diff --git a/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-privileged--ebkrz3s.json b/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-privileged--ebkrz3s.json
new file mode 100644
index 0000000000000000000000000000000000000000..c27bd9f923cb382ee6c2f80e433807bfbc9e8346
--- /dev/null
+++ b/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-privileged--ebkrz3s.json
@@ -0,0 +1,205 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-alignment-axial-i00-privileged--ebkrz3s",
+ "taskKey": "ispatialgym/alignment_axial",
+ "dag_sha256": "b530f6c690202b00faaa215c65e0558d1cf88fb1c92dad0ed74a8f9008f88b8c",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 255,
+   "sim_steps": 242,
+   "rows": 255,
+   "max_rows": 1612,
+   "replay_success": 1,
+   "instance_ok": 1,
+   "steps": 242,
+   "success_step": 242,
+   "symbolic_success": 1,
+   "video_rendered": 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/ispatialgym-alignment-axial-i00-privileged--ebkrz3s/replay.mp4",
+  "duration_s": 8.2,
+  "fps": 10.0,
+  "frames": 82,
+  "sha256": "69f43711d903f87fb0b3dde836e7c87022af321bfd23c23bff1146df6df43fd1"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "game_box_aligned": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，绿色 Clue 游戏盒平放在白色餐桌上，但其长边相对桌前边斜置，尚未摆正。"
+     },
+     {
+      "t": 6.6,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0–6.6 s 镜头重新转向餐桌；视频 6.6 s 游戏盒仍平放在原桌面区域，长边已近似平行桌前边。视频 6.6–8.1 s 逐帧可见盒子保持此朝向，无夹爪持有盒子；对比依据是盒边与桌边的相对方向，不是画面转动。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器字段 success=1、replay_success=1、symbolic_success=1、deterministic=1，支持游戏盒朝向、桌面关系、非持有及连续 45 控制步联合静置均通过。结合视频 8.1 s 末帧的摆正状态，将包含静置窗口的整步完成定位于视频约 8.1 s；无状态日志，无法从画面精确复核速度阈值或首次验收帧，时间精度约 0.5 s。"
+     },
+     {
+      "t": null,
+      "log_step": 44,
+      "text_zh": "观察：log step 43 的脚本先重置；log step 44 用修正后的动作映射完成转动、释放、收臂和保持，并覆盖保存 255 行轨迹；log step 45 检查其形状为 (255,23)。log step 50 的 agent 自述放弃后续侧面接触实验、保留此前版本，故这些实验不计入本次评分轨迹。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频约 1.0–6.0 s 镜头偏离游戏盒，未拍到机器人作用端与盒子的接触，且无状态接触日志。log step 44、56 描述右夹爪在盒顶接触并转动，但画面不能确认具体接触方式，因此实际接触保留未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "game_box_orientation_error",
+   "unit": "rad",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_object_robot_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_object_robot_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_robot_joint_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_position_drift",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_orientation_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_joint_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "评分轨迹将绿色 Clue 游戏盒从桌面斜置变为沿桌边横放，游戏盒摆正节点最终完成，评分器确认成功及确定性回放。视频 6.6–8.1 s 支持盒子平放、未被持有并维持摆正，包含静置验收的完成时刻约记为视频 8.1 s。操作期间镜头偏离目标，实际接触方式未知；无状态日志，朝向误差、速度和漂移数值未报告，联合验收依评分器成功字段判断，未把 agent 自测数值填入原生指标。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "游戏盒摆正节点 final=true、视频约 8.1 s 完成与评分器成功字段一致；视频 0 s 斜置、6.6–8.1 s 沿桌边摆正，接触未知合理（镜头偏离），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": "2026-10-30T02:19:36Z",
+  "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/ispatialgym-alignment-axial-i00-privileged--ebkrz3s/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-alignment-axial-i00-privileged--ebkrz3s/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "abb54ae7bfa37c827c6147e7f6b6283f4200c477385e7737209a49c239f4391f",
+   "video_sha256": "69f43711d903f87fb0b3dde836e7c87022af321bfd23c23bff1146df6df43fd1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-privileged--gpax5rn.json b/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-privileged--gpax5rn.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e172c1f8e6684ab4d65ef081c8f65b944203df1
--- /dev/null
+++ b/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-privileged--gpax5rn.json
@@ -0,0 +1,205 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-alignment-axial-i00-privileged--gpax5rn",
+ "taskKey": "ispatialgym/alignment_axial",
+ "dag_sha256": "b530f6c690202b00faaa215c65e0558d1cf88fb1c92dad0ed74a8f9008f88b8c",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 1075,
+   "sim_steps": 640,
+   "rows": 1075,
+   "max_rows": 1612,
+   "replay_success": 1,
+   "instance_ok": 1,
+   "steps": 640,
+   "success_step": 640,
+   "symbolic_success": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 16.952,
+   "peak_memory_gb": 8.766,
+   "peak_processes": 22,
+   "peak_disk_gb": 1.97,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ispatialgym-alignment-axial-i00-privileged--gpax5rn/replay.mp4",
+  "duration_s": 21.5,
+  "fps": 10.0,
+  "frames": 215,
+  "sha256": "7e6f5f70d8ba6165b98b750168e9f087fac483c23e3c8905e9c281abb0b5a865"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "game_box_aligned": {
+    "method": "visual",
+    "intervals": [
+     [
+      21.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–2.0 s，绿色 Clue 游戏盒平放于白色餐桌上，盒边相对桌边明显斜置，初态未摆正。"
+     },
+     {
+      "t": 14.5,
+      "log_step": null,
+      "text_zh": "观察：视频 10.5–17.5 s，机器人右夹爪在游戏盒右侧盒缘附近沿桌面推进，盒子相对桌边逐渐转正，始终留在桌面上；夹爪未包夹盒子。视频 17.5–20.0 s，右夹爪向上撤离，盒子没有随夹爪抬起。"
+     },
+     {
+      "t": 21.3,
+      "log_step": null,
+      "text_zh": "观察：视频 20.0–21.4 s，右夹爪与盒子分离，游戏盒保持平放，封面文字朝向及盒边相对桌边的横放关系与参考成功录像（inputs/oracle/replay.mp4，视频 6.5–7.5 s）一致；逐帧查看视频最后一秒，未见盒子再转动。inputs/run.json 的评分器字段 success=1、replay_success=1、symbolic_success=1、deterministic=1、success_step=640。"
+     },
+     {
+      "t": 21.3,
+      "log_step": 78,
+      "text_zh": "推断：本次评分在第 640 控制步首次通过联合验收；任务说明给出的控制率为 30 Hz，因此对应视频约 640/30=21.33 s，将本节点首次成立时间记为视频约 21.3 s。时间映射已用 log step 78 的抬手命令核对：log step 80 输出抬手前累计 525 控制步，抬手持续 70 控制步，预测视频 17.5–19.8 s，与实际撤手画面一致。该节点包含连续 45 控制步静置要求，故不在盒子刚转正时提前计为完成；完整朝向误差和速度阈值依评分器成功结果推断通过，录像本身不能数值复核。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 10.5–17.5 s，机器人右夹爪的并拢手指抵住绿色 Clue 游戏盒右侧盒缘并沿桌面推进，使盒子转向；视频 17.5–20.0 s 夹爪向上撤离，盒子留在桌面，未见包夹或提起。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "game_box_orientation_error",
+   "unit": "rad",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_object_robot_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_object_robot_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_robot_joint_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_position_drift",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_orientation_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_joint_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：机器人用右夹爪抵住盒缘推动游戏盒转正后撤手，视频 20.0–21.4 s 盒子保持平放、摆正，评分器判定成功，最终完成 1/1 节点，无失败断点。推断：含静置窗口的正式完成时间约为视频 21.3 s；无状态日志，完整旋转误差、速度和漂移阈值只能依据评分器验收结果，原生指标未报告数值；log step 120 的终态测量来自 agent 自行运行至 1075 控制步的回放，超出本次在 640 控制步结束的评分录像，不作为本次终态数值。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "节点 game_box_aligned 的成立、时间（视频约 21.3 s，由 640 控制步/30 Hz 映射并在撤手画面处核对）和 contact_actual（手指/夹爪·推/扫）均与视频帧一致，成功运行无断点，未发现需改动内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:26:14Z",
+  "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/ispatialgym-alignment-axial-i00-privileged--gpax5rn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-alignment-axial-i00-privileged--gpax5rn/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c91661f6e96ce4aafea1191a391574a792b9447b2188d368fa1663e69ece575b",
+   "video_sha256": "7e6f5f70d8ba6165b98b750168e9f087fac483c23e3c8905e9c281abb0b5a865",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-privileged--h99ba4r.json b/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-privileged--h99ba4r.json
new file mode 100644
index 0000000000000000000000000000000000000000..48415860c6df65ed9fb9429e0d0c912305f24c0f
--- /dev/null
+++ b/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-privileged--h99ba4r.json
@@ -0,0 +1,205 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-alignment-axial-i00-privileged--h99ba4r",
+ "taskKey": "ispatialgym/alignment_axial",
+ "dag_sha256": "b530f6c690202b00faaa215c65e0558d1cf88fb1c92dad0ed74a8f9008f88b8c",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 420,
+   "sim_steps": 374,
+   "rows": 420,
+   "max_rows": 1612,
+   "replay_success": 1,
+   "instance_ok": 1,
+   "steps": 374,
+   "success_step": 374,
+   "symbolic_success": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 16.901,
+   "peak_memory_gb": 9.373,
+   "peak_processes": 22,
+   "peak_disk_gb": 1.376,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ispatialgym-alignment-axial-i00-privileged--h99ba4r/replay.mp4",
+  "duration_s": 12.6,
+  "fps": 10.0,
+  "frames": 126,
+  "sha256": "80fe0b0591944f92752e72fe40244c0b6bea3cd2ba08e36579fca215ccb6ed21"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "game_box_aligned": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色 Clue 游戏盒平放在白色餐桌上，但盒边相对桌边斜置，初始未摆正。"
+     },
+     {
+      "t": 8.8,
+      "log_step": 28,
+      "text_zh": "观察：视频 7.2–8.8 s，右夹爪沿桌面抵推盒子靠机器人一侧的角部，盒子相对桌边转动而未离开桌面；视频 8.8 s 盒子长边已近似平行于桌子短边，封面方向与成功参考视频 7.0 s 的摆正结果一致。此时机器人手臂仍在运动，尚不据此认定完整静置验收成立。"
+     },
+     {
+      "t": 11.0,
+      "log_step": 29,
+      "text_zh": "观察：视频 9.2–11.1 s 右夹爪后撤并抬起，盒子留在原处；视频 11.2–12.5 s（含最后一秒逐帧）所见盒边与封面保持不动，夹爪未夹持盒子，末帧局部盒面被前臂遮挡。log step 29 的脚本在撤臂后保持 90 控制步并保存共 420 行，log step 31 对该交付文件启动新进程回放，log step 34 返回相同终态哈希。"
+     },
+     {
+      "t": 12.5,
+      "log_step": 29,
+      "text_zh": "推断：评分器 reward.success、replay_success、symbolic_success、deterministic 均为 1，success_step=374，支持本目标含静置验收最终成立。任务规定 30 Hz；log step 29 保存 420 行，末尾 90 行保持，因此撤臂结束在累计控制步 330，即视频约 11.0 s，已与视频 11.0–11.1 s 的撤臂结束核对。由评分器成功控制步 374/30≈12.47，取已检查的末帧视频 12.5 s 为节点达成锚点；并非将 agent 工作时间换算成视频时间。无状态日志，精确速度与漂移阈值依评分器成功判定，不能从图像独立量测。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 7.2–8.8 s 右夹爪在绿色 Clue 游戏盒靠机器人一侧的角部接触并沿桌面抵推，使盒子原地转向；视频 8.2–9.2 s 可见两指张开，未合拢包夹盒子，随后撤开。接触点有部分遮挡；推断：结合该段盒边相对桌边的转动与 log step 28 保持夹爪张开并向前推的交付动作脚本，实际方式为推/扫。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "game_box_orientation_error",
+   "unit": "rad",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_object_robot_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_object_robot_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_robot_joint_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_position_drift",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_orientation_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_joint_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人以张开的右夹爪抵推游戏盒角部，盒子约在视频 8.8 s 由斜置转为沿桌边摆正，随后右臂撤开并保持静止；完整静置验收约在视频 12.5 s 达成，最终完成 1/1 节点。评分器记录成功、回放成功且确定性一致，本次无失败断点。没有状态日志，接触点部分遮挡，完整旋转误差及速度、漂移指标无法独立量测；七项原生指标均未由评分器报告数值，保留为空。",
+ "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，唯一节点 game_box_aligned 判为达成、final=true，与评分器成功及视频所见（盒子被抵推后摆正并静置）一致；时钟换算（控制步 374/30≈12.5 s）有核对说明，接触标注为手指/夹爪·推/扫合理，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": "2026-10-30T02:35:24Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/ispatialgym-alignment-axial-i00-privileged--h99ba4r/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-alignment-axial-i00-privileged--h99ba4r/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0549e03647c98a40eaab95825be9883a8dc303e5da7301e63d047b750b3e2a33",
+   "video_sha256": "80fe0b0591944f92752e72fe40244c0b6bea3cd2ba08e36579fca215ccb6ed21",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-privileged--pvjmajp.json b/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-privileged--pvjmajp.json
new file mode 100644
index 0000000000000000000000000000000000000000..88d8dc5f9554bc683c5465f8cc5f52b8aa2bf4f3
--- /dev/null
+++ b/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-privileged--pvjmajp.json
@@ -0,0 +1,221 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-alignment-axial-i00-privileged--pvjmajp",
+ "taskKey": "ispatialgym/alignment_axial",
+ "dag_sha256": "b530f6c690202b00faaa215c65e0558d1cf88fb1c92dad0ed74a8f9008f88b8c",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 80,
+   "sim_steps": 80,
+   "rows": 80,
+   "max_rows": 1612,
+   "replay_success": 0,
+   "instance_ok": 1,
+   "steps": 80,
+   "success_step": 0,
+   "symbolic_success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 29.965,
+   "peak_memory_gb": 18.284,
+   "peak_processes": 35,
+   "peak_disk_gb": 2.392,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ispatialgym-alignment-axial-i00-privileged--pvjmajp/replay.mp4",
+  "duration_s": 2.8,
+  "fps": 10.0,
+  "frames": 28,
+  "sha256": "ca11a55a284b503ed0c4d85a09d195b546769d29f4f00098e77ee62f5738d53a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "game_box_aligned": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：评分视频 0.0 s 的绿色 Clue 游戏盒平放在白色餐桌上，盒子长边相对桌子近边斜置；与成功参考视频 7.9 s 相同视角下盒子横向摆正的外观不同。"
+     },
+     {
+      "t": 2.7,
+      "log_step": 124,
+      "text_zh": "观察：逐帧查看评分视频 0.0–2.7 s（含视频 1.8–2.7 s 的全部末段帧），盒子始终留在原处并保持同一斜向，只有轻微视角变化，没有夹爪接近、夹持或推动盒子。log step 124 的 agent 脚本录制并保存 80 行 hold_action，未包含抓取或转动段。"
+     },
+     {
+      "t": null,
+      "log_step": 150,
+      "text_zh": "观察：log step 147 检查交付文件仍为 80×23、最后 50 行相同；log step 150 的另一次会话测试输出 after close inhand None 和 GRASP FAILED - kept safe file，未覆盖保底文件。评分器字段 steps=80、symbolic_success=0、replay_success=0；该测试中的抓取动作不是本次评分视频中的动作。"
+     }
+    ],
+    "contact_actual": []
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "game_box_orientation_error",
+   "unit": "rad",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_object_robot_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_object_robot_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_robot_joint_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_position_drift",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_orientation_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_joint_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "game_box_aligned",
+   "t": 0.0,
+   "log_step": 124,
+   "where": "首步前",
+   "evidence_zh": "观察：评分视频 0.0–2.7 s 中游戏盒从未改变初始斜向，也未见机器人末端进入盒子所在区域；log step 124 的脚本仅保存 80 行保持动作，log step 147 确认仍交付该文件。推断：评分尝试没有启动游戏盒摆正操作，故断在该节点的首步前，而不是会话测试中的抓取失败时刻。"
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 124,
+    "evidence_zh": "观察：评分视频 0.0–2.7 s 全部帧中，游戏盒持续原位斜放，无夹爪操作；log step 124 的交付脚本只有 80 行 hold_action，log step 150 明确保留该文件。推断：最终交付的评分尝试未开始摆正盒子，会话中的抓取尝试没有进入交付轨迹。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": null,
+    "log_step": 150,
+    "source_zh": "日志",
+    "evidence_zh": "观察：会话测试 log step 127、128 均输出 after close: inhand None 及 GRASP FAILED - not saved；log step 139 的新会话脚本把成功夹持作为继续转动和保存的条件，log step 150 输出 after close inhand None、GRASP FAILED - kept safe file。agent 在 log step 151 自述抓取均未成功，因此始终保留保底文件。推断：agent 未能实现可用的抓取转动控制，导致最终交付只有保持动作；这些会话结果仅用于解释根因，不作为评分尝试的接触现象或节点进度。",
+    "note_zh": "推断：会话记录可支持控制层面的失败，但不足以区分接触几何、末端轨迹或辅助抓取触发问题，故不指定控制子类。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 中有评分视频、完整运行记录及成功参考视频，但没有状态日志；评分器未报告 DAG 所列朝向误差、速度或窗口漂移数值，故全部原生指标 value 留空。推断：游戏盒未被操作且仍斜置，足以判节点未达；会话抓取测试未包含在评分视频内，其失败的具体控制机制无法由现有画面复核。",
+  "unmet": {
+   "game_box_aligned": false
+  }
+ },
+ "summary_zh": "评分视频 0.0–2.7 s 中游戏盒始终在桌面原位斜放，游戏盒摆正节点从未达成，最终为 0/1；断点为首步前，现象为没尝试。log step 124、147、150 表明，agent 在会话抓取控制未成功后交付并保留了 80 行保持动作，而没有交付抓取转动段。没有状态日志或原生误差读数，控制失败的具体子类无法确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "标注与证据一致：评分视频 0–2.7 s 盒子始终原位斜放，节点未达；断点首步前/没尝试，根因控制来自会话抓取失败日志（符合 FAIL-22），log step id 引用正确。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:47:17Z",
+  "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/ispatialgym-alignment-axial-i00-privileged--pvjmajp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-alignment-axial-i00-privileged--pvjmajp/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "33e167f7f44f3df326f87ac0c7b599401d588f0b58bfe065a509caef47d26016",
+   "video_sha256": "ca11a55a284b503ed0c4d85a09d195b546769d29f4f00098e77ee62f5738d53a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-privileged--xstibnf.json b/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-privileged--xstibnf.json
new file mode 100644
index 0000000000000000000000000000000000000000..168c99c1a74f1a17f4a22b840d633e27a998bb74
--- /dev/null
+++ b/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-privileged--xstibnf.json
@@ -0,0 +1,205 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-alignment-axial-i00-privileged--xstibnf",
+ "taskKey": "ispatialgym/alignment_axial",
+ "dag_sha256": "b530f6c690202b00faaa215c65e0558d1cf88fb1c92dad0ed74a8f9008f88b8c",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 200,
+   "sim_steps": 184,
+   "rows": 200,
+   "max_rows": 1612,
+   "replay_success": 1,
+   "instance_ok": 1,
+   "steps": 184,
+   "success_step": 184,
+   "symbolic_success": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 16.941,
+   "peak_memory_gb": 10.291,
+   "peak_processes": 22,
+   "peak_disk_gb": 1.211,
+   "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/ispatialgym-alignment-axial-i00-privileged--xstibnf/replay.mp4",
+  "duration_s": 6.3,
+  "fps": 10.0,
+  "frames": 63,
+  "sha256": "580c7f40cdbbf9c5d35d2599f9aa47a4baad35c1e1e13423e4e335d77da27203"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "game_box_aligned": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–0.2 s，绿色 Clue 游戏盒平放在白色餐桌上，盒子长边相对桌前沿斜置；初态尚未摆正。"
+     },
+     {
+      "t": 4.8,
+      "log_step": null,
+      "text_zh": "观察：视频 3.7–4.8 s 相机逐渐转回餐桌，游戏盒重新完整进入画面；视频 4.8–6.2 s 盒子平放桌面，长边近似平行桌前沿，封面文字朝向与 oracle 视频 7.0–8.0 s 的成功终态一致。视频 5.3–6.2 s 逐帧检查未见盒子再转斜。"
+     },
+     {
+      "t": 6.2,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器字段 success=1、replay_success=1、symbolic_success=1、deterministic=1，success_step=184，结合视频 6.2 s 的摆正终态，将本步含连续 45 控制步静置的完整验收判为达成。完整验收时刻近似锚定视频 6.2 s（约半秒精度）；未把盒子刚摆正或相机刚转回的时刻当作静置验收完成，也未将 agent 工作时间换算为视频时间。"
+     },
+     {
+      "t": 2.0,
+      "log_step": 424,
+      "text_zh": "观察：视频 1.0–3.6 s 只露出盒子局部或盒子完全出画，未见机器人夹爪与盒子的接触。log step 424 的交付生成脚本命令左夹爪下降、推角、上撤和回位，log step 428 记录保存 200 行动作；这些日志说明交付意图，不能确认画外实际接触的作用端及方式。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频操作段相机偏离游戏盒，夹爪与盒子的接触区域未入画；没有状态日志，无法核实实际由哪一作用端接触盒子及接触方式。左夹爪推角仅见于 log step 424 的脚本，不据此确认实际推/扫或抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "game_box_orientation_error",
+   "unit": "rad",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_object_robot_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_object_robot_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_robot_joint_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_position_drift",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_orientation_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_joint_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "评分尝试最终完成“游戏盒摆正”节点（1/1）：视频初态盒子斜置，视频 4.8–6.2 s 可见其横放桌面并保持稳定，评分器确认确定性回放成功。完整静置验收近似锚定视频 6.2 s；操作期间接触区域出画，实际接触标为未知，缺少状态日志和评分器原生指标数值，无法独立复核朝向、速度及漂移阈值。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "游戏盒摆正节点终态达成与视频及评分器字段一致（视频初态盒子斜置，4.8–6.2 s 盒子横放稳定）；contact_actual 因接触出画标未知合理；log step 424/428 存在，时间未换算，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": "2026-10-30T02:32:41Z",
+  "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/ispatialgym-alignment-axial-i00-privileged--xstibnf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-alignment-axial-i00-privileged--xstibnf/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f5008bc2fceddd6cb82a8ffc1d13f5a34cbd6c9ed0bf563979c9366d17995fa7",
+   "video_sha256": "580c7f40cdbbf9c5d35d2599f9aa47a4baad35c1e1e13423e4e335d77da27203",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-privileged--yjhcca9.json b/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-privileged--yjhcca9.json
new file mode 100644
index 0000000000000000000000000000000000000000..e92ca9e3723af01dcdc9e211bd419398c0e2fe85
--- /dev/null
+++ b/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-privileged--yjhcca9.json
@@ -0,0 +1,215 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-alignment-axial-i00-privileged--yjhcca9",
+ "taskKey": "ispatialgym/alignment_axial",
+ "dag_sha256": "b530f6c690202b00faaa215c65e0558d1cf88fb1c92dad0ed74a8f9008f88b8c",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 397,
+   "sim_steps": 310,
+   "rows": 397,
+   "max_rows": 1612,
+   "replay_success": 1,
+   "instance_ok": 1,
+   "steps": 310,
+   "success_step": 310,
+   "symbolic_success": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 16.87,
+   "peak_memory_gb": 8.512,
+   "peak_processes": 24,
+   "peak_disk_gb": 2.693,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ispatialgym-alignment-axial-i00-privileged--yjhcca9/replay.mp4",
+  "duration_s": 10.5,
+  "fps": 10.0,
+  "frames": 105,
+  "sha256": "0ee2f97b69ceedfbeac9bc0da875d356851ea555a227af510820113c5707c82e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "game_box_aligned": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的绿色 Clue 游戏盒平放在白色餐桌上，盒边相对桌边斜置；视频 0.0–1.3 s 头部视角持续转向右侧，不能把盒子在画面中的角度变化当成盒子实际旋转。"
+     },
+     {
+      "t": 1.4,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 0.0–10.4 s；游戏盒在视频约 1.4 s 完全离开画面，此后至视频 10.4 s 只有桌角、门和室外景物可见，夹爪与游戏盒的接触、盒子转动及最终朝向均未直接入镜。"
+     },
+     {
+      "t": null,
+      "log_step": 154,
+      "text_zh": "观察：log step 154 中 agent 的调试脚本重跑转动方案、追加保持并保存 337 行；log step 162 将同一交付文件的保持尾段延长至 397 行；log step 180 的独立回放输出 instance_exact=true、steps=397。上述是会话与交付记录，不把其自测盒子偏角作为本次视频的逐帧状态。"
+     },
+     {
+      "t": 10.4,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段 success=1、replay_success=1、symbolic_success=1、deterministic=1，success_step=310；视频 9.4–10.4 s 逐帧均未显示游戏盒，因而没有直接显示目标未满足的画面。"
+     },
+     {
+      "t": 10.4,
+      "log_step": null,
+      "text_zh": "推断：依评分器已通过的联合验收，将唯一目标节点终态判为 true，并将含静置窗口的首次达成保守锚定在视频末帧 10.4 s（约半秒精度，实际阈值跨越时刻不可见）；不从 agent 时间或会话自测推算视频时刻。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：参照录像 inputs/oracle/replay.mp4 在其视频 6.5–7.9 s 可见游戏盒沿桌边横放，与本次视频 0.0 s 的斜置不同；本次录像末段没有回到该视角。该参照仅说明达成外观，不作为本次发生接触或达标时刻的证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：本次视频 0.0–10.4 s 没有显示夹爪接触游戏盒，且无状态日志。agent 在 log step 185 自述左侧闭合夹爪抵住盒侧面并绕轴推动，但实际作用端与接触方式无法由画面核实，故不将其自述或 DAG 的典型接触方案直接标为实际接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "game_box_orientation_error",
+   "unit": "rad",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_object_robot_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_object_robot_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_robot_joint_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_position_drift",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_orientation_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_joint_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "评分器确认交付轨迹成功且可确定复现，唯一的“游戏盒摆正”节点终态完成，含静置验收的达成时间保守锚定在视频末段 10.4 s。视频初态可见游戏盒斜置，随后头部视角转离目标；视频约 1.4–10.4 s 游戏盒与操作接触均不在画面内，因此实际接触记为未知，不用会话自测替代本次画面。没有状态日志，无法直接复核旋转误差、各项速度及漂移数值，评分器也未报告这些原生指标的数值。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "评分器 success=1，视频仅 0–1.4 s 可见游戏盒斜置，其后相机转离桌面；单节点 true、接触未知、无失败层均与证据一致，时间锚点保守且已标推断。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:36:20Z",
+  "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/ispatialgym-alignment-axial-i00-privileged--yjhcca9/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-alignment-axial-i00-privileged--yjhcca9/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "fb67dc4891343816523460068cdebc334d981f550ef36d14375232b926dde159",
+   "video_sha256": "0ee2f97b69ceedfbeac9bc0da875d356851ea555a227af510820113c5707c82e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-standard--pj9uzw7.json b/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-standard--pj9uzw7.json
new file mode 100644
index 0000000000000000000000000000000000000000..67815c8a4a604843b7e212460e5f9a61a6610832
--- /dev/null
+++ b/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-standard--pj9uzw7.json
@@ -0,0 +1,277 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-alignment-axial-i00-standard--pj9uzw7",
+ "taskKey": "ispatialgym/alignment_axial",
+ "dag_sha256": "b530f6c690202b00faaa215c65e0558d1cf88fb1c92dad0ed74a8f9008f88b8c",
+ "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": 1612,
+   "sim_steps": 1612,
+   "max_steps": 1612,
+   "steps": 822,
+   "elapsed_s": 1290.2,
+   "symbolic_success": 0,
+   "success_step": 0,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.469,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.949,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ispatialgym-alignment-axial-i00-standard--pj9uzw7/replay.mp4",
+  "duration_s": 53.9,
+  "fps": 10.0,
+  "frames": 539,
+  "sha256": "b8312d65883d95ec28ae1ec7f8c781b19398cb400da81e38d2a7afd391e80b6f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "game_box_aligned": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.5 s，绿色 Clue 游戏盒平放在白桌上，盒边相对桌边斜置；成功参考录像的视频 6.5–8.0 s 则显示盒子沿桌边横放。参考录像只用于辨认目标外观，不作为本次进度证据。"
+     },
+     {
+      "t": 6.5,
+      "log_step": 76,
+      "text_zh": "观察：视频 5.0–6.5 s 左夹爪下降、闭合后抬离，盒子仍留在桌面；视频 8.5–18.5 s 多次重复下探和抬爪也未见盒子随爪离桌。agent 在 log step 76 自述第一次闭爪未持住盒子。"
+     },
+     {
+      "t": 30.5,
+      "log_step": 101,
+      "text_zh": "观察：视频 21.5–23.5 s 左夹爪从侧面贴近盒边；视频 27.0–30.5 s 左夹爪抵住盒面作横向动作后撤开，盒子仍平放且相对桌边斜置。log step 101 中 agent 将动作描述为侧向推动。"
+     },
+     {
+      "t": 53.8,
+      "log_step": 143,
+      "text_zh": "观察：视频 34.5–38.5 s、42.5–46.0 s、48.5–51.0 s 左夹爪继续下压、推动并撤回；视频 52.9–53.8 s 的逐帧末段显示盒子未被持有、仍斜置，未出现目标横放外观。log step 143 的在线服务返回 control_steps=1612、done=True，原因为控制步数耗尽；评分字段 live_success=0、replay_success=0、live_matches_replay=1。"
+     },
+     {
+      "t": 53.8,
+      "log_step": null,
+      "text_zh": "推断：结合整段视频中各次撤爪后的盒边方向及末段静止画面，本节点从未达到目标朝向并完成静置验收；此判断依据可见偏转，不仅依据零分。没有状态日志，不能给出精确旋转误差或静置速度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 27.0–30.0 s、35.0–38.0 s、43.0–45.5 s 及 49.0–50.5 s，机器人左夹爪指端从上方抵住绿色 Clue 盒面并擦动；夹爪撤离后盒子仍留桌面，未见两指夹持盒子随爪移动，故不记抓握。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 21.5–23.5 s 左夹爪从盒子侧边抵推，后续顶面接触伴随横向推动；作用对象为绿色 Clue 游戏盒。与下压接触先后及伴随发生，均为同一左夹爪的实际操作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "game_box_orientation_error",
+   "unit": "rad",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_object_robot_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_object_robot_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_robot_joint_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_position_drift",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_orientation_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_joint_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "game_box_aligned",
+   "t": 6.5,
+   "log_step": 76,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 5.0–6.5 s 机器人左夹爪首次下探闭合并抬起，盒子仍在原桌面，未建立持有；后续多次试夹、下压和推动均未把本节点完成。视频 52.9–53.8 s 盒子仍相对桌边斜置，故首次失败的游戏盒摆正步骤始终未修复。"
+  },
+  "unmet": {
+   "game_box_aligned": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 6.5,
+    "log_step": 76,
+    "evidence_zh": "观察：视频 5.0–6.5 s 左夹爪尝试闭合后抬起，盒子始终留在桌面；视频 8.5–18.5 s 的重复试夹以及视频 21.5–24.0 s 的侧向试夹也未见盒子被夹持。这里缺少的是计划中的抓握接触，并非声称夹爪从未碰到盒面；log step 76 中 agent 也自述首次闭爪失败。"
+   },
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 30.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频 30.5–34.0 s 左夹爪撤离后，盒边仍相对桌边斜置；视频 38.5–42.0 s、46.0–48.0 s 和末段视频 52.9–53.8 s 均保留明显偏角。后续推动未将盒子转为成功参考所示的沿桌边横放。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：task/task_dag.json:29、39、45、67 说明目标是把游戏盒绕竖直轴转到目标朝向，盒子经竖直转轴连到桌面，并非可任意抓起搬移的自由物体。inputs/run.json 的 log step 53 中 agent 自述准备抓取，log step 76 自述重新下探、闭爪、抬起后再放置；视频 5.0、5.5、6.0、6.5 s 及 8.5、12.0、18.5 s 显示左夹爪多次下探与抬起而盒子留在桌面。log step 101 中 agent 转而计划侧推改变桌面位置，log step 118 按目标位置作向前微调，log step 129 又按其估计的约 6 cm 横向位置差决定反向推动；这些位置与位移均为 agent 的估计，不是已核实的物体测量。log step 145 的动作记录同样列出沿 x/y 的平移推移。视频 27.0、30.5、38.0、45.0、50.0 s 可见夹爪抵推盒子，视频 53.0、53.4、53.8 s 盒子仍斜置。抓起搬运及围绕位置偏移作直线推移的策略没有针对受转轴约束的盒子建立目标朝向修正，支持认知·推理/规划；试抓未持有不能独立证明可行方案上的控制执行失败。"
+   }
+  ],
+  "gap_zh": "没有提供状态日志；现有头部视角可判断盒子未摆正，但早段盒子位于画面左侧且部分被夹爪遮挡，不能逐次确认指端接触对、夹持力或具体控制误差。评分器未报告 DAG 所列七项原生指标的数值，均填 null；不能从画面核算 0.15 弧度阈值及全部 45 控制步静置条件。日志若干工具输出本身被截断；agent 关于末端停在盒面之上等自述未被独立测量核实，现有试抓失败证据不能区分错误搬运策略与额外的控制执行问题，因此根因仅保留推理/规划。"
+ },
+ "summary_zh": "机器人用左夹爪多次试夹、下压和推动绿色 Clue 游戏盒，但没有将盒子摆正，节点始终为 0/1。agent 先按抓起搬运、后按位置偏移制定直线推移方案，没有针对盒子的竖直转轴约束建立朝向修正策略；盒子到视频 53.8 s 仍斜置，在线回合因控制步数耗尽结束。缺少状态日志、精确朝向和接触力指标，无法复核数值阈值，也不足以独立支持控制根因。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点未达成、断点（首次试抓）和视频末帧斜置均与画面一致；但根因「控制」缺少独立证据：前期失败的是“抓起并搬到某位置”这一目标/策略本身（盒子以竖直转轴约束在桌面、任务只要求转向），应归规划，而不是接触执行失败。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成、断点（首次试抓，约视频 6.5 s）、接触标签与末帧斜置均与画面一致；根因已按上轮意见改为推理/规划，无需再改。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:49:47Z",
+  "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/ispatialgym-alignment-axial-i00-standard--pj9uzw7/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-alignment-axial-i00-standard--pj9uzw7/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-alignment-axial-i00-standard--pj9uzw7/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/ispatialgym-alignment-axial-i00-standard--pj9uzw7/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3eced630c50682c04709506cebff742e0174db55ca704ebb54daa4098cb966ff",
+   "video_sha256": "b8312d65883d95ec28ae1ec7f8c781b19398cb400da81e38d2a7afd391e80b6f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-standard--ut4xsxt.json b/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-standard--ut4xsxt.json
new file mode 100644
index 0000000000000000000000000000000000000000..0818ee4110d9e88c6277a9aa2cdd425c7c3aaeda
--- /dev/null
+++ b/phase2/ispatialgym/alignment_axial/trajectories/ispatialgym-alignment-axial-i00-standard--ut4xsxt.json
@@ -0,0 +1,224 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-alignment-axial-i00-standard--ut4xsxt",
+ "taskKey": "ispatialgym/alignment_axial",
+ "dag_sha256": "b530f6c690202b00faaa215c65e0558d1cf88fb1c92dad0ed74a8f9008f88b8c",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 608,
+   "sim_steps": 608,
+   "max_steps": 1612,
+   "steps": 203,
+   "elapsed_s": 420.4,
+   "symbolic_success": 1,
+   "success_step": 608,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.329,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.921,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ispatialgym-alignment-axial-i00-standard--ut4xsxt/replay.mp4",
+  "duration_s": 20.4,
+  "fps": 10.0,
+  "frames": 204,
+  "sha256": "9c83d17dbac19c13b3956f20d02299ac1d36a86bd1c456e96bc9bf6cb7716970"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "game_box_aligned": {
+    "method": "visual",
+    "intervals": [
+     [
+      20.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的绿色 Clue 游戏盒平放在白桌上，但盒边相对桌边斜置；对照 oracle 视频 7.0–8.0 s 的摆正朝向，初态尚未完成本节点。"
+     },
+     {
+      "t": 13.6,
+      "log_step": 55,
+      "text_zh": "观察：本次视频 9.1–9.5 s 游戏盒先向一侧转动，视频 11.3–13.6 s 又持续转向；此时门窗和桌边基本不动，确为盒子转动而非相机转动。视频 14.0–16.4 s 盒子继续改变投影位置，视频 16.5–20.3 s 保持摆正后的朝向和桌面位置。"
+     },
+     {
+      "t": 14.0,
+      "log_step": 55,
+      "text_zh": "推断：log step 28 的服务规格为 30 Hz；本次单 episode 无重置，log step 50 的 control_steps=336 与 log step 55 的 control_steps=420 对应视频 11.2–14.0 s，已与视频 11.3–13.6 s 的盒子转动及随后停转核对。因此采用本次 episode 的控制步时钟定位验收，未使用 agent 工作时间。"
+     },
+     {
+      "t": 20.3,
+      "log_step": 63,
+      "text_zh": "观察：log step 63 的仿真服务返回 done=true、reason=success、control_steps=608；评分器 reward 同时给出 live_success=1、replay_success=1、symbolic_success=1、live_matches_replay=1、success_step=608。视频 19.3–20.3 s 逐帧检查，盒子保持桌面位置和朝向，没有末段再次转歪。"
+     },
+     {
+      "t": 20.3,
+      "log_step": 63,
+      "text_zh": "推断：完整节点包含机器人与物体连续 45 控制步静置，不能仅以盒子停转时刻计为完成；服务在 control step 608 首次通过联合验收，对应视频 608/30≈20.27 s，按已检查的视频帧取约 20.3 s 达成并保持至结束。没有状态日志，具体姿态误差和速度阈值依服务成功判定，无法逐项数值复核。"
+     },
+     {
+      "t": 9.5,
+      "log_step": 48,
+      "text_zh": "观察：视频 8.5–16.4 s 密集帧可见盒子移动、转动，但盒子左侧被画面边缘截去，机器人夹爪和接触点始终不在提供的视频中；log step 47 的脚本命令左夹爪闭合，log step 48 返回左夹爪开口约 0.045 m。该读数不能单独证明相向夹持，因此实际接触方式保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 9.1–16.4 s 游戏盒确实被操作，但机器人作用端及盒子接触区域在画面外；log step 44、47、49、54、59 记录左夹爪下探、闭合、上移、转腕和张开指令，无法从所提供画面区分实际夹持、压擦或侧推，不沿用 DAG 的典型接触方案。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "game_box_orientation_error",
+   "unit": "rad",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_object_robot_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_object_robot_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_robot_joint_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_position_drift",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_orientation_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_joint_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "本次完成游戏盒摆正，视频中可见盒子相对固定桌面转向并在末段保持稳定；服务于 control step 608 报告成功，映射为视频约 20.3 s，通过包含静置窗口的完整验收。评分器确认在线与回放均成功且一致，无失败断点。所提供录像未显示夹爪与盒子的接触点，实际接触标为未知；无状态日志，且评分器未报告各项连续指标数值，不能独立复核朝向误差及静置阈值。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "单节点成功运行，control step 608→视频约 20.3 s 的映射、节点达成与末段保持均与帧和评分器字段一致；接触因夹爪在画面外标为未知，合理。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": "2026-10-30T02:22:04Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/ispatialgym-alignment-axial-i00-standard--ut4xsxt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-alignment-axial-i00-standard--ut4xsxt/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "04a5d8c466c80f2bfecd09eb19d72c33349496e76e2a9d2aeb2d8c682fe3365c",
+   "video_sha256": "9c83d17dbac19c13b3956f20d02299ac1d36a86bd1c456e96bc9bf6cb7716970",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-privileged--46825eb.json b/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-privileged--46825eb.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce22314867c7e071e0c3e49d07c0f68c39f43f32
--- /dev/null
+++ b/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-privileged--46825eb.json
@@ -0,0 +1,237 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-camera-relocalization-obstructed-i00-privileged--46825eb",
+ "taskKey": "ispatialgym/camera_relocalization_obstructed",
+ "dag_sha256": "4e13f8e6fcf7dbba26ce5d2c29955034bada2f217b1eda1751e2281902a318a2",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 817,
+   "sim_steps": 817,
+   "rows": 817,
+   "max_rows": 1324,
+   "replay_success": 0,
+   "instance_ok": 1,
+   "steps": 817,
+   "success_step": 0,
+   "symbolic_success": 0,
+   "video_rendered": 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/ispatialgym-camera-relocalization-obstructed-i00-privileged--46825eb/replay.mp4",
+  "duration_s": 27.4,
+  "fps": 10.0,
+  "frames": 274,
+  "sha256": "72e8a809c1cc44ba7848fe12d6fcdc662418602722fe4fb9070aeb247c44abf2"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "camera_at_goal_pose": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 头部相机仍远望整组沙发，厨房岛台只在右后方；视频 0.5–14.0 s 机器人移动并调节相机视角，未呈现稳定的目标构图。"
+     },
+     {
+      "t": 21.8,
+      "log_step": null,
+      "text_zh": "观察：视频 14.0–18.0 s 及视频 20.6–23.0 s 的密集帧显示机器人到达沙发外侧并作微调；视频 21.8–27.3 s 画面基本不动，但沙发靠背、岛台台面与吊灯在画面中的位置仍有偏差。对照成功参考视频 10.0–12.2 s，本次视角较低、岛台台面露出较少，吊灯与窗带投影整体较低；参考仅用于辨认目标视角。"
+     },
+     {
+      "t": 27.3,
+      "log_step": null,
+      "text_zh": "推断：本次末帧视频 27.3 s 仍保持上述偏离目标的视角；结合评分器 replay_success=0、symbolic_success=0、success_step=0，唯一目标节点未通过连续45控制步验收。此判断不把视觉停稳等同于原生速度和漂移阈值已满足，也不由零分单独推断未尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "推断：视频 0.5–14.0 s 中机器人头部相机持续沿地板平移，绕过沙发接近厨房，视频 20.6–21.8 s 再作小幅平移；结合 log step 86 的底盘驱动脚本与R1Pro轮式结构，车轮接触地板支撑并运送机身和相机。轮地接触点位于头部视野外；未见夹爪抓取任务物体。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "head_camera_position_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "head_camera_orientation_error",
+   "unit": "rad",
+   "threshold": 0.45,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_settle_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_settle_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_settle_robot_joint_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_position_drift",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_orientation_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_robot_joint_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "camera_at_goal_pose",
+   "t": 21.8,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：机器人在视频 21.8 s 左右停止最后的小幅视角修正，此后至视频 27.3 s 一直保持有偏差的厨房视角；岛台台面、沙发靠背和吊灯的投影未对齐成功参考视频 10.0–12.2 s 所示目标构图。推断：相机重定位步骤未完成，后续静止保持未修复位姿偏差，故断点为该导航步骤的操作中。"
+  },
+  "unmet": {
+   "camera_at_goal_pose": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 21.8,
+    "log_step": null,
+    "evidence_zh": "观察：视频 21.8–27.3 s 本次稳定画面的沙发靠背与岛台台面露出比例、吊灯和窗带的垂直位置，与成功参考视频 10.0–12.2 s 不同；本次视角偏低、岛台台面露出较少。推断：机器人停在偏离目标的相机位姿，静止等待没有消除该偏差。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 从图像恢复的目标相机位置存在估计偏差。log step 59 的PnP解和 log step 60 的自述采用 odom (3.27,-4.57,1.12)米；用 log step 43 输出的世界到odom矩阵转换DAG目标，得到约(3.425,-4.628,1.359)米，两者相距约0.291米，超过0.15米容差。log step 86 按该估计设定底盘目标及低位躯干姿态；log step 89 的生成结果和 log step 111 的会话自回放均接近所设位置，却高度偏低，与视频 21.8–27.3 s 的构图偏差相符。这些数值是会话诊断和目标换算，用于根因分析，不充作评分回放的原生误差指标。"
+   },
+   {
+    "cat": "认知",
+    "item": "误以为完成",
+    "source_zh": "agent 自述",
+    "evidence_zh": "观察：log step 112 仅计算回放末图与目标的平均像素差24.52；log step 114 agent 自述“The replayed final view matches the goal image”并清理仿真进程，log step 116 宣布完成、交付已验证。log step 102、111 的回放摘要只说明817行完成和实例匹配，未报告任务成功；评分器最终 replay_success=0。推断：agent 把构图近似和回放执行完成当作任务已完成，停止了后续修正；run.json 记录会话用时3116 s、预算3600 s，停止时约余484 s，并非预算耗尽。"
+   }
+  ],
+  "gap_zh": "无状态日志；评分器未报告DAG列出的8项原生误差、速度和漂移指标，均填null，不能从录像量出精确阈值或分离符号关系与静止窗口各自的失败贡献。log step 111 的位姿来自会话自回放而非评分器状态记录，仅用于根因佐证；节点值由本次录像的可见偏差及评分结果共同判断。底盘轮地接触点不在头部相机画面内，支撑接触依据轮式结构、可见移动与驱动脚本推断。"
+ },
+ "summary_zh": "机器人移动并调节躯干，绕过沙发到达厨房观察位置后保持静止，但相机目标位姿节点始终未通过，最终为0/1。视频 21.8–27.3 s 的稳定构图仍偏低；日志支持目标位姿估计偏差，以及agent误以为画面匹配而停止修正。无状态日志，精确原生位姿误差及静止验收各项指标未报告。",
+ "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 camera_at_goal_pose 未达成、断点（操作中）、位姿不准、感知与误以为完成均有帧与日志支持；视频 27.3 s 末帧与成功参考的构图相比偏低、岛台露出较少。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": "2026-10-30T02:23:21Z",
+  "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/ispatialgym-camera-relocalization-obstructed-i00-privileged--46825eb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-camera-relocalization-obstructed-i00-privileged--46825eb/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0138cac455190b80a8f0bb49a9b50453c1c92c72b9649042a6410dc4a1cf4523",
+   "video_sha256": "72e8a809c1cc44ba7848fe12d6fcdc662418602722fe4fb9070aeb247c44abf2",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-privileged--9sngdbr.json b/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-privileged--9sngdbr.json
new file mode 100644
index 0000000000000000000000000000000000000000..fce68cd0e1498592febcc7974ed572705f3dd8b3
--- /dev/null
+++ b/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-privileged--9sngdbr.json
@@ -0,0 +1,212 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-camera-relocalization-obstructed-i00-privileged--9sngdbr",
+ "taskKey": "ispatialgym/camera_relocalization_obstructed",
+ "dag_sha256": "4e13f8e6fcf7dbba26ce5d2c29955034bada2f217b1eda1751e2281902a318a2",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 420,
+   "sim_steps": 364,
+   "rows": 420,
+   "max_rows": 1324,
+   "replay_success": 1,
+   "instance_ok": 1,
+   "steps": 364,
+   "success_step": 364,
+   "symbolic_success": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 16.542,
+   "peak_memory_gb": 10.137,
+   "peak_processes": 24,
+   "peak_disk_gb": 0.628,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ispatialgym-camera-relocalization-obstructed-i00-privileged--9sngdbr/replay.mp4",
+  "duration_s": 12.3,
+  "fps": 10.0,
+  "frames": 123,
+  "sha256": "1d663b12e5ee95b475b8ba178285ae28c69459eb1089f7f19d5a992099c86c61"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "camera_at_goal_pose": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的头部相机仍远望整组深棕色沙发，白色茶几居中，厨房岛台在右后方，尚不是DAG要求的近距离厨房目标构图。"
+     },
+     {
+      "t": 6.0,
+      "log_step": 86,
+      "text_zh": "观察：视频0.0–10.5 s中，机器人头部相机视角连续平移和转向，沙发逐渐靠近并移到左前景，厨房岛台及白色圆凳逐渐变大；log step 86的交付轨迹生成脚本从初态清空动作记录后，控制底盘平移、转向并同步调整躯干，随后执行停稳动作。"
+     },
+     {
+      "t": 12.2,
+      "log_step": null,
+      "text_zh": "观察：已逐帧检查视频9.0–12.2 s；末段约视频10.8–12.2 s构图基本不变，深棕色沙发占左前景，木色岛台和一排白色圆凳在右前方，后方可见黑色高柜、红色挡板与两盏吊灯，视频12.2 s末帧保持这一视角。"
+     },
+     {
+      "t": 12.2,
+      "log_step": 89,
+      "text_zh": "推断：结合上述末段稳定构图及inputs/run.json评分器字段success=1、replay_success=1、symbolic_success=1、deterministic=1，判定唯一目标节点最终达成，包含原生位姿容差与连续45控制步静止验收；将完成锚点保守置于视频12.2 s，精确首达时刻不能由画面独立测定。log step 89已保存420行动作，log step 91–97是保存后的会话诊断，不作为交付轨迹的节点时间或原生指标。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "推断：视频0.0–10.5 s的连续室内视点位移与log step 86记录的底盘平移、转向控制一致，R1Pro轮式底盘由木地板支撑并移动机身，把头部相机送到目标视角；第一人称画面不直接显示车轮接触点。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "head_camera_position_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "head_camera_orientation_error",
+   "unit": "rad",
+   "threshold": 0.45,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_settle_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_settle_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_settle_robot_joint_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_position_drift",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_orientation_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_robot_joint_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人移动底盘并调整躯干，使头部相机从远望整组沙发的位置到达厨房目标视角，末段构图稳定；结合评分器回放成功，唯一节点最终完成（1/1），完成锚点保守记为视频12.2 s。log step 89已保存轨迹，log step 98的提供方过滤提示发生在保存及会话验证之后，评分器仍确认该交付成功。无状态日志和独立参考视频，精确首达时刻、位姿误差、速度及窗口漂移不能从画面独立测定，评分字段未报告的八项原生指标均保留null。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "唯一目标节点判为达成（1/1）与视频和评分器成功字段一致：视频0.0 s远望沙发，10.5–12.2 s构图稳定在沙发左前景、岛台与白色圆凳右前方、后方吊灯与红色挡板；完成锚点12.2 s保守且已标为推断，contact_actual底盘支撑合理，failure为null正确。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:25:31Z",
+  "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/ispatialgym-camera-relocalization-obstructed-i00-privileged--9sngdbr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-camera-relocalization-obstructed-i00-privileged--9sngdbr/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4c4b631dfa39d8b340abf04c463abaff9779f9da408ca495460e1fc73d9b5f42",
+   "video_sha256": "1d663b12e5ee95b475b8ba178285ae28c69459eb1089f7f19d5a992099c86c61",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-privileged--kcgghan.json b/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-privileged--kcgghan.json
new file mode 100644
index 0000000000000000000000000000000000000000..7520b16e37fe6630ff7d4d5a38995eaa35146d6e
--- /dev/null
+++ b/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-privileged--kcgghan.json
@@ -0,0 +1,212 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-camera-relocalization-obstructed-i00-privileged--kcgghan",
+ "taskKey": "ispatialgym/camera_relocalization_obstructed",
+ "dag_sha256": "4e13f8e6fcf7dbba26ce5d2c29955034bada2f217b1eda1751e2281902a318a2",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 494,
+   "sim_steps": 459,
+   "rows": 494,
+   "max_rows": 1324,
+   "replay_success": 1,
+   "instance_ok": 1,
+   "steps": 459,
+   "success_step": 459,
+   "symbolic_success": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 16.707,
+   "peak_memory_gb": 9.848,
+   "peak_processes": 23,
+   "peak_disk_gb": 1.868,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ispatialgym-camera-relocalization-obstructed-i00-privileged--kcgghan/replay.mp4",
+  "duration_s": 15.4,
+  "fps": 10.0,
+  "frames": 154,
+  "sha256": "bc26538449aee54cfe822ccee298cc0a165b59ff1eb92cb06dfc17799d4d4fde"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "camera_at_goal_pose": {
+    "method": "visual",
+    "intervals": [
+     [
+      15.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的头部相机远望整组深棕色沙发和白色茶几，厨房岛台仅在右后方，尚非目标观察视角。"
+     },
+     {
+      "t": 10.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–13.9 s 的连续抽帧显示机器人头部视点向沙发端部及厨房方向移动；视频 10.0 s 前景沙发仍在明显移出画面，视图尚在变化。"
+     },
+     {
+      "t": 13.9,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 12.5–15.3 s，末段约视频 13.9 s 起构图保持稳定：深棕色沙发占左前景，木色岛台、一排白色圆凳位于右前方，黑色高柜、红色挡板和两盏吊灯清晰可见；与参照成功录像的视频 12.2 s 构图一致。"
+     },
+     {
+      "t": 15.3,
+      "log_step": null,
+      "text_zh": "推断：本次评分器 reward 的 success=1、replay_success=1、symbolic_success=1，success_step=459；任务文本规定30 Hz控制，459/30=视频约15.3 s，与所查视频末帧及末段停稳相符。节点包含连续45控制步静止验收，因此将完成锚点定在视频约15.3 s，而非刚接近目标或刚停下时；没有状态日志，无法独立复测各项容差及静止阈值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "推断：视频 0.0–13.9 s 的头部视点移动，结合 log step 47 的底盘速度控制脚本及 log step 48 最终交付轨迹的drive输出，表明R1Pro通过轮式底盘在室内地板上行驶、支撑机身，将头部相机送到目标附近；轮地接触点不在头部画面内。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "head_camera_position_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "head_camera_orientation_error",
+   "unit": "rad",
+   "threshold": 0.45,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_settle_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_settle_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_settle_robot_joint_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_position_drift",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_orientation_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_robot_joint_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人移动底盘并调节头部视角，最终形成与成功参照一致的厨房构图；约视频 15.3 s 通过连续静止验收，唯一节点完成，最终为1/1，评分器记录成功。视频末段约13.9–15.3 s 的构图稳定，成功字段支持位姿、符号关系及静止要求均获验收。没有状态日志，精确位姿误差、速度和窗口漂移无法独立复测，评分器也未报告这八项原生指标的数值。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "单节点 camera_at_goal_pose 在视频约 15.3 s 达成：视频 0 s 为远望沙发，13.9 s 与 15.3 s 的构图一致且为厨房目标视角；success_step 459/30≈15.3 s 与视频长度相符。底盘接触为推断且已标注，无失败，无问题。",
+    "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": "2026-10-30T02:31:13Z",
+  "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/ispatialgym-camera-relocalization-obstructed-i00-privileged--kcgghan/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-camera-relocalization-obstructed-i00-privileged--kcgghan/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b4e0434dc5dde6f0afeb8a769dfc4665d486e8bcb9439770aacc5cd1493406ad",
+   "video_sha256": "bc26538449aee54cfe822ccee298cc0a165b59ff1eb92cb06dfc17799d4d4fde",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-privileged--lvz35dw.json b/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-privileged--lvz35dw.json
new file mode 100644
index 0000000000000000000000000000000000000000..30f75262fd0dbbf1470f14b7ce67ef62fe967f41
--- /dev/null
+++ b/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-privileged--lvz35dw.json
@@ -0,0 +1,233 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-camera-relocalization-obstructed-i00-privileged--lvz35dw",
+ "taskKey": "ispatialgym/camera_relocalization_obstructed",
+ "dag_sha256": "4e13f8e6fcf7dbba26ce5d2c29955034bada2f217b1eda1751e2281902a318a2",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 428,
+   "sim_steps": 428,
+   "rows": 428,
+   "max_rows": 1324,
+   "replay_success": 0,
+   "instance_ok": 1,
+   "steps": 428,
+   "success_step": 0,
+   "symbolic_success": 0,
+   "video_rendered": 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/ispatialgym-camera-relocalization-obstructed-i00-privileged--lvz35dw/replay.mp4",
+  "duration_s": 14.4,
+  "fps": 10.0,
+  "frames": 144,
+  "sha256": "854dbb75969b0dd64b2bb2893548679a614f60e7b83e529624059d5dd6d2eeb6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "camera_at_goal_pose": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0.0 s 从客厅远望整组深棕色沙发和白色茶几，厨房岛台较远，尚未呈现目标近景；视频 0.0–10.1 s 头部画面持续平移和转向，随后还有末段俯仰调整。"
+     },
+     {
+      "t": 11.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 10.7–11.6 s 及视频 13.4–14.3 s 的逐帧检查显示画面已基本固定，但沙发弯曲端部仍完整位于左下方，前方可见较大面积木地板；成功参考视频 10.0–12.2 s 的沙发贴近相机并伸出左下边界，岛台和圆凳更大、所在构图不同。两段录像使用相同头部视角，本次终态仍偏离参考目标视点。"
+     },
+     {
+      "t": 14.3,
+      "log_step": 231,
+      "text_zh": "推断：结合本次视频全程的视角变化与上述终态偏差，以及 inputs/run.json 中评分器 replay_success=0、success_step=0、deterministic=1，未发现满足目标位姿并连续静止45控制步的区间，终值为假。log step 209 保存428行交付，log step 231 确认该文件末125行底盘命令为零；后续会话候选不作为本次回放的进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "推断：视频 0.0–10.1 s 头部视角沿地板平移并转向，结合 log step 205 的轮式底盘速度控制及 log step 206 的303步行驶记录，R1Pro通过车轮接触室内地板支撑机身并移动相机；车轮不在头部画面内。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "head_camera_position_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "head_camera_orientation_error",
+   "unit": "rad",
+   "threshold": 0.45,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_settle_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_settle_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_settle_robot_joint_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_position_drift",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_orientation_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_robot_joint_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "camera_at_goal_pose",
+   "t": 11.0,
+   "log_step": 205,
+   "where": "操作中",
+   "evidence_zh": "观察：机器人在本次视频 0.0–10.1 s 移动相机，视频约10.3–10.9 s 调整俯仰后停在偏离目标的视点；视频 11.0–14.3 s 未再修正。与成功参考视频 12.2 s 相比，本次沙发端部离相机更远，岛台尺度和构图仍不符；失败发生在相机定位步骤，尚未达到全部目标关系后的终态验收。"
+  },
+  "unmet": {
+   "camera_at_goal_pose": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 11.0,
+    "log_step": null,
+    "evidence_zh": "观察：本次视频 11.0 s 及视频 14.3 s 的沙发弯曲端部完整落在画面内，岛台与圆凳较小，沙发前方留有明显木地板；成功参考视频 12.2 s 沙发在左前景被画面边界截断，岛台更靠近且占幅更大。机器人停稳后的相机位置和观察方向所形成的构图仍有偏差。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "t": 11.0,
+    "log_step": 205,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：agent 在 log step 197 从图像地标解算出目标里程计位置(2.62,-4.76)米，并在 log step 205 将其写入交付控制脚本；log step 206、209 的会话反馈均为最终相机(2.630,-4.738,1.386)米，距这个自定目标的水平误差仅0.024米。以 log step 11 的初始世界位置(16.400,2.500)米及 log step 103 的初始航向-129.909度换算，该会话末态水平位置约(11.078,3.522)米，距DAG给定真正目标(10.652,2.842)米约0.80米；这是会话数据的坐标推算，非评分器实测指标。本次视频 11.0–14.3 s 与成功参考视频 12.2 s 的稳定构图偏差与此相符，支持目标视点估计错误导致机器人驶向错误位置。"
+   }
+  ],
+  "gap_zh": "没有状态日志，评分器未报告相机位姿误差、原生符号关系逐项真值或45控制步静止窗口的分项读数，故八项原生指标均留空值。头部录像不能直接显示车轮接触；底盘支撑由连续平移画面及交付控制脚本推断。log step 209 会话自测最大关节速度0.07148弧度/秒高于0.02阈值，但不能据此确认评分回放的静止分项是否也失败；未另加控制根因。"
+ },
+ "summary_zh": "机器人移动底盘并调整头部视角后停止，但视频 11.0–14.3 s 的沙发和岛台构图仍偏离成功参考，唯一节点“相机到目标位姿”始终未达成，最终0/1。断点为相机定位操作中的位姿不准；日志表明控制器接近了agent由地标估算的目标点，结合坐标换算及录像偏差，根因支持认知·感知。无状态日志及评分器分项指标，无法量化评分回放的真实位姿误差或确定静止条件是否另有失败。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "唯一节点未达成、终值0、断点与位姿不准现象与视频一致；末帧构图（沙发端部完整、岛台偏小）确实偏离成功参考。根因感知由会话坐标换算推断，已标为推断，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": "2026-10-30T02:35:06Z",
+  "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/ispatialgym-camera-relocalization-obstructed-i00-privileged--lvz35dw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-camera-relocalization-obstructed-i00-privileged--lvz35dw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e08365b34e2ff165baf004db8ecc0f56c161383991c65961d9b027f7d3554e07",
+   "video_sha256": "854dbb75969b0dd64b2bb2893548679a614f60e7b83e529624059d5dd6d2eeb6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-privileged--omns6pf.json b/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-privileged--omns6pf.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc2a84e1e95b171c6ebf278e2f278a66f80e700c
--- /dev/null
+++ b/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-privileged--omns6pf.json
@@ -0,0 +1,233 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-camera-relocalization-obstructed-i00-privileged--omns6pf",
+ "taskKey": "ispatialgym/camera_relocalization_obstructed",
+ "dag_sha256": "4e13f8e6fcf7dbba26ce5d2c29955034bada2f217b1eda1751e2281902a318a2",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 253,
+   "sim_steps": 253,
+   "rows": 253,
+   "max_rows": 1324,
+   "replay_success": 0,
+   "instance_ok": 1,
+   "steps": 253,
+   "success_step": 0,
+   "symbolic_success": 0,
+   "video_rendered": 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/ispatialgym-camera-relocalization-obstructed-i00-privileged--omns6pf/replay.mp4",
+  "duration_s": 8.6,
+  "fps": 10.0,
+  "frames": 86,
+  "sha256": "f3ad0d54d6643248f46dc21a99053745a0d8d96ddfd844ca7aa7a78ee280abbe"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "camera_at_goal_pose": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频0.0 s显示整组深棕色沙发和白色茶几，厨房岛台在远处；初始视角不符合节点要求。已以约0.5秒间隔检查完整视频，并逐帧检查视频4.8–8.5 s。"
+     },
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频0.0–5.9 s头部视角逐渐靠近沙发并转向，视频约6.0–8.5 s构图基本停止变化；沙发横段仍横跨画面中央，白色茶几占右下前景，岛台仅在远处露出小块木色端面。成功参考视频10.5–12.2 s则显示沙发退到左前景，岛台和一排白凳清楚地占右前方，两盏吊灯均清晰可见；参考仅用于对照到达目标后的可见构图。"
+     },
+     {
+      "t": 8.5,
+      "log_step": 72,
+      "text_zh": "推断：本次视频8.5 s仍远望厨房，目标构图的尺度和遮挡关系从未出现，故相机到目标位姿的状态从未成立，而非因看不到精确误差而标未知。评分器reward报告replay_success=0、symbolic_success=0、deterministic=1；log step 71保存253行，log step 72核实交付数组为(253,23)且末50行相同，与视频末段停下的过程一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "推断：本次视频0.0–约6.0 s头部视角在地面场景中平移和转向；log step 44的驾驶脚本通过底盘前三个动作通道驱动，log step 68修正坐标转换，log step 71保存该驾驶结果。因此实际导航交互为R1Pro底盘车轮接触地板并支撑机身移动；头部画面不直接显示轮地接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "head_camera_position_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "head_camera_orientation_error",
+   "unit": "rad",
+   "threshold": 0.45,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_settle_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_settle_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_settle_robot_joint_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_position_drift",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_orientation_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_robot_joint_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "camera_at_goal_pose",
+   "t": 6.0,
+   "log_step": 71,
+   "where": "操作中",
+   "evidence_zh": "观察：本次视频约6.0 s机器人结束主要平移和转向，随后至视频8.5 s保持沙发横挡中景、茶几在右下、岛台远小于目标的视角，导航结果未修正。log step 71记录驾驶控制器进入hold并保存253行，log step 72核实交付文件；断点锚定在本次视频停在错误观察位置之时。"
+  },
+  "unmet": {
+   "camera_at_goal_pose": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 6.0,
+    "log_step": null,
+    "evidence_zh": "观察：本次视频6.0–8.5 s机器人头部相机停在沙发内侧附近，白色茶几仍占右下前景，岛台和凳子远小于目标构图且被沙发遮挡；成功参考视频10.5–12.2 s的岛台及整排白凳在右前方清楚展开。停下后的相机观察位置与朝向组合明显没有达到目标视角。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "t": 6.0,
+    "log_step": 60,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent的目标视角定位估计偏离了实际任务目标。log step 53的程序用72×72灰度图平均绝对差搜索底盘目标，log step 60选定估计底盘世界位置(14.15,-0.225,0.0053)米、偏航-3.03弧度；log step 68修正世界与里程计坐标转换后，交付生成器在log step 71报告距该估计底盘目标0.024米、偏航差约0.029弧度并进入hold。然而本次视频6.0–8.5 s的厨房构图仍显著不同于成功参考视频10.5–12.2 s，支持错误的目标位姿估计引导了停止位置。log step 73也明确将目标称为自身图像匹配估计并承认位置容差可能未满足；未把已修正的早期坐标系错误或运行预算当作本次失败原因。"
+   }
+  ],
+  "gap_zh": "没有状态日志或本次评分回放的逐步头部相机世界位姿，无法量化原生位置/朝向误差、符号关系各项真值以及45控制步静止窗口内的速度和漂移；底盘轮地接触依据视角运动、驾驶代码和机体结构推断。log step 71的trans=0.3286、rot=0.1304是agent脚本对自身图像匹配参考外参的诊断量，不是评分器相对于真实目标的原生误差，故native_metrics全部保留null；定位根因有程序、日志和构图差异支持，但无法进一步确定图像匹配偏差的具体来源。"
+ },
+ "summary_zh": "机器人执行了底盘导航，在本次视频约6.0 s停下并保持到视频8.5 s，但厨房岛台仍在远处且被沙发遮挡，唯一节点“相机到目标位姿”全程未达到，最终0/1。断点是导航停在错误观察位姿，现象为位姿不准；结合图像匹配目标及驾驶收敛日志，推断根因是感知中的目标位姿估计偏差。缺少评分回放的相机外参与静止窗口数据，不能给出原生数值误差。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成、断点、位姿不准现象和感知根因均有视频与日志支持；与成功参考对比，本次末段仍远望厨房，岛台远小于目标构图。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:28:11Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
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+    "round": 0,
+    "ok": true,
+    "space": "work/runs/ispatialgym-camera-relocalization-obstructed-i00-privileged--omns6pf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-camera-relocalization-obstructed-i00-privileged--omns6pf/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5d5a55295119df9aa7dffe3ad0eb80eeeaf1900266f7d9f2e1dd6fbebf51a534",
+   "video_sha256": "f3ad0d54d6643248f46dc21a99053745a0d8d96ddfd844ca7aa7a78ee280abbe",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-privileged--ps5njyo.json b/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-privileged--ps5njyo.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b2bf7545189b786f590cb7baecc3b6c69667114
--- /dev/null
+++ b/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-privileged--ps5njyo.json
@@ -0,0 +1,237 @@
+{
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+ "taxonomy": "v2",
+ "runId": "ispatialgym-camera-relocalization-obstructed-i00-privileged--ps5njyo",
+ "taskKey": "ispatialgym/camera_relocalization_obstructed",
+ "dag_sha256": "4e13f8e6fcf7dbba26ce5d2c29955034bada2f217b1eda1751e2281902a318a2",
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+   "peak_memory_gb": 11.313,
+   "peak_processes": 22,
+   "peak_disk_gb": 0.765,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ispatialgym-camera-relocalization-obstructed-i00-privileged--ps5njyo/replay.mp4",
+  "duration_s": 19.5,
+  "fps": 10.0,
+  "frames": 195,
+  "sha256": "d1582099545dd61515e78252d87a2e1449868886bce7f2ece2701e487559f461"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "camera_at_goal_pose": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为远望整组沙发和厨房的初始视角；视频约 1.0–14.0 s，相机持续向厨房移动，篮子从右前方移至画面下缘后离开视野，尚未形成目标静止视角。"
+     },
+     {
+      "t": 16.8,
+      "log_step": null,
+      "text_zh": "观察：视频 14.0–19.4 s 已逐渐停下；视频 16.8、18.4、19.4 s 的沙发右端仍伸入画面中央，岛台、圆凳和吊灯整体位置偏高，天花板可见面积较少。对照成功参考录像视频 10.0–12.2 s，参考视角的沙发更多留在左侧、岛台及圆凳的透视与遮挡不同；此处是本次录像的观察，参考录像仅用于辨认达标构图。"
+     },
+     {
+      "t": 19.4,
+      "log_step": 449,
+      "text_zh": "推断：全程抽查及视频 14.0–19.4 s 每约 0.2 s 检查均未见目标视角完成后保持；评分器 replay_success=0、success_step=0、symbolic_success=0 与可见偏差一致，因此节点从未达到，末态为假。log step 445、449 保存的是重置后运行的582行轨迹，和评分器 n_actions=582 一致；后续调试的额外静止步不计入该交付。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "推断：R1Pro轮式底盘通过车轮与室内地板的支承接触移动相机；视频约 1.0–16.8 s 的连续场景视差与 log step 445 的底盘平移、转向动作一致。头部视角不直接展示车轮接触面；未见抓取或搬动篮子。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "head_camera_position_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "head_camera_orientation_error",
+   "unit": "rad",
+   "threshold": 0.45,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_settle_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_settle_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_settle_robot_joint_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_position_drift",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_orientation_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_robot_joint_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "camera_at_goal_pose",
+   "t": 16.8,
+   "log_step": 445,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 16.8 s 机器人结束接近并停在一个构图仍有偏差的视角，直至视频 19.4 s 未修正；沙发伸入中央、厨房在画面中的高度和透视均不同于成功参考录像视频 10.0–12.2 s。log step 445 的交付脚本以底盘目标(11.35, 2.48)米、偏航−132度结束接近并追加80个保持动作，log step 449 返回582行；评分器回放未成功。"
+  },
+  "unmet": {
+   "camera_at_goal_pose": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 16.8,
+    "log_step": null,
+    "evidence_zh": "观察：视频 16.8–19.4 s 相机停下时，前景沙发的右端占据中央较大区域，厨房岛台和两盏吊灯偏向画面上部；成功参考录像视频 10.0–12.2 s 的沙发右缘更靠左、厨房构图更低且透视不同。机器人已导航接近厨房，但停止后的观察位姿仍未对齐目标。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 的目标相机定位估计有误。log step 418 的PnP图像定位输出目标位置(11.175454, 2.305586, 1.410091)米，与任务DAG criterion_zh 给出的原生目标(10.652477, 2.841637, 1.363528)米相距约0.750米，超过0.15米容差；log step 427 的局部图像搜索仍选择底盘(11.35, 2.48)米、偏航−132度，log step 445 据此生成交付，log step 449 的底盘终点(11.363310, 2.486448)米已很接近这一自定目标。结合视频 16.8–19.4 s 可见构图偏差，支持目标位姿估计错误，而非仅凭失败评分归因。上述数值来自会话定位与控制结果，不作为评分回放的原生误差指标。"
+   },
+   {
+    "cat": "认知",
+    "item": "误以为完成",
+    "source_zh": "agent 自述 / 日志",
+    "evidence_zh": "推断：错误的完成判断使 agent 停止修正并保留此交付。log step 464 自述最终相机“within 3.47 cm of ground truth”且静止验收达标；但其比较依据是自己估计的目标，视频 16.8–19.4 s 仍有明显构图偏差。log step 449 对已保存582行轨迹报告的最后45步速度最大值为0.001465米/秒、0.005348弧度/秒和0.020177弧度/秒，均略超任务阈值；log step 451、454 是保存后额外静止调试，log step 456、459 确认交付仍为582行。log step 463 显示尚余269.9秒预算，agent 随后仍以达标结论结束。"
+   }
+  ],
+  "gap_zh": "无状态日志；视频为头部相机视角，无法独立量出评分回放的完整相机位姿、轮地接触、关节速度和45控制步窗口漂移。评分器未报告DAG列出的八项原生连续指标，均填null；会话中的相机查询和速度检查只用于根因证据，不替代回放指标。视频末段按约0.2秒密度检查至视频 19.4 s，足以确认构图仍有偏差，但不能单独确定所有静止或符号检查的失败分项。"
+ },
+ "summary_zh": "机器人移动底盘绕过前景篮子并接近厨房，视频约 16.8 s 后停下，但沙发、岛台和吊灯的构图仍偏离目标，唯一节点“相机到目标位姿”未达到（0/1）。日志显示 agent 将估计错误的相机目标转为底盘终点，并误判位姿和静止验收已完成后结束；582行交付的确定性回放未成功。缺少状态日志和评分侧连续指标，无法逐项量化精确位姿及静止窗口误差。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "标签与视频、日志一致：视频 16.8 s 的构图与参考录像 11 s 明显不同（沙发、岛台位置与朝向偏差），节点未达到，断点、位姿不准、感知和误以为完成均有日志依据。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:41:00Z",
+  "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/ispatialgym-camera-relocalization-obstructed-i00-privileged--ps5njyo/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-camera-relocalization-obstructed-i00-privileged--ps5njyo/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "90c49991d24378e27dfca6738bd6d320d7cda13bbfae01ad2891a7a5a9668d9c",
+   "video_sha256": "d1582099545dd61515e78252d87a2e1449868886bce7f2ece2701e487559f461",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-privileged--wbkttui.json b/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-privileged--wbkttui.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef1e7110ff376af0114f318d2cff6680690a4d33
--- /dev/null
+++ b/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-privileged--wbkttui.json
@@ -0,0 +1,264 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-camera-relocalization-obstructed-i00-privileged--wbkttui",
+ "taskKey": "ispatialgym/camera_relocalization_obstructed",
+ "dag_sha256": "4e13f8e6fcf7dbba26ce5d2c29955034bada2f217b1eda1751e2281902a318a2",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 199,
+   "sim_steps": 199,
+   "rows": 199,
+   "max_rows": 1324,
+   "replay_success": 0,
+   "instance_ok": 1,
+   "steps": 199,
+   "success_step": 0,
+   "symbolic_success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 14.913,
+   "peak_memory_gb": 9.895,
+   "peak_processes": 20,
+   "peak_disk_gb": 3.05,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ispatialgym-camera-relocalization-obstructed-i00-privileged--wbkttui/replay.mp4",
+  "duration_s": 6.8,
+  "fps": 10.0,
+  "frames": 68,
+  "sha256": "ee0b1f6605caa78348dd7e1848161a74e76e2d92d2973aac7ff769c3b083fa89"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "camera_at_goal_pose": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的头部相机画面远望完整L形沙发、中央白色矮桌和远处厨房，初态不具备目标图中沙发占左前景、岛台及圆凳位于右前方的构图。"
+     },
+     {
+      "t": 3.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 0.0–6.7 s；视频约 1.6–3.6 s 相机平移，随后约视频 3.7–4.8 s 转向，始终仍远望整组沙发，未出现目标近景视角。"
+     },
+     {
+      "t": 6.7,
+      "log_step": null,
+      "text_zh": "观察：视频 4.8–6.7 s 画面基本停住，但沙发仍横跨中景，前方大面积为空地，篮子位于画面中右部，厨房仍在远处。成功参考录像的参考视频 10.0–12.2 s 中，沙发已占左前景，木色岛台及白色圆凳清晰占右前方；该参考仅用于辨认目标视角。"
+     },
+     {
+      "t": null,
+      "log_step": 229,
+      "text_zh": "观察：log step 188 截取原轨迹前109行，加30行原地转向和60行静止；log step 229 将转向段改为-0.4，log step 230 确认最终文件为199行且末45行底盘命令为零。评分器报告 replay_success=0、symbolic_success=0、deterministic=1；本节点未达成还由上述明显不同的录像构图独立支持，非仅凭零分判断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "推断：视频约 1.6–4.8 s 的相机平移与转向，结合 log step 188、229 中最终交付的底盘平移及原地转向命令，表明R1Pro通过车轮在室内地板上支撑并移动机身来调整头部相机；头部视角未直接拍到车轮接地点。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "head_camera_position_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "head_camera_orientation_error",
+   "unit": "rad",
+   "threshold": 0.45,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_settle_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_settle_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_settle_robot_joint_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_position_drift",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_orientation_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_robot_joint_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "camera_at_goal_pose",
+   "t": 4.8,
+   "log_step": 229,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 4.8 s 完成末段转向并开始停留，此时整组沙发仍在中景，厨房岛台仍很远；视频 4.8–6.7 s 没有进一步驶近目标视角。log step 229 保存的最终版本仅修改原地转向，未增加接近厨房的平移；本次相机重定位步骤始终未完成。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 4.8,
+    "log_step": null,
+    "evidence_zh": "观察：视频 4.8–6.7 s 停住后的画面仍以整组沙发、白色矮桌和大片空地为主，岛台在远处；与成功参考录像的参考视频 10.0–12.2 s 中沙发占左前景、岛台和圆凳占右前方的近景明显不同，相机停在偏离目标的位置与朝向。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "evidence_zh": "推断：agent 的图像特征匹配把目标相机位姿估得过于接近当前视角。log step 171 的拟合给出剩余平移约[−0.007,0.171,−0.035]米，log step 172 据此自述只需再横移约17厘米；log step 188 最终保留短程平移并接原地转向，log step 229 只改转向方向。log step 209 中 agent 已自述先前拟合被重复地板纹理主导、回放末帧仍明显不同于目标；本次视频 4.8–6.7 s 仍远望沙发及厨房，也表明这种近距离目标位姿估计未正确描述所需视角。未把该拟合的数值当作真实相机误差。",
+    "source_zh": "日志"
+   },
+   {
+    "cat": "交付",
+    "item": "交付操作出错",
+    "evidence_zh": "观察：log step 229 将最终轨迹的 a[109:139,2] 改为 -0.4 并保存；log step 230 仅确认文件为199行、数值有限、末45行底盘命令为零及转向段为 -0.4，未重新回放，log step 231 也明确自述最终编辑未回放、结果未验证。log step 209 已自述此前回放末帧仍明显不同于目标。评分器报告 deterministic=1、replay_success=0、symbolic_success=0；评分视频 4.8–6.7 s 仍远望沙发和厨房，未呈现目标近景。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "无状态日志，评分器未报告相机位置/朝向误差、速度或窗口漂移数值，无法量化偏差及核验45控制步内的精确静止阈值。头部视角未显示车轮接地点；底盘支撑依据可见移动及最终命令推断。log step 231 明确说明最终转向修改未由agent再回放，会话中较早回放和探索的位姿读数不作为本次评分轨迹的状态事实。",
+  "unmet": {
+   "camera_at_goal_pose": false
+  }
+ },
+ "summary_zh": "机器人在评分录像中执行短程平移与转向后停住，但全程未呈现目标厨房近景，相机到目标位姿节点最终为0/1。断点为视频约 4.8 s 停在错误视角，现象为位姿不准；日志支持图像特征匹配导致的目标位姿误估，并确认agent保存最终转向修改后未经回放即交付，补记交付操作出错。无状态日志及原生误差指标，精确位姿和静止窗口无法量化。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点未达成、断点、位姿不准现象均有视频支持（评分录像全程远望沙发，参考录像10–12 s为岛台近景）。缺少一个有日志证据的根因：agent 在 log step 229 未经回放就改了转向符号并交付，log step 231 自己承认未验证。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "节点未达成、断点、位姿不准、感知与交付操作出错根因均有视频与日志支持；评分录像 6.5 s 仍远望沙发，参考录像 11 s 为岛台近景。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": "2026-10-30T02:47:46Z",
+  "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/ispatialgym-camera-relocalization-obstructed-i00-privileged--wbkttui/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-camera-relocalization-obstructed-i00-privileged--wbkttui/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-camera-relocalization-obstructed-i00-privileged--wbkttui/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/ispatialgym-camera-relocalization-obstructed-i00-privileged--wbkttui/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0d9e20471e1d776de9e45aeff0a65e550714dd3f5bb96f24409918b665a903bd",
+   "video_sha256": "ee0b1f6605caa78348dd7e1848161a74e76e2d92d2973aac7ff769c3b083fa89",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-standard--6qvacql.json b/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-standard--6qvacql.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3d4b9a33ff3025131abe62e2229e061ab4f3493
--- /dev/null
+++ b/phase2/ispatialgym/camera_relocalization_obstructed/trajectories/ispatialgym-camera-relocalization-obstructed-i00-standard--6qvacql.json
@@ -0,0 +1,226 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-camera-relocalization-obstructed-i00-standard--6qvacql",
+ "taskKey": "ispatialgym/camera_relocalization_obstructed",
+ "dag_sha256": "4e13f8e6fcf7dbba26ce5d2c29955034bada2f217b1eda1751e2281902a318a2",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "live_success": 1,
+   "replay_success": 1,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 836,
+   "sim_steps": 836,
+   "max_steps": 1324,
+   "steps": 836,
+   "elapsed_s": 567.7,
+   "symbolic_success": 1,
+   "success_step": 836,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.329,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.903,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ispatialgym-camera-relocalization-obstructed-i00-standard--6qvacql/replay.mp4",
+  "duration_s": 28.0,
+  "fps": 10.0,
+  "frames": 280,
+  "sha256": "f151acf6456e779568af557e7f5d81ddef5f789177c20e809f8e61097e499af1"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "camera_at_goal_pose": {
+    "method": "visual",
+    "intervals": [
+     [
+      27.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 机器人头部相机仍远望整组沙发，厨房岛台在远处；与成功参考视频 12.2 s 的近距离厨房构图明显不同，初态未达标。"
+     },
+     {
+      "t": 13.0,
+      "log_step": 55,
+      "text_zh": "观察：视频 8.5–12.0 s 头部相机画面明显侧倾，视频 12.5–13.5 s 逐渐恢复水平，随后沿沙发与玻璃墙之间前进；log step 55 的服务底盘位姿读数显示机身已恢复直立，机器人继续完成同一个导航目标。"
+     },
+     {
+      "t": 27.9,
+      "log_step": 66,
+      "text_zh": "观察：视频 24.9–26.4 s 机器人继续小幅平移和转向，视频 26.6–27.9 s 构图保持稳定；视频 27.9 s 沙发占左前景，木色岛台及一排白色圆凳在右前方，后方黑色高柜、红色厨房挡板及两盏吊灯均清楚可见，与成功参考视频 12.2 s 的构图一致。log step 66 的模拟器服务返回 done=true、reason=success、control_steps=836；评分字段 live_success、replay_success、symbolic_success、deterministic、live_matches_replay 均为1。"
+     },
+     {
+      "t": 27.9,
+      "log_step": 66,
+      "text_zh": "推断：log step 36 报告控制频率30 Hz，log step 66 的 control step 836 对应836/30=27.867秒，取已检查的最近视频帧27.9 s 作为节点首次完成锚点，精度约0.1 s；这一控制步映射已用视频 24.9–26.4 s 的最后微调及随后停止核对。节点含45控制步验收，故不在刚到达相似构图时提前计为完成；最终按本次原生成功结果记为达成。"
+     },
+     {
+      "t": 27.9,
+      "log_step": 66,
+      "text_zh": "观察：本次没有状态日志，评分字段未报告精确相机位姿误差或静止窗口的逐步指标；log step 66 同时打印的终态关节速度部分超过DAG所列0.02弧度/秒，服务却明确返回成功。推断：无法用该终态读数重建原生静止窗口，按本次实际评分规则认定完成，不自行声称已逐项验证全部阈值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "推断：视频 0.0–8.5 s、12.5–22.0 s 及24.9–26.4 s 的头部视角平移、log step 39、55、57、60、66 的底盘位姿变化共同支持R1Pro车轮在室内地板上滚动并支撑机身，将头部相机送往厨房目标视角；未见夹爪抓取或搬运场景物体。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "head_camera_position_error",
+   "unit": "m",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "head_camera_orientation_error",
+   "unit": "rad",
+   "threshold": 0.45,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_settle_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_settle_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_settle_robot_joint_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_position_drift",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_orientation_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_robot_joint_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人沿沙发与玻璃墙之间移动，中途头部画面侧倾后恢复，最终完成唯一的“相机到目标位姿”节点（1/1）。视频 27.9 s 的稳定厨房构图与成功参考视频 12.2 s 一致，log step 66 的服务成功回执及本次live/replay成功字段共同支持终态达成，无失败断点。缺少状态日志和原生逐步验收指标，且log step 66 的部分终态关节速度读数高于DAG阈值，无法独立重建静止窗口；依本次实际成功判定标注，未报告的原生指标保留null。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "单节点 camera_at_goal_pose 在视频 27.9 s 达成，与 log step 66 的 control_steps=836、30 Hz（836/30=27.87 s）、done=true/success 及成功参考视频 12.2 s 的构图一致；初态（0 s）为远望整组沙发，未达标；8–12 s 画面侧倾、13.5 s 后恢复水平，与证据一致。contact_actual 为底盘·支撑，合理；无失败断点，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": "2026-10-30T02:28:37Z",
+  "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/ispatialgym-camera-relocalization-obstructed-i00-standard--6qvacql/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-camera-relocalization-obstructed-i00-standard--6qvacql/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c7817bbb3cdeb1667e3f59061569ae49dc7fabe494cc5eb68d96991f4d5e4e83",
+   "video_sha256": "f151acf6456e779568af557e7f5d81ddef5f789177c20e809f8e61097e499af1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--2kpcmbe.json b/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--2kpcmbe.json
new file mode 100644
index 0000000000000000000000000000000000000000..66a87c575aaea41593d52f711895e8916e3f0585
--- /dev/null
+++ b/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--2kpcmbe.json
@@ -0,0 +1,188 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--2kpcmbe",
+ "taskKey": "ispatialgym/configuration_matching_articulation_open_small_scale",
+ "dag_sha256": "d02aeb1ff9d6bc57baa2a14ae97e39013d8e5fefeea4780a10ac0ca80c4f15e7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 228,
+   "sim_steps": 228,
+   "rows": 228,
+   "max_rows": 2382,
+   "replay_success": 0,
+   "instance_ok": 1,
+   "steps": 228,
+   "success_step": 0,
+   "symbolic_success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 13.603,
+   "peak_memory_gb": 9.723,
+   "peak_processes": 21,
+   "peak_disk_gb": 4.07,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--2kpcmbe/replay.mp4",
+  "duration_s": 7.7,
+  "fps": 10.0,
+  "frames": 77,
+  "sha256": "3c251cc4cb68119549d75dc15a523a451dd2c44e83cab1a6230b79edc229b35d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blender_lid_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–0.8 s 搅拌机直立在白桌上，圆盖平扣杯口；视频约 0.9–5.1 s 目标及夹爪接触区离开头部相机视野。"
