次开门并露出搁架。" + }, + { + "t": 195, + "log_step": null, + "text_zh": "观察：视频 156–180 s 腕部镜头仍能见到敞开的冰箱搁架；视频约 181 s 门回到贴合位置，视频 195.5 s 深色面板门重新转出。" + }, + { + "t": 218, + "log_step": null, + "text_zh": "观察：视频 195.5–205 s 门板有明显转角；视频 205.5–213.5 s 回贴，视频 214–217.5 s 又被拉开，视频约 218–219 s 短暂回贴，视频约 219.5 s 再次打开。上述边界依门板几何估计，约有 0.5–1 s 不确定性。" + }, + { + "t": 328.1, + "log_step": null, + "text_zh": "观察：视频 224.5–286 s 搁架持续可见；视频 327.1–328.1 s 最后一秒仍见敞开的门板和内部，终态未关闭。" + } + ] + }, + "chicken_thawed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的 reward 仅报告总 q_score=0.2222222222222222（2/9），没有鸡肉的温度或 frozen 字段；视频无可读温度显示，无 inputs/states.jsonl。" + }, + { + "t": 328.1, + "log_step": null, + "text_zh": "推断：BEHAVIOR 总分不计仍保持的初始目标；微波炉开机与盘入炉未成立，但台面上是否有盘这一原子关系未完全看清，2/9 可能来自两份解冻，也可能涉及盘上台面与其中一份解冻，故总数不能唯一决定鸡肉的非冻结终值，更不能决定其解冻时刻。" + } + ] + }, + "bread_thawed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的 reward 仅报告总 q_score=0.2222222222222222（2/9），没有面包的温度或 frozen 字段；视频无可读温度显示，无 inputs/states.jsonl。" + }, + { + "t": 328.1, + "log_step": null, + "text_zh": "推断：BEHAVIOR 总分不计仍保持的初始目标；微波炉开机与盘入炉未成立，但台面上是否有盘这一原子关系未完全看清，2/9 可能来自两份解冻，也可能涉及盘上台面与其中一份解冻，故总数不能唯一决定面包的非冻结终值，更不能决定其解冻时刻。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.2222222222222222, + "unit": "fraction", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "chicken_in_microwave", + "t": 286, + "log_step": 580, + "where": "操作中", + "evidence_zh": "观察：视频 230–278 s 机器人在冰箱下层盘处抓取、外拉，随后向台面／微波炉方向移动；视频约 286 s 视野急转到天花板，机器人侧翻，视频 327.1–328.1 s 仍侧躺且盘装鸡肉从未入炉。log step 571、580、595 记录该阶段的搬运、接近台面与入炉尝试。推断：以这一可确认且始终未修复的物理失败定位鸡肉入炉步骤；更早的面包台面放置是否失败无法由落点画面确认，断点次序存在该项缺口。" + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 286, + "log_step": 581, + "evidence_zh": "观察：视频 284 s 尚能看见地面和台面方向，视频 286–288 s 整个视野剧烈翻转并朝向天花板，后续多次移动、撑臂也未恢复；视频 327.1–328.1 s 仍横倒。log step 581 的机器人本体读数为 base_z=0.386、基座四元数 [-0.102,0.730,0.451,-0.503]，支持明显倾倒，而非仅头部抬起。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 286, + "log_step": 580, + "source_zh": "日志", + "evidence_zh": "推断：log step 574 的脚本在保持躯干、双臂关节目标时连续驱动底盘；log step 576 读取同段本体记录，基座高度由约 0.01 m 上升到 0.16 m、四元数已明显倾斜。随后 log step 577、580 仍以固定关节姿态侧移、向台面推进，log step 581 的基座高度达到 0.386 m；视频约 286 s 对应持续侧翻。执行没有在倾斜加剧前恢复稳定支撑，支持控制层面的失败；致使底盘抬起的具体碰触物及控制子类证据不足，不细分。" + } + ], + "gap_zh": "无逐帧模拟状态日志、无成功参考视频。第一轮取盘及视频 166–175 s 台面边缘松手时的盘面和落点被遮挡，不能判定面包上台面是否已达成，因此不能排除该步骤是比侧翻更早的未修复失败；当前断点取可明确确认的鸡肉入炉阶段侧翻，次序置信度有限。两食物在两只任务盘上的完整区间与终值不可确定；已知初始在盘上写入证据，但不以虚构的丢失时刻补全时间轴。评分仅有 2/9 总分，盘上台面原子关系及两份温度的贡献不能唯一分配，因此两份解冻仍未知。冰箱门关闭边界由几何估计，缺少精确关节开度；倾倒时与环境接触点在镜头外，不能确认家具碰撞类别。", + "unmet": { + "chicken_on_plate": null, + "bread_on_plate": null, + "chicken_in_microwave": false, + "bread_on_counter": null, + "microwave_closed": true, + "microwave_on": false, + "fridge_closed": false, + "chicken_thawed": null, + "bread_thawed": null + } + }, + "summary_zh": "机器人开过冰箱，微波炉始终关闭；可确认的终态节点为打开冰箱、微波炉关闭，鸡肉未入炉、微波炉未开机，冰箱最终敞开。鸡肉入炉尝试期间机器人于视频约 286 s 侧翻，控制脚本在基座已经抬起倾斜后继续推进，直至视频 328.1 s 仍未恢复。第一轮台面落点、两食物留盘及解冻终值受遮挡和缺少温度状态限制，尚不能排除更早的面包放置失败，2/9 总分也不能唯一分解这些未知目标。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 5, + "summary_zh": "抽查视频与日志后未发现能被证据证明的错误：打开冰箱、微波炉未开、鸡肉未入炉、约 286 s 侧翻与未恢复均与帧和 log（step 583/587 agent 自述倾倒，视频 286–288 s 视野翻向天花板）一致；未知节点与 gap_zh 对遮挡的说明诚实，断点次序的不确定性已自述。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:45:31Z", + "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-thawing-frozen-food-i00-standard--qgmapx2/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-thawing-frozen-food-i00-standard--qgmapx2/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2ec74171c93656327782f203a47ee7c04894ea9f6d64e60db1e422e51c50540f", + "video_sha256": "1af5f45a13406763fc276fb0cc50f73bef66b6a97979b53c5f9aa29ae7267cbc", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/thawing_frozen_food/trajectories/behavior-thawing-frozen-food-i00-standard--vt2mabu.json b/phase2/behavior-1k/thawing_frozen_food/trajectories/behavior-thawing-frozen-food-i00-standard--vt2mabu.json new file mode 100644 index 0000000000000000000000000000000000000000..1cb0787700c557aa8cb07428af5222495be600d5 --- /dev/null +++ b/phase2/behavior-1k/thawing_frozen_food/trajectories/behavior-thawing-frozen-food-i00-standard--vt2mabu.json @@ -0,0 +1,556 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-thawing-frozen-food-i00-standard--vt2mabu", + "taskKey": "behavior-1k/thawing_frozen_food", + "dag_sha256": "82a242d812ea54f09bbc77d5564e98f497c43288405c90e222ff841a14ff303f", + "outcome": { + "success": 0, + "reward": 0.2222222222222222, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "missing_log": 0, + "n_actions": 48269, + "sim_steps": 48269, + "physics_steps": 193076, + "steps": 8509, + "elapsed_s": 14019.0, + "video_rendered": 1, + "gpu_lost": 0, + "replay_error": 0, + "instance_ok": 1, + "task_failure": 0, + "q_score": 0.2222222222222222, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 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-thawing-frozen-food-i00-standard--vt2mabu/replay.mp4", + "duration_s": 1608.967, + "fps": 30.0, + "frames": 48269, + "sha256": "e41bc39658f7c0964975f6b5bec84c8dc2e97c401836ffbb59a1635c10f4524c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 11, + "base": null, + "peak": null, + "final": 5, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 129.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 129.5, + "log_step": null, + "text_zh": "观察：视频 128.5–132 s，机器人右夹爪操作冰箱把手并后退，门板离开箱体；视频 140 s 可见门后搁架。首次开门约在视频 129.5 s，门的精确 5% 开度没有测量。" + }, + { + "t": 330, + "log_step": null, + "text_zh": "观察：视频 247–265 s 又一次开门后回闭，视频 325.5–330 s 再次拉开，之后仍有敞开的冰箱隔层。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人右侧二指夹爪夹住冰箱竖直把手，带动门板转动；视频 129.5–140 s、247–255 s、325.5–330 s 可见开门结果。" + }, + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：机器人随后用夹爪推拨冰箱门板扩大开口，视频 380–430 s 可见门板与夹爪相邻并转动。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人夹住把手时移动底盘后退和侧移拉门，视频 129.5–140 s 可见视点及门板相对位置一起变化。" + } + ] + }, + "microwave_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1101, + "log_step": 898, + "text_zh": "观察：视频 1095–1106 s，机器人右夹爪伸向微波炉前沿、随后回撤，玻璃门保持贴合炉体，没有露出内腔开口。