+     },
+     {
+      "t": 5.3,
+      "log_step": 89,
+      "text_zh": "观察：视频 5.3–7.6 s（包括最后一秒逐帧）搅拌机重新完整可见，圆盖仍水平盖住杯口，没有掀起；成功示例视频 26.0 s 的盖呈侧立姿态。log step 89 回显 gen4 保存 228 行、终态 j_lid 约 0；log step 94 核实交付仍为 (228,23)，评分器 n_actions=228、symbolic_success=0。"
+     },
+     {
+      "t": 1.7,
+      "log_step": 87,
+      "text_zh": "推断：log step 87 的 gen4 三次尝试末尾（生成轨迹累计 52、99、146 控制步）均测得 j_lid 约 0，log step 89 保存的正是此运行；结合视频开始与结束均闭盖，未见也无反馈支持任何达标区间。后续 gen5 的反向推盖修改不能计入交付进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频约 0.9–5.1 s 搅拌机及右夹爪操作区在唯一头部视图之外；开始及结尾也未见夹爪包夹杯盖。log step 73、82–83 的脚本确实安排右臂接近盖缘并尝试推盖，但不能据指令认定实际抓握、按压或勾住，故实际作用端与接触方式记未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "blender_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "blender_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "blender_lid_joint_error",
+   "unit": "rad",
+   "threshold": 0.4305347800398469,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blender_lid_opened",
+   "t": 1.7,
+   "log_step": 87,
+   "where": "操作中",
+   "evidence_zh": "推断：断在打开搅拌机盖，首次未修复尝试以视频约 1.7 s 为导航锚。log step 87 记录所交付 gen4 的首次尝试至累计 52 控制步仍 j_lid=0，后两次也为 0；log step 89 保存该 228 行运行。按任务 30 Hz，52/30≈1.73 s；脚本在累计 146 步结束尝试后用 12 步回初姿，158/30≈5.27 s，与视频 5.3 s 重新看到闭盖搅拌机的时刻核对一致。操作区此前离开视野，具体接触失效瞬间无法定位；视频 5.3–7.6 s 确认盖未打开。"
+  },
+  "unmet": {
+   "blender_lid_opened": false
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "source_zh": "日志",
+    "evidence_zh": "推断：生成交付轨迹的脚本将铰链开盖路径的方向算反：log step 73 的公式沿正向轴旋转，log step 82–83 保留该方向用于 gen4，log step 87 三次打印初始切向 tan≈[0,0,-1]，即将闭盖的自由边向杯内下方移动，而所需运动是向上掀盖；同一运行三次末尾 j_lid 均约 0。agent 直到 log step 88 才自述发现方向相反并同时翻转切向及旋转方向；log step 89、94 显示交付仍是此前的 228 行文件。此归因依据事先构造的错误开盖路径，不将 agent 关于碰到玻璃的自述当成已观察到的碰撞。"
+   }
+  ],
+  "gap_zh": "观察：输入只有头部相机视频，没有状态日志；视频约 0.9–5.1 s 操作区在视野外，无法区分未碰到盖、夹取失败或接触后受阻，故现象层留空、实际接触记未知。推断：根因的方向错误由交付生成脚本及其切向输出支持，但不能据此断言实际接触力、碰撞位置或跟踪误差。评分器未报告 DAG 的三个误差指标，native_metrics 均留 null；不能用会话自测数值冒充评分器指标。"
+ },
+ "summary_zh": "评分轨迹尝试打开搅拌机盖，但视频 5.3–7.6 s 显示盖仍平扣杯口，最终完成 0/1 节点。交付生成脚本把开盖路径初始方向设为向下，推断为开盖方向规划错误；后续反向修改没有进入最终 228 行交付。操作接触区在视频约 0.9–5.1 s 离开视野且无状态日志，故实际接触未知，具体接触失败现象留空。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频 0.5/1.7/3.0/5.3/7.6 s 帧与标签一致：操作区约 0.9–5.1 s 离开头部视野，5.3 s 后搅拌机圆盖仍平扣，节点未达成；断点、接触未知、现象留空并附 gap_zh 均合理，log 的 gen4 保存 228 行、j_lid≈0 与引用相符。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:40:05Z",
+  "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/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--2kpcmbe/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--2kpcmbe/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b810a67c26989467b37937e6dc1d9294a0c74528737af48c21f8f961db2ab068",
+   "video_sha256": "3c251cc4cb68119549d75dc15a523a451dd2c44e83cab1a6230b79edc229b35d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--5spzola.json b/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--5spzola.json
new file mode 100644
index 0000000000000000000000000000000000000000..0404de300b3e1e6e41f0cb561a47dc1d7c71ec15
--- /dev/null
+++ b/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--5spzola.json
@@ -0,0 +1,198 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--5spzola",
+ "taskKey": "ispatialgym/configuration_matching_articulation_open_small_scale",
+ "dag_sha256": "d02aeb1ff9d6bc57baa2a14ae97e39013d8e5fefeea4780a10ac0ca80c4f15e7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 371,
+   "sim_steps": 371,
+   "rows": 371,
+   "max_rows": 2382,
+   "replay_success": 0,
+   "instance_ok": 1,
+   "steps": 371,
+   "success_step": 0,
+   "symbolic_success": 1,
+   "video_rendered": 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/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--5spzola/replay.mp4",
+  "duration_s": 12.5,
+  "fps": 10.0,
+  "frames": 125,
+  "sha256": "6e8519a62cc1f5a1910a6274f5620355541ecc5d545627dc6f364ecc02173d18"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blender_lid_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 搅拌机直立在白色桌面上，圆盖平扣在透明杯口上，开盖节点初始不成立。"
+     },
+     {
+      "t": 8.5,
+      "log_step": null,
+      "text_zh": "观察：视频 8.5–9.9 s 搅拌机重新完整进入视野，圆盖仍近水平覆在杯口上；视频 11.5–12.4 s 逐帧检查的终态相同。与参考成功视频 13.0 s、17.0 s 的杯口露出、盖子立在侧方不同，本次未达到目标开度。"
+     },
+     {
+      "t": 12.4,
+      "log_step": 55,
+      "text_zh": "推断：log step 55 的 m8 测试记录六段扫动后的盖关节仅约 0、0、0、0、0.243、0.196 rad，log step 56 明确将该测试的全部 371 行保存为交付轨迹；评分器报告同为 371 行且 deterministic=1、replay_success=0。结合视频中的接近、离开视野、撤回及近闭盖终态，判断该节点全程未达成；中段画面外的关节数值仅为所交付脚本的会话诊断支持，未当作回放状态日志。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 1.0–1.8 s 可见右侧夹爪向搅拌机方向接近，随后盖缘和夹爪接触区落到画面右下方之外；视频 2.0–8.4 s 的主要操作未显示接触点。log step 55 的脚本意图用右夹爪指垫压推盖缘，但画面不能区分实际碰到盖缘、杯身还是未夹住，故不据脚本意图标抓握或压推。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "blender_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "blender_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "blender_lid_joint_error",
+   "unit": "rad",
+   "threshold": 0.4305347800398469,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blender_lid_opened",
+   "t": 8.5,
+   "log_step": 55,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 1.0–1.8 s 机器人右夹爪接近盖子后移出视野，视频 8.5 s 撤回过程中再次看见的圆盖仍覆在杯口，直至视频 12.4 s 均未修复。log step 55–56 确认交付的是盖缘推压后沿铰链弧线扫动的 m8 轨迹。以视频 8.5 s 首次清楚重新看见失败结果作导航锚点，具体失效接触时刻在画面外。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 8.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频 8.5–9.9 s 和视频 11.5–12.4 s，机器人撤离后圆盖仍大致水平、覆盖透明杯口，未像参考成功视频 13.0 s、17.0 s 那样在杯口侧方竖起；盖子最终开度明显不足。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "log_step": 55,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 55 的已交付 m8 脚本选用右夹爪单侧指垫水平压向盖缘，再闭合夹爪并扫动末端位置，未设置另一只手稳定机身。该测试回显夹爪闭合开口为 0，盖关节最后只有 0.1956 rad，同时机身位置从初始约 (8.5362,3.1081,0.8884) m 变到 (8.3996,3.2739,0.8924) m；log step 56 保存了该测试轨迹。结合视频 8.5–12.4 s 的近闭盖结果，所选接触几何未有效把末端扫动转化为盖子绕铰链的开启，支持接触设计不适配的归因；具体碰撞面和是否曾夹住仍未得到回放接触数据验证。"
+   }
+  ],
+  "gap_zh": "主要开盖操作位于视频右下边界之外，无法直接确认接触对象、接触方式及具体失效时刻，也不能逐帧核验中段最大开度。inputs/ 无状态日志，评分器未报告三项原生位姿误差或45步稳定窗口诊断，故 native_metrics 均留 null；节点未达成结合可见终态与明确交付的 m8 诊断推断，未把其他会话测试当作进度。agent 在 log step 55、58 声称盖顶无碰撞网格，这一解释未经独立验证，不据此归咎环境。",
+  "unmet": {
+   "blender_lid_opened": false
+  }
+ },
+ "summary_zh": "本次交付的 371 行轨迹尝试用右夹爪推压盖缘并沿铰链弧线扫动，唯一开盖节点未完成，终态为 0/1。视频 8.5–12.4 s 可见圆盖仍近水平覆在杯口，已交付脚本的测试反馈支持接触设计未能有效带动开盖。主要接触区在画面外，无状态日志，实际接触方式、精确失效时刻与稳定窗口细节无法核实。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "唯一节点未达成、断点、现象和根因均有视频终态（盖近水平覆在杯口）与已交付 m8 轨迹的日志数值支持；contact_actual 标未知符合画面看不到接触的事实，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": "2026-10-30T02:41:48Z",
+  "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/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--5spzola/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--5spzola/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9f008df96c013b1b0d04d22ce6c4bd157f1526b3408ed92b96b593366ba0401f",
+   "video_sha256": "6e8519a62cc1f5a1910a6274f5620355541ecc5d545627dc6f364ecc02173d18",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--7tqdhtt.json b/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--7tqdhtt.json
new file mode 100644
index 0000000000000000000000000000000000000000..7633978a17fe392913d97cf0a1c4ade27878f63a
--- /dev/null
+++ b/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--7tqdhtt.json
@@ -0,0 +1,218 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--7tqdhtt",
+ "taskKey": "ispatialgym/configuration_matching_articulation_open_small_scale",
+ "dag_sha256": "d02aeb1ff9d6bc57baa2a14ae97e39013d8e5fefeea4780a10ac0ca80c4f15e7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 225,
+   "sim_steps": 225,
+   "rows": 225,
+   "max_rows": 2382,
+   "replay_success": 0,
+   "instance_ok": 1,
+   "steps": 225,
+   "success_step": 0,
+   "symbolic_success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 16.977,
+   "peak_memory_gb": 10.515,
+   "peak_processes": 25,
+   "peak_disk_gb": 0.655,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--7tqdhtt/replay.mp4",
+  "duration_s": 7.6,
+  "fps": 10.0,
+  "frames": 76,
+  "sha256": "de9297ff67bee31b76faa4b901af60fe4836bacfc379e4a33be9faeb88eaf0c1"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blender_lid_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 搅拌机圆盖平扣透明杯口，初态未打开。"
+     },
+     {
+      "t": 3.0,
+      "log_step": 539,
+      "text_zh": "观察：视频 1.8–2.4 s 左夹爪尚不可见，杯体与平扣的盖面仍有部分露在画面左下边缘；视频约 2.8–3.2 s 左夹爪部件从画面左缘出现，视频 3.6–4.5 s 可见左夹爪在盖上方移动，视频 5.0–5.5 s 撤离，可见盖面未被带起。log step 539 是实际保存轨迹的脚本：左夹爪闭合，执行接近、弧线扫动、撤离及60步保持。"
+     },
+     {
+      "t": 7.5,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 6.5–7.5 s，左臂已撤离，圆盖仍横盖杯口，未出现成功参考视频 18.0 s 所见的杯口露出、盖翻到侧方的状态。评分器 replay_success=0、symbolic_success=0；未完成的判断来自可见闭盖状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频约 2.8–3.2 s 左夹爪部件从画面左缘出现，视频 3.6–4.5 s 可见其在搅拌机盖上方移动，视频 5.0–5.5 s 撤离；盖缘与手指接近处多在画面左边界之外，没有可辨认的夹住或勾住盖缘画面。无法确定是否短暂擦碰及具体接触方式，不能将log step 539的推盖意图当作实际推/扫接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "blender_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "blender_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "blender_lid_joint_error",
+   "unit": "rad",
+   "threshold": 0.4305347800398469,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blender_lid_opened",
+   "t": 3.0,
+   "log_step": 539,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 1.8–2.4 s 左夹爪尚不可见，部分杯体与平扣的盖面仍在画面左下边缘；视频约 2.8–3.2 s 左夹爪部件从画面左缘出现，视频 3.6–4.5 s 可见其在盖上方移动，视频 5.0–5.5 s 撤离，而可见盖面未被带起，至视频 7.5 s 仍未开盖。log step 539保存的225步轨迹正是该左臂扫动和撤离动作；断点锚在这次未能带起盖的操作，而非会话中的其他测试。"
+  },
+  "unmet": {
+   "blender_lid_opened": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 3.0,
+    "log_step": null,
+    "evidence_zh": "推断：视频约 2.8–3.2 s 左夹爪部件从画面左缘出现，视频 3.6–4.5 s 可见其在盖上方移动而盖未随动，视频 5.0–5.5 s 夹爪撤离后盖仍平扣杯口；结合这些画面，判断未建立能夹住或勾带盖缘并使其绕铰链转动的有效接触。视频 1.8–2.4 s 夹爪不可见，不能据此观察其动作；这里不排除画外曾有短暂擦碰，也没有已持盖后滑脱的可见过程。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 539中agent脚本以固定初始夹爪朝向求各弧线航点逆解、插值关节指令，并持续闭合左夹爪，执行过程未根据接触或盖关节状态修正动作；视频约 2.8–3.2 s 左夹爪部件从画面左缘出现，视频 3.6–4.5 s 可见左末端在盖上方移动，视频 5.0–5.5 s 撤离而盖未被带起。这支持开盖操作的控制失败；缺少本次接触与末端跟踪数据，不能进一步确定是接触几何还是执行跟踪问题。"
+   }
+  ],
+  "gap_zh": "观察：inputs/没有状态日志；视频的盖缘与手指接近处多被左画面边界截断，因此实际接触填未知，现象中的有效接触未建立是结合盖始终不随动与末端撤离的推断，不能排除短暂擦碰。评分器未报告DAG列出的三项原生误差值，均填null；无法精确核验机身漂移、盖角度或45步稳定窗口，但可见闭盖已足以判定节点不成立。会话测试的关节读数未作为本次节点时间或数值。"
+ },
+ "summary_zh": "评分轨迹中机器人左臂接近搅拌机、向上扫动并撤离，圆盖从初态到视频 7.5 s 均平扣杯口，打开搅拌机盖节点未完成，最终0/1。断点在开盖操作，推断左末端未建立带动盖缘的有效接触，根因归控制；接触区域贴近画面左边界且无状态日志，实际接触方式和更细的控制原因无法确定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点未达成（盖始终平扣杯口，评分器 success=0）、断点、现象与根因类别均有依据，无需改动；只有证据文字中夹爪出现的时间说早了。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成（盖始终平扣杯口，评分器 success=0）、断点、接触未知、现象与根因均有依据；上一轮指出的夹爪出现时间已改正，无新问题。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:51:07Z",
+  "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/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--7tqdhtt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--7tqdhtt/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--7tqdhtt/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--7tqdhtt/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4fabf7afc2b49c20ccc5b08d2296b6cd4aaab12e3a1a8553b04da8bc0a9b1fdc",
+   "video_sha256": "de9297ff67bee31b76faa4b901af60fe4836bacfc379e4a33be9faeb88eaf0c1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--8jff6cp.json b/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--8jff6cp.json
new file mode 100644
index 0000000000000000000000000000000000000000..f016390ce79953936dbba9437a0dfd4657b67f03
--- /dev/null
+++ b/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--8jff6cp.json
@@ -0,0 +1,204 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--8jff6cp",
+ "taskKey": "ispatialgym/configuration_matching_articulation_open_small_scale",
+ "dag_sha256": "d02aeb1ff9d6bc57baa2a14ae97e39013d8e5fefeea4780a10ac0ca80c4f15e7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 200,
+   "sim_steps": 200,
+   "rows": 200,
+   "max_rows": 2382,
+   "replay_success": 0,
+   "instance_ok": 1,
+   "steps": 200,
+   "success_step": 0,
+   "symbolic_success": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 16.886,
+   "peak_memory_gb": 9.912,
+   "peak_processes": 21,
+   "peak_disk_gb": 3.126,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--8jff6cp/replay.mp4",
+  "duration_s": 6.8,
+  "fps": 10.0,
+  "frames": 68,
+  "sha256": "91bba3eeb2787b4aefc07c1338d5550ebccfb4d0262d69d0412e4e4730b3b651"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blender_lid_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.6 s，搅拌机直立在白桌上，圆盖平扣杯口，开盖节点初始不成立。"
+     },
+     {
+      "t": 4.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 2.8–5.4 s，机器人左夹爪抵近并拨动盖缘，圆盖仅小幅翘起；可见盖面仍接近杯口，未出现成功参考视频 14.0–18.0 s 中杯口露出的开盖状态。"
+     },
+     {
+      "t": 6.7,
+      "log_step": null,
+      "text_zh": "观察：视频 5.7–6.7 s 的全部末段帧中，机器人左夹爪与杯盖基本停住，盖仍处于小开度，搅拌机留在桌上；评分器 reward.replay_success=0、success_step=0，虽有 symbolic_success=1，仍未通过节点所要求的完整开度、位姿与稳定联合验收。"
+     },
+     {
+      "t": null,
+      "log_step": 293,
+      "text_zh": "观察：log step 293 中 agent 的脚本将动作行截取为前200行并保存，log step 310、323 的两次新进程回放均报告200行且终态哈希同为8172ba39f53eee1e。log step 325 中 agent 自述盖约开0.24 rad且不匹配目标图；该角度是会话自述，不作为评分视频的精确关节读数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 2.8–5.1 s，机器人左夹爪的指端抵住盖缘并推拨，使盖小幅翘起，未见两指夹牢盖后带动其绕铰链持续翻开。推断：结合log step 281、285的会话接触诊断（仅left_gripper_finger_link1接触盖，辅助抓握未建立），实际作用为单侧指端推拨；未将闭爪指令本身计为抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "blender_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "blender_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "blender_lid_joint_error",
+   "unit": "rad",
+   "threshold": 0.4305347800398469,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blender_lid_opened",
+   "t": 4.6,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 4.3–5.1 s，机器人左夹爪在盖缘处调整，盖仅保持小幅翘起；随后视频 5.7–6.7 s 动作停住，未将盖继续掀到目标开度。唯一开盖步骤已实际尝试，但此后没有修复。"
+  },
+  "unmet": {
+   "blender_lid_opened": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "接触力异常",
+    "t": 4.6,
+    "log_step": null,
+    "evidence_zh": "观察：视频 3.0–5.1 s，机器人左夹爪抵着盖缘操作，盖只发生小幅转动，始终没有像成功参考视频 14.0–18.0 s 那样让杯口露出；视频 5.7–6.7 s 仍停在该小开度。推断：指端接触未产生足够的开盖作用，表现为盖未被推开到位；画面不支持已抓牢后滑落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 4.6,
+    "log_step": 281,
+    "evidence_zh": "推断：左夹爪采用单侧指端抵推盖缘的接触布局，没有形成能随盖绕铰链运动的稳定夹持或勾持。依据是视频 3.0–5.1 s 中指端贴近盖缘而盖仅小幅翘起，以及交付前同段动作的会话诊断：log step 281 仅报告left_gripper_finger_link1接触lid、grasp左右均为None；log step 285 微调后仍仅单指接触，log step 287 抬高末端后接触集合为空且盖未继续打开。log step 293 保存这段动作的前200行；这些会话诊断用于解释接触设计，不转作评分视频的精确关节或接触状态。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "观察：inputs/中没有状态日志；评分器未报告DAG所列的机身位置误差、朝向误差和盖关节误差，也没有逐步稳定窗口或接触力数据。视频为单一头部视角，操作时盖的一部分及指端位于画面左沿，无法量化接触力或精确角度；小开度未达目标仍可从可见盖面和成功参考的杯口状态判断。log step 290的交互终态哈希71c50db4ae368c79与log step 310、323的新进程回放终态哈希8172ba39f53eee1e不同，因此不把交互自测的精确角度、接触对或机身误差当作评分回放事实。"
+ },
+ "summary_zh": "观察：评分轨迹中机器人左夹爪接触并推拨搅拌机盖，但盖仅小幅翘起，唯一开盖节点从未完成，最终为0/1。推断：单侧指端接触未形成持续带动盖绕铰链开启的有效接触布局，断点为打开搅拌机盖的操作中。观察：无状态日志和评分回放的精确误差或接触力记录，部分盖缘受画面左沿遮挡，根因细节结合会话诊断推断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "逐帧核对：评分视频中左夹爪只把盖推起小幅，盖未达目标开度（会话读数约0.24 rad，远低于目标1.435±0.43 rad，且新进程回放终态哈希一致），节点未达成、断点、接触力异常现象与抓取和接触设计根因均有证据支持，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:47:47Z",
+  "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/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--8jff6cp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--8jff6cp/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "97ab97a9b184aa28d7b1b9f1d6929ef949d948a8fb163bdfe3925ac66422078a",
+   "video_sha256": "91bba3eeb2787b4aefc07c1338d5550ebccfb4d0262d69d0412e4e4730b3b651",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--b9alyoh.json b/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--b9alyoh.json
new file mode 100644
index 0000000000000000000000000000000000000000..24d50d4b6d2631a1d2c07ba9aa4a4518c9901944
--- /dev/null
+++ b/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--b9alyoh.json
@@ -0,0 +1,207 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--b9alyoh",
+ "taskKey": "ispatialgym/configuration_matching_articulation_open_small_scale",
+ "dag_sha256": "d02aeb1ff9d6bc57baa2a14ae97e39013d8e5fefeea4780a10ac0ca80c4f15e7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 1334,
+   "sim_steps": 1334,
+   "rows": 1334,
+   "max_rows": 2382,
+   "replay_success": 0,
+   "instance_ok": 1,
+   "steps": 1334,
+   "success_step": 0,
+   "symbolic_success": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 17.039,
+   "peak_memory_gb": 9.085,
+   "peak_processes": 26,
+   "peak_disk_gb": 1.377,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--b9alyoh/replay.mp4",
+  "duration_s": 44.6,
+  "fps": 10.0,
+  "frames": 446,
+  "sha256": "b8f0e0c2d153b903cef5ab61b3721d4eb55ea6a09c4b4f896db322bc142a9e3e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blender_lid_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 搅拌机直立在白色桌面，圆盖平扣杯口，尚未打开。"
+     },
+     {
+      "t": 5.2,
+      "log_step": null,
+      "text_zh": "观察：视频 5.2 s 左夹爪二指位于圆盖自由缘两侧；视频 12.0–21.0 s 夹爪与圆盖一起转动，盖逐渐离开杯口，机身仍直立在桌面。"
+     },
+     {
+      "t": 23.5,
+      "log_step": null,
+      "text_zh": "观察：视频 19.0–23.5 s 的密集帧显示左夹爪继续带动盖向上掀，杯口逐渐露出，随后盖与搅拌机移出画面左边缘。成功参考视频约 18.0–20.0 s 也显示夹爪掀盖、杯口露出；此参考只用于识别动作外观。"
+     },
+     {
+      "t": 44.5,
+      "log_step": null,
+      "text_zh": "观察：视频 43.6–44.5 s 仍看不到搅拌机及盖；评分器 reward 报告 steps=1334、success_step=0、replay_success=0、symbolic_success=1、deterministic=1，且没有仿真或评分器错误。"
+     },
+     {
+      "t": null,
+      "log_step": 71,
+      "text_zh": "推断：本节点包含目标位姿与连续45控制步原生验收；结合视频中的实际开盖动作及评分器未在任何控制步触发成功，节点从未完整达成。log step 64 已交付1334行文件，log step 66 的自测脚本明确重放该文件，log step 71 打印盖角1.91144 rad；该自测值相对DAG目标1.43512 rad偏大约0.47633 rad，超过0.43053 rad容差，支持终态开度过大的解释，但不是正式评分回放的逐帧状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 5.2 s 左夹爪二指夹住圆盖自由缘，视频 12.0–23.5 s 夹爪随圆盖转动，将盖绕侧铰链掀起。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "blender_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "blender_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "blender_lid_joint_error",
+   "unit": "rad",
+   "threshold": 0.4305347800398469,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blender_lid_opened",
+   "t": null,
+   "log_step": 67,
+   "where": "操作中",
+   "evidence_zh": "推断：视频 5.2–23.5 s 机器人左夹爪已实际抓盖并持续掀开；该开盖步骤最终未通过原生验收。log step 64 交付1334行轨迹，log step 67 的生成脚本指定开盖终值THETA=1.9 rad，log step 71 对同一文件的自测终值约1.91144 rad，高于DAG允许上界约1.86565 rad；评分器replay_success=0。盖在操作后段已移出画面，不能可靠定位越过容差的具体视频时刻，故时间留空。"
+  },
+  "unmet": {
+   "blender_lid_opened": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": null,
+    "log_step": 71,
+    "evidence_zh": "推断：视频 19.0–23.5 s 机器人夹爪带盖连续掀起，随后目标移出左边缘。结合log step 64交付的文件、log step 66明确读取该文件的重放脚本、log step 71打印终态盖角1.91144 rad，以及DAG目标1.43512 rad和0.43053 rad容差，开盖终值过大是有依据的失败现象；正式评分器symbolic_success=1而replay_success=0与此相容。精确终态角未从视频直接量得。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "log_step": 72,
+    "evidence_zh": "推断：agent 自述“凭目标图目测选了1.9 rad，没有匹配目标相机视角”（log step 72）；log step 67的生成脚本确实设置THETA=1.9，log step 71同文件自测到约1.91144 rad。与DAG目标关节1.43512 rad比较，agent对目标图开度的估计偏大，使所选终值落在容差之外。",
+    "source_zh": "agent 自述"
+   }
+  ],
+  "gap_zh": "没有模拟器状态日志或逐步原生验收诊断；视频约 24.0 s 后搅拌机及盖处于画外，视频 43.6–44.5 s 的密集末帧也无法补足。开度过大的判断由已交付文件的自测及目标容差共同支持，自测数值不当作正式回放的原生指标；无法确定正式终态精确误差、越界视频时刻，或是否另有稳定检查同时失败。评分器未报告DAG三项原生误差，native_metrics.value均留空。"
+ },
+ "summary_zh": "机器人左夹爪实际夹住盖缘并掀开搅拌机盖，但“打开搅拌机盖”节点包含目标开度与连续45控制步原生验收，整段均未完整达成，终态为0/1。已交付文件的自测盖角约1.911 rad，超出目标允许上界约1.866 rad，结合agent承认目测选择1.9 rad，推断目标图开度估计偏大导致位姿不准。视频后段盖在画外且没有状态日志，精确失败时刻与其他稳定条件无法核实。",
+ "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、log一致：左夹爪确实抓盖掀开（视频 5.2–23.5 s），评分器 replay_success=0；已交付文件自测盖角 1.911 rad 超出 DAG 上界 1.866 rad（log step 71），位姿不准与感知（目测 1.9 rad，log step 67/72）作为推断标注合理，时间留空与 gap_zh 诚实。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": "2026-10-30T02:30:08Z",
+  "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/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--b9alyoh/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--b9alyoh/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1d696d41f28e01419d466ad4a8fd3bd2dcd4ef2d852b657424e47737dc83b9f4",
+   "video_sha256": "b8f0e0c2d153b903cef5ab61b3721d4eb55ea6a09c4b4f896db322bc142a9e3e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--mhvsi3q.json b/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--mhvsi3q.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f87855b851730bb53d21fa1a221ff39c6a90d6c
--- /dev/null
+++ b/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--mhvsi3q.json
@@ -0,0 +1,174 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--mhvsi3q",
+ "taskKey": "ispatialgym/configuration_matching_articulation_open_small_scale",
+ "dag_sha256": "d02aeb1ff9d6bc57baa2a14ae97e39013d8e5fefeea4780a10ac0ca80c4f15e7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 60,
+   "sim_steps": 60,
+   "rows": 60,
+   "max_rows": 2382,
+   "replay_success": 0,
+   "instance_ok": 1,
+   "steps": 60,
+   "success_step": 0,
+   "symbolic_success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 14.497,
+   "peak_memory_gb": 10.214,
+   "peak_processes": 25,
+   "peak_disk_gb": 0.638,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--mhvsi3q/replay.mp4",
+  "duration_s": 2.1,
+  "fps": 10.0,
+  "frames": 21,
+  "sha256": "f564bc0f148cdfec7f70bf0df70ee6e182bfd65f7611c58f2632cf028c168f77"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blender_lid_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查本次视频 0.0–2.0 s（全部21帧），白桌上的搅拌机圆盖始终水平扣在透明杯口，未见夹爪接近、掀盖或机身搬动；视频 1.0–2.0 s 的末段也没有变化。"
+     },
+     {
+      "t": 2.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 2.0 s 末帧杯盖仍闭合；对照成功参考视频 24.0 s，参考圆盖已近竖直掀起并露出杯口。本次缺少可见的开盖结果，节点不成立。"
+     },
+     {
+      "t": null,
+      "log_step": 27,
+      "text_zh": "推断：log step 27 的检查脚本将 hold_action 重复60次写入交付文件，评分器报告 rows=60、n_actions=60、deterministic=1，且本次视频全程保持初态，三者支持评分录像对应这段保底保持轨迹；log step 69–74 的移动、合爪及 ATTACHED 输出属于会话测试，不能作为评分轨迹的接触或进度。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "blender_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "blender_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "blender_lid_joint_error",
+   "unit": "rad",
+   "threshold": 0.4305347800398469,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 77,
+   "where": "首步前",
+   "evidence_zh": "观察：本次视频 0.0–2.0 s 未出现开盖操作；log step 27 的脚本保存60步保持初态的保底轨迹，log step 69–74 仍在调试抓取，log step 77 最后输出提供方过滤提示“This request was blocked by Gemini's filters”。日志没有后续保存并验证开盖交付的记录，无法定位已执行操作中的物理失败时刻。"
+  },
+  "unmet": {
+   "blender_lid_opened": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：输入没有状态日志，评分器也未报告三项原生误差值；本次视频 0.0–2.0 s 只有保底保持轨迹。log step 74 的会话测试输出 ATTACHED，log step 75 记录预算尚余1775秒，随后 log step 77 出现提供方过滤提示，未见最终开盖交付保存及回放验证。推断：这是任务结果确定前的外部过滤中断，按 CASES.md FAIL-5 处理；保留目录 success=0 和可见的0/1进度，但不归入机器人能力失败，不标没尝试或从会话抓取测试推导本次现象、根因；断点保留 unknown／首步前。"
+ },
+ "summary_zh": "评分视频全程保持初态，搅拌机盖未打开，唯一节点未达成，终态进度为0/1。log step 27 保存的是60步保持初态的保底轨迹；log step 69–74 的抓取调试没有进入本次录像。log step 77 显示提供方过滤中断，尚无最终方案保存并验证的证据，故按外部中断保留空现象、空根因；无状态日志及原生误差读数。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "评分视频全程保持初态，盖未开；log step 27 只保存了60步保持轨迹，step 77 为提供方过滤中断，之后无开盖交付。按 FAIL-5 保留 unknown/首步前、空现象空根因合理，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:19:14Z",
+  "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/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--mhvsi3q/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--mhvsi3q/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f8dec3f738ba160b0bf1daf47b26df80f81c128008617066e237886d9004b46e",
+   "video_sha256": "f564bc0f148cdfec7f70bf0df70ee6e182bfd65f7611c58f2632cf028c168f77",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--szjzbpw.json b/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--szjzbpw.json
new file mode 100644
index 0000000000000000000000000000000000000000..2eede974e11950826e808b6542445e479af1142f
--- /dev/null
+++ b/phase2/ispatialgym/configuration_matching_articulation_open_small_scale/trajectories/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--szjzbpw.json
@@ -0,0 +1,191 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--szjzbpw",
+ "taskKey": "ispatialgym/configuration_matching_articulation_open_small_scale",
+ "dag_sha256": "d02aeb1ff9d6bc57baa2a14ae97e39013d8e5fefeea4780a10ac0ca80c4f15e7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 121,
+   "sim_steps": 121,
+   "rows": 121,
+   "max_rows": 2382,
+   "replay_success": 0,
+   "instance_ok": 1,
+   "steps": 121,
+   "success_step": 0,
+   "symbolic_success": 0,
+   "video_rendered": 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/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--szjzbpw/replay.mp4",
+  "duration_s": 4.2,
+  "fps": 10.0,
+  "frames": 42,
+  "sha256": "7c1c504e9b9117db0cb81c545abe55b10c5ccf3eb2eabfde7c4b27f763968a47"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blender_lid_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：评分视频 0.0–4.1 s 的全部42帧中，搅拌机留在白色桌面，圆盖始终平扣杯口；机器人仅靠近桌边和调整姿态，画面右下方出现的夹爪始终与搅拌机分离，没有抓盖、勾盖或掀盖动作。最后一秒的视频 3.2–4.1 s 仍是闭盖。"
+     },
+     {
+      "t": 4.1,
+      "log_step": 236,
+      "text_zh": "观察：log step 236 的 agent 脚本先 reset，再执行底盘前进、停底盘、关节回中性位和55步保持，保存121行轨迹；该步自测盖关节约为0 rad。log step 240、248、250确认最终文件仍为121行，log step 251明确自述交付文件不达开盖目标；评分器字段 n_actions=121、deterministic=1、replay_success=0，与视频中的基线动作一致。此处日志仅用于识别交付内容，未把会话测试计为评分进度。"
+     },
+     {
+      "t": 4.1,
+      "log_step": null,
+      "text_zh": "推断：参考成功视频 8–18 s 中，圆盖转离杯口、杯口露出；本次评分视频 0.0–4.1 s 从未出现这种开盖形态，故节点从未成立，而非仅凭零分判未完成。参考视频只用于对照外观，不作为本次动作证据。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "blender_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "blender_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "blender_lid_joint_error",
+   "unit": "rad",
+   "threshold": 0.4305347800398469,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blender_lid_opened",
+   "t": 0.0,
+   "log_step": 236,
+   "where": "首步前",
+   "evidence_zh": "观察：评分视频 0.0–4.1 s 只有靠近桌边和姿态调整，杯盖一直闭合，没有开始操作杯盖；log step 236 保存的就是不含开盖动作的121步基线，log step 248、250核对最终仍交付该文件。故以视频 0.0 s 为首步未启动的导航锚点；会话中其他开盖测试不在评分轨迹内。"
+  },
+  "unmet": {
+   "blender_lid_opened": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 236,
+    "evidence_zh": "观察：评分视频 0.0–4.1 s 中，机器人未把夹爪伸到杯盖上进行抓握、勾拉或推动，盖始终扣住杯口；log step 236 的最终保存脚本只包含前进、回中性位和静止保持。虽然机器人有准备性运动，交付的基线没有启动开盖操作。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": null,
+    "log_step": 219,
+    "source_zh": "日志",
+    "evidence_zh": "推断：会话自测表明 agent 未得到有效的开盖控制：log step 199 的闭爪及后续运动中，自测 j_lid 约维持0.413 rad；log step 219 的按压拖动自测末端逆解位置残差约0.00096 m，但 j_lid 仍约0；log step 229 的深压自测也仅约0.047 rad。随后 agent 在 log step 236 reset并保存无开盖动作的基线，log step 251自述这些操作未能打开盖且交付文件不达目标。因此以会话证据追溯为控制能力未解决；不把上述测试当作本次视频中的接触现象，也不把停止或时间预算当作根因。"
+   }
+  ],
+  "gap_zh": "没有仿真状态日志，评分器未报告三项原生误差数值；闭盖及未启动操作可由视频直接判断，但精确机身误差、细微稳定量不可复核。根因仅由会话自测与最终保存记录推断，缺少接触力和可靠的抓持状态证据，无法细分接触设计、轨迹或反馈控制；agent 在 log step 251 关于资产无法抓取、所有合法接触均不可行的说法未经验证，不能据此归因任务或环境。"
+ },
+ "summary_zh": "评分轨迹仅靠近桌边、调整姿态后保持静止，视频 0.0–4.1 s 杯盖始终闭合，唯一节点“打开搅拌机盖”未达到，最终为0/1。断点在首步前，现象为没尝试：log step 236 保存的是未含开盖操作的121步基线；会话中的开盖控制测试未解决目标，支持宽泛的控制根因。无状态日志和原生误差数值，控制子类及精确稳定情况无法核实，不能把会话测试中的接触或物体倾倒记入评分轨迹。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频 0.0–4.1 s 杯盖始终闭合，节点未达成、final=false 正确；首步前/没尝试，以及依据会话证据的控制根因，均符合 CASES.md FAIL-22 的处理方式，未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:30:28Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--szjzbpw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-configuration-matching-articulation-open-small-scale-i00-privileged--szjzbpw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "05b24c49a5de832d10584ed3f3a2b2d2122f323a414f01ff5343fa62203b3656",
+   "video_sha256": "7c1c504e9b9117db0cb81c545abe55b10c5ccf3eb2eabfde7c4b27f763968a47",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/configuration_matching_block_design/trajectories/ispatialgym-configuration-matching-block-design-i00-privileged--hm2cjxz.json b/phase2/ispatialgym/configuration_matching_block_design/trajectories/ispatialgym-configuration-matching-block-design-i00-privileged--hm2cjxz.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a765f1c3cc0fedbda2632014483812708515ba9
--- /dev/null
+++ b/phase2/ispatialgym/configuration_matching_block_design/trajectories/ispatialgym-configuration-matching-block-design-i00-privileged--hm2cjxz.json
@@ -0,0 +1,277 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-configuration-matching-block-design-i00-privileged--hm2cjxz",
+ "taskKey": "ispatialgym/configuration_matching_block_design",
+ "dag_sha256": "b80b8b64018446fb9084afd442651aea5f42a11bee539a14524ad1124ad51a8f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 239,
+   "sim_steps": 239,
+   "rows": 239,
+   "max_rows": 8298,
+   "replay_success": 0,
+   "instance_ok": 1,
+   "steps": 239,
+   "success_step": 0,
+   "symbolic_success": 0,
+   "video_rendered": 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/ispatialgym-configuration-matching-block-design-i00-privileged--hm2cjxz/replay.mp4",
+  "duration_s": 8.1,
+  "fps": 10.0,
+  "frames": 81,
+  "sha256": "49f1d91d9a2d412b43ad012da0b95f3a83ab4b45604cba515261048c2d861600"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "tray_on_table": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，空的四格木托盘开口向上，位于白桌靠玻璃一侧，四块积木散放在其右侧桌面。"
+     },
+     {
+      "t": 0.8,
+      "log_step": 66,
+      "text_zh": "推断：视频 0.0–0.8 s 托盘与白桌的相对位置不变，随后因机器人头部相机随底盘接近而移出主要视野；视频 6.0–8.0 s 左下角仍见木色盘沿。全视频未见物体操作，log step 66 的交付生成日志只有底盘移动成功、四次搬放均报错，支持托盘持续留在原桌面区域。"
+     }
+    ]
+   },
+   "blocks_in_layout_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，木托盘四格均为空，四块积木分散在托盘外的白桌上，未形成任何入盘目标格位。"
+     },
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 0.0–8.0 s，积木随相机运动改变画面位置，但保持桌面上的散放关系，未见夹爪接近、拿起或入盘；视频 7.0–8.0 s 三块积木完整可见，近处第四块仍在画面下缘，未达到至少1块入盘的条件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–约 5.0 s 机器人头部视角随底盘向积木接近并作位置修正；log step 49 的生成代码及 log step 66 的底盘结果相符。轮式底盘承载机器人移动，为首块积木操作作准备；没有执行夹爪与积木的接触。"
+     }
+    ]
+   },
+   "blocks_in_layout_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，木托盘四格均为空，四块积木分散在托盘外的白桌上，未形成任何入盘目标格位。"
+     },
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 0.0–8.0 s，积木随相机运动改变画面位置，但保持桌面上的散放关系，未见夹爪接近、拿起或入盘；视频 7.0–8.0 s 三块积木完整可见，近处第四块仍在画面下缘，未达到至少2块入盘的条件。"
+     }
+    ]
+   },
+   "blocks_in_layout_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，木托盘四格均为空，四块积木分散在托盘外的白桌上，未形成任何入盘目标格位。"
+     },
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 0.0–8.0 s，积木随相机运动改变画面位置，但保持桌面上的散放关系，未见夹爪接近、拿起或入盘；视频 7.0–8.0 s 三块积木完整可见，近处第四块仍在画面下缘，未达到至少3块入盘的条件。"
+     }
+    ]
+   },
+   "blocks_in_layout_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，木托盘四格均为空，四块积木分散在托盘外的白桌上，未形成任何入盘目标格位。"
+     },
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 0.0–8.0 s，积木随相机运动改变画面位置，但保持桌面上的散放关系，未见夹爪接近、拿起或入盘；视频 7.0–8.0 s 三块积木完整可见，近处第四块仍在画面下缘，未达到至少4块入盘的条件。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "group_layout_position_error",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "group_layout_orientation_error",
+   "unit": "rad",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "group_pose_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "group_pose_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blocks_in_layout_1",
+   "t": 0.0,
+   "log_step": 66,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.0–8.0 s 只有机器人视角随底盘接近及停住，四块积木始终散放，未出现首块积木的实际抓取或搬放。log step 66 核对的交付文件为 239×23 个有限动作数值，生成结果中首块及其余三块的 place 调用均为 IndexError；log step 67 中 agent 也自述只保存了底盘接近与保持动作。视频 0.0 s 为未启动首个操作步骤的导航锚点，并非可见的异常发生时刻。"
+  },
+  "unmet": {
+   "tray_on_table": true,
+   "blocks_in_layout_1": false,
+   "blocks_in_layout_2": false,
+   "blocks_in_layout_3": false,
+   "blocks_in_layout_4": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 66,
+    "evidence_zh": "观察：视频 0.0–8.0 s 未见机器人机械臂或夹爪对积木执行接近抓取、搬运或摆放；四块积木保持原有散放关系，末秒也没有物体操作。交付视频中的首块入盘步骤未启动。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 66,
+    "evidence_zh": "观察：log step 49 的 agent 生成脚本在每次 place 异常后捕获异常并继续，log step 64 使该脚本在末尾保持并保存动作；log step 66 核对这一交付文件为 239 行，同时四个 place 均记录 IndexError（index 1 is out of bounds for axis 0 with size 1），底盘结果则正常。视频 0.0–8.0 s 的接近后无积木操作与该日志相符；agent 自述异常在首个航点前中断搬放（log step 67）。",
+    "source_zh": "日志",
+    "note_zh": "候选名称：控制脚本异常。按 DECISIONS.md D38 使用控制·控制；异常来自 agent 自写的搬放辅助代码，不能据此归为仿真或评分器故障。"
+   }
+  ],
+  "gap_zh": "无状态日志或成功参考视频。托盘自视频约 0.9 s 后大部分位于视野外，其持续留桌结合初态、盘沿及没有物体操作的证据推断；末段近处第四块也只有局部可见。评分字段未报告四项原生误差值，因此 native_metrics 均为 null。生成日志只给出捕获的索引异常，没有最终调用栈，无法独立定位具体出错代码行，也无法把异常精确对应到视频时刻。"
+ },
+ "summary_zh": "评分轨迹只完成底盘接近与保持；托盘初始留桌状态保留，四块积木均未入盘，最终节点为 1/5。断点为第1块积木入盘的首步前，交付生成日志中的四次搬放调用均因 agent 自写控制代码的索引异常中断，与视频无积木操作相符。托盘后段大部分出画，其持续留桌为上下文推断；没有状态日志和原生误差读数。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "标签与证据一致：托盘开局成立并保留，四块积木均未入盘，断点首步前+没尝试；交付日志 step 66 的四次 IndexError 支持控制脚本异常根因，视频时间均在 8.1 s 内且未转换 agent 时间。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:22:40Z",
+  "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/ispatialgym-configuration-matching-block-design-i00-privileged--hm2cjxz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-configuration-matching-block-design-i00-privileged--hm2cjxz/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c880b2d0cf123cd452aa56f46888741bbcd20e1162a7d47eaad33b8043dc2af6",
+   "video_sha256": "49f1d91d9a2d412b43ad012da0b95f3a83ab4b45604cba515261048c2d861600",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/configuration_matching_block_design/trajectories/ispatialgym-configuration-matching-block-design-i00-privileged--jsc5bka.json b/phase2/ispatialgym/configuration_matching_block_design/trajectories/ispatialgym-configuration-matching-block-design-i00-privileged--jsc5bka.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7a697095134cab6f6f67088c375ef18287309e7
--- /dev/null
+++ b/phase2/ispatialgym/configuration_matching_block_design/trajectories/ispatialgym-configuration-matching-block-design-i00-privileged--jsc5bka.json
@@ -0,0 +1,312 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-configuration-matching-block-design-i00-privileged--jsc5bka",
+ "taskKey": "ispatialgym/configuration_matching_block_design",
+ "dag_sha256": "b80b8b64018446fb9084afd442651aea5f42a11bee539a14524ad1124ad51a8f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 1720,
+   "sim_steps": 1720,
+   "rows": 1720,
+   "max_rows": 8298,
+   "replay_success": 0,
+   "instance_ok": 1,
+   "steps": 1720,
+   "success_step": 0,
+   "symbolic_success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 23.92,
+   "peak_memory_gb": 16.722,
+   "peak_processes": 34,
+   "peak_disk_gb": 1.373,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ispatialgym-configuration-matching-block-design-i00-privileged--jsc5bka/replay.mp4",
+  "duration_s": 57.5,
+  "fps": 10.0,
+  "frames": 575,
+  "sha256": "7cb13d2525d79d8db68385060987adf1566a1e86fdd1792bdd364a54885b8079"
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 5,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "tray_on_table": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s、0.5 s 可见木托盘开口向上，位于白桌靠玻璃一侧，初始条件成立；视频 1.0 s 托盘已接近画面下边缘，随后离开视野。"
+     },
+     {
+      "t": 57.4,
+      "log_step": null,
+      "text_zh": "观察：视频 2.0–57.4 s 的检查帧中，托盘所在近端桌面区域在头部相机画外；视频 56.5 s、57.0 s、57.4 s 也未重新显示托盘，无法核实其终态或完整成立区间。intervals 为 null 表示后续不可判定，并非把离开视野标成条件失去。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频中未见夹爪接触托盘；操作期间托盘与夹爪均在画外，不能确认是否发生直接或经积木传递的接触。"
+     }
+    ]
+   },
+   "blocks_in_layout_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.0 s 可见四块彩色积木分散在白桌上，木托盘为空，尚无积木占据盘中目标格位。"
+     },
+     {
+      "t": 57.4,
+      "log_step": null,
+      "text_zh": "观察：视频 2.0–57.4 s 的检查帧只显示桌面远端及厨房、客厅背景，抓取位置、夹爪与盘中目标格位均在画外；无法确认何时有至少1块积木同时满足格位及完整朝向要求。"
+     },
+     {
+      "t": null,
+      "log_step": 44,
+      "text_zh": "观察：log step 44 的录制脚本安排左夹爪依次搬运四块积木，log step 49 将这份1720行动作文件作为交付；这些指令只能表明尝试范围，视频没有显示积木离开原位并进入格位，不能据此记为完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 44 的交付脚本使用左二指夹爪尝试搬运积木；视频中具体接触过程在画外，无法确认实际夹持方式，也无法把某次搬运认定为第1个有效格位。"
+     }
+    ]
+   },
+   "blocks_in_layout_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.0 s 可见四块彩色积木分散在白桌上，木托盘为空，尚无积木占据盘中目标格位。"
+     },
+     {
+      "t": 57.4,
+      "log_step": null,
+      "text_zh": "观察：视频 2.0–57.4 s 的检查帧只显示桌面远端及厨房、客厅背景，抓取位置、夹爪与盘中目标格位均在画外；无法确认何时有至少2块积木同时满足格位及完整朝向要求。"
+     },
+     {
+      "t": null,
+      "log_step": 44,
+      "text_zh": "观察：log step 44 的录制脚本安排左夹爪依次搬运四块积木，log step 49 将这份1720行动作文件作为交付；这些指令只能表明尝试范围，视频没有显示积木离开原位并进入格位，不能据此记为完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 44 的交付脚本使用左二指夹爪尝试搬运积木；视频中具体接触过程在画外，无法确认实际夹持方式，也无法把某次搬运认定为第2个有效格位。"
+     }
+    ]
+   },
+   "blocks_in_layout_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.0 s 可见四块彩色积木分散在白桌上，木托盘为空，尚无积木占据盘中目标格位。"
+     },
+     {
+      "t": 57.4,
+      "log_step": null,
+      "text_zh": "观察：视频 2.0–57.4 s 的检查帧只显示桌面远端及厨房、客厅背景，抓取位置、夹爪与盘中目标格位均在画外；无法确认何时有至少3块积木同时满足格位及完整朝向要求。"
+     },
+     {
+      "t": null,
+      "log_step": 44,
+      "text_zh": "观察：log step 44 的录制脚本安排左夹爪依次搬运四块积木，log step 49 将这份1720行动作文件作为交付；这些指令只能表明尝试范围，视频没有显示积木离开原位并进入格位，不能据此记为完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 44 的交付脚本使用左二指夹爪尝试搬运积木；视频中具体接触过程在画外，无法确认实际夹持方式，也无法把某次搬运认定为第3个有效格位。"
+     }
+    ]
+   },
+   "blocks_in_layout_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.0 s 可见四块彩色积木分散在白桌上，木托盘为空，尚无积木占据盘中目标格位。"
+     },
+     {
+      "t": 57.4,
+      "log_step": null,
+      "text_zh": "观察：视频 2.0–57.4 s 的检查帧只显示桌面远端及厨房、客厅背景，抓取位置、夹爪与盘中目标格位均在画外；无法确认何时有至少4块积木同时满足格位及完整朝向要求。"
+     },
+     {
+      "t": null,
+      "log_step": 44,
+      "text_zh": "观察：log step 44 的录制脚本安排左夹爪依次搬运四块积木，log step 49 将这份1720行动作文件作为交付；这些指令只能表明尝试范围，视频没有显示积木离开原位并进入格位，不能据此记为完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 44 的交付脚本使用左二指夹爪尝试搬运积木；视频中具体接触过程在画外，无法确认实际夹持方式，也无法把某次搬运认定为第4个有效格位。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "group_layout_position_error",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "group_layout_orientation_error",
+   "unit": "rad",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "group_pose_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "group_pose_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": null,
+   "where": "未知",
+   "evidence_zh": "观察：视频 0.0 s 托盘为空且四块积木散放，随后头部视角转离操作区域；检查至视频 57.4 s 未见抓取、释放或格位结果。评分器 reward 报告 success=0、symbolic_success=0、1720行动作，但没有逐节点结果；无法从画面定位第一个未修复的失败步骤或发生时刻。"
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "交付",
+    "item": "交付操作出错",
+    "log_step": 49,
+    "t": null,
+    "source_zh": "日志 / agent 自述 / 评分器字段",
+    "evidence_zh": "推断：log step 44 明确在已有调试Session中调用 s.reset() 后录制并保存1720行动作，log step 49 把该文件复制为最终交付；log step 62–65 在第二个新进程直接回放同一文件，打印的托盘中心变为 [5.9064,4.0351,0.8252]，且积木3中心高度为0.8509米，与录制结果 log step 48 的0.8329551米不同。log step 66–67 又在reset后复测，输出的托盘位置再次不同，说明交付对初态变化不稳健；log step 72 确认最终动作文件仍为原1720行，agent 在 log step 75 自述新进程回放不匹配目标但仍保留原文件。评分器字段 deterministic=1、replay_success=0支持按实际失败交付标注；此处归因于录制及保留已知未通过复测的文件，不将本地复测中的具体物理结果当作视频节点事实。"
+   }
+  ],
+  "gap_zh": "观察：inputs/有完整头部视频和run.json，但无状态日志、腕部录像或逐格位评分结果；已按视频每0.5 s检查全程，并查看视频 0.0、0.5、1.0、1.5、56.5、57.4 s 的大图。操作区从视频约 2.0 s 起始终在画外，故无法核实五个节点的终值、实际接触及第一个未修复的物理失败，现象层留空，断点及位置为未知。托盘初始成立和积木初始未入盘已记录于节点证据；现有区间字段无法表达随后整段未知，故不以消失于视野的时刻伪造条件丢失。log step 48、65、67、70属于不同录制或复测，log step 75的“三块入盘、第四块在盘沿、朝向错误”是agent的总结，均不替代本次视频证据；总失败也不能推出某一个计数节点为false。四项原生误差未在reward中报告，值为null。",
+  "unmet": {
+   "tray_on_table": null,
+   "blocks_in_layout_1": null,
+   "blocks_in_layout_2": null,
+   "blocks_in_layout_3": null,
+   "blocks_in_layout_4": null
+  }
+ },
+ "summary_zh": "观察：评分器判定1720行交付失败；视频开局托盘在白桌上、四块积木散放，随后操作区离开头部视野，五个节点的终态均无法核实。推断：日志支持交付操作出错——agent在reset后的调试Session录制轨迹，新进程复测已出现不同结果，最终仍保留原文件。观察：视频直至 57.4 s 均未重新显示操作结果，无法定位具体物理断点或填写失败现象，不能把agent自述的三块入盘计作已完成。",
+ "conf": 4,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "视频确认：0–1 s 托盘与四块积木可见，约 2 s 起头部相机转离桌面，直到 57.4 s 均无操作区画面，故五个节点 unknown、断点未知、现象层留空并有 gap_zh 是诚实的；交付·交付操作出错有 log step 44/49/63/72 支持（reset 后录制、未在新进程验证即交付），标为推断恰当。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": "2026-10-30T02:35:07Z",
+  "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/ispatialgym-configuration-matching-block-design-i00-privileged--jsc5bka/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-configuration-matching-block-design-i00-privileged--jsc5bka/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "aafa46ea4a73a903c2469e55c25a0cc1194004332d12ac0418cfbf5549a5a626",
+   "video_sha256": "7cb13d2525d79d8db68385060987adf1566a1e86fdd1792bdd364a54885b8079",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/configuration_matching_block_design/trajectories/ispatialgym-configuration-matching-block-design-i00-privileged--uy8s8yq.json b/phase2/ispatialgym/configuration_matching_block_design/trajectories/ispatialgym-configuration-matching-block-design-i00-privileged--uy8s8yq.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1a3d8622cf362303522f68d57b09a5e9bd2c579
--- /dev/null
+++ b/phase2/ispatialgym/configuration_matching_block_design/trajectories/ispatialgym-configuration-matching-block-design-i00-privileged--uy8s8yq.json
@@ -0,0 +1,313 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-configuration-matching-block-design-i00-privileged--uy8s8yq",
+ "taskKey": "ispatialgym/configuration_matching_block_design",
+ "dag_sha256": "b80b8b64018446fb9084afd442651aea5f42a11bee539a14524ad1124ad51a8f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 1261,
+   "sim_steps": 1261,
+   "rows": 1261,
+   "max_rows": 8298,
+   "replay_success": 0,
+   "instance_ok": 1,
+   "steps": 1261,
+   "success_step": 0,
+   "symbolic_success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 13.714,
+   "peak_memory_gb": 9.842,
+   "peak_processes": 22,
+   "peak_disk_gb": 1.409,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ispatialgym-configuration-matching-block-design-i00-privileged--uy8s8yq/replay.mp4",
+  "duration_s": 42.2,
+  "fps": 10.0,
+  "frames": 422,
+  "sha256": "dcdb49e64071572f322306bc38050437ce95f00a2a47cfbd0491d54f0d1562e4"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "tray_on_table": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 木托盘开口向上位于白桌靠玻璃一侧，盘中为空。"
+     },
+     {
+      "t": 31.2,
+      "log_step": null,
+      "text_zh": "观察：视频 11.3–12.2 s 机器人在托盘中留下一块积木，托盘仍平放原桌面；视频 31.2 s 左下边缘再次可见托盘仍在桌上。"
+     },
+     {
+      "t": 42.1,
+      "log_step": null,
+      "text_zh": "推断：视频 12.4–42.1 s 机器人左夹爪只在其余三块桌面积木附近反复下降、抬起，没有搬动托盘的动作；结合视频 31.2 s 的再次显露，托盘留在桌上判为持续成立。"
+     }
+    ]
+   },
+   "blocks_in_layout_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 四块彩色积木均散放在白桌，木托盘为空。"
+     },
+     {
+      "t": 11.7,
+      "log_step": 108,
+      "text_zh": "观察：视频 9.2–10.8 s 机器人左夹爪夹起原先红顶的积木，旧位置变空，积木随夹爪移到托盘上方；视频 11.3–11.9 s 松开后该块留在盘中，但明显斜立，红顶及蓝黄斜分面相对托盘格线倾斜，并未平正占据图示格位。"
+     },
+     {
+      "t": 31.2,
+      "log_step": 112,
+      "text_zh": "观察：视频 12.0–12.2 s 盘中积木保持倾斜；视频 31.2 s 画面左下角仍可见该块边缘。log step 112 是 agent 脚本在会话中计算的单块误差（位置约0.008米、朝向约0.462弧度），仅与可见倾斜相互印证，不作为原生组布局评分。"
+     },
+     {
+      "t": 42.1,
+      "log_step": null,
+      "text_zh": "推断：视频 12.4–42.1 s 机器人未返回托盘纠正该块，另外三块也未被搬入；依据可见的错误朝向及后续动作，第1块完整格位与朝向判据始终未达成，不能只因进盘或顶面为红色记为完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频 9.2–11.3 s 机器人左二指夹爪夹住红顶积木并搬运到托盘上方后张开释放；此前同一块的空夹重试未搬起积木。"
+     }
+    ]
+   },
+   "blocks_in_layout_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 13.4,
+      "log_step": null,
+      "text_zh": "观察：视频 13.0–13.8 s 机器人左夹爪对桌面后方蓝顶积木下降合拢后抬起，积木仍留在桌面；视频 14.8–16.4 s 又对前方蓝黄斜分面的积木做同类动作，没有搬入第二块。"
+     },
+     {
+      "t": 42.1,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–42.1 s 仅一块曾被搬到托盘，且其朝向不符；其余三块留在桌面，所以至少2块分别占据合格格位的条件从未成立。按可互换积木计数，不把本节点固定绑定某一积木身份。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频 13.0–13.8 s 机器人左二指夹爪下降包围桌面后方蓝顶积木并合拢尝试取块，随后抬离，该块仍在桌面；后续又反复尝试。作为进盘一块后补齐下一块的实际取块尝试记录，不表示布局计数已增加。"
+     }
+    ]
+   },
+   "blocks_in_layout_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.4,
+      "log_step": null,
+      "text_zh": "观察：视频 16.8–17.8 s 机器人左夹爪对桌面黄顶积木下降、合拢后离开；视频 22.4–24.8 s 又在前方及后方积木间重试，原来三块仍散放桌面，没有第三块入盘。"
+     },
+     {
+      "t": 42.1,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–42.1 s 仅一块曾被搬到托盘，且其朝向不符；其余三块留在桌面，所以至少3块分别占据合格格位的条件从未成立。按可互换积木计数，不把本节点固定绑定某一积木身份。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频 14.8–16.4 s 机器人左二指夹爪下降包围桌面前方蓝黄斜分面朝上的积木并合拢，抬起后积木仍在桌面；视频 22.4–23.6 s、25.4–26.8 s 及38.8–40.4 s 重复尝试。按后续待放积木的操作顺序记录接触，不固定可互换积木的合格槽位身份。"
+     }
+    ]
+   },
+   "blocks_in_layout_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 39.6,
+      "log_step": null,
+      "text_zh": "观察：视频 31.4–40.4 s 机器人左夹爪继续逐块下降、合拢和抬起；视频 41.2–42.1 s 三块积木仍分散留在白桌，托盘内从未形成四块二乘二布局。"
+     },
+     {
+      "t": 42.1,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–42.1 s 仅一块曾被搬到托盘，且其朝向不符；其余三块留在桌面，所以至少4块分别占据合格格位的条件从未成立。按可互换积木计数，不把本节点固定绑定某一积木身份。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频 16.8–17.8 s 机器人左二指夹爪下降包围桌面黄顶积木并合拢，随后未将其搬到托盘；视频 27.6–28.8 s 及33.8–35.0 s 又做同类尝试。记录补齐四块布局的取块动作，不表示第4块格位达成，也不固定实体身份。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "group_layout_position_error",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "group_layout_orientation_error",
+   "unit": "rad",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "group_pose_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "group_pose_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blocks_in_layout_1",
+   "t": 11.3,
+   "log_step": 108,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 11.3–11.9 s 机器人左夹爪张开并撤离托盘，所放积木留在格内但明显倾斜；视频 12.0–12.2 s 仍未摆正。视频 12.4–42.1 s 机器人转而反复取其余三块，既未修正该块，也未搬入其他合格积木；这是首个一直未修复的布局步骤。"
+  },
+  "unmet": {
+   "tray_on_table": true,
+   "blocks_in_layout_1": false,
+   "blocks_in_layout_2": false,
+   "blocks_in_layout_3": false,
+   "blocks_in_layout_4": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 11.3,
+    "log_step": 108,
+    "evidence_zh": "观察：视频 11.3–11.9 s 机器人释放的积木以明显倾斜的姿态停在托盘格内，红顶和蓝黄斜分面相对托盘格线歪斜，未获得图示的平正朝向；视频 12.0–12.2 s 仍保持此姿态。没有观察到一个先已平正达标、再倒下的阶段。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 11.3,
+    "log_step": 108,
+    "evidence_zh": "推断：log step 108 的 agent 控制脚本把所持积木移到槽位上方，以设定高度0.862米张开夹爪让其下落，随后直接撤手并转向其他积木，没有落座后的朝向纠正；视频 10.6–11.9 s 与这段先悬在格位上方、再释放且留下倾斜积木的动作相符。该放置控制未把积木稳定送到目标朝向；log step 108、112 的脚本也读到朝向误差约0.462弧度。具体是释放姿态偏差还是下落中的接触造成倾斜，证据不足以细分。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "没有状态日志和成功示范；视频为单一头部视角，托盘在后半段多次出画，最终维持状态依据视频 31.2 s 的再显露及后续未返回托盘的动作推断。缺少原生槽位指派、逐步姿态误差与接触对，无法精确确定释放瞬间的姿态或是否碰到隔板，也不能验证静止窗口各速度阈值；因此根因只到控制层。评分器未报告DAG列出的四项原生误差，均填null，未用agent脚本的单块误差替代。log step 117–118 确认交付1261步；log step 121 的45度夹爪重试在log step 123–125仍未形成新保存结果，故不纳入视频动作判断。"
+ },
+ "summary_zh": "托盘从起始一直留在白桌上，最终满足1/5个节点；机器人在视频约11.3 s 将一块积木放入托盘，但姿态明显倾斜，完整的第1块布局步骤未达成，其余三块经反复抓取仍留在桌面。断点为第1块积木入盘，放置控制未获得目标朝向，之后没有修复；无状态日志且后段托盘部分出画，具体接触机制与精确误差不能由视频确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值、断点（第1块入盘，视频约11.3 s 释放后倾斜留在盘中）、位姿不准现象和停在“控制”的根因均与视频及 log step 108/112/113 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": "2026-10-30T02:35:46Z",
+  "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/ispatialgym-configuration-matching-block-design-i00-privileged--uy8s8yq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-configuration-matching-block-design-i00-privileged--uy8s8yq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "92534896c672ae6b244b7577a2c2088ac5b4cb9fb7f436b4be5a256bb53c2213",
+   "video_sha256": "dcdb49e64071572f322306bc38050437ce95f00a2a47cfbd0491d54f0d1562e4",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/configuration_matching_block_design/trajectories/ispatialgym-configuration-matching-block-design-i00-privileged--y556sur.json b/phase2/ispatialgym/configuration_matching_block_design/trajectories/ispatialgym-configuration-matching-block-design-i00-privileged--y556sur.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3b775e613584d18fc5b94dbe7ee2a973a3358c8
--- /dev/null
+++ b/phase2/ispatialgym/configuration_matching_block_design/trajectories/ispatialgym-configuration-matching-block-design-i00-privileged--y556sur.json
@@ -0,0 +1,302 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-configuration-matching-block-design-i00-privileged--y556sur",
+ "taskKey": "ispatialgym/configuration_matching_block_design",
+ "dag_sha256": "b80b8b64018446fb9084afd442651aea5f42a11bee539a14524ad1124ad51a8f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 830,
+   "sim_steps": 830,
+   "rows": 830,
+   "max_rows": 8298,
+   "replay_success": 0,
+   "instance_ok": 1,
+   "steps": 830,
+   "success_step": 0,
+   "symbolic_success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 16.876,
+   "peak_memory_gb": 10.051,
+   "peak_processes": 22,
+   "peak_disk_gb": 3.995,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ispatialgym-configuration-matching-block-design-i00-privileged--y556sur/replay.mp4",
+  "duration_s": 27.8,
+  "fps": 10.0,
+  "frames": 278,
+  "sha256": "c5af3378b8497c44f61728732e71afff53d0e3db55efee83430aa66b011c6ae2"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 1,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "tray_on_table": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 木托盘开口向上位于白桌靠玻璃门一侧；视频 15.8–18.6 s、22.3–27.7 s 托盘仍在同一桌面区域，没有翻倒或离桌。"
+     },
+     {
+      "t": 27.7,
+      "log_step": null,
+      "text_zh": "观察：视频 27.7 s 托盘仍承载盘内积木；本节点只计托盘保留关系，完整布局及45控制步共同静止属于联合成功验收。"
+     }
+    ]
+   },
+   "blocks_in_layout_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 15.8,
+      "log_step": null,
+      "text_zh": "观察：视频 15.8–16.6 s 托盘后排有两块积木；后左一块红顶，面向前方可见蓝黄侧面，与后左目标格位关系相符；后右一块却以蓝黄斜分面朝上。视频 18.6 s、24.3–27.7 s 后左红顶积木继续留在原格。"
+     },
+     {
+      "t": 11.0,
+      "log_step": 153,
+      "text_zh": "推断：后左有效积木来自视频 7.5–9.0 s 左夹爪夹起的红顶积木，原散放点随后空出；落盘处当时在画面左缘之外。log step 153 的最终交付脚本每次搬运185控制步，第二次开始松爪为第325控制步，按30赫兹约为视频 10.83 s，故取视频约11.0 s（误差约0.5 s）。log step 158 确认交付830行，与视频27.8 s相符；第三次松爪第510–530控制步对应视频17.0–17.67 s，已用视频17.0–18.0 s可见的放置核对。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左二指夹爪搬运积木；视频7.5–9.0 s可见夹爪合拢包夹红顶积木，积木随夹爪离开原位，随后进入托盘后左格。首轮搬运的夹取大部在画面外。"
+     }
+    ]
+   },
+   "blocks_in_layout_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.8,
+      "log_step": null,
+      "text_zh": "观察：视频 15.8–16.6 s 两块已放入后排的积木中，后右积木顶面呈蓝黄斜分，目标要求此格蓝顶，故两块入盘不等于两个有效格位。视频 18.6 s 新增红顶积木位于前左一侧，前右格仍空；视频 27.7 s 此布局未修复，另一蓝顶积木在盘外。"
+     },
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 四块积木均散放桌面，托盘为空；视频 0.0–27.7 s 的顺序搬运没有形成两个位置和朝向同时正确的不同槽位。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左夹爪依次夹持并向托盘搬运第二、第三块积木，尝试增加有效积木数；视频13.8–15.8 s第三次搬运时积木被两指夹住，视频17.0–18.2 s松爪。"
+     }
+    ]
+   },
+   "blocks_in_layout_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 18.6,
+      "log_step": null,
+      "text_zh": "观察：视频 18.6 s 机器人左夹爪已退出，盘中三块积木是后左红顶、后右蓝黄斜分顶、前左红顶；后右朝向和前左顶色均不符合图示，前右格为空，未形成三个有效格位；视频 27.7 s 未修复。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "第三轮入盘尝试中，机器人左二指夹爪夹起桌面蓝黄斜分顶积木并搬入托盘；松爪后它红顶朝上且落在前左一侧，有效槽位数未增加。"
+     }
+    ]
+   },
+   "blocks_in_layout_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.5,
+      "log_step": null,
+      "text_zh": "观察：视频 20.0–22.9 s 左夹爪夹住最后一块并搬向托盘；视频 23.3–24.5 s 松爪后蓝顶积木留在托盘左外侧白桌上，前右槽仍空。视频 26.3–27.7 s 此结果稳定，四块有效布局从未形成。"
+     },
+     {
+      "t": 27.7,
+      "log_step": null,
+      "text_zh": "观察：评分器字段 replay_success=0、symbolic_success=0、success_step=0；这些字段只佐证联合目标未达，节点判假依据为视频中的盘外积木及错误朝向。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频20.0–22.9 s机器人左二指夹爪夹持最后一块积木搬向托盘，视频23.3–24.5 s打开并撤离；积木留在盘外，没有占据第四个有效槽位。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "group_layout_position_error",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "group_layout_orientation_error",
+   "unit": "rad",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "group_pose_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "group_pose_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blocks_in_layout_2",
+   "t": 11.0,
+   "log_step": 153,
+   "where": "操作中",
+   "evidence_zh": "推断：视频约11.0 s第二次搬运结束后，首次得到一个有效后左格，但未得到第二个有效格；视频15.8–16.6 s可见后右积木仍是蓝黄斜分顶而非蓝顶。该两块计数目标此后一直未修复：视频18.6 s第三次放置错在前左，视频24.3–27.7 s第四块又留在盘外。按可互换积木的有效计数，断点为第二块有效积木入盘；视频约11.0 s为交付脚本控制步推断的导航锚点，具体映射见节点证据。"
+  },
+  "unmet": {
+   "tray_on_table": true,
+   "blocks_in_layout_1": true,
+   "blocks_in_layout_2": false,
+   "blocks_in_layout_3": false,
+   "blocks_in_layout_4": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 11.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频15.8–16.6 s后右积木顶面是蓝黄斜分，目标后右格要求蓝顶；视频18.6 s新增红顶积木位于应为蓝顶的前左区域，而前右空着；视频23.3–24.5 s最后一块在托盘外侧松开，视频27.7 s仍在盘外。机器人完成了抓取和搬运，但释放的积木位置或朝向不合目标，始终没有第二个有效槽位。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 153 的最终生成器把目标积木槽坐标直接作为left_tcp目标，所有积木都使用同一q_down夹爪姿态，没有以夹持后的积木相对夹爪变换补偿物体目标位姿，也没有根据落盘后实际位姿修正。与视频15.8–18.6 s错朝向、前排错位和视频23.3–24.5 s盘外释放相符，支持物体位姿控制不足；现有证据不能再区分接触设计、跟踪与逆解各自贡献。"
+   },
+   {
+    "cat": "认知",
+    "item": "误以为完成",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：agent在log step 157查看其最终场景图，log step 161仍自述最终图“confirms all four blocks are seated in their respective slots inside the tray”，随后结束；log step 160记录尚余369.9墙钟秒。视频24.3–27.7 s却清楚显示一块在盘外、后右蓝黄斜分顶且前右空缺。推断：错误完成判断使agent未再纠正尚未满足的有效格位，维持了上述失败布局。"
+   }
+  ],
+  "gap_zh": "无状态日志、无成功示范，也无评分器逐槽指派、布局误差和静止窗口数值；四项原生误差均未报告，保留null。前两次落盘大部在相机左缘外，首次有效格位的约视频11.0 s由最终交付脚本控制步推断，约有0.5 s误差，后续视频15.8–16.6 s确认格位结果；视觉可判明显错误和后左关系，但不能精确复算0.03米/0.15弧度阈值。未把agent其他测试脚本的结果当作本次评分轨迹。"
+ },
+ "summary_zh": "机器人依次搬运四块积木，托盘始终留在白桌，后左一块达到图示格位，最终可确认2/5个节点。第二块有效积木入盘未完成：后右朝向错误，后续前排放置错位且最后一块在盘外；生成器缺乏物体位姿补偿，agent仍误认布局完成并停止。无状态日志及逐槽误差，首次有效放置时间由交付控制步推断，精确容差无法复算。",
+ "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（第二块有效积木）、现象与根因与视频一致；托盘全程在桌上，后左红顶有效，后右蓝黄斜分朝向错误，最后一块在盘外。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": "2026-10-30T02:21:38Z",
+  "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/ispatialgym-configuration-matching-block-design-i00-privileged--y556sur/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-configuration-matching-block-design-i00-privileged--y556sur/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "532a5afbc82b2dee5c766d839fa2b86162b1e9ab60a75f1b03fcc1268c0b54d0",
+   "video_sha256": "c5af3378b8497c44f61728732e71afff53d0e3db55efee83430aa66b011c6ae2",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/configuration_matching_block_design/trajectories/ispatialgym-configuration-matching-block-design-i00-privileged--zxck9lm.json b/phase2/ispatialgym/configuration_matching_block_design/trajectories/ispatialgym-configuration-matching-block-design-i00-privileged--zxck9lm.json
new file mode 100644
index 0000000000000000000000000000000000000000..47cdc4bec9c80eb13cf84ff4e7f88ae2deee99d2
--- /dev/null
+++ b/phase2/ispatialgym/configuration_matching_block_design/trajectories/ispatialgym-configuration-matching-block-design-i00-privileged--zxck9lm.json
@@ -0,0 +1,228 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-configuration-matching-block-design-i00-privileged--zxck9lm",
+ "taskKey": "ispatialgym/configuration_matching_block_design",
+ "dag_sha256": "b80b8b64018446fb9084afd442651aea5f42a11bee539a14524ad1124ad51a8f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 50,
+   "sim_steps": 50,
+   "rows": 50,
+   "max_rows": 8298,
+   "replay_success": 0,
+   "instance_ok": 1,
+   "steps": 50,
+   "success_step": 0,
+   "symbolic_success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 17.072,
+   "peak_memory_gb": 9.006,
+   "peak_processes": 21,
+   "peak_disk_gb": 0.637,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ispatialgym-configuration-matching-block-design-i00-privileged--zxck9lm/replay.mp4",
+  "duration_s": 1.8,
+  "fps": 10.0,
+  "frames": 18,
+  "sha256": "9c25454b92d5a254b616b5f4990f92e7365ec78b70cd6c32e85f85fd4daf93fb"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "tray_on_table": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.7 s 全部18帧中，木色浅托盘开口向上留在白桌靠玻璃一侧，未翻倒、移离或落地；视频 1.7 s 末帧仍成立。"
+     }
+    ]
+   },
+   "blocks_in_layout_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.7,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.7 s 全部18帧中，四块彩色积木一直分散在白桌上、均在空托盘外；没有机器人夹爪进入工作区域，也没有积木离开原位或进入托盘，因而不满足至少1块占据图示目标格位。"
+     }
+    ]
+   },
+   "blocks_in_layout_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.7,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.7 s 全部18帧中，四块彩色积木一直分散在白桌上、均在空托盘外；没有机器人夹爪进入工作区域，也没有积木离开原位或进入托盘，因而不满足至少2块占据图示目标格位。"
+     }
+    ]
+   },
+   "blocks_in_layout_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.7,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.7 s 全部18帧中，四块彩色积木一直分散在白桌上、均在空托盘外；没有机器人夹爪进入工作区域，也没有积木离开原位或进入托盘，因而不满足至少3块占据图示目标格位。"
+     }
+    ]
+   },
+   "blocks_in_layout_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.7,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.7 s 全部18帧中，四块彩色积木一直分散在白桌上、均在空托盘外；没有机器人夹爪进入工作区域，也没有积木离开原位或进入托盘，因而不满足至少4块占据图示目标格位。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "group_layout_position_error",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "group_layout_orientation_error",
+   "unit": "rad",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "group_pose_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "group_pose_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 151,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 19 中 agent 的脚本将初始关节姿态重复50行保存为交付轨迹，评分器记录 rows=50、n_actions=50；视频 0.0–1.7 s 中四块积木始终在空托盘外。log step 147–148 仍在运行新的抓取测试，log step 151 随后报告 Gemini 过滤拦截；日志没有后续保存完整操作轨迹或验证交付完成的记录。推断：评分回放为早期保持姿态的占位轨迹，实际操作交付尚未完成就被外部过滤中断，不能定位一次已交付物理操作的失败断点。"
+  },
+  "unmet": {
+   "tray_on_table": true,
+   "blocks_in_layout_1": false,
+   "blocks_in_layout_2": false,
+   "blocks_in_layout_3": false,
+   "blocks_in_layout_4": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：log step 151 明确报告模型提供方过滤拦截，log step 150 的运行用时监测仍有549.9秒预算；log step 19 仅保存50行初始姿态，后续日志没有保存并验证完整交付的记录。推断：按外部中断规则和D37，此次不是已完成并验证交付后的中断，故不将占位回放未操作积木归为“没尝试”，也不从会话测试移植物理失败现象或根因。log step 138、144 的四积木测试及误差读数属于会话试验，与视频 0.0–1.7 s 的空托盘场景不一致，不能计入本次节点进度。输入无状态日志；评分器未报告四项原生位姿误差，故这些数值留空。"
+ },
+ "summary_zh": "观察：视频 0.0–1.7 s 中托盘始终留在白桌上，四块积木均散放盘外，最终仅托盘节点成立，进度1/5。推断：评分回放对应 log step 19 保存的50步初始姿态占位轨迹，后续会话抓取及摆放测试未成为本次交付。观察：log step 151 出现模型过滤中断，且无完整交付验证记录；按外部因素处理，断点未知，现象与根因留空。",
+ "conf": 9,
+ "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1/5（仅托盘在桌上）与视频一致；log step 19 确实保存了50行初始姿态，之后无完整交付保存，step 151 为模型过滤拦截，按外部因素处理（断点未知、现象根因为空并有gap_zh）合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:38:48Z",
+  "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/ispatialgym-configuration-matching-block-design-i00-privileged--zxck9lm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-configuration-matching-block-design-i00-privileged--zxck9lm/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "771d2197e227c6215f83a1e6e7cbfdcd7eda27ee398b3c7209d2412fd14fa616",
+   "video_sha256": "9c25454b92d5a254b616b5f4990f92e7365ec78b70cd6c32e85f85fd4daf93fb",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/configuration_matching_block_design/trajectories/ispatialgym-configuration-matching-block-design-i00-standard--tgch5hj.json b/phase2/ispatialgym/configuration_matching_block_design/trajectories/ispatialgym-configuration-matching-block-design-i00-standard--tgch5hj.json
new file mode 100644
index 0000000000000000000000000000000000000000..94d5bc9dc078d62befe4cd42aa31bbb0784c2ac2
--- /dev/null
+++ b/phase2/ispatialgym/configuration_matching_block_design/trajectories/ispatialgym-configuration-matching-block-design-i00-standard--tgch5hj.json
@@ -0,0 +1,341 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-configuration-matching-block-design-i00-standard--tgch5hj",
+ "taskKey": "ispatialgym/configuration_matching_block_design",
+ "dag_sha256": "b80b8b64018446fb9084afd442651aea5f42a11bee539a14524ad1124ad51a8f",
+ "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": 2175,
+   "sim_steps": 2175,
+   "max_steps": 8298,
+   "steps": 1950,
+   "elapsed_s": 2809.5,
+   "symbolic_success": 0,
+   "success_step": 0,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.974,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.886,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ispatialgym-configuration-matching-block-design-i00-standard--tgch5hj/replay.mp4",
+  "duration_s": 72.6,
+  "fps": 10.0,
+  "frames": 726,
+  "sha256": "0326ec8c5618931e6c02454bf39193ddc8c5747665255de71500ee10f2f9697a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 1,
+  "peak": 1,
+  "final": 0,
+  "nodes": {
+   "tray_on_table": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      66.3
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：视频24.0–25.0 s木托盘开口向上留在白桌靠玻璃的一侧，盘内为空；视频35.0–36.0 s及43.0–64.0 s仍在桌上。"
+     },
+     {
+      "t": 24.0,
+      "log_step": 54,
+      "text_zh": "推断：DAG记载托盘起态已在目标区域，结合log step 54仅开始操作红顶积木及视频24.0 s的托盘状态，将托盘在桌上的区间起点记为视频0 s；视频前段相机朝向室内，托盘不在画面中。"
+     },
+     {
+      "t": 66.3,
+      "log_step": null,
+      "text_zh": "观察：视频65.7–66.1 s左夹爪贴近托盘边缘，视频66.2 s撤臂时托盘被带向桌边，视频66.3 s已从桌面消失；视频68.7–72.5 s桌面全景仍无托盘。"
+     },
+     {
+      "t": 66.3,
+      "log_step": 213,
+      "text_zh": "推断：视频66.2–66.3 s托盘离开桌面且未恢复，结合agent在log step 213自述“托盘已掉下桌面”，判定托盘在桌上条件失去；落地位置不在相机视野内。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频65.7–66.3 s左夹爪在推动红顶积木及撤臂过程中碰动托盘边缘，将托盘带离桌面；这是意外碰触，未见夹持托盘或放回操作。"
+     }
+    ]
+   },
+   "blocks_in_layout_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：视频23.5–25.0 s四块积木分散在白桌上，木托盘为空；视频35.0–36.0 s红顶积木已靠近托盘外沿，其余三块仍散放。"
+     },
+     {
+      "t": 50.4,
+      "log_step": null,
+      "text_zh": "观察：视频48.6–50.0 s左夹爪靠近并推动盘外红顶积木，视频50.2–50.4 s撤臂后红顶积木仍在盘外，托盘格位为空；视频55.0–58.5 s再次推动后亦未入格。"
+     },
+     {
+      "t": 66.3,
+      "log_step": null,
+      "text_zh": "观察：视频64.8–66.1 s红顶积木始终在托盘外侧，左夹爪向盘缘推进；视频66.3 s托盘消失后四块积木仍散放桌上，视频72.5 s终帧同样未形成入盘布局。"
+     },
+     {
+      "t": 35.0,
+      "log_step": 157,
+      "text_zh": "推断：log step 54、69、89、142、146记录的是针对同一红顶积木的接近、闭爪与试抬，log step 157称此前未抓住并改为推动；结合视频24.0 s、35.0 s和后续各次推动后的盘外位置，无证据支持曾达到一个有效目标格位。早期接触被头相机朝向遮去，不能由闭爪指令认定抓握成功。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频49.2–50.2 s、56.5–58.2 s及64.8–66.2 s左二指夹爪推动或拨动红顶积木及盘缘；未见两指夹住积木并将其提离桌面，不标抓握。"
+     }
+    ]
+   },
+   "blocks_in_layout_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：视频24.0–25.0 s托盘为空，四块积木分散在盘外；视频35.0–36.0 s及43.0–66.1 s机器人只在红顶积木附近操作，其余三块仍在桌面原区域，未出现至少2块占据不同目标格位的布局。"
+     },
+     {
+      "t": 72.5,
+      "log_step": null,
+      "text_zh": "观察：视频66.3 s托盘离开桌面，视频68.7–72.5 s全景中四块积木均散放桌上，无至少2块入盘的结果。"
+     }
+    ]
+   },
+   "blocks_in_layout_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：视频24.0–25.0 s托盘为空，四块积木分散在盘外；视频35.0–36.0 s及43.0–66.1 s机器人只在红顶积木附近操作，其余三块仍在桌面原区域，未出现至少3块占据不同目标格位的布局。"
+     },
+     {
+      "t": 72.5,
+      "log_step": null,
+      "text_zh": "观察：视频66.3 s托盘离开桌面，视频68.7–72.5 s全景中四块积木均散放桌上，无至少3块入盘的结果。"
+     }
+    ]
+   },
+   "blocks_in_layout_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：视频24.0–25.0 s托盘为空，四块积木分散在盘外；视频35.0–36.0 s及43.0–66.1 s机器人只在红顶积木附近操作，其余三块仍在桌面原区域，未出现至少4块占据不同目标格位的布局。"
+     },
+     {
+      "t": 72.5,
+      "log_step": null,
+      "text_zh": "观察：视频66.3 s托盘离开桌面，视频68.7–72.5 s全景中四块积木均散放桌上，无至少4块入盘的结果。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "group_layout_position_error",
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "group_layout_orientation_error",
+   "unit": "rad",
+   "threshold": 0.15,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "group_pose_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "group_pose_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blocks_in_layout_1",
+   "t": 50.2,
+   "log_step": 157,
+   "where": "操作中",
+   "evidence_zh": "观察：视频49.2–50.4 s机器人左夹爪推动红顶积木后撤离，积木仍留在托盘外，第一块入格始终未完成；视频64.8–66.3 s继续处理同一积木时又碰动托盘并使其离开桌面。log step 157明确从失败的抓取改为将该积木推入格位，log step 213承认托盘落下后停止；该步骤之后未获修复。"
+  },
+  "unmet": {
+   "tray_on_table": false,
+   "blocks_in_layout_1": false,
+   "blocks_in_layout_2": false,
+   "blocks_in_layout_3": false,
+   "blocks_in_layout_4": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 50.4,
+    "log_step": null,
+    "evidence_zh": "观察：视频49.2–50.4 s左夹爪对红顶积木作入盘方向的推动，但撤臂后积木仍在盘外且与目标格位分离；视频58.5 s及66.3 s仍未入盘，没有形成第一个有效格位。"
+   },
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 66.2,
+    "log_step": null,
+    "evidence_zh": "观察：视频65.7–66.1 s左夹爪进入托盘边缘区域，视频66.2 s撤臂时托盘随夹爪向桌边移动，视频66.3 s托盘离开桌面；被碰坏的是原先成立的托盘在桌上状态。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频49.2–50.4 s及64.8–66.3 s显示左夹爪采用低位推动，积木未越过盘缘，夹爪却碰动托盘并在撤离时把托盘带离桌面；这支持本次积木—夹爪—盘缘的接触几何不适配。log step 157明确选择从抓取改为推动，log step 201以闭爪命令和同一高度的两端关节插值完成推动，log step 203直接返回初始臂姿；没有已验证成功的替代抓法，故alt_feasible为未知。"
+   }
+  ],
+  "gap_zh": "视频前段及视频25.5–34.0 s、36.5–42.0 s头相机朝向室内，无法直接确认早期每次闭爪的接触细节；没有状态日志、接触力读数或成功示范，不能量化抓取偏差及原生布局误差。托盘落地位置在画外，但视频66.2–66.3 s的离桌过程和视频72.5 s桌面全景可判定其未恢复。四项原生误差评分器均未报告，native_metrics保留null。"
+ },
+ "summary_zh": "托盘在桌上的初始条件成立，但没有积木达到盘内有效格位，进度峰值为1/5，终态为0/5。机器人反复尝试处理同一红顶积木，低位推动未将其送入格位，并在视频66.2–66.3 s撤臂时碰动托盘使其离开桌面，断点为第1块积木入盘；接触几何不适配有视频和指令记录支持。早期抓取被头相机朝向遮去，且无状态日志或原生误差数值，不能确定更细的抓取失败原因。",
+ "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（第1块入盘未达成）、托盘在视频66.2–66.3 s离桌、根因（抓取和接触设计）与现有帧相符；但托盘节点及blocks_in_layout_1/2/3/4中“视频24.0 s、35.0 s托盘在桌上、盘内为空”的观察在这些帧里并不成立（托盘不在画面内，约44 s后才出现），应改为推断；底盘“支撑”接触取自撤离段，与该节点的操作无关。",
+    "n_issues": 2,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "断点（第1块入盘未完成）、托盘在视频66.2–66.3 s离桌、根因（抓取和接触设计）与帧相符。第一轮审查所称24 s/35 s无托盘不成立：视频24.0 s帧左下角可见木托盘且盘内为空，因此不再提出该点。",
+    "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": "2026-10-30T02:48:05Z",
+  "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/ispatialgym-configuration-matching-block-design-i00-standard--tgch5hj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-configuration-matching-block-design-i00-standard--tgch5hj/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-configuration-matching-block-design-i00-standard--tgch5hj/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/ispatialgym-configuration-matching-block-design-i00-standard--tgch5hj/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7cdc3aa0aa7416d3f04dd6d8291f21abb1a38ed47b34716fb02972ed3608e4a8",
+   "video_sha256": "0326ec8c5618931e6c02454bf39193ddc8c5747665255de71500ee10f2f9697a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--5u8sytn.json b/phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--5u8sytn.json
new file mode 100644
index 0000000000000000000000000000000000000000..14e5a1d27169c5faed444eb7ab85e0fdc1d438d5
--- /dev/null
+++ b/phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--5u8sytn.json
@@ -0,0 +1,248 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--5u8sytn",
+ "taskKey": "ispatialgym/inter_object_relation_satisfaction_nextto_small_scale",
+ "dag_sha256": "a1913428fea25766fa07bf571634053c1cc8aa302d6a8d8b88da8834e534f9f8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 70,
+   "sim_steps": 70,
+   "rows": 70,
+   "max_rows": 2076,
+   "replay_success": 0,
+   "instance_ok": 1,
+   "steps": 70,
+   "success_step": 0,
+   "symbolic_success": 0,
+   "video_rendered": 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/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--5u8sytn/replay.mp4",
+  "duration_s": 2.5,
+  "fps": 10.0,
+  "frames": 25,
+  "sha256": "62689c0800e905eb329bebd8bb01f133c6a9d4d32f1bab6c66a82cb82ed60a01"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "pencil_at_goal": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：评分视频 0.0–2.4 s 的全部25帧中，黄色彩铅始终平放在白色台面同一位置，朝向未见变化；无夹爪进入其附近。结合DAG确认彩铅初态即合格，判为从视频 0.0 s 保持至结束。"
+     }
+    ]
+   },
+   "marker_nextto_pencil": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.4,
+      "log_step": 157,
+      "text_zh": "观察：评分视频 0.0–2.4 s 的全部25帧中，红帽黑身记号笔一直留在黄色彩铅右侧原处，两笔间隙未缩小，无抓取、推移或搬运；成功参考视频 12.0–17.5 s 显示的紧邻并排外观在本次评分视频中始终未出现。log step 154、157 保存并复核的是70行相同的初态保持动作，评分器 n_actions=70、symbolic_success=0，与视频一致。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "pencil_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "pencil_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "marker_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "marker_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_max_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_max_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_max_joint_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_max_position_drift",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_max_orientation_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_max_joint_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "marker_nextto_pencil",
+   "t": 0.0,
+   "log_step": 154,
+   "where": "首步前",
+   "evidence_zh": "观察：评分视频 0.0–2.4 s 中机器人没有开始靠近、夹取或推移记号笔，两笔始终分离于初始位置。log step 154 将交付文件改为70行初态保持动作，log step 157 重生成并确认所有行相同；会话中的抓取、推移调试未交付，因此断在记号笔邻彩铅这一步启动之前。"
+  },
+  "unmet": {
+   "pencil_at_goal": true,
+   "marker_nextto_pencil": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 154,
+    "evidence_zh": "观察：评分视频 0.0–2.4 s 全程未见夹爪接近两笔或两笔移动，末帧仍保持初始间隔；log step 154、157 明确提交并复核70行相同的静止动作，未包含会话中的摆放尝试。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 146,
+    "source_zh": "日志",
+    "evidence_zh": "推断：会话内的操作控制未能形成可交付的靠近两笔动作，促使agent退回静止基线。log step 130 的脚本输出显示夹爪闭合、抬升后彩铅高度仍约0.810 m；log step 134、138、140 的多轮推移输出中两笔横向间距仍约0.090 m；log step 146 记录逆解返回成功，但执行后左末端距所设目标的x、z误差仍为0.191 m、0.234 m。agent 在 log step 156、161 明确称这些会话操作失败使其选择保留初态，随后 log step 154、157 的保存与复核记录确认最终仅交付静止动作。上述是会话证据，只用于解释最终选择，不作为评分视频中的接触或进度。",
+    "note_zh": "缺少会话操作的视频和接触记录，无法区分具体接触布局、轨迹执行或反馈问题，根因停在控制；agent所称桌面阻挡前臂未独立核实。"
+   }
+  ],
+  "gap_zh": "无状态日志，评分器未报告DAG列出的10项连续指标，不能从视频精确量出位置、姿态误差或联合静置速度，native_metrics 均为null。评分视频完整且两笔可见，足以判断保持初态与未启动摆放；控制根因来自会话脚本输出及agent交付说明，会话操作本身没有随附视频，具体阻挡接触及控制子类型未核实。"
+ },
+ "summary_zh": "评分视频 0.0–2.4 s 全程保持初态：彩铅留在原位成立，记号笔邻彩铅始终未达成，最终为1/2节点。断点为记号笔邻彩铅／首步前，现象为没尝试；会话日志显示多次抓取、推移控制未奏效，agent遂在 log step 154、157 改交并复核静止基线，这些调试动作不计入评分轨迹。无状态日志和连续误差指标，具体控制失效机制无法核实。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "评分视频仅2.4 s，两笔始终原位，彩铅成立、记号笔邻彩铅未达成，断点首步前/没尝试，根因控制（来自会话证据）均与视频、log和CASES FAIL-22一致；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": "2026-10-30T02:39:13Z",
+  "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/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--5u8sytn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--5u8sytn/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9a5fd2160abc49e0b3e244f25a9c43bd29fa3ab61421fd834d37614eff005bd5",
+   "video_sha256": "62689c0800e905eb329bebd8bb01f133c6a9d4d32f1bab6c66a82cb82ed60a01",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--cdnazq4.json b/phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--cdnazq4.json
new file mode 100644
index 0000000000000000000000000000000000000000..40ba23ca5f90ae335d96bc90bbc7793628c1396c
--- /dev/null
+++ b/phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--cdnazq4.json
@@ -0,0 +1,268 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--cdnazq4",
+ "taskKey": "ispatialgym/inter_object_relation_satisfaction_nextto_small_scale",
+ "dag_sha256": "a1913428fea25766fa07bf571634053c1cc8aa302d6a8d8b88da8834e534f9f8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 768,
+   "sim_steps": 768,
+   "rows": 768,
+   "max_rows": 2076,
+   "replay_success": 0,
+   "instance_ok": 1,
+   "steps": 768,
+   "success_step": 0,
+   "symbolic_success": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 16.888,
+   "peak_memory_gb": 8.841,
+   "peak_processes": 22,
+   "peak_disk_gb": 1.409,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--cdnazq4/replay.mp4",
+  "duration_s": 25.7,
+  "fps": 10.0,
+  "frames": 257,
+  "sha256": "6e3f69a560c353c1c80261216518b106c5850bc51a438c18779a2899b5d89df8"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "pencil_at_goal": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–3.2 s，黄色彩铅平放白色台面，长轴朝向与成功参照的初态相符。"
+     },
+     {
+      "t": 25.6,
+      "log_step": null,
+      "text_zh": "推断：视频 19.7–25.6 s，彩铅仍平放台面、长轴方向基本保持，只向记号笔靠近了小段距离；按DAG的宽位置容差与绕长轴等价朝向判为保留。视频 3.5–19.5 s 两物离开画面，未观察到移出容差后再恢复的过程，故不凭松手或相机转动切断区间；该区间为前后帧支持的估计，不能量出完整三维位姿误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 3.5–19.5 s 彩铅和机器人作用端均不在头部相机视野内；前后帧确认彩铅被移近记号笔。log step 98–109 的脚本及叙述指向右夹爪侧推，但无该次重放的接触对或腕部视频，不能直接确认指面和接触方式。"
+     }
+    ]
+   },
+   "marker_nextto_pencil": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–3.2 s，红帽黑身记号笔与黄色彩铅明显分离，尚未呈目标中的紧邻排列。"
+     },
+     {
+      "t": 20,
+      "log_step": null,
+      "text_zh": "观察：视频 19.7–25.6 s，两物已靠近，但记号笔红帽向画面右侧、黑身下端向左侧倾斜，彩铅仍近乎竖直；与视频 0.0 s 记号笔反方向的倾斜、以及成功参照视频 16.0–17.5 s 两笔近乎平行的外观不同。"
+     },
+     {
+      "t": 25.6,
+      "log_step": null,
+      "text_zh": "推断：视频 24.6–25.6 s 逐帧检查中斜置结果一直保留，未见后续摆正；结合评分器 reward.symbolic_success=1、replay_success=0、deterministic=1，判为已实现近邻符号关系，但未实现本节点要求的目标位姿，final=false。无逐物误差字段，不能把符号关系成立等同于此复合节点达标；视野外是否短暂达标无法确认，不增记达成区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 0.0 s 与视频 19.7–25.6 s 的物体间距及记号笔朝向发生变化，说明机器人确实工作于此关系；操作段不在相机视野内，不能判定右指直接碰记号笔还是由彩铅间接带动，也不能确认抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "pencil_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "pencil_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "marker_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "marker_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_max_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_max_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_max_joint_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_max_position_drift",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_max_orientation_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_max_joint_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "marker_nextto_pencil",
+   "t": 19.7,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "推断：机器人为建立两笔近邻关系而工作，视频 19.7 s 两物重新进入画面时已靠近，但记号笔转斜，直到视频 25.6 s 结束也未摆正。将此节点作为未修复断点；视频 19.7 s 是首次重见结果的导航锚点，实际转歪发生在视频约 3.5–19.5 s 的视野外，不能精确定位。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 19.7,
+    "log_step": null,
+    "evidence_zh": "观察：视频 19.7–25.6 s 记号笔红帽朝右、笔身下端朝左，相对黄色彩铅呈可见夹角；视频 0.0 s 的记号笔倾向相反，成功参照视频 16.0–17.5 s 则两笔近乎平行。两物距离缩短后留下了错误朝向，末尾没有修正。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "操作接触段在视频约 3.5–19.5 s 完全离开头部视野，故两个实际接触标签填未知；无状态日志或逐物位姿、关节速度、45步联合静置检查值。记号笔朝向失败据前后帧和参照推断，无法精确测量0.3 rad容差，亦不能排除额外的静置失败。log step 105、107 算出的彩铅旋转1.112 rad来自会话检查，未应用DAG的绕长轴等价朝向，不能据此宣称彩铅节点失败。log step 130、133 表明最终768行含未重放验证的追加尾段，但没有证据证明追加导致此次失败；侧推如何造成记号笔偏转及其具体控制根因不可确定，因此根因留空。",
+  "unmet": {
+   "pencil_at_goal": true,
+   "marker_nextto_pencil": false
+  }
+ },
+ "summary_zh": "机器人实际把黄色彩铅移向记号笔，最终近邻符号关系成立；彩铅仍平放并大致保持目标方向，按可视判据保留该节点。记号笔在两物重新入镜后呈斜置且未修正，记号笔邻彩铅节点未达到完整位姿要求，评分器重放失败。操作接触过程不在视野内，无逐物误差和静置记录，不能确定具体控制根因。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "标签与视频一致：视频 0.0 s 与 25.6 s 帧对比，彩铅基本不动、记号笔由左倾变为右倾斜置；3.5–19.5 s 操作段确在视野外（视频 3.0、10.0 s 帧为转头），未知接触、断点锚点、位姿不准、根因留空并带 gap_zh 都有依据。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": "2026-10-30T02:29:39Z",
+  "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/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--cdnazq4/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--cdnazq4/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "538f1fc879bdab1f252f000fb465c8a7be9539142fd94da7c1a6294a2b6176a1",
+   "video_sha256": "6e3f69a560c353c1c80261216518b106c5850bc51a438c18779a2899b5d89df8",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--efq9r73.json b/phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--efq9r73.json
new file mode 100644
index 0000000000000000000000000000000000000000..98f50967bf51d4ebc5d3a10b7f4b499504c16c76
--- /dev/null
+++ b/phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--efq9r73.json
@@ -0,0 +1,275 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--efq9r73",
+ "taskKey": "ispatialgym/inter_object_relation_satisfaction_nextto_small_scale",
+ "dag_sha256": "a1913428fea25766fa07bf571634053c1cc8aa302d6a8d8b88da8834e534f9f8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 285,
+   "sim_steps": 285,
+   "rows": 285,
+   "max_rows": 2076,
+   "replay_success": 0,
+   "instance_ok": 1,
+   "steps": 285,
+   "success_step": 0,
+   "symbolic_success": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 16.871,
+   "peak_memory_gb": 10.261,
+   "peak_processes": 21,
+   "peak_disk_gb": 0.667,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--efq9r73/replay.mp4",
+  "duration_s": 9.6,
+  "fps": 10.0,
+  "frames": 96,
+  "sha256": "9b67f5012f5d357113a3a4f89d1d58b06fe512629e0c6822b9be7621c260bef6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "pencil_at_goal": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色彩铅已平放在白色台面上；视频 0.0–6.9 s 机器人右夹爪接近并推移的是红帽记号笔，彩铅未被夹起。"
+     },
+     {
+      "t": 9.5,
+      "log_step": null,
+      "text_zh": "观察：视频 7.2–9.5 s 彩铅仍平放在原来所在的台面区域，未见明显平移或转歪；结合初态即合格，按可见位姿判据记为持续保留。相机随机器人躯干运动，图像中的位置变化不当作彩铅世界位移。"
+     }
+    ]
+   },
+   "marker_nextto_pencil": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 两笔明显分离；视频 4.5–6.9 s 机器人以张开的右夹爪从记号笔侧面推移，没有夹住笔身并搬起。"
+     },
+     {
+      "t": 7.1,
+      "log_step": null,
+      "text_zh": "观察：视频 7.0–7.3 s 机器人右夹爪上撤时，记号笔迅速横移并转动，越到彩铅的另一侧；视频 7.3–9.5 s 两笔虽已靠近，但记号笔黑身与黄色彩铅呈张开的斜向排列。参考成功视频 16.0–17.5 s 的两笔贴近、近乎平行外观，本次未见对应的摆正结果。"
+     },
+     {
+      "t": 9.5,
+      "log_step": 367,
+      "text_zh": "推断：按视频中撤手后的朝向偏差，记号笔的完整目标摆放未确认达到，判本节点未完成；不是仅据零分否定相邻关系。评分器 reward 的 symbolic_success=1、replay_success=0、success=0，说明符号检查的正值不能替代本节点的关系与位姿合取验收；log step 367 仅检查动作数组末尾相同，未提供目标姿态误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 4.5–7.1 s，机器人张开的右二指夹爪从侧面抵推红帽黑身记号笔，随后上撤；未见相向夹紧形成抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–1.0 s 机器人底盘前移，带机体靠近桌上的记号笔，为右臂推移作准备；log step 368 的交付轨迹分段记录也包含起始30步前进。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "pencil_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "pencil_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "marker_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "marker_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_max_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_max_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_max_joint_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_max_position_drift",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_max_orientation_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_max_joint_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "marker_nextto_pencil",
+   "t": 7.1,
+   "log_step": 359,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 7.0–7.3 s，机器人在推移记号笔后撤起右夹爪，记号笔随即横移转斜；视频 7.3–9.5 s 未再修正其朝向。log step 359 生成并保存最后一次推移、撤手和保持轨迹，log step 367–371 确认并重新生成285行动作文件；本断点按交付视频中的这次摆放偏差定位。"
+  },
+  "unmet": {
+   "pencil_at_goal": true,
+   "marker_nextto_pencil": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 7.1,
+    "log_step": null,
+    "evidence_zh": "观察：视频 7.1–7.3 s 机器人撤手时记号笔发生转动，视频 7.3–9.5 s 红帽黑身记号笔与彩铅形成斜向张开的排列，未呈参考成功视频 16.0–17.5 s 的近乎平行摆放；两笔靠近后未再被摆正。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "误以为完成",
+    "t": null,
+    "log_step": 377,
+    "source_zh": "日志 / agent 自述",
+    "evidence_zh": "推断：agent 在 log step 367 以末45行动作完全相同检查静置，在 log step 370 将交付说明写为两笔平行且精确接触，log step 377 又自述目标已在仿真中执行并验证，随后结束；log step 372 尚余839.9 s预算。该完成信念使其停止修正，而交付视频 7.3–9.5 s 仍有笔身斜向偏差，最终评分 success=0。动作命令相同不等于物体完整位姿与实际速度已通过验收。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 只有运行记录、视频及成功参考，没有本次状态日志；评分记录未报告逐物体位置/完整四元数姿态误差或45步联合静置窗口各项实测值。视频能看出推移后转斜，但无法精确区分记号笔绕长轴转动、平面朝向误差及微小残余速度各自对判负的贡献，也不能确认撤手瞬间是否曾短暂满足全部位姿容差；节点时间线按可见摆放判据保守标注，未把会话中其他重置试验的位姿数值当作交付事实。"
+ },
+ "summary_zh": "黄色彩铅从视频 0.0 s 到末帧保持平放，机器人前移后用右夹爪推近记号笔；视频约 7.1 s 撤手时记号笔转斜，最终两笔靠近但未形成参考成功轨迹中的平行摆放，按可见判据完成1/2节点。agent 在 log step 377 自述已验证完成并停止，评分器确定性重放仍失败；缺少完整姿态与联合静置实测数据，不能进一步锁定具体越限分量。",
+ "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、断点与原因与视频一致：视频 7.0–7.3 s 撤手时记号笔转斜，末帧两笔呈明显 V 形斜向排列，而参考成功视频末帧近乎平行；彩铅保持，1/2 合理。symbolic_success=1 与 replay_success=0 并存，已在推断中如实说明，无需改动。",
+    "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": "2026-10-30T02:33:48Z",
+  "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/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--efq9r73/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--efq9r73/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "37aaee3c74c292b3a2f5e71c8e10705d250a8394356c54240d4b9ba16c0eac1a",
+   "video_sha256": "9b67f5012f5d357113a3a4f89d1d58b06fe512629e0c6822b9be7621c260bef6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--f8fun8m.json b/phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--f8fun8m.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae62537f300b1d0c75146ed898f6ec04f67211c1
--- /dev/null
+++ b/phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--f8fun8m.json
@@ -0,0 +1,295 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--f8fun8m",
+ "taskKey": "ispatialgym/inter_object_relation_satisfaction_nextto_small_scale",
+ "dag_sha256": "a1913428fea25766fa07bf571634053c1cc8aa302d6a8d8b88da8834e534f9f8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 244,
+   "sim_steps": 244,
+   "rows": 244,
+   "max_rows": 2076,
+   "replay_success": 0,
+   "instance_ok": 1,
+   "steps": 244,
+   "success_step": 0,
+   "symbolic_success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 20.309,
+   "peak_memory_gb": 25.16,
+   "peak_processes": 77,
+   "peak_disk_gb": 1.391,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--f8fun8m/replay.mp4",
+  "duration_s": 8.3,
+  "fps": 10.0,
+  "frames": 83,
+  "sha256": "a8e8e4000fb264b1d82fca45a05714cac16eb367beb55726500150b5776514be"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "pencil_at_goal": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色彩铅平放在白色台面上；逐帧检查视频 0.0–8.2 s，彩铅始终在记号笔左侧，未见机器人把它夹起、推走或明显转歪。"
+     },
+     {
+      "t": 8.2,
+      "log_step": null,
+      "text_zh": "推断：视频 2.3 s、4.8 s 和 8.2 s 中彩铅相对桌面的位姿外观与初态一致，支持初态已合格的彩铅目标状态持续保持；视角随机器人躯干改变，不把画面中的整体投影移动当作彩铅位移。"
+     }
+    ]
+   },
+   "marker_nextto_pencil": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 及 1.0–2.3 s，红帽黑身记号笔与黄色彩铅明显分离；机器人右夹爪从右侧接近，随后张开手指横向扫向记号笔。"
+     },
+     {
+      "t": 4.8,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 2.4–4.6 s，右夹爪遮住部分记号笔；视频 4.8–5.4 s 重新露出的黑色笔杆仍与彩铅隔开，没有显示搬到彩铅紧邻处的结果。视频 5.5–8.2 s，包括最后一秒的每帧，笔帽及露出笔杆仍处在彩铅右侧的分离位置。"
+     },
+     {
+      "t": 8.2,
+      "log_step": null,
+      "text_zh": "推断：本次视频 8.2 s 两笔间隔仍明显，区别于参考成功视频 16.0–17.5 s 中记号笔紧挨彩铅的外观，故记号笔相邻目标未达到；评分器 reward.symbolic_success=0、replay_success=0 与此相符，并非仅凭零分判未达。"
+     },
+     {
+      "t": null,
+      "log_step": 134,
+      "text_zh": "观察：log step 134 最终生成文件为 244 行，校验打印 match executed: False；log step 141 所述推移距离及偏航取自会话测试，不能替代本次评分视频中的物体移动证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 1.0–4.6 s 机器人右侧张开的二指夹爪接近并扫过记号笔所在区域，未见夹紧或抬起；关键笔身被手指遮挡，单一头部视角不能确认实际接触点及施力方式。已检查接近前和扫过后的连续帧，未把会话中自述的单指推移直接当作本次实际接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "pencil_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "pencil_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "marker_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "marker_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_max_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_max_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_max_joint_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_max_position_drift",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_max_orientation_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_max_joint_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "marker_nextto_pencil",
+   "t": 4.8,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 2.4–4.6 s 机器人右夹爪向两笔方向扫动，视频约 4.8 s 改变姿态后露出的记号笔仍与彩铅分离；视频 5.5–8.2 s 机器人停留，未再把记号笔移到紧邻位置。推断：失败发生在记号笔摆放步骤，后续静候没有修复，断点以扫动结束附近的视频 4.8 s 作导航锚点。"
+  },
+  "unmet": {
+   "pencil_at_goal": true,
+   "marker_nextto_pencil": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 4.8,
+    "log_step": null,
+    "evidence_zh": "观察：视频 4.8–5.4 s 可见记号笔露出夹爪下方的笔杆，至视频 8.2 s 仍与黄色彩铅保持明显横向间隔，没有形成参考成功视频 16.0–17.5 s 可见的紧邻并排结果。推断：此次摆放的位置未到目标；视频不支持把会话报告的偏航角当作此次失败现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "交付",
+    "item": "交付操作出错",
+    "source_zh": "日志",
+    "evidence_zh": "推断：最终交付重新拼装了不等同于会话执行的动作。log step 123 保存 204 行实验动作及 sols10；log step 124–125 的代码继续覆盖同一 sols10 文件。log step 128 生成脚本却把旧 final_rows10 的末行用作 HOLD，与已覆盖的 IK 解组合；log step 134 再生成 244 行后明确打印 match executed: False，仍保留该文件交付。log step 139–140 的新进程输出只确认执行 244 行及初态匹配，没有任务成功字段；评分视频 4.8–8.2 s 也未出现会话测试自述的到位推移。这支持动作保存与重建过程出错，而非评分器重放故障。"
+   }
+  ],
+  "gap_zh": "无状态日志，单一头部视角在视频 2.4–4.6 s 遮住关键笔身，不能确认右手是否真正碰到记号笔、具体接触方式或微小位移，故该节点实际接触记为未知，不臆标未接触或抓握。评分器未报告 DAG 所列逐物位姿误差及静置速度、漂移指标，全部原生指标值保留 null；不能从视频量出毫米级静止条件。会话测试中的物体位姿不能移用于最终重新生成的交付文件。"
+ },
+ "summary_zh": "评分轨迹中彩铅持续保持初始目标位姿，最终为 1/2 节点；机器人右夹爪接近并扫过记号笔区域，但扫动后两笔仍明显分离，记号笔邻彩铅步骤未完成。日志显示最终动作由不同实验的数据重新组合，生成后仍打印 match executed: False，支持交付操作出错；会话自述的推移和偏航不作为本次视频事实。没有状态日志，夹爪遮挡使实际接触方式及精确静置指标无法确认。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "视频末帧（8.2 s）中记号笔笔帽与露出的笔杆已紧靠彩铅右侧、夹爪压在其上，外观接近参考成功视频 16.5–17 s，并非标注所称的“明显分离”；评分器仅给整体 symbolic_success=0，无法据此判 marker 节点未达或判“位置未到目标”，现有 final=false 与位姿不准现象证据不成立。",
+    "n_issues": 2,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "独立复查末帧：8.2 s 彩铅与红色笔帽仍相隔约一支笔长的一半，与 0.0 s 初态间隔相近，明显大于参考视频 17 s 的紧邻外观；标注 final=false、位姿不准、交付根因与第 1 轮回应一致，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": "2026-10-30T02:50:54Z",
+  "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/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--f8fun8m/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--f8fun8m/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--f8fun8m/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--f8fun8m/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c8f80a112dc1ea21fc2b03e99ec9820714b7e3a6d1e852f052a3858ebd0d7098",
+   "video_sha256": "a8e8e4000fb264b1d82fca45a05714cac16eb367beb55726500150b5776514be",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--izyumdi.json b/phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--izyumdi.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0814520417da7603ea962fe2ee11639ee6a3efb
--- /dev/null
+++ b/phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--izyumdi.json
@@ -0,0 +1,253 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--izyumdi",
+ "taskKey": "ispatialgym/inter_object_relation_satisfaction_nextto_small_scale",
+ "dag_sha256": "a1913428fea25766fa07bf571634053c1cc8aa302d6a8d8b88da8834e534f9f8",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 629,
+   "sim_steps": 523,
+   "rows": 629,
+   "max_rows": 2076,
+   "replay_success": 1,
+   "instance_ok": 1,
+   "steps": 523,
+   "success_step": 523,
+   "symbolic_success": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 16.947,
+   "peak_memory_gb": 9.799,
+   "peak_processes": 22,
+   "peak_disk_gb": 2.502,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--izyumdi/replay.mp4",
+  "duration_s": 17.6,
+  "fps": 10.0,
+  "frames": 176,
+  "sha256": "bac070d5b8015504d48fff35f9c305b8db3d4651a0fb6657041557c20314bfbf"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "pencil_at_goal": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色细彩铅已平放在白色台面，红帽黑身记号笔位于其右侧且明显分离；视频全程至 17.5 s，彩铅未见明显平移或长轴转歪。"
+     },
+     {
+      "t": 17.5,
+      "log_step": null,
+      "text_zh": "推断：视频 12.2–17.5 s 彩铅仍留在原区域，末段两笔未见明显运动；结合评分器 reward.success=1、replay_success=1、symbolic_success=1，判定彩铅目标位姿最终合格。精确位置、等价朝向误差及静置速度不能仅凭画面量出。"
+     }
+    ]
+   },
+   "marker_nextto_pencil": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.6,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5–9.4 s 机器人右夹爪下降到记号笔红帽附近，两指从两侧闭合；视频 9.6 s 起黑色笔身随夹爪移动，原先与彩铅分离的笔身位置空出，随后右夹爪带笔向彩铅靠近。"
+     },
+     {
+      "t": 12.2,
+      "log_step": null,
+      "text_zh": "推断：对照视频 11.6–12.7 s 的逐帧近景，右夹爪携带的记号笔与黄色彩铅间距逐渐缩小，约在视频 12.2 s（时间不确定约±0.3 s）形成近距离并排、长轴近乎平行的外观；至视频 17.5 s 未见关系丢失。本节点 freeze_held=false，不把夹爪尚在笔旁视作未达成。"
+     },
+     {
+      "t": 17.5,
+      "log_step": null,
+      "text_zh": "观察：视频 16.5–17.5 s 每隔 0.1 s 的末段画面中，两笔相对位置及右夹爪外观保持稳定；夹爪遮挡红帽及部分笔身。评分器 reward.success=1、deterministic=1、replay_success=1、success_step=523、symbolic_success=1，记录本次评分重放通过；未用 agent 会话中早期试验的转笔或失放现象标注本次轨迹。"
+     },
+     {
+      "t": 1.5,
+      "log_step": 46,
+      "text_zh": "推断：视频 0.5–2.0 s 台面和两笔在视野中一起接近，与 log step 44 的生成脚本先 drive(0.2,0.0,30)、log step 46 由该脚本生成最终版本及 log step 50 安装该版本的记录相符，判定机器人底盘在抓笔前向桌前进。此处只据视频定位时间，未将 agent 工作时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 9.4–12.7 s，机器人右侧二指夹爪夹住红帽附近的记号笔，笔身随夹爪抬移并靠近彩铅；左夹爪未参与此搬运。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "推断：视频 0.5–2.0 s，机器人轮式底盘支撑机体向桌前进以接近记号笔，随后停下，由右夹爪完成搬运；前进同时得到交付生成脚本（log step 44、46、50）的支持。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "pencil_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "pencil_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "marker_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "marker_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_max_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_max_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_max_joint_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_max_position_drift",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_max_orientation_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_max_joint_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：黄色彩铅从视频 0.0 s 起保持原位，机器人右夹爪夹住记号笔并移向彩铅，约在视频 12.2 s 形成相邻且近乎平行的摆放，两个节点最终均达成。观察：视频末段至 17.5 s 未见明显运动，评分器记录 success=1、replay_success=1，联合终态验收通过，无失败断点。推断：首次相邻时间有约±0.3 s 的视觉不确定性；没有状态日志，夹爪遮挡部分笔身，无法独立量出精确位姿与静置指标，DAG 的全部原生指标均未由评分器报告数值，且所给 oracle 为本次运行，不能作为独立参考。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "逐帧核对：彩铅全程原位，记号笔在视频约 9.4 s 被右夹爪夹住，11.6–12.7 s 靠近彩铅，12.2 s 并排，至 17.5 s 保持；节点值、时间、接触、无断点均成立。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:19:26Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--izyumdi/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--izyumdi/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "87e2fbcc5407ca31a0d145a548f358897794965f49ce01d87fee851c0bd60d5e",
+   "video_sha256": "bac070d5b8015504d48fff35f9c305b8db3d4651a0fb6657041557c20314bfbf",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--ztv8py3.json b/phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--ztv8py3.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2f78247e12f0541e187a96f78afeb56a7a38ed5
--- /dev/null
+++ b/phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--ztv8py3.json
@@ -0,0 +1,275 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--ztv8py3",
+ "taskKey": "ispatialgym/inter_object_relation_satisfaction_nextto_small_scale",
+ "dag_sha256": "a1913428fea25766fa07bf571634053c1cc8aa302d6a8d8b88da8834e534f9f8",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 702,
+   "sim_steps": 676,
+   "rows": 702,
+   "max_rows": 2076,
+   "replay_success": 1,
+   "instance_ok": 1,
+   "steps": 676,
+   "success_step": 676,
+   "symbolic_success": 1,
+   "video_rendered": 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/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--ztv8py3/replay.mp4",
+  "duration_s": 22.7,
+  "fps": 10.0,
+  "frames": 227,
+  "sha256": "b353a420f03ad042ad1c56b6fa07c8245046dd30d70158df101661e282f1ce73"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "pencil_at_goal": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色细彩铅平放于白色台面，红帽记号笔与其分离；与参考成功视频 0.0 s 的初态一致。"
+     },
+     {
+      "t": 6.3,
+      "log_step": null,
+      "text_zh": "观察：视频 3.0–5.4 s 机器人右夹爪下降并在彩铅端部合拢，彩铅仅有轻微台面内偏移；视频 5.7–6.6 s 夹爪抬起而彩铅仍留在台面，视频 7.2–10.8 s 空手移动期间彩铅也未随手升起。"
+     },
+     {
+      "t": 22.6,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–22.6 s 彩铅始终留在原工作区域且无明显转歪，视频 21.6–22.6 s 仍与记号笔并排平放；结合评分器 success=1、replay_success=1、symbolic_success=1，判定该位姿目标从初态持续保持至末帧。视频不能直接量出毫米级位移与姿态误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "推断：视频 3.6–5.4 s 右夹爪手指合拢时轻微拨动黄色彩铅端部；视频 5.7–6.6 s 彩铅未被带起，不将合拢动作记为已夹持搬运。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–1.2 s 机器人向台面前进以接近两支笔，轮式底盘支撑机体完成本次操作的工作位置调整。"
+     }
+    ]
+   },
+   "marker_nextto_pencil": {
+    "method": "visual",
+    "intervals": [
+     [
+      18.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 红帽黑身记号笔与黄色彩铅明显分离；视频 10.8–12.3 s 记号笔仍在原台面位置，机器人右夹爪转向它。"
+     },
+     {
+      "t": 15.3,
+      "log_step": null,
+      "text_zh": "观察：视频 13.2–14.7 s 右夹爪在记号笔处闭合；视频 15.0–16.8 s 记号笔露出的黑色笔端随右手离开原处、升高并搬移，彩铅仍在台面，支持实际夹持搬运。"
+     },
+     {
+      "t": 18.3,
+      "log_step": null,
+      "text_zh": "推断：视频 17.1–18.3 s 机器人右手携记号笔下降至彩铅旁，露出的黑色笔端已靠近彩铅；视频 19.8–20.4 s 夹爪撤开后可见两笔在台面近距离并排、长轴大致平行，视频 21.6–22.6 s 保持该关系。因前臂遮住接触区，首次到达时间估为视频 18.3 s，误差约 0.5 s；此节点 freeze_held=false，不以撤手时刻代替到达时刻。"
+     },
+     {
+      "t": 22.6,
+      "log_step": null,
+      "text_zh": "推断：视频 22.0–22.6 s 两笔并排且未见继续移动，与参考成功视频 16.0–17.5 s 的目标关系一致；本次评分器 success=1、deterministic=1、replay_success=1、symbolic_success=1，支持最终关系、位姿及联合静置通过。"
+     },
+     {
+      "t": null,
+      "log_step": 74,
+      "text_zh": "观察：log step 74 的最终脚本运行输出 SAVED 702；评分器报告 n_actions=702、rows=702，表明交付的是最后保存的轨迹。此日志仅用于核对交付，不把较早测试的结果或 agent 时间映射为视频时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 13.2–19.8 s 机器人右侧二指夹爪夹住红帽黑身记号笔，笔端随右手抬升、搬至黄色彩铅旁并下放，随后夹爪张开撤离。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–1.2 s 机器人轮式底盘前进以接近两支笔，支撑机体完成记号笔摆放前的工作位置调整。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "pencil_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "pencil_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "marker_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "marker_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_max_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_max_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_max_joint_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_max_position_drift",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_max_orientation_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_max_joint_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "本次重放成功，彩铅目标位姿从视频 0.0 s 持续保持，右夹爪轻微拨动彩铅但未将其提起，随后夹持记号笔搬至彩铅旁，约视频 18.3 s 起两节点均满足并保持至视频 22.6 s。评分器确认确定性重放及符号目标成功，无失败断点；前臂遮挡使首次相邻时刻约有 0.5 s 不确定性，且无状态日志，精确位姿误差和45控制步联合静置依评分结果确认，评分器未报告各原生指标数值，均填 null。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功重放，两节点终态与首次到达时间（约18.3 s，因手臂遮挡）与帧一致；无失败断点，抓握/搬运、底盘标注合理。",
+    "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": "2026-10-30T02:22:55Z",
+  "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/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--ztv8py3/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-nextto-small-scale-i00-privileged--ztv8py3/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4b43d75dc87d3d1d66d413227dbac9fa955e95c073a66150c3e56ea8646f2392",
+   "video_sha256": "b353a420f03ad042ad1c56b6fa07c8245046dd30d70158df101661e282f1ce73",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--48zm7wr.json b/phase2/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--48zm7wr.json
new file mode 100644
index 0000000000000000000000000000000000000000..723c3c7862fe17fb01cae04a351b291dd95427c7
--- /dev/null
+++ b/phase2/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--48zm7wr.json
@@ -0,0 +1,281 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--48zm7wr",
+ "taskKey": "ispatialgym/inter_object_relation_satisfaction_ontop_small_scale",
+ "dag_sha256": "149991ba89630c9372ba8c97b9c9950caaf63efb5952e71b5bf7eb73fa2a6fa7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 700,
+   "sim_steps": 700,
+   "rows": 700,
+   "max_rows": 1900,
+   "replay_success": 0,
+   "instance_ok": 1,
+   "steps": 700,
+   "success_step": 0,
+   "symbolic_success": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 16.979,
+   "peak_memory_gb": 10.513,
+   "peak_processes": 21,
+   "peak_disk_gb": 1.781,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--48zm7wr/replay.mp4",
+  "duration_s": 23.5,
+  "fps": 10.0,
+  "frames": 235,
+  "sha256": "7a967721258932a53e4b65499b408d05e6d2815c5908b9f9b99e35830befc28b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "platter_at_target": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.4 s 红盘平放在台面，包装在盘旁；视频 12.6–23.4 s 红盘重新完整进入画面，盘相对台边、窗框的位置和长轴方向与开局一致，未见被搬走或明显转动。"
+     },
+     {
+      "t": 23.4,
+      "log_step": 220,
+      "text_zh": "推断：DAG记载红盘初态已在位置及姿态容差内；视频首尾固定参照一致，log step 220 的交付生成脚本只搬运包装、不安排移动红盘，故红盘目标位姿从开局保持到终态。中段视野外的微小扰动无法定量复核。"
+     }
+    ]
+   },
+   "package_on_platter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.4 s 包装在红盘左侧台面上；视频 12.5–13.5 s 相机转回时，包装已离开原处、横放在红盘上，视频 13.5–23.4 s 始终由盘面承托，末秒没有滑落。首尾包装的白色中央商标、绿色边带及两端图案朝向基本相同。"
+     },
+     {
+      "t": 23.4,
+      "log_step": 220,
+      "text_zh": "推断：DAG记载包装初态全姿态误差约0.439弧度，大于0.3弧度容差；log step 220 的实际交付生成脚本在抓取、抬升、横移、放下时沿用同一q_rot，没有目标姿态修正，视频首尾包装纹理也保留原朝向。因此虽完成物理上盘，仍未完成含全姿态要求的本节点；未将视野外的计划放下时刻记成达成。"
+     },
+     {
+      "t": 23.4,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分字段为symbolic_success=1、replay_success=0、success_step=0、deterministic=1；符号目标成立没有带来整体通过。该字段未给出包装姿态误差或静止窗口的分项值，不能据此单独判定具体超差量。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频中搬运及夹爪闭合、释放区域都在头部相机视野外，只有首尾物体转移可见，无法直接判定实际接触端和接触方式。log step 220 计划用右夹爪抓取，但不据此把计划抓握记为已观察接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "platter_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "platter_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "package_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "package_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_window",
+   "unit": "control_steps",
+   "threshold": 45,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_body_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_body_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_robot_joint_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_body_position_drift",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_body_orientation_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_joint_coordinate_drift",
+   "unit": "joint_coordinate",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "package_on_platter",
+   "t": 12.6,
+   "log_step": 220,
+   "where": "操作中",
+   "evidence_zh": "推断：视频 12.6 s 包装随相机回转重新可见时已在盘上，但包装纹理朝向基本保留视频 0.0 s 的初始朝向；结合DAG记载的初始朝向超差和log step 220 不调整物体姿态的搬运方案，断点为包装上盘步骤的姿态验收未达。之后直到视频 23.4 s 没有再次操作修正；评分器replay_success=0。视频 12.6 s 仅为首次清楚看到结果的导航锚点，真正放下发生于视野外。"
+  },
+  "unmet": {
+   "platter_at_target": true,
+   "package_on_platter": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 12.6,
+    "log_step": 220,
+    "evidence_zh": "推断：视频 0.0 s 与视频 13.5–23.4 s 包装的商标和端部图案朝向基本相同，表现为移到盘上而未完成所需的姿态调整；DAG初始全姿态误差约0.439弧度，超出0.3弧度要求，log step 220 的搬运也始终保持同一夹爪目标朝向。包装终态在盘上，并非掉落或未搬动；具体终态角度未由评分器报告。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "evidence_zh": "推断：log step 220 的最终生成脚本将所有抓取、抬升、移盘、放下航点都设为同一q_rot，目标位置发生变化而目标朝向不变；log step 221 生成并保存该700行交付。DAG明确初态包装朝向尚不达标，视频首尾纹理也表明主要只发生平移，支持方案遗漏包装目标姿态调整，而非逆解未执行其已设定的目标。",
+    "source_zh": "日志 / 视频"
+   },
+   {
+    "cat": "认知",
+    "item": "误以为完成",
+    "evidence_zh": "观察：log step 267 的新进程重放输出只报告700步完成、终态哈希及初态匹配，没有任务成功字段；agent在log step 272 却自述“两次重放成功”、物体朝向误差小于0.01弧度并结束。log step 270 显示仍余864.9秒工作预算，而实际评分字段replay_success=0、success_step=0；这些记录支持把重放执行完成误当作任务验收通过，影响了停止决定。",
+    "source_zh": "日志 / agent 自述 / 评分器字段"
+   }
+  ],
+  "gap_zh": "本次无状态日志，inputs/oracle/oracle.json 确认没有oracle视频，inputs/也不含可供直接比较的目标图；视频约 1.8–12.3 s 操作区域在画面外，因此实际抓握接触和中途瞬时姿态无法确定。包装朝向未达依赖首尾纹理、DAG的初始超差与交付脚本的联合推断，缺少本次终态四元数及原生误差分项；不能给出精确角度或完全排除联合静止验收另有问题。log step 224 的速度读数来自会话内生成测试，并非新进程评分重放，未作为本次原生指标；symbolic_success=1也不能单独证明全姿态达标。"
+ },
+ "summary_zh": "红盘保持初始目标位姿；包装确实从台面转移到盘上，但首尾纹理及交付脚本支持其沿用初始朝向，含全姿态容差的上盘节点未达，终态为1/2。agent遗漏目标姿态修正，又将重放正常完成和哈希一致误当作验收成功后停止，评分仍为失败。搬运接触在视野外，且缺少原生位姿与静止窗口分项，朝向失败为联合证据推断。",
+ "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、log一致：包装在视频 12.5 s 起已在红盘上，朝向与开局相近，交付脚本全程沿用同一抓取朝向 q_rot，断点和两个根因有证据支持；姿态超差为联合推断，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": "2026-10-30T02:34:01Z",
+  "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/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--48zm7wr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--48zm7wr/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6bdd450022eb7cc184ee1c5422a923f8d91d14aa25415bf20bd060f2c5d3e228",
+   "video_sha256": "7a967721258932a53e4b65499b408d05e6d2815c5908b9f9b99e35830befc28b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--aeg2ccq.json b/phase2/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--aeg2ccq.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9de569d7199177218f4f6f8279f2228f7ab5c7c
--- /dev/null
+++ b/phase2/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--aeg2ccq.json
@@ -0,0 +1,298 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--aeg2ccq",
+ "taskKey": "ispatialgym/inter_object_relation_satisfaction_ontop_small_scale",
+ "dag_sha256": "149991ba89630c9372ba8c97b9c9950caaf63efb5952e71b5bf7eb73fa2a6fa7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 410,
+   "sim_steps": 410,
+   "rows": 410,
+   "max_rows": 1900,
+   "replay_success": 0,
+   "instance_ok": 1,
+   "steps": 410,
+   "success_step": 0,
+   "symbolic_success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 16.813,
+   "peak_memory_gb": 10.025,
+   "peak_processes": 21,
+   "peak_disk_gb": 3.097,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--aeg2ccq/replay.mp4",
+  "duration_s": 13.8,
+  "fps": 10.0,
+  "frames": 138,
+  "sha256": "cebc8b5abdf10fca233cf13525c5b44622cf186f9a3fb34a8bc2872bc832f847"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "platter_at_target": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–3.0 s 红盘平放在白色台面，包装在盘左侧；DAG 记载冻结初态红盘已满足目标位姿。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：视频 3.5–8.7 s 红盘相对台面边沿未见滑动或转动，画面中的位置改变随头部视角变化；视频 9.0–13.7 s 盘逐渐只剩左下角局部，但未见红盘被碰动，按保持初态目标位姿标为持续成立。"
+     }
+    ]
+   },
+   "package_on_platter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–3.0 s 包装仍在红盘旁的台面上，上盘条件未成立。"
+     },
+     {
+      "t": 10.8,
+      "log_step": 134,
+      "text_zh": "观察：视频 9.6–11.1 s 左下角出现包装局部并向红盘区域下降，视频 11.1–13.7 s 包装局部与盘面投影重叠且最终稳定；夹爪及包装全貌在画外。log step 134 将原485行测试轨迹截为前335行并重复末行75次，最终交付410行闭爪版本；此前释放后的测试终态不当作本次完成证据。"
+     },
+     {
+      "t": 11.1,
+      "log_step": 100,
+      "text_zh": "推断：log step 100 的脚本以包装初始姿态确定固定夹爪朝向，各搬运路点只改变位置；agent 在 log step 124 明确自述将保持包装原朝向。DAG 记载包装初始全姿态误差约0.439弧度，超过0.3弧度容差；结合视频末段没有可见再调整及评分器 symbolic_success=0、replay_success=0，判断包装虽移入盘区，完整上盘位姿条件未达到。最终姿态超差为结合计划的推断，并非从局部末帧量得；未把零总分单独用作未搬运的证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 3.5–13.7 s 抓取区域和夹爪在画外，只有末段包装局部可见。log step 134 的交付动作保留左夹爪闭合指令，但画面不能确认实际包夹形态，且没有接触状态日志，故实际作用端及接触方式记未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "platter_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "platter_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "package_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "package_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_window",
+   "unit": "control_steps",
+   "threshold": 45,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_body_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_body_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_robot_joint_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_body_position_drift",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_body_orientation_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_joint_coordinate_drift",
+   "unit": "joint_coordinate",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "package_on_platter",
+   "t": 11.1,
+   "log_step": 134,
+   "where": "操作中",
+   "evidence_zh": "推断：视频 9.6–11.1 s 机器人将包装局部送入红盘区域，随后至视频 13.7 s 停住；log step 100、124 的搬运方案保持包装初始朝向，log step 134 的最终交付保留这一放置过程并直接闭爪等待。包装初始姿态超出DAG容差，未见后续纠正，评分器 symbolic_success=0、success=0；断点定位包装上盘步骤，视频 11.1 s 仅为放置结束附近的导航锚点。"
+  },
+  "unmet": {
+   "platter_at_target": true,
+   "package_on_platter": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 11.1,
+    "log_step": 100,
+    "evidence_zh": "推断：视频 10.2–13.7 s 包装已进入红盘的可见局部，但完整姿态在画外。log step 100 生成固定朝向的平移搬运，log step 124 自述保持原朝向；DAG 给出的该初态朝向误差约0.439弧度大于0.3弧度验收阈值，因此将包装朝向未对齐保留为位姿不准的推断，包装并非未曾移动。末态精确误差没有评分器分项数值可核实；log step 134 删除释放段并闭爪交付是否影响验收，也未被整体失败字段排除。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 124,
+    "evidence_zh": "推断：agent 在 log step 124 将包装原朝向判断为接近目标并决定全程保持；log step 100 的路点只规划从包装初始位置平移到红盘中心，未规划目标朝向修正。DAG 记载原朝向误差已超过容差，因此保留目标朝向规划遗漏这一可能归因。另据 log step 134 的截取代码及输出，agent 删除原485行版本的释放和撤离段，以前335行加75行末动作重复交付410行版本，末动作左夹爪指令为闭合；log step 135 自述此举是为保持目标图中的夹爪接触。该选择是否因未释放而导致失败，无法由评分器 symbolic_success=0 判定，不能将朝向未修正视为唯一原因；log step 127 自述的释放版测试成功也不作为本次评分成功证据。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "头部视角在视频约 3.5 s 后将抓取区移出画面，视频 9.6–13.7 s 只看见包装和红盘局部，实际夹爪接触、完整支撑关系和终态全姿态无法直接测量；没有逐帧状态日志，oracle也没有视频。朝向不达标及规划归因依据DAG初态误差、脚本和可见搬运作推断，不能精确确认超差数值及首次出现时刻。log step 134 删除释放段并保存410行闭爪版本，log step 135 明确自述保留辅助抓握；这一选择可能影响盘上关系或联合验收，但实际夹持情况及其失败作用未获直接确认。DAG package_on_platter.sources 记载oracle的一种成功方式为释放并停住，note_zh 同时说明原生关系实现及是否另有放手谓词缺失，故不能据oracle新增松手要求。评分器仅给 symbolic_success=0 等整体字段，未给各物体误差、静止窗口或单项关系，无法区分朝向超差与未释放等可能解释；因此所有原生数值指标留空，也不将最终闭爪本身断言为失败原因。"
+ },
+ "summary_zh": "红盘初态已达标，视频中未见其被扰动，最终计1/2个节点；包装从盘旁被移入红盘区域，但完整上盘位姿条件判断未达到。断点在包装上盘：脚本保留原本超出朝向容差的初始姿态，保留位姿不准及目标朝向规划遗漏为推断；log step 134/135 删除释放段、闭爪交付是否另致失败仍未排除。末段仅有左下角局部可见，评分器无分项结果，无法区分朝向超差与未释放等解释，因此置信度由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": "节点值、时间、断点(package_on_platter)与视频一致：红盘初态保持，9.0–13.7 s 左下角确实只见红盘局部与包装一角重叠。问题在归因：位姿不准/规划遗漏依据DAG初态误差0.439 rad+保持朝向推断，但没有排除另一同样可能的解释——agent 在 log step 127→134 刻意把已释放版(485行)改成不释放、夹爪闭合的410行版本(oracle成功方式为释放并停住)，评分器只给 symbolic_success=0，无法区分朝向超差与未释放。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（红盘保持、包装上盘未达成）、断点 package_on_platter 与视频一致；视频 3 s 后头部转向、抓取区出画，末段仅见红盘局部，标签已把朝向超差与未释放写成非唯一推断并降置信度，上一轮意见已妥善处理，无需再改。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:50:38Z",
+  "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/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--aeg2ccq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--aeg2ccq/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--aeg2ccq/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--aeg2ccq/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c21628f0013a94763ad3e67515aba91015ff4b8947db201b8f7f509c8df86274",
+   "video_sha256": "cebc8b5abdf10fca233cf13525c5b44622cf186f9a3fb34a8bc2872bc832f847",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--axhrimm.json b/phase2/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--axhrimm.json
new file mode 100644
index 0000000000000000000000000000000000000000..c503d2e39b6517ff84fa282def2863e501fe2f72
--- /dev/null
+++ b/phase2/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--axhrimm.json
@@ -0,0 +1,264 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--axhrimm",
+ "taskKey": "ispatialgym/inter_object_relation_satisfaction_ontop_small_scale",
+ "dag_sha256": "149991ba89630c9372ba8c97b9c9950caaf63efb5952e71b5bf7eb73fa2a6fa7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 357,
+   "sim_steps": 357,
+   "rows": 357,
+   "max_rows": 1900,
+   "replay_success": 0,
+   "instance_ok": 1,
+   "steps": 357,
+   "success_step": 0,
+   "symbolic_success": 0,
+   "video_rendered": 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/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--axhrimm/replay.mp4",
+  "duration_s": 12.0,
+  "fps": 10.0,
+  "frames": 120,
+  "sha256": "d776e41ef44b3d350d468cbebc2cdbf30607ceae3e78211dd3cd8009e4b30025"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "platter_at_target": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.0 s，红色椭圆盘平放于白色台面，包装在盘旁；结合DAG记载的冻结初态，红盘开局位姿达标。"
+     },
+     {
+      "t": 1.2,
+      "log_step": null,
+      "text_zh": "观察：视频约 1.1 s 红盘开始离开画面，视频 1.2–11.9 s 未再显示红盘；末段只有包装边角进入画面右下方。没有状态日志及红盘位姿评分字段，无法确定离画后是否保持位置和朝向，完整区间及终态留未知，不将离画当作失去达标状态。"
+     }
+    ]
+   },
+   "package_on_platter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.1 s，香肠包装放在红盘左侧的白色台面上，与盘面分离；此段没有上盘。"
+     },
+     {
+      "t": 11.9,
+      "log_step": null,
+      "text_zh": "观察：已逐帧查看视频 0.0–11.9 s；视频 1.2 s 后抓取区离画，视频约 8.8–11.9 s 仅包装边角在右下方可见，邻接区域为白色台面，未见红盘承托。评分器 reward.symbolic_success=0、replay_success=0、n_actions=357。"
+     },
+     {
+      "t": 11.9,
+      "log_step": null,
+      "text_zh": "推断：结合初态盘与包装分离、末段露出的包装边角周围仍是白色台面，以及评分器原生关系检查 symbolic_success=0，包装上盘终态判为未达；没有可核实的达标区间。空区间不表示已看清离画期间每次抓取，遮挡限制见 gap_zh。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 1.2–11.9 s 的主要操作区不在画面中；log step 120 的最终脚本命令右夹爪下降、闭合及提起，但视频未显示右夹爪与包装的接触，无法确认实际是夹持、按压还是未碰到，不能按典型方案记抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "platter_position_error",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better"
+  },
+  {
+   "name": "platter_orientation_error",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better"
+  },
+  {
+   "name": "package_position_error",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better"
+  },
+  {
+   "name": "package_orientation_error",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better"
+  },
+  {
+   "name": "settle_window",
+   "value": null,
+   "unit": "control_steps",
+   "threshold": 45,
+   "direction": "higher_better"
+  },
+  {
+   "name": "max_body_linear_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_body_angular_speed",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.005,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_robot_joint_speed",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_window_body_position_drift",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_window_body_orientation_drift",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_window_joint_coordinate_drift",
+   "value": null,
+   "unit": "joint_coordinate",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "package_on_platter",
+   "t": null,
+   "log_step": 121,
+   "where": "操作中",
+   "evidence_zh": "推断：log step 120 启动最后一次右夹爪抓取及移向红盘的脚本，log step 121 的该次输出记录包装提起检查失败、终态仍在原处并保存357行；log step 122 核实交付为357行，评分器也重放357步且 symbolic_success=0，故失败步骤为包装上盘。视频 1.2 s 后操作区离画，不能定位抓取失败的可见时刻，t留空；此前重置测试中的掉落不作为本次断点。"
+  },
+  "unmet": {
+   "platter_at_target": null,
+   "package_on_platter": false
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": null,
+    "log_step": 121,
+    "evidence_zh": "推断：agent脚本在 log step 121 报告闭爪后包装位移仅0.0002米，执行提起动作后包装高度仍为0.839米、平面位置仍为[0.694,0.097]，随后记录no retry并保存357行；log step 116、119 的独立测试也记录提起后包装仍在台面高度。结合 log step 122 的交付行数及评分器357步失败结果，证据支持抓取执行环节的控制问题；无法进一步判定指垫几何、闭合量或跟踪的具体责任。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "观察：输入有完整12.0秒视频和运行日志，但没有状态日志；oracle.json注明成功参考无视频。视频约 1.2 s 后红盘及主要夹爪操作区域离画，视频 11.0–11.9 s 逐帧也只见包装一小角，不能核实抓握、推压或短暂上盘，因此接触填未知，失败现象留空，且不能给出可靠断点视频时刻；红盘仅初态可确认达标，完整区间及终态留未知。log step 121 的坐标是agent脚本诊断，作为根因的会话证据，不能替代不可见的逐帧接触；log step 123 关于夹爪闭合轴的猜测未经验证，未据此细分根因。评分器未给出DAG所列位姿误差和静止窗口指标，native_metrics均留空。"
+ },
+ "summary_zh": "红盘在视频开局已处于目标位姿，包装在盘旁；评分器原生关系检查未通过，包装上盘终态未达，红盘终态因离画无法确认。最后交付的357步轨迹对应一次抓取失败的尝试，会话诊断支持控制问题，但视频约 1.2 s 后未展示主要操作区，实际接触、具体失败现象及红盘后续位姿无法核实。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "标注保守且与证据一致：视频约1.2 s后主要操作区离画，红盘终态与实际接触留未知、包装上盘终态为否（评分器 symbolic_success=0）、断点定为 package_on_platter 均有日志和评分字段支持，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": "2026-10-30T02:45:58Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--axhrimm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--axhrimm/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "446009885b6ef9c2d87e4f69aa5921a6e7846be6e4cb4d0215076c0bfdb20dab",
+   "video_sha256": "d776e41ef44b3d350d468cbebc2cdbf30607ceae3e78211dd3cd8009e4b30025",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--nms8bjx.json b/phase2/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--nms8bjx.json
new file mode 100644
index 0000000000000000000000000000000000000000..49b6c1929fffe3f9761f7d4cee6af5e4fbd2719e
--- /dev/null
+++ b/phase2/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--nms8bjx.json
@@ -0,0 +1,293 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--nms8bjx",
+ "taskKey": "ispatialgym/inter_object_relation_satisfaction_ontop_small_scale",
+ "dag_sha256": "149991ba89630c9372ba8c97b9c9950caaf63efb5952e71b5bf7eb73fa2a6fa7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 1895,
+   "sim_steps": 1895,
+   "rows": 1895,
+   "max_rows": 1900,
+   "replay_success": 0,
+   "instance_ok": 1,
+   "steps": 1895,
+   "success_step": 0,
+   "symbolic_success": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 17.085,
+   "peak_memory_gb": 9.95,
+   "peak_processes": 23,
+   "peak_disk_gb": 3.121,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--nms8bjx/replay.mp4",
+  "duration_s": 63.3,
+  "fps": 10.0,
+  "frames": 633,
+  "sha256": "ec64fbbe255794c70b559e879a423ec481f44f98e92936f205aee85f534027b5"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 2,
+  "final": 1,
+  "nodes": {
+   "platter_at_target": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 红盘已平放在台面目标区域，包装在盘左侧；视频全程粗查及视频 36.0–43.5 s、55.5–57.4 s、60.5–63.2 s 密查中，红盘未被移走或明显转向。"
+     },
+     {
+      "t": 63.2,
+      "log_step": 143,
+      "text_zh": "推断：红盘位姿从初态保持到视频 63.2 s。DAG记载初态位姿已达标；log step 143 所示最后交付片段的诊断盘中心为(7.09798,3.16221,0.82074)米，距DAG目标约0.002米，朝向变化也远小于0.3弧度，与视频末帧盘仍在原处一致；微小振动不等同于本节点位姿失效。"
+     }
+    ]
+   },
+   "package_on_platter": {
+    "method": "visual",
+    "intervals": [
+     [
+      38.0,
+      55.9
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–10.0 s 包装在红盘左侧的台面上；视频 12.0 s 包装已离开原位置，随右夹爪抬起；视频 15.0–18.6 s 右手将它移到盘上方并下降。此时到达盘的投影区域不等于已有盘面支撑。"
+     },
+     {
+      "t": 38.0,
+      "log_step": 138,
+      "text_zh": "推断：视频约 38.0 s 微量下降后，包装在盘中央接触盘面且保持一定倾角，暂记完整上盘节点成立，起点约有0.5秒不确定性。log step 132、136 的交付动作先持物倾斜再逐级降低；log step 138 的同段诊断在高度0.868米时OnTop为false、降到0.866米时为true。此处OnTop是仿真器的包装与盘接触且盘位于下方的关系检查，不是成功总判据。"
+     },
+     {
+      "t": 41.3,
+      "log_step": 138,
+      "text_zh": "推断：交付动作共1895个30赫兹控制步，对应视频约63.2秒；log step 136 的0.866米高度段结束于控制步1240，即视频约41.3 s，视频中可核对为持物停在盘面的阶段；控制步330附近开始上提对应视频约11.0 s，也与视频 10.0 s 在旧位置、12.0 s 已抬起一致。视频 38.0–55.8 s 的持物倾角及位置结合log step 132 的倾斜目标与log step 129–130 的目标图拟合，支持该段近似达标；没有原生逐帧姿态误差可精确复核边界。"
+     },
+     {
+      "t": 55.9,
+      "log_step": 142,
+      "text_zh": "观察：视频 55.5–55.8 s 包装仍由夹爪围住；视频约 55.9–56.3 s 右夹爪完全张开，包装改变倾角、落平一些，随后留在盘上。视频 60.5–63.2 s 包装未再被抓起恢复倾角。"
+     },
+     {
+      "t": 63.2,
+      "log_step": 143,
+      "text_zh": "推断：最终盘上关系存在，但包装完整目标姿态未保持。log step 143 为log step 142 保存、log step 144 随即复制交付的终态诊断：包装四元数约(-0.002526,-0.001656,0.959100,0.283052)，相对log step 52 所示初态四元数仅转动0.08596弧度；结合DAG记载的初态目标朝向误差0.43906弧度，旋转距离三角不等式给出终态目标朝向误差至少0.35310弧度，超过0.3弧度。该推断以交付片段诊断与视频所见释放后变平一致为依据；评分字段symbolic_success=1仅确认关系，不能抵消朝向要求。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 8.0–11.0 s 右二指夹爪夹住包装两侧；视频 12.0 s 包装随右手离开原台面，随后被搬到盘上。机器人用同一右夹爪持物下降、微调高度及开度，视频约 55.9 s 完全张开后包装留在盘面，夹爪仍停在包装旁。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "platter_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "platter_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "package_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "package_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_window",
+   "unit": "control_steps",
+   "threshold": 45,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_body_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_body_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_robot_joint_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_body_position_drift",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_body_orientation_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_joint_coordinate_drift",
+   "unit": "joint_coordinate",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "package_on_platter",
+   "t": 55.9,
+   "log_step": 142,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 55.9 s 右夹爪在盘上张开，包装随之改变倾角；视频 56.3–63.2 s 没有恢复倾角的动作。推断：包装虽留在盘上，释放后未保持完整目标姿态，失败落在香肠包装上盘步骤；log step 143 的交付终态诊断与DAG初态误差合用，给出包装终态朝向误差下界约0.353弧度，高于0.3弧度。"
+  },
+  "unmet": {
+   "platter_at_target": true,
+   "package_on_platter": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "放后不稳",
+    "t": 55.9,
+    "log_step": 142,
+    "evidence_zh": "观察：视频 55.5–56.3 s 机器人按计划在红盘上张开右夹爪，包装留在盘面却改变倾角，视频 63.2 s 仍是释放后的姿态。推断：这是到盘后的释放使包装姿态变化，非在盘外松手；log step 143 的保存终态诊断还记录包装角速度0.08443弧度/秒、红盘角速度0.03603弧度/秒，均高于任务静止阈值0.005弧度/秒，支持释放后没有形成所需稳定终态。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 55.9,
+    "log_step": 142,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：机器人采用先夹持倾斜包装、逐级压低到盘面、再完全松开的接触方案，但最终盘面支承没有保留所需倾角。log step 132 明确设置包装倾角(-0.18,-0.08)弧度，log step 136、139 调低高度并调整夹爪开度，log step 142 最后完全打开夹爪；视频 55.9–56.3 s 看到随张开产生的姿态变化，log step 143 终态包装已近乎平放且残留角运动。证据支持释放与支承几何不适配，无法据此断言所有夹持或放置方案均不可行。"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志，且成功oracle没有视频；目标图原文件及原生逐帧目标误差未随本阶段输入提供。包装在视频约38.0–55.9 s 完整达标的区间，尤其倾角是否始终在0.3弧度内，依据画面、交付动作和目标图拟合近似推断；终态朝向超差有旋转距离下界支持，但交付片段的诊断数值并非评分器直接输出的原生指标。评分器只报symbolic_success=1、replay_success=0，未逐项报告位姿和静止窗口失败项；不能从视频精确测出微小速度，也不把会话中其他重置试验当成评分轨迹。"
+ },
+ "summary_zh": "红盘从视频 0.0 s 起保持目标位姿；右夹爪将包装搬到盘上，视频约 38.0–55.9 s 暂时达到放置及倾斜姿态，最终保留1/2个节点。视频约 55.9 s 完全松开后包装倾角改变，交付终态诊断支持朝向超差且仍有残余角运动，评分器虽报symbolic_success=1，整体success仍为0；接触与释放方案未保持所需终态。缺少逐帧状态、目标图原文件及原生误差，临时达标区间属于近似推断。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值、时间、断点（package_on_platter，操作中）与现象/根因均有帧和log支持，未发现需改动的错误。红盘全程在原位，包装约38 s起在盘上、55.9 s松爪后变平，终态朝向与静止窗口未达标与success=0一致。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:47:06Z",
+  "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/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--nms8bjx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--nms8bjx/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e083d63bb1109392ab2c6d9871dcf2862ca875d3d57f943b2cfacc2019040980",
+   "video_sha256": "ec64fbbe255794c70b559e879a423ec481f44f98e92936f205aee85f534027b5",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--tl5va93.json b/phase2/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--tl5va93.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0ea1d1ae89f8cf7d4bcfc768e773f9bf988fa1c
--- /dev/null
+++ b/phase2/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--tl5va93.json
@@ -0,0 +1,265 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--tl5va93",
+ "taskKey": "ispatialgym/inter_object_relation_satisfaction_ontop_small_scale",
+ "dag_sha256": "149991ba89630c9372ba8c97b9c9950caaf63efb5952e71b5bf7eb73fa2a6fa7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 575,
+   "sim_steps": 575,
+   "rows": 575,
+   "max_rows": 1900,
+   "replay_success": 0,
+   "instance_ok": 1,
+   "steps": 575,
+   "success_step": 0,
+   "symbolic_success": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 16.997,
+   "peak_memory_gb": 10.586,
+   "peak_processes": 29,
+   "peak_disk_gb": 0.64,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--tl5va93/replay.mp4",
+  "duration_s": 19.3,
+  "fps": 10.0,
+  "frames": 193,
+  "sha256": "cd41512b34c056bcd493099f5debc8feb29a86bc7285578822828bc61d870f00"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "platter_at_target": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 红盘平放于白色台面，包装在其左侧；DAG注明红盘初态已在目标位姿容差内。"
+     },
+     {
+      "t": 19.2,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0–19.2 s 的台面参照，红盘始终平放且没有明显平移或旋转；视频 11.5 s 包装落盘及视频 18.2–19.2 s 逐帧检查均未见红盘被推走，故保留其初始达标状态。相机视角随机器人躯干动作改变，不据红盘的屏幕坐标变化判为移位。"
+     }
+    ]
+   },
+   "package_on_platter": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 6.5,
+      "log_step": 159,
+      "text_zh": "观察：视频 4.5–6.5 s 左侧画面中的二指夹爪合拢夹住包装，随后包装离开原来的台面位置，随夹爪上升并向红盘移动；log step 159 的最终生成动作使用 left_tcp 和左夹爪，与此动作顺序相符。"
+     },
+     {
+      "t": 14,
+      "log_step": null,
+      "text_zh": "观察：视频约 11.5 s 包装已下降到红盘面，视频 12.5–14.0 s 夹爪张开并上撤，包装留在盘面；视频 18.2–19.2 s 逐帧可见包装仍横放在盘上，未见滑落或宏观晃动。盘上放置这一几何结果已发生，时间约有 0.5 s 不确定性。"
+     },
+     {
+      "t": 19.2,
+      "log_step": 79,
+      "text_zh": "推断：本节点还要求包装完整姿态误差≤0.3弧度；现有输入没有目标图或完整目标四元数，没有重放状态日志或逐物体误差字段。log step 79 的154度偏航是agent按图像轮廓拟合的自定目标，log step 167 的约0.005弧度也是agent相对该估计的自述，不能验证评分器目标。虽已观察到上盘，仍无法确定整个节点何时达标或终值，故完整节点保留未知。"
+     },
+     {
+      "t": null,
+      "log_step": 166,
+      "text_zh": "观察：log step 164 保存575行动作，log step 166 确认交付数组为(575,23)且数值有限；评分器记录同为575步、deterministic=1、symbolic_success=1、replay_success=0、success=0，且infra_error=sim_error=grader_error=0。symbolic_success只报告符号层结果，未给出本节点的位姿验收结果。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 5.0–12.5 s 机器人左手二指夹爪夹住香肠包装两侧，提离台面后搬到红盘上，再张开并向上撤离；由 log step 159 的 left_tcp 动作确认作用手。未见另一只手参与此步骤。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "platter_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "platter_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "package_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "package_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_window",
+   "unit": "control_steps",
+   "threshold": 45,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_body_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_body_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_robot_joint_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_body_position_drift",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_body_orientation_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_joint_coordinate_drift",
+   "unit": "joint_coordinate",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "package_on_platter",
+   "t": 14,
+   "log_step": null,
+   "where": "终态验收",
+   "evidence_zh": "观察：视频约 11.5–14.0 s 机器人已将包装放到红盘面并撤开夹爪，视频 14.0–19.2 s 包装留在盘上、红盘保持原位；评分器仍记录 replay_success=0、success_step=0。推断：可定位到包装放置后的最终位姿及联合静止验收，具体失败瞬间和未通过的合取项无法由当前记录确定；视频 14.0 s 仅作放置结束后的导航锚点。"
+  },
+  "unmet": {
+   "platter_at_target": true,
+   "package_on_platter": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/只有本次重放视频、运行记录及oracle元数据，没有状态日志，oracle也没有视频；该工作目录没有可查看的目标图或完整目标四元数。评分器只给总体失败和symbolic_success=1，未报告两物体的位姿误差、速度或45步联合静止验收明细；log step 163–164 的 settled_by_drift 读数来自agent会话测试，不是评分重放的验收数据。推断：能确认包装已抓起、搬运、落盘和松爪，不能确认包装是否在完整姿态容差内，也不能在目标姿态偏差、细微速度超阈值或其他验收项之间判别；因此包装完整节点未知，现象与根因留空，不把会话测试中的抖动或agent的完成自述当作重放失败原因。"
+ },
+ "summary_zh": "红盘从初态起保持目标位姿；机器人左夹爪抓起香肠包装，于视频约 11.5–14.0 s 放到红盘上并松爪，包装在视频 19.2 s 仍留在盘面。评分器记录 symbolic_success=1 但最终 success=0，断点定位于包装放置后的终态验收；包装完整姿态及联合静止验收缺少重放明细，完整包装节点保留未知，现象和根因不作无证据归因。",
+ "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：左夹爪抓起包装、约 11.5 s 放到红盘上并松爪，红盘未被移动；包装完整位姿及联合静止验收缺少明细，保持 unknown 并留空现象/根因有依据。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:28:46Z",
+  "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/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--tl5va93/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--tl5va93/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b968566e3ce5e8709cd3033db8920b54ac34e8bcae4259239c18b662de5e88e7",
+   "video_sha256": "cd41512b34c056bcd493099f5debc8feb29a86bc7285578822828bc61d870f00",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--ubd7spm.json b/phase2/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--ubd7spm.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c08e86839735a9d2efe1e6d3f771bfa74c6e249
--- /dev/null
+++ b/phase2/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--ubd7spm.json
@@ -0,0 +1,281 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--ubd7spm",
+ "taskKey": "ispatialgym/inter_object_relation_satisfaction_ontop_small_scale",
+ "dag_sha256": "149991ba89630c9372ba8c97b9c9950caaf63efb5952e71b5bf7eb73fa2a6fa7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 1800,
+   "sim_steps": 1800,
+   "rows": 1800,
+   "max_rows": 1900,
+   "replay_success": 0,
+   "instance_ok": 1,
+   "steps": 1800,
+   "success_step": 0,
+   "symbolic_success": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 33.295,
+   "peak_memory_gb": 16.573,
+   "peak_processes": 32,
+   "peak_disk_gb": 1.379,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_gpu_memory_gb": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--ubd7spm/replay.mp4",
+  "duration_s": 60.1,
+  "fps": 10.0,
+  "frames": 601,
+  "sha256": "249e60ceca59b40d15719a72b394c11e52fb604c96c5cef6ff1c90faae3b08fc"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "platter_at_target": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 红色椭圆盘平放于白色台面，包装在盘左侧；DAG 的红盘初态基准已在目标位姿容差内。"
+     },
+     {
+      "t": 60.0,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–60.0 s 的全程粗采样、视频 10.5–16.2 s 的放置密集帧及视频 59.0–60.0 s 的逐帧检查中，红盘相对台面的位置和长轴方向均保持，机器人没有抓取或推移红盘；据初态已达标的基准，将红盘位姿节点保持为真。包装和机械臂的阴影变化不作为盘体倾倒或移动。"
+     }
+    ]
+   },
+   "package_on_platter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 包装在红盘左侧台面上，尚未上盘。"
+     },
+     {
+      "t": 7.4,
+      "log_step": null,
+      "text_zh": "观察：视频 4.6–6.2 s 右夹爪从两侧夹住包装，视频 6.6–7.4 s 包装随夹爪升离台面，原来的台面位置空出；随后右臂将包装搬向红盘，包装的长轴方向及朝上的标签面基本保持。"
+     },
+     {
+      "t": 12.0,
+      "log_step": null,
+      "text_zh": "观察：视频 10.5–12.3 s 右夹爪将包装降至红盘上，视频 14.7–15.6 s 夹爪撤离时包装留在盘面；视频 16.0–60.0 s 的粗采样及视频 59.0–60.0 s 的逐帧检查均显示包装仍横放于盘上，没有滚出或再次抓取。这里只确认盘面承托关系。"
+     },
+     {
+      "t": 60.0,
+      "log_step": 103,
+      "text_zh": "推断：本节点还要求包装全姿态误差≤0.3弧度；DAG criterion_zh 及其初态来源说明包装初始误差为0.4390613弧度，且无姿态对称豁免。视频中的抓取、平移、放下及末帧未显示包装重定向；log step 64 的脚本沿用同一末端四元数，log step 90 只改落点，agent 在 log step 103 也明确自述保持原偏航及水平姿态。由初态误差与视频中基本保留的姿态推断，包装虽已上盘，仍未满足完整姿态验收，因此不记达标区间；不是由总分0反推未上盘。会话 log step 32、91 的里程计姿态读数近乎相同，仅作为这一推断的辅助证据，并非评分回放逐帧状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人右手二指夹爪在视频约5.2 s 夹住香肠包装，视频约6.6–12.0 s 提起并搬运到红盘，随后张开并在视频约14.7–15.6 s 撤开；左手未参与此操作，未见底盘行驶。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "platter_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "platter_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "package_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "package_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_window",
+   "unit": "control_steps",
+   "threshold": 45,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_body_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_body_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_robot_joint_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_body_position_drift",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_body_orientation_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_joint_coordinate_drift",
+   "unit": "joint_coordinate",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "package_on_platter",
+   "t": 12.0,
+   "log_step": 64,
+   "where": "操作中",
+   "evidence_zh": "推断：视频约12.0 s 机器人把包装以基本保留初始朝向的姿态放到红盘上，随后松手撤开，直到视频60.0 s 未再纠正姿态；DAG 给出的包装初态朝向误差0.4390613弧度大于0.3弧度容差，故上盘步骤的完整位姿验收未完成。log step 64 的放置脚本固定末端朝向，log step 103 的最终报告明确称保持原偏航。评分字段 symbolic_success=1、replay_success=0，与物体关系成立但整体未验收成功相容，不能仅凭 symbolic_success 判定全部位姿达标。"
+  },
+  "unmet": {
+   "platter_at_target": true,
+   "package_on_platter": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 12.0,
+    "log_step": 103,
+    "evidence_zh": "推断：视频约12.0 s 包装被放上红盘，但视频0.0 s、7.4 s、15.6 s 和60.0 s 对比显示包装朝向基本保留，未见目标姿态所需的重定向；结合DAG初态全姿态误差0.4390613弧度及0.3弧度容差，判为包装朝向未达标。视频末尾包装仍由盘面承托，不是掉落或滑出。agent 在 log step 103 对轨迹的描述同样称保持偏航不变。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "evidence_zh": "推断：agent 在 log step 103 将目标图要求解释为“keeping its yaw”，并称根据目标图拟合相机、估计平移目标；log step 64 的脚本只搬移包装且保持固定末端朝向，log step 90 只调整放置位置。视频约6.6–15.6 s 的实际搬放与这一估计一致；但DAG的包装初态全姿态误差已经超过目标容差，保持原姿态无法满足目标，支持目标图中包装朝向估计错误，而非已规划旋转后未跟踪到位。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 没有 states.jsonl，也没有成功参照视频；评分字段未报告各对象位姿误差或45控制步静止窗口的逐步结果，全部原生指标值因此保留为null。推断：包装姿态不达标由DAG初态误差、视频中未重定向的搬放过程及脚本共同判断，无法给出评分回放的精确终态角度。log step 93、98–100 是生成最终交付文件的新进程试验，确实记录包装和盘的静止判定失败；log step 101 复制其1800行文件交付，但这些会话采样不替代评分回放的速度日志。视频末尾无明显宏观晃动，故不把agent在log step 103自述的微小抖动另标为放后不稳，也不据此断言任务或环境异常。"
+ },
+ "summary_zh": "红盘从视频0.0 s 起保持目标位姿；右夹爪成功抓起包装，在视频约12.0 s 放到盘上并撤开，但包装基本保留初始姿态，结合DAG的初始朝向误差推断其未满足0.3弧度姿态容差，最终节点为1/2。断点为香肠包装上盘，现象为位姿不准，日志支持agent把目标图误估为保持原朝向即可；评分器报告symbolic_success=1但replay_success=0。没有评分回放的位姿和速度日志，精确姿态误差及静止窗口失败情况不能直接核验，微小抖动仅见会话诊断。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "红盘全程保持、包装在视频约12 s 放上盘并撤开，节点结果1/2、断点package_on_platter、位姿不准的推断（初态朝向误差0.439>0.3 rad，agent会话里包装四元数始终0.441/0.897即偏航未变）与帧相符；因无评分回放的位姿/速度日志，朝向与静止窗口哪个先失败无法由准入证据区分，文件已在gap_zh中如实说明，未发现必须修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:46:55Z",
+  "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/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--ubd7spm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--ubd7spm/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "cf90ec09963a79e5008357ada3ed571fb01e35cb4a7ff449d003034bdd8c7d0c",
+   "video_sha256": "249e60ceca59b40d15719a72b394c11e52fb604c96c5cef6ff1c90faae3b08fc",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--ygkjwdq.json b/phase2/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--ygkjwdq.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e6a6b2af399fad124ed92b947eead2582c07193
--- /dev/null
+++ b/phase2/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--ygkjwdq.json
@@ -0,0 +1,303 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--ygkjwdq",
+ "taskKey": "ispatialgym/inter_object_relation_satisfaction_ontop_small_scale",
+ "dag_sha256": "149991ba89630c9372ba8c97b9c9950caaf63efb5952e71b5bf7eb73fa2a6fa7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 331,
+   "sim_steps": 331,
+   "rows": 331,
+   "max_rows": 1900,
+   "replay_success": 0,
+   "instance_ok": 1,
+   "steps": 331,
+   "success_step": 0,
+   "symbolic_success": 1,
+   "video_rendered": 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/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--ygkjwdq/replay.mp4",
+  "duration_s": 11.2,
+  "fps": 10.0,
+  "frames": 112,
+  "sha256": "f22eb03f54eb035174ec8322625a2c1a5f29da8088d614ea69c56c16320c3240"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": null,
+  "peak": null,
+  "final": 1,
+  "nodes": {
+   "platter_at_target": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0、0.5、1.0 s，红色椭圆盘平放在白色台面上，包装在盘旁；DAG注明此冻结初态的盘位姿已达标。"
+     },
+     {
+      "t": 11.1,
+      "log_step": 204,
+      "text_zh": "推断：视频 5.5–11.1 s 的右下角持续可见红盘边缘，未见盘被搬走或翻转；log step 194 的脚本明确读取最终交付的331行文件重放，log step 204 得到盘中心约(7.0971,3.1618,0.8207)米，与初始位置相同。结合初态达标及交付脚本只操作包装，判盘目标位姿保持；镜头移动和裁边使这一连续保持为上下文推断，非逐帧原生位姿测量。"
+     }
+    ]
+   },
+   "package_on_platter": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": 12,
+      "text_zh": "观察：视频 0.0–1.5 s，包装仍在红盘旁的台面上，未在盘上；log step 12 记录其初始四元数约(0.000612,-0.000023,0.946104,0.323864)，对应偏航约142.21°、倾斜约0.07°。"
+     },
+     {
+      "t": 8.5,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0、7.4–8.6、9.5 s 及末秒视频 10.2–11.1 s，画面右下角逐渐露出的包装位于红盘上；包装和夹爪的大部分始终在画面外，未直接看到完整拿起、闭夹或松开过程。评分器 reward.symbolic_success=1，但 replay_success=0、success_step=0，符号关系成立不等于本节点包含的位姿条件全部成立。"
+     },
+     {
+      "t": 11.1,
+      "log_step": 204,
+      "text_zh": "推断：log step 194–204 明确重放最终交付的331行文件，结果为包装中心约(7.0880,3.1498,0.8599)米、倾斜0.31°、偏航141.01°，盘上终态与视频 8.5–11.1 s 的可见局部一致；评分器也确认331行、deterministic=1且符号目标成立。DAG记初始包装朝向误差0.4390613弧度且无对称豁免，交付文件复放终态与初态的转角上界约为(1.20+0.07+0.31)°=0.0276弧度，故终态距目标的全姿态误差至少约0.411弧度，仍大于0.3弧度，final=false。该估计取自交付文件的会话复放，非评分器原生误差字段；镜外操作是否曾短暂满足完整条件及其时间无法确定，intervals保留null。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 1.5 s 后取放区域大多移出视野，视频 6.0–11.1 s 仅见包装和红盘的局部，夹爪不在画面内；虽交付脚本命令右夹爪闭合、搬运并张开，现有视频及无状态日志的输入不能确认实际对向夹持或按压接触，故接触方式未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "platter_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "platter_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "package_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "package_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_window",
+   "unit": "control_steps",
+   "threshold": 45,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_body_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_body_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_robot_joint_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_body_position_drift",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_body_orientation_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_joint_coordinate_drift",
+   "unit": "joint_coordinate",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "package_on_platter",
+   "t": 8.0,
+   "log_step": 204,
+   "where": "操作中",
+   "evidence_zh": "推断：视频 7.4–8.6 s 已可见包装落在红盘上的局部，之后直到视频 11.1 s 未见再次调整；log step 190 的交付脚本保持初始包装朝向，log step 204 的交付文件复放结果也基本保持该朝向。结合DAG的初态朝向误差，包装虽到盘上仍未满足完整目标位姿，且未修复。视频 8.0 s 仅作放置末段的导航锚点，不表示看到了松手瞬间。"
+  },
+  "unmet": {
+   "platter_at_target": true,
+   "package_on_platter": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 8.0,
+    "log_step": 204,
+    "evidence_zh": "推断：视频 8.5–11.1 s 的可见局部显示包装在盘上，评分器 symbolic_success=1；但log step 204 对交付文件复放测得包装仍近似初始朝向（偏航141.01°、倾斜0.31°，初始约142.21°、0.07°）。由DAG的初始目标朝向误差0.4390613弧度减去约0.0276弧度的朝向变化上界，终态目标朝向误差仍至少约0.411弧度，超过0.3弧度。此处为结合交付记录的姿态推断，裁边画面本身不能量出误差。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 211将目标图的位姿解释为“platter centre, pack's original yaw”；log step 190的交付脚本用初始四元数计算yaw_pack，并以同一末端朝向生成抓取、搬运及放置目标。task/task_dag.json:78、100–102记录包装无姿态对称豁免、初始目标朝向误差0.4390613弧度且容差为0.3弧度；log step 194–204对最终交付的331行文件复放测得包装偏航141.01°、倾斜0.31°，仍接近初始偏航142.21°、倾斜0.07°。推断：agent从目标图估计包装目标朝向时错误地沿用初始朝向，交付动作也保持了这一估计；按初末朝向变化上界约0.0276弧度，终态目标朝向误差仍至少约0.411弧度，说明这一错误估计导致上盘后朝向仍超差。此为日志与DAG初态事实结合的推断，非由裁边视频直接量得。"
+   },
+   {
+    "cat": "认知",
+    "item": "误以为完成",
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 194 的交付文件复放检查仅打印包装位置、倾斜、偏航和离盘中心距离，没有将全姿态与目标比较或读取原生45步联合静止验收；log step 210 只确认末45行命令相同，log step 211 随即自述“The task is complete”，并称目标采用包装原来的偏航角。推断：agent将居中平放及恒定命令当作完整成功而结束，未再修正超容差的目标朝向；run.wall_s=3053、time_limit_s=3600，结束时仍有约547秒墙钟预算。"
+   }
+  ],
+  "gap_zh": "观察：inputs/有完整视频和run.json，但无states.jsonl；oracle.json明确无参考视频。头部相机随躯干转动，主要取放及夹爪接触在画面外，末段仅见盘和包装局部，因此实际抓握/按压方式未知，包装完整位姿的历史成立时段无法确定。推断：红盘持续保持及包装终态朝向不合格均借助上下文和交付文件的会话复放记录；没有评分器逐物体误差、速度、漂移或静止窗口字段，不能精确验证其数值，也不能排除镜外短暂达标，故包装intervals=null，全部native_metrics.value=null；不将早期会话试验中的倾翻或抓取失败算作本次现象。"
+ },
+ "summary_zh": "推断：红盘保持初始达标位姿；包装被移到盘上，评分器symbolic_success=1，但最终仍近似初始朝向，结合DAG初始朝向误差推得包装全姿态超出容差，末态完成1/2节点。观察：agent在log step 211把居中平放和末尾恒定动作视为完成后结束，而评分器replay_success=0。推断：断点为香肠包装上盘的位姿验收，根因为将目标朝向错误估为初始朝向（认知·感知），以及误以为完成；操作和夹爪大多在镜外，无状态日志或原生误差字段，包装历史达标区间及实际接触未知。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值（红盘保持、包装上盘final=false）、断点package_on_platter、现象位姿不准与视频/log一致；但根因漏掉了真正导致朝向错的原因：agent从目标图估计目标位姿时把包装目标偏航定为“原偏航”，与DAG的0.439弧度初始朝向误差矛盾，属对目标朝向的错误估计。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值、断点、现象与根因（感知、误以为完成）与视频、log和评分器字段一致；第1轮已采纳的修改无新问题。裁边画面无法直接量朝向，标签已标为推断。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:51:12Z",
+  "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/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--ygkjwdq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--ygkjwdq/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--ygkjwdq/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-privileged--ygkjwdq/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "74feb2a01948c3ae08a08a5956f491032f95edc58a94de6a699bf011d2577198",
+   "video_sha256": "f22eb03f54eb035174ec8322625a2c1a5f29da8088d614ea69c56c16320c3240",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-standard--tuiw6bm.json b/phase2/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-standard--tuiw6bm.json
new file mode 100644
index 0000000000000000000000000000000000000000..0829bc0a55dda016fdc406244be887c370e87a35
--- /dev/null
+++ b/phase2/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-standard--tuiw6bm.json
@@ -0,0 +1,299 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-standard--tuiw6bm",
+ "taskKey": "ispatialgym/inter_object_relation_satisfaction_ontop_small_scale",
+ "dag_sha256": "149991ba89630c9372ba8c97b9c9950caaf63efb5952e71b5bf7eb73fa2a6fa7",
+ "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": 1900,
+   "sim_steps": 1900,
+   "max_steps": 1900,
+   "steps": 1855,
+   "elapsed_s": 2603.4,
+   "symbolic_success": 0,
+   "success_step": 0,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.651,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.956,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-standard--tuiw6bm/replay.mp4",
+  "duration_s": 63.5,
+  "fps": 10.0,
+  "frames": 635,
+  "sha256": "4f084733e881239d51c3c5f30cffe217c356c0b13a5d431a5e28a5cd570222b4"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "platter_at_target": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 红盘平放在白色台面上；DAG记载该冻结初态的红盘位姿已达标。视频 0.0–21.0 s 的台面操作中，红盘相对台边的位置和长轴方向未见明显改变。"
+     },
+     {
+      "t": 48,
+      "log_step": null,
+      "text_zh": "观察：视频 46.0–49.0 s 红盘重新完整出现在台面上，仍平放在原工作区，盘内为空；视频 48.0 s 包装在盘前方的地板上。"
+     },
+     {
+      "t": 63.4,
+      "log_step": 186,
+      "text_zh": "推断：结合视频 0.0–21.0 s、46.0–49.0 s 红盘未见被移走，及 log step 161–186 机器人针对地板包装执行抓取和向盘上搬运的记录，红盘目标位姿按保持处理。视频 49.5–63.4 s 未显示红盘，终段精确容差没有逐物体检查器读数，末值为上下文推断。"
+     }
+    ]
+   },
+   "package_on_platter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 包装在红盘左侧的台面上，未在盘内。视频 2.5–8.5 s 左夹爪靠近、闭合和抬起后，包装仍留在台面，未随夹爪完成拿起。"
+     },
+     {
+      "t": 18.4,
+      "log_step": 77,
+      "text_zh": "观察：视频 14.0–18.1 s 包装仍由盘旁台面承托；视频 18.2 s 左夹爪抬起时包装没有随爪上升，而在视频 18.3–18.6 s 越过台边下落。红盘始终为空。"
+     },
+     {
+      "t": 48,
+      "log_step": 157,
+      "text_zh": "观察：视频 48.0 s 包装清楚可见于机器人与台面之间的木地板，红盘仍为空；此前的地板恢复操作没有把包装送上盘。agent 在 log step 157 也自述此前侧向抓取在包装上方闭合。"
+     },
+     {
+      "t": 63.4,
+      "log_step": 189,
+      "text_zh": "推断：视频 48.0 s 包装仍在地板，视频 49.5–63.4 s 的头部视野没有提供其成功上盘的证据；评分器终态 symbolic_success=0、live_success=0、replay_success=0，支持上盘关系最终未成立。log step 177 的“已抬起”仅为 agent 自述，无法从所提供视频核实，不据此计入上盘区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 2.5–8.5 s、14.0–18.6 s 左夹爪接近并闭合时拨动盘旁包装，包装沿台面移动并最终掉出台边；未见有效对向夹持后稳定随爪抬起，故不把闭爪命令记成实际抓握。后段地板拾取的接触方式被头部视角遮挡。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.0 s、46.0–49.0 s 机器人在包装上盘步骤的地板恢复过程中移动底盘、后退及重新靠近台面；log step 87、149、156 分别记录 back、back_more、forward 的执行。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "platter_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "platter_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "package_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "package_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "settle_window",
+   "unit": "control_steps",
+   "threshold": 45,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "max_body_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_body_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_robot_joint_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_body_position_drift",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_body_orientation_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_joint_coordinate_drift",
+   "unit": "joint_coordinate",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "package_on_platter",
+   "t": 6.5,
+   "log_step": 50,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 6.5–8.5 s 第一次闭爪后的抬臂未带起包装，包装仍在盘旁；视频 18.2–18.6 s 再次抬爪后包装滑出台边，视频 48.0 s 仍在地板，始终未观察到上盘完成。评分器终态 symbolic_success=0；log step 189 的机器人服务报告控制步耗尽结束，未修复该步骤。"
+  },
+  "unmet": {
+   "platter_at_target": true,
+   "package_on_platter": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 6.5,
+    "log_step": 50,
+    "evidence_zh": "观察：视频 2.5–8.5 s 左夹爪虽闭合并抬起，包装仍在台面；视频 14.0–18.1 s 夹爪再次围近包装，视频 18.2 s 抬爪时包装仍贴台面并随后滑落，未显示形成能带起包装的夹持接触。这里指所需的有效夹持未建立，已有的拨动接触不等于抓稳。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频",
+    "evidence_zh": "推断：视频 2.5–8.5 s 和14.0–18.6 s 机器人左夹爪已到包装附近并执行闭合、抬升，但实际接触只拨动包装，未完成稳定拿起，支持抓取执行层面的控制问题。log step 48 的夹爪开口为0，亦不能代替包装随爪抬起的视觉证据；缺少接触力和清晰指间视图，不能进一步区分接触设计、跟踪或反馈子类。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 无逐帧状态日志，成功参考 inputs/oracle/oracle.json 的 video_kind=none。所提供回放只有头部视角，视频 22.0–27.0 s 被机器人近处部件遮挡，视频 28.0–45.0 s、49.5–63.4 s 多朝向室内而看不到操作区；已逐帧查看视频 62.4–63.4 s，仍看不到夹爪、包装和红盘。后段地板拾取是否曾形成夹持、最后放置的具体落点与红盘终态精确位姿无法直接核实；红盘保持与包装最终未达标结合可见上下文和评分器字段推断。各原生位姿误差与静止指标均未报告，未编造数值。"
+ },
+ "summary_zh": "红盘开局已达目标位姿，视频可见期间未见移位，按持续保持计入；香肠包装未观察到上盘，最终进度为1/2。左夹爪多次闭合未建立有效夹持，视频 18.2–18.6 s 包装滑出台边，视频 48.0 s 仍在地板；失败定位为包装上盘步骤的抓取控制问题。后半段操作区长期不在头部视野内，没有状态日志及逐物体终态误差，红盘末值及包装末值有上下文和评分器推断。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "抽查视频 0/5/8/18/18.5/48 s：包装开局在盘旁台面，左夹爪闭合抬起未带起，18.5 s 包装已落到地板，48 s 在地板上、红盘仍在台面且为空，与标注一致；断点、现象和根因有证据支撑且标注了不确定性，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": "2026-10-30T02:39:46Z",
+  "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/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-standard--tuiw6bm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-ontop-small-scale-i00-standard--tuiw6bm/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7fe2e34ea103938fc221a4606746f6d71d65f49690a4b6cd24cb2f94dd1c3342",
+   "video_sha256": "4f084733e881239d51c3c5f30cffe217c356c0b13a5d431a5e28a5cd570222b4",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/inter_object_relation_satisfaction_touching_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--dnei5mk.json b/phase2/ispatialgym/inter_object_relation_satisfaction_touching_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--dnei5mk.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d0145aa4eddcccc0c6dfc2d5f0af724bfa174c0
--- /dev/null
+++ b/phase2/ispatialgym/inter_object_relation_satisfaction_touching_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--dnei5mk.json
@@ -0,0 +1,243 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--dnei5mk",
+ "taskKey": "ispatialgym/inter_object_relation_satisfaction_touching_small_scale",
+ "dag_sha256": "28d0c1ba95380927c7f64c8a65a012a975a7dd662ef095211d362d931e923cef",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 90,
+   "sim_steps": 90,
+   "rows": 90,
+   "max_rows": 3142,
+   "replay_success": 0,
+   "instance_ok": 1,
+   "steps": 90,
+   "success_step": 0,
+   "symbolic_success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 12.532,
+   "peak_memory_gb": 9.746,
+   "peak_processes": 20,
+   "peak_disk_gb": 3.092,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--dnei5mk/replay.mp4",
+  "duration_s": 3.1,
+  "fps": 10.0,
+  "frames": 31,
+  "sha256": "28b400722b24748c3e96d98720f8ea89895308f959755c41b5aa119539bc2feb"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "tissue_box_at_goal": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，蓝色纸巾盒放在白色桌面左侧；逐帧检查视频 0.0–3.0 s，蓝盒没有可见平移、转动或离开桌面，末帧视频 3.0 s 仍在原处。"
+     },
+     {
+      "t": 3.0,
+      "log_step": null,
+      "text_zh": "推断：DAG 指明蓝盒初态已在目标容差内，且本次视频 0.0–3.0 s 始终未见其位姿改变，故纸巾盒就位从视频 0.0 s 持续至结束；无状态日志，不能独立重算毫米级位姿误差。"
+     }
+    ]
+   },
+   "napkin_box_touching_tissues": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，橙白色卫生巾盒在蓝盒右侧，两盒侧面间有清楚可见的桌面缝隙。视频 0.0–3.0 s 的全部31帧中，两盒保持这一分离排列，没有夹爪进入盒间或推动卫生巾盒。"
+     },
+     {
+      "t": 3.0,
+      "log_step": 86,
+      "text_zh": "观察：视频 3.0 s 末帧仍有明显盒间缝隙；log step 86 检查交付数组得到 shape=(90,23)、constant=True，元数据为 hold stationary for 90 control steps，与本次视频的未搬动盒子相符。成功参考视频约 7.0–8.5 s 则可见橙白盒已紧靠蓝盒侧面；参考只用于辨认相贴外观。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "max_target_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_target_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_settle_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_settle_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_robot_joint_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_position_drift",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_orientation_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_joint_drift",
+   "unit": "joint_unit",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "napkin_box_touching_tissues",
+   "t": 0.0,
+   "log_step": 86,
+   "where": "首步前",
+   "evidence_zh": "观察：本次视频 0.0–3.0 s 的两盒始终分开，机器人没有启动使橙白盒移向蓝盒的动作；log step 86 和 log step 97 确认最终交付90行静止轨迹。相贴步骤根本未开始，蓝盒已有的就位状态则未被破坏。"