日志记录三次开炉门指令（log step 898、905、912），不等于实际开门。" + }, + { + "t": 1608.8, + "log_step": null, + "text_zh": "观察：视频 1450 s、1540 s 与 1608.8 s 仍可见微波炉正面的闭合玻璃门；全片抽查及操作附近加密帧未见开门。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 1100–1104 s，机器人右夹爪在炉门下缘／把手附近接触前表面并回拉；没有足够可见的对向夹持证据，不记成功抓握。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 1090–1099 s，机器人底盘移动到微波炉前准备操作。" + } + ] + }, + "chicken_on_plate": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 430, + "log_step": 24, + "text_zh": "观察：视频 410–450 s 的冰箱内部视图可见上层食物盘位，下层为黄色面包；任务初态规定鸡肉由另一只盘承托（DAG 初态、log step 24 的任务文本）。" + }, + { + "t": 1080, + "log_step": 853, + "text_zh": "观察：视频 700–1085 s 机器人多次把左夹爪伸向冰箱另一侧隔层；回撤时未见夹爪携带鸡肉盘。log step 853 虽称完成取盘，最终夹爪开度为零；不能据该文字把鸡肉记为取出。" + }, + { + "t": 1608.8, + "log_step": null, + "text_zh": "推断：未见机器人把真正的上层鸡肉盘取离或把鸡肉单独拿离，保留初始鸡肉留盘关系至终态；视频 1608.8 s 的上层盘位受门板和视角遮挡，这一终值来自初态与连续动作核对，非末帧直接确认。" + } + ] + }, + "bread_on_plate": { + "method": "visual", + "intervals": [ + [ + 0, + 474.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 450, + "log_step": null, + "text_zh": "观察：视频 440–472 s，黄色面包放在冰箱下层的盘面上，盘子在其下方承托；结合任务初态将该关系从视频 0 s 计入。" + }, + { + "t": 474.5, + "log_step": 303, + "text_zh": "观察：视频 472–478.5 s，机器人右夹爪抽取并抬起盘子，盘面倾斜，黄色面包留在盘下方、靠近机器人底盘前方，随后空盘竖起；留盘关系约在视频 474.5 s 丢失（误差约 1 s）。" + }, + { + "t": 1200, + "log_step": null, + "text_zh": "观察：视频 1180–1210 s，面包平躺在地面，与空盘分离；中途没有看到面包重新由盘子承托。" + }, + { + "t": 1608.8, + "log_step": null, + "text_zh": "观察：视频 1400 s 至 1608.8 s，左腕相机持续近距离看见面包被左夹爪夹住，面包下方没有承托盘；后续夹起面包未恢复留盘关系。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：视频 472–474 s，机器人右夹爪持盘，盘面短暂承托面包，随后盘子倾斜、面包离盘；这里记录盘与面包的承托，不重复记录握盘。" + }, + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 1400–1608.8 s，机器人左侧二指夹爪直接夹住面包边缘，面包随夹爪和底盘移动；仍未放回盘上。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 1400–1608.8 s 的补救过程中，底盘移动并携带左夹爪中的面包。" + } + ] + }, + "chicken_in_microwave": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1080, + "log_step": 849, + "text_zh": "观察：视频 700–1085 s，机器人反复伸臂到冰箱隔层后回撤，未见鸡肉盘随夹爪离开原位置；log step 689、697、704、849 是取鸡肉盘的执行记录，不能代替取物画面。" + }, + { + "t": 1104, + "log_step": null, + "text_zh": "观察：视频 1095–1106 s 微波炉门始终贴合，机器人右夹爪在门前操作，未携带鸡肉盘进入炉腔。" + }, + { + "t": 1608.8, + "log_step": null, + "text_zh": "推断：后续视频直到 1608.8 s 仍无开炉门或鸡肉盘入炉过程，鸡肉入微波炉未达成；没有依据把日志中的取盘或检查炉腔自述计为放入。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 1075–1080 s，机器人左夹爪在冰箱隔层边缘接触、闭合并回撤，未见夹住可搬离的鸡肉盘；记录实际碰触的隔层边缘。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 700–1095 s，机器人在冰箱和微波炉操作位置之间移动底盘，未见实际携带鸡肉盘。" + } + ] + }, + "bread_on_counter": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 478, + "log_step": 303, + "text_zh": "观察：视频 472–478.5 s 机器人取出盘子时，面包与盘分离；这是搬运盘装面包的已启动尝试，不能记为从未尝试。" + }, + { + "t": 640, + "log_step": 388, + "text_zh": "观察：视频 600–660 s，右夹爪所持盘子在机器人前方低处倾斜，面包在更低位置；未出现同一只盘在厨房台面上承托面包的状态。日志的放盘指令不证明台面放置。" + }, + { + "t": 1200, + "log_step": null, + "text_zh": "观察：视频 1180–1210 s 面包和空盘分别在地面，指定台面上没有盘装面包。" + }, + { + "t": 1608.8, + "log_step": 2026, + "text_zh": "观察：视频 1400–1608.8 s，机器人左夹爪夹着面包继续寻找、操作空盘；末帧仍持面包，没有完成盘装上台面。