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 86,
+    "evidence_zh": "观察：视频 0.0–3.0 s 全部31帧中，卫生巾盒没有向蓝盒移动，盒间缝隙一直可见，未见夹爪接近或接触两盒；log step 86 的交付动作数组90行完全相同，计划字段明确为保持静止。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "log_step": 62,
+    "evidence_zh": "推断：agent 在 log step 62 自述两盒已有相同左右顺序、中心仅约15 cm，因而决定保持静止，并将目标图与初态的主要差别归为相机角度和机器人姿态；log step 86 显示这一判断落实为90行静止交付。本次视频 0.0–3.0 s 可见盒间缝隙，成功参考视频约 7.0–8.5 s 可见两盒侧面紧靠，说明 agent 对目标与当前盒间关系的视觉比较遗漏了需消除的间隙，导致没有启动相贴动作。",
+    "source_zh": "agent 自述"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志，评分器未报告DAG所列8项连续指标，故这些数值均为null；不能从录像精确核验完整四元数误差及45控制步窗口的微小速度、漂移阈值。相贴未达由可见缝隙判定，感知根因由log step 62的比较判断与交付行为推断。",
+  "unmet": {
+   "tissue_box_at_goal": true,
+   "napkin_box_touching_tissues": false
+  }
+ },
+ "summary_zh": "观察：本次视频 0.0–3.0 s 保留了初态已就位的蓝色纸巾盒，但橙白盒始终与其有明显缝隙，最终仅1/2节点成立，相贴步骤在首步前未启动。推断：agent 在 log step 62 将场景差异主要归于相机姿态，随后交付90行静止动作，支持视觉关系判断错误的感知根因。无状态日志及连续指标读数，精细位姿与静止窗口无法独立量化。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "标注与证据一致：视频0–3 s两盒始终有缝隙且无机器人动作，log step 86/97 确认交付为90行静止轨迹；蓝盒就位从0起成立，final=1/2，断点首步前/没尝试合理，感知根因已标为推断。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:25:21Z",
+  "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/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--dnei5mk/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--dnei5mk/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "476ef90cf18445cb4a9e23acd89fe52b1cce16eeae6be5b8f18a7a59792414ea",
+   "video_sha256": "28b400722b24748c3e96d98720f8ea89895308f959755c41b5aa119539bc2feb",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/inter_object_relation_satisfaction_touching_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--iztuvbl.json b/phase2/ispatialgym/inter_object_relation_satisfaction_touching_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--iztuvbl.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e7a393b5642caf154c70c12db8a38c251bc2f2b
--- /dev/null
+++ b/phase2/ispatialgym/inter_object_relation_satisfaction_touching_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--iztuvbl.json
@@ -0,0 +1,234 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--iztuvbl",
+ "taskKey": "ispatialgym/inter_object_relation_satisfaction_touching_small_scale",
+ "dag_sha256": "28d0c1ba95380927c7f64c8a65a012a975a7dd662ef095211d362d931e923cef",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 290,
+   "sim_steps": 273,
+   "rows": 290,
+   "max_rows": 3142,
+   "replay_success": 1,
+   "instance_ok": 1,
+   "steps": 273,
+   "success_step": 273,
+   "symbolic_success": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 16.979,
+   "peak_memory_gb": 10.646,
+   "peak_processes": 26,
+   "peak_disk_gb": 1.206,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--iztuvbl/replay.mp4",
+  "duration_s": 9.2,
+  "fps": 10.0,
+  "frames": 92,
+  "sha256": "f70dbbd9ab511acc8575c5cabd97c79829bf87d4b67072657c6557d6b76cf4b9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "tissue_box_at_goal": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，蓝色纸巾盒已放在白色桌面左侧；视频 0.0–9.1 s 的抽帧及视频 3.8–5.7 s、8.1–9.1 s 的逐帧检查均未见它被夹爪直接触碰、抬离桌面或明显挪动、转歪。"
+     },
+     {
+      "t": 9.1,
+      "log_step": null,
+      "text_zh": "推断：蓝盒从初态保持原位至视频 9.1 s；结合 DAG 所述初态已达标及评分器 reward 中 success=1、replay_success=1、symbolic_success=1、deterministic=1，判定其目标位姿全程保持。视频不能独立量出完整三维位置和朝向误差。"
+     }
+    ]
+   },
+   "napkin_box_touching_tissues": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，橙白色卫生巾盒在蓝色纸巾盒右侧，两盒之间有明显间隔。"
+     },
+     {
+      "t": 4.1,
+      "log_step": 299,
+      "text_zh": "观察：视频 3.8–4.0 s 右夹爪接近橙白盒，视频约 4.1–5.2 s 夹爪指面从盒子右侧推动它，盒子沿桌面向蓝盒滑动并转正，没有被夹起；log step 299 的交付生成脚本记录了右臂推盒、抬手、回撤、保持并保存轨迹的顺序，与视频一致。"
+     },
+     {
+      "t": 5.0,
+      "log_step": null,
+      "text_zh": "观察：视频 4.8–5.2 s，两盒间距收拢至侧面相贴的外观；以视频约 5.0 s 为达成锚点，存在约 0.2 s 的视觉不确定性。视频 5.3–6.5 s 机器人抬起右夹爪并退开，橙白盒留在桌面蓝盒右侧。"
+     },
+     {
+      "t": 9.1,
+      "log_step": null,
+      "text_zh": "推断：视频 8.1–9.1 s 逐帧显示两盒维持相贴外观且无明显运动；评分器 reward 中 success=1、replay_success=1、symbolic_success=1，支持最终目标关系、两盒位姿及共同静止验收通过。缺少状态日志，不能从像素独立核验毫米级间距、完整朝向及45控制步内的速度和漂移。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 4.1–5.2 s，机器人右夹爪的指面接触橙白色卫生巾盒右侧，将它沿桌面推向蓝色纸巾盒；没有双指包夹盒体或抬起搬运，随后右夹爪抬起退开。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "max_target_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_target_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_settle_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_settle_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_robot_joint_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_position_drift",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_orientation_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_joint_drift",
+   "unit": "joint_unit",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "蓝色纸巾盒从视频 0.0 s 起保持桌面目标位姿；机器人用右夹爪推橙白盒，约在视频 5.0 s 达成两盒相贴，退手后保持至视频 9.1 s，最终完成2/2节点。评分器记录 success=1、replay_success=1、symbolic_success=1、deterministic=1，本次无失败断点。没有状态日志，精确位姿误差和共同45控制步静止条件由成功评分支持而非逐项实测；DAG所列八项原生连续指标在评分器字段中均未报告，故值为null。",
+ "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，两节点标注与视频一致：蓝盒全程未动，右夹爪约 4.1–5.2 s 推动橙白盒至相贴，contact_actual 为 手指/夹爪·推/扫，无失败断点，final=2/2 有评分器字段支持。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": "2026-10-30T02:32:28Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
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+   },
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+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
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+   "video_sha256": "f70dbbd9ab511acc8575c5cabd97c79829bf87d4b67072657c6557d6b76cf4b9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/inter_object_relation_satisfaction_touching_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--jcdhyag.json b/phase2/ispatialgym/inter_object_relation_satisfaction_touching_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--jcdhyag.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f7f275f05ca08f530c1519e528919f30bff6368
--- /dev/null
+++ b/phase2/ispatialgym/inter_object_relation_satisfaction_touching_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--jcdhyag.json
@@ -0,0 +1,247 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--jcdhyag",
+ "taskKey": "ispatialgym/inter_object_relation_satisfaction_touching_small_scale",
+ "dag_sha256": "28d0c1ba95380927c7f64c8a65a012a975a7dd662ef095211d362d931e923cef",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 440,
+   "sim_steps": 396,
+   "rows": 440,
+   "max_rows": 3142,
+   "replay_success": 1,
+   "instance_ok": 1,
+   "steps": 396,
+   "success_step": 396,
+   "symbolic_success": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 32.623,
+   "peak_memory_gb": 18.227,
+   "peak_processes": 31,
+   "peak_disk_gb": 1.942,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_gpu_memory_gb": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--jcdhyag/replay.mp4",
+  "duration_s": 13.3,
+  "fps": 10.0,
+  "frames": 133,
+  "sha256": "6167dbda10895b8b33cb01d3eca3d4a7cdb5752837c934aeb1fa91ad56da7a01"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "tissue_box_at_goal": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 蓝色纸巾盒已在桌面左侧，橙白色卫生巾盒与它有间隙；视频全程蓝盒未离开桌面。视频约 6.5–7.5 s 橙白盒被右夹爪推来后，蓝盒有小幅平移、转动，未见明显偏离目标区域或倾倒。"
+     },
+     {
+      "t": 13.2,
+      "log_step": null,
+      "text_zh": "观察：视频 12.0–13.2 s 蓝盒仍直立于桌面、位于橙白盒左侧，终态布局与成功参照的相贴布局一致；本次评分器 reward.success=1、replay_success=1、symbolic_success=1、deterministic=1。"
+     },
+     {
+      "t": 13.2,
+      "log_step": null,
+      "text_zh": "推断：结合初态已就位、全程仅小幅受推及评分器成功验收，蓝盒目标位姿从视频 0.0 s 持续成立；无状态日志，不能逐帧直接测量三维位置及完整朝向误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 6.5–7.5 s 右侧张开的夹爪推橙白色卫生巾盒，橙白盒与蓝色纸巾盒相贴后带着蓝盒小幅移动；作用链为右夹爪→橙白盒→蓝盒，未见夹爪直接夹持蓝盒。"
+     }
+    ]
+   },
+   "napkin_box_touching_tissues": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 两盒之间有明显间隙，橙白色卫生巾盒相对蓝盒转斜；视频 4.0–6.0 s 机器人右侧张开的夹爪在橙白盒右侧向左推，橙白盒在桌面平移并转正，未被夹起。"
+     },
+     {
+      "t": 6.5,
+      "log_step": null,
+      "text_zh": "观察：视频 6.1–6.7 s 两盒侧面的可见间隙逐渐消失，视频约 6.5 s 橙白盒已侧贴蓝盒，随后右夹爪继续小幅推移两盒；首次相贴时间按图像估计，约有 0.3 s 不确定性。"
+     },
+     {
+      "t": 9.6,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–9.6 s 右夹爪向右撤开并抬起，两盒均留在桌面原处；视频 10.0–13.2 s 两盒保持蓝盒在左、橙白盒在右的相贴关系，未见重新分离或倒下。"
+     },
+     {
+      "t": 13.2,
+      "log_step": null,
+      "text_zh": "推断：视频约 6.5 s 起可见相贴关系持续到末帧；评分器 reward.success=1、success_step=396、symbolic_success=1 进一步确认终态两盒关系、目标位姿及共同45控制步静止窗口通过验收。无状态日志，精确接触间隙和静止阈值由评分结果支持，未从agent会话中的自测数字替代视频判断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 4.3–7.5 s 机器人右侧夹爪保持张开，以指部侧面推动橙白色卫生巾盒沿桌面向蓝盒滑动并调整朝向；视频 8.0–9.6 s 夹爪撤开，未见两指合拢夹住盒体或将其提起。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "max_target_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_target_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_settle_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_settle_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_robot_joint_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_position_drift",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_orientation_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_joint_drift",
+   "unit": "joint_unit",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "本次评分回放成功：蓝色纸巾盒从视频 0.0 s 起保持就位，机器人用张开的右夹爪将橙白色卫生巾盒推到蓝盒旁，约视频 6.5 s 起两盒相贴，最终两个节点均成立。机器人撤手并回位后，两盒至视频 13.2 s 仍保持相贴，评分器确认目标关系、位姿及共同静止验收成功，且确定性检查通过。没有状态日志，首次相贴时间约有 0.3 s 误差，毫米级间隙、完整三维位姿与速度窗口无法逐帧独立测量；评分器未报告八项原生指标的具体值。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "两节点（蓝盒就位自0 s、橙白盒相贴约6.5 s）、终值、接触（右夹爪推/扫，间接推蓝盒）与评分器成功一致，视频帧复核未见错误；无失败层，合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:48:13Z",
+  "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/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--jcdhyag/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--jcdhyag/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "40fcd703b70f5c9aee363f961347df506454423c9ecdba4d9ca15eb7a5ca2182",
+   "video_sha256": "6167dbda10895b8b33cb01d3eca3d4a7cdb5752837c934aeb1fa91ad56da7a01",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/inter_object_relation_satisfaction_touching_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--jdxxgbt.json b/phase2/ispatialgym/inter_object_relation_satisfaction_touching_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--jdxxgbt.json
new file mode 100644
index 0000000000000000000000000000000000000000..1807746a57aa434283558dc836f146ff21c46db4
--- /dev/null
+++ b/phase2/ispatialgym/inter_object_relation_satisfaction_touching_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--jdxxgbt.json
@@ -0,0 +1,246 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--jdxxgbt",
+ "taskKey": "ispatialgym/inter_object_relation_satisfaction_touching_small_scale",
+ "dag_sha256": "28d0c1ba95380927c7f64c8a65a012a975a7dd662ef095211d362d931e923cef",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 385,
+   "sim_steps": 351,
+   "rows": 385,
+   "max_rows": 3142,
+   "replay_success": 1,
+   "instance_ok": 1,
+   "steps": 351,
+   "success_step": 351,
+   "symbolic_success": 1,
+   "video_rendered": 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/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--jdxxgbt/replay.mp4",
+  "duration_s": 11.8,
+  "fps": 10.0,
+  "frames": 118,
+  "sha256": "56cd3185695522467733338248dc9151748e652328cf81bb8a4e99177f600401"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "tissue_box_at_goal": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 蓝色纸巾盒位于白色桌面左侧，与右侧橙白色卫生巾盒分开；结合DAG所列已达标初态，本节点从开局计入。"
+     },
+     {
+      "t": 6.8,
+      "log_step": null,
+      "text_zh": "观察：视频 5.8–8.3 s 的逐帧局部图显示机器人夹爪从蓝盒左侧推它向右滑动；蓝盒始终由桌面支撑，未被夹起，也未见明显转歪。"
+     },
+     {
+      "t": 11.7,
+      "log_step": null,
+      "text_zh": "推断：视频 10.7–11.7 s 蓝盒与橙白盒相贴并保持不动；run.json 的评分器字段 success=1、replay_success=1、symbolic_success=1、deterministic=1 支持终态位姿通过原生验收。结合蓝盒仅在桌面短距离平移且无明显转动，将其目标位姿判为全程保持；视频无法直接量出精确三维误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 5.8–8.3 s 机器人单夹爪从蓝色纸巾盒左侧推它向橙白盒滑动，没有两指包夹蓝盒；log step 65 的生成脚本将此作用端标为左夹爪。随后夹爪向左并抬高退开。"
+     }
+    ]
+   },
+   "napkin_box_touching_tissues": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 两盒均在桌面上，蓝盒在左、橙白盒在右，中间有清楚可见的缝隙，尚未相贴。"
+     },
+     {
+      "t": 7.3,
+      "log_step": null,
+      "text_zh": "观察：视频 5.8–7.7 s 逐帧局部图中，机器人单夹爪推动蓝盒向右，逐渐消除两盒之间的间隙；视频约 7.3 s 两盒侧面相贴，蓝左橙白右，均未离开桌面。首次相贴时间为视觉估计，误差约0.3 s。"
+     },
+     {
+      "t": 11.7,
+      "log_step": null,
+      "text_zh": "观察：视频 8.3–10.0 s 机器人夹爪撤离两盒；视频 10.7–11.7 s 逐帧检查，两盒仍在同一桌面位置相贴，未见滑开或倾倒。"
+     },
+     {
+      "t": 11.7,
+      "log_step": null,
+      "text_zh": "推断：run.json 的评分器字段 success=1、replay_success=1、symbolic_success=1、deterministic=1，结合视频末尾相贴且静止的画面，确认本节点终态通过目标关系、位姿及共同静止验收；不把log step 69 的会话内自测坐标当作本次重放的状态日志。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 5.8–8.3 s 单夹爪直接推蓝色纸巾盒左侧，使蓝盒在桌面向右滑到橙白色卫生巾盒旁相贴；夹爪未直接抓握或搬运橙白盒。log step 65 的生成脚本标明使用左夹爪；这是推动伙伴蓝盒达成两盒相贴的实际方案。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "max_target_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_target_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_settle_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_settle_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_robot_joint_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_position_drift",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_orientation_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_joint_drift",
+   "unit": "joint_unit",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "蓝色纸巾盒的目标位姿从视频 0.0 s 保持，机器人左夹爪推动蓝盒靠近橙白盒，约视频 7.3 s 达成两盒相贴，最终两个节点均成立（2/2）。视频 10.7–11.7 s 两盒保持相贴，评分器报告 success=1、replay_success=1、deterministic=1，本次无失败断点。缺少状态日志和逐项原生指标数值，无法从画面独立核验微小朝向误差与45控制步静止阈值；终态精确验收依据评分器成功结果，相贴时刻为视觉估计。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，两节点与相贴时刻（约视频7.3 s）、推/扫接触与无失败断点均与帧一致，评分器success=1支持终态。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:33:44Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--jdxxgbt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--jdxxgbt/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b5291e5ae74dbc6418cb089670e8f39c62cb66fecc0bf27fb1212c9fd8a2f0cf",
+   "video_sha256": "56cd3185695522467733338248dc9151748e652328cf81bb8a4e99177f600401",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/inter_object_relation_satisfaction_touching_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--jieb4lv.json b/phase2/ispatialgym/inter_object_relation_satisfaction_touching_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--jieb4lv.json
new file mode 100644
index 0000000000000000000000000000000000000000..67aa54a947fe39fa950770a5821291355bff4ddf
--- /dev/null
+++ b/phase2/ispatialgym/inter_object_relation_satisfaction_touching_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--jieb4lv.json
@@ -0,0 +1,247 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--jieb4lv",
+ "taskKey": "ispatialgym/inter_object_relation_satisfaction_touching_small_scale",
+ "dag_sha256": "28d0c1ba95380927c7f64c8a65a012a975a7dd662ef095211d362d931e923cef",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 70,
+   "sim_steps": 70,
+   "rows": 70,
+   "max_rows": 3142,
+   "replay_success": 0,
+   "instance_ok": 1,
+   "steps": 70,
+   "success_step": 0,
+   "symbolic_success": 0,
+   "video_rendered": 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/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--jieb4lv/replay.mp4",
+  "duration_s": 2.5,
+  "fps": 10.0,
+  "frames": 25,
+  "sha256": "062c553e22be8a850547eed1c6e08a6e3ee399b97a68fbcd332d7e685f7ff34d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "tissue_box_at_goal": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s中蓝色纸巾盒平放在白色桌面左侧；逐帧检查视频0.0–2.4 s，盒体未离开原处、未明显转动或离开桌面。"
+     },
+     {
+      "t": 2.4,
+      "log_step": 134,
+      "text_zh": "推断：蓝盒初态已满足DAG所列目标位姿，视频2.4 s仍保持该初态，因此纸巾盒就位从视频0.0 s持续成立；log step 134确认agent用70行保持初态的文件覆盖了会话推盒试验。精确三维误差未由评分器报告。"
+     }
+    ]
+   },
+   "napkin_box_touching_tissues": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s中橙白色卫生巾盒在蓝盒右侧，两盒侧面之间有可见桌面间隙。"
+     },
+     {
+      "t": 2.4,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频0.0–2.4 s（包括视频1.5–2.4 s最后一秒），两盒位置和间隙持续不变，没有夹爪进入两盒周围实施操作；视频2.4 s仍未相贴。成功参考录像在参考视频9.1 s显示两盒侧面紧邻，本段录像缺少该可见结果。"
+     },
+     {
+      "t": null,
+      "log_step": 134,
+      "text_zh": "观察：log step 134中agent运行保存静止回退轨迹的脚本，输出为70×23且末行等于首行；log step 136说明已覆盖183行推盒试验。评分器字段n_actions=70、deterministic=1、replay_success=0，与视频中的保持初态一致。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "max_target_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_target_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_settle_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_settle_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_robot_joint_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_position_drift",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_orientation_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_joint_drift",
+   "unit": "joint_unit",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "napkin_box_touching_tissues",
+   "t": 0,
+   "log_step": 134,
+   "where": "首步前",
+   "evidence_zh": "观察：视频0.0–2.4 s中两盒始终分离，机器人未开始移盒；log step 134把会话推盒轨迹覆盖为70行保持初态，log step 135–136确认最终交付该静止方案。两盒相贴这一步在评分轨迹中未启动，且未在后续修复。"
+  },
+  "unmet": {
+   "tissue_box_at_goal": true,
+   "napkin_box_touching_tissues": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0,
+    "log_step": 134,
+    "evidence_zh": "观察：视频0.0–2.4 s逐帧可见橙白盒和蓝盒均停在原处，侧面间隙始终存在，机器人没有向盒子伸手或推近；log step 134保存的是保持初态文件。会话中另一次推盒试验没有出现在该评分轨迹中。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent未能把已识别的推盒目标实现为有效控制，故最终评分轨迹退回静止初态。log step 108明确知道两盒需推近；会话生成脚本在log step 118、120–121修正关节插值的维度和索引错误，log step 124–125又暴露间隙坐标计算错误；最后一轮会话试验的log step 133输出显示间隙从0.0459 m变为0.0473 m，蓝盒世界Y坐标从约3.085 m变为3.2378 m。log step 134明确因该试验把两盒横向带偏而覆盖成静止回退文件。上述是会话控制证据，不能计为评分轨迹的接触或失败现象；尚不足以区分接触设计与轨迹跟踪子类。"
+   }
+  ],
+  "gap_zh": "没有状态日志；视频能判定两盒始终有间隙及蓝盒保持初态，但无法精确核验完整三维位姿误差、每步速度和共同45控制步静止窗口。评分器未报告DAG列出的八项原生指标，故其value均为null。控制根因来自会话脚本和试验输出，无法进一步确定最后一次试验偏移的具体接触机制。"
+ },
+ "summary_zh": "评分轨迹保持初态，蓝色纸巾盒就位从视频0.0 s持续至末帧视频2.4 s，最终1/2节点达成；橙白盒与蓝盒始终有明显间隙，两盒相贴这一步未启动。agent在会话推盒控制未奏效后改交70行静止回退轨迹（log step 133–136），断点为两盒相贴／首步前，现象为没尝试。无状态日志和原生误差、速度读数，细粒度验收及控制子类无法核实。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "标注与视频、log一致：评分轨迹为70行静止初态，蓝盒就位从0 s成立，两盒始终有间隙；断点首步前/没尝试，根因控制来自会话试验证据，符合FAIL-22。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:19:14Z",
+  "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/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--jieb4lv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--jieb4lv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "57417ad86454190ed9f2b45a02cddb2a146302f1447dd06feeef455f3b607d7d",
+   "video_sha256": "062c553e22be8a850547eed1c6e08a6e3ee399b97a68fbcd332d7e685f7ff34d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/inter_object_relation_satisfaction_touching_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--sgdfrsl.json b/phase2/ispatialgym/inter_object_relation_satisfaction_touching_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--sgdfrsl.json
new file mode 100644
index 0000000000000000000000000000000000000000..22d5731ff51c9fa0fc52e2daa0a7b842d2f88191
--- /dev/null
+++ b/phase2/ispatialgym/inter_object_relation_satisfaction_touching_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--sgdfrsl.json
@@ -0,0 +1,266 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--sgdfrsl",
+ "taskKey": "ispatialgym/inter_object_relation_satisfaction_touching_small_scale",
+ "dag_sha256": "28d0c1ba95380927c7f64c8a65a012a975a7dd662ef095211d362d931e923cef",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 2330,
+   "sim_steps": 776,
+   "rows": 2330,
+   "max_rows": 3142,
+   "replay_success": 1,
+   "instance_ok": 1,
+   "steps": 776,
+   "success_step": 776,
+   "symbolic_success": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 17.021,
+   "peak_memory_gb": 9.731,
+   "peak_processes": 21,
+   "peak_disk_gb": 1.99,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--sgdfrsl/replay.mp4",
+  "duration_s": 26.0,
+  "fps": 10.0,
+  "frames": 260,
+  "sha256": "1cc5a07547affb09543aef0359b7d4d1183e6329ab3ea2515192f94b77fc5c14"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "tissue_box_at_goal": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，蓝色纸巾盒平放在白色桌面左侧，橙白色卫生巾盒在其右方且留有明显缝隙；蓝盒初态位置和朝向与成功参考录像的蓝盒相符。"
+     },
+     {
+      "t": 23.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–23.0 s，机器人右夹爪只抓取、抬起和移动右侧橙白盒；蓝盒始终留在桌面原区域，未被提起或明显转歪，橙白盒移到它旁边贴近后也没有把它推离目标区域。"
+     },
+     {
+      "t": 25.9,
+      "log_step": null,
+      "text_zh": "推断：视频25.0–25.9 s逐帧可见蓝盒仍平放、两盒位置稳定，结合inputs/run.json评分器的success=1、replay_success=1、symbolic_success=1，蓝盒最终位姿达标；全过程没有可见的超容差位移，区间记为从视频0.0 s持续至结束。"
+     }
+    ]
+   },
+   "napkin_box_touching_tissues": {
+    "method": "visual",
+    "intervals": [
+     [
+      19.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，两盒之间有可见桌面缝隙，橙白盒相对蓝盒带偏角，尚未相贴。"
+     },
+     {
+      "t": 16.0,
+      "log_step": 71,
+      "text_zh": "观察：视频12.0–14.0 s，机器人右二指夹爪在橙白盒两侧闭合；视频15.0–17.0 s盒体随夹爪抬高，原桌面位置空出，随后在视频17.5–20.0 s向蓝盒移动并转正。log step 71的会话工具输出报告右手建立抓握，与录像中的实际抬起相符；接触为单右夹爪抓握。"
+     },
+     {
+      "t": 19.5,
+      "log_step": null,
+      "text_zh": "观察：视频17.0 s橙白盒与蓝盒仍有可见缝隙且带偏角，视频18.0 s两盒靠近，视频19.0–20.0 s橙白盒已转正并到达蓝盒右侧，侧面贴近、原来的明显缝隙消失；视频20.0–23.5 s两盒保持并排贴近，没有可见的再次分离，右夹爪留在橙白盒顶部并遮挡部分盒体。"
+     },
+     {
+      "t": 19.5,
+      "log_step": null,
+      "text_zh": "推断：结合视频19.0–20.0 s的并排相贴外观、视频20.0–25.9 s两盒没有明显再次分离，以及inputs/run.json评分器报告success=1、replay_success=1、symbolic_success=1，首次达标近似记在视频19.5 s，视觉定时误差约1 s；精确接触距离、桌面支撑与完整朝向误差无法从单头部画面直接测量。"
+     },
+     {
+      "t": 25.9,
+      "log_step": null,
+      "text_zh": "观察：视频25.0–25.9 s逐帧中，两盒保持并排相贴，右夹爪仍靠近橙白盒，尚未退离；评分器字段success_step=776、steps=776、rows=2330，说明这段评分录像在交付文件全部动作执行完之前已成功结束。log step 117、135记录的2330步会话自测终态发生在另一段完整重放中，不用其后续退手、底盘后退或停车状态延长本次录像的判断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约12.0–14.0 s机器人右平行二指夹爪包夹橙白色卫生巾盒，视频15.0–20.0 s抓持盒体抬起、转正并移向蓝色纸巾盒，视频约19.0–20.0 s橙白盒到达蓝盒右侧并贴近，之后至视频25.9 s两盒保持并排，右夹爪仍留在橙白盒顶部；左夹爪没有同时操作目标，评分录像中未出现底盘行驶。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "max_target_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_target_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_settle_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_settle_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_robot_joint_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_position_drift",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_orientation_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_joint_drift",
+   "unit": "joint_unit",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "蓝色纸巾盒从视频0.0 s起保持就位，机器人用右夹爪抓起橙白色卫生巾盒、转正并移到蓝盒右侧，约在视频19.5 s形成并排相贴状态，最终达成2/2节点。评分器报告成功并在776个控制步结束，本次视频25.9 s末帧中右夹爪仍靠近盒体；log step 117、135所述2330步完整会话自测的退手和停车终态不属于这段已提前结束的评分录像。无状态日志，部分接触区域被夹爪遮挡，相贴起点有约1 s视觉不确定性，精确位姿及共同静止验收由评分成功支持；评分器未报告DAG八项原生指标的数值，均保留null。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "终态与2/2成功无误，但napkin_box_touching_tissues的起点23.0 s与证据不符：视频约19–20 s起橙白盒已贴着蓝盒，20.0–23.0 s帧几乎不变，没有所谓“21.0–23.2 s下降”。应把区间起点改到约19.5 s并更正证据文字。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "2/2 终态与评分器成功一致；napkin_box_touching_tissues 起点约19.5 s 与帧相符，接触标注（右夹爪抓握）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": "2026-10-30T02:50:15Z",
+  "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/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--sgdfrsl/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--sgdfrsl/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--sgdfrsl/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-privileged--sgdfrsl/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "093e73a72ab937619693b863a5a88569c82e8cf547b66d545169a738017a6753",
+   "video_sha256": "1cc5a07547affb09543aef0359b7d4d1183e6329ab3ea2515192f94b77fc5c14",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/inter_object_relation_satisfaction_touching_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-standard--tdhwd8z.json b/phase2/ispatialgym/inter_object_relation_satisfaction_touching_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-standard--tdhwd8z.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c2ee67d2d460049e995d1792b4bffc6aa870727
--- /dev/null
+++ b/phase2/ispatialgym/inter_object_relation_satisfaction_touching_small_scale/trajectories/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-standard--tdhwd8z.json
@@ -0,0 +1,292 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-standard--tdhwd8z",
+ "taskKey": "ispatialgym/inter_object_relation_satisfaction_touching_small_scale",
+ "dag_sha256": "28d0c1ba95380927c7f64c8a65a012a975a7dd662ef095211d362d931e923cef",
+ "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": 2660,
+   "sim_steps": 2660,
+   "max_steps": 3142,
+   "steps": 2660,
+   "elapsed_s": 2910.6,
+   "symbolic_success": 0,
+   "success_step": 0,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.449,
+   "peak_processes": 9,
+   "peak_disk_gb": 1.001,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-standard--tdhwd8z/replay.mp4",
+  "duration_s": 88.8,
+  "fps": 10.0,
+  "frames": 888,
+  "sha256": "582535c6f7fcf6ee14481bd1820356f444541442740db2df7e25bc2a1be7f0d1"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 0,
+  "nodes": {
+   "tissue_box_at_goal": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      43.0
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 蓝色纸巾盒在白桌面左侧，位置和朝向与成功参考视频 0.0 s 的同一初态相符；本次视频 6.0 s、20.0 s、38.7 s 至39.7 s 仍见它留在桌面原处。"
+     },
+     {
+      "t": 46.4,
+      "log_step": null,
+      "text_zh": "观察：视频 39.7 s 后相机转离两盒；视频 46.4 s 至50.0 s 再见蓝盒时，它已在机器人前方的地板上，橙白盒仍在桌边。视频 40.0–46.2 s 未显示蓝盒跌落过程，不能确定碰它的机器人部位。"
+     },
+     {
+      "t": 43.0,
+      "log_step": null,
+      "text_zh": "推断：蓝盒从初始就位状态变为落地未就位，失效发生在视频 39.7–46.4 s 的不可见时段；区间终点粗记为视频 43.0 s，取前后观测界限中间的近似锚点，并非观测到该时刻落地。"
+     },
+     {
+      "t": 88.7,
+      "log_step": 247,
+      "text_zh": "观察：视频 50.0–81.0 s 的机械臂恢复动作未将蓝盒带回桌面；视频 84.0–88.7 s，含末秒逐帧画面，蓝盒一直在地板上，终态不满足桌面目标。agent 最后也自述蓝盒仍在地板（log step 247），此处终值由画面确定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：机器人右夹爪在视频 50.0–63.0 s、68.0–81.0 s 参与蓝盒地板拾取恢复尝试，但可见时夹爪仍在盒上方，未见夹住或带起蓝盒；视频 39.7–46.2 s 蓝盒离位过程在画外，缺少接触对记录，无法确定实际触盒部位和方式。"
+     }
+    ]
+   },
+   "napkin_box_touching_tissues": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 蓝盒和橙白色卫生巾盒之间有明显桌面间隙；成功参考视频 8.0 s、9.1 s 则显示两盒长侧面紧挨，供可见判据比较。"
+     },
+     {
+      "t": 11.5,
+      "log_step": 78,
+      "text_zh": "观察：视频 10.0–11.5 s，机器人右二指夹爪夹住橙白盒并将其抬离桌面，原位置不再留有该盒；视频 11.5–13.4 s 它随右夹爪移动，尚未形成桌面相贴关系。log step 78 的服务读数同时报告 control_steps=345、右夹爪开口约0.071 m，仅作为持物动作的辅助证据。"
+     },
+     {
+      "t": 20.0,
+      "log_step": 81,
+      "text_zh": "观察：视频约13.5–13.8 s 右夹爪张开，橙白盒离开夹爪；视频 17.5 s、20.0 s 至21.0 s 手臂移开后，两盒仍有明显间隔，橙白盒朝向也未与蓝盒并齐。log step 81 记录这次放置及随后静置后服务仍为 done=false。"
+     },
+     {
+      "t": 38.7,
+      "log_step": null,
+      "text_zh": "观察：视频 22.0–36.0 s 头部视野多次转离两盒；视频 37.5–39.7 s 两盒重新出现时仍未侧面贴齐，橙白盒位于蓝盒右后方。其后视频 46.4 s 起蓝盒已在地板，视频 88.7 s 橙白盒仍在桌边，始终未见成功参考视频中两盒在桌面长侧贴齐的状态。"
+     },
+     {
+      "t": 88.7,
+      "log_step": null,
+      "text_zh": "推断：结合前后连续可见的间隙、橙白盒离桌搬动、后续未完成的重抓和蓝盒落地后的分离终态，没有可计入的相贴区间；画外重抓时段不以 agent 的持握或放置自述计为达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约10.0–13.5 s，机器人右二指平行夹爪从两侧夹住橙白色卫生巾盒，将其抬起、横移后张爪释放；未见双臂同时配合。后续重抓未见再次成功搬至蓝盒旁，不把空夹读数当作抓住。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "max_target_position_error",
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_target_orientation_error",
+   "unit": "rad",
+   "threshold": 0.3,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_settle_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_settle_angular_speed",
+   "unit": "rad/s",
+   "threshold": 0.005,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_robot_joint_speed",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_position_drift",
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_orientation_drift",
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_window_joint_drift",
+   "unit": "joint_unit",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "napkin_box_touching_tissues",
+   "t": 13.5,
+   "log_step": 81,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约13.5–13.8 s 机器人右夹爪释放首次搬动的橙白盒，视频 17.5–21.0 s 退手后两盒仍分离且未并齐；后续视频 37.5–39.7 s 仍未修复，视频 46.4 s 以后蓝盒落地，视频 88.7 s 仍未相贴。推断：最先未被完成修复的步骤是两盒相贴，断点锚定首次错误落位，而非后来的蓝盒落地或会话截止。"
+  },
+  "unmet": {
+   "tissue_box_at_goal": false,
+   "napkin_box_touching_tissues": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 13.5,
+    "log_step": 81,
+    "evidence_zh": "观察：视频 11.5–13.4 s 机器人持橙白盒横移，视频约13.5–13.8 s 张爪放下；视频 17.5 s、20.0 s 与21.0 s 显示橙白盒落点仍与蓝盒有间隙，朝向未并齐，未形成成功参考视频 8.0–9.1 s 所见的桌面侧面相贴。推断：释放时未将盒子送到所需相贴位姿；不是已正确放到目标后才失稳。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "t": 13.5,
+    "log_step": 167,
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 123 的 agent 交接记录说明首次下放目标为 TCP [0.61,0.074,0.83] m，但释放时实测高度约0.918 m；log step 167 读取本次实时 episode 保存的 release_meta，明确在 control step 415 得到右 TCP [0.617,0.079,0.918] m、夹爪开口0.100 m，log step 83 的静置后服务读数也保持约0.918 m。视频约13.5–13.8 s 确认夹爪张开，视频 20.0 s 确认落位有偏差。推断：末端尚未下放到指令高度，脚本已进入释放和静置，没有在释放前使实际下放位姿收敛；这支持反馈控制问题。此归因不将 IK 返回的小数值误差当作实际执行到位。"
+   }
+  ],
+  "gap_zh": "无状态日志，不能精确核验两盒的三维误差、原生 Touching 的微小间隙容差或共同45控制步静止窗口，评分器也未报告 DAG 所列八项原生指标，故其值均为 null。视频 22.0–36.0 s 多次转离两盒；蓝盒在视频 39.7 s 尚在桌面，视频 46.4 s 已落地，中间离位过程在画外，故其就位区间终点视频 43.0 s 是约±3.5 s 的估计，实际碰撞部位与接触方式未知。日志 control_steps 属于单次实时 episode，2660/30≈88.67 s 与视频长度一致，control step 415/30≈13.83 s 的释放在视频约13.5–13.8 s 已核对；此映射仅辅助核实服务读数，未把 agent 工作时间当作视频时间。"
+ },
+ "summary_zh": "本次开局纸巾盒已就位，进度为1/2；机器人右夹爪夹起橙白盒，但视频约13.5 s 首次落位后仍未与蓝盒贴齐，后续修正未完成。日志显示释放时末端仍高于其下放目标，支持反馈控制未收敛；蓝盒随后落地且恢复失败，终态0/2，与评分器未成功一致。蓝盒离位发生在视频39.7–46.4 s的画外时段，区间终点只能估计，且无状态日志核验微小位姿及静止指标。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "标签与视频一致：视频 0.0 s 蓝盒就位，约13.5–13.8 s 右夹爪释放橙白盒后两盒仍有间隙，46.4 s 起蓝盒落地；断点、位姿不准与反馈控制（log step 167 的 release_meta z≈0.918 m 对比下放目标0.83 m）均有证据支持，蓝盒离位在画外，已按推断标注。",
+    "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": "2026-10-30T02:38:44Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-standard--tdhwd8z/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-inter-object-relation-satisfaction-touching-small-scale-i00-standard--tdhwd8z/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "29815e50fb03a6abd7f647d6aaa29ca0fbe301c8572056448867916e77a1fa8f",
+   "video_sha256": "582535c6f7fcf6ee14481bd1820356f444541442740db2df7e25bc2a1be7f0d1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/mental_rotation/trajectories/ispatialgym-mental-rotation-i00-privileged--9mxhdb4.json b/phase2/ispatialgym/mental_rotation/trajectories/ispatialgym-mental-rotation-i00-privileged--9mxhdb4.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e1c9feb144aa5fe0280ab0f5afa936682cf1352
--- /dev/null
+++ b/phase2/ispatialgym/mental_rotation/trajectories/ispatialgym-mental-rotation-i00-privileged--9mxhdb4.json
@@ -0,0 +1,190 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-mental-rotation-i00-privileged--9mxhdb4",
+ "taskKey": "ispatialgym/mental_rotation",
+ "dag_sha256": "7264fd09febf4538062a2ec5fd760929505de0bdbb820fd242525e8529460e75",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 300,
+   "sim_steps": 300,
+   "rows": 300,
+   "max_rows": 300,
+   "replay_success": 0,
+   "instance_ok": 1,
+   "steps": 300,
+   "success_step": 0,
+   "symbolic_success": 0,
+   "video_rendered": 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/ispatialgym-mental-rotation-i00-privileged--9mxhdb4/replay.mp4",
+  "duration_s": 10.1,
+  "fps": 10.0,
+  "frames": 101,
+  "sha256": "b7c8db667d0514b7de6f10801e526768848d1718b56f8ef5af13e27a3ff37af5"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "knife_reoriented": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–3.5 s 逐帧检查显示，机器人右夹爪始终夹住黑色刀柄，右臂抬起并转动刀具；刀具没有脱手。开局短暂停留后即开始运动，未形成完整静止验收窗口。"
+     },
+     {
+      "t": 3.0,
+      "log_step": null,
+      "text_zh": "观察：视频 3.0 s、5.0 s 及 9.0–10.0 s 的逐帧末段中，机器人右手停在水龙头上方，刀尖向上略偏左，刀面宽面明显朝向头部相机；成功参考视频 1.2–2.3 s 中，刀具虽位于画面右下方，但相对镜框和水龙头的刀面呈窄侧面，三维朝向与本次不同。"
+     },
+     {
+      "t": 10.0,
+      "log_step": 71,
+      "text_zh": "推断：结合上述刀面朝向差异、运动阶段没有连续静止窗口，以及评分器 replay_success=0、symbolic_success=0、success_step=0，本步从未完成且终态为假。log step 71 的 0.374 rad 是脚本计算的末端实测姿态 A 相对自建目标 G 的误差，并非评分器报告的刀具世界系目标误差，不能据此记为达标。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 0.0–10.0 s，机器人右侧二指夹爪夹住刀具黑柄并随右臂转动，末段仍保持夹持；刀具本身是调姿对象。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "knife_orientation_error_rad",
+   "unit": "rad",
+   "threshold": 0.4376424908638001,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "knife_reoriented",
+   "t": 3.0,
+   "log_step": 71,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 3.0 s，机器人完成主要抬臂调姿后停住，刀具仍被右夹爪夹持，宽刀面朝向相机；视频 5.0 s 及 9.0–10.0 s 没有进一步修正。推断：对照成功参考视频 1.2–2.3 s 的窄刀面朝向，本次调姿留下未修复的旋转偏差，评分器最终 replay_success=0。"
+  },
+  "unmet": {
+   "knife_reoriented": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 3.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频约 3.0–10.0 s，刀尖虽朝上，刀面宽面仍明显朝向头部相机；成功参考视频 1.2–2.3 s 的刀面较接近侧向，只呈窄边。推断：机器人停住的刀具完整三维朝向仍偏离目标，不能仅凭刀尖的二维朝上方向判为完成；这里比较朝向，不把刀具的画面位置差异作为失败。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 71,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 的目标重建方法没有确定完整三维旋转。log step 66 的生成脚本和 log step 71 最终保存脚本仅以两个像素射线和刀长选取一组深度，再把当前刀具的横轴投影到新长轴的垂直平面来补出刀面方向；长度约束不足以唯一确定两端深度，绕刀轴的旋转也未由目标图求出。该方法把未经验证的朝向作为 IK 目标，与视频 3.0–10.0 s 留下的刀面方向偏差相符。"
+   },
+   {
+    "cat": "认知",
+    "item": "误以为完成",
+    "log_step": 80,
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 71 的脚本打印末端 A 相对自建目标 G 的旋转残差 0.374 rad；agent 在 log step 80 自述“回放确认终态匹配目标”，在 log step 81 又将该残差与任务 0.438 rad 容差直接比较并结束。log step 77 的回放输出只报告步数、状态哈希和初态匹配，没有成功判定；run.json 记录 wall_s=2829、time_limit_s=3600。推断：agent 把自建目标的跟踪误差及文件格式检查当作任务验收，在预算尚余约 771 s 时停止，未修复视频中持续存在的朝向偏差。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 中没有状态日志；评分器未报告 knife_orientation_error_rad 的数值，也未逐项报告握持关系、速度和漂移验收结果。推断：视频与成功参考支持朝向偏差及本步未完成，但无法精确量化世界系旋转误差，或排除微小残余运动同时影响验收；日志中的 0.374 rad 不能补足这一缺口。"
+ },
+ "summary_zh": "机器人保持右夹爪握刀并抬臂调姿，随后停住，但刀面方向与成功参考仍有差异，唯一节点“刀具朝向匹配”未完成（0/1）。日志显示目标重建未从目标图确定完整旋转，且 agent 将对自建目标的跟踪残差误作达标依据后停止；无状态日志和评分器实际旋转误差，无法精确拆分全部验收失败项。",
+ "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 knife_reoriented 未达成（评分器 replay_success=0、success_step=0 已界定），右夹爪始终握刀，接触标签正确；断点、位姿不准与两个根因有 log step 71/80/81 支持。视频分辨率下刀面朝向的细节难以独立核实，但不构成可改动的错误。",
+    "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": "2026-10-30T02:20:38Z",
+  "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/ispatialgym-mental-rotation-i00-privileged--9mxhdb4/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-mental-rotation-i00-privileged--9mxhdb4/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bebbc038bb24cc867f0657ca7e7d468e4af8668d1359cf8a889e16562574452b",
+   "video_sha256": "b7c8db667d0514b7de6f10801e526768848d1718b56f8ef5af13e27a3ff37af5",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/mental_rotation/trajectories/ispatialgym-mental-rotation-i00-privileged--jma6xc5.json b/phase2/ispatialgym/mental_rotation/trajectories/ispatialgym-mental-rotation-i00-privileged--jma6xc5.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f8fc74a1579e7b4ec2f8e5393ebe55f648c45db
--- /dev/null
+++ b/phase2/ispatialgym/mental_rotation/trajectories/ispatialgym-mental-rotation-i00-privileged--jma6xc5.json
@@ -0,0 +1,163 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-mental-rotation-i00-privileged--jma6xc5",
+ "taskKey": "ispatialgym/mental_rotation",
+ "dag_sha256": "7264fd09febf4538062a2ec5fd760929505de0bdbb820fd242525e8529460e75",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 240,
+   "sim_steps": 69,
+   "rows": 240,
+   "max_rows": 300,
+   "replay_success": 1,
+   "instance_ok": 1,
+   "steps": 69,
+   "success_step": 69,
+   "symbolic_success": 1,
+   "video_rendered": 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/ispatialgym-mental-rotation-i00-privileged--jma6xc5/replay.mp4",
+  "duration_s": 2.4,
+  "fps": 10.0,
+  "frames": 24,
+  "sha256": "0efa3afa9ed28dc22f223ab218db180ca6c3634f09bd5ae09617898427279a82"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "knife_reoriented": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–0.9 s 的逐帧画面中，机器人右侧二指夹爪夹住刀具黑柄，右臂与手腕带刀向画面右下方移动并改变刀面朝向，期间没有松手或掉刀；相对镜框和水龙头的固定背景可见调姿过程。"
+     },
+     {
+      "t": 1.0,
+      "log_step": null,
+      "text_zh": "观察：视频 1.0–2.3 s 已逐帧检查，右夹爪保持夹持刀柄，刀刃向上、略向左倾，刀具与夹爪在画面右下方保持同一姿态直至视频 2.3 s 末帧；刀面较浅，与白墙的对比度较低。"
+     },
+     {
+      "t": 2.3,
+      "log_step": null,
+      "text_zh": "推断：结合视频 2.3 s 末帧的持刀静止状态与 inputs/run.json 中评分器 success=1、replay_success=1、symbolic_success=1、deterministic=1、success_step=69，将包含完整 45 控制步静止窗口的节点首达锚定在视频约 2.3 s，并判终态为真；没有状态日志，无法从图像独立复测完整三维旋转误差、关节速度和漂移阈值。"
+     },
+     {
+      "t": null,
+      "log_step": 212,
+      "text_zh": "观察：log step 208 记载 agent 的脚本最终保存 240 行轨迹，log step 212 核对交付数组为 (240, 23) 的有限 float32，最后 45 行底盘命令为零；这是交付记录，不把会话试验的结束状态或 agent 在 log step 213 自述的 7.8° 误差当作正式回放的姿态测量。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 0.0–2.3 s，机器人右侧二指夹爪夹住黑色刀柄，随右臂、手腕调姿后继续保持握持；刀具本身是受评对象，未见左夹爪参与或松手。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "knife_orientation_error_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.4376424908638001,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人以右夹爪持续握住刀柄完成调姿，视频约 1.0 s 后保持可见静止，唯一节点“刀具朝向匹配”在视频约 2.3 s 完成整窗验收，评分器确认回放成功。没有状态日志及独立参照，完整三维旋转误差、速度与漂移阈值依赖成功评分支持，原生角度误差未报告，首达时间为视频末端的近似锚点。log step 193、208、213 中的抖动读数和自述误差属于 agent 的会话试验，不据此否定正式评分或虚构失败原因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，单节点 knife_reoriented 为真、右夹爪抓握、时间锚点在视频内且有成功评分支持；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": "2026-10-30T02:27:59Z",
+  "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/ispatialgym-mental-rotation-i00-privileged--jma6xc5/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-mental-rotation-i00-privileged--jma6xc5/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "78c74d0a3ab9def7d9e3047c147c39fc597baeee0ac2d10efd9bcb8e55ed5023",
+   "video_sha256": "0efa3afa9ed28dc22f223ab218db180ca6c3634f09bd5ae09617898427279a82",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/mental_rotation/trajectories/ispatialgym-mental-rotation-i00-privileged--jqgtwce.json b/phase2/ispatialgym/mental_rotation/trajectories/ispatialgym-mental-rotation-i00-privileged--jqgtwce.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdef5b28fbc4b5aa8b9225da1aa22025cc895d19
--- /dev/null
+++ b/phase2/ispatialgym/mental_rotation/trajectories/ispatialgym-mental-rotation-i00-privileged--jqgtwce.json
@@ -0,0 +1,163 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-mental-rotation-i00-privileged--jqgtwce",
+ "taskKey": "ispatialgym/mental_rotation",
+ "dag_sha256": "7264fd09febf4538062a2ec5fd760929505de0bdbb820fd242525e8529460e75",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 160,
+   "sim_steps": 142,
+   "rows": 160,
+   "max_rows": 300,
+   "replay_success": 1,
+   "instance_ok": 1,
+   "steps": 142,
+   "success_step": 142,
+   "symbolic_success": 1,
+   "video_rendered": 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/ispatialgym-mental-rotation-i00-privileged--jqgtwce/replay.mp4",
+  "duration_s": 4.9,
+  "fps": 10.0,
+  "frames": 49,
+  "sha256": "0284c3353909cac2b103965174da3285cb79997b5f5db1688b04886b8afaeaa6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "knife_reoriented": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，刀具已夹在机器人右夹爪中，刀面及刀柄方向与末态不同；视频 0.1–3.3 s，右臂与手腕持续改变所持刀具的朝向，尚未完成持续静止验收。"
+     },
+     {
+      "t": 3.3,
+      "log_step": null,
+      "text_zh": "观察：已查看视频全部 49 帧，并放大查看视频 2.9–4.8 s 的每帧；刀具约在视频 3.3 s 停稳，刀尖朝上且略向左倾，刀柄朝下，夹爪仍夹住刀柄，视频 3.4–4.8 s 未见明显转动或位移。成功参考视频 1.0–2.3 s 也呈右夹爪持刀、刀尖朝上的终态，但刀具在画面中的位置不同；参考仅用于辨识达成外观。"
+     },
+     {
+      "t": 4.8,
+      "log_step": null,
+      "text_zh": "推断：视频 3.3–4.8 s 所见持刀姿态持续稳定，inputs/run.json 的评分器字段 success=1、replay_success=1、symbolic_success=1、deterministic=1，且 success_step=142，支持该节点已通过完整静止窗口；以所查看的末帧视频 4.8 s 为达成锚点，时间为近似值（约 ±0.2 s）。没有将 agent 时间换算为视频时间；三维朝向误差及严格速度、漂移阈值由评分结果支持，无法逐帧直接量测。"
+     },
+     {
+      "t": null,
+      "log_step": 46,
+      "text_zh": "观察：log step 42 中 agent 的脚本从重置状态生成 100 行右臂调姿动作与 60 行保持动作，并保存 160 行；log step 46 将该测试轨迹复制为交付文件并确认其为有限值的 (160, 23) float32 数组，log step 54 再次确认文件存在。log step 52 的会话自测回放仅报告 160 步及状态哈希，不是本次评分器的成功判定，也不作为视频达成时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 0.0–4.8 s，机器人右侧二指夹爪夹住黑色刀柄，刀具随右手腕转动并在末段持续保持；未见换手或松脱。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "knife_orientation_error_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.4376424908638001,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人右夹爪保持对刀柄的抓握并完成调姿，视频约 3.3 s 停稳，至视频 4.8 s 仍保持刀尖朝上、略向左倾，结合评分器成功结果将完整静止验收后的唯一节点记为完成（1/1），无失败断点。缺少状态日志，三维旋转误差、关节速度及漂移阈值不能从视频独立核验，达成时间仅为末段近似锚点；评分器未报告刀具角度误差数值，因此原生指标留空，不采用 agent 会话中对其自估目标的误差代替。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频 0.0 s 刀具在右夹爪中朝向不同，视频 3.3–4.8 s 刀尖朝上略左倾并稳定；评分器 success=1，节点达成、抓握接触、无断点均与证据一致。时间钟均为视频时间，无换算。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:43:40Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/ispatialgym-mental-rotation-i00-privileged--jqgtwce/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-mental-rotation-i00-privileged--jqgtwce/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "2bc1d5d37e431a38cf082d30cebe2440dd98fe48d805be2c25ac08f0e19f6304",
+   "video_sha256": "0284c3353909cac2b103965174da3285cb79997b5f5db1688b04886b8afaeaa6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/mental_rotation/trajectories/ispatialgym-mental-rotation-i00-privileged--qnqgh4w.json b/phase2/ispatialgym/mental_rotation/trajectories/ispatialgym-mental-rotation-i00-privileged--qnqgh4w.json
new file mode 100644
index 0000000000000000000000000000000000000000..974564d4b54aa0cc67cbe4110612bbbfdbe81eec
--- /dev/null
+++ b/phase2/ispatialgym/mental_rotation/trajectories/ispatialgym-mental-rotation-i00-privileged--qnqgh4w.json
@@ -0,0 +1,163 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-mental-rotation-i00-privileged--qnqgh4w",
+ "taskKey": "ispatialgym/mental_rotation",
+ "dag_sha256": "7264fd09febf4538062a2ec5fd760929505de0bdbb820fd242525e8529460e75",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 240,
+   "sim_steps": 141,
+   "rows": 240,
+   "max_rows": 300,
+   "replay_success": 1,
+   "instance_ok": 1,
+   "steps": 141,
+   "success_step": 141,
+   "symbolic_success": 1,
+   "video_rendered": 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/ispatialgym-mental-rotation-i00-privileged--qnqgh4w/replay.mp4",
+  "duration_s": 4.8,
+  "fps": 10.0,
+  "frames": 48,
+  "sha256": "8d64f7cb67a66016d37e38d8ef338e393ce25924d6015240dc2b081da55aa6ca"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "knife_reoriented": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–1.1 s 中，机器人右侧二指夹爪已夹住黑色刀柄，刀刃起初朝相机纵深方向倾斜；随后视频 1.2–3.3 s 中右臂和手腕带着刀具转动，刀尖逐渐朝上，刀身略向左倾。"
+     },
+     {
+      "t": 3.4,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 3.4–4.7 s，右夹爪仍夹持刀柄，刀具与手臂没有明显运动，未见松脱；刀尖朝上、刀面及左倾方向与成功参照视频末段的朝向相符，刀具在画面中的位置有所不同。参照只用于辨认目标外观，本次保持情况取自本次视频。"
+     },
+     {
+      "t": 4.7,
+      "log_step": 28,
+      "text_zh": "推断：inputs/run.json 的评分器字段 success=1、replay_success=1、symbolic_success=1、deterministic=1，且 success_step=141、sim_steps=141，确认本次回放通过完整验收。任务控制率为 30 Hz，评分回放第 141 步对应视频约 141/30=4.7 s，与已检查的末帧一致；另以 log step 28 所录制的前 100 步调姿对应视频约 3.3 s、视频 3.2–3.4 s 的停住过程核对该映射。因此包含 45 步保持窗口的节点从视频约 4.7 s 起成立，不能仅在刀尖转正时提前记为完成。"
+     },
+     {
+      "t": 4.7,
+      "log_step": null,
+      "text_zh": "观察：评分器没有报告 knife_orientation_error_rad 数值，本目录也没有状态日志；视频能显示刀具朝向和可见静止，但不能直接测出完整三维旋转误差、关节速度及微小漂移。终值依据本次评分器成功记录与相符的末段画面判为真，原生误差指标保留 null。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 0.0–4.7 s，机器人右侧二指夹爪从两侧夹住黑色刀柄，右臂与手腕带动刀具调姿并保持夹持，未见释放或换手；刀具本身为受评物体。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "knife_orientation_error_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.4376424908638001,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人保持右夹爪对刀柄的抓握，将刀具转为刀尖朝上、略向左倾，并在视频末段保持稳定；结合评分器 success_step=141 与 30 Hz 控制率，含完整保持窗口的刀具朝向匹配节点于视频约 4.7 s 达成，最终完成 1/1，评分成功。已逐帧检查本次视频 0.0–4.7 s，并对照成功参照辨认目标朝向。没有状态日志，评分器未报告旋转误差数值，无法独立逐帧核验三维误差、速度及漂移阈值，终态验收以本次成功评分为依据。",
+ "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，单节点 knife_reoriented 终值为真、4.7 s 起成立（success_step=141/30 Hz），右夹爪抓握全程可见，无失败层；标注与视频一致。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:19:03Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/ispatialgym-mental-rotation-i00-privileged--qnqgh4w/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-mental-rotation-i00-privileged--qnqgh4w/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a28e2dfcd6c9c9348fab1bd04fb212cfba1017f9f63d1bdd3e1a8c941f42a7c4",
+   "video_sha256": "8d64f7cb67a66016d37e38d8ef338e393ce25924d6015240dc2b081da55aa6ca",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/mental_rotation/trajectories/ispatialgym-mental-rotation-i00-privileged--rzntsic.json b/phase2/ispatialgym/mental_rotation/trajectories/ispatialgym-mental-rotation-i00-privileged--rzntsic.json
new file mode 100644
index 0000000000000000000000000000000000000000..870cf8a799aef7b58ba4bf4df0f620ebcb94b583
--- /dev/null
+++ b/phase2/ispatialgym/mental_rotation/trajectories/ispatialgym-mental-rotation-i00-privileged--rzntsic.json
@@ -0,0 +1,158 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-mental-rotation-i00-privileged--rzntsic",
+ "taskKey": "ispatialgym/mental_rotation",
+ "dag_sha256": "7264fd09febf4538062a2ec5fd760929505de0bdbb820fd242525e8529460e75",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 150,
+   "sim_steps": 117,
+   "rows": 150,
+   "max_rows": 300,
+   "replay_success": 1,
+   "instance_ok": 1,
+   "steps": 117,
+   "success_step": 117,
+   "symbolic_success": 1,
+   "video_rendered": 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/ispatialgym-mental-rotation-i00-privileged--rzntsic/replay.mp4",
+  "duration_s": 4.0,
+  "fps": 10.0,
+  "frames": 40,
+  "sha256": "2c6dc261d0740075ffb67c0ee9a0731ac1d399f4f02c167965c2bbc4cf8b226b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "knife_reoriented": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–0.4 s，机器人右侧二指夹爪夹住黑色刀柄，刀刃在夹爪上方呈斜向；随后视频 0.5–2.5 s 右臂和手腕带动刀具连续转向，尚不能把运动中的朝向近似视为完成静止验收。"
+     },
+     {
+      "t": 2.5,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 2.4–3.9 s，右夹爪始终夹住刀柄，刀尖朝上并略向画面左侧倾斜，刀面呈浅色窄长轮廓；视频约 2.5 s 起刀具、右臂和镜框、水龙头等固定背景之间不再有明显相对运动，保持至末帧。与参照视频 1.0–2.3 s 的刀尖方向和刀面投影相符，刀具在画面中的位置不同。"
+     },
+     {
+      "t": 3.9,
+      "log_step": 101,
+      "text_zh": "推断：评分器 reward 报告 success=1、replay_success=1、symbolic_success=1、deterministic=1，success_step=117，确认本次交付满足朝向、握持及完整静止窗口。log step 97 的最终生成脚本以 75 控制步调姿、随后保持，log step 101 在新进程执行该脚本；其调姿终点 75/30=2.5 s 与视频 2.4–2.6 s 的停止相符，因此评分控制步 117/30 对应视频约 3.9 s，将完整判据首次达成锚定于此，而不提前记在转向停止时。视频不能独立测得三维旋转误差和各速度、漂移阈值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 0.0–3.9 s，机器人右侧二指夹爪从刀柄两侧夹持黑色刀柄，右臂和手腕带刀转向并保持；未见松手、换手或左手参与。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "knife_orientation_error_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.4376424908638001,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人右夹爪持续握住刀柄，通过右臂和手腕将刀具转到刀尖朝上、略向左倾的目标朝向，视频约 2.5 s 起保持稳定，结合评分器成功及 success_step=117，将包含完整静止窗口的唯一节点记为视频约 3.9 s 达成，终态 1/1。无失败断点；本次没有状态日志，三维旋转误差、速度与漂移阈值及完整窗口的通过依赖评分器结果确认，原生旋转误差数值未报告，不能以 agent 在 log step 111 的自述数值代替。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "单节点成功运行，视频 0–3.9 s 右夹爪持续夹刀柄、刀尖转到朝上略左并从约 2.5 s 静止；评分器 success=1、success_step=117（117/30≈3.9 s，视频 4.0 s 内），节点时间、contact_actual、无断点均成立，推断与观察标注正确。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:25:16Z",
+  "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/ispatialgym-mental-rotation-i00-privileged--rzntsic/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-mental-rotation-i00-privileged--rzntsic/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9d00a41eefc59826626873cdac3f636040c1fd7310e2137363f46b0961f1cf28",
+   "video_sha256": "2c6dc261d0740075ffb67c0ee9a0731ac1d399f4f02c167965c2bbc4cf8b226b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/mental_rotation/trajectories/ispatialgym-mental-rotation-i00-privileged--u8p2qcj.json b/phase2/ispatialgym/mental_rotation/trajectories/ispatialgym-mental-rotation-i00-privileged--u8p2qcj.json
new file mode 100644
index 0000000000000000000000000000000000000000..c970aa249338d0a4e41fd1627fbe6f32bacdc2cc
--- /dev/null
+++ b/phase2/ispatialgym/mental_rotation/trajectories/ispatialgym-mental-rotation-i00-privileged--u8p2qcj.json
@@ -0,0 +1,168 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-mental-rotation-i00-privileged--u8p2qcj",
+ "taskKey": "ispatialgym/mental_rotation",
+ "dag_sha256": "7264fd09febf4538062a2ec5fd760929505de0bdbb820fd242525e8529460e75",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "deterministic": 1,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "n_actions": 280,
+   "sim_steps": 161,
+   "rows": 280,
+   "max_rows": 300,
+   "replay_success": 1,
+   "instance_ok": 1,
+   "steps": 161,
+   "success_step": 161,
+   "symbolic_success": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 16.097,
+   "peak_memory_gb": 8.603,
+   "peak_processes": 25,
+   "peak_disk_gb": 2.002,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ispatialgym-mental-rotation-i00-privileged--u8p2qcj/replay.mp4",
+  "duration_s": 5.5,
+  "fps": 10.0,
+  "frames": 55,
+  "sha256": "7e7a18f46af76746e1a2f712310e8976783c7fd2ab9d031eb6e01fe784b718f8"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "knife_reoriented": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 中，机器人右侧二指夹爪已夹住黑色刀柄，刀刃在夹爪上方呈短缩斜向外观，尚未达到末尾的朝上、略向左倾姿态。已逐帧检查本次视频 0.0–5.4 s。"
+     },
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "观察：视频约 1.5–4.0 s，机器人右臂和手腕带着刀具转动，黑柄始终处于夹爪两指之间；视频 4.0–5.4 s，刀尖朝上、刀身略向左倾，相对水龙头及镜框的朝向保持，夹爪未松开。参照视频 1.0–2.3 s 也显示持刀朝上后静止，但刀具画面位置不同；参照仅用于核对完成外观。"
+     },
+     {
+      "t": 5.4,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的评分器字段 success=1、replay_success=1、symbolic_success=1、deterministic=1，success_step=161；本次视频末帧 5.4 s 仍显示右夹爪持刀朝上且姿态稳定。"
+     },
+     {
+      "t": 5.4,
+      "log_step": null,
+      "text_zh": "推断：结合视频约 4.0 s 起的稳定持刀与评分器成功裁决，含完整 45 控制步静止窗口的刀具朝向匹配节点在视频末尾约 5.4 s 完成，并保持至结束；区间起点取已检查的末帧，时刻约有 0.1 s 不确定性。无状态日志，完整三维旋转误差及速度、漂移阈值依赖本次评分裁决，不能仅凭画面精确测出。"
+     },
+     {
+      "t": null,
+      "log_step": 81,
+      "text_zh": "观察：log step 81 中，agent 的最终生成脚本先保持 20 控制步，再用 100 控制步平滑改变躯干及右臂关节，随后保持 160 控制步并保存 280 行轨迹；log step 107、116 的独立回放均报告 280 步、相同最终状态哈希，log step 118 最终交付该轨迹。先前调试中的振动读数属于会话测试，不替代本次评分视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 0.0–5.4 s，机器人右侧二指夹爪的两指夹住刀具黑柄，右臂和手腕带刀调姿并持续握持至末帧；刀具本身是调姿对象。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "knife_orientation_error_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.4376424908638001,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人保持右夹爪对刀柄的抓握，将刀刃转为朝上、略向左倾，视频约 4.0 s 后保持稳定；结合评分器成功与确定性回放裁决，完整静止窗口于视频末尾约 5.4 s 验收通过，最终完成 1/1 节点。无失败断点；没有状态日志，完成时刻为视频近似定位，精确速度、漂移和世界系旋转误差无法独立逐帧核验，评分器未报告 knife_orientation_error_rad 数值。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "单节点调姿任务，评分器成功；视频显示右夹爪持刀从斜向转为朝上略左倾，约 4 s 后静止至末帧，节点在末尾约 5.4 s 达成、无失败断点，接触标注（右夹爪抓握）与画面一致，推断部分已标明。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": "2026-10-30T02:25:05Z",
+  "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/ispatialgym-mental-rotation-i00-privileged--u8p2qcj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-mental-rotation-i00-privileged--u8p2qcj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9154dbffed9b09a7a72a956c5b2bde44abf524b62a58b7a64c5657bc9a0c8d81",
+   "video_sha256": "7e7a18f46af76746e1a2f712310e8976783c7fd2ab9d031eb6e01fe784b718f8",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/ispatialgym/mental_rotation/trajectories/ispatialgym-mental-rotation-i00-standard--6xupqqm.json b/phase2/ispatialgym/mental_rotation/trajectories/ispatialgym-mental-rotation-i00-standard--6xupqqm.json
new file mode 100644
index 0000000000000000000000000000000000000000..1593dced1a962bf3a69eed66dc92d8657a86c0b6
--- /dev/null
+++ b/phase2/ispatialgym/mental_rotation/trajectories/ispatialgym-mental-rotation-i00-standard--6xupqqm.json
@@ -0,0 +1,206 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "ispatialgym-mental-rotation-i00-standard--6xupqqm",
+ "taskKey": "ispatialgym/mental_rotation",
+ "dag_sha256": "7264fd09febf4538062a2ec5fd760929505de0bdbb820fd242525e8529460e75",
+ "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": 300,
+   "sim_steps": 300,
+   "max_steps": 300,
+   "steps": 5,
+   "elapsed_s": 1096.8,
+   "symbolic_success": 0,
+   "success_step": 0,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.323,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.865,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/ispatialgym-mental-rotation-i00-standard--6xupqqm/replay.mp4",
+  "duration_s": 10.1,
+  "fps": 10.0,
+  "frames": 101,
+  "sha256": "88a36a8dd23e7f85ad44bcb9d4c3ddbf7a94383436adf072fa9c0b068a4b3a45"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "knife_reoriented": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 右夹爪已夹住刀柄；逐帧查看视频 0.0–1.0 s 的初次调姿、视频 3.5–4.5 s 和视频 6.5–8.0 s 的再次调姿，刀具随右夹爪转动，没有脱手。"
+     },
+     {
+      "t": 4.0,
+      "log_step": 82,
+      "text_zh": "观察：视频 4.0–6.5 s 右夹爪指端转向上方，但刀刃从握持处向画面右侧伸出，并非目标判据要求的刀尖朝上、略向左倾。成功参照视频 1.0–2.3 s 可见持刀的细长刀刃朝上；参照仅用于识别目标外观。"
+     },
+     {
+      "t": 10.0,
+      "log_step": 109,
+      "text_zh": "观察：视频 7.5–10.0 s（包括视频 9.0–10.0 s 每一帧）刀柄仍夹在右夹爪中，刀刃横向伸向画面右侧、略向下；相对镜框和水龙头仍明显偏离目标朝向。log step 109 的服务结果为 control_steps=300、done=true、控制步用尽；评分字段 success=0、symbolic_success=0、live_matches_replay=1。"
+     },
+     {
+      "t": 10.0,
+      "log_step": 109,
+      "text_zh": "推断：本回合服务按 30 Hz 运行，log step 82 的 control_steps=120 对应视频 4.0 s，已以视频 3.5–4.0 s 的明显转腕和停靠核对；log step 109 的 control_steps=300 对应视频 10.0 s。该步读取的服务关节速度最大绝对值为 0.05555 rad/s，高于验收阈值 0.02 rad/s；结合可见朝向偏差，终态不能通过完整静止验收。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 0.0–10.0 s 右侧二指夹爪夹住黑色刀柄，右臂与手腕带刀具调姿；视频 7.5–10.0 s 的近景清楚显示刀柄被两侧夹指夹持。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "knife_orientation_error_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.4376424908638001,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "knife_reoriented",
+   "t": 4.0,
+   "log_step": 82,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 3.5–4.0 s 机器人再次转动右臂与手腕后，刀刃仍向右伸出；视频 4.0–6.5 s 保持此姿态，后续调姿至视频 7.5–10.0 s 仍未形成目标的朝上、略向左倾刀具朝向。log step 109 的服务结果在控制步用尽时判失败；失败步骤始终是刀具朝向匹配。"
+  },
+  "unmet": {
+   "knife_reoriented": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 4.0,
+    "log_step": 82,
+    "evidence_zh": "观察：视频 4.0–6.5 s 刀刃向画面右侧伸出；最后一次调整后，视频 7.5–10.0 s 刀面展开、长刃近乎横向朝右，仍与目标朝上且略向左倾的三维朝向明显不同。成功参照视频 1.0–2.3 s 中刀刃朝上，可借镜框与水龙头核对背景方向。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "t": 4.0,
+    "log_step": 81,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：agent 的脚本在 log step 80–81 用夹爪四元数矩阵的局部 z 轴作为当前刀具长轴，将它对齐目标图的左上方向；log step 86 随即声称长轴已匹配并决定保持，log step 87 实际保持了 75 个控制步。但视频 4.0–6.5 s 中向上的主要是夹爪指端，刀刃仍朝右。这表明 agent 对刀具相对夹爪的朝向估计有误，该估计直接导致错误调姿及其后的保持；后续虽改用刀尖图像估计，视频 7.5–10.0 s 仍未修复本步。"
+   },
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 7.5,
+    "log_step": 105,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 104–105 的最后调姿已有服务 IK 成功结果（末端位置残差约 0.000027 m），但服务返回的实际右 TCP 位置为 [0.6818,0.0436,1.2149]，与所发目标 [0.8135,0.0432,1.0861] 仍明显不同。log step 109 在继续保持 75 个控制步后，实际 TCP 仍为 [0.6865,0.0434,1.2153]，最大关节速度仍为 0.05555 rad/s，超过静止阈值；视频 7.5–10.0 s 同时显示刀具停留在错误朝向。保持同一关节命令未消除执行偏差并满足静止要求；证据不足以细分为轨迹、反馈或参数问题。末端位置差仅作为跟踪证据，并非额外的刀具位置验收条件。"
+   }
+  ],
+  "gap_zh": "没有状态日志，也没有评分器逐步报告的刀具完整四元数误差、握持谓词和 45 控制步静止窗口结果，因此无法量化刀面旋转误差或核验全部速度、漂移项；原生朝向误差指标未报告，记为 null。视频足以确认可见朝向未匹配，单回合服务读数支持静止要求也未满足；具体执行偏差的控制子原因不能确定。"
+ },
+ "summary_zh": "机器人保持右夹爪对刀柄的抓握并进行了多次调姿，但刀具朝向匹配节点始终未完成，终态为 0/1；视频 7.5–10.0 s 刀刃仍横向朝右。日志显示早期误把夹爪局部轴当作刀具长轴，最后调姿后的服务读数还显示持续执行偏差与超阈值关节速度。缺少刀具完整朝向和静止窗口状态日志，无法给出精确旋转误差或进一步定位控制子原因。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点未达（0/1）、断点 knife_reoriented、时钟映射（control_steps 120→视频 4.0 s，300→10.0 s）均与视频和 log 一致；位姿不准、感知、控制三项有视频与服务读数支持，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": "2026-10-30T02:43:55Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/ispatialgym-mental-rotation-i00-standard--6xupqqm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/ispatialgym-mental-rotation-i00-standard--6xupqqm/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bed649bea3c65eda87fef50fd87375c932820a7306f173b12224407f964c5dff",
+   "video_sha256": "88a36a8dd23e7f85ad44bcb9d4c3ddbf7a94383436adf072fa9c0b068a4b3a45",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/constrained_cupboard/trajectories/kinder-constrained-cupboard-i00-privileged--49vcgdw.json b/phase2/kinder/constrained_cupboard/trajectories/kinder-constrained-cupboard-i00-privileged--49vcgdw.json
new file mode 100644
index 0000000000000000000000000000000000000000..c092555be43a2a98bfffe93765f8572ddb4066c1
--- /dev/null
+++ b/phase2/kinder/constrained_cupboard/trajectories/kinder-constrained-cupboard-i00-privileged--49vcgdw.json
@@ -0,0 +1,317 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-constrained-cupboard-i00-privileged--49vcgdw",
+ "taskKey": "kinder/constrained_cupboard",
+ "dag_sha256": "d260f33646f4038751aaf6e06136273d949ff6ad0795358498502c980cb5ef31",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "n_actions": 916,
+   "sim_steps": 916,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 2.239,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.505,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/kinder-constrained-cupboard-i00-privileged--49vcgdw/replay.mp4",
+  "duration_s": 45.9,
+  "fps": 10.0,
+  "frames": 459,
+  "sha256": "23949b516145da1719a396f3d67762faaf6b70a5fc75b4bcdd3792c2e6e826b1"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "rod_0_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 20.25,
+      "log_step": null,
+      "text_zh": "观察：视频 18.0–21.0 s，机器人夹爪在左侧较低的杆0端部附近下降，杆在地面略有移动，但抬爪后仍留在地面，没有随机器人到柜前。"
+     },
+     {
+      "t": 45.8,
+      "log_step": null,
+      "text_zh": "观察：视频 21.5–23.5 s 的柜前动作没有携带杆0；视频 44.8–45.8 s 杆0仍在柜前地面，未进入第2柜上部高隔间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 20.0–20.5 s，机器人夹爪碰拨杆0端部使其在地面小幅移位；未见对向夹紧后带离地面。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 16.5–23.8 s，底盘行驶、转向支承杆0的操作尝试。"
+     }
+    ]
+   },
+   "rod_1_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34,
+      "log_step": null,
+      "text_zh": "观察：视频 32.0–35.0 s，机器人夹爪在左侧较高的杆1端部附近下降闭合；视频 35.5–38.0 s 机器人到柜前时，杆1仍在原地附近的地面，没有随机器人搬运。"
+     },
+     {
+      "t": 45.8,
+      "log_step": null,
+      "text_zh": "观察：视频 44.8–45.8 s 杆1仍位于底盘左侧的柜外地面，未进入第4柜上部高隔间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 31.0–38.5 s，底盘行驶支承杆1的抓取、送柜尝试。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 33.0–35.0 s 夹爪与杆1端部在投影上接近，但底盘遮住部分接触区域，不能确认是否碰触或如何受力；未见杆1被带离地面，不记抓握。"
+     }
+    ]
+   },
+   "rod_2_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12,
+      "log_step": null,
+      "text_zh": "观察：视频 10.5–13.5 s，机器人夹爪在杆2前方的空处下降、闭合再抬起，初始第2近的横向杆2一直留在地面，未随夹爪移动。"
+     },
+     {
+      "t": 45.8,
+      "log_step": null,
+      "text_zh": "观察：视频 14.0–16.0 s 机器人空手到柜前，杆2仍在原处；视频 45.8 s 杆2仍横躺在柜排前方，未进入第5柜上部高隔间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 9.5–16.5 s，底盘移动支承对杆2的抓取和送柜尝试；视频 10.5–13.5 s 夹爪空合，未见其接触杆2，故不记抓握。"
+     }
+    ]
+   },
+   "rod_3_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 43,
+      "log_step": null,
+      "text_zh": "观察：视频 38.5–42.5 s 机器人在右侧较高的杆3处操作；视频 43.0 s 杆3离开旧位置，随机器人转至左端柜前。"
+     },
+     {
+      "t": 45.8,
+      "log_step": null,
+      "text_zh": "观察：视频 44.8–45.8 s，杆3在左端柜口外、底盘右侧的地面，未见其中心进入第1柜下部高隔间。"
+     },
+     {
+      "t": 43,
+      "log_step": 28,
+      "text_zh": "推断：结合视频 42.5–44.5 s 杆3从原位置消失并随机器人转移，以及 log step 28 同一最终脚本试跑中杆3被移动的输出，机器人搬运了杆3，但没有完成入格。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "推断：视频 42.5–44.5 s 杆3离开原地并随夹爪、底盘一起转移至左端柜前；夹爪局部被底盘遮挡，前后连续运动支持夹持搬运。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 38.5–45.8 s，底盘移动、转向支承杆3的操作和搬运。"
+     }
+    ]
+   },
+   "rod_4_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.5,
+      "log_step": null,
+      "text_zh": "观察：视频 3.5–6.5 s，机器人二指夹爪下降夹住初始最近的杆4，杆离开原地并随底盘向柜排右端搬运。"
+     },
+     {
+      "t": 9.5,
+      "log_step": null,
+      "text_zh": "观察：视频 9.5–10.5 s，底盘离开柜前后，杆4显露在最右柜外的地面，中心没有进入第11柜下部高隔间；视频 44.8–45.8 s 仍在柜外。"
+     },
+     {
+      "t": 8.8,
+      "log_step": null,
+      "text_zh": "推断：视频 6.5–9.5 s 的搬运及离柜后杆的位置表明，本次送入未使杆中心越过柜口；底盘遮住了最后推进和松手，视频 8.8 s 仅作失败导航锚点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 5.5–6.5 s，机器人二指夹爪夹住杆4近端，杆随夹爪和底盘离开原位。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 2.0–9.5 s，轮式底盘行驶、转向并支承机械臂搬运杆4至右端柜前。"
+     }
+    ]
+   },
+   "rod_5_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26,
+      "log_step": null,
+      "text_zh": "观察：视频 24.0–28.0 s，机器人在右侧较低的杆5附近操作，但夹爪收向底盘上方时为空，杆5仍躺在右侧地面。"
+     },
+     {
+      "t": 45.8,
+      "log_step": null,
+      "text_zh": "观察：视频 28.5–30.5 s 机器人空手到柜前；视频 45.8 s 杆5仍在右侧地面，未进入第8柜下部高隔间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 24.0–31.0 s，底盘移动和转向支承杆5的操作尝试；未见夹爪夹持或带起杆5。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "rod_4_in_compartment",
+   "t": 8.8,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "推断：视频 5.5–6.5 s 机器人夹起杆4向最右柜搬运，视频 9.5–10.5 s 底盘离开后杆4已在柜外地面；其中心未进入第11柜下部高隔间，后续至视频 45.8 s 没有重试或修复。这是六次操作中最先未完成且未修复的一步；柜前末段被底盘遮住，视频 8.8 s 为近似导航锚点。"
+  },
+  "unmet": {
+   "rod_0_in_compartment": false,
+   "rod_1_in_compartment": false,
+   "rod_2_in_compartment": false,
+   "rod_3_in_compartment": false,
+   "rod_4_in_compartment": false,
+   "rod_5_in_compartment": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 8.8,
+    "log_step": 29,
+    "evidence_zh": "推断：视频 6.5 s 杆4随机器人向柜前搬运，视频 9.5–10.5 s 显露在目标柜外地面，未到指定隔间；log step 26、28、29 显示最终脚本按固定阶段推进后发出开爪命令并撤回。结合前后帧，送杆的位置未到位；不是已在格内释放后失稳。具体释放瞬间被底盘遮住。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 26 的 go 函数仅执行固定数量动作，返回条件是成功或回合结束，没有检查末端是否到达或杆中心是否入格；log step 28 延长阶段后，log step 29 将该版本保存为最终交付，仍在推进阶段后直接开爪、撤回。视频 6.5–10.5 s 显示杆4虽被搬运却留在柜外，说明最终控制没有在释放前消除送入误差；缺少最终执行的末端与杆位姿记录，根因保留在控制大类。",
+    "source_zh": "日志",
+    "note_zh": "不从 agent 自述“时间用完”（log step 30）推断原因；现有证据不足以细分握持偏移、末端跟踪或阶段时长。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 没有状态日志；视频中底盘遮住了杆4在柜前最后推进与松手的细节，以及杆1、杆3的部分夹爪区域。推断：结合前后帧可判定六杆均未入格，但杆4的具体释放位置及是否在开爪前已有滑移无法精确区分，断点时间仅取近似锚点，控制根因不细分。log step 17–27 的早期试验不作为本次节点进展；log step 28 的最终版本由 log step 29 保存，评分器 n_actions=916、deterministic=1 与该交付一致。"
+ },
+ "summary_zh": "观察：机器人依次尝试杆4、2、0、5、1、3，六个入柜节点均未达到，视频 45.8 s 所有杆仍在柜外。推断：最早未修复的失败是杆4入柜4，机器人搬运后未把杆中心送入目标隔间，最终控制按固定阶段释放和撤回且未修正到位误差；后续还有多次空抓。观察：没有状态日志，底盘遮挡部分抓取与柜前释放细节，因此具体接触和控制子原因保留不确定性。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "六个节点均未达成与视频一致：杆4被夹起搬至最右柜前，约 10 s 起已留在柜外地面，其余各杆至 45.8 s 仍在柜外；断点定在最先未修复的杆4合理，位姿不准与控制根因有 log step 28/29（杆4末位 x=1.671，短于柜口 1.85）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": "2026-10-30T02:45:09Z",
+  "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/kinder-constrained-cupboard-i00-privileged--49vcgdw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-constrained-cupboard-i00-privileged--49vcgdw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "08612905e8a84f20c354e1359c02968f0743da2ef15073d4cce1d59d6ec81add",
+   "video_sha256": "23949b516145da1719a396f3d67762faaf6b70a5fc75b4bcdd3792c2e6e826b1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/constrained_cupboard/trajectories/kinder-constrained-cupboard-i00-privileged--afkvirw.json b/phase2/kinder/constrained_cupboard/trajectories/kinder-constrained-cupboard-i00-privileged--afkvirw.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fcb2d19d884dcf600c47f6daeb32073a520fed0
--- /dev/null
+++ b/phase2/kinder/constrained_cupboard/trajectories/kinder-constrained-cupboard-i00-privileged--afkvirw.json
@@ -0,0 +1,298 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-constrained-cupboard-i00-privileged--afkvirw",
+ "taskKey": "kinder/constrained_cupboard",
+ "dag_sha256": "d260f33646f4038751aaf6e06136273d949ff6ad0795358498502c980cb5ef31",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "n_actions": 906,
+   "sim_steps": 906,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.675,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.24,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/kinder-constrained-cupboard-i00-privileged--afkvirw/replay.mp4",
+  "duration_s": 45.4,
+  "fps": 10.0,
+  "frames": 454,
+  "sha256": "927cfa32cacded1d7a746258b4cd67f8931f93b266ef1aad854e86eed0d7792f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "rod_0_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14.0,
+      "log_step": null,
+      "text_zh": "观察：视频11.6–14.5 s机器人夹爪接近初始画面左下方斜杆的一端，杆离开地面原位并随机器人移向从左数第2柜；按初始位置及追踪对应杆0。"
+     },
+     {
+      "t": 27.8,
+      "log_step": null,
+      "text_zh": "观察：视频15.0–27.0 s机器人在柜前推进和退回；视频27.4–28.0 s机器人移开，棕杆斜留在左侧柜口前，中心仍在柜排前方，未进入目标上部高隔间。"
+     },
+     {
+      "t": 45.3,
+      "log_step": 93,
+      "text_zh": "推断：视频28.0–45.3 s该杆未被重新送入目标格；最终交付run4在log step 93打印杆0中心[1.781,0.441,0.028]、ok=False，与柜口前低处遗留的杆相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频11.6–14.5 s，机器人单臂二指夹爪在杆0的一端闭合夹住，杆离开原位并随机器人搬运；柜前后续接触细节被臂和底盘遮挡。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在抓取杆0和向柜前搬运、推进期间移动，承重支承机械臂；视频11.6–14.5 s附近及其后可见行驶。"
+     }
+    ]
+   },
+   "rod_1_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.8,
+      "log_step": null,
+      "text_zh": "观察：视频约4.0–5.5 s，机器人二指夹爪从初始画面左上方斜杆的一端夹取并搬离原位，随后移向从左数第4柜；按初始位置和全过程追踪对应杆1。"
+     },
+     {
+      "t": 11.2,
+      "log_step": null,
+      "text_zh": "观察：视频6.0–11.0 s机器人在目标柜前反复前后移动；视频11.2–13.4 s机器人移开并转向下一根杆，原杆留在柜口外侧，未呈现杆中心进入上部高隔间的外观。"
+     },
+     {
+      "t": 45.3,
+      "log_step": 93,
+      "text_zh": "推断：视频后续直至45.3 s未见机器人再次把杆1送入目标格；最终交付run4的日志输出杆1中心为[1.764,0.198,0.098]、ok=False（log step 93），与视频柜前遗留物相符。该坐标仅作交付记录佐证，不作为状态日志或视频时间来源。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频4.0–5.5 s，机器人单臂二指夹爪在杆1的一端闭合夹住，杆离开原位并随机器人搬运；柜前后续接触细节被臂和底盘遮挡。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在抓取杆1和向柜前搬运、推进期间移动，承重支承机械臂；视频4.0–5.5 s附近及其后可见行驶。"
+     }
+    ]
+   },
+   "rod_2_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.6,
+      "log_step": null,
+      "text_zh": "观察：视频28.0–29.6 s机器人夹爪夹住初始画面靠近底盘、近水平的一根杆的左端；视频29.4 s后该杆离开地面原位随底盘搬运，对应杆2。"
+     },
+     {
+      "t": 43.8,
+      "log_step": null,
+      "text_zh": "观察：视频30.0–42.5 s机器人在柜排中部前方推进；视频42.6–43.8 s底盘退回，杆2从机器人下方露出并留在远离柜口的地面，未进入从左数第5柜的上部高隔间。"
+     },
+     {
+      "t": 45.3,
+      "log_step": 93,
+      "text_zh": "观察：视频44.0–45.3 s杆2仍在底盘旁低处，目标柜格没有杆中心进入的外观；最终交付run4在log step 93打印杆2中心[1.144,0.248,0.015]、ok=False。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频28.0–29.6 s，机器人单臂二指夹爪在杆2的一端闭合夹住，杆离开原位并随机器人搬运；柜前后续接触细节被臂和底盘遮挡。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人轮式底盘在抓取杆2和向柜前搬运、推进期间移动，承重支承机械臂；视频28.0–29.6 s附近及其后可见行驶。"
+     }
+    ]
+   },
+   "rod_3_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，初始画面右上方、较陡的斜杆位于地面，没有处于目标隔间内。"
+     },
+     {
+      "t": 45.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–45.3 s机器人未对杆3开展抓取入柜动作；视频44.0–45.3 s该杆仍在地面区域，对应目标柜格未见杆中心进入。"
+     }
+    ]
+   },
+   "rod_4_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，初始距底盘最近、位于底盘前缘附近的斜杆位于地面，没有处于目标隔间内。"
+     },
+     {
+      "t": 45.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–45.3 s机器人未对杆4开展抓取入柜动作；视频44.0–45.3 s该杆仍在地面区域，对应目标柜格未见杆中心进入。"
+     }
+    ]
+   },
+   "rod_5_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，初始画面右侧两根斜杆中较低、较平的一根位于地面，没有处于目标隔间内。"
+     },
+     {
+      "t": 45.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–45.3 s机器人未对杆5开展抓取入柜动作；视频44.0–45.3 s该杆仍在地面区域，对应目标柜格未见杆中心进入。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "rod_1_in_compartment",
+   "t": 7.0,
+   "log_step": 93,
+   "where": "操作中",
+   "evidence_zh": "推断：视频约6.0–11.0 s机器人正操作第一根搬运的杆1，在从左数第4柜前推进仍未把中心送入上部高隔间；视频11.2 s起转向杆0，此后未修复杆1入柜。log step 93对应最终保存并重放的906动作run4，杆1位置仍在目标外且重放success=False；log step 94确认交付此轮。"
+  },
+  "unmet": {
+   "rod_0_in_compartment": false,
+   "rod_1_in_compartment": false,
+   "rod_2_in_compartment": false,
+   "rod_3_in_compartment": false,
+   "rod_4_in_compartment": false,
+   "rod_5_in_compartment": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 11.2,
+    "log_step": 93,
+    "evidence_zh": "推断：视频6.0–11.0 s机器人把杆1搬到柜前却未形成目标入格关系，视频11.2–13.4 s移开后杆仍在柜口外；log step 93的最终交付记录给出杆1中心[1.764,0.198,0.098]、ok=False，而log step 22打印该目标范围为x=[1.95,2.05]、z=[0.14,0.54]。这是送入深度和高度未到位，不是已放入目标后失稳。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "已验证有",
+    "t": 7.0,
+    "log_step": 91,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 74的脚本采用夹住杆尾、用底盘横向推进的布局；log step 88记录agent判断腕部阻挡并加入松手后闭爪顶推，log step 91把抓点设在离中心0.142 m处并重复重新接触杆尾，log step 94确认最终交付保留这些修改。视频6.0–11.0 s的推进没有形成杆1中心入格，log step 93的对应结果仍在目标外，说明该夹持与后续顶推的接触布局未能完成必要的插入；腕部具体碰撞点因遮挡未直接确认。可行替代由参考成功录像的不同入柜姿态验证：参考视频36.3 s可见各杆中心已入相应格；仅用于说明有可行方案，不计为本轮进度。"
+   }
+  ],
+  "gap_zh": "本轮没有状态日志；柜前臂、夹爪及杆中心部分被机器人遮挡，短时几何边界与松手后顶推的实际接触方式不能逐帧直接确认。节点未达成结合前后帧、遗留位置及已确认交付run4的日志作判断；没有把agent所称“腕部卡柜口”单独标为已观察到的碰撞。agent在log step 100声称六根均已抓取，但视频只显示杆1、杆0、杆2的三次搬运，且log step 93也仅打印这三根；按视频标注。"
+ },
+ "summary_zh": "评分轨迹只尝试搬运杆1、杆0、杆2，六个入柜节点均未达成，最终为0/6。最早未修复的失败在杆1入柜1：视频约6.0–11.0 s的推进未把杆中心送入目标格，接触布局及松手顶推方案仍未解决入柜深度问题。柜前局部遮挡且无状态日志，具体碰撞部位未确认；最终交付记录与视频支持失败，agent最后关于已搬运六根的总结不受视频支持。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "六个节点均未达成与视频一致（杆全程在地面/柜口前，无入格）；断点杆1入柜、位姿不准、抓取和接触设计的证据链与log step 93/94及参考视频对照相符，未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:45:32Z",
+  "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/kinder-constrained-cupboard-i00-privileged--afkvirw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-constrained-cupboard-i00-privileged--afkvirw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f5e8e54775b5232f56c0d1839f6bd8ac08ff45e306936b89592fb16909c649ee",
+   "video_sha256": "927cfa32cacded1d7a746258b4cd67f8931f93b266ef1aad854e86eed0d7792f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/constrained_cupboard/trajectories/kinder-constrained-cupboard-i00-privileged--d4gzqgo.json b/phase2/kinder/constrained_cupboard/trajectories/kinder-constrained-cupboard-i00-privileged--d4gzqgo.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb133b47c3d252417374b1cfaa3bab442ec2862d
--- /dev/null
+++ b/phase2/kinder/constrained_cupboard/trajectories/kinder-constrained-cupboard-i00-privileged--d4gzqgo.json
@@ -0,0 +1,267 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-constrained-cupboard-i00-privileged--d4gzqgo",
+ "taskKey": "kinder/constrained_cupboard",
+ "dag_sha256": "d260f33646f4038751aaf6e06136273d949ff6ad0795358498502c980cb5ef31",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "n_actions": 1000,
+   "sim_steps": 1000,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.357,
+   "peak_processes": 12,
+   "peak_disk_gb": 0.979,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/kinder-constrained-cupboard-i00-privileged--d4gzqgo/replay.mp4",
+  "duration_s": 50.1,
+  "fps": 10.0,
+  "frames": 501,
+  "sha256": "0da166f22495bc0109d08713c4d906e7e3ac0772aea0076e80055ecb1c778bc9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "rod_0_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，棕杆散置于地面，机器人停在初始位置；从左数第2柜的上部高隔间未见棕杆中点进入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 96,
+      "text_zh": "观察：视频 0.0–50.0 s 每隔约2秒检查，并密查视频 0.0–1.0 s 与49.0–50.0 s，未见机器人接近、抓起或搬运棕杆；从左数第2柜的上部目标隔间始终未见杆。log step 96 的交付生成代码仅记录1000步零动作，log step 99 重放返回 success=false；会话中的搬杆调试不在此评分轨迹内。"
+     }
+    ]
+   },
+   "rod_1_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，棕杆散置于地面，机器人停在初始位置；从左数第4柜的上部高隔间未见棕杆中点进入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 96,
+      "text_zh": "观察：视频 0.0–50.0 s 每隔约2秒检查，并密查视频 0.0–1.0 s 与49.0–50.0 s，未见机器人接近、抓起或搬运棕杆；从左数第4柜的上部目标隔间始终未见杆。log step 96 的交付生成代码仅记录1000步零动作，log step 99 重放返回 success=false；会话中的搬杆调试不在此评分轨迹内。"
+     }
+    ]
+   },
+   "rod_2_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，棕杆散置于地面，机器人停在初始位置；从左数第5柜的上部高隔间未见棕杆中点进入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 96,
+      "text_zh": "观察：视频 0.0–50.0 s 每隔约2秒检查，并密查视频 0.0–1.0 s 与49.0–50.0 s，未见机器人接近、抓起或搬运棕杆；从左数第5柜的上部目标隔间始终未见杆。log step 96 的交付生成代码仅记录1000步零动作，log step 99 重放返回 success=false；会话中的搬杆调试不在此评分轨迹内。"
+     }
+    ]
+   },
+   "rod_3_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，棕杆散置于地面，机器人停在初始位置；从左数第1柜的下部高隔间未见棕杆中点进入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 96,
+      "text_zh": "观察：视频 0.0–50.0 s 每隔约2秒检查，并密查视频 0.0–1.0 s 与49.0–50.0 s，未见机器人接近、抓起或搬运棕杆；从左数第1柜的下部目标隔间始终未见杆。log step 96 的交付生成代码仅记录1000步零动作，log step 99 重放返回 success=false；会话中的搬杆调试不在此评分轨迹内。"
+     }
+    ]
+   },
+   "rod_4_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，棕杆散置于地面，机器人停在初始位置；从左数第11柜的下部高隔间未见棕杆中点进入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 96,
+      "text_zh": "观察：视频 0.0–50.0 s 每隔约2秒检查，并密查视频 0.0–1.0 s 与49.0–50.0 s，未见机器人接近、抓起或搬运棕杆；从左数第11柜的下部目标隔间始终未见杆。log step 96 的交付生成代码仅记录1000步零动作，log step 99 重放返回 success=false；会话中的搬杆调试不在此评分轨迹内。"
+     }
+    ]
+   },
+   "rod_5_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，棕杆散置于地面，机器人停在初始位置；从左数第8柜的下部高隔间未见棕杆中点进入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 96,
+      "text_zh": "观察：视频 0.0–50.0 s 每隔约2秒检查，并密查视频 0.0–1.0 s 与49.0–50.0 s，未见机器人接近、抓起或搬运棕杆；从左数第8柜的下部目标隔间始终未见杆。log step 96 的交付生成代码仅记录1000步零动作，log step 99 重放返回 success=false；会话中的搬杆调试不在此评分轨迹内。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "rod_0_in_compartment",
+   "t": 0.0,
+   "log_step": 96,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.0、25.0、50.0 s 及全程每隔约2秒的抽帧、首尾各1秒的逐帧检查均显示机器人留在初始位置，未开始任何一根杆的抓取或入柜；log step 96 保存1000步零动作，log step 99 对该交付文件的重放返回 success=false。推断：六个独立搬杆步骤均未启动，按 DAG 列表首个未完成节点 rod_0_in_compartment 记录首步前断点（docs/03_trajectory.md Step 3.1、docs/CASES.md FAIL-22）；这不表示机器人已选定杆0，也不增设六步之间的先后依赖。"
+  },
+  "unmet": {
+   "rod_0_in_compartment": false,
+   "rod_1_in_compartment": false,
+   "rod_2_in_compartment": false,
+   "rod_3_in_compartment": false,
+   "rod_4_in_compartment": false,
+   "rod_5_in_compartment": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 96,
+    "evidence_zh": "观察：视频 0.0、2.0、4.0 至50.0 s 的全程粗查及视频 49.0–50.0 s 逐帧检查中，机器人没有对地面棕杆实施接近、抓取、运输或插入；log step 96 的生成代码执行 s.step(np.zeros(11))，保存1000个零动作。评分尝试未启动任何搬杆步骤。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 63,
+    "evidence_zh": "推断：会话测试中，log step 53 末端抬至约0.30米而杆4中心仍在地面高度约0.015米；log step 63 修正夹爪朝向后再次抬起和移动末端，杆4仍留地面，且出现多项IK误差警告。log step 81 的搬杆控制测试又因动作分量越界报错，log step 83 修补限幅后的测试未给出完成结果，后由agent在log step 94主动终止；log step 96 最终改录零动作。上述会话记录支持抓取与运动控制尚未形成可用搬杆序列，继而交付静止基线；无法进一步唯一确定控制子类，不把这些会话接触当作评分现象。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "观察：本任务没有状态日志；视频中部分地面杆被机械臂或底盘遮挡，但目标柜格可见，且评分轨迹从未搬杆，足以判定六个节点均为false。会话 log step 77 测试杆4不能替代评分轨迹中的操作。根因仅由会话测试作宽泛控制推断，没有可用于区分具体控制子类的成功搬运对照。六步均未尝试，故均省略contact_actual。"
+ },
+ "summary_zh": "观察：评分视频 0.0–50.0 s 中机器人未开始搬杆，六个目标隔间均未出现杆入格，最终进度为0/6；log step 96 交付1000步零动作，log step 99 重放确认失败。推断：会话中的抓取失败、IK误差及控制脚本错误支持宽泛的控制能力问题；六步均未启动，首步前断点按 DAG 首个节点记为 rod_0_in_compartment，根因子类仍不能确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "进度（0/6、全 false）、零动作交付、没尝试现象和控制根因（FAIL-22 允许的会话证据）均成立；唯一问题是断点 ref 记为 unknown，而证据其实能指明第一步。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "0/6、全 false、首步前/没尝试、零动作交付均有视频和 log 支持；控制根因按 FAIL-22 来自会话中抓取失败的证据，并已标为推断。断点 ref 已按第1轮意见修改。未发现需改动处。",
+    "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": "2026-10-30T02:48:17Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/kinder-constrained-cupboard-i00-privileged--d4gzqgo/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-constrained-cupboard-i00-privileged--d4gzqgo/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-constrained-cupboard-i00-privileged--d4gzqgo/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/kinder-constrained-cupboard-i00-privileged--d4gzqgo/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "78015d58f0ad5d81e5cb1ddf826df98f7ad1a53f2b4215aec318736b87d46342",
+   "video_sha256": "0da166f22495bc0109d08713c4d906e7e3ac0772aea0076e80055ecb1c778bc9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/constrained_cupboard/trajectories/kinder-constrained-cupboard-i00-privileged--eedlcun.json b/phase2/kinder/constrained_cupboard/trajectories/kinder-constrained-cupboard-i00-privileged--eedlcun.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d5acc95d0499e3d84aee2fca808e5832c42865a
--- /dev/null
+++ b/phase2/kinder/constrained_cupboard/trajectories/kinder-constrained-cupboard-i00-privileged--eedlcun.json
@@ -0,0 +1,246 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-constrained-cupboard-i00-privileged--eedlcun",
+ "taskKey": "kinder/constrained_cupboard",
+ "dag_sha256": "d260f33646f4038751aaf6e06136273d949ff6ad0795358498502c980cb5ef31",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "n_actions": 1,
+   "sim_steps": 1,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.667,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.258,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/kinder-constrained-cupboard-i00-privileged--eedlcun/replay.mp4",
+  "duration_s": 0.1,
+  "fps": 10.0,
+  "frames": 1,
+  "sha256": "ff34bf2e06d9f9938df70216741d89832f0e8c67651e9cc2d1e0ca77927d4721"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "rod_0_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为本次全片唯一帧，机器人保持初始收臂姿态，棕杆留在柜前地面；从左数第2柜的上部目标隔间内没有棕杆中点进入。已对照成功参考视频 36.3 s 的杆入格外观，本次未出现相应入格结果。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 14,
+      "text_zh": "推断：log step 14 中 agent 的生成脚本在 reset 后将 actions=np.zeros((1,11)) 保存为交付轨迹；评分器字段 n_actions=1、sim_steps=1、deterministic=1 与视频 0.0 s 的初始场景相符。因此杆0在本次评分回放中未被搬入目标格；后续会话测试不能计入本节点。"
+     }
+    ]
+   },
+   "rod_1_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为本次全片唯一帧，机器人保持初始收臂姿态，棕杆留在柜前地面；从左数第4柜的上部目标隔间内没有棕杆中点进入。已对照成功参考视频 36.3 s 的杆入格外观，本次未出现相应入格结果。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 14,
+      "text_zh": "推断：log step 14 中 agent 的生成脚本在 reset 后将 actions=np.zeros((1,11)) 保存为交付轨迹；评分器字段 n_actions=1、sim_steps=1、deterministic=1 与视频 0.0 s 的初始场景相符。因此杆1在本次评分回放中未被搬入目标格；后续会话测试不能计入本节点。"
+     }
+    ]
+   },
+   "rod_2_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为本次全片唯一帧，机器人保持初始收臂姿态，棕杆留在柜前地面；从左数第5柜的上部目标隔间内没有棕杆中点进入。已对照成功参考视频 36.3 s 的杆入格外观，本次未出现相应入格结果。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 14,
+      "text_zh": "推断：log step 14 中 agent 的生成脚本在 reset 后将 actions=np.zeros((1,11)) 保存为交付轨迹；评分器字段 n_actions=1、sim_steps=1、deterministic=1 与视频 0.0 s 的初始场景相符。因此杆2在本次评分回放中未被搬入目标格；后续会话测试不能计入本节点。"
+     }
+    ]
+   },
+   "rod_3_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为本次全片唯一帧，机器人保持初始收臂姿态，棕杆留在柜前地面；从左数第1柜的下部目标隔间内没有棕杆中点进入。已对照成功参考视频 36.3 s 的杆入格外观，本次未出现相应入格结果。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 14,
+      "text_zh": "推断：log step 14 中 agent 的生成脚本在 reset 后将 actions=np.zeros((1,11)) 保存为交付轨迹；评分器字段 n_actions=1、sim_steps=1、deterministic=1 与视频 0.0 s 的初始场景相符。因此杆3在本次评分回放中未被搬入目标格；后续会话测试不能计入本节点。"
+     }
+    ]
+   },
+   "rod_4_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为本次全片唯一帧，机器人保持初始收臂姿态，棕杆留在柜前地面；从左数第11柜的下部目标隔间内没有棕杆中点进入。已对照成功参考视频 36.3 s 的杆入格外观，本次未出现相应入格结果。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 14,
+      "text_zh": "推断：log step 14 中 agent 的生成脚本在 reset 后将 actions=np.zeros((1,11)) 保存为交付轨迹；评分器字段 n_actions=1、sim_steps=1、deterministic=1 与视频 0.0 s 的初始场景相符。因此杆4在本次评分回放中未被搬入目标格；后续会话测试不能计入本节点。"
+     }
+    ]
+   },
+   "rod_5_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为本次全片唯一帧，机器人保持初始收臂姿态，棕杆留在柜前地面；从左数第8柜的下部目标隔间内没有棕杆中点进入。已对照成功参考视频 36.3 s 的杆入格外观，本次未出现相应入格结果。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 14,
+      "text_zh": "推断：log step 14 中 agent 的生成脚本在 reset 后将 actions=np.zeros((1,11)) 保存为交付轨迹；评分器字段 n_actions=1、sim_steps=1、deterministic=1 与视频 0.0 s 的初始场景相符。因此杆5在本次评分回放中未被搬入目标格；后续会话测试不能计入本节点。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": 0.0,
+   "log_step": 14,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.0 s（全片唯一帧，总时长 0.1 s）显示机器人仍在初始位置、未持杆，各目标格未有杆入内；log step 14 的交付脚本保存的只有一行全零动作，评分器记录 n_actions=1。推断：评分轨迹没有启动任一入柜步骤；六个节点无先后依赖，画面不能确定唯一的首个工作节点，故 ref 为 unknown。"
+  },
+  "unmet": {
+   "rod_0_in_compartment": false,
+   "rod_1_in_compartment": false,
+   "rod_2_in_compartment": false,
+   "rod_3_in_compartment": false,
+   "rod_4_in_compartment": false,
+   "rod_5_in_compartment": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 14,
+    "evidence_zh": "观察：视频 0.0 s 的唯一帧仍为机器人收臂、棕杆在地面、目标格空置的初始场景；log step 14 中 agent 保存并运行的生成脚本只交付单步全零动作，评分器字段 missing_trajectory=0、invalid_trajectory=0、n_actions=1。推断：存在有效的基线交付，但评分尝试没有开始抓取、搬运或入柜。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "交付",
+    "item": "交付操作出错",
+    "t": null,
+    "log_step": 14,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 在 log step 14 明确写入并运行 gen.py，用 actions=np.zeros((1,11)) 调用 save_trajectory 保存交付文件；检查全部后续调用，未见再次修改生成脚本或保存搬运动作。log step 72 是单独创建 Session、reset 后的六杆测试，log step 74 返回其中五杆 in_goal=True、杆3为 False，但该测试脚本没有 save_trajectory 调用。评分器 n_actions=1、deterministic=1 及视频 0.0 s 的初始姿态与早先全零文件一致，支持实际交付仍为占位轨迹，而非后来测试的搬运动作。"
+   }
+  ],
+  "gap_zh": "本次评分视频仅有视频 0.0 s 一帧，没有状态日志；可以确认评分轨迹未启动入柜操作，但无法从实际动作确定六个独立节点中哪一个应是唯一断点。log step 74 的五杆入格结果属于会话测试，未保存进交付轨迹，不能用来补充本次节点进度或接触；也不据此给评分尝试添加抓取或碰撞现象。"
+ },
+ "summary_zh": "评分轨迹仅含单步全零动作，视频 0.0 s 的唯一帧仍为初始场景，六根杆入柜节点均未达成（0/6），也没有节点实际操作接触。agent 在 log step 14 保存占位交付后持续测试，却未将后续搬运动作重新保存，故标注首步前的没尝试，根因为交付操作出错。录像仅一帧且无状态日志，无法为六个独立节点选定唯一的物理断点；log step 74 的会话测试进度不计入评分回放。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "标注与证据一致：评分轨迹只有 log step 14 保存的单步全零动作（评分器 n_actions=1），视频 0.0 s 唯一帧为初始场景，六杆均在地面、目标格空，0/6 正确；六个节点互相独立，断点 unknown、首步前、没尝试、交付操作出错均有依据，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": "2026-10-30T02:23:41Z",
+  "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/kinder-constrained-cupboard-i00-privileged--eedlcun/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-constrained-cupboard-i00-privileged--eedlcun/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a8ccad5b752a31623842bcf46cab3526c6c1b6f2da100ccffc99292b2f43b2b5",
+   "video_sha256": "ff34bf2e06d9f9938df70216741d89832f0e8c67651e9cc2d1e0ca77927d4721",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/constrained_cupboard/trajectories/kinder-constrained-cupboard-i00-privileged--fatbome.json b/phase2/kinder/constrained_cupboard/trajectories/kinder-constrained-cupboard-i00-privileged--fatbome.json
new file mode 100644
index 0000000000000000000000000000000000000000..620c0b6b55d3ad60557727824fc91a53e9a49e86
--- /dev/null
+++ b/phase2/kinder/constrained_cupboard/trajectories/kinder-constrained-cupboard-i00-privileged--fatbome.json
@@ -0,0 +1,314 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-constrained-cupboard-i00-privileged--fatbome",
+ "taskKey": "kinder/constrained_cupboard",
+ "dag_sha256": "d260f33646f4038751aaf6e06136273d949ff6ad0795358498502c980cb5ef31",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "n_actions": 958,
+   "sim_steps": 958,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.518,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.254,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/kinder-constrained-cupboard-i00-privileged--fatbome/replay.mp4",
+  "duration_s": 48.0,
+  "fps": 10.0,
+  "frames": 480,
+  "sha256": "ac1595bf52d60a71fe4c2ddbaf67b1d8f2552227c86c25b646ea69b31969d9c7"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "rod_0_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": null,
+      "text_zh": "观察：视频 26.0–28.5 s，机器人返回左侧近处棕杆所在位置并下探机械臂；视频 29.0–33.0 s，机器人再次向柜排行驶，随后一根棕杆横在左侧柜口前，未见杆中心进入从左数第2柜的上部高隔间。"
+     },
+     {
+      "t": 47.9,
+      "log_step": null,
+      "text_zh": "推断：按初始左侧近杆的位置及连续画面追踪，此杆为 cuboid_0；视频 33.0–47.9 s 未见其进入指定上层格，故本节点未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频 26.0–33.0 s，机器人对杆0所在位置下探并尝试搬向柜排；二指夹爪与杆的接触区域主要被底盘和机械臂遮挡，不能确认是否形成对向夹持，也不能据脚本的闭爪命令填写抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 26.0–33.0 s，轮式底盘在地面承重行驶，支承机械臂往返取杆位置与柜排前方；此项记录实际行驶，不表示已持住杆0。"
+     }
+    ]
+   },
+   "rod_1_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": null,
+      "text_zh": "观察：视频 33.0–36.5 s，机器人返回左侧剩余斜放棕杆处下探；视频 37.0–40.5 s 再次驶向柜排。视频 40.5 s 该杆仍位于柜口前方地面，未进入从左数第4柜的上部高隔间。"
+     },
+     {
+      "t": 47.9,
+      "log_step": null,
+      "text_zh": "推断：初始左侧远处斜杆对应 cuboid_1，结合全过程追踪，视频 40.5–47.9 s 它留在柜排前方，未满足中心入指定上层格的条件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频 33.0–40.5 s，机器人对杆1所在位置下探并尝试搬向柜排；二指夹爪与杆的接触区域主要被底盘和机械臂遮挡，不能确认是否形成对向夹持，也不能据脚本的闭爪命令填写抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 33.0–40.5 s，轮式底盘在地面承重行驶，支承机械臂往返取杆位置与柜排前方；此项记录实际行驶，不表示已持住杆1。"
+     }
+    ]
+   },
+   "rod_2_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.5,
+      "log_step": null,
+      "text_zh": "观察：视频 10.5–13.5 s，机器人在底盘前方棕杆处下探；视频 14.0–17.5 s 向柜排移动，随后棕杆横卧在左侧柜口前，杆中点没有进入从左数第5柜的上部高隔间。"
+     },
+     {
+      "t": 47.9,
+      "log_step": null,
+      "text_zh": "推断：按初始第2近杆及其连续运动追踪，此杆为 cuboid_2；视频 17.5–47.9 s 中它留在柜口前的横杆位置，没有达到指定上层格。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频 10.5–17.5 s，机器人对杆2所在位置下探并尝试搬向柜排；二指夹爪与杆的接触区域主要被底盘和机械臂遮挡，不能确认是否形成对向夹持，也不能据脚本的闭爪命令填写抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 10.5–17.5 s，轮式底盘在地面承重行驶，支承机械臂往返取杆位置与柜排前方；此项记录实际行驶，不表示已持住杆2。"
+     }
+    ]
+   },
+   "rod_3_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 44.5,
+      "log_step": null,
+      "text_zh": "观察：视频 41.0–44.0 s，机器人在右侧剩余斜杆处下探，视频 44.5–45.5 s 向柜排移动；该杆随后斜靠在机器人与柜口前方，而不是进入从左数第1柜的下部高隔间。"
+     },
+     {
+      "t": 47.9,
+      "log_step": null,
+      "text_zh": "观察：视频 47.0、47.5 和 47.9 s，斜杆中部仍在柜排前方，未见其中心越过左端目标柜口。"
+     },
+     {
+      "t": 47.9,
+      "log_step": null,
+      "text_zh": "推断：该初始右侧远杆为 cuboid_3；终帧仍不满足固定配对柜的中心入格条件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频 41.0–47.9 s，机器人对杆3所在位置下探并尝试搬向柜排；二指夹爪与杆的接触区域主要被底盘和机械臂遮挡，不能确认是否形成对向夹持，也不能据脚本的闭爪命令填写抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 41.0–47.9 s，轮式底盘在地面承重行驶，支承机械臂往返取杆位置与柜排前方；此项记录实际行驶，不表示已持住杆3。"
+     }
+    ]
+   },
+   "rod_4_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–5.5 s，机器人对底盘前方最近杆位置下探并抬臂；视频 6.0–6.5 s 底盘向右前方柜排行驶后，最近棕杆显露在原取物区域的地面，机器人没有把它带到最右侧目标柜。"
+     },
+     {
+      "t": 47.9,
+      "log_step": null,
+      "text_zh": "推断：按最近杆的初始位置与后续画面追踪，此杆为 cuboid_4；视频 6.5–47.9 s 它始终留在远离柜口的地面，杆4入柜4从未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频 0.0–9.5 s，机器人对杆4所在位置下探并尝试搬向柜排；二指夹爪与杆的接触区域主要被底盘和机械臂遮挡，不能确认是否形成对向夹持，也不能据脚本的闭爪命令填写抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 0.0–9.5 s，轮式底盘在地面承重行驶，支承机械臂往返取杆位置与柜排前方；此项记录实际行驶，不表示已持住杆4。"
+     }
+    ]
+   },
+   "rod_5_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.5,
+      "log_step": null,
+      "text_zh": "观察：视频 18.0–21.0 s，机器人在右侧近处棕杆位置下探；视频 21.5–25.5 s 向柜排移动后，该杆横卧在中右侧柜口前，未见其中心进入从左数第8柜的下部高隔间。"
+     },
+     {
+      "t": 47.9,
+      "log_step": null,
+      "text_zh": "推断：按初始右侧近杆的位置及连续运动追踪，此杆为 cuboid_5；视频 25.5–47.9 s 中它保持横在柜口前方，未达到指定下层格。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频 18.0–25.5 s，机器人对杆5所在位置下探并尝试搬向柜排；二指夹爪与杆的接触区域主要被底盘和机械臂遮挡，不能确认是否形成对向夹持，也不能据脚本的闭爪命令填写抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 18.0–25.5 s，轮式底盘在地面承重行驶，支承机械臂往返取杆位置与柜排前方；此项记录实际行驶，不表示已持住杆5。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "rod_4_in_compartment",
+   "t": 6.5,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 6.0–6.5 s，机器人完成第一轮下探、抬臂后向右前方目标柜行驶，杆4却仍留在原取物区域的地面；视频 9.5 s 后机器人转向下一根杆，直到视频 47.9 s 都未返回搬入杆4。推断：它是最早尝试后未修复的节点。"
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 233,
+    "evidence_zh": "推断：视频 6.5 s 显示杆4未随机器人离开取物区，但机器人继续执行柜前伸臂动作。log step 233 的最终生成脚本在固定20次抬臂控制后直接执行28次底盘运输控制，所示循环只检查全任务 succ，没有以杆是否随夹爪抬起作为继续运输的条件；该脚本在 log step 234 被执行，log step 248 报告交付958步轨迹，与评分器 n_actions=958 相符。这支持取物控制失败后未校正的控制层归因，现有证据不足以进一步区分接触设计与轨迹跟踪问题。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "有完整评分视频和会话日志，但未提供状态日志；首轮夹爪与杆4的接触及抬起区域被底盘遮挡，无法确认是始终未形成有效夹持，还是短暂夹持后在遮挡处脱落，因此现象层留空，不在没建立接触与没保持住之间猜选。各轮抓取的对向接触也无法从当前视角确认，contact_actual 保留未知并另记可见的底盘行驶。日志中的抓取诊断属于会话测试，且部分输出被原记录截断，不能代替评分轨迹的接触证据；控制根因仅标到大类。",
+  "unmet": {
+   "rod_0_in_compartment": false,
+   "rod_1_in_compartment": false,
+   "rod_2_in_compartment": false,
+   "rod_3_in_compartment": false,
+   "rod_4_in_compartment": false,
+   "rod_5_in_compartment": false
+  }
+ },
+ "summary_zh": "评分轨迹依次对六根杆执行取放动作，但最近的杆4留在原取物区域，其余杆停在柜口前或斜靠在机器人与柜体之间，六个中心入指定隔间节点均未达成。最早未修复的断点为杆4入柜4，视频 6.5 s 已见机器人离开而杆仍在地面；结合 log step 233 的固定步数取放脚本，推断取物控制失败后未得到校正。抓取区域被底盘遮挡且无状态日志，无法确定有效夹持是否曾建立，故现象层留空、接触方式记未知。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "六个节点均未达成与评分器 success=0 一致；断点取最早尝试的杆4、根因停在控制大类（log step 233 的开环固定步数脚本与画面相符），现象层留空并写明 gap_zh，接触记未知，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": "2026-10-30T02:47:27Z",
+  "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/kinder-constrained-cupboard-i00-privileged--fatbome/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-constrained-cupboard-i00-privileged--fatbome/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0452a205be5791171f38603018bd4952b6f1b5de31fd007229ab723593740b99",
+   "video_sha256": "ac1595bf52d60a71fe4c2ddbaf67b1d8f2552227c86c25b646ea69b31969d9c7",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/constrained_cupboard/trajectories/kinder-constrained-cupboard-i00-standard--46agrn8.json b/phase2/kinder/constrained_cupboard/trajectories/kinder-constrained-cupboard-i00-standard--46agrn8.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f924d5eaca00b017da12142c213def6cca934f1
--- /dev/null
+++ b/phase2/kinder/constrained_cupboard/trajectories/kinder-constrained-cupboard-i00-standard--46agrn8.json
@@ -0,0 +1,297 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-constrained-cupboard-i00-standard--46agrn8",
+ "taskKey": "kinder/constrained_cupboard",
+ "dag_sha256": "d260f33646f4038751aaf6e06136273d949ff6ad0795358498502c980cb5ef31",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 1000,
+   "sim_steps": 1000,
+   "calls": 1652,
+   "rows": 1000,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 1214.3,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.303,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.844,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/kinder-constrained-cupboard-i00-standard--46agrn8/replay.mp4",
+  "duration_s": 50.1,
+  "fps": 10.0,
+  "frames": 501,
+  "sha256": "42f775888c312c0d20653280b16e185c9fc44f983b8709b31fefc1ad25022a3f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "rod_0_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 49.8,
+      "log_step": 108,
+      "text_zh": "观察：视频0–49 s没有机器人将初始第3近的杆cuboid_0抬起并放入左数第2柜上部高隔间的动作；视频49.5–50.0 s机器人空手向左侧地面杆方向移动，结束时该柜格仍无杆。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 108,
+      "text_zh": "推断：log step 108的脚本以初始估计中心(0.902,0.313)的杆为下一抓取目标，与视频最后向左移动相符；只有接近，未完成抓取或入柜，故本节点始终为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频49.5–50.0 s机器人空手向左侧下一根地面杆移动；结合log step 108目标可识别为cuboid_0，本步仅发生底盘承重行驶，尚无可见夹爪接触。"
+     }
+    ]
+   },
+   "rod_1_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频0–50.0 s机器人只搬起初始最近两根杆，随后对第4近杆尝试抓取，最后接近第3近杆；没有抓取或运送第5近杆cuboid_1的动作，从左数第4柜的指定高隔间始终未见杆中心进入。初态所有杆在地面，本节点无达成区间。"
+     }
+    ]
+   },
+   "rod_2_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.5,
+      "log_step": 94,
+      "text_zh": "观察：视频约33–35 s，机器人夹起初始第2近的杆cuboid_2，原地面位置空出，杆随夹爪上升并被底盘运往柜前。"
+     },
+     {
+      "t": 38.0,
+      "log_step": 96,
+      "text_zh": "观察：视频36–38 s，cuboid_2横斜在夹爪下，仍在柜口前方；视频39–43.5 s，机械臂和底盘部分遮挡杆，视频约44–44.5 s机器人离开后可见此杆横斜落在柜排前方地面，未留在第5柜上部高隔间。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频35–44.5 s入柜尝试前后的杆轨迹与无遮挡柜格，没有中心越过柜口进入第5柜上部高隔间的可见过程；末帧视频50.0 s该杆仍在柜前地面，判未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约34–38 s可见二指夹爪夹着cuboid_2，杆随手离地、转动；后续在柜前释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约34.5–35.5 s，底盘向柜排行驶，支承机械臂搬运cuboid_2。"
+     }
+    ]
+   },
+   "rod_3_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频0–50.0 s机器人只搬起初始最近两根杆，随后对第4近杆尝试抓取，最后接近第3近杆；没有抓取或运送第6近杆cuboid_3的动作，从左数第1柜的指定高隔间始终未见杆中心进入。初态所有杆在地面，本节点无达成区间。"
+     }
+    ]
+   },
+   "rod_4_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.5,
+      "log_step": 46,
+      "text_zh": "观察：视频约10–12 s，机器人夹爪夹住初始最近的横杆并将其抬离地面，底盘随后向柜排行驶；此杆对应cuboid_4。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 74,
+      "text_zh": "观察：视频25–26.5 s，夹爪仍夹着该杆，杆的中点在柜排最右侧外，未进入从左数第11柜的下部高隔间；视频约27 s松手后杆落在柜排右侧地面，视频50.0 s仍在那里。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：由视频全程追踪，cuboid_4从地面被搬到柜排右侧外，未见中心进入指定格，也未被再次取回；故无达成区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约10–26.5 s，单臂二指夹爪夹住cuboid_4并搬运，随后在柜排右侧外松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约11–13 s及18 s前后，底盘承重行驶，支承机械臂携带cuboid_4接近柜排并横向调整。"
+     }
+    ]
+   },
+   "rod_5_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 46.0,
+      "log_step": 103,
+      "text_zh": "观察：视频44–46 s，机器人转动底盘并将夹爪降向初始第4近的杆cuboid_5；视频46–48 s机械臂回升时，这根斜放的杆仍在原地面位置，未随夹爪升起。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 107,
+      "text_zh": "观察：视频48–50.0 s，机器人空夹爪移向柜排又退向左侧，cuboid_5仍在右前方地面。agent在log step 107自述第三根杆已释放到第8柜估计中心，但视频未显示抓起或送入，因此不计完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频45.5–46.5 s，夹爪在cuboid_5中段附近下降、合拢，爪尖遮挡接触处；不能确认是否有短暂压碰，未见夹住并带起，故不标抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频44–45 s及47–49 s，底盘承重转向、平移，支承机械臂进行cuboid_5抓取及空手送柜尝试。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "rod_4_in_compartment",
+   "t": 27.0,
+   "log_step": 74,
+   "where": "操作中",
+   "evidence_zh": "观察：视频26.5 s机器人仍把初始最近杆cuboid_4夹在柜排右侧外，视频约27 s松手后杆落到右侧地面；视频50.0 s仍未取回。该杆未进入第11柜下部高隔间，这是最早未被修复的入柜失败。"
+  },
+  "unmet": {
+   "rod_0_in_compartment": false,
+   "rod_1_in_compartment": false,
+   "rod_2_in_compartment": false,
+   "rod_3_in_compartment": false,
+   "rod_4_in_compartment": false,
+   "rod_5_in_compartment": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 27.0,
+    "log_step": 74,
+    "evidence_zh": "观察：视频26.5–27.5 s，机器人在杆中点仍位于柜排最右侧外时松开夹爪，杆随即落到柜外地面；不是在指定隔间内松手后失稳。视频50.0 s可见该杆仍在柜排右侧。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "evidence_zh": "推断：log step 74的脚本调用drive_q将夹爪送向估计的目标中心，最多执行80步后无论实际剩余误差如何都直接发出松手命令；log step 107保存的agent执行笔记承认首次释放估计位置为(1.919,-0.568,0.363)，偏离脚本目标(1.95,-0.45,0.36)，并注明存在编码器残差。结合视频26.5–27.5 s的柜外释放，支持未以到位误差门控释放、未纠正执行偏差的反馈控制问题；这些坐标来自agent自身运动学估计，未视作真值。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "观察：本作业没有状态日志或逐杆评分字段；视频柜前操作中有机械臂、底盘局部遮挡。cuboid_2短时遮挡区结合前后画面及目标上层无杆判断未达成；cuboid_5闭爪处不能分辨短暂压碰，contact_actual保留未知。根因中的位置残差来自agent记录而非独立物体真值，故仅据脚本释放逻辑及视频定位为反馈控制，不进一步断言精确模型或感知误差。"
+ },
+ "summary_zh": "观察：本次单回合的六个入柜节点均未达成；机器人先后夹起cuboid_4、cuboid_2，但两根最终都落在柜外，随后对cuboid_5抓取未带起，结束前仅接近cuboid_0。推断：最早未修复断点是杆4入柜4，柜外释放表现为位姿不准，脚本未以实际到位误差门控松手，支持反馈控制根因；服务在log step 109记录1000控制步耗尽且reason为failed。观察：无状态日志，第二次放置有局部遮挡，第三次抓取的细微接触及控制误差来源仍不能完全核实。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "六个入柜节点均未达成与视频一致：cuboid_4在柜排右端外释放并落地、cuboid_2在38–39 s放手后于柜前地面（50 s帧可见柜前斜放新杆）、cuboid_5未被带起。断点取最早未修复的杆4、位姿不准加反馈控制（agent目标y=-0.45、编码器估计释放y=-0.568）有日志与视频支撑；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": "2026-10-30T02:53:44Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/kinder-constrained-cupboard-i00-standard--46agrn8/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-constrained-cupboard-i00-standard--46agrn8/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a6802ce0f1591872ede4b25497899a24ea7fa0d8ae638cf60db334a086b24a2f",
+   "video_sha256": "42f775888c312c0d20653280b16e185c9fc44f983b8709b31fefc1ad25022a3f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/constrained_cupboard/trajectories/kinder-constrained-cupboard-i00-standard--4kqcpsf.json b/phase2/kinder/constrained_cupboard/trajectories/kinder-constrained-cupboard-i00-standard--4kqcpsf.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fc9bc1fc24959452914f93cff0c4fc12387f783
--- /dev/null
+++ b/phase2/kinder/constrained_cupboard/trajectories/kinder-constrained-cupboard-i00-standard--4kqcpsf.json
@@ -0,0 +1,367 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-constrained-cupboard-i00-standard--4kqcpsf",
+ "taskKey": "kinder/constrained_cupboard",
+ "dag_sha256": "d260f33646f4038751aaf6e06136273d949ff6ad0795358498502c980cb5ef31",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 997,
+   "sim_steps": 997,
+   "calls": 1162,
+   "rows": 997,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 1056.7,
+   "video_rendered": 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/kinder-constrained-cupboard-i00-standard--4kqcpsf/replay.mp4",
+  "duration_s": 49.9,
+  "fps": 10.0,
+  "frames": 499,
+  "sha256": "6d5b25f7fc31f7a643befcccdc0f95208e4eb7153a5be33d383e9820a74335f6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "rod_0_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s六根杆均在地面，柜内没有棕杆；按DAG初始距离与持续跟踪，左侧先搬的C对应杆0、目标为从左数第2柜上部高隔间。"
+     },
+     {
+      "t": 13.8,
+      "log_step": 30,
+      "text_zh": "观察：视频10.2–11.0 s机器人夹起杆0并靠近第2柜，视频13.0–14.6 s底盘让开后，杆0斜靠柜口，外端低垂，杆身中段没有越过该上部隔间的柜口进入；原地已不再有该杆。"
+     },
+     {
+      "t": 49.8,
+      "log_step": 62,
+      "text_zh": "推断：视频44.8–48.4 s补抓后杆0仍斜靠同一柜口，视频49.0–49.8 s最后补推未改变其可见倾斜位置，中点仍未进入目标范围，故终态为false；未从log step 32的agent自述“placed”计入达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频10.2–11.0 s及44.8–46.8 s，Robotiq二指夹爪夹住杆0，将其从原地抬起并随底盘搬至柜前；抓握由杆离开旧位置并随夹爪移动确认。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频10.2–11.0 s及44.8–46.8 s，移动底盘在地面行驶和转向，承重支撑机械臂搬运杆0。"
+     }
+    ]
+   },
+   "rod_1_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14.0,
+      "log_step": 32,
+      "text_zh": "观察：视频11.7–13.4 s机器人抓取并搬走第二根杆E（杆1），送至从左数第4柜；视频14.0–15.0 s可见该杆斜挂柜口、下端落至柜外，未成为中点在上部高隔间内的姿态。"
+     },
+     {
+      "t": 44.8,
+      "log_step": 57,
+      "text_zh": "观察：视频42.0–44.8 s机器人重新夹住杆1的外端，向外拉出再抬起送回第4柜，随后松开并向内推；此时第4柜的杆由倾斜变为沿柜深方向向外伸出。"
+     },
+     {
+      "t": 49.8,
+      "log_step": null,
+      "text_zh": "推断：视频44.8–49.8 s杆1内端搭在第4柜搁板上，外露部分超过半根，中点仍在柜口外；相比参考成功视频36.3 s同柜杆中段明显落在搁板内，本次插入不足，终态false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频12.0–13.7 s及42.0–44.8 s，Robotiq二指夹爪夹住杆1，将其从原地抬起并随底盘搬至柜前；抓握由杆离开旧位置并随夹爪移动确认。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频12.0–13.7 s及42.0–44.8 s，移动底盘在地面行驶和转向，承重支撑机械臂搬运杆1。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频44.0–44.7 s，机器人用闭合夹爪从柜外向柜内推杆1，杆随接触向柜口移动。"
+     }
+    ]
+   },
+   "rod_2_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 31.6,
+      "log_step": 53,
+      "text_zh": "观察：视频30.6–32.1 s机器人夹住地面杆B（杆2），杆离开原来的位置并随夹爪搬向从左数第5柜，随后放下并补推。"
+     },
+     {
+      "t": 34.5,
+      "log_step": null,
+      "text_zh": "推断：视频34.5–35.5 s底盘离开后，第5柜杆2的内端在上部隔间搁板上，但大半杆身延伸至柜口外，中点没有入格；视频48.5–49.8 s保持这一位置，故终态false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频30.6–34.0 s，Robotiq二指夹爪夹住杆2，将其从原地抬起并随底盘搬至柜前；抓握由杆离开旧位置并随夹爪移动确认。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频30.6–34.0 s，移动底盘在地面行驶和转向，承重支撑机械臂搬运杆2。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频33.0–33.6 s，机器人用闭合夹爪从柜外向柜内推杆2，杆随接触向柜口移动。"
+     }
+    ]
+   },
+   "rod_3_in_compartment": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 16.5,
+      "log_step": 35,
+      "text_zh": "观察：视频14.5–16.8 s机器人抓起杆F（杆3）送向从左数第1柜下部隔间，之后又多次抓起和退回；视频18.0–29.5 s在该柜前反复调整。"
+     },
+     {
+      "t": 34.5,
+      "log_step": 52,
+      "text_zh": "推断：视频30.6–35.5 s机器人离开第1柜后，可见杆3仍大半伸在柜口前，中点尚未进入；不能仅凭log step 35、40、47、50的插入指令计为达成。"
+     },
+     {
+      "t": 49.8,
+      "log_step": 60,
+      "text_zh": "观察：视频47.9–48.8 s机器人在第1柜前作最后一次闭爪推送，底盘上盖和机械臂遮挡杆3中段；视频48.9–49.8 s仍未露出足够杆身来判断中点相对柜口的位置。log step 60为这次推送，但服务没有逐杆目标读数，故末次推送后的达成与终态未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频14.5–30.5 s及47.9–48.8 s，Robotiq二指夹爪夹住杆3，将其从原地抬起并随底盘搬至柜前；抓握由杆离开旧位置并随夹爪移动确认。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频14.5–30.5 s及47.9–48.8 s，移动底盘在地面行驶和转向，承重支撑机械臂搬运杆3。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频29.8–30.4 s，机器人用闭合夹爪从柜外向柜内推杆3，杆随接触向柜口移动。"
+     }
+    ]
+   },
+   "rod_4_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 39.5,
+      "log_step": 55,
+      "text_zh": "观察：视频37.8–39.5 s机器人夹住最后仍在地面、初始最近的杆A（杆4），杆离开原地并被搬至从左数第11柜下部隔间。"
+     },
+     {
+      "t": 49.8,
+      "log_step": null,
+      "text_zh": "推断：视频40.0–42.0 s放置与补推后，第11柜杆4仅内端探入，半根以上仍伸在柜口前；视频48.5–49.8 s中段位置保持在前缘外，较参考成功视频36.3 s同柜杆的位置更靠外，故终态false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频37.8–41.5 s，Robotiq二指夹爪夹住杆4，将其从原地抬起并随底盘搬至柜前；抓握由杆离开旧位置并随夹爪移动确认。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频37.8–41.5 s，移动底盘在地面行驶和转向，承重支撑机械臂搬运杆4。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频40.5–41.2 s，机器人用闭合夹爪从柜外向柜内推杆4，杆随接触向柜口移动。"
+     }
+    ]
+   },
+   "rod_5_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 35.0,
+      "log_step": 54,
+      "text_zh": "观察：视频34.2–35.5 s机器人抓起右侧地面杆D（杆5），原地杆消失且夹爪带着杆移动，送往从左数第8柜下部隔间，随后放下并推送。"
+     },
+     {
+      "t": 49.8,
+      "log_step": null,
+      "text_zh": "推断：视频37.8–39.0 s底盘移开后，第8柜杆5内端探入，外露部分仍超过半根；视频48.5–49.8 s杆中点仍在搁板前缘外，参考成功视频36.3 s同柜杆的中段更深入隔间，故终态false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频34.2–37.8 s，Robotiq二指夹爪夹住杆5，将其从原地抬起并随底盘搬至柜前；抓握由杆离开旧位置并随夹爪移动确认。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频34.2–37.8 s，移动底盘在地面行驶和转向，承重支撑机械臂搬运杆5。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.7–37.4 s，机器人用闭合夹爪从柜外向柜内推杆5，杆随接触向柜口移动。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "rod_0_in_compartment",
+   "t": 11.0,
+   "log_step": 30,
+   "where": "操作中",
+   "evidence_zh": "推断：视频10.2–11.0 s机器人搬杆0到第2柜并松开，视频13.0–14.6 s可见结果为杆斜靠柜口、中点未入上部隔间；视频44.8–46.8 s补抓及49.0–49.8 s补推后仍未修复。它是最早尝试失败且未完成的入柜步骤；后续搬运其余杆不修复本步。"
+  },
+  "unmet": {
+   "rod_0_in_compartment": false,
+   "rod_1_in_compartment": false,
+   "rod_2_in_compartment": false,
+   "rod_3_in_compartment": null,
+   "rod_4_in_compartment": false,
+   "rod_5_in_compartment": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 11.0,
+    "log_step": 30,
+    "evidence_zh": "观察：视频13.0–14.6 s第2柜前的杆0呈明显倾斜，外端低垂在柜外，中段未进入指定上部高隔间；机器人已松爪离开该柜。视频48.0–49.8 s仍保留该倾斜姿态，最后补推没有使杆中点入格。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "source_zh": "日志 / 视频 / agent 自述",
+    "evidence_zh": "推断：log step 29的实际控制脚本以DG=0.11在30厘米杆的近端侧偏离中心11厘米处夹持，log step 30沿用向下夹爪、预设QH姿态搬运至柜口后直接松开；视频10.2–11.0 s确认该杆被搬走，视频13.0–14.6 s显示其没有保持适于入格的姿态，而是倾斜搭在柜口。此接触布局没有稳定约束杆姿态并保证中点入格；agent在log step 65也自述近端抓握使杆在指间转动。没有力或接触状态日志，无法分离摩擦不足与柜沿接触的贡献，也未验证本次具体换握方案。"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐杆目标谓词读数；夹爪靠柜时底盘遮挡局部杆身，因此各次插入是否曾有短暂达成无法精确复原，空区间表示已检查画面中未确认达成。杆0、1、2、4、5的终态由露出的杆身和柜口前缘判为false；杆3在视频47.9–48.8 s末次推送后其中段至视频49.8 s一直被底盘与机械臂遮挡，故保留未知，不能用总体success=0将其判false，也不以agent脚本的放置指令计入达成。参考视频仅用于比较入格外观。"
+ },
+ "summary_zh": "观察：机器人搬运并尝试安置了全部六根杆，视频49.8 s可见五根杆的中点仍未进入各自目标隔间，杆3末次补推后的中点被遮挡，未确认任何节点最终达成。推断：首个未修复断点为杆0入柜0，近端夹持与柜口释放的接触布局未保证杆姿态和入格深度，表现为斜靠柜口、位姿不准。观察：评分器live_success与replay_success均为0且无基础设施错误；无状态日志，杆3终态及遮挡期间是否短暂达成仍未知。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "终帧可见多根杆仍大半露在柜外，与各节点false及杆3未知一致；断点、现象与根因有证据支持，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:27:55Z",
+  "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/kinder-constrained-cupboard-i00-standard--4kqcpsf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-constrained-cupboard-i00-standard--4kqcpsf/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "2aaac67f0a9eab9ad758be083a8ecd760119b7290110f347145bd5e6ea4f75f2",
+   "video_sha256": "6d5b25f7fc31f7a643befcccdc0f95208e4eb7153a5be33d383e9820a74335f6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/constrained_cupboard/trajectories/kinder-constrained-cupboard-i00-standard--6utbwzh.json b/phase2/kinder/constrained_cupboard/trajectories/kinder-constrained-cupboard-i00-standard--6utbwzh.json
new file mode 100644
index 0000000000000000000000000000000000000000..55fdba2163e9da985fe93192ad61a5ff056f5961
--- /dev/null
+++ b/phase2/kinder/constrained_cupboard/trajectories/kinder-constrained-cupboard-i00-standard--6utbwzh.json
@@ -0,0 +1,269 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-constrained-cupboard-i00-standard--6utbwzh",
+ "taskKey": "kinder/constrained_cupboard",
+ "dag_sha256": "d260f33646f4038751aaf6e06136273d949ff6ad0795358498502c980cb5ef31",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 488,
+   "sim_steps": 488,
+   "calls": 33,
+   "rows": 488,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 904.4,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.188,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.316,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/kinder-constrained-cupboard-i00-standard--6utbwzh/replay.mp4",
+  "duration_s": 24.5,
+  "fps": 10.0,
+  "frames": 245,
+  "sha256": "3a42ebe3d032c5f36f9bbb3607b2d2730a8edaca1301bdba605bd303201fd680"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "rod_0_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s棕色杆均在机器人与柜排之间的地面，柜格内没有杆；本节点追踪初始距离第3近的杆，目标为从左数第2柜。"
+     },
+     {
+      "t": 24.4,
+      "log_step": null,
+      "text_zh": "观察：全片按约1 s间隔检查，并逐帧检查视频22.0–24.4 s；机械臂仅在高处调整姿态，未夹起任何杆。视频24.4 s底盘前移后六根杆仍可见于地面，柜格未出现棕杆中点进入的状态；本节点全程未达成。"
+     }
+    ]
+   },
+   "rod_1_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s棕色杆均在机器人与柜排之间的地面，柜格内没有杆；本节点追踪初始距离第5近的杆，目标为从左数第4柜。"
+     },
+     {
+      "t": 24.4,
+      "log_step": null,
+      "text_zh": "观察：全片按约1 s间隔检查，并逐帧检查视频22.0–24.4 s；机械臂仅在高处调整姿态，未夹起任何杆。视频24.4 s底盘前移后六根杆仍可见于地面，柜格未出现棕杆中点进入的状态；本节点全程未达成。"
+     }
+    ]
+   },
+   "rod_2_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s棕色杆均在机器人与柜排之间的地面，柜格内没有杆；本节点追踪初始距离第2近的杆，目标为从左数第5柜。"
+     },
+     {
+      "t": 24.4,
+      "log_step": null,
+      "text_zh": "观察：全片按约1 s间隔检查，并逐帧检查视频22.0–24.4 s；机械臂仅在高处调整姿态，未夹起任何杆。视频24.4 s底盘前移后六根杆仍可见于地面，柜格未出现棕杆中点进入的状态；本节点全程未达成。"
+     }
+    ]
+   },
+   "rod_3_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s棕色杆均在机器人与柜排之间的地面，柜格内没有杆；本节点追踪初始距离第6近的杆，目标为从左数第1柜。"
+     },
+     {
+      "t": 24.4,
+      "log_step": null,
+      "text_zh": "观察：全片按约1 s间隔检查，并逐帧检查视频22.0–24.4 s；机械臂仅在高处调整姿态，未夹起任何杆。视频24.4 s底盘前移后六根杆仍可见于地面，柜格未出现棕杆中点进入的状态；本节点全程未达成。"
+     }
+    ]
+   },
+   "rod_4_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s棕色杆均在机器人与柜排之间的地面，柜格内没有杆；本节点追踪初始距离第1近的杆，目标为从左数第11柜。"
+     },
+     {
+      "t": 24.4,
+      "log_step": null,
+      "text_zh": "观察：全片按约1 s间隔检查，并逐帧检查视频22.0–24.4 s；机械臂仅在高处调整姿态，未夹起任何杆。视频24.4 s底盘前移后六根杆仍可见于地面，柜格未出现棕杆中点进入的状态；本节点全程未达成。"
+     }
+    ]
+   },
+   "rod_5_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s棕色杆均在机器人与柜排之间的地面，柜格内没有杆；本节点追踪初始距离第4近的杆，目标为从左数第8柜。"
+     },
+     {
+      "t": 24.4,
+      "log_step": null,
+      "text_zh": "观察：全片按约1 s间隔检查，并逐帧检查视频22.0–24.4 s；机械臂仅在高处调整姿态，未夹起任何杆。视频24.4 s底盘前移后六根杆仍可见于地面，柜格未出现棕杆中点进入的状态；本节点全程未达成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "rod_4_in_compartment",
+   "t": 0.0,
+   "log_step": 94,
+   "where": "首步前",
+   "evidence_zh": "推断：log step 94的计划按初始距离从近到远搬杆，首个目标是第11柜，对应杆4。视频0.0–24.4 s机器人只调整高处机械臂及前后移动底盘观察场景，没有针对地面杆下降、合爪、搬运或入格；log step 94、99的搬杆循环也仅留注释并直接break。因此首个搬杆步骤尚未启动，视频0.0 s作为未启动的导航锚点；不是一次已经执行的抓取失败。"
+  },
+  "unmet": {
+   "rod_0_in_compartment": false,
+   "rod_1_in_compartment": false,
+   "rod_2_in_compartment": false,
+   "rod_3_in_compartment": false,
+   "rod_4_in_compartment": false,
+   "rod_5_in_compartment": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 99,
+    "evidence_zh": "观察：视频0.0–24.4 s夹爪始终空着且远离地面杆，机器人没有执行抓杆或送入柜格；视频23.5–24.4 s逐帧可见杆仍留在地面。log step 99的脚本搬杆循环没有动作实现，只有步骤注释与break。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "抓取和插入均未实际执行，无法据执行结果检验接触方案、逆解或轨迹跟踪。log step 24、28、29记录的是agent自写模型下不同目标位姿的离线逆解试算，不能单凭其中的大误差确定本次未启动搬杆的控制根因。log step 47–49的负高度和倾斜平面来自agent自写FK及深度重投影计算；log step 101关于FK链错误及其阻碍放置的说法是agent自述。无状态日志可独立核实相机到世界位姿、场景几何及偏差来源，现有证据不足以区分并确定控制或感知根因，故根因留空。视频中的观察动作未明确选中某一根杆，杆4的断点身份由log step 94、99记录的首个计划目标推断；节点未达成由视频确认，不取自逆解测试结果。"
+ },
+ "summary_zh": "观察：视频0.0–24.4 s机器人只调整机械臂视角并前后移动底盘，六根杆仍在地面，六个入柜节点均未达成。推断：按log step 94、99的计划，首个未启动步骤为杆4入第11柜。日志中的离线逆解与深度重投影试算、以及agent对FK偏差的自述不足以确定未启动搬杆的具体根因；无状态日志且没有实际抓取或插入可检验，故根因留空。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 5,
+    "summary_zh": "WHERE 层（六节点全 false、断点杆4 首步前、没尝试）与视频一致，无误。问题在根因：控制根因主要依据 agent 自写 FK/深度投影的偏差和试算 IK 误差，这些是会话内的试算与自述，且挑选了失败的那一组 IK；该偏差是对场景/相机位姿的估计错误（感知/标定），而不是执行控制，归为“控制”缺乏支持。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "六个入柜节点全程未达成、断点杆4首步前、现象没尝试、根因留空并附gap_zh，均与视频和log一致；上一轮的根因问题已按建议修正。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:49:17Z",
+  "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/kinder-constrained-cupboard-i00-standard--6utbwzh/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-constrained-cupboard-i00-standard--6utbwzh/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-constrained-cupboard-i00-standard--6utbwzh/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/kinder-constrained-cupboard-i00-standard--6utbwzh/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bbbd3891101898881002aca43876341d3fd4eaeedccde4df8a3557da1c78190b",
+   "video_sha256": "3a42ebe3d032c5f36f9bbb3607b2d2730a8edaca1301bdba605bd303201fd680",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/constrained_cupboard/trajectories/kinder-constrained-cupboard-i00-standard--9uzexoy.json b/phase2/kinder/constrained_cupboard/trajectories/kinder-constrained-cupboard-i00-standard--9uzexoy.json
new file mode 100644
index 0000000000000000000000000000000000000000..dafe95cd4f2211b570a3c74cb3577eada3b3a33a
--- /dev/null
+++ b/phase2/kinder/constrained_cupboard/trajectories/kinder-constrained-cupboard-i00-standard--9uzexoy.json
@@ -0,0 +1,293 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-constrained-cupboard-i00-standard--9uzexoy",
+ "taskKey": "kinder/constrained_cupboard",
+ "dag_sha256": "d260f33646f4038751aaf6e06136273d949ff6ad0795358498502c980cb5ef31",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 1000,
+   "sim_steps": 1000,
+   "calls": 285,
+   "rows": 1000,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 1004.4,
+   "video_rendered": 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/kinder-constrained-cupboard-i00-standard--9uzexoy/replay.mp4",
+  "duration_s": 50.1,
+  "fps": 10.0,
+  "frames": 501,
+  "sha256": "ea6a85fef1f3c874a1de2a4e31c2f032f6935d0d45428309a9b1cae6cbd478a1"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "rod_0_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 83,
+      "text_zh": "观察：视频 0.0 s，画面左侧较近的斜杆躺在地面，第2柜的上部高隔间内没有棕杆；log step 83 是 agent 对初始杆的距离排序计算，DAG 杆0按初始距离第3近识别。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–50.0 s 的全过程抽帧及视频 49.1–50.0 s 逐帧显示，机器人只搬运了初始最近和第2近的两根杆；画面左侧较近的斜杆未被抓起送柜，末段仍在地面（局部被底盘遮挡），第2柜的上部高隔间内未出现该杆。"
+     }
+    ]
+   },
+   "rod_1_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 83,
+      "text_zh": "观察：视频 0.0 s，画面左侧较远的斜杆躺在地面，第4柜的上部高隔间内没有棕杆；log step 83 是 agent 对初始杆的距离排序计算，DAG 杆1按初始距离第5近识别。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–50.0 s 的全过程抽帧及视频 49.1–50.0 s 逐帧显示，机器人只搬运了初始最近和第2近的两根杆；画面左侧较远的斜杆未被抓起送柜，末段仍在地面（局部被底盘遮挡），第4柜的上部高隔间内未出现该杆。"
+     }
+    ]
+   },
+   "rod_2_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 32.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 29.0–32.5 s 机器人从侧面下探并夹起原先留在地面的近处横杆，视频 33.0–36.0 s 该杆离开原处并随夹爪、底盘移动。log step 123 的脚本运行记录称其 Rod 2，即初始第2近的杆，对应 cuboid_2。"
+     },
+     {
+      "t": 42.6,
+      "log_step": 123,
+      "text_zh": "观察：视频 36.0–42.4 s，机器人将该杆持在柜排前方，杆横跨柜口方向，中心没有进入从左数第5柜的上部高隔间；视频 42.6–43.0 s 夹爪张开后杆直接掉到柜前地面，与先前掉落的杆形成折角。log step 123 的“Rod 2 placed successfully”是 agent 脚本打印，并非图像所示的入柜结果。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 43.0–50.0 s 该杆留在柜外地面，机器人空夹爪收回，没有重新拾起；视频 49.1–50.0 s 目标上部高隔间仍无该杆。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 31.5–33.0 s，二指夹爪夹住并抬起初始第2近的棕杆 cuboid_2，持杆运至柜前，视频约 42.6 s 开爪使杆落地。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 24.0–28.0 s 底盘驶向第二根杆的取物位置，视频 33.0–36.0 s 转向、承重行驶并横移，支承机械臂搬运 cuboid_2 到柜前。"
+     }
+    ]
+   },
+   "rod_3_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 83,
+      "text_zh": "观察：视频 0.0 s，画面右侧较远的短斜杆躺在地面，第1柜的下部高隔间内没有棕杆；log step 83 是 agent 对初始杆的距离排序计算，DAG 杆3按初始距离第6近识别。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–50.0 s 的全过程抽帧及视频 49.1–50.0 s 逐帧显示，机器人只搬运了初始最近和第2近的两根杆；画面右侧较远的短斜杆未被抓起送柜，末段仍在地面（局部被底盘遮挡），第1柜的下部高隔间内未出现该杆。"
+     }
+    ]
+   },
+   "rod_4_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.5,
+      "log_step": 100,
+      "text_zh": "观察：视频 8.0–10.5 s，机器人夹爪在地面闭合后抬起一根棕杆，视频 10.5–12.5 s 该杆随夹爪和底盘移动、离开原处。log step 99–100 称其 Rod 1，即按距离排序的最近杆，对应 DAG 的 cuboid_4；此前 log step 91 的空夹未阻止后来实际抓起。"
+     },
+     {
+      "t": 19.8,
+      "log_step": 111,
+      "text_zh": "观察：视频 12.5–19.7 s，机器人在最右侧第11柜前调整持杆姿态，杆中部随夹爪停在柜口外；视频 19.8–20.3 s 夹爪张开，棕杆直接下落到柜前地面。视频 24.0–27.0 s 底盘离开后可见该杆仍在柜外；未见成功参考视频 36.3 s 中杆中点越过柜口、杆身沿柜深伸入的外观。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 27.0–50.0 s 机器人没有重新抓取这根已掉落的杆；视频 49.1–50.0 s 它仍横斜在柜排右前方地面，目标下部高隔间中没有杆。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 9.5–12.5 s，单臂末端二指夹爪夹住初始最近的棕杆 cuboid_4 并抬起搬运，随后持杆调整，视频约 19.8 s 开爪。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 10.5–12.5 s，轮式底盘承重行驶，将夹爪所持 cuboid_4 运往柜排最右侧第11柜；视频约 24.0 s 起驶离该次放置位置。"
+     }
+    ]
+   },
+   "rod_5_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 83,
+      "text_zh": "观察：视频 0.0 s，画面右侧较近的斜杆躺在地面，第8柜的下部高隔间内没有棕杆；log step 83 是 agent 对初始杆的距离排序计算，DAG 杆5按初始距离第4近识别。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–50.0 s 的全过程抽帧及视频 49.1–50.0 s 逐帧显示，机器人只搬运了初始最近和第2近的两根杆；画面右侧较近的斜杆未被抓起送柜，末段仍在地面（局部被底盘遮挡），第8柜的下部高隔间内未出现该杆。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "rod_4_in_compartment",
+   "t": 19.8,
+   "log_step": 111,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 19.7 s 棕杆仍由机器人夹爪持在最右侧目标柜口外，视频 19.8–20.3 s 夹爪张开、杆掉到柜前地面；视频 24.0–27.0 s 机器人驶离，之后只搬运另一根杆，直至视频 50.0 s 未修复杆4入柜4。log step 111 是该次插入与开爪动作的脚本及执行记录。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 19.8,
+    "log_step": 111,
+    "evidence_zh": "观察：视频 19.3–19.7 s，机器人所持杆仍在柜口外侧，未形成中心进入最右侧第11柜下部高隔间的关系；视频 19.8–20.3 s 开爪后杆直接落在柜外。松手前即未到位，视频 24.0–27.0 s 可见落地结果。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "t": 19.8,
+    "log_step": 111,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 111 的 reach_q_closed_loop 最多迭代15次，每次最多提交10个控制步，仍未到位时返回 False；服务状态显示插入前 control_steps=245、插入后=395，恰好耗尽150步上限。调用方忽略返回值，立即提交开爪动作，既不核实实际杆位姿也不恢复插入；视频 13.0–19.7 s 持杆停在柜口前、视频 19.8–20.3 s 开爪落地与此一致。到位反馈未约束释放，使未完成的插入直接以落地结束。"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐步接触对，也没有第一次插入结束时的实际关节误差、杆中心坐标和力读数；因此无法进一步区分插入偏差源于哪处碰撞、持杆几何或逆解问题。杆中部短时被夹爪、底盘遮挡，节点依据前后连续画面与成功参考的可见入格外观判断，未从 agent 的成功打印或零分反推。所有时间取自视频帧，未把 control_steps、agent 时间或墙钟时间换算为视频时间。",
+  "unmet": {
+   "rod_0_in_compartment": false,
+   "rod_1_in_compartment": false,
+   "rod_2_in_compartment": false,
+   "rod_3_in_compartment": false,
+   "rod_4_in_compartment": false,
+   "rod_5_in_compartment": false
+  }
+ },
+ "summary_zh": "机器人实际抓起并搬运了初始最近的杆4和第2近的杆2，但两次均在柜口外松手落地，六个入柜节点全程未达成，最终为0/6。首个未修复断点是杆4入柜4（视频约 19.8 s）：插入控制耗尽迭代上限后，脚本忽略未到位返回值便开爪；之后杆2也掉在柜外，现场服务最终在1000个控制步结束并判失败（log step 123）。没有状态日志，无法确定具体阻挡接触或精确杆中心坐标；入柜判断依据逐段视频、末秒画面及成功参考外观。",
+ "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 false 与视频一致：杆4（19.8 s）、杆2（42.6 s）开爪后都落在柜外地面，其余四根未被碰；断点取先失败的杆4、位姿不准、反馈控制（log step 111 的 reach_q_closed_loop 返回值被忽略，control_steps 245→395 用满150步上限）有日志支持且标为推断。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:28:45Z",
+  "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/kinder-constrained-cupboard-i00-standard--9uzexoy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-constrained-cupboard-i00-standard--9uzexoy/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "88f850044313f8f5fa17ddf2ab3eff0dbf8e2046099f781155557687c13d8a3d",
+   "video_sha256": "ea6a85fef1f3c874a1de2a4e31c2f032f6935d0d45428309a9b1cae6cbd478a1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/constrained_cupboard/trajectories/kinder-constrained-cupboard-i00-standard--bjn6yyw.json b/phase2/kinder/constrained_cupboard/trajectories/kinder-constrained-cupboard-i00-standard--bjn6yyw.json
new file mode 100644
index 0000000000000000000000000000000000000000..ead3e9f40e05a022c82d670856f2ee343c18b534
--- /dev/null
+++ b/phase2/kinder/constrained_cupboard/trajectories/kinder-constrained-cupboard-i00-standard--bjn6yyw.json
@@ -0,0 +1,276 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-constrained-cupboard-i00-standard--bjn6yyw",
+ "taskKey": "kinder/constrained_cupboard",
+ "dag_sha256": "d260f33646f4038751aaf6e06136273d949ff6ad0795358498502c980cb5ef31",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 272,
+   "sim_steps": 272,
+   "calls": 27,
+   "rows": 272,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 1770.4,
+   "video_rendered": 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/kinder-constrained-cupboard-i00-standard--bjn6yyw/replay.mp4",
+  "duration_s": 13.7,
+  "fps": 10.0,
+  "frames": 137,
+  "sha256": "99b65e9c0c8bcf3a35ba8c9e7dc56c50839fb90de85e57b0f0fc4c90359ce539"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "rod_0_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 六根棕杆均在柜前地面，初始距离排名第3近的杆0尚未进入从左数第2柜。"
+     },
+     {
+      "t": 13.6,
+      "log_step": null,
+      "text_zh": "观察：通看视频 0.0–13.6 s，机器人只夹起并搬运初始最近的杆；另外五根杆仍留在地面，包含本节点的杆0，从左数第2柜的目标隔间未出现棕杆中点进入的外观。视频 12.6–13.6 s 逐帧检查后仍如此。"
+     }
+    ]
+   },
+   "rod_1_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 六根棕杆均在柜前地面，初始距离排名第5近的杆1尚未进入从左数第4柜。"
+     },
+     {
+      "t": 13.6,
+      "log_step": null,
+      "text_zh": "观察：通看视频 0.0–13.6 s，机器人只夹起并搬运初始最近的杆；另外五根杆仍留在地面，包含本节点的杆1，从左数第4柜的目标隔间未出现棕杆中点进入的外观。视频 12.6–13.6 s 逐帧检查后仍如此。"
+     }
+    ]
+   },
+   "rod_2_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 六根棕杆均在柜前地面，初始距离排名第2近的杆2尚未进入从左数第5柜。"
+     },
+     {
+      "t": 13.6,
+      "log_step": null,
+      "text_zh": "观察：通看视频 0.0–13.6 s，机器人只夹起并搬运初始最近的杆；另外五根杆仍留在地面，包含本节点的杆2，从左数第5柜的目标隔间未出现棕杆中点进入的外观。视频 12.6–13.6 s 逐帧检查后仍如此。"
+     }
+    ]
+   },
+   "rod_3_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 六根棕杆均在柜前地面，初始距离排名第6近的杆3尚未进入从左数第1柜。"
+     },
+     {
+      "t": 13.6,
+      "log_step": null,
+      "text_zh": "观察：通看视频 0.0–13.6 s，机器人只夹起并搬运初始最近的杆；另外五根杆仍留在地面，包含本节点的杆3，从左数第1柜的目标隔间未出现棕杆中点进入的外观。视频 12.6–13.6 s 逐帧检查后仍如此。"
+     }
+    ]
+   },
+   "rod_4_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 31,
+      "text_zh": "观察：视频 0.0 s 最近的棕杆位于机器人前方地面；log step 31 的脚本将最近杆称为 Rod 1，并配对 Cup 11。此处对应 DAG 的杆4及从左数第11柜，不采用脚本编号作为 cuboid 实例编号。"
+     },
+     {
+      "t": 6.9,
+      "log_step": 43,
+      "text_zh": "观察：视频 6.7–7.8 s 夹爪夹着该杆离开原地并随底盘向右移动，原放置位置已空；视频 7.9–10.4 s 杆随夹爪向柜排右端搬运，尚未进入隔间。log step 43 是降低夹爪并合爪的指令。"
+     },
+     {
+      "t": 11.9,
+      "log_step": 58,
+      "text_zh": "观察：视频 11.5–12.4 s 机器人在最右柜前降低夹爪并调整杆，棕杆仍斜伸在柜口外、靠近底盘一侧，其中点没有进入下部高隔间；log step 58 的脚本包含前送、降低、开爪及后退。"
+     },
+     {
+      "t": 13.6,
+      "log_step": 62,
+      "text_zh": "观察：视频 12.5–13.6 s 的再次下探和前送没有让杆中点越过柜口，最后一帧该杆仍在最右柜外侧、夹爪与底盘旁；目标隔间仍空。成功参考视频 36.3 s 可见杆中段深入柜内的外观，此处始终未出现。log step 62 是本回合最后一次补送指令，评分字段 n_actions=272、resets=0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频 6.7–10.4 s，单臂二指夹爪夹住初始最近的棕杆（杆4），杆离开原地并随夹爪搬运；随后在最右柜前反复调整该杆。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约 6.7–13.6 s，轮式底盘承重行驶，先向右绕行并携杆接近第11柜，随后前进、后退以尝试送入。"
+     }
+    ]
+   },
+   "rod_5_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 六根棕杆均在柜前地面，初始距离排名第4近的杆5尚未进入从左数第8柜。"
+     },
+     {
+      "t": 13.6,
+      "log_step": null,
+      "text_zh": "观察：通看视频 0.0–13.6 s，机器人只夹起并搬运初始最近的杆；另外五根杆仍留在地面，包含本节点的杆5，从左数第8柜的目标隔间未出现棕杆中点进入的外观。视频 12.6–13.6 s 逐帧检查后仍如此。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "rod_4_in_compartment",
+   "t": 11.9,
+   "log_step": 58,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 11.5–12.4 s，机器人正把最初最近的杆送向从左数第11柜，但降低和松爪动作发生时，杆中点仍在柜口外；视频 12.5–13.6 s 再次调整后也未入柜。log step 58、62 分别记录放下及补送这一根杆的动作，之后没有完成该节点。"
+  },
+  "unmet": {
+   "rod_0_in_compartment": false,
+   "rod_1_in_compartment": false,
+   "rod_2_in_compartment": false,
+   "rod_3_in_compartment": false,
+   "rod_4_in_compartment": false,
+   "rod_5_in_compartment": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 11.9,
+    "log_step": 58,
+    "evidence_zh": "观察：视频 11.5–13.6 s，棕杆在第11柜前斜向伸在夹爪及底盘旁，其中心留在柜口外；末次前送和回撤也未形成中心入格。该杆从未在目标隔间内完成放置，不能将这次偏位归为放后不稳。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：机器人已夹起正确的最近杆并运到正确的最右柜前，但送入动作未实现所需位姿，支持控制层面归因。log step 49 的服务关节读数相对脚本目标有约 -0.179、+0.125、-0.098、-0.100 rad 的偏差；log step 52、54 又作对齐，log step 54 仍报告约 -0.053、-0.043、-0.083 rad 的部分关节误差。视频 11.5–13.6 s 显示后续降低及补送仍将杆留在柜外；这些证据不足以单独确定抓取接触、逆解或反馈控制子类。"
+   }
+  ],
+  "gap_zh": "没有状态日志或接触对、接触力记录；单一斜俯视图中，杆与夹爪及底盘相邻处存在遮挡，不能确定后段每次开合爪是否完全脱离，亦不能精确分解关节跟踪、接触几何及坐标估计各自的贡献。六个节点均未达到的结论依据可见杆位置及空目标格，不由总成功值为零反推。所有时间取自视频帧，未把 agent 工作时间或 control_steps 换算为视频时间。"
+ },
+ "summary_zh": "机器人夹起初始最近的杆4，随底盘绕向第11柜并多次调整，但直到视频 13.6 s 杆中点仍在柜口外，其余五杆也留在地面，六个节点均未达成。断点为杆4入柜4，现象是位姿不准；日志中的关节跟踪偏差和未奏效的补送支持控制层面归因。没有状态及接触力日志，后段杆、夹爪与底盘局部遮挡，无法确定更细的控制失效机制。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "六个节点均未达成与视频一致：视频 13.6 s 杆4 横躺在最右柜口外的地面（agent 在 log step 60/61 的深度读数也显示杆中心 D≈1.694 < 柜前沿 1.7855），其余五根杆始终在地面。断点、位姿不准、控制（不分子类）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": "2026-10-30T02:23:21Z",
+  "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/kinder-constrained-cupboard-i00-standard--bjn6yyw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-constrained-cupboard-i00-standard--bjn6yyw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0f547c86f93a741ad4f6e006db50a49a9830d7d02b35e6819c261a96333c8370",
+   "video_sha256": "99b65e9c0c8bcf3a35ba8c9e7dc56c50839fb90de85e57b0f0fc4c90359ce539",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/constrained_cupboard/trajectories/kinder-constrained-cupboard-i00-standard--hu6jxmn.json b/phase2/kinder/constrained_cupboard/trajectories/kinder-constrained-cupboard-i00-standard--hu6jxmn.json
new file mode 100644
index 0000000000000000000000000000000000000000..f08da3e7ebe452601c22b862d5052fb7c199af15
--- /dev/null
+++ b/phase2/kinder/constrained_cupboard/trajectories/kinder-constrained-cupboard-i00-standard--hu6jxmn.json
@@ -0,0 +1,331 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-constrained-cupboard-i00-standard--hu6jxmn",
+ "taskKey": "kinder/constrained_cupboard",
+ "dag_sha256": "d260f33646f4038751aaf6e06136273d949ff6ad0795358498502c980cb5ef31",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 1000,
+   "sim_steps": 1000,
+   "calls": 60,
+   "rows": 1000,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 1623.0,
+   "video_rendered": 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/kinder-constrained-cupboard-i00-standard--hu6jxmn/replay.mp4",
+  "duration_s": 50.1,
+  "fps": 10.0,
+  "frames": 501,
+  "sha256": "58189e0a9bfdbe797492895c80453a2c9322c6b645487542ff2396060ee23e60"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "rod_0_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的棕杆均在柜前地面，柜格为空；本节点按 DAG 对应初始距离第3近的杆，目标为从左数第2柜。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程的分段帧，以及视频 49.0–50.0 s 的逐帧结尾；最后六根棕杆仍在地面，夹爪为空，柜格内没有棕杆。杆0未见被搬起或中心进入其目标隔间，故本节点全程未达成。"
+     },
+     {
+      "t": null,
+      "log_step": 28,
+      "text_zh": "推断：log step 27 的脚本杆列表按初始距离排序，log step 28–30 依次调用 rod0 至 rod5；脚本 rod2 对应本节点杆0，不能把脚本编号直接当作 DAG 实例编号。机器人在视频 10.0–50.0 s 反复移动底盘与空臂，结合循环记录可确认本步有尝试，但不据脚本的抓取指令或完成标记认定搬运成功。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 10.0–50.0 s 的多轮尝试中，轮式底盘在地面承重移动并支承机械臂，包含向杆0取物位置移动的过程；没有可见的夹爪合围夹住棕杆，未记录抓握接触。"
+     }
+    ]
+   },
+   "rod_1_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的棕杆均在柜前地面，柜格为空；本节点按 DAG 对应初始距离第5近的杆，目标为从左数第4柜。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程的分段帧，以及视频 49.0–50.0 s 的逐帧结尾；最后六根棕杆仍在地面，夹爪为空，柜格内没有棕杆。杆1未见被搬起或中心进入其目标隔间，故本节点全程未达成。"
+     },
+     {
+      "t": null,
+      "log_step": 28,
+      "text_zh": "推断：log step 27 的脚本杆列表按初始距离排序，log step 28–30 依次调用 rod0 至 rod5；脚本 rod4 对应本节点杆1，不能把脚本编号直接当作 DAG 实例编号。机器人在视频 10.0–50.0 s 反复移动底盘与空臂，结合循环记录可确认本步有尝试，但不据脚本的抓取指令或完成标记认定搬运成功。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 10.0–50.0 s 的多轮尝试中，轮式底盘在地面承重移动并支承机械臂，包含向杆1取物位置移动的过程；没有可见的夹爪合围夹住棕杆，未记录抓握接触。"
+     }
+    ]
+   },
+   "rod_2_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的棕杆均在柜前地面，柜格为空；本节点按 DAG 对应初始距离第2近的杆，目标为从左数第5柜。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程的分段帧，以及视频 49.0–50.0 s 的逐帧结尾；最后六根棕杆仍在地面，夹爪为空，柜格内没有棕杆。杆2未见被搬起或中心进入其目标隔间，故本节点全程未达成。"
+     },
+     {
+      "t": null,
+      "log_step": 28,
+      "text_zh": "推断：log step 27 的脚本杆列表按初始距离排序，log step 28–30 依次调用 rod0 至 rod5；脚本 rod1 对应本节点杆2，不能把脚本编号直接当作 DAG 实例编号。机器人在视频 10.0–50.0 s 反复移动底盘与空臂，结合循环记录可确认本步有尝试，但不据脚本的抓取指令或完成标记认定搬运成功。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 10.0–50.0 s 的多轮尝试中，轮式底盘在地面承重移动并支承机械臂，包含向杆2取物位置移动的过程；没有可见的夹爪合围夹住棕杆，未记录抓握接触。"
+     }
+    ]
+   },
+   "rod_3_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的棕杆均在柜前地面，柜格为空；本节点按 DAG 对应初始距离第6近的杆，目标为从左数第1柜。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程的分段帧，以及视频 49.0–50.0 s 的逐帧结尾；最后六根棕杆仍在地面，夹爪为空，柜格内没有棕杆。杆3未见被搬起或中心进入其目标隔间，故本节点全程未达成。"
+     },
+     {
+      "t": null,
+      "log_step": 28,
+      "text_zh": "推断：log step 27 的脚本杆列表按初始距离排序，log step 28–30 依次调用 rod0 至 rod5；脚本 rod5 对应本节点杆3，不能把脚本编号直接当作 DAG 实例编号。机器人在视频 10.0–50.0 s 反复移动底盘与空臂，结合循环记录可确认本步有尝试，但不据脚本的抓取指令或完成标记认定搬运成功。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 10.0–50.0 s 的多轮尝试中，轮式底盘在地面承重移动并支承机械臂，包含向杆3取物位置移动的过程；没有可见的夹爪合围夹住棕杆，未记录抓握接触。"
+     }
+    ]
+   },
+   "rod_4_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的棕杆均在柜前地面，柜格为空；本节点按 DAG 对应初始距离第1近的杆，目标为从左数第11柜。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程的分段帧，以及视频 49.0–50.0 s 的逐帧结尾；最后六根棕杆仍在地面，夹爪为空，柜格内没有棕杆。杆4未见被搬起或中心进入其目标隔间，故本节点全程未达成。"
+     },
+     {
+      "t": null,
+      "log_step": 28,
+      "text_zh": "推断：log step 27 的脚本杆列表按初始距离排序，log step 28–30 依次调用 rod0 至 rod5；脚本 rod0 对应本节点杆4，不能把脚本编号直接当作 DAG 实例编号。机器人在视频 10.0–50.0 s 反复移动底盘与空臂，结合循环记录可确认本步有尝试，但不据脚本的抓取指令或完成标记认定搬运成功。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 10.0–50.0 s 的多轮尝试中，轮式底盘在地面承重移动并支承机械臂，包含向杆4取物位置移动的过程；没有可见的夹爪合围夹住棕杆，未记录抓握接触。"
+     }
+    ]
+   },
+   "rod_5_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的棕杆均在柜前地面，柜格为空；本节点按 DAG 对应初始距离第4近的杆，目标为从左数第8柜。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程的分段帧，以及视频 49.0–50.0 s 的逐帧结尾；最后六根棕杆仍在地面，夹爪为空，柜格内没有棕杆。杆5未见被搬起或中心进入其目标隔间，故本节点全程未达成。"
+     },
+     {
+      "t": null,
+      "log_step": 28,
+      "text_zh": "推断：log step 27 的脚本杆列表按初始距离排序，log step 28–30 依次调用 rod0 至 rod5；脚本 rod3 对应本节点杆5，不能把脚本编号直接当作 DAG 实例编号。机器人在视频 10.0–50.0 s 反复移动底盘与空臂，结合循环记录可确认本步有尝试，但不据脚本的抓取指令或完成标记认定搬运成功。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 10.0–50.0 s 的多轮尝试中，轮式底盘在地面承重移动并支承机械臂，包含向杆5取物位置移动的过程；没有可见的夹爪合围夹住棕杆，未记录抓握接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "rod_4_in_compartment",
+   "t": 11.0,
+   "log_step": 28,
+   "where": "操作中",
+   "evidence_zh": "推断：视频 10.0–11.4 s 机器人退到最近棕杆附近，机械臂仍抬高且夹爪没有取起杆，随后改向其他取物位置；log step 27–28 的最近优先循环从脚本 rod0 开始，按 DAG 它是杆4、目标为第11柜。该步是最早未完成且此后始终未补成的尝试；视频 22.0–24.4 s 再次接近后仍为空爪，视频 50.0 s 杆仍在地面。视频 11.0 s 是首轮停滞的近似导航锚点，不是由 agent 时间换算。"
+  },
+  "unmet": {
+   "rod_0_in_compartment": false,
+   "rod_1_in_compartment": false,
+   "rod_2_in_compartment": false,
+   "rod_3_in_compartment": false,
+   "rod_4_in_compartment": false,
+   "rod_5_in_compartment": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 22.4,
+    "log_step": 29,
+    "evidence_zh": "观察：视频 21.8–24.4 s 机器人在最近杆附近再次摆臂，夹爪保持在地面杆上方，未见手指夹住杆或杆随末端抬起；视频 44.5–47.0 s 的后续尝试和视频 49.0–50.0 s 的结尾也显示空夹爪及仍在地面的杆。取得杆4所需的夹持接触一直未建立。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "log_step": 28,
+    "note_zh": "候选细分：控制脚本异常；按 D38 保留在控制总类。",
+    "evidence_zh": "观察：log step 28 中，agent 的搬运脚本在 wrist_rod_refine 执行矩阵与标量相乘时抛出 ValueError，外层循环继续运行后续杆；log step 29 修复后又在 cycle_rod 中因二维、三维向量广播不匹配而中断。log step 30 再修复并重启循环，log step 31 的机器人服务最终返回 control_steps=1000、done=True、reason=failed。推断：这些发生在现场单回合控制脚本中的异常切断了取放动作，并反复重启取物循环；结合视频中持续空爪、杆未搬起的结果，可确认控制实现失效，而不是基础设施中断。"
+   }
+  ],
+  "gap_zh": "没有状态日志，无法给出接触力或精确末端误差；日志中的循环输出被截断，不能把每次脚本异常逐一对齐到视频帧，断点时间为近似视觉锚点。节点未达成由可见的地面杆与空柜格判断，不由成功分数为零反推。"
+ },
+ "summary_zh": "六根杆均未进入各自目标隔间，最终进度为0/6；视频 49.0–50.0 s 仍可见六杆在地面、柜格为空。最早未补成的是最近的杆4入第11柜：机器人反复靠近并摆动空臂，未建立夹持，现场控制脚本的矩阵和向量异常又多次中断循环。无状态日志，异常与视频的逐次对应无法精确确定，但不影响全部节点未达成的视觉判断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "六个杆节点全程未达成与视频一致（0、10、23、50 s 及每 2 s 抽帧均见六杆在地、柜格为空）；断点（杆4，约 11 s）、没建立接触与控制类根因（log 28、29 的脚本异常）均有视频和日志支持，未见需要修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:21:13Z",
+  "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/kinder-constrained-cupboard-i00-standard--hu6jxmn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-constrained-cupboard-i00-standard--hu6jxmn/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0c43bf8fef39ac162c529dd1da6b3a97457804e52e54eb05ea46fc073bca4bd5",
+   "video_sha256": "58189e0a9bfdbe797492895c80453a2c9322c6b645487542ff2396060ee23e60",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/constrained_cupboard/trajectories/kinder-constrained-cupboard-i00-standard--pxhhga9.json b/phase2/kinder/constrained_cupboard/trajectories/kinder-constrained-cupboard-i00-standard--pxhhga9.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cd6d6eaa2eec8686e0b3dbc902e2a7341ed780a
--- /dev/null
+++ b/phase2/kinder/constrained_cupboard/trajectories/kinder-constrained-cupboard-i00-standard--pxhhga9.json
@@ -0,0 +1,305 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-constrained-cupboard-i00-standard--pxhhga9",
+ "taskKey": "kinder/constrained_cupboard",
+ "dag_sha256": "d260f33646f4038751aaf6e06136273d949ff6ad0795358498502c980cb5ef31",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 1000,
+   "sim_steps": 1000,
+   "calls": 1028,
+   "rows": 1000,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 841.6,
+   "video_rendered": 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/kinder-constrained-cupboard-i00-standard--pxhhga9/replay.mp4",
+  "duration_s": 50.1,
+  "fps": 10.0,
+  "frames": 501,
+  "sha256": "ee0e77ef20a3405d3e5744947e5e417421e50d4fe01514d7a39ae7199b940d7f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "rod_0_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 46.4,
+      "log_step": 62,
+      "text_zh": "观察：视频 45.6–46.4 s，机器人夹爪在初始第3近的杆一端闭合，杆一端短暂离地；视频 46.6–47.2 s，杆重新落在地面，夹爪独自上升。"
+     },
+     {
+      "t": 49.9,
+      "log_step": 65,
+      "text_zh": "观察：视频 47.8–48.8 s，机器人再次夹取该杆端部并移动底盘；视频 49.0–50.0 s，该杆仍落在机器人左侧地面，未进入从左数第2柜上部格。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人二指夹爪两次夹住杆0（初始第3近）的端部；视频 46.0–46.4 s 可见杆端被夹起，随后滑落，末段再次夹取后仍未保持住。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘驶到杆0旁并转向，在再次夹取后驶向第2柜方向；杆最终仍在地面。"
+     }
+    ]
+   },
+   "rod_1_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，初始第5近的杆在地面，尚未进入第4柜目标隔间。"
+     },
+     {
+      "t": 50,
+      "log_step": null,
+      "text_zh": "观察：视频 45.0–50.0 s，机器人只对左侧另一根杆反复夹取；该杆仍在原先左后方地面区域（部分时段被底盘遮住），第4柜目标格中没有对应入柜杆；全片未见机器人对其执行搬运入柜。"
+     }
+    ]
+   },
+   "rod_2_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24,
+      "log_step": 38,
+      "text_zh": "观察：视频 22.0–24.5 s，机器人抓取初始第2近的杆；视频 25.0–29.0 s，杆随夹爪和底盘搬运至柜排左侧，再移到第5柜前。"
+     },
+     {
+      "t": 44.5,
+      "log_step": 59,
+      "text_zh": "观察：视频 29.0–44.5 s，机器人在第5柜前反复前进、后退和升降机械臂，底盘遮住多数夹爪与杆；视频 45.2、48.8、49.5–50.0 s 露出该杆斜靠柜口、近端垂到柜前低处，未呈现参考成功视频 36.3 s 中杆在第5柜上部格搁板上的位置。"
+     },
+     {
+      "t": 50,
+      "log_step": null,
+      "text_zh": "推断：结合退开后的杆形态与参考成功视频 36.3 s 第5柜的杆位置，该杆中心仍在目标上部隔间的柜口外，终态未达成；全过程未能确认中心入格，不依据 log step 62 的 agent 自述“已在指定开口释放”记为完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人二指夹爪夹住杆2（初始第2近），随底盘搬运到柜前，随后多次松开、重抓和升降；实际持杆搬运可见于视频 24.0–29.0 s。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘携杆2绕行地面其他杆，移到第5柜前；柜前操作期间反复前后移动，最后退开。"
+     }
+    ]
+   },
+   "rod_3_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，初始第6近的杆在地面，尚未进入第1柜目标隔间。"
+     },
+     {
+      "t": 50,
+      "log_step": null,
+      "text_zh": "观察：视频 45.0–50.0 s，机器人只对左侧另一根杆反复夹取；该杆仍在右后方地面区域（部分时段被底盘遮住），第1柜目标格中没有对应入柜杆；全片未见机器人对其执行搬运入柜。"
+     }
+    ]
+   },
+   "rod_4_in_compartment": {
+    "method": "visual",
+    "intervals": [
+     [
+      19.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 16.8,
+      "log_step": 29,
+      "text_zh": "观察：视频 16.0–17.2 s，机器人二指夹爪夹住初始最近的杆并抬离地面，随后随底盘运往最右第11柜。"
+     },
+     {
+      "t": 20.8,
+      "log_step": 38,
+      "text_zh": "观察：视频 19.8–20.8 s，机器人把该杆沿柜深方向送入第11柜下部格后退开；视频 21.0、28.0、44.5、49.9–50.0 s，该杆持续留在同一柜格，外端露在柜前。"
+     },
+     {
+      "t": 50,
+      "log_step": null,
+      "text_zh": "推断：该杆中点已越过第11柜下部格的柜口，外观与参考成功视频 12.0、36.3 s 的同一柜格中杆的位置一致，故约在视频 19.9 s 达成并保持。此处不把 log step 37 中 agent 自述“杆滑落”当作节点失败；目标只要求中心入格。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人单臂二指夹爪夹住杆4（初始最近的杆）中段，抬起并送往第11柜；视频 16.0–20.4 s 可见杆随夹爪移动。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承重行驶并转向，携带杆4从取物位置驶到最右第11柜前，随后退开。"
+     }
+    ]
+   },
+   "rod_5_in_compartment": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，初始第4近的杆在地面，尚未进入第8柜目标隔间。"
+     },
+     {
+      "t": 50,
+      "log_step": null,
+      "text_zh": "观察：视频 45.0–50.0 s，机器人只对左侧另一根杆反复夹取；该杆仍在右前方地面区域（部分时段被底盘遮住），第8柜目标格中没有对应入柜杆；全片未见机器人对其执行搬运入柜。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "rod_2_in_compartment",
+   "t": 31.0,
+   "log_step": 43,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 29.0–31.5 s，机器人在第5柜前送入第二根杆后退开，再次前推；视频 32.0–44.5 s 继续反复重抓和升降，视频 49.5–50.0 s 该杆仍斜靠柜口外，未形成目标上部格内的关系。推断：杆2入柜2是最早尝试后仍未修复的步骤；之后对杆0的抓取也失败，不替换此断点。"
+  },
+  "unmet": {
+   "rod_0_in_compartment": false,
+   "rod_1_in_compartment": false,
+   "rod_2_in_compartment": false,
+   "rod_3_in_compartment": false,
+   "rod_4_in_compartment": true,
+   "rod_5_in_compartment": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 44.5,
+    "log_step": 59,
+    "evidence_zh": "观察：视频 49.5–50.0 s 的清晰柜口画面中，机器人送往第5柜的杆斜跨柜口，近端落在柜前低处；与参考成功视频 36.3 s 比较，其中点没有进入目标上部隔间。推断：机器人反复调整后仍把杆留在柜口外，最终放入位姿不足；视频 44.5 s 是最后一次退开时的导航锚点。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：机器人选取的是正确的第二根杆与第5柜，视频 24.0–29.0 s 已显示实际抓起并运到柜前；视频 29.0–44.5 s 的反复进退、升降和重抓仍未把杆中心送入，支持操作执行层面的控制问题。日志中 log step 43、47、49、52、54、57、59 记录对同一杆的对准、重抓与送入命令，log step 44、48、50、53、55、58、60 记录这些动作的返回；这些记录支持重复操作过程，不能单独证明入柜。遮挡使抓取几何、碰撞与跟踪误差的具体贡献无法分开，故不选更细子类。"
+   }
+  ],
+  "gap_zh": "没有状态日志或逐杆目标谓词。视频 29.5–44.5 s 的底盘和机械臂遮住杆2的大部分精细操作，无法精确核实所有短暂姿态是否越过隔间边界，也无法直接确认每次接触的部位及碰撞力；未记录可确认的达成区间，终态依据视频 49.5–50.0 s 的露出画面与参考成功外观判为未达成。杆4的首次达成约视频 19.9 s，几何边界时刻为视觉估计。根因仅标控制，不把 agent 自述的“碰撞、滑落”直接当作已观测的接触机制。"
+ },
+ "summary_zh": "机器人把初始最近的杆4送到最右第11柜下部隔间，约视频 19.9 s 达成并保持，终态完成1/6节点。第二根杆2在第5柜前经多次调整仍留在柜口外，是最早未修复的步骤；之后杆0的端部抓取也滑落，其余三根未入柜。柜前精细操作有底盘遮挡，缺少逐杆状态谓词，故杆2的边界过程与具体控制子因不能精确核实。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（仅杆4约视频 19.9 s 达成并保持，其余未达成）、断点（杆2入柜，操作中）与时钟均与视频和 log 相符；终态杆2斜靠柜口、近端垂到柜前地面，中心高度与深度均不像参考视频中的上部格内位置，故判未达成可接受。柜前 29–44 s 被底盘遮挡，细节确实无法核实，文件已在 gap_zh 说明。未发现需要改变内容的错误。",
+    "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": "2026-10-30T02:23:39Z",
+  "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/kinder-constrained-cupboard-i00-standard--pxhhga9/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-constrained-cupboard-i00-standard--pxhhga9/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "fe7b75a2877fb84c9e2a114d21b88f48e40a05247db2ce21bf532f129cefb439",
+   "video_sha256": "ee0e77ef20a3405d3e5744947e5e417421e50d4fe01514d7a39ae7199b940d7f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/scoop_pour_i01/trajectories/kinder-scoop-pour-i01-privileged--8ndbfej.json b/phase2/kinder/scoop_pour_i01/trajectories/kinder-scoop-pour-i01-privileged--8ndbfej.json
new file mode 100644
index 0000000000000000000000000000000000000000..253c649e082aa9c8076ec5a00e2329cbf3fa19c7
--- /dev/null
+++ b/phase2/kinder/scoop_pour_i01/trajectories/kinder-scoop-pour-i01-privileged--8ndbfej.json
@@ -0,0 +1,1045 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-scoop-pour-i01-privileged--8ndbfej",
+ "taskKey": "kinder/scoop_pour_i01",
+ "dag_sha256": "0b647a509cc0f0dcb61695acc31e4f7cd91f232895854368338ac912412fc51a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "n_actions": 1000,
+   "sim_steps": 1000,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.915,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.505,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/kinder-scoop-pour-i01-privileged--8ndbfej/replay.mp4",
+  "duration_s": 50.1,
+  "fps": 10.0,
+  "frames": 501,
+  "sha256": "c9ff1c5e53370c7951a9e999d8e55fe95dc9dfa29b4f262eff7570864e28ef59"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 50,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "cubes_in_green_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少1块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少1块达标的状态从未出现。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约3.7–4.3 s，机器人二指夹爪夹住舀勺柄并将舀勺短暂提离桌面，随后舀勺脱离夹爪；这是第1块转移尝试的工具准备接触。舀勺未接触方块，未发生工具托舀方块；后续计数节点没有实际搬运尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少2块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少2块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少3块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少3块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少4块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少4块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少5块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少5块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少6块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少6块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少7块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少7块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少8块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少8块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少9块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少9块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少10块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少10块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少11块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少11块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少12块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少12块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少13块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少13块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少14块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少14块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少15块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少15块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少16块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少16块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_17": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少17块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少17块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_18": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少18块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少18块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_19": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少19块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少19块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_20": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少20块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少20块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_21": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少21块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少21块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_22": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少22块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少22块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_23": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少23块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少23块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_24": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少24块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少24块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_25": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少25块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少25块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_26": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少26块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少26块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_27": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少27块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少27块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_28": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少28块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少28块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_29": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少29块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少29块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_30": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少30块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少30块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_31": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少31块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少31块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_32": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少32块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少32块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_33": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少33块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少33块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_34": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少34块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少34块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_35": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少35块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少35块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_36": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少36块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少36块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_37": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少37块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少37块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_38": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少38块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少38块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_39": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少39块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少39块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_40": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少40块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少40块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_41": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少41块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少41块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_42": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少42块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少42块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_43": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少43块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少43块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_44": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少44块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少44块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_45": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少45块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少45块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_46": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少46块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少46块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_47": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少47块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少47块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_48": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少48块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少48块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_49": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少49块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少49块达标的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_50": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿色箱内为空，暗红色方块集中在黄色箱内，未满足至少50块入绿箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程每隔1 s的帧、视频3.0–5.0 s的逐帧夹持变化及视频49.0–50.0 s的逐帧终态；绿色箱始终为空，方块堆仍在黄色箱内，没有方块被舀起或转移，故至少50块达标的状态从未出现。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "cubes_in_green_1",