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人右夹爪在视频 478–600 s 持空盘，后续多次尝试夹取地面盘沿；左夹爪在视频 1400–1608.8 s 确实夹住面包，未见盘装面包到达台面。" + }, + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：视频 540–550 s，右夹爪夹盘同时左夹爪伸向面包尝试补救；末段左夹爪持面包、右夹爪继续处理空盘。抓握有可见依据的是早期右手持盘及末段左手持面包，不声称两手同时成功抓到两件物体。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 650–750 s 及 1400–1608.8 s，机器人为搬运／补救面包与盘子移动底盘。" + } + ] + }, + "microwave_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 180, + "log_step": null, + "text_zh": "观察：视频 180 s 可见微波炉门板与炉体贴合；结合 DAG 所列初始关闭状态从视频 0 s 计入。" + }, + { + "t": 1104, + "log_step": null, + "text_zh": "观察：视频 1095–1106 s 机器人试图开门，门仍保持贴合，未见炉腔敞开。" + }, + { + "t": 1608.8, + "log_step": null, + "text_zh": "观察：视频 1450 s、1540 s 与 1608.8 s 可见微波炉门仍关闭；没有发生装炉后的关门动作，节点按状态本身保持为真。" + } + ] + }, + "microwave_on": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1104, + "log_step": null, + "text_zh": "观察：视频 1095–1106 s 机器人右夹爪操作位置在炉门／把手附近，未见针对右侧开关按钮的持续按压或新出现的运行指示。" + }, + { + "t": 1608.8, + "log_step": null, + "text_zh": "推断：由 DAG 的初始关闭状态、全程未见开关操作及视频 1450–1608.8 s 微波炉面板无可辨运行变化，判断末态仍未开启；面板原有红色部位在先前画面中已存在，不能当作新增开机证据。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 129.5 + ], + [ + 163.5, + 247.5 + ], + [ + 264.5, + 325.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 125, + "log_step": null, + "text_zh": "观察：视频 125 s 冰箱两侧门板贴合；视频 128.5–132 s 开门后该关闭状态丢失。" + }, + { + "t": 164, + "log_step": null, + "text_zh": "观察：视频 160–164.5 s 门板回合；视频 163.5 s 起已基本贴合，至视频 247.5 s 又被拉开。已检查这段间隔中的视频 180、200、220、240 s 帧，未见额外开门。" + }, + { + "t": 265, + "log_step": null, + "text_zh": "观察：视频 263.5–265.5 s 门板再次回合，视频 264.5 s 起按闭合计；视频 280、300、320 s 保持闭合，视频 325.5–330 s 又打开。各界限仅按外观估计，未测关节 5% 阈值。" + }, + { + "t": 1490, + "log_step": 1790, + "text_zh": "观察：视频 1180–1330 s、1460–1520 s 的门板与内部视图显示仍有冰箱隔层敞开；机器人后期推门未使所有门板同时闭合。" + }, + { + "t": 1608.8, + "log_step": null, + "text_zh": "观察：视频 1608 s、1608.8 s 均可直接看见敞开的冰箱搁架，末态关闭为假。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：机器人后期用右夹爪及前臂方向推拨冰箱门板，视频 1465–1490 s 可见门板转动，但另一隔层仍敞开；早期松把后门板也自行回合。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人在冰箱门旁前后、侧向移动以处理门板，视频 1465–1520 s 可见底盘视点变化。" + } + ] + }, + "chicken_thawed": { + "method": "visual", + "intervals": null, + "final": true, + "evidence": [ + { + "t": 1608.8, + "log_step": null, + "text_zh": "推断：评分器终态 q_score=2/9，且 live_matches_replay=1。视频确认鸡肉未入炉、盘装面包未上台面、冰箱未全关、未操作微波炉开关；留盘及炉门关闭是初始已成立条件，按本任务 q_score 约定持续保留不新增得分。两个新增满足项因而只能是两种食物各自非冻结；据此判该解冻节点 final=true，不从外观或 agent 自述认定。没有温度、frozen 状态或逐时分数，无法确定它何时变真，intervals 留 null。" + } + ], + "contact_actual": [ + { + "who": "无接触", + "how": "不适用", + "note_zh": "推断：鸡肉的解冻终值由评分总数约束得出；未见有效微波炉加热，解冻可能由任务允许的环境热交换完成，未另虚构夹爪解冻接触。" + } + ] + }, + "bread_thawed": { + "method": "visual", + "intervals": null, + "final": true, + "evidence": [ + { + "t": 1608.8, + "log_step": null, + "text_zh": "推断：评分器终态 q_score=2/9，且 live_matches_replay=1。视频确认鸡肉未入炉、盘装面包未上台面、冰箱未全关、未操作微波炉开关；留盘及炉门关闭是初始已成立条件，按本任务 q_score 约定持续保留不新增得分。两个新增满足项因而只能是两种食物各自非冻结；据此判该解冻节点 final=true，不从外观或 agent 自述认定。没有温度、frozen 状态或逐时分数，无法确定它何时变真，intervals 留 null。" + } + ], + "contact_actual": [ + { + "who": "无接触", + "how": "不适用", + "note_zh": "推断：面包的解冻终值由评分总数约束得出；未见有效微波炉加热，解冻可能由任务允许的环境热交换完成，未另虚构夹爪解冻接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.2222222222222222, + "unit": "fraction", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "bread_on_plate", + "t": 474.5, + "log_step": 303, + "where": "操作中", + "evidence_zh": "观察：视频 472–478.5 s，机器人右夹爪从冰箱取盘时盘面倾斜、面包失去盘的承托；视频 1180–1210 s 面包与盘分别在地面，视频 1400–1608.8 s 面包虽被左夹爪夹起，仍未回盘。该最早非预期丢失的留盘关系始终没有修复；后来的取鸡肉盘、开炉门和关冰箱也未完成。" + }, + "unmet": { + "chicken_on_plate": true, + "bread_on_plate": false, + "chicken_in_microwave": false, + "bread_on_counter": false, + "microwave_closed": true, + "microwave_on": false, + "fridge_closed": false, + "chicken_thawed": true, + "bread_thawed": true + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 474.5, + "log_step": 303, + "evidence_zh": "观察：视频 472 s 面包仍由盘面承托；视频 473–478.5 s 右夹爪带动盘子抬起、倾斜并接近竖直，面包留在其下方，未随盘稳定搬出。视频 1180–1210 s 可见面包和盘分别落在地面；这是搬运中丢失已存在的承托接触。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "evidence_zh": "推断：视频 472 s 面包仍在盘上，视频 474–479 s 机器人右夹爪搬盘时盘面倾斜，至视频 479 s 灰色圆盘被举起、黄色面包留在盘下方近底盘处；视频 1200 s 二者在地面分离。log step 303 的脚本保持左臂原位，仅安排右夹爪夹住盘沿后抬升、回撤，没有另一处托盘或固定面包的接触。结合可见的倾盘与承托丢失，归因为此次抓取和承载布局不适配；没有目标与实际姿态的跟踪记录，不据此认定反馈控制误差。双臂托盘或先取面包再搬盘仅为候选替代方案，本运行未验证其完整可行性，故 alt_feasible=未知。", + "source_zh": "视频 / 日志", + "log_step": 303, + "t": 474.5, + "alt_feasible": "未知" + } + ], + "gap_zh": "观察：inputs/ 有完整视频与运行日志，但无状态日志或成功参考视频。鸡肉上层盘位在许多帧及末帧受冰箱门板、隔层和视角遮挡，留盘末态依据初态及未见真实取离的连续动作推断；日志中把空隔层／点云颜色簇称作鸡肉或盘的自查不能替代物体转移画面。两个解冻终值受评分总数约束，但没有温度、冻结标志和发生时刻，故解冻 intervals=null；门开度及面包离盘时刻为视觉近似。没有独立接触力、物体姿态或控制目标跟踪记录，不能确定盘子在夹爪内转动与末端姿态变化各自的贡献；抓取和接触设计归因是视频与脚本共同支持的推断。候选替代方案没有完整成功执行的证据，alt_feasible=未知。" + }, + "summary_zh": "观察：机器人打开冰箱并多次尝试取盘，但微波炉始终未打开，盘装鸡肉入炉与盘装面包上台面均未达成；视频 1608.8 s 冰箱仍敞开、左夹爪仍持面包。推断：最早未修复的偏差是视频约 474.5 s 搬盘时失去面包承托，单右臂夹盘沿的抓取和承载布局未保持面包承托，归为抓取和接触设计；终态有 5/11 个节点为真，其中鸡肉留盘及两种食物解冻依赖推断。推断：评分 2/9 约束两种食物已非冻结，但温度时间线缺失、鸡肉终态盘位受遮挡，不能给出解冻发生时间。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值、时间、断点（视频约474.5 s 搬盘时面包离盘）和 q=2/9 的推断均与帧一致；问题在根因：证据只显示单臂夹盘抬升时盘面倾斜、面包滑落，没有任何控制跟踪误差的证据，按判别顺序应归抓取和接触设计，而非控制。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "第二轮：根因已改为抓取和接触设计且 alt_feasible=未知；节点值、断点（约 474.5 s 搬盘时面包离盘）、q=2/9 的推断与帧一致，未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:47:36Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-thawing-frozen-food-i00-standard--vt2mabu/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-thawing-frozen-food-i00-standard--vt2mabu/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-thawing-frozen-food-i00-standard--vt2mabu/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-thawing-frozen-food-i00-standard--vt2mabu/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "9c9f24b6d151cbf51a872ac4389d68013cb8bb9b3489c37e97637594dad81b8f", + "video_sha256": "e41bc39658f7c0964975f6b5bec84c8dc2e97c401836ffbb59a1635c10f4524c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/behavior-1k/thawing_frozen_food/trajectories/behavior-thawing-frozen-food-i00-standard--xywuchj.json