+   "t": 4.4,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：机器人为搬运方块先夹取舀勺；视频3.7–4.3 s舀勺随夹爪上升并转动，约视频4.4 s与夹爪分离、回落在两箱之间的桌面。机器人此后空手继续移动，至视频50.0 s未重新拿起舀勺，也未把任何方块送入绿色箱；首个方块入箱步骤始终未修复。"
+  },
+  "unmet": {
+   "cubes_in_green_1": false,
+   "cubes_in_green_2": false,
+   "cubes_in_green_3": false,
+   "cubes_in_green_4": false,
+   "cubes_in_green_5": false,
+   "cubes_in_green_6": false,
+   "cubes_in_green_7": false,
+   "cubes_in_green_8": false,
+   "cubes_in_green_9": false,
+   "cubes_in_green_10": false,
+   "cubes_in_green_11": false,
+   "cubes_in_green_12": false,
+   "cubes_in_green_13": false,
+   "cubes_in_green_14": false,
+   "cubes_in_green_15": false,
+   "cubes_in_green_16": false,
+   "cubes_in_green_17": false,
+   "cubes_in_green_18": false,
+   "cubes_in_green_19": false,
+   "cubes_in_green_20": false,
+   "cubes_in_green_21": false,
+   "cubes_in_green_22": false,
+   "cubes_in_green_23": false,
+   "cubes_in_green_24": false,
+   "cubes_in_green_25": false,
+   "cubes_in_green_26": false,
+   "cubes_in_green_27": false,
+   "cubes_in_green_28": false,
+   "cubes_in_green_29": false,
+   "cubes_in_green_30": false,
+   "cubes_in_green_31": false,
+   "cubes_in_green_32": false,
+   "cubes_in_green_33": false,
+   "cubes_in_green_34": false,
+   "cubes_in_green_35": false,
+   "cubes_in_green_36": false,
+   "cubes_in_green_37": false,
+   "cubes_in_green_38": false,
+   "cubes_in_green_39": false,
+   "cubes_in_green_40": false,
+   "cubes_in_green_41": false,
+   "cubes_in_green_42": false,
+   "cubes_in_green_43": false,
+   "cubes_in_green_44": false,
+   "cubes_in_green_45": false,
+   "cubes_in_green_46": false,
+   "cubes_in_green_47": false,
+   "cubes_in_green_48": false,
+   "cubes_in_green_49": false,
+   "cubes_in_green_50": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 4.4,
+    "log_step": null,
+    "evidence_zh": "观察：视频3.7–4.3 s二指夹爪持舀勺上升，舀勺相对夹爪向下转动；视频4.4–4.6 s夹爪已升至舀勺上方，舀勺留在桌面，之后机器人空手运动。失去的是舀勺的夹持，发生在接触方块之前。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 4.4,
+    "log_step": 80,
+    "evidence_zh": "推断：视频3.7–4.6 s显示机器人虽夹起舀勺，却不能在提升调整中保持工具，随后也没有恢复夹持，所需搬运接触链因此中断。会话诊断的log step 80亦记录提升调整后夹爪继续移动、舀勺位置不随动，log step 81中agent自述“舀勺在提升调平动作中重复掉落”；这些仅作为控制问题的辅助证据，不用来给视频计时。",
+    "source_zh": "视频 / 日志 / agent 自述"
+   }
+  ],
+  "gap_zh": "无状态日志、接触力或完整夹持过程的数值记录，不能进一步判定是接触几何、夹持力还是姿态控制导致舀勺脱离，故根因停在“控制”。日志包含多次测试与重置，最后一次生成运行在log step 78只返回部分进度，未返回完整保存及重放验收输出；节点和断点均依据交付视频独立判断，未将测试结果或agent工作时钟映射成视频时间。"
+ },
+ "summary_zh": "评分轨迹中机器人短暂夹起舀勺，约视频4.4 s失去夹持，之后空手继续运动，绿色箱从开始到视频50.0 s始终为空，50个计数节点均未达到。断点为“第1块入绿箱”的操作中，现象为“没保持住”，证据支持控制问题，但缺少接触力和状态日志，无法可靠细分控制根因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "视频帧显示绿箱全程为空，舀勺约视频3.7–4.4 s被夹起后掉落，断点、现象（没保持住）和根因（控制）有视频与log step 80/81支持；50个节点均未达成，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": "2026-10-30T02:26:08Z",
+  "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/kinder-scoop-pour-i01-privileged--8ndbfej/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-scoop-pour-i01-privileged--8ndbfej/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "11a7fa79e54fb50884529e417ba76f4b2f7e3123b4bf9274b620f3264e4a23c8",
+   "video_sha256": "c9ff1c5e53370c7951a9e999d8e55fe95dc9dfa29b4f262eff7570864e28ef59",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/scoop_pour_i01/trajectories/kinder-scoop-pour-i01-privileged--khz44mr.json b/phase2/kinder/scoop_pour_i01/trajectories/kinder-scoop-pour-i01-privileged--khz44mr.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c22863fdac692edcb8dc41d69deb92660568355
--- /dev/null
+++ b/phase2/kinder/scoop_pour_i01/trajectories/kinder-scoop-pour-i01-privileged--khz44mr.json
@@ -0,0 +1,1659 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-scoop-pour-i01-privileged--khz44mr",
+ "taskKey": "kinder/scoop_pour_i01",
+ "dag_sha256": "0b647a509cc0f0dcb61695acc31e4f7cd91f232895854368338ac912412fc51a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "n_actions": 932,
+   "sim_steps": 932,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "video_rendered": 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/kinder-scoop-pour-i01-privileged--khz44mr/replay.mp4",
+  "duration_s": 46.7,
+  "fps": 10.0,
+  "frames": 467,
+  "sha256": "698e3e8c1d39fecdf1ce9b62b9c04487ebfd143b261af48fdf20993541320073"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 50,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "cubes_in_green_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少1块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少1块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少2块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少2块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少3块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少3块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少4块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少4块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少5块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少5块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少6块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少6块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少7块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少7块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少8块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少8块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少9块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少9块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少10块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少10块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少11块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少11块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少12块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少12块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少13块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少13块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少14块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少14块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少15块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少15块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少16块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少16块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_17": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少17块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少17块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_18": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少18块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少18块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_19": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少19块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少19块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_20": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少20块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少20块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_21": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少21块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少21块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_22": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少22块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少22块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_23": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少23块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少23块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_24": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少24块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少24块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_25": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少25块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少25块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_26": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少26块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少26块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_27": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少27块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少27块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_28": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少28块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少28块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_29": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少29块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少29块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_30": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少30块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少30块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_31": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少31块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少31块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_32": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少32块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少32块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_33": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少33块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少33块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_34": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少34块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少34块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_35": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少35块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少35块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_36": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少36块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少36块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_37": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少37块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少37块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_38": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少38块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少38块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_39": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少39块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少39块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_40": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少40块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少40块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_41": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少41块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少41块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_42": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少42块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少42块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_43": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少43块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少43块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_44": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少44块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少44块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_45": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少45块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少45块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_46": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少46块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少46块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_47": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少47块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少47块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_48": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少48块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少48块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_49": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少49块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少49块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_50": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿色目标箱为空，暗红色方块聚在黄色源箱中，尚未达到至少50块入绿箱的条件。"
+     },
+     {
+      "t": 41.2,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–40.8 s 机器人夹爪夹住黄色箱边沿并带动箱体移动、转动，方块仍留在黄色箱中；视频 41.0–41.2 s 夹爪上移并与箱沿脱离，黄色箱落回台面，未见方块进入绿箱。"
+     },
+     {
+      "t": 46.6,
+      "log_step": null,
+      "text_zh": "观察：视频 45.7–46.6 s 逐帧可见机器人空夹爪停在箱上方，绿色箱内始终为空，方块仍在黄色箱中；因此至少50块达标的状态在结尾不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.0–41.0 s 机器人二指夹爪夹住黄色源箱边沿并拖动、上提箱体，方块由源箱底面承托；视频 41.0–41.2 s 夹爪与箱沿脱离。此处记录夹爪对源箱的抓握，未使用舀勺，也未直接夹持方块；50个计数节点共用这次整批转移尝试。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "cubes_in_green_1",
+   "t": 41.1,
+   "log_step": 70,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 39.4–41.0 s 机器人夹爪仍夹着黄色源箱边沿，箱体一侧随之抬动；视频 41.2 s 夹爪已离开箱沿，箱体回落，方块仍在源箱中，绿色目标箱为空。log step 70 的最终生成脚本以夹箱沿、拉动、上提来整批转移方块，log step 75 输出保存932步、green cubes 0、goal False，log step 77 确认交付此序列。推断：整批倾倒在夹持失效处中断，直到视频 46.6 s 都未修复，最先未达成的计数步骤是第1块入绿箱。"
+  },
+  "unmet": {
+   "cubes_in_green_1": false,
+   "cubes_in_green_2": false,
+   "cubes_in_green_3": false,
+   "cubes_in_green_4": false,
+   "cubes_in_green_5": false,
+   "cubes_in_green_6": false,
+   "cubes_in_green_7": false,
+   "cubes_in_green_8": false,
+   "cubes_in_green_9": false,
+   "cubes_in_green_10": false,
+   "cubes_in_green_11": false,
+   "cubes_in_green_12": false,
+   "cubes_in_green_13": false,
+   "cubes_in_green_14": false,
+   "cubes_in_green_15": false,
+   "cubes_in_green_16": false,
+   "cubes_in_green_17": false,
+   "cubes_in_green_18": false,
+   "cubes_in_green_19": false,
+   "cubes_in_green_20": false,
+   "cubes_in_green_21": false,
+   "cubes_in_green_22": false,
+   "cubes_in_green_23": false,
+   "cubes_in_green_24": false,
+   "cubes_in_green_25": false,
+   "cubes_in_green_26": false,
+   "cubes_in_green_27": false,
+   "cubes_in_green_28": false,
+   "cubes_in_green_29": false,
+   "cubes_in_green_30": false,
+   "cubes_in_green_31": false,
+   "cubes_in_green_32": false,
+   "cubes_in_green_33": false,
+   "cubes_in_green_34": false,
+   "cubes_in_green_35": false,
+   "cubes_in_green_36": false,
+   "cubes_in_green_37": false,
+   "cubes_in_green_38": false,
+   "cubes_in_green_39": false,
+   "cubes_in_green_40": false,
+   "cubes_in_green_41": false,
+   "cubes_in_green_42": false,
+   "cubes_in_green_43": false,
+   "cubes_in_green_44": false,
+   "cubes_in_green_45": false,
+   "cubes_in_green_46": false,
+   "cubes_in_green_47": false,
+   "cubes_in_green_48": false,
+   "cubes_in_green_49": false,
+   "cubes_in_green_50": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 41.1,
+    "log_step": 70,
+    "evidence_zh": "观察：视频 24.0–40.8 s 黄色箱随机器人夹爪拖动、转动，视频 39.4–41.0 s 箱沿还位于两指之间；视频 41.2 s 夹爪向上离开，黄色箱回落且方块未倒出。log step 70 的交付生成脚本在拉箱及上提阶段均保持夹爪命令1.0，没有计划松手动作。推断：这是承载上提时失去既有夹持，而不是从未接触或计划释放后的不稳。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "观察：视频 8.0–40.8 s 机器人仅用单个二指夹爪局部夹持黄色源箱的一处边沿，拖动时箱体明显转动，视频 41.0–41.2 s 上提时箱沿脱出。log step 70 的脚本采用同一箱沿夹持完成拉动和上提，期间保持夹紧，未换握或增加支承。推断：这套局部夹持能够拖箱，却未能持续承受倾倒所需的抬箱负载，接触与承载设计不足导致失握；没有证据验证可行替代抓法。"
+   }
+  ],
+  "gap_zh": "没有状态日志、接触对或接触力读数，也没有成功参考视频；视频可判明箱沿夹持丢失及绿箱始终为空，但无法进一步区分夹持深度、摩擦、夹紧力或载荷力矩各自的作用。log step 77 与 log step 80 的“不曾倾倒”是agent对结果的概述；视频实际可见局部抬动后回落，并非箱体全程不动。此前舀勺试验仅属会话证据，不纳入本次节点进度或失败现象。"
+ },
+ "summary_zh": "机器人在交付的932步轨迹中夹住黄色源箱边沿，尝试拖近、抬起源箱以整批倾倒方块，但视频约 41.1 s 夹持丢失，源箱回落。绿色箱从视频 0.0 s 到视频 46.6 s 始终为空，50个计数节点均未达成，断点为第1块入绿箱；失败现象为没保持住，根因推断为箱沿局部夹持的承载设计不足。缺少接触力与状态日志，无法确定失握的具体力学参数，之前的舀勺试验不属于本次评分轨迹。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点、断点、现象与根因基本被视频支持（绿箱全程为空，约 41 s 箱沿夹持丢失）；但 contact_actual 把夹爪夹住源箱边沿记成“手持工具·托/舀”，与实际接触不符，应为手指/夹爪·抓握。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "绿箱全程为空、夹爪夹住黄色源箱边沿并拖动、约41 s 夹持丢失，均与视频一致；contact_actual 已按上一轮改为手指/夹爪·抓握；断点、现象、根因有证据支持。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:50:10Z",
+  "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/kinder-scoop-pour-i01-privileged--khz44mr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-scoop-pour-i01-privileged--khz44mr/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-scoop-pour-i01-privileged--khz44mr/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/kinder-scoop-pour-i01-privileged--khz44mr/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "841080b94882f399c3f98ffec5f9966462cfcb2e4e006955466e560c30e13dc6",
+   "video_sha256": "698e3e8c1d39fecdf1ce9b62b9c04487ebfd143b261af48fdf20993541320073",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/scoop_pour_i01/trajectories/kinder-scoop-pour-i01-privileged--mdyremv.json b/phase2/kinder/scoop_pour_i01/trajectories/kinder-scoop-pour-i01-privileged--mdyremv.json
new file mode 100644
index 0000000000000000000000000000000000000000..c91cf7870c1076d5a22046c189143456b1028fdd
--- /dev/null
+++ b/phase2/kinder/scoop_pour_i01/trajectories/kinder-scoop-pour-i01-privileged--mdyremv.json
@@ -0,0 +1,1665 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-scoop-pour-i01-privileged--mdyremv",
+ "taskKey": "kinder/scoop_pour_i01",
+ "dag_sha256": "0b647a509cc0f0dcb61695acc31e4f7cd91f232895854368338ac912412fc51a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "n_actions": 315,
+   "sim_steps": 315,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "video_rendered": 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/kinder-scoop-pour-i01-privileged--mdyremv/replay.mp4",
+  "duration_s": 15.8,
+  "fps": 10.0,
+  "frames": 158,
+  "sha256": "525065953fd4debb6432f489e5ab21a1c44008842ab77fc241ce723791a5ce76"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 50,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "cubes_in_green_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少1块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少2块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少3块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少4块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少5块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少6块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少7块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少8块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少9块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少10块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少11块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少12块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少13块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少14块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少15块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少16块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_17": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少17块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_18": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少18块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_19": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少19块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_20": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少20块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_21": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少21块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_22": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少22块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_23": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少23块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_24": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少24块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_25": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少25块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_26": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少26块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_27": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少27块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_28": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少28块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_29": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少29块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_30": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少30块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_31": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少31块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_32": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少32块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_33": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少33块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_34": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少34块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_35": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少35块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_36": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少36块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_37": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少37块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_38": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少38块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_39": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少39块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_40": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少40块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_41": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少41块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_42": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少42块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_43": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少43块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_44": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少44块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_45": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少45块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_46": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少46块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_47": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少47块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_48": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少48块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_49": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少49块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   },
+   "cubes_in_green_50": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；逐段检查视频0.0–15.7 s，机器人仅在黄箱一侧箱壁夹持、转腕，未把方块送过两箱间的间隙，绿箱始终可见且为空，因此至少50块入绿箱的条件从未成立。"
+     },
+     {
+      "t": 15.7,
+      "log_step": null,
+      "text_zh": "观察：视频14.8–15.7 s末段逐帧可见黄箱仍平放在台面，方块堆仍在黄箱内，绿箱内没有暗红色方块。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约5.5–7.5 s，机械臂二指夹爪在黄箱远离绿箱的一侧箱壁内外合拢夹持，随后转腕拉动箱壁，未直接夹住方块；这是对整箱方块的同一次批量转移尝试，50个计数节点共享此接触。未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–0.5 s机器人底座相对台面小幅移位，支承机械臂进入黄箱操作位置；后续为机械臂夹壁、转腕阶段。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "cubes_in_green_1",
+   "t": 7.5,
+   "log_step": 29,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约5.5 s夹爪在黄箱单侧箱壁合拢，视频6.5–9.5 s夹爪开始转动并相对箱壁移位，黄箱只小幅滑移、仍平放台面；视频12.0–15.7 s夹爪逐渐滑向箱沿外，始终未倾出方块，绿箱为空。log step 29保存的脚本正是夹黄箱单壁后沿圆弧转腕的315步尝试，log step 32的交付重放返回success=False、steps=315。推断：批量转移在夹持承载阶段失败，未完成的首个计数节点为第1块入绿箱，之后未修复。"
+  },
+  "unmet": {
+   "cubes_in_green_1": false,
+   "cubes_in_green_2": false,
+   "cubes_in_green_3": false,
+   "cubes_in_green_4": false,
+   "cubes_in_green_5": false,
+   "cubes_in_green_6": false,
+   "cubes_in_green_7": false,
+   "cubes_in_green_8": false,
+   "cubes_in_green_9": false,
+   "cubes_in_green_10": false,
+   "cubes_in_green_11": false,
+   "cubes_in_green_12": false,
+   "cubes_in_green_13": false,
+   "cubes_in_green_14": false,
+   "cubes_in_green_15": false,
+   "cubes_in_green_16": false,
+   "cubes_in_green_17": false,
+   "cubes_in_green_18": false,
+   "cubes_in_green_19": false,
+   "cubes_in_green_20": false,
+   "cubes_in_green_21": false,
+   "cubes_in_green_22": false,
+   "cubes_in_green_23": false,
+   "cubes_in_green_24": false,
+   "cubes_in_green_25": false,
+   "cubes_in_green_26": false,
+   "cubes_in_green_27": false,
+   "cubes_in_green_28": false,
+   "cubes_in_green_29": false,
+   "cubes_in_green_30": false,
+   "cubes_in_green_31": false,
+   "cubes_in_green_32": false,
+   "cubes_in_green_33": false,
+   "cubes_in_green_34": false,
+   "cubes_in_green_35": false,
+   "cubes_in_green_36": false,
+   "cubes_in_green_37": false,
+   "cubes_in_green_38": false,
+   "cubes_in_green_39": false,
+   "cubes_in_green_40": false,
+   "cubes_in_green_41": false,
+   "cubes_in_green_42": false,
+   "cubes_in_green_43": false,
+   "cubes_in_green_44": false,
+   "cubes_in_green_45": false,
+   "cubes_in_green_46": false,
+   "cubes_in_green_47": false,
+   "cubes_in_green_48": false,
+   "cubes_in_green_49": false,
+   "cubes_in_green_50": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 7.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频约5.5–6.5 s二指分居黄箱箱壁两侧并合拢；视频7.5、9.5、12.0 s可见夹爪绕腕转动、指端相对箱壁滑移，而箱体仍平放，至视频15.7 s指端已滑到箱沿外侧，未带起箱体。推断：已建立的夹壁接触没有保持住可承载、可倾箱的夹持，方块仍留在黄箱。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "source_zh": "日志 / 视频 / agent 自述",
+    "evidence_zh": "观察：视频0.0–15.7 s机器人只在黄箱单侧箱壁夹持并转腕，未取勺、未直接夹块，也未先把黄箱搬到绿箱上方或消除两箱间隙；log step 29交付代码夹壁后，以piv=[0.5,-0.05,0.455]为固定轴心，用正角Rx把p0-piv旋转，随后仅维持闭爪。log step 27同构方案a的会话诊断给出夹持点约y=-0.340、z=0.512；log step 13的会话场景探查给出黄箱底部高度约0.455。推断：按此远侧夹点与轴心关系，正角旋转先使夹点下降，转至π/2时目标z约0.165，进入支承台面以下；这是交付动作几何本身的规划缺陷，不能仅靠加强夹持或放慢动作修复。两箱之间仍有可见间隙，脚本也没有完成跨间隙与越箱壁转移的独立阶段；agent在log step 31的NOTES及log step 33亦自述台面原地倾倒会落入间隙或撞绿箱外壁，但其10厘米间距及所有倾倒路线均不可行的概括未在本次重放中独立验证。依据docs/03_trajectory.md Step 3.3及CASES.md FAIL-10，增加推理/规划；并非仅由没用舀勺或零进度反推。"
+   },
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "source_zh": "视频 / 日志 / agent 自述",
+    "evidence_zh": "观察：视频5.5–15.7 s夹爪只夹住黄箱单侧箱壁上缘，随转腕相对箱壁滑移，箱体始终未被带起；log step 29交付脚本在闭爪后直接执行整箱倾转。推断：浅夹单壁的接触布局未保持住承载和倾转所需的夹持。agent在log step 31的NOTES及log step 33自述夹入深度约1.3厘米、负载约5千克、悬挂力矩约7.5牛米；这些深度、整箱负载与力矩数值未由本次重放状态或力传感独立核实，不能据此断言所有单壁夹持均不可行。舀勺及直接夹块均未在交付视频中尝试，也无已验证成功的替代握法，alt_feasible保留未知。"
+   }
+  ],
+  "gap_zh": "无状态日志，也无成功参考视频；单视角可判定绿箱一直为空，但不能精确测定夹壁法向力、摩擦力、滑脱起点或负载力矩。固定轴心旋转的几何缺陷依据交付代码与会话场景探查推断，约0.165的目标高度是按会话方案a夹点计算的脚本目标，不是重放中已达到的状态；未验证所有整箱倾倒路线均不可行，也未验证舀勺或直接夹块方案可行。断点仍取视频约7.5 s作为导航锚点，视频时间直接取帧，未由agent工作时间或控制步数换算。"
+ },
+ "summary_zh": "机器人尝试夹住黄箱单侧箱壁并转腕倾倒，箱壁夹持滑移，黄箱未被带起，绿箱直到视频15.7 s仍为空，50个入箱节点均未达成。断点仍为第1块入绿箱，现象为没保持住；根因同时记录整箱转移的推理/规划缺陷与浅夹单壁的抓取和接触设计，前者有交付代码中固定轴心旋转目标进入台面以下的独立依据。具体力学数值及替代方案可行性未经重放状态或成功试验核实，规划分析部分依赖会话探查推断，置信度由8降为7。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值（50个均未达成）、断点（第1块入绿箱，操作中）和现象（没保持住）与视频一致，绿箱全程为空。问题在根因：整个方案是夹黄箱单壁倾倒整箱，场景里提供的舀勺（DAG plan 1）和直接夹方块的替代方案（plan 2）均未尝试；按“无法如指令那样奏效的动作是推理/规划”的判别顺序，不应只标抓取和接触设计。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "绿箱全程为空，50个节点均未达成、断点（第1块入绿箱，操作中）、现象（没保持住）与根因（推理/规划＋抓取和接触设计，alt_feasible未知）与视频一致，推断均已标明；第1轮意见已采纳。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:51:13Z",
+  "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/kinder-scoop-pour-i01-privileged--mdyremv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-scoop-pour-i01-privileged--mdyremv/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-scoop-pour-i01-privileged--mdyremv/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/kinder-scoop-pour-i01-privileged--mdyremv/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "cabf33b85d419205d3dbd61f73d0873ffa3be4b6c5c61c9f9afd0443c96fcb01",
+   "video_sha256": "525065953fd4debb6432f489e5ab21a1c44008842ab77fc241ce723791a5ce76",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/scoop_pour_i01/trajectories/kinder-scoop-pour-i01-privileged--nchhetu.json b/phase2/kinder/scoop_pour_i01/trajectories/kinder-scoop-pour-i01-privileged--nchhetu.json
new file mode 100644
index 0000000000000000000000000000000000000000..c184999f37b9fb839f1dc864eb90649e4504bb2c
--- /dev/null
+++ b/phase2/kinder/scoop_pour_i01/trajectories/kinder-scoop-pour-i01-privileged--nchhetu.json
@@ -0,0 +1,1886 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-scoop-pour-i01-privileged--nchhetu",
+ "taskKey": "kinder/scoop_pour_i01",
+ "dag_sha256": "0b647a509cc0f0dcb61695acc31e4f7cd91f232895854368338ac912412fc51a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "n_actions": 580,
+   "sim_steps": 580,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.529,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.252,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/kinder-scoop-pour-i01-privileged--nchhetu/replay.mp4",
+  "duration_s": 29.1,
+  "fps": 10.0,
+  "frames": 291,
+  "sha256": "f0f4a3b3cec4515374065176d6f09ba28fa8506adbaa32f024864d5a22c29820"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 50,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "cubes_in_green_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第1块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少1块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第2块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少2块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第3块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少3块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第4块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少4块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第5块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少5块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第6块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少6块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第7块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少7块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第8块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少8块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第9块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少9块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第10块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少10块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第11块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少11块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第12块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少12块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第13块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少13块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第14块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少14块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第15块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少15块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第16块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少16块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_17": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第17块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少17块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_18": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第18块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少18块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_19": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第19块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少19块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_20": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第20块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少20块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_21": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第21块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少21块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_22": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第22块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少22块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_23": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第23块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少23块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_24": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第24块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少24块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_25": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第25块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少25块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_26": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第26块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少26块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_27": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第27块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少27块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_28": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第28块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少28块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_29": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第29块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少29块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_30": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第30块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少30块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_31": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第31块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少31块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_32": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第32块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少32块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_33": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第33块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少33块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_34": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第34块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少34块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_35": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第35块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少35块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_36": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第36块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少36块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_37": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第37块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少37块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_38": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第38块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少38块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_39": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第39块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少39块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_40": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第40块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少40块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_41": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第41块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少41块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_42": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第42块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少42块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_43": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第43块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少43块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_44": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第44块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少44块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_45": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第45块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少45块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_46": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第46块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少46块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_47": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第47块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少47块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_48": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第48块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少48块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_49": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第49块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少49块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   },
+   "cubes_in_green_50": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块聚在黄色箱中，绿色箱内为空，第50块入绿箱状态初始不成立。"
+     },
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频2.0–4.0 s，机器人夹爪在舀勺柄附近闭合后空夹抬起，灰色舀勺仍留在两箱后方桌面；视频6.0–12.7 s机器人空夹靠近黄箱后沿并转向绿箱，未带走方块。"
+     },
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程粗采样及视频13.0–28.5 s每约0.5 s、视频28.0–29.0 s逐帧画面；机器人继续空夹往返，方块仍在黄箱，绿箱始终未见暗红色方块。视频29.0 s绿箱内底可见且为空，因此至少50块达标的状态未达到，终值为假；并非仅由success=0推定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频9.5–12.7 s，机械臂末端及夹爪侧面碰推绿色箱后侧箱沿，绿箱随之偏转并短暂翘起；未看到夹爪夹持方块或持勺舀托方块。此为整批方块转移尝试中的实际接触，不表示本计数节点已完成。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频4.0–5.5 s、9.0–10.0 s及后续往返中，移动底盘横向移位，支承机械臂在黄箱与绿箱之间运动；夹爪空载。各计数节点共用这次整批转移尝试。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "cubes_in_green_1",
+   "t": 3.5,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频2.0–3.0 s机器人夹爪在勺柄附近闭合，视频3.5–4.0 s夹爪抬起时没有带起舀勺，灰色舀勺仍在桌上；随后机器人空夹执行黄箱至绿箱的往返，视频29.0 s绿箱仍为空。推断：首次整批转移在建立持勺接触时失败，之后未修复，断点归入第1块入绿箱。"
+  },
+  "unmet": {
+   "cubes_in_green_1": false,
+   "cubes_in_green_2": false,
+   "cubes_in_green_3": false,
+   "cubes_in_green_4": false,
+   "cubes_in_green_5": false,
+   "cubes_in_green_6": false,
+   "cubes_in_green_7": false,
+   "cubes_in_green_8": false,
+   "cubes_in_green_9": false,
+   "cubes_in_green_10": false,
+   "cubes_in_green_11": false,
+   "cubes_in_green_12": false,
+   "cubes_in_green_13": false,
+   "cubes_in_green_14": false,
+   "cubes_in_green_15": false,
+   "cubes_in_green_16": false,
+   "cubes_in_green_17": false,
+   "cubes_in_green_18": false,
+   "cubes_in_green_19": false,
+   "cubes_in_green_20": false,
+   "cubes_in_green_21": false,
+   "cubes_in_green_22": false,
+   "cubes_in_green_23": false,
+   "cubes_in_green_24": false,
+   "cubes_in_green_25": false,
+   "cubes_in_green_26": false,
+   "cubes_in_green_27": false,
+   "cubes_in_green_28": false,
+   "cubes_in_green_29": false,
+   "cubes_in_green_30": false,
+   "cubes_in_green_31": false,
+   "cubes_in_green_32": false,
+   "cubes_in_green_33": false,
+   "cubes_in_green_34": false,
+   "cubes_in_green_35": false,
+   "cubes_in_green_36": false,
+   "cubes_in_green_37": false,
+   "cubes_in_green_38": false,
+   "cubes_in_green_39": false,
+   "cubes_in_green_40": false,
+   "cubes_in_green_41": false,
+   "cubes_in_green_42": false,
+   "cubes_in_green_43": false,
+   "cubes_in_green_44": false,
+   "cubes_in_green_45": false,
+   "cubes_in_green_46": false,
+   "cubes_in_green_47": false,
+   "cubes_in_green_48": false,
+   "cubes_in_green_49": false,
+   "cubes_in_green_50": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 3.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频2.0–4.0 s机器人夹爪闭合后空夹离开勺柄，舀勺未离开桌面；视频6.0–9.0 s末端在黄箱后沿运动时仍未持勺，也未舀起方块。推断：所需的持勺抓握未建立，而非已握住后掉落；到视频29.0 s也未修复。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：视频2.0–4.0 s可见机器人执行闭爪和抬升却未带起舀勺，实际抓取执行未成功。log step 191的最终生成脚本以勺柄附近的逆解目标控制夹爪，固定步数闭合、抬升后直接进入三轮舀取与倾倒动作，没有按舀勺是否跟随夹爪运动验收抓取；log step 192运行该脚本，log step 197确认轨迹文件已保存。视频后续空夹往返与此流程相符。证据支持控制层失败，但不足以细分为接触几何、逆解误差或跟踪问题。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "inputs/没有状态日志，也没有成功参考视频；运行评分字段只给出整体失败与确定性，未报告逐块位置或入箱数量。全程画面足以判断绿箱无方块，但缺少夹爪—勺柄接触对、指间力和末端跟踪误差，不能确定首次抓取失败的控制子类。log step 196关于惯性滑脱和改进稳定性的说明是agent会话自述，不能代替本条视频中的持勺证据；log step 199最后仅称等待重放验证，未提供返回结果。所有时间锚点直接取自视频，未将agent工作时间或控制步数换算为视频时间。"
+ },
+ "summary_zh": "评分轨迹中机器人未能把任何方块送入绿箱，50个计数节点初始、峰值和终态均为0/50；视频29.0 s绿箱仍为空，方块留在黄箱。首次持勺抓取在视频约3.5 s即显出失败，随后三轮空夹往返未修复，期间还碰推绿箱；断点为第1块入绿箱，现象为没建立接触，根因保守归为控制。没有状态日志或成功参考视频，无法进一步区分抓取接触几何与轨迹跟踪问题。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "逐帧抽查视频0–29 s：绿箱始终为空、方块留在黄箱、勺柄处闭爪后未带起勺，50个计数节点全为假、断点第1块入绿箱、现象没建立接触、根因保守为控制，均有画面支持；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": "2026-10-30T02:53:25Z",
+  "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/kinder-scoop-pour-i01-privileged--nchhetu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-scoop-pour-i01-privileged--nchhetu/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9daf282df9c6c588b1ba151a421a4a026bc5937d329ef7aa496c0bf669f2ac06",
+   "video_sha256": "f0f4a3b3cec4515374065176d6f09ba28fa8506adbaa32f024864d5a22c29820",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/scoop_pour_i01/trajectories/kinder-scoop-pour-i01-privileged--tm6ssbd.json b/phase2/kinder/scoop_pour_i01/trajectories/kinder-scoop-pour-i01-privileged--tm6ssbd.json
new file mode 100644
index 0000000000000000000000000000000000000000..0998961501c0085850be23fd3d8f8b072d67d0a9
--- /dev/null
+++ b/phase2/kinder/scoop_pour_i01/trajectories/kinder-scoop-pour-i01-privileged--tm6ssbd.json
@@ -0,0 +1,779 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-scoop-pour-i01-privileged--tm6ssbd",
+ "taskKey": "kinder/scoop_pour_i01",
+ "dag_sha256": "0b647a509cc0f0dcb61695acc31e4f7cd91f232895854368338ac912412fc51a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "n_actions": 1,
+   "sim_steps": 1,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.564,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.252,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/kinder-scoop-pour-i01-privileged--tm6ssbd/replay.mp4",
+  "duration_s": 0.1,
+  "fps": 10.0,
+  "frames": 1,
+  "sha256": "77b06480d07616a6c8d678ed5ff2782d9764b9f42c9113374f2311450f402ed5"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 50,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "cubes_in_green_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少1块入绿箱的判据。"
+     }
+    ]
+   },
+   "cubes_in_green_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少2块入绿箱的判据。"
+     }
+    ]
+   },
+   "cubes_in_green_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少3块入绿箱的判据。"
+     }
+    ]
+   },
+   "cubes_in_green_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
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+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少4块入绿箱的判据。"
+     }
+    ]
+   },
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+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少5块入绿箱的判据。"
+     }
+    ]
+   },
+   "cubes_in_green_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少6块入绿箱的判据。"
+     }
+    ]
+   },
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+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少7块入绿箱的判据。"
+     }
+    ]
+   },
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+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少8块入绿箱的判据。"
+     }
+    ]
+   },
+   "cubes_in_green_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少9块入绿箱的判据。"
+     }
+    ]
+   },
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+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少10块入绿箱的判据。"
+     }
+    ]
+   },
+   "cubes_in_green_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少11块入绿箱的判据。"
+     }
+    ]
+   },
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+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少12块入绿箱的判据。"
+     }
+    ]
+   },
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+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少13块入绿箱的判据。"
+     }
+    ]
+   },
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+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
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+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少14块入绿箱的判据。"
+     }
+    ]
+   },
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+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
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+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少15块入绿箱的判据。"
+     }
+    ]
+   },
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+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少16块入绿箱的判据。"
+     }
+    ]
+   },
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+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少17块入绿箱的判据。"
+     }
+    ]
+   },
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+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少18块入绿箱的判据。"
+     }
+    ]
+   },
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+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少19块入绿箱的判据。"
+     }
+    ]
+   },
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+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少20块入绿箱的判据。"
+     }
+    ]
+   },
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+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少21块入绿箱的判据。"
+     }
+    ]
+   },
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+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少22块入绿箱的判据。"
+     }
+    ]
+   },
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+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少23块入绿箱的判据。"
+     }
+    ]
+   },
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+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少24块入绿箱的判据。"
+     }
+    ]
+   },
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+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少25块入绿箱的判据。"
+     }
+    ]
+   },
+   "cubes_in_green_26": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少26块入绿箱的判据。"
+     }
+    ]
+   },
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+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少27块入绿箱的判据。"
+     }
+    ]
+   },
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+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少28块入绿箱的判据。"
+     }
+    ]
+   },
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+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少29块入绿箱的判据。"
+     }
+    ]
+   },
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+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少30块入绿箱的判据。"
+     }
+    ]
+   },
+   "cubes_in_green_31": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少31块入绿箱的判据。"
+     }
+    ]
+   },
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+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少32块入绿箱的判据。"
+     }
+    ]
+   },
+   "cubes_in_green_33": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少33块入绿箱的判据。"
+     }
+    ]
+   },
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+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少34块入绿箱的判据。"
+     }
+    ]
+   },
+   "cubes_in_green_35": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少35块入绿箱的判据。"
+     }
+    ]
+   },
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+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少36块入绿箱的判据。"
+     }
+    ]
+   },
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+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少37块入绿箱的判据。"
+     }
+    ]
+   },
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+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少38块入绿箱的判据。"
+     }
+    ]
+   },
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+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少39块入绿箱的判据。"
+     }
+    ]
+   },
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+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少40块入绿箱的判据。"
+     }
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+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少41块入绿箱的判据。"
+     }
+    ]
+   },
+   "cubes_in_green_42": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少42块入绿箱的判据。"
+     }
+    ]
+   },
+   "cubes_in_green_43": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少43块入绿箱的判据。"
+     }
+    ]
+   },
+   "cubes_in_green_44": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少44块入绿箱的判据。"
+     }
+    ]
+   },
+   "cubes_in_green_45": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少45块入绿箱的判据。"
+     }
+    ]
+   },
+   "cubes_in_green_46": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少46块入绿箱的判据。"
+     }
+    ]
+   },
+   "cubes_in_green_47": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少47块入绿箱的判据。"
+     }
+    ]
+   },
+   "cubes_in_green_48": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少48块入绿箱的判据。"
+     }
+    ]
+   },
+   "cubes_in_green_49": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少49块入绿箱的判据。"
+     }
+    ]
+   },
+   "cubes_in_green_50": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：已检查完整视频的唯一一帧（视频 0.0 s，总长0.1 s），绿色箱内部可见且为空，暗红色方块仍堆在黄色箱内；当前达标数量为0，未达到至少50块入绿箱的判据。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "cubes_in_green_1",
+   "t": 0.0,
+   "log_step": 3,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.0 s（全片唯一一帧）中绿色箱为空，机器人夹爪悬于桌面上方，未搬运方块。log step 3 的保存调用写入形状为(1,11)的全零动作数组；评分器字段 n_actions=1、sim_steps=1、missing_trajectory=0、invalid_trajectory=0，视频总长0.1 s。推断：评分执行的是单动作占位轨迹，第1块入绿箱的操作尚未启动；会话测试不属于该评分轨迹。"
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 3,
+    "evidence_zh": "观察：log step 3 中 agent 保存一条全零动作作为初始占位轨迹；完整评分视频只有视频 0.0 s 这一帧，绿色箱空置，方块仍在黄色箱内，夹爪未触及方块或舀勺。推断：结合评分器 n_actions=1、sim_steps=1，第1块转移在评分尝试中未开始。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/中无状态日志；视频只有0.1 s、1帧。日志后段记录的是会话内测试：log step 57 有抬勺位置输出，log step 72 报告舀取测试抬起方块数为0，log step 78 仅有启动下一项测试的返回，未见其完成结果、更新交付轨迹或最终完成报告。推断：这些记录不能用作评分尝试的操作现象；虽可确认评分采用了零动作占位轨迹，但尚不能确定未形成后续交付的具体控制或决策根因，故根因层留空，不由没尝试或预算耗尽反推根因。",
+  "unmet": {
+   "cubes_in_green_1": false,
+   "cubes_in_green_2": false,
+   "cubes_in_green_3": false,
+   "cubes_in_green_4": false,
+   "cubes_in_green_5": false,
+   "cubes_in_green_6": false,
+   "cubes_in_green_7": false,
+   "cubes_in_green_8": false,
+   "cubes_in_green_9": false,
+   "cubes_in_green_10": false,
+   "cubes_in_green_11": false,
+   "cubes_in_green_12": false,
+   "cubes_in_green_13": false,
+   "cubes_in_green_14": false,
+   "cubes_in_green_15": false,
+   "cubes_in_green_16": false,
+   "cubes_in_green_17": false,
+   "cubes_in_green_18": false,
+   "cubes_in_green_19": false,
+   "cubes_in_green_20": false,
+   "cubes_in_green_21": false,
+   "cubes_in_green_22": false,
+   "cubes_in_green_23": false,
+   "cubes_in_green_24": false,
+   "cubes_in_green_25": false,
+   "cubes_in_green_26": false,
+   "cubes_in_green_27": false,
+   "cubes_in_green_28": false,
+   "cubes_in_green_29": false,
+   "cubes_in_green_30": false,
+   "cubes_in_green_31": false,
+   "cubes_in_green_32": false,
+   "cubes_in_green_33": false,
+   "cubes_in_green_34": false,
+   "cubes_in_green_35": false,
+   "cubes_in_green_36": false,
+   "cubes_in_green_37": false,
+   "cubes_in_green_38": false,
+   "cubes_in_green_39": false,
+   "cubes_in_green_40": false,
+   "cubes_in_green_41": false,
+   "cubes_in_green_42": false,
+   "cubes_in_green_43": false,
+   "cubes_in_green_44": false,
+   "cubes_in_green_45": false,
+   "cubes_in_green_46": false,
+   "cubes_in_green_47": false,
+   "cubes_in_green_48": false,
+   "cubes_in_green_49": false,
+   "cubes_in_green_50": false
+  }
+ },
+ "summary_zh": "评分视频仅0.1秒、1帧，绿色箱为空，50个计数节点均未达成，断点为第1块入绿箱的首步前，现象为没尝试。log step 3 保存了单条零动作占位轨迹，与评分器 n_actions=1 及视频一致；后续抓勺和舀取测试未体现在评分轨迹中。无状态日志，且日志未给出后续测试的完整交付结果，具体根因保留为空。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "评分视频仅1帧（0.0 s），绿箱为空，50个计数节点均为false与评分器字段（n_actions=1、sim_steps=1）一致；log step 3 保存零动作占位轨迹且之后未再保存交付，断点首步前/没尝试、根因层留空并写明gap_zh，符合03规则与FAIL-22，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": "2026-10-30T02:44:54Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/kinder-scoop-pour-i01-privileged--tm6ssbd/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-scoop-pour-i01-privileged--tm6ssbd/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ab613fcde42a0d7fe0ce40c7e1509c2d20ec6faca42044071164fd3b9bfa00b1",
+   "video_sha256": "77b06480d07616a6c8d678ed5ff2782d9764b9f42c9113374f2311450f402ed5",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/scoop_pour_i01/trajectories/kinder-scoop-pour-i01-privileged--vexyoba.json b/phase2/kinder/scoop_pour_i01/trajectories/kinder-scoop-pour-i01-privileged--vexyoba.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0a9337a86d959a91a0af2648f07cdcf9cb4f385
--- /dev/null
+++ b/phase2/kinder/scoop_pour_i01/trajectories/kinder-scoop-pour-i01-privileged--vexyoba.json
@@ -0,0 +1,877 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-scoop-pour-i01-privileged--vexyoba",
+ "taskKey": "kinder/scoop_pour_i01",
+ "dag_sha256": "0b647a509cc0f0dcb61695acc31e4f7cd91f232895854368338ac912412fc51a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "n_actions": 527,
+   "sim_steps": 527,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 4.513,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.837,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/kinder-scoop-pour-i01-privileged--vexyoba/replay.mp4",
+  "duration_s": 26.4,
+  "fps": 10.0,
+  "frames": 264,
+  "sha256": "35c4e4b81e883bc6f2465435af649152e70f58c7373f25963aff93c1cd3a3e9e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 50,
+  "base": 0,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "cubes_in_green_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      23.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 23.6,
+      "log_step": null,
+      "text_zh": "观察：视频23.5 s方块仍在机器人所持舀勺中；视频23.6–23.9 s三块暗红色方块从勺中落到绿色箱底部，位于左侧内壁以内且低于箱沿。按当前同时入箱数量计，第1块节点随这批方块落入而达到；不分配固定物体身份。"
+     },
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频25.4–26.3 s逐帧检查可见这三块仍并排留在绿色箱底，未被舀勺重新带走，与左侧内壁之间有超过一块小方块宽度的空隙，箱外另有一块。"
+     },
+     {
+      "t": 26.3,
+      "log_step": 10,
+      "text_zh": "推断：log step 10中初始物体表列小方块尺寸为0.01×0.01×0.01米；结合视频26.3 s箱内三块与内壁相隔超过一块宽度、且落在明显低于箱沿的底部，按DAG的1厘米内壁余量和0.5厘米箱沿余量判为达标。无逐块状态日志，余量为视觉估计。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频12.0–18.8 s机械臂夹爪持舀勺，勺面进入黄箱方块堆并从下方托起本批四块；视频19.0–23.6 s携带后倾倒。只记舀勺作用于方块的接触链；其中一块途中掉出，三块最后入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频1.0–10.5 s底盘在取勺和靠近黄箱时移位，视频19.0–20.0 s底盘沿台面后方向绿箱一侧移动，同时支承机械臂及带载舀勺。"
+     }
+    ]
+   },
+   "cubes_in_green_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      23.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 23.6,
+      "log_step": null,
+      "text_zh": "观察：视频23.5 s方块仍在机器人所持舀勺中；视频23.6–23.9 s三块暗红色方块从勺中落到绿色箱底部，位于左侧内壁以内且低于箱沿。按当前同时入箱数量计，第2块节点随这批方块落入而达到；不分配固定物体身份。"
+     },
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频25.4–26.3 s逐帧检查可见这三块仍并排留在绿色箱底，未被舀勺重新带走，与左侧内壁之间有超过一块小方块宽度的空隙，箱外另有一块。"
+     },
+     {
+      "t": 26.3,
+      "log_step": 10,
+      "text_zh": "推断：log step 10中初始物体表列小方块尺寸为0.01×0.01×0.01米；结合视频26.3 s箱内三块与内壁相隔超过一块宽度、且落在明显低于箱沿的底部，按DAG的1厘米内壁余量和0.5厘米箱沿余量判为达标。无逐块状态日志，余量为视觉估计。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频12.0–18.8 s机械臂夹爪持舀勺，勺面进入黄箱方块堆并从下方托起本批四块；视频19.0–23.6 s携带后倾倒。只记舀勺作用于方块的接触链；其中一块途中掉出，三块最后入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频1.0–10.5 s底盘在取勺和靠近黄箱时移位，视频19.0–20.0 s底盘沿台面后方向绿箱一侧移动，同时支承机械臂及带载舀勺。"
+     }
+    ]
+   },
+   "cubes_in_green_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      23.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 23.6,
+      "log_step": null,
+      "text_zh": "观察：视频23.5 s方块仍在机器人所持舀勺中；视频23.6–23.9 s三块暗红色方块从勺中落到绿色箱底部，位于左侧内壁以内且低于箱沿。按当前同时入箱数量计，第3块节点随这批方块落入而达到；不分配固定物体身份。"
+     },
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频25.4–26.3 s逐帧检查可见这三块仍并排留在绿色箱底，未被舀勺重新带走，与左侧内壁之间有超过一块小方块宽度的空隙，箱外另有一块。"
+     },
+     {
+      "t": 26.3,
+      "log_step": 10,
+      "text_zh": "推断：log step 10中初始物体表列小方块尺寸为0.01×0.01×0.01米；结合视频26.3 s箱内三块与内壁相隔超过一块宽度、且落在明显低于箱沿的底部，按DAG的1厘米内壁余量和0.5厘米箱沿余量判为达标。无逐块状态日志，余量为视觉估计。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频12.0–18.8 s机械臂夹爪持舀勺，勺面进入黄箱方块堆并从下方托起本批四块；视频19.0–23.6 s携带后倾倒。只记舀勺作用于方块的接触链；其中一块途中掉出，三块最后入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频1.0–10.5 s底盘在取勺和靠近黄箱时移位，视频19.0–20.0 s底盘沿台面后方向绿箱一侧移动，同时支承机械臂及带载舀勺。"
+     }
+    ]
+   },
+   "cubes_in_green_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.2,
+      "log_step": 78,
+      "text_zh": "观察：视频17.0–18.8 s机器人抬起带有少量方块的舀勺；视频19.2 s向绿箱转移时，一块方块脱离勺面，下落到两箱之间的台面。视频19.4–23.5 s勺中仍有其余方块，视频23.6 s三块落入绿箱，第四块未随之入箱。"
+     },
+     {
+      "t": 26.3,
+      "log_step": 81,
+      "text_zh": "观察：视频25.4–26.3 s绿箱内可见三块、绿箱左侧台面留有一块，机器人没有回收该块或再舀一批；因此至少四块同时达标的状态未出现。log step 81记录保存partial时检查的四个负载方块位置；log step 83将partial复制为交付轨迹。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频12.0–18.8 s机械臂夹爪持舀勺，勺面进入黄箱方块堆并从下方托起本批四块；视频19.0–23.6 s携带后倾倒。只记舀勺作用于方块的接触链；其中一块途中掉出，三块最后入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频1.0–10.5 s底盘在取勺和靠近黄箱时移位，视频19.0–20.0 s底盘沿台面后方向绿箱一侧移动，同时支承机械臂及带载舀勺。"
+     }
+    ]
+   },
+   "cubes_in_green_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少5块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少6块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少7块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少8块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少9块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少10块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少11块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少12块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少13块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少14块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少15块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少16块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_17": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少17块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_18": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少18块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_19": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少19块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_20": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少20块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_21": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少21块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_22": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少22块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_23": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少23块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_24": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少24块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_25": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少25块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_26": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少26块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_27": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少27块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_28": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少28块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_29": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少29块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_30": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少30块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_31": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少31块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_32": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少32块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_33": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少33块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_34": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少34块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_35": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少35块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_36": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少36块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_37": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少37块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_38": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少38块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_39": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少39块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_40": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少40块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_41": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少41块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_42": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少42块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_43": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少43块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_44": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少44块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_45": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少45块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_46": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少46块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_47": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少47块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_48": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少48块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_49": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少49块同时入绿箱的状态从未出现。"
+     }
+    ]
+   },
+   "cubes_in_green_50": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.3,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s绿箱为空；视频11.0–18.8 s机器人仅进行一次舀取，视频19.2 s一块掉到两箱之间，视频23.6–26.3 s只有三块留在绿箱底，其余大批方块仍在黄箱。未见第二次搬运，至少50块同时入绿箱的状态从未出现。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "cubes_in_green_4",
+   "t": 19.2,
+   "log_step": 78,
+   "where": "操作中",
+   "evidence_zh": "观察：视频19.2 s机器人携带本批方块从黄箱向绿箱转移时，一块从舀勺落向两箱之间的台面；视频23.6–26.3 s另外三块留在绿箱，该掉落块始终留在箱外且没有回收。按可互换方块的数量节点计，前三块后来达到，首次未修复的数量缺口为第4块入绿箱；持物搬运属于该放入步骤的操作中。log step 78是这段转移及倾倒的调用，log step 83交付其保存文件partial；后续整箱测试不是评分视频中的动作。"
+  },
+  "unmet": {
+   "cubes_in_green_1": true,
+   "cubes_in_green_2": true,
+   "cubes_in_green_3": true,
+   "cubes_in_green_4": false,
+   "cubes_in_green_5": false,
+   "cubes_in_green_6": false,
+   "cubes_in_green_7": false,
+   "cubes_in_green_8": false,
+   "cubes_in_green_9": false,
+   "cubes_in_green_10": false,
+   "cubes_in_green_11": false,
+   "cubes_in_green_12": false,
+   "cubes_in_green_13": false,
+   "cubes_in_green_14": false,
+   "cubes_in_green_15": false,
+   "cubes_in_green_16": false,
+   "cubes_in_green_17": false,
+   "cubes_in_green_18": false,
+   "cubes_in_green_19": false,
+   "cubes_in_green_20": false,
+   "cubes_in_green_21": false,
+   "cubes_in_green_22": false,
+   "cubes_in_green_23": false,
+   "cubes_in_green_24": false,
+   "cubes_in_green_25": false,
+   "cubes_in_green_26": false,
+   "cubes_in_green_27": false,
+   "cubes_in_green_28": false,
+   "cubes_in_green_29": false,
+   "cubes_in_green_30": false,
+   "cubes_in_green_31": false,
+   "cubes_in_green_32": false,
+   "cubes_in_green_33": false,
+   "cubes_in_green_34": false,
+   "cubes_in_green_35": false,
+   "cubes_in_green_36": false,
+   "cubes_in_green_37": false,
+   "cubes_in_green_38": false,
+   "cubes_in_green_39": false,
+   "cubes_in_green_40": false,
+   "cubes_in_green_41": false,
+   "cubes_in_green_42": false,
+   "cubes_in_green_43": false,
+   "cubes_in_green_44": false,
+   "cubes_in_green_45": false,
+   "cubes_in_green_46": false,
+   "cubes_in_green_47": false,
+   "cubes_in_green_48": false,
+   "cubes_in_green_49": false,
+   "cubes_in_green_50": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 19.2,
+    "log_step": 78,
+    "evidence_zh": "观察：视频17.0–18.8 s方块随机器人所持舀勺离开黄箱；视频19.2 s转移途中一块脱离勺面，视频19.3–19.5 s落在绿箱左侧台面，视频26.3 s仍在箱外。机器人当时尚未开始视频23.1 s后的倾倒动作，这是已托起负载在搬运中丢失。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "已检查inputs/，有完整视频和运行日志，没有状态日志或成功参考视频。视频能确认搬运途中掉块，但未提供接触力、负载在勺面上的精确支承位置及同步运动状态，无法区分该掉块由承载布局、加速度还是工具姿态跟踪引起，因此根因层留空。log step 14的逆解代码没有关节限位约束，log step 80记录后续倾倒末端位置误差约0.156米，log step 81记录腕关节约−2.098弧度（log step 56给出范围±2.09弧度）；这些支持后续倾倒存在限位问题，不能反推为视频19.2 s掉块的已证实原因。三个入箱节点的厘米级余量依据视频相对方块尺寸作视觉估计，缺少逐块目标谓词；到达时间约有0.3秒不确定性。"
+ },
+ "summary_zh": "评分视频中机器人持舀勺只搬运一批方块：视频约23.6 s三块落入绿箱并保持至视频26.3 s，终态进度为3/50，其余46块仍在黄箱。第四块在视频约19.2 s搬运途中从勺面掉到两箱之间且未回收，断点为第4块入绿箱、现象为没保持住。没有状态日志，厘米级余量及到达时间由视频估计；无法证实早先掉块的具体根因，后续整箱测试不计入交付轨迹。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "三块入箱（视频23.6 s）、第4块未入、19.2 s掉块作为断点与没保持住均与帧一致；根因留空有gap_zh说明。未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:30:33Z",
+  "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/kinder-scoop-pour-i01-privileged--vexyoba/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-scoop-pour-i01-privileged--vexyoba/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "dbf247906ac0e7451c6b6fe335bf4e6b11eea82c16adb64721abdc8915e30ca7",
+   "video_sha256": "35c4e4b81e883bc6f2465435af649152e70f58c7373f25963aff93c1cd3a3e9e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/scoop_pour_i01/trajectories/kinder-scoop-pour-i01-privileged--vyufttk.json b/phase2/kinder/scoop_pour_i01/trajectories/kinder-scoop-pour-i01-privileged--vyufttk.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b68a08012f5ed7441b1b81b6cb9cf7544d5ef8c
--- /dev/null
+++ b/phase2/kinder/scoop_pour_i01/trajectories/kinder-scoop-pour-i01-privileged--vyufttk.json
@@ -0,0 +1,1639 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-scoop-pour-i01-privileged--vyufttk",
+ "taskKey": "kinder/scoop_pour_i01",
+ "dag_sha256": "0b647a509cc0f0dcb61695acc31e4f7cd91f232895854368338ac912412fc51a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "n_actions": 198,
+   "sim_steps": 198,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.943,
+   "peak_processes": 14,
+   "peak_disk_gb": 1.005,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/kinder-scoop-pour-i01-privileged--vyufttk/replay.mp4",
+  "duration_s": 10.0,
+  "fps": 10.0,
+  "frames": 100,
+  "sha256": "b37c08006e7b394e6639aa204d532ce1e1af039d2bfee56966bac47e28166439"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 50,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "cubes_in_green_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少1块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少2块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少3块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少4块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少5块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少6块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少7块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少8块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少9块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少10块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少11块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少12块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少13块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少14块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少15块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少16块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_17": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少17块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_18": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少18块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_19": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少19块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_20": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少20块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_21": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少21块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_22": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少22块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_23": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少23块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_24": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少24块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_25": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少25块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_26": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少26块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_27": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少27块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_28": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少28块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_29": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少29块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_30": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少30块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_31": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少31块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_32": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少32块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_33": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少33块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_34": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少34块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_35": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少35块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_36": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少36块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_37": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少37块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_38": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少38块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_39": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少39块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_40": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少40块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_41": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少41块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_42": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少42块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_43": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少43块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_44": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少44块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_45": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少45块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_46": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少46块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_47": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少47块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_48": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少48块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_49": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少49块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   },
+   "cubes_in_green_50": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 黄色箱内有暗红色方块，右侧绿色箱内为空；全片每隔约0.5秒检查，视频 3.2–7.4 s 接近及夹箱阶段和视频 9.0–9.9 s 结尾逐帧检查，机器人始终未将方块送入绿色箱。"
+     },
+     {
+      "t": 9.9,
+      "log_step": null,
+      "text_zh": "推断：视频 9.9 s 绿色箱内仍无方块，故当前达标数为0，未达到至少50块的本节点判据；本判断来自可见空箱，而非从零奖励反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频约 4.5–9.9 s 二指夹爪跨夹黄色源箱侧壁，黄色箱底承托整批方块；机器人以源箱作为整批搬运的承载工具尝试抬升，未实际使用舀勺，也未直接夹持单块。按工具至方块的接触链记录一次；该整批尝试覆盖全部50个计数节点。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.0–1.0 s 机器人机械臂基部随底盘横移到黄色箱旁，支承随后整箱搬运尝试的机械臂；静止夹箱阶段不追加底盘接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "cubes_in_green_1",
+   "t": 7.0,
+   "log_step": 64,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 7.0–9.9 s 机器人夹爪持续夹在黄色箱侧壁，机械臂姿态缓慢变化，黄色箱仍在原台面附近，未被有效抬起并移至绿色箱，绿色箱始终为空。log step 64 的已保存轨迹脚本先夹壁，再尝试抬升，仅在黄色箱高度超过0.50米后才执行搬运和倾倒；log step 65、81 均输出198步、入箱数0和重放失败，且log step 81确认重建动作与保存文件一致。推断：整批转移在抬箱阶段未完成，首个入箱计数节点即为未修复断点；视频锚点按画面取约值，未将agent工作时间或控制步数换算成视频时间。"
+  },
+  "unmet": {
+   "cubes_in_green_1": false,
+   "cubes_in_green_2": false,
+   "cubes_in_green_3": false,
+   "cubes_in_green_4": false,
+   "cubes_in_green_5": false,
+   "cubes_in_green_6": false,
+   "cubes_in_green_7": false,
+   "cubes_in_green_8": false,
+   "cubes_in_green_9": false,
+   "cubes_in_green_10": false,
+   "cubes_in_green_11": false,
+   "cubes_in_green_12": false,
+   "cubes_in_green_13": false,
+   "cubes_in_green_14": false,
+   "cubes_in_green_15": false,
+   "cubes_in_green_16": false,
+   "cubes_in_green_17": false,
+   "cubes_in_green_18": false,
+   "cubes_in_green_19": false,
+   "cubes_in_green_20": false,
+   "cubes_in_green_21": false,
+   "cubes_in_green_22": false,
+   "cubes_in_green_23": false,
+   "cubes_in_green_24": false,
+   "cubes_in_green_25": false,
+   "cubes_in_green_26": false,
+   "cubes_in_green_27": false,
+   "cubes_in_green_28": false,
+   "cubes_in_green_29": false,
+   "cubes_in_green_30": false,
+   "cubes_in_green_31": false,
+   "cubes_in_green_32": false,
+   "cubes_in_green_33": false,
+   "cubes_in_green_34": false,
+   "cubes_in_green_35": false,
+   "cubes_in_green_36": false,
+   "cubes_in_green_37": false,
+   "cubes_in_green_38": false,
+   "cubes_in_green_39": false,
+   "cubes_in_green_40": false,
+   "cubes_in_green_41": false,
+   "cubes_in_green_42": false,
+   "cubes_in_green_43": false,
+   "cubes_in_green_44": false,
+   "cubes_in_green_45": false,
+   "cubes_in_green_46": false,
+   "cubes_in_green_47": false,
+   "cubes_in_green_48": false,
+   "cubes_in_green_49": false,
+   "cubes_in_green_50": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "接触力异常",
+    "t": 7.0,
+    "log_step": 65,
+    "evidence_zh": "观察：视频约 7.0–9.9 s 夹爪保持跨夹黄色箱壁，箱体仅轻微移位，未实现有效抬升；没有看到先举起再脱手的过程。log step 64 对夹持后的末端设置上方0.40米抬升目标；对应输出log step 65显示箱体高度停在约0.457米，末端高度仅约0.511–0.515米，后续倾倒分支未运行。推断：已建立夹箱接触，但该接触下的抬升受载停滞，无法产生搬运所需运动。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 7.0,
+    "log_step": 64,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：单夹爪夹源箱一侧壁、让机械臂在该姿态承担整箱方块的承载布局不适配这次抬升。依据是视频约 7.0–9.9 s 夹箱后无法有效举离台面，交付脚本及输出log step 64–65显示上移目标很大而箱体高度基本不变；会话对照试验log step 71中未夹箱的末端可升高约0.251米，支持问题与负载及所选承载方式有关。该对照是会话根因证据，不计为评分轨迹进度；未验证分批舀取等替代方案成功，也未据agent关于力矩饱和的自述确定具体执行器机制。"
+   }
+  ],
+  "gap_zh": "无状态日志或成功参考视频，也没有交付轨迹的连续接触力、关节力矩记录；可以确认夹箱抬升停滞和绿色箱为空，但不能精确区分力矩不足、夹持柔顺及其他受载效应。log step 94 中agent自述的“力矩饱和”未作为已证实事实；其他承载布局或分批方案是否可行仍未知。"
+ },
+ "summary_zh": "评分轨迹中机器人移动到底盘工作位后夹住黄色源箱侧壁，尝试整箱抬升；绿色箱从视频 0.0 s 到 9.9 s 始终为空，50个入箱计数节点均未达成。首个入箱节点在视频约 7.0 s 的受载抬箱阶段失败，现象为接触力异常，根因推断为整箱侧壁夹持的承载布局不适配；缺少连续力矩和接触力记录，不能确认具体饱和机制或可行替代方案。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "绿箱全程为空、50个入箱节点均未达成，与视频一致；断点在首个入箱节点的整箱夹壁抬升阶段，现象与根因有证据且表述克制。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": "2026-10-30T02:40:55Z",
+  "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/kinder-scoop-pour-i01-privileged--vyufttk/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-scoop-pour-i01-privileged--vyufttk/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b7358997517050c25b99ff76b9eab8c1f73d759258e13aa4e60a69dafc61097c",
+   "video_sha256": "b37c08006e7b394e6639aa204d532ce1e1af039d2bfee56966bac47e28166439",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/scoop_pour_i01/trajectories/kinder-scoop-pour-i01-standard--3pkqshn.json b/phase2/kinder/scoop_pour_i01/trajectories/kinder-scoop-pour-i01-standard--3pkqshn.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a1496ec08c5c1ebd92ab62ec219feaabaaeaeae
--- /dev/null
+++ b/phase2/kinder/scoop_pour_i01/trajectories/kinder-scoop-pour-i01-standard--3pkqshn.json
@@ -0,0 +1,1313 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-scoop-pour-i01-standard--3pkqshn",
+ "taskKey": "kinder/scoop_pour_i01",
+ "dag_sha256": "0b647a509cc0f0dcb61695acc31e4f7cd91f232895854368338ac912412fc51a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 524,
+   "sim_steps": 524,
+   "calls": 329,
+   "rows": 524,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 1783.5,
+   "video_rendered": 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/kinder-scoop-pour-i01-standard--3pkqshn/replay.mp4",
+  "duration_s": 26.3,
+  "fps": 10.0,
+  "frames": 263,
+  "sha256": "ded1ebd9b8479337362d98add22b705ba51fa02ddb7dd6f4bf039c80a2addd3f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 50,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "cubes_in_green_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少1块入绿箱”全程未达，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频15.8–17.1 s单臂夹爪持灰色舀勺在黄箱方块堆间推进和横扫，勺面经过并拨动方块，未见方块被托起；实际记推/扫，不把预期舀取记为已发生的托/舀。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频18.0–26.2 s机器人放下舀勺后以二指夹爪反复空夹、张开横扫；视频22.7–23.0 s及24.6–24.8 s可见黄箱被带着横移并挤动绿箱，实际接触包括夹爪对黄箱箱沿的推碰，未观察到夹住方块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频14.5–17.6 s机器人移动底盘带动持勺机械臂接近和扫过黄箱；视频22.7–26.2 s继续以底盘横移带动夹爪尝试推扫，底盘在这些移动阶段支承机械臂。"
+     }
+    ]
+   },
+   "cubes_in_green_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少2块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少3块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少4块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少5块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少6块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少7块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少8块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少9块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少10块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少11块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少12块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少13块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少14块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少15块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少16块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_17": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少17块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_18": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少18块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_19": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少19块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_20": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少20块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_21": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少21块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_22": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少22块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_23": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少23块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_24": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少24块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_25": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少25块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_26": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少26块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_27": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少27块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_28": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少28块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_29": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少29块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_30": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少30块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_31": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少31块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_32": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少32块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_33": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少33块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_34": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少34块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_35": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少35块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_36": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少36块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_37": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少37块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_38": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少38块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_39": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少39块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_40": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少40块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_41": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少41块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_42": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少42块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_43": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少43块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_44": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少44块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_45": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少45块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_46": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少46块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_47": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少47块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_48": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少48块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_49": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少49块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   },
+   "cubes_in_green_50": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s黄箱内有暗红色方块堆，绿箱为空；视频0.0–14.5 s机器人调整底盘和机械臂，未把方块移入绿箱。"
+     },
+     {
+      "t": 17.6,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频14.0–17.9 s，机器人持勺经过黄箱方块堆后将空勺送向绿箱；未见暗红色方块随勺离开黄箱。"
+     },
+     {
+      "t": 26.2,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频18.0–26.2 s，机器人夹爪反复开合、横移，方块仍在黄箱内；视频26.2 s绿箱只见灰色舀勺，未见暗红色方块。因此“至少50块入绿箱”全程未达，终值为false。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "cubes_in_green_1",
+   "t": 16.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频15.8–17.1 s机器人持勺在黄箱方块堆间扫动，视频17.2–17.6 s勺离开黄箱时为空，方块未随行；之后视频18.0–26.2 s改用夹爪也未拿起或转移方块，首块入绿箱始终未完成。"
+  },
+  "unmet": {
+   "cubes_in_green_1": false,
+   "cubes_in_green_2": false,
+   "cubes_in_green_3": false,
+   "cubes_in_green_4": false,
+   "cubes_in_green_5": false,
+   "cubes_in_green_6": false,
+   "cubes_in_green_7": false,
+   "cubes_in_green_8": false,
+   "cubes_in_green_9": false,
+   "cubes_in_green_10": false,
+   "cubes_in_green_11": false,
+   "cubes_in_green_12": false,
+   "cubes_in_green_13": false,
+   "cubes_in_green_14": false,
+   "cubes_in_green_15": false,
+   "cubes_in_green_16": false,
+   "cubes_in_green_17": false,
+   "cubes_in_green_18": false,
+   "cubes_in_green_19": false,
+   "cubes_in_green_20": false,
+   "cubes_in_green_21": false,
+   "cubes_in_green_22": false,
+   "cubes_in_green_23": false,
+   "cubes_in_green_24": false,
+   "cubes_in_green_25": false,
+   "cubes_in_green_26": false,
+   "cubes_in_green_27": false,
+   "cubes_in_green_28": false,
+   "cubes_in_green_29": false,
+   "cubes_in_green_30": false,
+   "cubes_in_green_31": false,
+   "cubes_in_green_32": false,
+   "cubes_in_green_33": false,
+   "cubes_in_green_34": false,
+   "cubes_in_green_35": false,
+   "cubes_in_green_36": false,
+   "cubes_in_green_37": false,
+   "cubes_in_green_38": false,
+   "cubes_in_green_39": false,
+   "cubes_in_green_40": false,
+   "cubes_in_green_41": false,
+   "cubes_in_green_42": false,
+   "cubes_in_green_43": false,
+   "cubes_in_green_44": false,
+   "cubes_in_green_45": false,
+   "cubes_in_green_46": false,
+   "cubes_in_green_47": false,
+   "cubes_in_green_48": false,
+   "cubes_in_green_49": false,
+   "cubes_in_green_50": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 16.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频15.8–17.6 s虽有勺与方块的拨扫，机器人未形成承托方块的接触，空勺越过两箱间隙；视频18.9–22.6 s及23.1–25.9 s二指夹爪多次闭合后仍为空，方块留在黄箱。这里缺失的是舀载或夹持所需接触，并非已持有后掉落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频",
+    "evidence_zh": "推断：视频15.8–17.6 s工具扫过方块却未装载，视频18.9–25.9 s夹爪多次调整后仍未夹住方块；机器人已到达方块堆附近并执行舀扫和闭爪动作，但未把动作转化为有效承托或夹持，支持操作控制问题。仅凭外部视角不能进一步区分接触几何、逆解误差或跟踪问题。"
+   }
+  ],
+  "gap_zh": "无状态日志、成功参考视频或接触力记录，不能精确判定勺口与方块的高度差、夹爪接触点及控制子类；日志中agent自算的几何量未作为真实物体状态。所有时间锚点直接取视频帧，未用agent工作时间或控制步数换算。计数节点不绑定物体身份：本次反复批量扫取始终未实现首块入箱，实际接触统一记在首个未达计数节点，不能据任务总数臆造其余49个独立搬运尝试。"
+ },
+ "summary_zh": "观察：机器人拿起舀勺，在视频15.8–17.1 s扫过黄箱方块堆，随后将空勺放入绿箱；改用夹爪后也未把任何暗红色方块移入绿箱，50个计数节点最终均未达成。推断：断点是首块入绿箱的操作，舀扫与空夹始终未形成有效承托或夹持，根因可支持到控制层；无状态及接触力日志，控制子类不能确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "50个计数节点全为false与视频一致（黄箱方块始终未入绿箱，绿箱只有舀勺）；断点首块入绿箱、没建立接触、控制根因均有帧证据支持，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": "2026-10-30T02:54:34Z",
+  "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/kinder-scoop-pour-i01-standard--3pkqshn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-scoop-pour-i01-standard--3pkqshn/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a3f5a62222c5736d761979c11499564693465365e09cde6d53f74abb0929ab9b",
+   "video_sha256": "ded1ebd9b8479337362d98add22b705ba51fa02ddb7dd6f4bf039c80a2addd3f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/scoop_pour_i01/trajectories/kinder-scoop-pour-i01-standard--aucqdhy.json b/phase2/kinder/scoop_pour_i01/trajectories/kinder-scoop-pour-i01-standard--aucqdhy.json
new file mode 100644
index 0000000000000000000000000000000000000000..10f544712dd0d92bb20f226a2e8b9975d6ef4194
--- /dev/null
+++ b/phase2/kinder/scoop_pour_i01/trajectories/kinder-scoop-pour-i01-standard--aucqdhy.json
@@ -0,0 +1,1413 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-scoop-pour-i01-standard--aucqdhy",
+ "taskKey": "kinder/scoop_pour_i01",
+ "dag_sha256": "0b647a509cc0f0dcb61695acc31e4f7cd91f232895854368338ac912412fc51a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 801,
+   "sim_steps": 801,
+   "calls": 844,
+   "rows": 801,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 552.6,
+   "video_rendered": 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/kinder-scoop-pour-i01-standard--aucqdhy/replay.mp4",
+  "duration_s": 40.1,
+  "fps": 10.0,
+  "frames": 401,
+  "sha256": "3362f3184a191710942dcc2ab383f69f8cb94422566e7dbbb522a3b617d7a7b4"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 50,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "cubes_in_green_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少1块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     },
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频 22.8–24.8 s，夹爪持灰色舀勺，勺头接触黄箱箱沿并将箱子推转；未见勺面进入方块下方或承托方块，故不标托/舀。工具柄的夹持不另重复计接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 13.5–16.5 s 底盘转动搜索，视频 20.0–25.0 s 底盘移位并支承持勺机械臂进行接近黄箱、尝试舀取的动作。"
+     }
+    ]
+   },
+   "cubes_in_green_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少2块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少3块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少4块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少5块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少6块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少7块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少8块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少9块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少10块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少11块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少12块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少13块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少14块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少15块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少16块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_17": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少17块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_18": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少18块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_19": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少19块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_20": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少20块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_21": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少21块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_22": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少22块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_23": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少23块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_24": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少24块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_25": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少25块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_26": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少26块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_27": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少27块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_28": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少28块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_29": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少29块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_30": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少30块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_31": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少31块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_32": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少32块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_33": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少33块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_34": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少34块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_35": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少35块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_36": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少36块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_37": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少37块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_38": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少38块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_39": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少39块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_40": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少40块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_41": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少41块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_42": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少42块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_43": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少43块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_44": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少44块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_45": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少45块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_46": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少46块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_47": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少47块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_48": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少48块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_49": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少49块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   },
+   "cubes_in_green_50": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块堆在黄色箱内，绿色箱底为空。"
+     },
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：已检查全片每约0.5秒画面，并加密检查视频 5.8–10.0 s、21.0–24.8 s 和39.1–40.0 s；机器人先夹黄箱壁尝试整箱转移，后持勺动作，但未见方块离开黄箱进入绿箱，视频 40.0 s 绿箱仍为空。因此“至少50块入绿箱”全程未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–9.6 s，单臂二指夹爪夹住黄箱靠近绿箱一侧的箱壁，黄箱轻微偏转但未被抬离桌面；夹爪没有直接夹住方块。推断：结合 log step 19–20 的闭爪、抬升指令及 log step 47 的整箱倾倒自述，这是针对全批方块的整箱转移尝试，覆盖全部50个数量门槛；不表示本节点已达成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "cubes_in_green_1",
+   "t": 7.0,
+   "log_step": 20,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 6.6–9.6 s，机器人夹住黄箱壁后在该处停滞，黄箱仍落在桌面，方块未转入绿箱；log step 20 的脚本正命令夹持状态下抬升。视频 22.8–24.8 s 后续持勺尝试又推转箱沿，直至视频 40.0 s 仍未送入任何方块。推断：最先失败且从未补成的是第1块入绿箱，后续换用舀勺没有修复该节点。"
+  },
+  "unmet": {
+   "cubes_in_green_1": false,
+   "cubes_in_green_2": false,
+   "cubes_in_green_3": false,
+   "cubes_in_green_4": false,
+   "cubes_in_green_5": false,
+   "cubes_in_green_6": false,
+   "cubes_in_green_7": false,
+   "cubes_in_green_8": false,
+   "cubes_in_green_9": false,
+   "cubes_in_green_10": false,
+   "cubes_in_green_11": false,
+   "cubes_in_green_12": false,
+   "cubes_in_green_13": false,
+   "cubes_in_green_14": false,
+   "cubes_in_green_15": false,
+   "cubes_in_green_16": false,
+   "cubes_in_green_17": false,
+   "cubes_in_green_18": false,
+   "cubes_in_green_19": false,
+   "cubes_in_green_20": false,
+   "cubes_in_green_21": false,
+   "cubes_in_green_22": false,
+   "cubes_in_green_23": false,
+   "cubes_in_green_24": false,
+   "cubes_in_green_25": false,
+   "cubes_in_green_26": false,
+   "cubes_in_green_27": false,
+   "cubes_in_green_28": false,
+   "cubes_in_green_29": false,
+   "cubes_in_green_30": false,
+   "cubes_in_green_31": false,
+   "cubes_in_green_32": false,
+   "cubes_in_green_33": false,
+   "cubes_in_green_34": false,
+   "cubes_in_green_35": false,
+   "cubes_in_green_36": false,
+   "cubes_in_green_37": false,
+   "cubes_in_green_38": false,
+   "cubes_in_green_39": false,
+   "cubes_in_green_40": false,
+   "cubes_in_green_41": false,
+   "cubes_in_green_42": false,
+   "cubes_in_green_43": false,
+   "cubes_in_green_44": false,
+   "cubes_in_green_45": false,
+   "cubes_in_green_46": false,
+   "cubes_in_green_47": false,
+   "cubes_in_green_48": false,
+   "cubes_in_green_49": false,
+   "cubes_in_green_50": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "接触力异常",
+    "t": 7.0,
+    "log_step": 20,
+    "evidence_zh": "观察：视频 6.6–9.6 s，机器人二指夹住黄箱壁，黄箱仅轻微偏转，夹爪停留在箱壁附近，黄箱始终未被抬离桌面。log step 20 的脚本在保持闭爪时要求抬升，执行60个控制步后仍未到目标，log step 21 的关节速度接近零。推断：夹持接触已经存在，但受载抬升停滞，未产生所需倾倒运动；没有力传感数值，不能断言具体负载或夹持力。"
+   },
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 23.0,
+    "log_step": 37,
+    "evidence_zh": "观察：视频 22.8–24.8 s，机器人持勺前送时，勺头抵着黄箱箱沿，黄箱随之明显转动、移位，勺面没有穿过箱沿进入方块堆下方；视频 25.0–27.5 s 提起和转腕时勺内未见方块。此为后续尝试修复第1块入箱时的箱沿阻挡接触。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：机器人未能实现受载抬升及入勺轨迹，而控制脚本在未到位后继续推进后续动作。依据：log step 20 要求保持闭爪抬升，输出显示执行到步数上限仍有位置误差；视频 6.6–9.6 s 对应看到夹箱停滞。log step 30 的 goto2 到 maxsteps 即返回，不要求动作已收敛；log step 37、41 的舀取脚本随后直接进入搬运和倾倒段，视频 22.8–24.8 s 实际却是勺头抵箱沿并推箱，后续没有载着方块转移。证据支持操作控制失败，但不足以可靠区分接触设计、逆解和反馈控制子类。"
+   }
+  ],
+  "gap_zh": "无状态日志、逐块达标计数或接触力记录，不能确定黄箱抬升停滞的具体力学原因。agent 在 log step 47 自述黄箱可能固定或太重、勺柄打滑和底盘行程受限；这些解释未获独立核实，不据此标任务或环境、没保持住或够不着。服务的控制步时长与本视频播放时长不同，所有视频时间均直接取自已查看画面，未由 agent 时间或控制步数换算。"
+ },
+ "summary_zh": "机器人先夹住黄箱壁尝试整箱倾倒，随后持勺做两轮舀取与转移动作，但绿箱从视频 0.0 s 到40.0 s 始终未见方块进入，节点最终为0/50。断点为第1块入绿箱：夹箱抬升停滞，改用舀勺后又抵住箱沿推转黄箱，控制过程未形成有效取料和转移。无状态或接触力日志，具体负载、夹持稳定性及控制子类不能确认。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "视频 0–40 s 全程黄箱方块未进入绿箱，50 个节点均为假、final 0 与视频和 801 步日志一致；夹箱壁（视频约 6.6–9.6 s）、勺头抵箱沿推转黄箱（约 22.8–25 s）、contact_actual 和断点（第1块，操作中）均与画面相符，未发现需改内容的错误。根因停在“控制”并写明不能分子类，较克制。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:45:10Z",
+  "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/kinder-scoop-pour-i01-standard--aucqdhy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-scoop-pour-i01-standard--aucqdhy/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "65db4f3e3fce9787728f61d94a7aed3fe4b2cdcf743ac2bf1dd63176c71b22ab",
+   "video_sha256": "3362f3184a191710942dcc2ab383f69f8cb94422566e7dbbb522a3b617d7a7b4",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/scoop_pour_i01/trajectories/kinder-scoop-pour-i01-standard--mhvivmr.json b/phase2/kinder/scoop_pour_i01/trajectories/kinder-scoop-pour-i01-standard--mhvivmr.json
new file mode 100644
index 0000000000000000000000000000000000000000..42973684793db485a50742540a16dfe7398687ab
--- /dev/null
+++ b/phase2/kinder/scoop_pour_i01/trajectories/kinder-scoop-pour-i01-standard--mhvivmr.json
@@ -0,0 +1,1897 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-scoop-pour-i01-standard--mhvivmr",
+ "taskKey": "kinder/scoop_pour_i01",
+ "dag_sha256": "0b647a509cc0f0dcb61695acc31e4f7cd91f232895854368338ac912412fc51a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 1000,
+   "sim_steps": 1000,
+   "calls": 1883,
+   "rows": 1000,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 1167.7,
+   "video_rendered": 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/kinder-scoop-pour-i01-standard--mhvivmr/replay.mp4",
+  "duration_s": 50.1,
+  "fps": 10.0,
+  "frames": 501,
+  "sha256": "66c5beb2c79474a874ba36b00b4b6ed967b05c9695ccb53e0e2e22053cd89205"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 50,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "cubes_in_green_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少1块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少1块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少2块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少2块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少3块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少3块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少4块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少4块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少5块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少5块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少6块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少6块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少7块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少7块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少8块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少8块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少9块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少9块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少10块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少10块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少11块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少11块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少12块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少12块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少13块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少13块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少14块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少14块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少15块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少15块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少16块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少16块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_17": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少17块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少17块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_18": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少18块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少18块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_19": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少19块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少19块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_20": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少20块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少20块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_21": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少21块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少21块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_22": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少22块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少22块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_23": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少23块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少23块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_24": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少24块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少24块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_25": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少25块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少25块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_26": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少26块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少26块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_27": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少27块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少27块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_28": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少28块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少28块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_29": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少29块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少29块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_30": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少30块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少30块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_31": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少31块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少31块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_32": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少32块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少32块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_33": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少33块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少33块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_34": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少34块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少34块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_35": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少35块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少35块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_36": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少36块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少36块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_37": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少37块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少37块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_38": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少38块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少38块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_39": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少39块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少39块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_40": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少40块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少40块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_41": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少41块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少41块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_42": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少42块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少42块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_43": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少43块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少43块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_44": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少44块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少44块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_45": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少45块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少45块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_46": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少46块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少46块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_47": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少47块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少47块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_48": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少48块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少48块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_49": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少49块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少49块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   },
+   "cubes_in_green_50": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，暗红色方块集中在黄色箱内，绿色箱内为空；本节点按至少50块同时达标计数，初始未满足。"
+     },
+     {
+      "t": 22.5,
+      "log_step": null,
+      "text_zh": "观察：视频 17.1–22.2 s，机器人夹持黄箱单侧边缘抬升整箱，方块仍在黄箱范围内；视频 22.3–22.5 s 黄箱脱离夹爪落回桌面，绿色箱仍为空。视频 23.0–48.7 s 的后续夹箱和取勺动作中，未见方块进入绿色箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 105,
+      "text_zh": "观察：视频 48.8–49.7 s，机器人从红色方块堆旁拿起灰色舀勺并移向绿色箱，勺内未见暗红色方块；视频 49.8–50.0 s 机器人把勺放入绿色箱，红色方块堆仍留在黄色箱框内，绿箱中只有灰色勺，未达到至少50块的条件。log step 105 中服务最终状态为 control_steps=1000、done=true、reason=failed；节点判断来自视频，未用零分代替观察，也未把控制步时间换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "观察：视频 17.1–22.2 s，机器人二指夹爪夹住黄色箱的一侧箱沿，黄箱底部承托整批暗红色方块并随之抬升；此处黄箱作为批量承载工具，记录黄箱—方块的承托链，不重复记录夹爪—黄箱的抓握。该批量转移尝试覆盖全部50个计数节点，不表示任何方块已进入绿箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 12.8–13.2 s，机器人持勺移动底盘接近黄箱；视频 35.0–35.3 s 夹住黄箱边缘时短距离移位，视频 49.4–49.7 s 持勺驶向绿箱。只记录这些移动阶段的底盘支承，后两次动作均未带入可见暗红色方块。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "cubes_in_green_1",
+   "t": 14.4,
+   "log_step": 46,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 11.8–13.2 s，机器人已夹住并抬起舀勺，向黄箱移动；视频 14.3–14.9 s，舀勺相对夹爪翻转滑落，随后留在黄箱内。机器人正在尝试方块入绿箱，但此时尚未带走方块；视频 17.1–22.5 s 的整箱搬运又因黄箱脱离夹爪而失败，直至视频 50.0 s 仍无暗红色方块进入绿箱，因此第一个计数节点始终未修复。log step 46 的脚本是在保持夹爪关闭的命令下将勺降低，log step 49 才切换为夹箱方案。"
+  },
+  "unmet": {
+   "cubes_in_green_1": false,
+   "cubes_in_green_2": false,
+   "cubes_in_green_3": false,
+   "cubes_in_green_4": false,
+   "cubes_in_green_5": false,
+   "cubes_in_green_6": false,
+   "cubes_in_green_7": false,
+   "cubes_in_green_8": false,
+   "cubes_in_green_9": false,
+   "cubes_in_green_10": false,
+   "cubes_in_green_11": false,
+   "cubes_in_green_12": false,
+   "cubes_in_green_13": false,
+   "cubes_in_green_14": false,
+   "cubes_in_green_15": false,
+   "cubes_in_green_16": false,
+   "cubes_in_green_17": false,
+   "cubes_in_green_18": false,
+   "cubes_in_green_19": false,
+   "cubes_in_green_20": false,
+   "cubes_in_green_21": false,
+   "cubes_in_green_22": false,
+   "cubes_in_green_23": false,
+   "cubes_in_green_24": false,
+   "cubes_in_green_25": false,
+   "cubes_in_green_26": false,
+   "cubes_in_green_27": false,
+   "cubes_in_green_28": false,
+   "cubes_in_green_29": false,
+   "cubes_in_green_30": false,
+   "cubes_in_green_31": false,
+   "cubes_in_green_32": false,
+   "cubes_in_green_33": false,
+   "cubes_in_green_34": false,
+   "cubes_in_green_35": false,
+   "cubes_in_green_36": false,
+   "cubes_in_green_37": false,
+   "cubes_in_green_38": false,
+   "cubes_in_green_39": false,
+   "cubes_in_green_40": false,
+   "cubes_in_green_41": false,
+   "cubes_in_green_42": false,
+   "cubes_in_green_43": false,
+   "cubes_in_green_44": false,
+   "cubes_in_green_45": false,
+   "cubes_in_green_46": false,
+   "cubes_in_green_47": false,
+   "cubes_in_green_48": false,
+   "cubes_in_green_49": false,
+   "cubes_in_green_50": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 14.4,
+    "log_step": 46,
+    "evidence_zh": "观察：视频 11.8–13.2 s 舀勺随夹爪离开原位置并被带到黄箱上方；视频 14.3–14.9 s 勺在夹爪内翻转，视频 15.2 s 夹爪离开时勺仍留在黄箱中，说明已建立的持勺接触丢失。相同转移步骤中，视频 17.1–22.2 s 黄箱随夹爪抬升，视频 22.3–22.5 s 黄箱又脱离夹爪坠回桌面，未搬到绿箱上方；log step 62 的脚本要求继续保持夹爪关闭并升高，故此处不是目标处的计划释放。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频 17.1–22.2 s 机器人只夹持黄箱单侧箱沿，箱体另一端明显下垂，随后在视频 22.3–22.5 s 脱离夹爪；这种局部夹持未能稳定承载装有方块的整箱。log step 49、51、53、58、62 的脚本表明机器人以夹住单侧边缘后升高、转腕的方式进行整箱搬运，未增加箱底承托；log step 67 又明确自述前次整箱抬升滑脱，并改抓侧壁中部，后续视频 26.0–28.0 s 仍未成功把黄箱抬往绿箱。结合此前视频 14.3–14.9 s 的持勺滑脱，证据支持抓取及承载接触设计不稳；未验证可行替代抓法，不据此断言任务不可行。"
+   }
+  ],
+  "gap_zh": "无仿真状态日志或成功参考视频，无法测得夹持力、摩擦、精确接触点与载荷力矩，也未验证替代接触方案；抓取和接触设计归因属于结合可见单侧夹持、下垂及滑脱作出的推断。绿色箱全程可见，末段已逐帧核对至视频 50.0 s，未见暗红色方块随勺转移，因此这些缺口不妨碍判定50个计数节点均未达成。"
+ },
+ "summary_zh": "机器人先持勺接近黄箱，在视频 14.4 s 左右失去持勺接触，随后尝试夹住黄箱边缘整体搬运，但黄箱在视频 22.4 s 左右脱离夹爪；后续多次夹箱仍未完成任何方块转移，最终50个节点均为未达成。视频 49.8–50.0 s 进入绿箱的是空的灰色舀勺，红色方块堆仍留在黄箱框内；失败主要表现为没保持住，单侧夹持的承载稳定性不足是有视频和脚本支持的控制层推断。缺少接触力和状态日志，不能进一步确定摩擦或夹持参数，也没有已验证的替代抓法。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "逐帧核对：全程无暗红色方块进入绿箱，50个计数节点均未达成；断点（持勺滑落、随后整箱夹持脱落）、接触/抓取设计归因与证据一致，未发现需修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:32:14Z",
+  "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/kinder-scoop-pour-i01-standard--mhvivmr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-scoop-pour-i01-standard--mhvivmr/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "28e8cbd4593895ac3e7c9df1dd439681a434c4e155d8b16c9c06d74203993ac7",
+   "video_sha256": "66c5beb2c79474a874ba36b00b4b6ed967b05c9695ccb53e0e2e22053cd89205",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/scoop_pour_i01/trajectories/kinder-scoop-pour-i01-standard--pmhmkvn.json b/phase2/kinder/scoop_pour_i01/trajectories/kinder-scoop-pour-i01-standard--pmhmkvn.json
new file mode 100644
index 0000000000000000000000000000000000000000..3eeb6d9b0fddf9841b5509954f815d2375b35cc8
--- /dev/null
+++ b/phase2/kinder/scoop_pour_i01/trajectories/kinder-scoop-pour-i01-standard--pmhmkvn.json
@@ -0,0 +1,1646 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-scoop-pour-i01-standard--pmhmkvn",
+ "taskKey": "kinder/scoop_pour_i01",
+ "dag_sha256": "0b647a509cc0f0dcb61695acc31e4f7cd91f232895854368338ac912412fc51a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 1000,
+   "sim_steps": 1000,
+   "calls": 330,
+   "rows": 1000,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 1417.6,
+   "video_rendered": 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/kinder-scoop-pour-i01-standard--pmhmkvn/replay.mp4",
+  "duration_s": 50.1,
+  "fps": 10.0,
+  "frames": 501,
+  "sha256": "878607191ce3c6a3adfe137eeeb42b2e6864f4105e5c093154413273b99af3a9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 50,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "cubes_in_green_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到1块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到2块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到3块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到4块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到5块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到6块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到7块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到8块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到9块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到10块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到11块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到12块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到13块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到14块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到15块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到16块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_17": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到17块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_18": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到18块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_19": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到19块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_20": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到20块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_21": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到21块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_22": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到22块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_23": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到23块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_24": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到24块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_25": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到25块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_26": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到26块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_27": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到27块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_28": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到28块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_29": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到29块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_30": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到30块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_31": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到31块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_32": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到32块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_33": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到33块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_34": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到34块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_35": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到35块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_36": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到36块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_37": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到37块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_38": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到38块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_39": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到39块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_40": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到40块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_41": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到41块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_42": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到42块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_43": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到43块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_44": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到44块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_45": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到45块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_46": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到46块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_47": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到47块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_48": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到48块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_49": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到49块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   },
+   "cubes_in_green_50": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，暗红色方块堆在黄色箱中，绿色箱内可见的底面为空。"
+     },
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频5.0–12.8 s、14.0–19.8 s和22.0–26.8 s，机器人夹爪持灰色舀勺向黄色箱内伸入后撤回；视频24.8–25.2 s勺缘到达方块堆边缘，但随后抬起的勺内未见方块，方块仍在黄色箱内。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：全片逐秒画面及舀取段加密画面均未见暗红色方块转移到绿色箱；视频49.0–50.0 s逐帧检查时绿色箱底面仍为空，黄色箱中仍有方块堆，故当前同时达标数量未达到50块；本节点从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频24.8–25.2 s，机器人单夹爪持灰色舀勺，以勺前缘在黄色箱内推触暗红方块堆边缘，未见勺面从下方托起方块。全部计数节点共用这次针对方块堆的批量转移尝试；此项不表示逐块确认了50次接触。底盘未见主动移动。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "cubes_in_green_1",
+   "t": 6.5,
+   "log_step": 103,
+   "where": "操作中",
+   "evidence_zh": "观察：视频5.5–6.5 s，机器人持勺伸到黄色箱后侧，勺前缘与方块堆仍有间隔；视频6.5–8.5 s机器人空勺抬起并转向绿色箱，未带出方块。视频24.8–25.2 s的后续尝试虽使勺缘到达堆边，视频25.4–35.0 s仍为空勺撤回、移动和倾倒；视频50.0 s绿色箱依然为空，首次入箱始终没有补成。log step 103记录agent脚本启动首轮舀取、抬升、转移、倾倒序列，仅作动作意图依据，不用于换算视频时间。"
+  },
+  "unmet": {
+   "cubes_in_green_1": false,
+   "cubes_in_green_2": false,
+   "cubes_in_green_3": false,
+   "cubes_in_green_4": false,
+   "cubes_in_green_5": false,
+   "cubes_in_green_6": false,
+   "cubes_in_green_7": false,
+   "cubes_in_green_8": false,
+   "cubes_in_green_9": false,
+   "cubes_in_green_10": false,
+   "cubes_in_green_11": false,
+   "cubes_in_green_12": false,
+   "cubes_in_green_13": false,
+   "cubes_in_green_14": false,
+   "cubes_in_green_15": false,
+   "cubes_in_green_16": false,
+   "cubes_in_green_17": false,
+   "cubes_in_green_18": false,
+   "cubes_in_green_19": false,
+   "cubes_in_green_20": false,
+   "cubes_in_green_21": false,
+   "cubes_in_green_22": false,
+   "cubes_in_green_23": false,
+   "cubes_in_green_24": false,
+   "cubes_in_green_25": false,
+   "cubes_in_green_26": false,
+   "cubes_in_green_27": false,
+   "cubes_in_green_28": false,
+   "cubes_in_green_29": false,
+   "cubes_in_green_30": false,
+   "cubes_in_green_31": false,
+   "cubes_in_green_32": false,
+   "cubes_in_green_33": false,
+   "cubes_in_green_34": false,
+   "cubes_in_green_35": false,
+   "cubes_in_green_36": false,
+   "cubes_in_green_37": false,
+   "cubes_in_green_38": false,
+   "cubes_in_green_39": false,
+   "cubes_in_green_40": false,
+   "cubes_in_green_41": false,
+   "cubes_in_green_42": false,
+   "cubes_in_green_43": false,
+   "cubes_in_green_44": false,
+   "cubes_in_green_45": false,
+   "cubes_in_green_46": false,
+   "cubes_in_green_47": false,
+   "cubes_in_green_48": false,
+   "cubes_in_green_49": false,
+   "cubes_in_green_50": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 6.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频5.5–8.5 s，机器人勺面未伸入方块下方便空勺抬走；视频24.8–25.2 s勺前缘虽到达方块堆边缘，视频25.4–26.8 s退出时方块仍留在黄色箱底，勺上没有载荷。推断：没有建立完成转移所需的勺面承托接触；这里不否认后续勺缘与方块的短暂推触，也不是已舀起后洒落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 102中的move_to_q先按估计关节响应离线生成整段增量动作；log step 103的首轮脚本对每个舀取、抬升、转移途经点只执行固定步数即进入下一段，没有检查方块是否被勺面承载。视频5.5–8.5 s实际勺缘没有推进到方块下方，机器人却开始空勺抬升；视频24.8–26.8 s后续尝试仍未形成承托。推断：舀取执行没有实现所需接触，且动作切换未以成功承载方块为条件，使失败的舀取继续进入转移与倾倒；现有证据不足以把控制问题唯一细分为接触几何、逆解或跟踪问题。"
+   }
+  ],
+  "gap_zh": "无状态日志、逐块位置或接触力记录，也无成功参考视频；视频足以确认绿色箱为空，但不能区分舀取失效中工具接触几何与关节跟踪误差的具体贡献。log step 229报告仿真100.0 s、1000控制步，而提供的视频为50.1 s；未建立可靠映射，所有视频锚点均直接取自所查画面，不用agent时间或控制步换算。"
+ },
+ "summary_zh": "机器人夹持并提起舀勺，多次向黄色箱中的方块堆伸入、抬升，再向绿色箱作倾倒动作，但未见任何方块被转移，最终0/50节点成立。断点为第1块入绿箱：机器人没有建立舀勺对方块的承托接触，空勺继续转移；视频32.0–35.0 s还可见末端接触并推移绿色箱。无状态日志与成功参考，具体控制子类无法确定，且日志仿真时钟与视频时长不同，全部时间标签依据视频直接观察。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "抽查视频0/6/8/12/20/25/30/34/40/50 s：方块始终在黄色箱内、绿色箱始终为空，0/50节点均未成立、断点为第1块入绿箱，与文件一致；时间均取自视频，未发现需改动的错误。视频34–40 s绿色箱被推移，文件已在summary提及。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:25:28Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/kinder-scoop-pour-i01-standard--pmhmkvn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-scoop-pour-i01-standard--pmhmkvn/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f9fd6297afc06eb2a9e17a2f6ec82441f112bdeb5e822e662d72ed0f9a734cea",
+   "video_sha256": "878607191ce3c6a3adfe137eeeb42b2e6864f4105e5c093154413273b99af3a9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/scoop_pour_i01/trajectories/kinder-scoop-pour-i01-standard--vfvzfq5.json b/phase2/kinder/scoop_pour_i01/trajectories/kinder-scoop-pour-i01-standard--vfvzfq5.json
new file mode 100644
index 0000000000000000000000000000000000000000..de9c24673aa98610a87d6cef1acf17a643e99afb
--- /dev/null
+++ b/phase2/kinder/scoop_pour_i01/trajectories/kinder-scoop-pour-i01-standard--vfvzfq5.json
@@ -0,0 +1,1428 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-scoop-pour-i01-standard--vfvzfq5",
+ "taskKey": "kinder/scoop_pour_i01",
+ "dag_sha256": "0b647a509cc0f0dcb61695acc31e4f7cd91f232895854368338ac912412fc51a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 1000,
+   "sim_steps": 1000,
+   "calls": 331,
+   "rows": 1000,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 825.1,
+   "video_rendered": 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/kinder-scoop-pour-i01-standard--vfvzfq5/replay.mp4",
+  "duration_s": 50.1,
+  "fps": 10.0,
+  "frames": 501,
+  "sha256": "4fdc595eeadfe8b4a9558a1b47a2955a6731e58d2a603cd84a7ad302fd232ed0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 50,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "cubes_in_green_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少1块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少2块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少3块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少4块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少5块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少6块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少7块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少8块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少9块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少10块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少11块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少12块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少13块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少14块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少15块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少16块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_17": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少17块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_18": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少18块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_19": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少19块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_20": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少20块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_21": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少21块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_22": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少22块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_23": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少23块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_24": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少24块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_25": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少25块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_26": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少26块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_27": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少27块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_28": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少28块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_29": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少29块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_30": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少30块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_31": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少31块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_32": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少32块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_33": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少33块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_34": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少34块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_35": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少35块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_36": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少36块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_37": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少37块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_38": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少38块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_39": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少39块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_40": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少40块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_41": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少41块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_42": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少42块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_43": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少43块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_44": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少44块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_45": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少45块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_46": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少46块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_47": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少47块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_48": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少48块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_49": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少49块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   },
+   "cubes_in_green_50": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": 72,
+      "text_zh": "观察：已检查视频全程每约2秒的帧，以及视频43.0–50.0 s的密集帧和视频49.0–50.0 s逐帧；绿箱内未出现暗红色方块，末帧视频50.0 s仍为空，故至少50块达标的条件未成立。视频46.6–48.5 s夹爪在黄箱左侧边缘开合但未带起黄箱，视频48.6–50.0 s空爪随底盘横移，方块仍在黄箱中。log step 67、71、72的脚本分别尝试夹黄箱边缘、重试及推动整箱，属于对全部方块的批量转移尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频48.6–50.0 s机器人底盘横移并支承机械臂执行整箱推动尝试；黄箱及其中方块未随夹爪移动。此整箱方案对应全部50个计数节点，不表示逐块接触成功。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频47.0–48.5 s二指夹爪在黄箱左侧壁边缘附近下降、合拢并重开，未形成带动箱体的夹持；单一视角下指尖与箱沿局部重叠，无法确认是否发生短暂擦碰及其接触方式，故记未知，不计抓握或工具舀托。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "cubes_in_green_1",
+   "t": 47.5,
+   "log_step": 67,
+   "where": "操作中",
+   "evidence_zh": "观察：视频47.0–47.7 s机器人夹爪在黄箱左侧壁附近下降并合拢，黄箱未抬起，夹爪未携带方块；视频47.8–48.5 s重试仍未带动箱体，随后视频48.6–50.0 s空爪向绿箱方向横移，绿箱始终为空。log step 67、71的脚本目标是夹住黄箱边缘，log step 72改为推动整箱，均未补成首次方块入绿箱，因此断在第1块计数节点。"
+  },
+  "unmet": {
+   "cubes_in_green_1": false,
+   "cubes_in_green_2": false,
+   "cubes_in_green_3": false,
+   "cubes_in_green_4": false,
+   "cubes_in_green_5": false,
+   "cubes_in_green_6": false,
+   "cubes_in_green_7": false,
+   "cubes_in_green_8": false,
+   "cubes_in_green_9": false,
+   "cubes_in_green_10": false,
+   "cubes_in_green_11": false,
+   "cubes_in_green_12": false,
+   "cubes_in_green_13": false,
+   "cubes_in_green_14": false,
+   "cubes_in_green_15": false,
+   "cubes_in_green_16": false,
+   "cubes_in_green_17": false,
+   "cubes_in_green_18": false,
+   "cubes_in_green_19": false,
+   "cubes_in_green_20": false,
+   "cubes_in_green_21": false,
+   "cubes_in_green_22": false,
+   "cubes_in_green_23": false,
+   "cubes_in_green_24": false,
+   "cubes_in_green_25": false,
+   "cubes_in_green_26": false,
+   "cubes_in_green_27": false,
+   "cubes_in_green_28": false,
+   "cubes_in_green_29": false,
+   "cubes_in_green_30": false,
+   "cubes_in_green_31": false,
+   "cubes_in_green_32": false,
+   "cubes_in_green_33": false,
+   "cubes_in_green_34": false,
+   "cubes_in_green_35": false,
+   "cubes_in_green_36": false,
+   "cubes_in_green_37": false,
+   "cubes_in_green_38": false,
+   "cubes_in_green_39": false,
+   "cubes_in_green_40": false,
+   "cubes_in_green_41": false,
+   "cubes_in_green_42": false,
+   "cubes_in_green_43": false,
+   "cubes_in_green_44": false,
+   "cubes_in_green_45": false,
+   "cubes_in_green_46": false,
+   "cubes_in_green_47": false,
+   "cubes_in_green_48": false,
+   "cubes_in_green_49": false,
+   "cubes_in_green_50": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 47.5,
+    "log_step": 67,
+    "evidence_zh": "观察：视频47.4–47.7 s机器人二指夹爪合拢后没有夹持黄箱边缘并带起它，视频47.8–48.5 s再次开合后箱体仍留在原处；视频48.6–50.0 s夹爪空着越过黄箱，方块原位置及绿箱空置状态未改变。所缺的是转移整箱所需的有效夹持或推动接触，不能据指尖与箱沿投影重叠判成抓握成功后脱落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "source_zh": "日志",
+    "t": 47.5,
+    "log_step": 61,
+    "evidence_zh": "观察：log step 61对整箱转移的后续目标“over green bin”求解得到位置误差0.182、姿态误差0.726；log step 62、67、71仍先接近并两次夹黄箱边缘，log step 72随后只执行底盘与机械臂向绿箱方向横推，代码没有把方块从黄箱倒入绿箱的动作。视频47.0–48.5 s黄箱未被带起，视频48.6–50.0 s空爪横移，方块仍在黄箱。推断：所选整箱路线没有落实可行的后续搬运和出箱入绿箱动作，属于跨阶段转移规划不足；并非由未用舀勺判错，也不据此断言所有整箱路线在物理上均不可行，其他方案未验证。"
+   },
+   {
+    "cat": "认知",
+    "item": "感知",
+    "source_zh": "日志",
+    "t": 47.5,
+    "log_step": 70,
+    "evidence_zh": "观察：log step 12计算腕相机相对第7关节的平移量[0,0.0564,0.0584]，但log step 46的cloud.cam_frame直接返回第7关节框架，log step 65–67据此定位并首次夹箱沿；log step 70才在点云换算中加上该平移。log step 71按修正后的估计将目标改为[0.86,-0.425,0.618]并下降到z=0.600，夹爪读数仍为0.984；视频47.8–48.5 s箱体仍未随夹爪运动。推断：相机平移遗漏可能使首次夹持目标偏移，但修正后仍失败削弱了它对整个失败的解释；仅保留为首次抓空的可能贡献，不能当作唯一或已证实的主因，实际三维误差未量测。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频，无法独立量测真实箱沿与夹持目标间的三维误差，也未验证替代转移方案；log step 70修正相机平移后，log step 71重试仍失败，故无法把全程失败唯一归于感知，整箱后续转移规划不足亦为结合代码和执行结果的推断。观察：log step 62的现场服务状态为control_steps=936、done=false，1000步上限下只余64步；log step 67、71、72分别到954、971、1000步。前期log step 9、18、26、35、52、54–57的执行用于扫描、视角与底盘标定和移动，视频0–46 s的抽查帧未见夹持或搬走黄箱及方块；936/1000=93.6%说明抓取前已消耗绝大部分控制步，不把预算耗尽另列为现象或根因。视频47.0–48.5 s指尖与箱沿有局部投影重叠，不能确认短暂擦碰，故该接触方式记未知；不影响绿箱全程为空及50个节点均未达成的判断。日志记录的仿真100 s与视频50.1 s不等长，本文所有视频锚点均取自实际视频帧，未用agent时间或控制步直接换算。"
+ },
+ "summary_zh": "机器人两次夹黄箱边缘后改为推动整箱，视频至50.0 s绿箱仍为空，50个计数节点均未达到，断点仍为视频约47.5 s第1块入绿箱的首次抓空。日志显示整箱路线的后续绿箱目标求解误差较大、实际后备动作仅横推，支持转移规划不足的推断；相机平移遗漏可能影响首次定位，但修正后重试仍抓空，且log step 62服务已记录使用936/1000控制步。置信度从8降为6：进度与抓空有视频支持，但规划归因、相机误差对首次失败的贡献及修正后仍失败的具体原因缺少状态日志和可行替代方案验证。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "WHERE 标签（50个节点均未达成、断点在第1块入绿箱、视频约47.5 s首次夹箱沿落空）与视频一致；但根因“感知”证据不足：修正相机平移后的重试（log step 71）同样夹空，而且整次执行里约936/1000控制步（log step 62 的服务读数）都花在扫描标定上，策略选择整箱夹取（不舀、不逐块转移）未被标为规划问题。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点全未达成（绿箱全程为空）、断点在第1块入绿箱约视频47.5 s、没建立接触与规划/感知根因均有视频和日志支持，且已承认推断与证据局限；未发现需改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:49:16Z",
+  "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/kinder-scoop-pour-i01-standard--vfvzfq5/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-scoop-pour-i01-standard--vfvzfq5/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-scoop-pour-i01-standard--vfvzfq5/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/kinder-scoop-pour-i01-standard--vfvzfq5/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "93748e3ce8a77f18dd23cd364ce09a609cf1272ed1f7c8bc748346065ffdde07",
+   "video_sha256": "4fdc595eeadfe8b4a9558a1b47a2955a6731e58d2a603cd84a7ad302fd232ed0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/scoop_pour_i01/trajectories/kinder-scoop-pour-i01-standard--yynxq8b.json b/phase2/kinder/scoop_pour_i01/trajectories/kinder-scoop-pour-i01-standard--yynxq8b.json
new file mode 100644
index 0000000000000000000000000000000000000000..33bb66e5cd965ec5fc17d770cc1ea0c675d43720
--- /dev/null
+++ b/phase2/kinder/scoop_pour_i01/trajectories/kinder-scoop-pour-i01-standard--yynxq8b.json
@@ -0,0 +1,1898 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-scoop-pour-i01-standard--yynxq8b",
+ "taskKey": "kinder/scoop_pour_i01",
+ "dag_sha256": "0b647a509cc0f0dcb61695acc31e4f7cd91f232895854368338ac912412fc51a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 1000,
+   "sim_steps": 1000,
+   "calls": 505,
+   "rows": 970,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 1133.3,
+   "video_rendered": 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/kinder-scoop-pour-i01-standard--yynxq8b/replay.mp4",
+  "duration_s": 50.1,
+  "fps": 10.0,
+  "frames": 501,
+  "sha256": "d67a1f17d75b370dd949ad0d673f871725a79f2adf302792e3d4826a46a4fb17"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 50,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "cubes_in_green_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少1块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少1块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少2块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少2块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少3块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少3块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少4块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少4块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少5块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少5块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少6块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少6块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少7块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少7块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少8块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少8块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少9块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少9块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少10块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少10块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少11块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少11块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少12块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少12块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少13块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少13块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少14块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少14块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少15块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少15块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少16块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少16块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_17": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少17块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少17块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_18": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少18块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少18块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_19": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少19块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少19块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_20": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少20块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少20块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_21": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少21块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少21块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_22": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少22块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少22块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_23": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少23块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少23块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_24": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少24块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少24块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_25": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少25块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少25块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_26": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少26块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少26块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_27": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少27块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少27块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_28": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少28块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少28块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_29": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少29块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少29块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_30": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少30块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少30块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_31": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少31块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少31块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_32": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少32块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少32块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_33": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少33块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少33块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_34": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少34块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少34块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_35": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少35块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少35块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_36": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少36块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少36块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_37": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少37块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少37块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_38": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少38块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少38块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_39": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少39块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少39块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_40": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少40块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少40块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_41": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少41块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少41块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_42": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少42块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少42块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_43": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少43块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少43块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_44": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少44块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少44块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_45": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少45块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少45块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_46": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少46块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少46块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_47": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少47块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少47块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_48": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少48块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少48块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_49": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少49块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少49块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   },
+   "cubes_in_green_50": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 绿箱为空，暗红方块集中在黄箱内；“至少50块入绿箱”的条件初始不成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": 123,
+      "text_zh": "观察：视频 21.5–25.8 s 机器人将裸夹爪降入黄箱方块堆边缘；视频 26.0–27.0 s 夹爪抬离时未带起可见方块，视频 28.0–33.5 s 空夹爪移至绿箱上方，绿箱仍为空。log step 123 仅报告脚本执行结束，不作为搬运成功依据。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 37.5–49.0 s 机器人闭合指端在黄箱内向靠近绿箱的一侧移动，黄箱随之滑移但未翻倒，方块仍留在黄箱；逐帧检查视频 49.0–50.0 s，绿箱内无暗红方块。因此达标数为0，未达到至少50块，整段未见该计数状态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 37.5–50.0 s 机械臂的闭合夹爪指端在黄箱内抵推靠绿箱一侧的箱壁，使黄箱载着方块滑移；这是针对整批50块的推箱转移尝试，故适用于全部计数节点。视频 21.5–26.0 s 另有裸夹爪下探方块堆边缘的夹取尝试，但未见对方块建立携物抓握；未使用舀勺。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20.0–21.5 s 机器人底盘调整黄箱前的操作位置，视频 27.0–28.5 s 又移向绿箱，支承机械臂完成转移尝试；夹爪未携带可见方块。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "cubes_in_green_1",
+   "t": 26.0,
+   "log_step": 123,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 21.5–25.8 s 机器人在黄箱内尝试夹取，视频 26.0–27.0 s 抬起的夹爪为空，方块仍在原箱；随后视频 28.0–33.5 s 空夹爪移到绿箱上方。视频 37.5–50.0 s 改为推黄箱也未把任何方块送进绿箱，首次夹取失败所对应的“第1块入绿箱”始终未修复。"
+  },
+  "unmet": {
+   "cubes_in_green_1": false,
+   "cubes_in_green_2": false,
+   "cubes_in_green_3": false,
+   "cubes_in_green_4": false,
+   "cubes_in_green_5": false,
+   "cubes_in_green_6": false,
+   "cubes_in_green_7": false,
+   "cubes_in_green_8": false,
+   "cubes_in_green_9": false,
+   "cubes_in_green_10": false,
+   "cubes_in_green_11": false,
+   "cubes_in_green_12": false,
+   "cubes_in_green_13": false,
+   "cubes_in_green_14": false,
+   "cubes_in_green_15": false,
+   "cubes_in_green_16": false,
+   "cubes_in_green_17": false,
+   "cubes_in_green_18": false,
+   "cubes_in_green_19": false,
+   "cubes_in_green_20": false,
+   "cubes_in_green_21": false,
+   "cubes_in_green_22": false,
+   "cubes_in_green_23": false,
+   "cubes_in_green_24": false,
+   "cubes_in_green_25": false,
+   "cubes_in_green_26": false,
+   "cubes_in_green_27": false,
+   "cubes_in_green_28": false,
+   "cubes_in_green_29": false,
+   "cubes_in_green_30": false,
+   "cubes_in_green_31": false,
+   "cubes_in_green_32": false,
+   "cubes_in_green_33": false,
+   "cubes_in_green_34": false,
+   "cubes_in_green_35": false,
+   "cubes_in_green_36": false,
+   "cubes_in_green_37": false,
+   "cubes_in_green_38": false,
+   "cubes_in_green_39": false,
+   "cubes_in_green_40": false,
+   "cubes_in_green_41": false,
+   "cubes_in_green_42": false,
+   "cubes_in_green_43": false,
+   "cubes_in_green_44": false,
+   "cubes_in_green_45": false,
+   "cubes_in_green_46": false,
+   "cubes_in_green_47": false,
+   "cubes_in_green_48": false,
+   "cubes_in_green_49": false,
+   "cubes_in_green_50": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 26.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 24.0–26.9 s 的密集帧显示，机器人指端停在方块堆边缘，抬升时没有暗红方块随夹爪离开黄箱；视频 28.0–33.5 s 到绿箱上方时仍为空夹爪。所需的方块夹持未建立；这不是已经携物后在搬运中掉落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "log_step": 119,
+    "evidence_zh": "推断：log step 119 中机器人驱动脚本先创建全零的12行指令，仅前4行设 gripper=1，后8行恢复 gripper=0；随后的 reach 抬升函数也始终设 gripper=0（任务接口规定0为张开、1为闭合）。因此脚本未安排在抬升及搬运阶段持续夹紧方块，且未确认携物即执行转移；log step 123 确认该脚本已执行。视频 26.0–27.0 s 的空夹爪抬升及视频 28.0–33.5 s 的空手转移与此一致。未验证替代抓法的可行性。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "inputs/ 无状态日志，也无成功参考视频；密集画面能确认未带起方块和绿箱始终为空，但夹爪遮挡处的瞬时指端接触及接触力不可精确恢复。根因依据实际执行脚本的张爪指令和视频结果推断，不声称已验证替代夹法。日志控制步对应的机器人时间与视频时长不同，未用 agent 工作时间或控制步直接换算视频时刻。"
+ },
+ "summary_zh": "机器人先用裸夹爪在黄箱内尝试夹取，再空手移至绿箱，随后改为推移整只黄箱；视频 50.0 s 绿箱仍为空，50个计数节点均未达到，断点为第1块入绿箱。首次夹取未建立携物抓握，驱动脚本在抬升前及抬升中发出张爪指令，支持抓取和接触设计失败的判断。无状态日志和成功参考，不能精确恢复指端瞬时接触或验证替代抓法。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频逐段核对：绿箱全程为空，50个计数节点均未达成，断点 cubes_in_green_1（视频约26 s 空夹爪抬离）成立；gen.py 在 log step 119 先闭合4步后抬升/搬运均设 gripper=0（任务文本说明 gripper 为绝对指令 0=张开），根因“抓取和接触设计”的推断有依据，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": "2026-10-30T02:53:49Z",