b/phase2/behavior-1k/thawing_frozen_food/trajectories/behavior-thawing-frozen-food-i00-standard--xywuchj.json new file mode 100644 index 0000000000000000000000000000000000000000..8ce8e65c5c6ded8bd2baa3b4310e05efe4a26945 --- /dev/null +++ b/phase2/behavior-1k/thawing_frozen_food/trajectories/behavior-thawing-frozen-food-i00-standard--xywuchj.json @@ -0,0 +1,434 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-thawing-frozen-food-i00-standard--xywuchj", + "taskKey": "behavior-1k/thawing_frozen_food", + "dag_sha256": "82a242d812ea54f09bbc77d5564e98f497c43288405c90e222ff841a14ff303f", + "outcome": { + "success": 0, + "reward": 0.2222222222222222, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "replay_success": 0, + "deterministic": 1, + "live_matches_replay": 1, + "finalized": 1, + "n_actions": 37078, + "sim_steps": 37078, + "physics_steps": 148312, + "steps": 16159, + "elapsed_s": 13647.4, + "video_rendered": 1, + "gpu_lost": 0, + "q_score": 0.2222222222222222, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-thawing-frozen-food-i00-standard--xywuchj/replay.mp4", + "duration_s": 1235.933, + "fps": 30.0, + "frames": 37078, + "sha256": "aa8fe7cf7aa42bb2a369934bd2a482b1100cb4bc3577a53b13aab2bf44330337" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 11, + "base": null, + "peak": null, + "final": 5, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 105.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 105.5, + "log_step": 74, + "text_zh": "观察：视频约 105.5–110 s，机器人右夹爪保持在冰箱把手处并随底盘后退，门板转出，随后内部搁架明显露出；以约 105.5 s 为超过小幅门缝的开门锚点，阈值越界时刻约有 1 s 误差。" + }, + { + "t": 210, + "log_step": null, + "text_zh": "观察：视频 210 s 两侧门已转开，箱内搁架和下层盘装面包可见，开门事件已完成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：右二指夹爪夹住冰箱门把手拉门；后续也有左夹爪夹持门沿的开门、保持操作。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人夹持门把手时底盘后退，配合拉开冰箱门。" + } + ] + }, + "microwave_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1235.8, + "log_step": null, + "text_zh": "观察：从视频 0–1235.8 s 的全程抽帧及末段密查，没有微波炉门板转开或露出内腔的过程；视频 1120–1178 s、1208–1235.8 s 可见微波炉门仍贴合炉体。" + } + ] + }, + "chicken_on_plate": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：任务 DAG 与 inputs/run.json 的 task_text 给定鸡肉初始在冰箱内的盘上，视频初始冰箱关闭，不能直接看到鸡肉。" + }, + { + "t": 210, + "log_step": null, + "text_zh": "观察：视频 210 s 冰箱另一侧中层可见盘状承托物及浅色物体；整个回合未见机器人把鸡肉或其盘子取出并搬走。" + }, + { + "t": 1235.8, + "log_step": null, + "text_zh": "推断：结合初态、反复伸腕探查但未见鸡肉被提取的全程画面，鸡肉留盘关系按持续保留标注；末态鸡肉被门板遮住，不能逐帧直接核实。" + } + ] + }, + "bread_on_plate": { + "method": "visual", + "intervals": [ + [ + 0, + 480 + ] + ], + "final": false, + "evidence": [ + { + "t": 210, + "log_step": null, + "text_zh": "观察：视频 210 s、394–424 s，黄色方形面包位于冰箱下层盘面上，盘子在其下方承托；结合任务初态从视频 0 s 计入。" + }, + { + "t": 482, + "log_step": null, + "text_zh": "观察：视频 482 s 的腕部画面边缘及视频 493.8–498 s、630 s、804 s，黄色方形面包已在冰箱前木地板上，盘子仍在冰箱下层，二者分离。" + }, + { + "t": 480, + "log_step": null, + "text_zh": "推断：视频约 478–482 s 期间面包离盘，取视频约 480 s 为区间结束；门板和腕部视角遮挡了实际脱离过程，时间只能估计。" + }, + { + "t": 1235.4, + "log_step": null, + "text_zh": "观察：视频 1190–1204 s、1235.4 s 面包仍在冰箱前地板，后续没有面包回盘的可见过程。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：面包从盘面离开时的作用端与接触被遮住；后续机器人声称取盘，但没有可见的面包抓握或恢复留盘关系。" + } + ] + }, + "chicken_in_microwave": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 400, + "log_step": null, + "text_zh": "观察：视频约 390–414 s，机器人反复把右腕送向冰箱隔间口，腕部视野多为门板、框架和搁架近景，没有盘装鸡肉随夹爪离开原处。" + }, + { + "t": 820.5, + "log_step": null, + "text_zh": "观察：视频约 780–820 s、880–932 s，机器人继续在冰箱门口探查和伸臂，没有鸡肉被拿出或送入微波炉的画面。" + }, + { + "t": 1235.8, + "log_step": 433, + "text_zh": "观察：全程没有微波炉开门、鸡肉盘入炉的过程；log step 433 的 agent 最终自述也承认鸡肉未取出、微波炉阶段未完成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：机器人右夹爪、腕部伸向隔间口时与冰箱门沿或框架贴近并使门板转动；未见夹住鸡肉或鸡肉盘。" + }, + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：后段机器人左夹爪夹持冰箱门上沿，右臂同时伸向隔间口探查；此处抓握对象是门沿，不能据此认定抓住鸡肉。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人为探查、提取鸡肉多次移动底盘，调整相对冰箱的工作位置。" + } + ] + }, + "bread_on_counter": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1020, + "log_step": null, + "text_zh": "观察：视频约 990–1075 s，机器人右夹爪在冰箱下层开口附近扫动和闭合，但没有面包及其盘子一起离开冰箱、随夹爪移动；面包仍出现在冰箱前地板上。" + }, + { + "t": 1176.5, + "log_step": null, + "text_zh": "观察：视频约 1080–1178 s，机器人移向灶台并执行伸臂、松爪动作，没有带面包的盘子到达台面；这些空爪动作不能计作放置。" + }, + { + "t": 1235.4, + "log_step": 433, + "text_zh": "观察：视频 1190–1204 s、1235.4 s 仍可见面包在冰箱前地板；log step 433 所称已把面包盘放上台面与画面不符。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：机器人右夹爪确实在下层盘沿、搁架附近尝试闭合和扫动，但视角不能分清手指是否实际碰盘；没有可见的盘子抓握或面包接触。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人先调整底盘对准冰箱下层，随后驶向厨房灶台和台面继续执行放置尝试；移动过程中未见携带面包盘。" + } + ] + }, + "microwave_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1235.8, + "log_step": null, + "text_zh": "观察：视频开头冰箱旁的微波炉门关闭；全程未见炉门转开，视频 1120–1178 s、1208–1235.8 s 仍可见门与炉体贴合。该 state 条件从初态计入，不受入炉前驱门控。" + } + ] + }, + "microwave_on": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1235.8, + "log_step": null, + "text_zh": "推断：任务初态为微波炉关闭开关；全程画面与日志未见机器人操作微波炉开关，也未见开机状态变化，末段仍为空炉关门状态，故判未开启；不把灶具上的红色圆形部件当作微波炉开机证据。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 105.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 30, + "log_step": null, + "text_zh": "观察：视频 30 s 冰箱两侧门板贴合箱体；视频约 105.5 s 机器人拉门后开始明显敞开。" + }, + { + "t": 1198, + "log_step": null, + "text_zh": "观察：视频 1180–1204 s 机器人右夹爪推门时，另一片门和搁架仍明显敞开；逐段检查中未见开门后所有门同时恢复关闭。" + }, + { + "t": 1235.4, + "log_step": 433, + "text_zh": "观察：视频 1235.4 s 的腕部画面仍露出敞开的冰箱门及地板上的面包。log step 420、433 的关门完成说法不能覆盖这个画面。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：末段右夹爪顶住冰箱门板或门沿推进，门板随之转动，但未将所有门关好。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：机器人移动底盘接近门板，并改变位置后继续推门。" + } + ] + }, + "chicken_thawed": { + "method": "visual", + "intervals": null, + "final": true, + "evidence": [ + { + "t": 1235.8, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.2222222222222222，即 2/9，且 live_matches_replay=1。视频排除了鸡肉盘入炉、面包盘上台面、微波炉开机，初始已成立而保留的留盘或关门条件不增加该分数；新增满足的两条只能是鸡肉非冻结与面包非冻结，因此本节点终值为真。