+  "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/kinder-scoop-pour-i01-standard--yynxq8b/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-scoop-pour-i01-standard--yynxq8b/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0560a592d212f90bcf879b74d3a4a4e983e5afbed089faaea111921123a0bd7d",
+   "video_sha256": "d67a1f17d75b370dd949ad0d673f871725a79f2adf302792e3d4826a46a4fb17",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/sweep_into_drawer/trajectories/kinder-sweep-into-drawer-i00-privileged--brz9vee.json b/phase2/kinder/sweep_into_drawer/trajectories/kinder-sweep-into-drawer-i00-privileged--brz9vee.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a67cc0adf481d00fcc92719ebeab29f444d4f83
--- /dev/null
+++ b/phase2/kinder/sweep_into_drawer/trajectories/kinder-sweep-into-drawer-i00-privileged--brz9vee.json
@@ -0,0 +1,287 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-sweep-into-drawer-i00-privileged--brz9vee",
+ "taskKey": "kinder/sweep_into_drawer",
+ "dag_sha256": "db51b1c850eb394d2fed8f132cb43f543cd8e60ae7829c4988ab6db121cedfcd",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "n_actions": 716,
+   "sim_steps": 716,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 3.358,
+   "peak_processes": 30,
+   "peak_disk_gb": 0.24,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/kinder-sweep-into-drawer-i00-privileged--brz9vee/replay.mp4",
+  "duration_s": 35.9,
+  "fps": 10.0,
+  "frames": 359,
+  "sha256": "79d1da8a5c7d63ea301b01c9ecf7a44f521a1fb463479a711f26e0d40342db64"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 6,
+  "final": 6,
+  "nodes": {
+   "drawer_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "观察：视频 4.6–5.1 s，机器人夹爪位于上排中间抽屉把手处；视频 5.2–5.8 s，机器人底盘后退，夹爪带着面板向外滑出，视频 5.3 s 已露出浅色内腔和可供方块进入的开口。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 4.6–5.8 s，Robotiq 二指夹爪夹住目标抽屉横向把手并随底盘后退向外拉。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–5.8 s，轮式底盘调整工作位置并在拉屉时后退，支承机械臂及夹爪。"
+     }
+    ]
+   },
+   "cubes_in_drawer_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      13.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 13.0,
+      "log_step": null,
+      "text_zh": "观察：视频 11.0–13.3 s，机器人以向下的夹爪直接推扫最靠画面下方的一块，送到台面边缘和已打开的抽屉入口；视频 13.0–13.7 s，夹爪回撤后其原位空出，另外四块仍留在台面。"
+     },
+     {
+      "t": 13.0,
+      "log_step": 43,
+      "text_zh": "推断：视频 13.0 s 左右达到至少一块入屉；落入过程部分被夹爪和台沿遮住，结合后续未取出该块及最终评分成功判定，计入并保持。 无逐帧状态日志，无法直接量测 2.5 cm 侧壁裕量。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：机器人用向下的夹爪手指直接推扫本计数步骤对应的方块至台面边缘；没有合拢夹住方块搬运，也未使用台面的刮板。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 8.0–10.5 s，机器人底盘驶近岛台、调整首轮扫动的工作位置并支承机械臂；实际扫动时底盘基本保持原位。"
+     }
+    ]
+   },
+   "cubes_in_drawer_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      20.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 20.8,
+      "log_step": null,
+      "text_zh": "观察：视频 17.0–18.4 s，机器人先将另一块扫近边缘，视频 19.2–19.4 s 该块仍在台面；视频 19.8–21.3 s，机器人再次推扫它越过目标抽屉入口上方的台沿，随后回撤。"
+     },
+     {
+      "t": 20.8,
+      "log_step": 43,
+      "text_zh": "推断：视频 20.8 s 左右达到至少两块入屉；首次推近边缘不单独计入，结合后续台面余块、未见取回及最终评分成功推定该次落入后保持。 无逐帧状态日志，无法直接量测 2.5 cm 侧壁裕量。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：机器人用向下的夹爪手指直接推扫本计数步骤对应的方块至台面边缘；没有合拢夹住方块搬运，也未使用台面的刮板。"
+     }
+    ]
+   },
+   "cubes_in_drawer_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      25.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 25.2,
+      "log_step": null,
+      "text_zh": "观察：视频 22.4–25.3 s，机器人返回余块后侧，再用夹爪将其中一块朝目标抽屉入口推去；视频 25.0–25.5 s，另外两块留在夹爪后方台面，此次目标在台沿处受夹爪遮挡。"
+     },
+     {
+      "t": 25.2,
+      "log_step": 43,
+      "text_zh": "推断：视频 25.2 s 左右达到至少三块入屉；依据这次推至入口的连续运动、随后剩余两块的画面及最终评分成功推定，入屉瞬间存在约半秒的不确定性。 无逐帧状态日志，无法直接量测 2.5 cm 侧壁裕量。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：机器人用向下的夹爪手指直接推扫本计数步骤对应的方块至台面边缘；没有合拢夹住方块搬运，也未使用台面的刮板。"
+     }
+    ]
+   },
+   "cubes_in_drawer_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      32.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 32.5,
+      "log_step": null,
+      "text_zh": "观察：视频 30.8–31.5 s，机器人夹爪前方仍可辨认两块；视频 31.6–32.9 s，机器人继续将其中一块朝台沿推扫并回撤，最后一块在后续扫动中被继续送向同一开口。"
+     },
+     {
+      "t": 32.5,
+      "log_step": 43,
+      "text_zh": "推断：视频 32.5 s 左右达到至少四块入屉；该块越沿后的中心被遮挡，结合连续推扫过程、后续只剩最后一块的运动和最终评分成功推定，时刻约有半秒误差。 无逐帧状态日志，无法直接量测 2.5 cm 侧壁裕量。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：机器人用向下的夹爪手指直接推扫本计数步骤对应的方块至台面边缘；没有合拢夹住方块搬运，也未使用台面的刮板。"
+     }
+    ]
+   },
+   "cubes_in_drawer_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      35.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 35.8,
+      "log_step": null,
+      "text_zh": "观察：视频 34.8–35.8 s（逐帧检查至最后一帧），机器人夹爪继续把最后一块朝台沿与目标抽屉开口推去；台面没有其他未处理红块，抽屉内部被台沿和机械臂部分遮挡。"
+     },
+     {
+      "t": 35.8,
+      "log_step": 43,
+      "text_zh": "推断：视频 35.8 s 的末帧作为五块全部合格的时间锚点。评分器 reward.success=1、all_success=1、deterministic=1，且交付文件的独立重放在 log step 43 返回 success=true、success_step=716 和相同 state_sha；据此判定五块中心及侧壁裕量最终均满足，未将控制步数或 agent 时间换算为视频时间。 无逐帧状态日志，无法直接量测 2.5 cm 侧壁裕量。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：机器人用向下的夹爪手指直接推扫本计数步骤对应的方块至台面边缘；没有合拢夹住方块搬运，也未使用台面的刮板。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "机器人拉开上排中间抽屉，随后用夹爪直接反复推扫，将五个方块送入目标抽屉，六个节点最终全部达到；评分器记录成功且重放一致，无失败断点。视频 5.3 s 可确认开屉，视频 35.8 s 为全部入屉的末帧锚点；方块越沿及内腔部分被遮挡，缺少逐帧状态日志，中间计数时刻约有半秒不确定性，最终 2.5 cm 侧壁裕量依据评分器成功结果推定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "成功运行，六个节点均达成、无失败断点；开屉时间（视频约 5.3 s）、逐块入屉的大致时刻与帧一致，末块以 success_step=716 对应末帧，标注无需修改。受视角与遮挡限制，中间计数时刻只能确认到约一秒内。",
+    "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": "2026-10-30T02:40:41Z",
+  "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/kinder-sweep-into-drawer-i00-privileged--brz9vee/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-into-drawer-i00-privileged--brz9vee/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "11586d4a9e853a587894c2713ceccd51a7aa4ac70246f88ab319e10f20dfaed6",
+   "video_sha256": "79d1da8a5c7d63ea301b01c9ecf7a44f521a1fb463479a711f26e0d40342db64",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/sweep_into_drawer/trajectories/kinder-sweep-into-drawer-i00-privileged--jh7aft5.json b/phase2/kinder/sweep_into_drawer/trajectories/kinder-sweep-into-drawer-i00-privileged--jh7aft5.json
new file mode 100644
index 0000000000000000000000000000000000000000..11e6ca050ac9123642308d265356a2ec5ab80629
--- /dev/null
+++ b/phase2/kinder/sweep_into_drawer/trajectories/kinder-sweep-into-drawer-i00-privileged--jh7aft5.json
@@ -0,0 +1,320 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-sweep-into-drawer-i00-privileged--jh7aft5",
+ "taskKey": "kinder/sweep_into_drawer",
+ "dag_sha256": "db51b1c850eb394d2fed8f132cb43f543cd8e60ae7829c4988ab6db121cedfcd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "n_actions": 1000,
+   "sim_steps": 1000,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 2.485,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.831,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/kinder-sweep-into-drawer-i00-privileged--jh7aft5/replay.mp4",
+  "duration_s": 50.1,
+  "fps": 10.0,
+  "frames": 501,
+  "sha256": "edfe939cec69b5acf43cc08907eac62ffd1a1cd03cc47a4e7f38432e65f2447f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "drawer_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，目标上排中间抽屉关闭，五个深红色方块位于白色台面上。"
+     },
+     {
+      "t": 11.5,
+      "log_step": null,
+      "text_zh": "观察：视频约 5.0–11.5 s，机器人将夹爪移到目标把手附近，闭合后随底盘向外退开；面板没有形成可装入方块的开口，视频 12.0–14.5 s 夹爪已离开，面板仍与柜面齐平。成功参考视频 inputs/oracle/replay.mp4 的视频 6.0 s 可清楚看到相同视角下拉出的面板与浅色内腔，本次没有该外观。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 99,
+      "text_zh": "观察：视频 16.0–50.0 s，机器人转而在台面扫动，未再拉抽屉，终态面板仍齐平；log step 99 的脚本虽把阶段命名为 drawer opened，但并未要求开度达标才进入扫动，阶段名称不能作为开屉证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频约 5.0–11.5 s，Robotiq 夹爪在把手附近闭合并后退；夹爪、把手局部重叠且像素有限，不能确认发生了哪种实际接触，未见抓稳后带动抽屉。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–1.0 s 及约 10.5–14.5 s，轮式底盘移动调整距离并后退，支承机械臂完成靠近把手和外拉尝试。"
+     }
+    ]
+   },
+   "cubes_in_drawer_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 32.0,
+      "log_step": null,
+      "text_zh": "观察：视频 18.0–34.0 s，机器人用张开的夹爪在五块方块所在区域扫动，部分方块在台面上被拨开；未见方块越过台面边缘进入抽屉，目标抽屉保持关闭，至少 1 块入屉的条件未成立。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 49.0–50.0 s 逐帧可见机械臂抬离后，五个深红色方块仍全部在白色台面上，刮板也仍在原处；终态没有方块进入抽屉，因此第1块计数节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 23.0–34.0 s，机器人直接用张开的 Robotiq 夹爪拨扫方块群，部分方块在台面上横移，未使用刮板。该接触记在同一次整体扫入尝试对应的各计数节点上，不表示每块均被夹爪碰到或已入屉。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 15.0–18.0 s，机器人底盘由远离柜体的位置向岛台靠近，支承机械臂进入扫动工作位置。"
+     }
+    ]
+   },
+   "cubes_in_drawer_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 32.0,
+      "log_step": null,
+      "text_zh": "观察：视频 18.0–34.0 s，机器人用张开的夹爪在五块方块所在区域扫动，部分方块在台面上被拨开；未见方块越过台面边缘进入抽屉，目标抽屉保持关闭，至少 2 块入屉的条件未成立。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 49.0–50.0 s 逐帧可见机械臂抬离后，五个深红色方块仍全部在白色台面上，刮板也仍在原处；终态没有方块进入抽屉，因此第2块计数节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 23.0–34.0 s，机器人直接用张开的 Robotiq 夹爪拨扫方块群，部分方块在台面上横移，未使用刮板。该接触记在同一次整体扫入尝试对应的各计数节点上，不表示每块均被夹爪碰到或已入屉。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 15.0–18.0 s，机器人底盘由远离柜体的位置向岛台靠近，支承机械臂进入扫动工作位置。"
+     }
+    ]
+   },
+   "cubes_in_drawer_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 32.0,
+      "log_step": null,
+      "text_zh": "观察：视频 18.0–34.0 s，机器人用张开的夹爪在五块方块所在区域扫动，部分方块在台面上被拨开；未见方块越过台面边缘进入抽屉，目标抽屉保持关闭，至少 3 块入屉的条件未成立。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 49.0–50.0 s 逐帧可见机械臂抬离后，五个深红色方块仍全部在白色台面上，刮板也仍在原处；终态没有方块进入抽屉，因此第3块计数节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 23.0–34.0 s，机器人直接用张开的 Robotiq 夹爪拨扫方块群，部分方块在台面上横移，未使用刮板。该接触记在同一次整体扫入尝试对应的各计数节点上，不表示每块均被夹爪碰到或已入屉。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 15.0–18.0 s，机器人底盘由远离柜体的位置向岛台靠近，支承机械臂进入扫动工作位置。"
+     }
+    ]
+   },
+   "cubes_in_drawer_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 32.0,
+      "log_step": null,
+      "text_zh": "观察：视频 18.0–34.0 s，机器人用张开的夹爪在五块方块所在区域扫动，部分方块在台面上被拨开；未见方块越过台面边缘进入抽屉，目标抽屉保持关闭，至少 4 块入屉的条件未成立。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 49.0–50.0 s 逐帧可见机械臂抬离后，五个深红色方块仍全部在白色台面上，刮板也仍在原处；终态没有方块进入抽屉，因此第4块计数节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 23.0–34.0 s，机器人直接用张开的 Robotiq 夹爪拨扫方块群，部分方块在台面上横移，未使用刮板。该接触记在同一次整体扫入尝试对应的各计数节点上，不表示每块均被夹爪碰到或已入屉。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 15.0–18.0 s，机器人底盘由远离柜体的位置向岛台靠近，支承机械臂进入扫动工作位置。"
+     }
+    ]
+   },
+   "cubes_in_drawer_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 32.0,
+      "log_step": null,
+      "text_zh": "观察：视频 18.0–34.0 s，机器人用张开的夹爪在五块方块所在区域扫动，部分方块在台面上被拨开；未见方块越过台面边缘进入抽屉，目标抽屉保持关闭，至少 5 块入屉的条件未成立。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 49.0–50.0 s 逐帧可见机械臂抬离后，五个深红色方块仍全部在白色台面上，刮板也仍在原处；终态没有方块进入抽屉，因此第5块计数节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 23.0–34.0 s，机器人直接用张开的 Robotiq 夹爪拨扫方块群，部分方块在台面上横移，未使用刮板。该接触记在同一次整体扫入尝试对应的各计数节点上，不表示每块均被夹爪碰到或已入屉。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 15.0–18.0 s，机器人底盘由远离柜体的位置向岛台靠近，支承机械臂进入扫动工作位置。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "drawer_opened",
+   "t": 11.5,
+   "log_step": 99,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 10.5–12.0 s，机器人底盘向外移动，夹爪离开把手，但目标抽屉面板仍与柜面齐平，没有露出可装入方块的浅色内腔；视频 16.0–50.0 s 随后直接扫动台面方块，未修复开屉失败。"
+  },
+  "unmet": {
+   "cubes_in_drawer_1": false,
+   "cubes_in_drawer_2": false,
+   "cubes_in_drawer_3": false,
+   "cubes_in_drawer_4": false,
+   "cubes_in_drawer_5": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 11.5,
+    "log_step": null,
+    "evidence_zh": "推断：视频约 7.0–12.0 s，机器人在把手附近闭合夹爪后退，但夹爪独自离开、面板没有随其拉出，未见先抓稳并带动抽屉的阶段；据此判为未建立开屉所需的有效把手夹持。可能存在的短暂擦碰不等同于建立了夹持。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频",
+    "evidence_zh": "推断：视频约 5.0–12.0 s，机器人已到目标把手附近执行闭爪和后退动作，却未能把把手运动传递给抽屉；结合视频 12.0–14.5 s 末端脱离而抽屉仍关闭，失败发生在把手接合与外拉控制环节。缺少实际接触对和力数据，无法进一步区分夹持几何、末端跟踪或施力问题。"
+   }
+  ],
+  "gap_zh": "观察：本次 inputs/ 中没有逐帧状态日志；视频把手区域分辨率有限，接触点还被夹爪局部遮挡，不能精确判定短暂擦碰、对向夹持或接触力，故开屉的 contact_actual 保留未知，控制根因不细分。节点终态有直接画面依据：视频 49.0–50.0 s 五块仍在台面上。log step 113、115、117 记录最终仅交付前 1,000 个动作，log step 119 的 agent 自述也没有确认回放成功；会话测试和阶段命名不替代评分视频。"
+ },
+ "summary_zh": "评分视频中机器人尝试夹持把手并后退，但抽屉未形成可装入方块的开口，随后直接扫动台面，六个节点均未达到（终态 0/6）。首个未修复的失败是打开抽屉，推断未建立有效把手夹持，根因归为控制；视频 49.0–50.0 s 五块方块仍全部在台面上。没有状态日志且把手接触细节不清，无法进一步确定实际接触方式或控制子类。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频逐段核对：抽屉面板在整段视频（约 4–14 s 靠近把手、20–50 s 扫动、终态）始终与柜面齐平，五块方块终态仍在台面，六节点全假、终态 0/6 成立；断点落在 drawer_opened、接触未知、推断标注均与证据相符，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": "2026-10-30T02:53:02Z",
+  "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/kinder-sweep-into-drawer-i00-privileged--jh7aft5/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-into-drawer-i00-privileged--jh7aft5/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a1a5107f20f93837a0b3fdb6f70af15670885df76052d537aceb9e16983e89c4",
+   "video_sha256": "edfe939cec69b5acf43cc08907eac62ffd1a1cd03cc47a4e7f38432e65f2447f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/sweep_into_drawer/trajectories/kinder-sweep-into-drawer-i00-privileged--t2u3qix.json b/phase2/kinder/sweep_into_drawer/trajectories/kinder-sweep-into-drawer-i00-privileged--t2u3qix.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c7c63fd848cf971ceb70371cf97e53f22c2a8ad
--- /dev/null
+++ b/phase2/kinder/sweep_into_drawer/trajectories/kinder-sweep-into-drawer-i00-privileged--t2u3qix.json
@@ -0,0 +1,228 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-sweep-into-drawer-i00-privileged--t2u3qix",
+ "taskKey": "kinder/sweep_into_drawer",
+ "dag_sha256": "db51b1c850eb394d2fed8f132cb43f543cd8e60ae7829c4988ab6db121cedfcd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "n_actions": 1,
+   "sim_steps": 1,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.343,
+   "peak_processes": 6,
+   "peak_disk_gb": 0.252,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/kinder-sweep-into-drawer-i00-privileged--t2u3qix/replay.mp4",
+  "duration_s": 0.1,
+  "fps": 10.0,
+  "frames": 1,
+  "sha256": "d0cb3c779522d7e9bf9c2038ce135d9e1ad1d65fa891413e4561ab1150c8a366"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "drawer_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 4,
+      "text_zh": "观察：本次评分视频仅有视频 0.0 s 一帧（全片至视频 0.1 s）；目标上排中间抽屉面板与柜面齐平，没有拉出的浅色内腔，夹爪在台面上方，未接触把手。成功参考视频 8.0 s 可见面板外移及浅色开口，此处仅用于辨认开屉外观。log step 4 保存并重放单步全零动作，返回 success=False、steps=1，与本次评分器 n_actions=1、sim_steps=1 一致。"
+     }
+    ]
+   },
+   "cubes_in_drawer_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的唯一一帧及其放大图显示五个深红色方块均在白色台面上，目标抽屉未拉开，机器人夹爪没有夹住或推扫方块；本片没有方块离开台面或进入抽屉的过程。因此未达到至少 1 块入抽屉的条件。"
+     }
+    ]
+   },
+   "cubes_in_drawer_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的唯一一帧及其放大图显示五个深红色方块均在白色台面上，目标抽屉未拉开，机器人夹爪没有夹住或推扫方块；本片没有方块离开台面或进入抽屉的过程。因此未达到至少 2 块入抽屉的条件。"
+     }
+    ]
+   },
+   "cubes_in_drawer_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的唯一一帧及其放大图显示五个深红色方块均在白色台面上，目标抽屉未拉开，机器人夹爪没有夹住或推扫方块；本片没有方块离开台面或进入抽屉的过程。因此未达到至少 3 块入抽屉的条件。"
+     }
+    ]
+   },
+   "cubes_in_drawer_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的唯一一帧及其放大图显示五个深红色方块均在白色台面上，目标抽屉未拉开，机器人夹爪没有夹住或推扫方块；本片没有方块离开台面或进入抽屉的过程。因此未达到至少 4 块入抽屉的条件。"
+     }
+    ]
+   },
+   "cubes_in_drawer_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的唯一一帧及其放大图显示五个深红色方块均在白色台面上，目标抽屉未拉开，机器人夹爪没有夹住或推扫方块；本片没有方块离开台面或进入抽屉的过程。因此未达到至少 5 块入抽屉的条件。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "drawer_opened",
+   "t": 0.0,
+   "log_step": 4,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.0 s（全片唯一一帧，视频总长 0.1 s）中机器人保持初始姿态，抽屉关闭，方块留在台面。log step 4 的脚本保存一行 11 维全零动作并重放，返回 success=False、n_actions=1；评分器也记录 n_actions=1、sim_steps=1。推断：评分轨迹在打开抽屉的实际操作开始前即结束，日志后续独立测试不属于该交付轨迹。"
+  },
+  "unmet": {
+   "cubes_in_drawer_1": false,
+   "cubes_in_drawer_2": false,
+   "cubes_in_drawer_3": false,
+   "cubes_in_drawer_4": false,
+   "cubes_in_drawer_5": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 4,
+    "evidence_zh": "观察：log step 4 明确构造单步全零动作，保存为占位轨迹并重放；视频 0.0 s 显示夹爪未到抽屉把手，抽屉面板未滑出。推断：本次评分中的开屉动作从未启动；不把日志中的测试拉屉或抓刮板动作计入本次尝试。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "观察：输入没有逐帧状态日志，评分视频只有视频 0.0 s 一帧。log step 4 保存并重放单步全零占位轨迹，log step 5 创建的生成脚本仍保存同样的全零动作；后续至 log step 61 未见再次保存轨迹，开屉和刮板测试的运动不能用于标注评分局的物理失败。观察：inputs/run.json 的会话墙钟用时 wall_s=1808 s，超过 time_limit_s=1800 s；评分器 n_actions=1、sim_steps=1 与该占位轨迹一致。推断：评分局仅重放了单步占位轨迹，但记录不足以解释为何没有更新它；不能由交付仍为占位或会话用时耗尽反推交付操作、控制能力或认知根因，因此不标根因。"
+ },
+ "summary_zh": "观察：本次评分仅重放一个动作，视频 0.0 s 唯一帧中抽屉关闭、五个方块仍在台面，六个节点均未达到。推断：断点为打开抽屉的首步前，现象为没尝试；log step 4 保存并验证的全零占位轨迹与评分器 n_actions=1、sim_steps=1 一致，后续独立测试未写入评分轨迹。观察：会话墙钟用时 wall_s=1808 s，超过 1800 s 会话上限，但记录未说明为何未更新占位文件，根因证据不足，留空。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点、断点、现象均与证据一致：视频仅 0.0 s 一帧，抽屉关闭、五块在台面，评分器 n_actions=1、sim_steps=1，全部未达；没尝试成立。问题在根因：交付 · 交付操作出错 是由“交付缺失”反推出来的，记录并无保存/封装/验收操作出错的证据，日志也无任何一次后续保存尝试；运行以 wall_s 1808 > 1800 s 会话上限结束，超时本身不能作根因。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "六个节点均未达到、断点为 drawer_opened 首步前、现象为没尝试，与唯一一帧视频、log step 4 的单步全零占位轨迹和评分器 n_actions=1、sim_steps=1 一致；根因留空并写明 gap_zh，符合规则，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": "2026-10-30T02:46:58Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-into-drawer-i00-privileged--t2u3qix/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-into-drawer-i00-privileged--t2u3qix/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-into-drawer-i00-privileged--t2u3qix/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-into-drawer-i00-privileged--t2u3qix/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b5b812d350f332ff0e6976a0915fd94025fbe48b617904a3eff573f886740332",
+   "video_sha256": "d0cb3c779522d7e9bf9c2038ce135d9e1ad1d65fa891413e4561ab1150c8a366",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/sweep_into_drawer/trajectories/kinder-sweep-into-drawer-i00-privileged--wjtstxa.json b/phase2/kinder/sweep_into_drawer/trajectories/kinder-sweep-into-drawer-i00-privileged--wjtstxa.json
new file mode 100644
index 0000000000000000000000000000000000000000..48a9b4bcf30f31767129d04fccdced2408701b09
--- /dev/null
+++ b/phase2/kinder/sweep_into_drawer/trajectories/kinder-sweep-into-drawer-i00-privileged--wjtstxa.json
@@ -0,0 +1,312 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-sweep-into-drawer-i00-privileged--wjtstxa",
+ "taskKey": "kinder/sweep_into_drawer",
+ "dag_sha256": "db51b1c850eb394d2fed8f132cb43f543cd8e60ae7829c4988ab6db121cedfcd",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "n_actions": 722,
+   "sim_steps": 722,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 2.708,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.842,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/kinder-sweep-into-drawer-i00-privileged--wjtstxa/replay.mp4",
+  "duration_s": 36.2,
+  "fps": 10.0,
+  "frames": 362,
+  "sha256": "12d783a0c96d1dedb3fc6c4a8862169aebcba960513a13f91d439b5eda82f36e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 6,
+  "final": 6,
+  "nodes": {
+   "drawer_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": null,
+      "text_zh": "观察：视频 10.0–12.0 s，机器人夹爪在上排中间抽屉横向把手处合拢，抽屉面板起初与柜面齐平；视频 12.2–12.8 s，机器人底盘后退，夹爪带动面板外移，视频 12.4 s 已露出可供小方块进入的浅色内腔，视频 13.0–16.0 s 开口继续扩大。首次形成有效开口取视频约 12.4 s。"
+     },
+     {
+      "t": 36.1,
+      "log_step": null,
+      "text_zh": "观察：视频 36.1 s，目标抽屉仍拉出并露出内腔；打开抽屉为事件节点，达到后保持记为已完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人 Robotiq 二指夹爪夹住上排中间抽屉的横向把手，向外拉动抽屉。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘在接近把手及夹住把手后后退的移动阶段支承机械臂，配合将抽屉面板向外拉出。"
+     }
+    ]
+   },
+   "cubes_in_drawer_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      35.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 35.9,
+      "log_step": null,
+      "text_zh": "观察：视频 31.0–35.7 s，机器人夹爪持刮板板面，刮板推动台面上的同类深红方块向拉出的目标抽屉移动；视频 35.8–35.9 s 可见领先方块越过台边并向浅色内腔下落，视频 35.9 s 内腔中可见该方块。"
+     },
+     {
+      "t": 36.1,
+      "log_step": 79,
+      "text_zh": "推断：inputs/run.json 的评分器字段 success=1、all_success=1、deterministic=1 确认最终五个方块均符合入屉及两侧壁至少 2.5 cm 的条件，故“至少 1 块入屉”最终为真。log step 78 将 headtrial2 的动作文件保存为最终交付，log step 79 的生成器和独立重放均返回 success=true、control step 722 且 state_sha 相同，与视频末段的一次持刮板扫入相符。首次入屉以视频约 35.9 s 定位，受遮挡及分辨率限制，时刻误差约 0.3 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人夹爪夹持刮板的板面，刮板边缘接触并推动同一批深红方块越过台面边缘进入目标抽屉；接触链按刮板到方块记录，不重复计握持工具。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约 25.0–26.0 s，机器人底盘为拿取刮板和后续扫入调整工作位置，并在移动时支承机械臂；随后的扫动阶段底盘基本停住。五个计数节点共享这次集体扫入的工作位置调整。"
+     }
+    ]
+   },
+   "cubes_in_drawer_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      36.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 36.1,
+      "log_step": null,
+      "text_zh": "观察：视频 35.3–36.1 s，机器人持刮板继续扫动，余下深红方块聚在刮板前缘并越过台边进入目标抽屉入口，末段夹爪遮住部分方块；已逐帧检查视频 35.3–36.1 s，未见方块落向柜外地面。"
+     },
+     {
+      "t": 36.1,
+      "log_step": 79,
+      "text_zh": "推断：inputs/run.json 的评分器字段 success=1、all_success=1、deterministic=1 确认最终五个方块均符合入屉及两侧壁至少 2.5 cm 的条件，故“至少 2 块入屉”最终为真。log step 78 将 headtrial2 的动作文件保存为最终交付，log step 79 的生成器和独立重放均返回 success=true、control step 722 且 state_sha 相同，与视频末段的一次持刮板扫入相符。各块的精确跨界先后及侧壁裕量不能由图像独立量出，采用视频 36.1 s 末帧附近作为该计数节点的达到时刻，误差约 0.3 s；未将 control step 或 agent 工作时间换算成视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人夹爪夹持刮板的板面，刮板边缘接触并推动同一批深红方块越过台面边缘进入目标抽屉；接触链按刮板到方块记录，不重复计握持工具。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约 25.0–26.0 s，机器人底盘为拿取刮板和后续扫入调整工作位置，并在移动时支承机械臂；随后的扫动阶段底盘基本停住。五个计数节点共享这次集体扫入的工作位置调整。"
+     }
+    ]
+   },
+   "cubes_in_drawer_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      36.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 36.1,
+      "log_step": null,
+      "text_zh": "观察：视频 35.3–36.1 s，机器人持刮板继续扫动，余下深红方块聚在刮板前缘并越过台边进入目标抽屉入口，末段夹爪遮住部分方块；已逐帧检查视频 35.3–36.1 s，未见方块落向柜外地面。"
+     },
+     {
+      "t": 36.1,
+      "log_step": 79,
+      "text_zh": "推断：inputs/run.json 的评分器字段 success=1、all_success=1、deterministic=1 确认最终五个方块均符合入屉及两侧壁至少 2.5 cm 的条件，故“至少 3 块入屉”最终为真。log step 78 将 headtrial2 的动作文件保存为最终交付，log step 79 的生成器和独立重放均返回 success=true、control step 722 且 state_sha 相同，与视频末段的一次持刮板扫入相符。各块的精确跨界先后及侧壁裕量不能由图像独立量出，采用视频 36.1 s 末帧附近作为该计数节点的达到时刻，误差约 0.3 s；未将 control step 或 agent 工作时间换算成视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人夹爪夹持刮板的板面，刮板边缘接触并推动同一批深红方块越过台面边缘进入目标抽屉；接触链按刮板到方块记录，不重复计握持工具。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约 25.0–26.0 s，机器人底盘为拿取刮板和后续扫入调整工作位置，并在移动时支承机械臂；随后的扫动阶段底盘基本停住。五个计数节点共享这次集体扫入的工作位置调整。"
+     }
+    ]
+   },
+   "cubes_in_drawer_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      36.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 36.1,
+      "log_step": null,
+      "text_zh": "观察：视频 35.3–36.1 s，机器人持刮板继续扫动，余下深红方块聚在刮板前缘并越过台边进入目标抽屉入口，末段夹爪遮住部分方块；已逐帧检查视频 35.3–36.1 s，未见方块落向柜外地面。"
+     },
+     {
+      "t": 36.1,
+      "log_step": 79,
+      "text_zh": "推断：inputs/run.json 的评分器字段 success=1、all_success=1、deterministic=1 确认最终五个方块均符合入屉及两侧壁至少 2.5 cm 的条件，故“至少 4 块入屉”最终为真。log step 78 将 headtrial2 的动作文件保存为最终交付，log step 79 的生成器和独立重放均返回 success=true、control step 722 且 state_sha 相同，与视频末段的一次持刮板扫入相符。各块的精确跨界先后及侧壁裕量不能由图像独立量出，采用视频 36.1 s 末帧附近作为该计数节点的达到时刻，误差约 0.3 s；未将 control step 或 agent 工作时间换算成视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人夹爪夹持刮板的板面，刮板边缘接触并推动同一批深红方块越过台面边缘进入目标抽屉；接触链按刮板到方块记录，不重复计握持工具。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约 25.0–26.0 s，机器人底盘为拿取刮板和后续扫入调整工作位置，并在移动时支承机械臂；随后的扫动阶段底盘基本停住。五个计数节点共享这次集体扫入的工作位置调整。"
+     }
+    ]
+   },
+   "cubes_in_drawer_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      36.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 36.1,
+      "log_step": null,
+      "text_zh": "观察：视频 35.3–36.1 s，机器人持刮板继续扫动，余下深红方块聚在刮板前缘并越过台边进入目标抽屉入口，末段夹爪遮住部分方块；已逐帧检查视频 35.3–36.1 s，未见方块落向柜外地面。"
+     },
+     {
+      "t": 36.1,
+      "log_step": 79,
+      "text_zh": "推断：inputs/run.json 的评分器字段 success=1、all_success=1、deterministic=1 确认最终五个方块均符合入屉及两侧壁至少 2.5 cm 的条件，故“至少 5 块入屉”最终为真。log step 78 将 headtrial2 的动作文件保存为最终交付，log step 79 的生成器和独立重放均返回 success=true、control step 722 且 state_sha 相同，与视频末段的一次持刮板扫入相符。各块的精确跨界先后及侧壁裕量不能由图像独立量出，采用视频 36.1 s 末帧附近作为该计数节点的达到时刻，误差约 0.3 s；未将 control step 或 agent 工作时间换算成视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人夹爪夹持刮板的板面，刮板边缘接触并推动同一批深红方块越过台面边缘进入目标抽屉；接触链按刮板到方块记录，不重复计握持工具。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约 25.0–26.0 s，机器人底盘为拿取刮板和后续扫入调整工作位置，并在移动时支承机械臂；随后的扫动阶段底盘基本停住。五个计数节点共享这次集体扫入的工作位置调整。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "机器人夹住把手并后退，在视频约 12.4 s 拉开上排中间抽屉，随后夹持刮板板面，将五个深红方块扫入目标抽屉，最终达到全部 6/6 个节点。第1块约在视频 35.9 s 入屉，其余计数节点集中在视频 36.1 s 末帧附近达成，评分器与两次独立重放均确认成功。没有逐帧状态日志，夹爪遮挡及图像分辨率限制了单块入屉先后和 2.5 cm 侧壁裕量的独立测量；最终合格数量由与画面相符的成功判决确认。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "成功运行，6/6 节点均达成；抽屉约视频 12.4 s 拉开，方块在视频 35.3–36.1 s 被刮板推至抽屉口，末帧由评分器 success=1 兜底，标签与证据相符，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": "2026-10-30T02:32:06Z",
+  "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/kinder-sweep-into-drawer-i00-privileged--wjtstxa/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-into-drawer-i00-privileged--wjtstxa/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "dad83d5f2cf77b3eec5f2737683316793befe31a7195d19244ee3f4e9953db2d",
+   "video_sha256": "12d783a0c96d1dedb3fc6c4a8862169aebcba960513a13f91d439b5eda82f36e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/sweep_into_drawer/trajectories/kinder-sweep-into-drawer-i00-privileged--wqdzvp7.json b/phase2/kinder/sweep_into_drawer/trajectories/kinder-sweep-into-drawer-i00-privileged--wqdzvp7.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e5701e03d3f9181d3480961f45f5ec093b35f00
--- /dev/null
+++ b/phase2/kinder/sweep_into_drawer/trajectories/kinder-sweep-into-drawer-i00-privileged--wqdzvp7.json
@@ -0,0 +1,295 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-sweep-into-drawer-i00-privileged--wqdzvp7",
+ "taskKey": "kinder/sweep_into_drawer",
+ "dag_sha256": "db51b1c850eb394d2fed8f132cb43f543cd8e60ae7829c4988ab6db121cedfcd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "n_actions": 465,
+   "sim_steps": 465,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.859,
+   "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/kinder-sweep-into-drawer-i00-privileged--wqdzvp7/replay.mp4",
+  "duration_s": 23.3,
+  "fps": 10.0,
+  "frames": 233,
+  "sha256": "29b1d4d5c9681f362f714d9a6a5b5f8b70eda8e30265ef058dccd604bd583cc5"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "drawer_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，上排中间抽屉面板与柜面齐平，五个红方块均在台面。"
+     },
+     {
+      "t": 6.5,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0–6.7 s，机器人夹爪在目标抽屉把手处，底盘后退带动面板外移；视频 6.5 s 已露出浅色内腔和可供方块进入的开口，视频 23.2 s 抽屉仍开着。开启时间按画面估计，误差约 0.3 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "勾",
+      "note_zh": "观察：视频 3.0–7.5 s，闭合夹爪从把手上方下探，随后勾住横向把手外拉；未见夹爪张开后以两侧夹紧把手的抓握过程。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–7.5 s，轮式底盘先调整接近位置，再后退拉开抽屉，同时支承机械臂。"
+     }
+    ]
+   },
+   "cubes_in_drawer_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.5,
+      "log_step": null,
+      "text_zh": "观察：视频 9.0–21.5 s，机械臂仅在拉出抽屉的前沿附近小幅改变姿态，夹爪未到达台面红方块簇；五个方块始终留在原台面位置，没有方块越过台边落入抽屉，至少 1 块入屉的条件从未成立。"
+     },
+     {
+      "t": 23.2,
+      "log_step": null,
+      "text_zh": "观察：视频 22.5、23.0、23.2 s，五个红方块仍清楚可见于白色台面，抽屉露出的浅色内腔为空；本节点终态为假，依据方块所在位置而非仅依据零奖励。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 9.5–21.5 s，机器人在装入五个方块的整体尝试期间小幅调整轮式底盘，支承机械臂；夹爪仍在抽屉前沿，未接触任何台面红方块，也未拾取刮板。各计数节点共用这次整体尝试；没有把脚本中的预定推扫登记为实际方块接触。"
+     }
+    ]
+   },
+   "cubes_in_drawer_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.5,
+      "log_step": null,
+      "text_zh": "观察：视频 9.0–21.5 s，机械臂仅在拉出抽屉的前沿附近小幅改变姿态，夹爪未到达台面红方块簇；五个方块始终留在原台面位置，没有方块越过台边落入抽屉，至少 2 块入屉的条件从未成立。"
+     },
+     {
+      "t": 23.2,
+      "log_step": null,
+      "text_zh": "观察：视频 22.5、23.0、23.2 s，五个红方块仍清楚可见于白色台面，抽屉露出的浅色内腔为空；本节点终态为假，依据方块所在位置而非仅依据零奖励。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 9.5–21.5 s，机器人在装入五个方块的整体尝试期间小幅调整轮式底盘，支承机械臂；夹爪仍在抽屉前沿，未接触任何台面红方块，也未拾取刮板。各计数节点共用这次整体尝试；没有把脚本中的预定推扫登记为实际方块接触。"
+     }
+    ]
+   },
+   "cubes_in_drawer_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.5,
+      "log_step": null,
+      "text_zh": "观察：视频 9.0–21.5 s，机械臂仅在拉出抽屉的前沿附近小幅改变姿态，夹爪未到达台面红方块簇；五个方块始终留在原台面位置，没有方块越过台边落入抽屉，至少 3 块入屉的条件从未成立。"
+     },
+     {
+      "t": 23.2,
+      "log_step": null,
+      "text_zh": "观察：视频 22.5、23.0、23.2 s，五个红方块仍清楚可见于白色台面，抽屉露出的浅色内腔为空；本节点终态为假，依据方块所在位置而非仅依据零奖励。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 9.5–21.5 s，机器人在装入五个方块的整体尝试期间小幅调整轮式底盘，支承机械臂；夹爪仍在抽屉前沿，未接触任何台面红方块，也未拾取刮板。各计数节点共用这次整体尝试；没有把脚本中的预定推扫登记为实际方块接触。"
+     }
+    ]
+   },
+   "cubes_in_drawer_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.5,
+      "log_step": null,
+      "text_zh": "观察：视频 9.0–21.5 s，机械臂仅在拉出抽屉的前沿附近小幅改变姿态，夹爪未到达台面红方块簇；五个方块始终留在原台面位置，没有方块越过台边落入抽屉，至少 4 块入屉的条件从未成立。"
+     },
+     {
+      "t": 23.2,
+      "log_step": null,
+      "text_zh": "观察：视频 22.5、23.0、23.2 s，五个红方块仍清楚可见于白色台面，抽屉露出的浅色内腔为空；本节点终态为假，依据方块所在位置而非仅依据零奖励。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 9.5–21.5 s，机器人在装入五个方块的整体尝试期间小幅调整轮式底盘，支承机械臂；夹爪仍在抽屉前沿，未接触任何台面红方块，也未拾取刮板。各计数节点共用这次整体尝试；没有把脚本中的预定推扫登记为实际方块接触。"
+     }
+    ]
+   },
+   "cubes_in_drawer_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.5,
+      "log_step": null,
+      "text_zh": "观察：视频 9.0–21.5 s，机械臂仅在拉出抽屉的前沿附近小幅改变姿态，夹爪未到达台面红方块簇；五个方块始终留在原台面位置，没有方块越过台边落入抽屉，至少 5 块入屉的条件从未成立。"
+     },
+     {
+      "t": 23.2,
+      "log_step": null,
+      "text_zh": "观察：视频 22.5、23.0、23.2 s，五个红方块仍清楚可见于白色台面，抽屉露出的浅色内腔为空；本节点终态为假，依据方块所在位置而非仅依据零奖励。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 9.5–21.5 s，机器人在装入五个方块的整体尝试期间小幅调整轮式底盘，支承机械臂；夹爪仍在抽屉前沿，未接触任何台面红方块，也未拾取刮板。各计数节点共用这次整体尝试；没有把脚本中的预定推扫登记为实际方块接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "cubes_in_drawer_1",
+   "t": 9.5,
+   "log_step": 234,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 8.0–9.5 s，开屉后的机械臂开始调整姿态，但夹爪仍在抽屉前沿，未抬到台面方块后方；视频 10.0–23.2 s 也没有与方块建立接触或使任何方块入屉。推断：第1块入屉是开启抽屉后首先未完成、后续也未修复的步骤；log step 234 的交付生成脚本对应的是三组直接夹爪推扫尝试。"
+  },
+  "unmet": {
+   "cubes_in_drawer_1": false,
+   "cubes_in_drawer_2": false,
+   "cubes_in_drawer_3": false,
+   "cubes_in_drawer_4": false,
+   "cubes_in_drawer_5": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 9.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频 9.0–21.5 s，机器人夹爪在抽屉前沿附近小幅运动，始终与台面上的红方块簇分离；视频 23.2 s 五个红方块仍全部在台面，所需的夹爪与方块推扫接触没有建立。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "交付",
+    "item": "交付操作出错",
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 234 的生成脚本中，move_to_pinch 的逆解目标函数直接改写同一活动仿真的 d.qpos[arm_qadr] 与 d.qpos[base_qadr]，调用 mj_forward 后未恢复原状态；随后用 target_q 减去已改写的 d.qpos 生成并保存增量 actions。log step 60 所读控制实现表明增量动作加在当前关节位置上；log step 254 明确返回所保存 465 条动作重放 success=False，随后仍保存交付。推断：逆解期间未录入动作的状态改写改变了录制起点，保存的增量动作不能在从初态开始的重放中实现预定推扫；这与视频 9.0–23.2 s 夹爪始终不到方块处相符，是生成、录制交付轨迹的错误。"
+   }
+  ],
+  "gap_zh": "没有逐帧仿真状态或接触力日志，无法量化每次未恢复的关节状态改写对已保存动作造成的误差，也不能确认夹爪在抽屉前沿是否另有阻挡。交付根因由 log step 234 的代码、log step 254 的重放结果和视频共同推断；会话中其他测试的碰撞及逆解结果未当成本次评分轨迹的现象。"
+ },
+ "summary_zh": "机器人在视频约 6.5 s 拉开目标抽屉，最终完成 1/6 个节点；直到视频 23.2 s，五个方块仍全部留在台面。断点是第1块入抽屉：夹爪未到达方块处，未建立推扫接触；生成脚本在活动仿真中求逆解时改写关节状态而未恢复，导致所录增量动作缺少预期运动，支持交付操作出错这一根因。没有逐帧状态或力记录，无法进一步量化轨迹误差或确认抽屉前沿的阻挡。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "抽屉约 6.5–7 s 打开、五个方块全程留在台面，节点值、断点（cubes_in_drawer_1，操作中）、没建立接触现象和交付操作出错根因均与视频及 log step 234/254 相符，未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:39:04Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-into-drawer-i00-privileged--wqdzvp7/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-into-drawer-i00-privileged--wqdzvp7/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0b99014df3448eda247f6d7b52fd910892212175f32607b530c23225e68d0bac",
+   "video_sha256": "29b1d4d5c9681f362f714d9a6a5b5f8b70eda8e30265ef058dccd604bd583cc5",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/sweep_into_drawer/trajectories/kinder-sweep-into-drawer-i00-standard--2jm7iqc.json b/phase2/kinder/sweep_into_drawer/trajectories/kinder-sweep-into-drawer-i00-standard--2jm7iqc.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c150772626ebe3a017585cf2366353d92e75356
--- /dev/null
+++ b/phase2/kinder/sweep_into_drawer/trajectories/kinder-sweep-into-drawer-i00-standard--2jm7iqc.json
@@ -0,0 +1,357 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-sweep-into-drawer-i00-standard--2jm7iqc",
+ "taskKey": "kinder/sweep_into_drawer",
+ "dag_sha256": "db51b1c850eb394d2fed8f132cb43f543cd8e60ae7829c4988ab6db121cedfcd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 974,
+   "sim_steps": 974,
+   "calls": 432,
+   "rows": 974,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 778.3,
+   "video_rendered": 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/kinder-sweep-into-drawer-i00-standard--2jm7iqc/replay.mp4",
+  "duration_s": 48.8,
+  "fps": 10.0,
+  "frames": 488,
+  "sha256": "1565f39b4946385aa908aed3de08e3f75b83dca2f70c17d7c2d7d32342ca98f9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "drawer_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      20.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 20.5,
+      "log_step": 43,
+      "text_zh": "观察：视频 20.0–20.4 s 目标抽屉面板仍基本齐平；视频 20.5–21.1 s 机器人夹爪在把手处随底盘后退，面板外移，露出可接收方块的浅色内腔，首次满足打开判据。"
+     },
+     {
+      "t": 38.0,
+      "log_step": 57,
+      "text_zh": "观察：视频 21.5–22.5 s 抽屉被机器人前移的夹爪推回，视频 36.25–38.0 s 又被拉开；视频 48.7 s 仍可见敞开的浅色内腔。本节点为 event，首次打开后保持记为已达到。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人二指夹爪闭合夹住上排中间抽屉横向把手，并在视频 20.5–21.1 s、36.25–38.0 s 随底盘后退外拉抽屉；未使用台面刮板。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "视频 21.5–22.5 s 机器人夹爪在把手及面板处向柜内移动，将已打开的抽屉推回。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘在接近把手、后退拉屉及随后前移调整时支承机械臂；视频 20.5–21.1 s、36.25–38.0 s 可见后退拉屉。"
+     }
+    ]
+   },
+   "cubes_in_drawer_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 五个深红方块均在白色岛台台面，目标抽屉关闭；没有方块在抽屉内，至少 1 块入屉的条件不成立。"
+     },
+     {
+      "t": 44.5,
+      "log_step": 71,
+      "text_zh": "观察：视频 42.5–47.2 s 机器人以闭合夹爪在方块附近反复降低、横移和回撤；逐帧对照可见方块保持原有台面位置，未随夹爪扫入抽屉。log step 70–71 的脚本给五块所在的三条横向位置安排了扫动，故这些计数节点属于同一组尝试；实际合格数量始终为零，未达到至少 1 块。"
+     },
+     {
+      "t": 48.7,
+      "log_step": null,
+      "text_zh": "观察：视频 47.8–48.7 s 逐帧及视频 48.7 s 末帧中，五块仍全部位于台面，拉出的浅色抽屉内未见落入的方块；至少 1 块入屉的终值为 false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五块共用同一组直接扫动尝试：视频 42.0–42.5 s 机器人底盘前移调整工作位置并支承机械臂。之后夹爪在方块上方扫动，但未建立能带动方块的推扫接触；不把计划中的夹爪推扫或工具接触记为已发生。"
+     }
+    ]
+   },
+   "cubes_in_drawer_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 五个深红方块均在白色岛台台面，目标抽屉关闭；没有方块在抽屉内，至少 2 块入屉的条件不成立。"
+     },
+     {
+      "t": 44.5,
+      "log_step": 71,
+      "text_zh": "观察：视频 42.5–47.2 s 机器人以闭合夹爪在方块附近反复降低、横移和回撤；逐帧对照可见方块保持原有台面位置，未随夹爪扫入抽屉。log step 70–71 的脚本给五块所在的三条横向位置安排了扫动，故这些计数节点属于同一组尝试；实际合格数量始终为零，未达到至少 2 块。"
+     },
+     {
+      "t": 48.7,
+      "log_step": null,
+      "text_zh": "观察：视频 47.8–48.7 s 逐帧及视频 48.7 s 末帧中，五块仍全部位于台面，拉出的浅色抽屉内未见落入的方块；至少 2 块入屉的终值为 false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五块共用同一组直接扫动尝试：视频 42.0–42.5 s 机器人底盘前移调整工作位置并支承机械臂。之后夹爪在方块上方扫动，但未建立能带动方块的推扫接触；不把计划中的夹爪推扫或工具接触记为已发生。"
+     }
+    ]
+   },
+   "cubes_in_drawer_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 五个深红方块均在白色岛台台面，目标抽屉关闭；没有方块在抽屉内，至少 3 块入屉的条件不成立。"
+     },
+     {
+      "t": 44.5,
+      "log_step": 71,
+      "text_zh": "观察：视频 42.5–47.2 s 机器人以闭合夹爪在方块附近反复降低、横移和回撤；逐帧对照可见方块保持原有台面位置，未随夹爪扫入抽屉。log step 70–71 的脚本给五块所在的三条横向位置安排了扫动，故这些计数节点属于同一组尝试；实际合格数量始终为零，未达到至少 3 块。"
+     },
+     {
+      "t": 48.7,
+      "log_step": null,
+      "text_zh": "观察：视频 47.8–48.7 s 逐帧及视频 48.7 s 末帧中，五块仍全部位于台面，拉出的浅色抽屉内未见落入的方块；至少 3 块入屉的终值为 false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五块共用同一组直接扫动尝试：视频 42.0–42.5 s 机器人底盘前移调整工作位置并支承机械臂。之后夹爪在方块上方扫动，但未建立能带动方块的推扫接触；不把计划中的夹爪推扫或工具接触记为已发生。"
+     }
+    ]
+   },
+   "cubes_in_drawer_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 五个深红方块均在白色岛台台面，目标抽屉关闭；没有方块在抽屉内，至少 4 块入屉的条件不成立。"
+     },
+     {
+      "t": 44.5,
+      "log_step": 71,
+      "text_zh": "观察：视频 42.5–47.2 s 机器人以闭合夹爪在方块附近反复降低、横移和回撤；逐帧对照可见方块保持原有台面位置，未随夹爪扫入抽屉。log step 70–71 的脚本给五块所在的三条横向位置安排了扫动，故这些计数节点属于同一组尝试；实际合格数量始终为零，未达到至少 4 块。"
+     },
+     {
+      "t": 48.7,
+      "log_step": null,
+      "text_zh": "观察：视频 47.8–48.7 s 逐帧及视频 48.7 s 末帧中，五块仍全部位于台面，拉出的浅色抽屉内未见落入的方块；至少 4 块入屉的终值为 false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五块共用同一组直接扫动尝试：视频 42.0–42.5 s 机器人底盘前移调整工作位置并支承机械臂。之后夹爪在方块上方扫动，但未建立能带动方块的推扫接触；不把计划中的夹爪推扫或工具接触记为已发生。"
+     }
+    ]
+   },
+   "cubes_in_drawer_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 五个深红方块均在白色岛台台面，目标抽屉关闭；没有方块在抽屉内，至少 5 块入屉的条件不成立。"
+     },
+     {
+      "t": 44.5,
+      "log_step": 71,
+      "text_zh": "观察：视频 42.5–47.2 s 机器人以闭合夹爪在方块附近反复降低、横移和回撤；逐帧对照可见方块保持原有台面位置，未随夹爪扫入抽屉。log step 70–71 的脚本给五块所在的三条横向位置安排了扫动，故这些计数节点属于同一组尝试；实际合格数量始终为零，未达到至少 5 块。"
+     },
+     {
+      "t": 48.7,
+      "log_step": null,
+      "text_zh": "观察：视频 47.8–48.7 s 逐帧及视频 48.7 s 末帧中，五块仍全部位于台面，拉出的浅色抽屉内未见落入的方块；至少 5 块入屉的终值为 false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五块共用同一组直接扫动尝试：视频 42.0–42.5 s 机器人底盘前移调整工作位置并支承机械臂。之后夹爪在方块上方扫动，但未建立能带动方块的推扫接触；不把计划中的夹爪推扫或工具接触记为已发生。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "cubes_in_drawer_1",
+   "t": 43.0,
+   "log_step": 67,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 42.5–43.0 s 机器人开始向方块区域执行直接扫动，夹爪没有将任何方块推出原位；视频 43.1–48.7 s 后续扫动仍未使一块落入敞开的抽屉。打开抽屉已在视频 20.5 s 达到且末段重新打开，最早一直未修复的步骤是第1块入抽屉。"
+  },
+  "unmet": {
+   "cubes_in_drawer_1": false,
+   "cubes_in_drawer_2": false,
+   "cubes_in_drawer_3": false,
+   "cubes_in_drawer_4": false,
+   "cubes_in_drawer_5": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 43.0,
+    "log_step": 67,
+    "evidence_zh": "观察：视频 42.5–47.2 s 夹爪经过方块上方及靠机器人一侧，局部方块被夹爪遮挡；对照视频 42.4 s、44.8 s 及 47.8–48.7 s，可见方块位置基本不变，末帧五块仍在台面。log step 71 用服务返回的关节编码器读数及 agent 自写正运动学计算的末端世界系 x≈0.361–0.501 m，未达到 log step 70 第一条扫线的后侧起点 x=0.560 m；这些是脚本计算值，不是独立状态真值。推断：夹爪未到达能从方块后侧推动它们的有效接触位置，未建立将方块推入抽屉所需的接触；遮挡期间不能排除瞬时轻擦。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "evidence_zh": "推断：扫动脚本在末端尚未跟到接触起点时就继续后续航点，导致夹爪从方块上方掠过。依据：log step 47 的 cart 对每个航点只执行一个控制步便前进；log step 71 的执行器对每个航点最多纠正四步，达到次数后无论是否到位都继续。log step 70 首个目标为约 (0.560, 0.075, 0.560) m，而 log step 71 根据编码器及自写正运动学算出的首个实际末端为 (0.454, 0.066, 0.531) m，后续下降航点目标高度为 0.490 m，输出仍为 0.516 m。视频 43.1–44.8 s 可见夹爪横移而方块没有随动。以上坐标是 agent 脚本的计算输出，不当作独立状态真值；视频支持未跟到有效推扫位置这一归因。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志或接触对、力传感记录；夹爪遮挡局部方块时无法排除瞬时轻擦，亦不能精确量化末端间隙。视频可确认始终未建立能推动方块入屉的接触、五块最终仍全部在台面；反馈控制归因结合了脚本与其运动学计算，非独立状态测量。视频时刻均取自已检查的画面，未把 agent 工作时间或控制步数直接换算成视频时间。"
+ },
+ "summary_zh": "评分尝试完成打开抽屉，首次达到约为视频 20.5 s；抽屉随后被推回，末段重新打开，事件节点保持已达到，最终为 1/6。机器人在视频 42.5–48.7 s 尝试直接扫动五个方块，可见位置基本不变且最终均留在台面，断在第1块入抽屉；脚本未等待末端跟到接触航点便继续扫动，支持控制·反馈控制归因。置信度由 8 降至 7：无状态及接触日志，遮挡期间的轻擦不能排除；根因依赖脚本运动学及编码器推算，虽审阅所称多数航点不可达不成立，仍不能完全排除部分逆解超差的贡献。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "WHERE 标签（抽屉约视频 20.5 s 打开、五块全程在台面、断点第1块入抽屉、final=1/6）与视频一致；问题在根因：'反馈控制' 归因与日志中的逆解/可达性证据不符，实际更支持 轨迹或逆解（扫动起点超出可达范围）。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "WHERE 标签与视频一致：抽屉约视频 20.5 s 打开、其后被推回并在 36–38 s 重新拉开，五块全程留在台面，断点为第1块入抽屉，final=1/6。第 1 轮提出的根因争议，标注者已用 log step 29/70/71 给出证据回应，我没有新证据，不再重复。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:58:46Z",
+  "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/kinder-sweep-into-drawer-i00-standard--2jm7iqc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-into-drawer-i00-standard--2jm7iqc/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-into-drawer-i00-standard--2jm7iqc/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-into-drawer-i00-standard--2jm7iqc/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d85ff23240e6879215ad1e4365bd9a308d0ba05fefe523ba5802f328e9e59b4c",
+   "video_sha256": "1565f39b4946385aa908aed3de08e3f75b83dca2f70c17d7c2d7d32342ca98f9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/sweep_into_drawer/trajectories/kinder-sweep-into-drawer-i00-standard--gqrpz3n.json b/phase2/kinder/sweep_into_drawer/trajectories/kinder-sweep-into-drawer-i00-standard--gqrpz3n.json
new file mode 100644
index 0000000000000000000000000000000000000000..c680742ab6b046d641d7069be50434f70b568413
--- /dev/null
+++ b/phase2/kinder/sweep_into_drawer/trajectories/kinder-sweep-into-drawer-i00-standard--gqrpz3n.json
@@ -0,0 +1,225 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-sweep-into-drawer-i00-standard--gqrpz3n",
+ "taskKey": "kinder/sweep_into_drawer",
+ "dag_sha256": "db51b1c850eb394d2fed8f132cb43f543cd8e60ae7829c4988ab6db121cedfcd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 80,
+   "sim_steps": 80,
+   "calls": 24,
+   "rows": 80,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 1173.8,
+   "video_rendered": 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/kinder-sweep-into-drawer-i00-standard--gqrpz3n/replay.mp4",
+  "duration_s": 4.1,
+  "fps": 10.0,
+  "frames": 41,
+  "sha256": "a67f2252b580aff74f23eb6508c91610dfc5da13cfe9470145c5a1603d1ed9bc"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "drawer_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 目标上排中间抽屉面板与柜面齐平；逐帧检查视频 0.0–4.0 s，机器人先转动腕部，随后底盘后退、再靠近，夹爪降到柜沿附近，但面板始终未外移，未露出浅色内腔。成功参考视频 6.0 s 可见明显外移的面板和浅色内腔，此处仅用于核对可见判据。"
+     },
+     {
+      "t": 4.0,
+      "log_step": 46,
+      "text_zh": "观察：视频 3.0–4.0 s 抽屉仍关闭，夹爪停在把手上方；log step 46 的脚本执行预抓取移动并返回 control_steps=80，log step 49 只计算后续插入把手槽的逆解，尚未提交该动作。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 0.9–2.6 s 轮式底盘先退离再靠近岛台，支承机械臂完成打开抽屉前的预抓取定位。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 2.4–4.0 s 夹爪接近柜沿，未见夹住或勾住目标横把手；斜俯视分辨率不足以判定夹爪是否轻触柜沿，不能确定该处实际接触方式。"
+     }
+    ]
+   },
+   "cubes_in_drawer_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 0.0–4.0 s，五个深红色小方块始终留在白色台面原处，机器人没有抓取或扫动方块；视频 4.0 s 仍可见五块，目标抽屉关闭。没有方块进入抽屉，因此当前合格数量不足 1 个。"
+     }
+    ]
+   },
+   "cubes_in_drawer_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 0.0–4.0 s，五个深红色小方块始终留在白色台面原处，机器人没有抓取或扫动方块；视频 4.0 s 仍可见五块，目标抽屉关闭。没有方块进入抽屉，因此当前合格数量不足 2 个。"
+     }
+    ]
+   },
+   "cubes_in_drawer_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 0.0–4.0 s，五个深红色小方块始终留在白色台面原处，机器人没有抓取或扫动方块；视频 4.0 s 仍可见五块，目标抽屉关闭。没有方块进入抽屉，因此当前合格数量不足 3 个。"
+     }
+    ]
+   },
+   "cubes_in_drawer_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 0.0–4.0 s，五个深红色小方块始终留在白色台面原处，机器人没有抓取或扫动方块；视频 4.0 s 仍可见五块，目标抽屉关闭。没有方块进入抽屉，因此当前合格数量不足 4 个。"
+     }
+    ]
+   },
+   "cubes_in_drawer_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 0.0–4.0 s，五个深红色小方块始终留在白色台面原处，机器人没有抓取或扫动方块；视频 4.0 s 仍可见五块，目标抽屉关闭。没有方块进入抽屉，因此当前合格数量不足 5 个。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "drawer_opened",
+   "t": null,
+   "log_step": 50,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 0.0–4.0 s 机器人正在为打开抽屉调整底盘与夹爪，抽屉始终关闭。log step 46 执行预抓取定位，log step 49 继续计算把手槽插入姿态，log step 50 返回“This request was blocked by Gemini's filters.”后会话结束；此前没有任务完成报告或主动结束调用。推断：外部过滤器在打开抽屉步骤尚未完成时中断会话；此 ref 表示中断时正在进行的步骤，未定位到可独立确认的物理失败时刻，故 t=null。"
+  },
+  "unmet": {
+   "cubes_in_drawer_1": false,
+   "cubes_in_drawer_2": false,
+   "cubes_in_drawer_3": false,
+   "cubes_in_drawer_4": false,
+   "cubes_in_drawer_5": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：log step 50 明确返回 Gemini 过滤器拦截信息，日志没有后续动作；log step 49 仍在为后续把手插入计算逆解，视频止于预抓取阶段。推断：依 CASES.md FAIL-5 与 DECISIONS.md D37，这是结果尚未完成时的外部中断，应重试并排除于机器人失败归因；保留目录给定的 success=0，但不标“没尝试”，现象和根因均留空。没有状态日志；视频 2.4–4.0 s 不能分辨夹爪与柜沿是否有轻微接触，也不足以证明碰撞阻断或控制失稳。"
+ },
+ "summary_zh": "观察：视频 0.0–4.0 s 中，机器人仅转腕观察并移动底盘、机械臂到抽屉把手上方附近；抽屉始终关闭，五个方块仍在台面，节点最终为 0/6。观察：log step 50 返回 Gemini 过滤器拦截信息，此前 log step 49 仍在计算后续操作；推断：打开抽屉阶段被外部中断，按 FAIL-5/D37 不作机器人失败归因。观察：无状态日志，柜沿处的细微接触无法从视频分辨，未据此添加接触失败或控制根因。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "视频 0–4.0 s 抽屉始终关闭、五个方块未动，节点 0/6 正确；log step 50 为 Gemini 过滤器拦截且此前无完成报告，属外部中断，现象/根因留空并写 gap_zh 符合 D37/FAIL-5。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": "2026-10-30T02:37:31Z",
+  "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/kinder-sweep-into-drawer-i00-standard--gqrpz3n/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-into-drawer-i00-standard--gqrpz3n/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c89a772c1e66660ec3a777338073b7f1fdc838f2986d639d1d4329eabbf775b6",
+   "video_sha256": "a67f2252b580aff74f23eb6508c91610dfc5da13cfe9470145c5a1603d1ed9bc",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/sweep_into_drawer/trajectories/kinder-sweep-into-drawer-i00-standard--hxul9nm.json b/phase2/kinder/sweep_into_drawer/trajectories/kinder-sweep-into-drawer-i00-standard--hxul9nm.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d94efdaeb85f579dedd591d0b792c3a4b612482
--- /dev/null
+++ b/phase2/kinder/sweep_into_drawer/trajectories/kinder-sweep-into-drawer-i00-standard--hxul9nm.json
@@ -0,0 +1,309 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-sweep-into-drawer-i00-standard--hxul9nm",
+ "taskKey": "kinder/sweep_into_drawer",
+ "dag_sha256": "db51b1c850eb394d2fed8f132cb43f543cd8e60ae7829c4988ab6db121cedfcd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 1000,
+   "sim_steps": 1000,
+   "calls": 612,
+   "rows": 1000,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 789.5,
+   "video_rendered": 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/kinder-sweep-into-drawer-i00-standard--hxul9nm/replay.mp4",
+  "duration_s": 50.1,
+  "fps": 10.0,
+  "frames": 501,
+  "sha256": "a6cbd18fb0a3702c3b4b697358a113f9444e91b9f3beeb38d09eb7c0419ade6d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "drawer_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.5,
+      "log_step": 81,
+      "text_zh": "观察：视频 3.5–6.5 s，机器人夹爪从上方向台面前缘下探并随底盘后退，目标抽屉面板仍与柜面齐平，未露出内腔；log step 81 的脚本执行了下探、闭爪及底盘与机械臂外拉。"
+     },
+     {
+      "t": 10.0,
+      "log_step": 92,
+      "text_zh": "观察：视频 8.0–14.0 s，机器人夹爪持续抵在台面前缘上方，未下到把手处；log step 92 的脚本报告下降目标未达到、关节最大误差为 0.3695，并在之后闭爪。"
+     },
+     {
+      "t": 43.0,
+      "log_step": 123,
+      "text_zh": "观察：视频 30.0–35.5 s、39.0–45.5 s 的再次下探、后退仍未拉出目标抽屉；视频 49.0–50.0 s 的末段逐帧检查中面板仍齐平。成功参考视频 5.5–7.5 s 的同一视角可清楚看到面板外移和浅色内腔，本次没有出现该完成线索。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 4.5–5.5 s、8.0–14.0 s，机器人二指夹爪下探时抵住岛台台面前缘；没有看到两指包夹把手，也未看到勾住把手并带动抽屉，故不记抓握或勾。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 3.0–6.0 s、32.0–35.0 s 及 41.0–45.5 s，轮式底盘调整位置并后退，支承机械臂尝试开屉。"
+     }
+    ]
+   },
+   "cubes_in_drawer_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，五个深红色方块均在白色台面上，目标抽屉关闭，第1块入抽屉的数量条件不成立。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 123,
+      "text_zh": "观察：视频 46.0–50.0 s，机器人张开夹爪在整组方块旁作扫动，但五个方块仍留在原台面区域；视频 49.0–50.0 s 逐帧可见未有方块越过台面边缘，目标抽屉仍关闭。因此合格入屉数量为零，未达到至少 1 块；log step 123 的脚本虽运行扫动，服务返回 reason=failed。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 46.0–50.0 s，机器人用空夹爪朝整组方块执行扫动，未拿起台面刮板；视频 47.0–47.8 s 爪指与最近方块局部重叠，方块随后仍在原处。无法确认是否发生轻微擦碰，未见可靠的夹持或推动位移；此处对应同一次整组扫动尝试，不代表分别抓取五次。"
+     }
+    ]
+   },
+   "cubes_in_drawer_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，五个深红色方块均在白色台面上，目标抽屉关闭，第2块入抽屉的数量条件不成立。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 123,
+      "text_zh": "观察：视频 46.0–50.0 s，机器人张开夹爪在整组方块旁作扫动，但五个方块仍留在原台面区域；视频 49.0–50.0 s 逐帧可见未有方块越过台面边缘，目标抽屉仍关闭。因此合格入屉数量为零，未达到至少 2 块；log step 123 的脚本虽运行扫动，服务返回 reason=failed。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 46.0–50.0 s，机器人用空夹爪朝整组方块执行扫动，未拿起台面刮板；视频 47.0–47.8 s 爪指与最近方块局部重叠，方块随后仍在原处。无法确认是否发生轻微擦碰，未见可靠的夹持或推动位移；此处对应同一次整组扫动尝试，不代表分别抓取五次。"
+     }
+    ]
+   },
+   "cubes_in_drawer_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，五个深红色方块均在白色台面上，目标抽屉关闭，第3块入抽屉的数量条件不成立。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 123,
+      "text_zh": "观察：视频 46.0–50.0 s，机器人张开夹爪在整组方块旁作扫动，但五个方块仍留在原台面区域；视频 49.0–50.0 s 逐帧可见未有方块越过台面边缘，目标抽屉仍关闭。因此合格入屉数量为零，未达到至少 3 块；log step 123 的脚本虽运行扫动，服务返回 reason=failed。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 46.0–50.0 s，机器人用空夹爪朝整组方块执行扫动，未拿起台面刮板；视频 47.0–47.8 s 爪指与最近方块局部重叠，方块随后仍在原处。无法确认是否发生轻微擦碰，未见可靠的夹持或推动位移；此处对应同一次整组扫动尝试，不代表分别抓取五次。"
+     }
+    ]
+   },
+   "cubes_in_drawer_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，五个深红色方块均在白色台面上，目标抽屉关闭，第4块入抽屉的数量条件不成立。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 123,
+      "text_zh": "观察：视频 46.0–50.0 s，机器人张开夹爪在整组方块旁作扫动，但五个方块仍留在原台面区域；视频 49.0–50.0 s 逐帧可见未有方块越过台面边缘，目标抽屉仍关闭。因此合格入屉数量为零，未达到至少 4 块；log step 123 的脚本虽运行扫动，服务返回 reason=failed。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 46.0–50.0 s，机器人用空夹爪朝整组方块执行扫动，未拿起台面刮板；视频 47.0–47.8 s 爪指与最近方块局部重叠，方块随后仍在原处。无法确认是否发生轻微擦碰，未见可靠的夹持或推动位移；此处对应同一次整组扫动尝试，不代表分别抓取五次。"
+     }
+    ]
+   },
+   "cubes_in_drawer_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，五个深红色方块均在白色台面上，目标抽屉关闭，第5块入抽屉的数量条件不成立。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 123,
+      "text_zh": "观察：视频 46.0–50.0 s，机器人张开夹爪在整组方块旁作扫动，但五个方块仍留在原台面区域；视频 49.0–50.0 s 逐帧可见未有方块越过台面边缘，目标抽屉仍关闭。因此合格入屉数量为零，未达到至少 5 块；log step 123 的脚本虽运行扫动，服务返回 reason=failed。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 46.0–50.0 s，机器人用空夹爪朝整组方块执行扫动，未拿起台面刮板；视频 47.0–47.8 s 爪指与最近方块局部重叠，方块随后仍在原处。无法确认是否发生轻微擦碰，未见可靠的夹持或推动位移；此处对应同一次整组扫动尝试，不代表分别抓取五次。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "drawer_opened",
+   "t": 4.5,
+   "log_step": 81,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 4.5 s，机器人从上方下探开屉时夹爪抵在台面前缘，后退并未带出抽屉；视频 8.0–14.0 s 长时间停在前缘，之后多次改姿重试至视频 45.5 s 仍没有形成抽屉开口。视频 46.0–50.0 s 转而扫动方块也没有修复开屉步骤；这是最早始终未完成的步骤。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 4.5,
+    "log_step": 92,
+    "evidence_zh": "观察：视频 4.5–5.5 s，机器人夹爪下降到岛台台面前缘后停住；视频 8.0–14.0 s 夹爪仍贴在前缘，机械臂变化很小，未进入台面下的把手位置。log step 92 中脚本持续下发下降目标后报告未到容差，最大关节误差 0.3695，随后闭爪仍没有拉动面板。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "已验证有",
+    "evidence_zh": "推断：log step 81、87、92 的脚本让向下的夹爪从把手上方降到抓取位置，log step 110 又采用向下的闭爪去勾把手；视频 4.5–5.5 s、8.0–14.0 s、31.0–32.0 s 显示夹爪与台面前缘相遇，未建立能够外拉把手的接触。该进入方向与台面前缘的几何关系不适配，闭爪及底盘后退没有转化为抽屉外移。成功参考视频 0.0–7.5 s 显示可从台面下方对准把手并拉开抽屉，支持存在可行替代方案；参考视频仅用于可行性对照。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志或接触力记录，无法核实爪指在把手附近的全部接触对及阻挡力；末段爪指短暂遮住最近方块，是否轻微擦碰无法确认，已将整组扫动的实际接触记为未知。上述缺口不影响抽屉未开、五块仍在台面的节点判定。",
+  "unmet": {
+   "cubes_in_drawer_1": false,
+   "cubes_in_drawer_2": false,
+   "cubes_in_drawer_3": false,
+   "cubes_in_drawer_4": false,
+   "cubes_in_drawer_5": false
+  }
+ },
+ "summary_zh": "机器人多次下探、闭爪并配合底盘后退，但抽屉始终未形成开口，六个节点均未达到。最早未修复的断点为打开抽屉：夹爪在台面前缘受阻，推断向下进入把手的接触几何不适配；末段扫动后五块仍在台面。无状态日志，局部轻微擦碰及接触力无法核实。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "逐帧核对：抽屉始终未拉出，五个方块位置不变，六个节点均未达到，断点与现象、根因均有视频支撑。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": "2026-10-30T02:48:25Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-into-drawer-i00-standard--hxul9nm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-into-drawer-i00-standard--hxul9nm/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8910e36edcc3736342166c2892ef9c29c1ee9f2a87949553d5878a1730806590",
+   "video_sha256": "a6cbd18fb0a3702c3b4b697358a113f9444e91b9f3beeb38d09eb7c0419ade6d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/sweep_into_drawer/trajectories/kinder-sweep-into-drawer-i00-standard--kinzdbw.json b/phase2/kinder/sweep_into_drawer/trajectories/kinder-sweep-into-drawer-i00-standard--kinzdbw.json
new file mode 100644
index 0000000000000000000000000000000000000000..d24f71d1deabcd49dca489a694acf29493d9651d
--- /dev/null
+++ b/phase2/kinder/sweep_into_drawer/trajectories/kinder-sweep-into-drawer-i00-standard--kinzdbw.json
@@ -0,0 +1,256 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-sweep-into-drawer-i00-standard--kinzdbw",
+ "taskKey": "kinder/sweep_into_drawer",
+ "dag_sha256": "db51b1c850eb394d2fed8f132cb43f543cd8e60ae7829c4988ab6db121cedfcd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 414,
+   "sim_steps": 414,
+   "calls": 110,
+   "rows": 414,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 1225.4,
+   "video_rendered": 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/kinder-sweep-into-drawer-i00-standard--kinzdbw/replay.mp4",
+  "duration_s": 20.8,
+  "fps": 10.0,
+  "frames": 208,
+  "sha256": "c96cf0df4e3787d65546cba836689b07d0198cc794e8ae1f2b3b6f7ebcd6a326"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "drawer_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 目标上排中间抽屉面板与柜面齐平；逐帧检查视频 0.0–20.7 s，机器人仅在台面上方转动机械臂，未夹持或勾拉抽屉把手，目标面板始终未外移、未露出浅色内腔。"
+     },
+     {
+      "t": 20.7,
+      "log_step": 42,
+      "text_zh": "观察：视频 19.8–20.7 s 的末段抽屉仍关闭；log step 41 只保存包含开屉和搬块动作的策略脚本，log step 42 随即结束会话，没有执行该脚本的工具调用。成功参考视频 6.0 s 同一视角可清楚看到抽屉外伸和浅色内腔，本次全程没有该外观。"
+     }
+    ]
+   },
+   "cubes_in_drawer_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 五块深红色方块均在白色台面上；逐帧检查视频 0.0–20.7 s，夹爪经过其上方时有短暂遮挡，但前后五块的位置不变，未见任何一块被夹起、推扫离开台面或落入抽屉，因此至少 1 块入屉的条件从未成立。"
+     },
+     {
+      "t": 20.7,
+      "log_step": null,
+      "text_zh": "观察：视频 19.8–20.7 s 五块仍留在台面原有聚集位置，目标抽屉仍闭合，最终合格入屉数为 0，未达到本节点的 1 块要求；此判断依据可见方块位置，不是由 success=0 反推。"
+     }
+    ]
+   },
+   "cubes_in_drawer_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 五块深红色方块均在白色台面上；逐帧检查视频 0.0–20.7 s，夹爪经过其上方时有短暂遮挡，但前后五块的位置不变，未见任何一块被夹起、推扫离开台面或落入抽屉，因此至少 2 块入屉的条件从未成立。"
+     },
+     {
+      "t": 20.7,
+      "log_step": null,
+      "text_zh": "观察：视频 19.8–20.7 s 五块仍留在台面原有聚集位置，目标抽屉仍闭合，最终合格入屉数为 0，未达到本节点的 2 块要求；此判断依据可见方块位置，不是由 success=0 反推。"
+     }
+    ]
+   },
+   "cubes_in_drawer_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 五块深红色方块均在白色台面上；逐帧检查视频 0.0–20.7 s，夹爪经过其上方时有短暂遮挡，但前后五块的位置不变，未见任何一块被夹起、推扫离开台面或落入抽屉，因此至少 3 块入屉的条件从未成立。"
+     },
+     {
+      "t": 20.7,
+      "log_step": null,
+      "text_zh": "观察：视频 19.8–20.7 s 五块仍留在台面原有聚集位置，目标抽屉仍闭合，最终合格入屉数为 0，未达到本节点的 3 块要求；此判断依据可见方块位置，不是由 success=0 反推。"
+     }
+    ]
+   },
+   "cubes_in_drawer_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 五块深红色方块均在白色台面上；逐帧检查视频 0.0–20.7 s，夹爪经过其上方时有短暂遮挡，但前后五块的位置不变，未见任何一块被夹起、推扫离开台面或落入抽屉，因此至少 4 块入屉的条件从未成立。"
+     },
+     {
+      "t": 20.7,
+      "log_step": null,
+      "text_zh": "观察：视频 19.8–20.7 s 五块仍留在台面原有聚集位置，目标抽屉仍闭合，最终合格入屉数为 0，未达到本节点的 4 块要求；此判断依据可见方块位置，不是由 success=0 反推。"
+     }
+    ]
+   },
+   "cubes_in_drawer_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 五块深红色方块均在白色台面上；逐帧检查视频 0.0–20.7 s，夹爪经过其上方时有短暂遮挡，但前后五块的位置不变，未见任何一块被夹起、推扫离开台面或落入抽屉，因此至少 5 块入屉的条件从未成立。"
+     },
+     {
+      "t": 20.7,
+      "log_step": null,
+      "text_zh": "观察：视频 19.8–20.7 s 五块仍留在台面原有聚集位置，目标抽屉仍闭合，最终合格入屉数为 0，未达到本节点的 5 块要求；此判断依据可见方块位置，不是由 success=0 反推。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "drawer_opened",
+   "t": null,
+   "log_step": 42,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.0–20.7 s 机器人只变换台面上方的相机观察姿态，未向抽屉把手建立夹持或外拉动作，抽屉一直关闭。log step 12、21、26、29、30、33、35、36 的机器人调用均为取景扫描；log step 41 保存策略脚本后，log step 42 直接以脚本已保存为交付总结结束，首个开屉操作尚未启动。没有可定位的单一物理失败瞬间，故视频断点时间留空。"
+  },
+  "unmet": {
+   "cubes_in_drawer_1": false,
+   "cubes_in_drawer_2": false,
+   "cubes_in_drawer_3": false,
+   "cubes_in_drawer_4": false,
+   "cubes_in_drawer_5": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": null,
+    "log_step": 42,
+    "evidence_zh": "观察：视频 0.0–20.7 s 机械臂反复在台面上方转动而没有拉把手，五块方块始终在台面，抽屉面板未外移。log step 41 的开屉和搬块动作仅存在于新写的脚本中，之后只有 log step 42 的结束文本，没有运行调用；开屉步骤没有开始。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "任务理解",
+    "evidence_zh": "推断：agent 将保存可执行策略当成了本次任务的交付终点。inputs/run.json 的 task_text 明确要求按实时 episode 评分，保存脚本仅作记录；log step 36 服务仍返回 done=False、control_steps=414，而 log step 41 仅写入策略，log step 42 明称脚本已作为 deliverable 保存并结束。最终视频 20.7 s 抽屉关闭、方块全在台面，证明所述开屉搬块策略尚未实际执行。这一归因依据明确的交付认识与评分要求的冲突，不以停止或零进度本身作为原因。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志或接触传感记录，不能诊断取景扫描时的细微接触或底层控制误差；未执行脚本也不能作为实际抓取、开屉或搬运失败的证据。方块与面板可见，节点未达判断不受此缺口影响。"
+ },
+ "summary_zh": "观察：视频 0.0–20.7 s 机器人仅在台面上方变换观察姿态，抽屉未打开，五块方块始终留在台面，六个节点均未达到。推断：断点为尚未启动的打开抽屉步骤；log step 41–42 将保存策略脚本当作交付后结束，与实时操作评分要求相冲突，支持任务理解偏差。观察：本次无逐帧状态日志，未据取景时的细微接触推断控制故障。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "视频全程抽屉关闭、五块在台面，六个节点均未达，与标注一致；断点 drawer_opened/首步前/没尝试 与 log step 41–42（只写脚本即结束，剩余约 560 s、控制步 414/1000）相符，根因「任务理解」已标为推断并有 task_text「不要提前结束」支持。未发现需要修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:50:19Z",
+  "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/kinder-sweep-into-drawer-i00-standard--kinzdbw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-into-drawer-i00-standard--kinzdbw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "84da5ed15076d2c1615410df8cde37a798abbfb3052b1227a9b877d60e0cb205",
+   "video_sha256": "c96cf0df4e3787d65546cba836689b07d0198cc794e8ae1f2b3b6f7ebcd6a326",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/sweep_into_drawer/trajectories/kinder-sweep-into-drawer-i00-standard--uva9byq.json b/phase2/kinder/sweep_into_drawer/trajectories/kinder-sweep-into-drawer-i00-standard--uva9byq.json
new file mode 100644
index 0000000000000000000000000000000000000000..76577f3fb32b62fe4b31ccb4c2ce9ec59783af92
--- /dev/null
+++ b/phase2/kinder/sweep_into_drawer/trajectories/kinder-sweep-into-drawer-i00-standard--uva9byq.json
@@ -0,0 +1,281 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-sweep-into-drawer-i00-standard--uva9byq",
+ "taskKey": "kinder/sweep_into_drawer",
+ "dag_sha256": "db51b1c850eb394d2fed8f132cb43f543cd8e60ae7829c4988ab6db121cedfcd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 1000,
+   "sim_steps": 1000,
+   "calls": 264,
+   "rows": 1000,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 840.4,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 8.932,
+   "peak_processes": 9,
+   "peak_disk_gb": 1.051,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 1,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_oom": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/kinder-sweep-into-drawer-i00-standard--uva9byq/replay.mp4",
+  "duration_s": 50.1,
+  "fps": 10.0,
+  "frames": 501,
+  "sha256": "637bab7c147caeeb09cf7eef613311e34ffccca47b7bac571c42921086214e86"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "drawer_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 目标上排中间抽屉面板与柜面齐平；逐半秒检查视频全段，未见面板向外滑出或浅色内腔露出。成功参照视频 6.0 s 可见的外移面板及开口，在本段始终未出现。"
+     },
+     {
+      "t": 34.0,
+      "log_step": 103,
+      "text_zh": "观察：视频 30.0–39.5 s 机械臂在柜前下探、转腕，但未见夹爪夹住或勾住目标把手后外拉，抽屉面板不动；log step 103 的脚本目标是调整腕部相机拍摄柜面并保存深度图。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 129,
+      "text_zh": "观察：视频 49.0–50.0 s 抽屉仍关闭；log step 129 的机器人服务状态为 control_steps=1000、done=True、reason=failed。log step 134 中 agent 自述开屉和搬运阶段从未执行，与视频一致。"
+     }
+    ]
+   },
+   "cubes_in_drawer_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 五个深红色方块均在白色台面上；逐半秒检查视频全段，方块没有离开原有台面位置，未见任何一个越过台边落入抽屉，因而至少 1 块入屉的条件从未成立。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 49.0–50.0 s 密集末秒帧及视频 50.0 s 末帧仍可见五个红块留在台面，目标抽屉关闭；没有 1 个合格方块位于抽屉内。机器人未执行抓取或推扫方块，刮板仍在台面。"
+     }
+    ]
+   },
+   "cubes_in_drawer_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 五个深红色方块均在白色台面上；逐半秒检查视频全段，方块没有离开原有台面位置，未见任何一个越过台边落入抽屉，因而至少 2 块入屉的条件从未成立。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 49.0–50.0 s 密集末秒帧及视频 50.0 s 末帧仍可见五个红块留在台面，目标抽屉关闭；没有 2 个合格方块位于抽屉内。机器人未执行抓取或推扫方块，刮板仍在台面。"
+     }
+    ]
+   },
+   "cubes_in_drawer_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 五个深红色方块均在白色台面上；逐半秒检查视频全段，方块没有离开原有台面位置，未见任何一个越过台边落入抽屉，因而至少 3 块入屉的条件从未成立。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 49.0–50.0 s 密集末秒帧及视频 50.0 s 末帧仍可见五个红块留在台面，目标抽屉关闭；没有 3 个合格方块位于抽屉内。机器人未执行抓取或推扫方块，刮板仍在台面。"
+     }
+    ]
+   },
+   "cubes_in_drawer_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 五个深红色方块均在白色台面上；逐半秒检查视频全段，方块没有离开原有台面位置，未见任何一个越过台边落入抽屉，因而至少 4 块入屉的条件从未成立。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 49.0–50.0 s 密集末秒帧及视频 50.0 s 末帧仍可见五个红块留在台面，目标抽屉关闭；没有 4 个合格方块位于抽屉内。机器人未执行抓取或推扫方块，刮板仍在台面。"
+     }
+    ]
+   },
+   "cubes_in_drawer_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 五个深红色方块均在白色台面上；逐半秒检查视频全段，方块没有离开原有台面位置，未见任何一个越过台边落入抽屉，因而至少 5 块入屉的条件从未成立。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 49.0–50.0 s 密集末秒帧及视频 50.0 s 末帧仍可见五个红块留在台面，目标抽屉关闭；没有 5 个合格方块位于抽屉内。机器人未执行抓取或推扫方块，刮板仍在台面。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "drawer_opened",
+   "t": null,
+   "log_step": 129,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.0–50.0 s 机器人移动底盘、改变机械臂和腕部相机朝向，始终没有执行夹住把手外拉的开屉操作，五个方块也始终未移动；log steps 94、99、103、110、116、118、127 均为全景或台面、柜面扫描。log step 129 的服务状态确认单次 episode 已结束；log step 134 中 agent 自述操作阶段从未运行。没有可定位的某次开屉失败瞬间，故视频锚点留空。"
+  },
+  "unmet": {
+   "cubes_in_drawer_1": false,
+   "cubes_in_drawer_2": false,
+   "cubes_in_drawer_3": false,
+   "cubes_in_drawer_4": false,
+   "cubes_in_drawer_5": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": null,
+    "log_step": 134,
+    "evidence_zh": "观察：视频全段及视频 49.0–50.0 s 末秒检查显示机器人仅进行观察姿态调整，目标抽屉未外移，没有夹住或勾住把手外拉的动作。log step 134 中 agent 自述扫描占用了全部控制步，开屉及五次搬运没有运行；标注的是开屉操作未启动，后续入屉节点受此前置阻挡。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "evidence_zh": "观察：inputs/run.json 的 task_text 明确给出单局 1000 控制步上限，并说明不带 seconds 的 get_obs() 免费。log step 61 的脚本执行底盘运动探针；log steps 75、86 调整腕部相机并采集深度；log step 94 执行 360° 全景；log steps 99、103、110、116、118 继续调整相机扫描台面或柜面，服务返回的 control_steps 依次为 604、734、885、930、957。log step 120 确认 control_steps=957、done=False 后，log step 127 仍调用 move_arm 观察抽屉面板，继而收到 EpisodeOver；log step 129 服务返回 control_steps=1000、done=True、reason=failed。视频 0.0–50.0 s 半秒抽帧及视频 49.0–50.0 s 密集帧中，机器人反复改变观察姿态，目标抽屉保持关闭，五个红块仍在台面。推断：跨阶段策略持续把有限的机器人动作预算投入标定、全景和多轮扫描，没有为开屉及入屉操作保留预算或及时转入操作，导致开屉步骤未启动；归因依据实际扫描调用及预算增长，而非仅由控制步耗尽或 agent 的停止自述反推。",
+    "source_zh": "日志、视频"
+   }
+  ],
+  "gap_zh": "观察：本任务没有状态日志，回放为外部斜俯视；log steps 89、110 仅报告 agent 分割脚本的红色点云统计，log steps 116、118 返回 red px 0。推断：这些输出缺少与真实物体位置对应的可靠对照，不能单独证实具体的物体误识别或定位错误，因此不另标感知根因；它们不影响由多轮扫描调用和服务预算读数支持的跨阶段规划归因。未启动开屉或搬运，故各节点不填写实际操作接触；柜前转腕的偶然轻触也缺乏接触日志可核实。视频时间直接取自帧，不以 agent 时间或控制步换算。"
+ },
+ "summary_zh": "机器人在评分回放中持续调整底盘和机械臂扫描场景，抽屉未打开，五个红块留在台面，最终完成 0/6 个节点；断点为打开抽屉的首步前，现象为没尝试。日志中的多轮扫描调用及服务 control_steps 从 604、734、885、930、957 增至 1000 的记录，支持认知·推理/规划：持续扫描的跨阶段策略未给实际操作保留预算。具体的感知估计错误仍缺少可靠对照；规划归因是结合日志与视频的推断，故 conf 从 8 下调为 6。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "WHERE 标注（全部节点 false、断点 drawer_opened/首步前/没尝试、时钟未转换）与视频一致：我逐帧查看 0–50 s，抽屉始终关闭、五块红块未动。问题在根因层：空层 + 'gap_zh' 称证据不足，但 log 61–129 显示整个 1000 控制步被用在标定/全景/多次扫描上，且开屉从未尝试，这属于有证据的跨阶段策略错误（推理/规划），不是仅由超时或 agent 自述停止反推。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "全部节点 false、断点 drawer_opened/首步前/没尝试与视频一致：抽屉全程关闭、五块红块未动；规划根因有 log 的扫描调用与 control_steps 读数支持，且未把超时本身当原因。时钟未转换。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:48:17Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-into-drawer-i00-standard--uva9byq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-into-drawer-i00-standard--uva9byq/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-into-drawer-i00-standard--uva9byq/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-into-drawer-i00-standard--uva9byq/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "439115601794be9fb531acf4532ecba4ebcf82bfd252de5e665a48f45d701ba3",
+   "video_sha256": "637bab7c147caeeb09cf7eef613311e34ffccca47b7bac571c42921086214e86",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/sweep_into_drawer/trajectories/kinder-sweep-into-drawer-i00-standard--wde8azk.json b/phase2/kinder/sweep_into_drawer/trajectories/kinder-sweep-into-drawer-i00-standard--wde8azk.json
new file mode 100644
index 0000000000000000000000000000000000000000..22fdcbe458855011bd7e42d67a3c32e59f7fcb61
--- /dev/null
+++ b/phase2/kinder/sweep_into_drawer/trajectories/kinder-sweep-into-drawer-i00-standard--wde8azk.json
@@ -0,0 +1,325 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-sweep-into-drawer-i00-standard--wde8azk",
+ "taskKey": "kinder/sweep_into_drawer",
+ "dag_sha256": "db51b1c850eb394d2fed8f132cb43f543cd8e60ae7829c4988ab6db121cedfcd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 992,
+   "sim_steps": 992,
+   "calls": 199,
+   "rows": 992,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 1561.5,
+   "video_rendered": 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/kinder-sweep-into-drawer-i00-standard--wde8azk/replay.mp4",
+  "duration_s": 49.7,
+  "fps": 10.0,
+  "frames": 497,
+  "sha256": "2d049b9162eca836d764e05c385bd50c2604be2f40eeb734d245d02fb630a9cc"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "drawer_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 上排中间抽屉面板与柜面齐平；全片每隔约 0.5 s 检查，至视频 49.6 s 均未出现面板外移和浅色内腔。成功参考视频 8.0 s 的同一视角可清楚看到拉出的面板与内腔，本回合没有该开口。"
+     },
+     {
+      "t": 43.5,
+      "log_step": 61,
+      "text_zh": "观察：视频 31.0–43.5 s 机器人反复改变机械臂朝向、靠近柜面观察，抽屉保持关闭；log step 53、58、61 的实际机器人脚本均为相机取景、关节移动和获取图像，未执行夹住把手后外拉的动作。"
+     },
+     {
+      "t": 49.6,
+      "log_step": 98,
+      "text_zh": "观察：视频 49.6 s 末帧抽屉仍关闭、夹爪空置于台面上方；agent 在 log step 98 明确决定不再尝试抓把手，log step 100 自述抽屉从未打开，与视频一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–3.0 s 机器人转动并后移底盘，视频 12.0–13.0 s 前移、视频 28.5–29.0 s 再后移，为观察岛台和抽屉调整位置；轮式底盘支承机械臂。未见夹爪夹住或勾住把手并外拉，不记录抓握或勾。"
+     }
+    ]
+   },
+   "cubes_in_drawer_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 五个深红色方块均在白色台面上，旁边刮板未被拿起；视频 0.0–49.5 s 每隔约 0.5 s 的画面中，方块保持该簇状布局，没有被机器人搬运、扫离台面或落入抽屉，第1块入屉的计数条件从未成立。"
+     },
+     {
+      "t": 49.6,
+      "log_step": null,
+      "text_zh": "观察：视频 48.6–49.6 s 逐帧检查，五个方块仍全部在台面上、空夹爪悬于其上方、目标抽屉仍关闭；合格入屉数为 0，未达到至少 1 个的条件。"
+     }
+    ]
+   },
+   "cubes_in_drawer_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 五个深红色方块均在白色台面上，旁边刮板未被拿起；视频 0.0–49.5 s 每隔约 0.5 s 的画面中，方块保持该簇状布局，没有被机器人搬运、扫离台面或落入抽屉，第2块入屉的计数条件从未成立。"
+     },
+     {
+      "t": 49.6,
+      "log_step": null,
+      "text_zh": "观察：视频 48.6–49.6 s 逐帧检查，五个方块仍全部在台面上、空夹爪悬于其上方、目标抽屉仍关闭；合格入屉数为 0，未达到至少 2 个的条件。"
+     }
+    ]
+   },
+   "cubes_in_drawer_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 五个深红色方块均在白色台面上，旁边刮板未被拿起；视频 0.0–49.5 s 每隔约 0.5 s 的画面中，方块保持该簇状布局，没有被机器人搬运、扫离台面或落入抽屉，第3块入屉的计数条件从未成立。"
+     },
+     {
+      "t": 49.6,
+      "log_step": null,
+      "text_zh": "观察：视频 48.6–49.6 s 逐帧检查，五个方块仍全部在台面上、空夹爪悬于其上方、目标抽屉仍关闭；合格入屉数为 0，未达到至少 3 个的条件。"
+     }
+    ]
+   },
+   "cubes_in_drawer_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 五个深红色方块均在白色台面上，旁边刮板未被拿起；视频 0.0–49.5 s 每隔约 0.5 s 的画面中，方块保持该簇状布局，没有被机器人搬运、扫离台面或落入抽屉，第4块入屉的计数条件从未成立。"
+     },
+     {
+      "t": 49.6,
+      "log_step": null,
+      "text_zh": "观察：视频 48.6–49.6 s 逐帧检查，五个方块仍全部在台面上、空夹爪悬于其上方、目标抽屉仍关闭；合格入屉数为 0，未达到至少 4 个的条件。"
+     }
+    ]
+   },
+   "cubes_in_drawer_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 五个深红色方块均在白色台面上，旁边刮板未被拿起；视频 0.0–49.5 s 每隔约 0.5 s 的画面中，方块保持该簇状布局，没有被机器人搬运、扫离台面或落入抽屉，第5块入屉的计数条件从未成立。"
+     },
+     {
+      "t": 49.6,
+      "log_step": null,
+      "text_zh": "观察：视频 48.6–49.6 s 逐帧检查，五个方块仍全部在台面上、空夹爪悬于其上方、目标抽屉仍关闭；合格入屉数为 0，未达到至少 5 个的条件。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "drawer_opened",
+   "t": 43.5,
+   "log_step": 93,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.0–43.5 s 机器人调整底盘和机械臂观察台面及柜面，未执行抓把手外拉；视频 43.5–49.6 s 又将相机转回台面俯视，抽屉始终关闭。log step 93 仍安排检查方块位置，log step 95 实际只执行最后一次俯视取景，log step 98 随后决定停止。推断：首先未完成且未被补救的是打开抽屉；开屉操作从未开始，视频 43.5 s 为最后一轮观察开始附近的导航锚点。"
+  },
+  "unmet": {
+   "cubes_in_drawer_1": false,
+   "cubes_in_drawer_2": false,
+   "cubes_in_drawer_3": false,
+   "cubes_in_drawer_4": false,
+   "cubes_in_drawer_5": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 43.5,
+    "log_step": 95,
+    "evidence_zh": "观察：视频 0.0–49.6 s 机器人虽多次移动空夹爪、调整观察方向，但没有夹住或勾住目标把手并拉开抽屉的操作，抽屉面板始终齐平；log step 53、55、58、61、95 的执行代码均用于改变相机视角、拍照和分析，log step 100 也自述尚未开始操作。开屉本身未启动，后续五块入屉也未执行。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 95,
+    "evidence_zh": "推断：agent 将反复标定与全面定位作为开始操作的前提，未给开屉和转移方块保留执行阶段。log step 50、51 已报告定位五个方块，随后 log step 53、55、58、61 仍连续移动相机重做观察；log step 64 的机器人服务状态已为 control_steps=871/1000，agent 在 log step 65 知道仅剩 129 步，却在 log step 95 再执行一次取景，服务计数升至 992。视频 0.0–49.6 s 与这些连续观察动作相符，开屉始终未启动；log step 100 亦自述在任何操作前花了约 870 步做感知。归因为观察到操作的阶段策略失当，而非把剩余预算本身作为原因。",
+    "source_zh": "日志 / 视频 / agent 自述"
+   },
+   {
+    "cat": "认知",
+    "item": "感知",
+    "log_step": 85,
+    "evidence_zh": "推断：把手识别与几何定位迟迟未能形成经操作验证的目标，使 agent 持续停留在开屉前的分析。观察：log step 66 对所谓上下两处把手暗像素做深度反投影，log step 67–75 又裁剪、聚类暗像素并改用射线与假定柜面求交；log step 78–87 继续检查几何，其中 log step 85 的预测指尖坐标约为 (0.581,0.096,0.618) 与 (0.582,0.006,0.618)，其图像反投影的指尖坐标却约为 (0.472,0.005,0.582) 与 (0.471,0.092,0.581)，log step 86–87 又核对预测像素及深度。log step 88–91 仍在增强、放大同一视图并查看方块。视频 0.0–49.5 s 每隔约 0.5 s 的画面及视频 48.6–49.6 s 末段逐帧中，未见夹爪夹住把手外拉，抽屉始终关闭。推断：这些候选坐标和反复核对说明目标识别、场景几何解释仍不稳定，不能把输出了坐标等同于已得到可用的把手定位；但也不能断言所有候选坐标均错误。次要例证是 log step 82、94 的红块反投影使 agent 在 log step 93 自述方块可能已被扫落，并在 log step 95 追加俯视取景；视频中五块始终在台面，log step 98 才撤回掉落判断。log step 100 对部分所谓把手可能是夹爪投影的说法仅作为 agent 自述，不据此确认误识别对象或传感器故障。",
+    "source_zh": "日志 / 视频 / agent 自述"
+   }
+  ],
+  "gap_zh": "未提供状态日志和逐帧接触对，不能量化机械臂靠近柜面时可能的细微擦碰，也不能确定 agent 自制深度反投影错误具体来自哪项几何计算；因此不添加抓握、接触失败或硬件故障归因。视频可直接判断抽屉始终未打开和五块始终未转移，节点值不依赖零分反推。"
+ },
+ "summary_zh": "本次评分回合只完成了底盘与相机视角调整，抽屉未打开，五个方块直到视频 49.6 s 仍留在台面，六个节点均未达成。断点位于打开抽屉的首步前：agent 持续进行标定、把手识别与几何定位核对，又因误判方块掉落追加检查，最终没有启动开屉操作。无状态日志，无法量化细微接触或确定几何估计错误的具体来源，但不影响未开屉、零入屉的判断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点（六个均未达成）、断点（drawer_opened / 探索 / 没尝试）、接触和时钟均与视频和日志一致；仅「感知」根因的证据只围绕最后一次找方块，漏了贯穿 log 66–91 的把手定位困难，需补充。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "六个节点均未达成、接触、时钟与根因均与视频和日志一致；唯一问题是断点 where=探索 与现象 没尝试 不自洽：开屉步骤的操作从未开始，按 03 规则应为首步前。",
+    "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：断点 where 改为首步前，evidence_zh 改为开屉操作从未开始，没尝试现象与根因保持一致，与 03 规则相符。",
+    "n_issues": 0,
+    "n_checks": 1
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "I1 的接受已完整落实：断点 where 改为首步前，evidence_zh 改为开屉操作从未开始，没尝试现象与根因保持一致，与 03 规则相符。",
+   "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": "2026-10-30T02:52:15Z",
+  "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/kinder-sweep-into-drawer-i00-standard--wde8azk/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-into-drawer-i00-standard--wde8azk/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-into-drawer-i00-standard--wde8azk/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-into-drawer-i00-standard--wde8azk/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-into-drawer-i00-standard--wde8azk/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-into-drawer-i00-standard--wde8azk/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": "1d7432da305f931ee218e9d391fef21645d3bd9d015c47bc1b1a9d6188152bfd",
+   "video_sha256": "2d049b9162eca836d764e05c385bd50c2604be2f40eeb734d245d02fb630a9cc",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/sweep_into_drawer/trajectories/kinder-sweep-into-drawer-i00-standard--x3z8u87.json b/phase2/kinder/sweep_into_drawer/trajectories/kinder-sweep-into-drawer-i00-standard--x3z8u87.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4674b8be96dafadb5bfe43987376f9b7bccabec
--- /dev/null
+++ b/phase2/kinder/sweep_into_drawer/trajectories/kinder-sweep-into-drawer-i00-standard--x3z8u87.json
@@ -0,0 +1,335 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-sweep-into-drawer-i00-standard--x3z8u87",
+ "taskKey": "kinder/sweep_into_drawer",
+ "dag_sha256": "db51b1c850eb394d2fed8f132cb43f543cd8e60ae7829c4988ab6db121cedfcd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 1000,
+   "sim_steps": 1000,
+   "calls": 1613,
+   "rows": 1000,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 736.6,
+   "video_rendered": 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/kinder-sweep-into-drawer-i00-standard--x3z8u87/replay.mp4",
+  "duration_s": 50.1,
+  "fps": 10.0,
+  "frames": 501,
+  "sha256": "607ad2ddbc0aab418ca3e1e8fd9f616a1679b7662e8f901500dd5f0b9fa38458"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "drawer_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.5,
+      "log_step": null,
+      "text_zh": "观察：视频 12.4–13.3 s，机器人底盘贴近柜面转动时，上排中间抽屉面板外移，露出浅色内腔和可供方块进入的开口；这是首次可见开启，约有 0.2 s 的时间不确定性。该节点为 event，随后抽屉回闭不撤销已达到的事件。"
+     },
+     {
+      "t": 34.5,
+      "log_step": 59,
+      "text_zh": "观察：视频 32.5–35.0 s，机器人夹爪在目标抽屉把手处闭合，配合底盘后退将抽屉继续拉出；此后浅色内腔保持可见直到视频 50.0 s。log step 56、59 记录了闭爪及底盘后退动作。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频 32.5–35.0 s，机器人二指夹爪闭合夹住目标抽屉把手并外拉。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘在早期贴近柜面转动及后续拉屉时移动，支承机械臂；后续通过后退配合外拉。"
+     }
+    ]
+   },
+   "cubes_