没有逐项温度/冻结状态，不能从外观或 agent 所称回温时长定位解冻时刻，intervals 留空值表示时间未知。" + } + ] + }, + "bread_thawed": { + "method": "visual", + "intervals": null, + "final": true, + "evidence": [ + { + "t": 1235.8, + "log_step": null, + "text_zh": "推断：评分器 reward.q_score=0.2222222222222222，即 2/9，且 live_matches_replay=1。视频排除了鸡肉盘入炉、面包盘上台面、微波炉开机，初始已成立而保留的留盘或关门条件不增加该分数；新增满足的两条只能是鸡肉非冻结与面包非冻结，因此本节点终值为真。没有逐项温度/冻结状态，不能从外观或 agent 所称回温时长定位解冻时刻，intervals 留空值表示时间未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.2222222222222222, + "unit": "fraction", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "chicken_in_microwave", + "t": 400, + "log_step": 200, + "where": "探索", + "evidence_zh": "观察：视频约 390–414 s，机器人为提取鸡肉把右腕反复送向冰箱隔间口，但腕部视野停在门板/框架近处，没有获取可用于抓取的内腔视角，更没有盘装鸡肉被提起。log step 196、200 下发进入隔间的观察位姿，log step 201、202 的反馈仍未到达；后续重试后 agent 在 log step 363 转去面包，鸡肉入炉这一步始终未完成。视频约 480 s 面包离盘、末段关冰箱失败是后续未修复的问题。" + }, + "unmet": { + "chicken_on_plate": true, + "bread_on_plate": false, + "chicken_in_microwave": false, + "bread_on_counter": false, + "microwave_closed": true, + "microwave_on": false, + "fridge_closed": false, + "chicken_thawed": true, + "bread_thawed": true + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 400, + "log_step": 200, + "evidence_zh": "观察：视频约 390–414 s 机器人右腕在隔间口来回调整，近景反复是门沿和框架，未进入所需观察/抓取位姿；log step 200 命令右末端到 [5.08,-0.22,1.12]，log step 201 读到 TCP 约 [5.138,-0.108,1.460]，位置明显偏离。这里只标观察位姿未到位，不虚构鸡肉已被抓住后滑落。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 400, + "log_step": 330, + "source_zh": "日志", + "evidence_zh": "推断：机器人在冰箱隔间入口的动作未能稳定到达命令位姿，导致无法建立后续取盘动作。log step 196、200 命令与 log step 198、201 的本体位置读数不符；后续 log step 330 将目标设为 [4.95,-0.35,1.08]，多次收敛误差仍约 0.40 m，实际 TCP 为 [4.772,-0.091,0.816]，log step 332 再次进入仍偏约 0.36 m；log step 362 输出 ENTER FAIL、NO CANDIDATE。视频约 390–414 s 及 780–820 s 的反复伸腕与停在开口附近相符，支持控制失败；证据不足以区分轨迹、碰撞处理或反馈控制子类。" + } + ], + "gap_zh": "观察：inputs/ 有完整视频和运行日志，但没有状态日志，也没有成功参考视频。鸡肉多次被门板遮挡，留盘关系主要由初态和未见提取推断；面包离盘的接触过程被遮挡，只能将失去关系定位到视频约 478–482 s，不能判定是夹爪、门板碰撞还是其他作用。两份食物的非冻结终值由评分总数排除法确定，具体解冻时刻未知，故两个温度节点 intervals=null；agent 的食物已搬好、冰箱已关说法与视频不一致，未采信其节点结论。" + }, + "summary_zh": "观察：机器人打开了冰箱，但为取鸡肉反复伸腕探查，始终没有完成鸡肉入微波炉，之后的面包和关门尝试也未完成；视频约 480 s 面包离盘落地，末段仍能看到面包在地板及敞开的冰箱门。推断：最早持续未修复的鸡肉步骤卡在入口观察位姿控制，终态保留鸡肉留盘、微波炉关闭并由 2/9 原生评分确定两份食物已非冻结，加上开冰箱事件，最终为 5/11 节点。观察：无状态日志，鸡肉终态留盘、面包离盘时刻及解冻时间存在遮挡或读数缺口，未用 agent 的成功抓取与放置自述代替画面。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值、q_score=2/9 的排除法推断、断点（鸡肉取出步骤，探索）和控制类原因均与视频及日志相符；视频 1140–1175 s 台面无盘子，与标注者“面包盘未上台面”一致，agent 自称放上台面的说法未被画面支持。未发现需改的问题。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:33:17Z", + "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-thawing-frozen-food-i00-standard--xywuchj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-thawing-frozen-food-i00-standard--xywuchj/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "77831641477aa21c50b8fd5c171373fb53ccb4c377de756f100ac1f095220046", + "video_sha256": "aa8fe7cf7aa42bb2a369934bd2a482b1100cb4bc3577a53b13aab2bf44330337", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +}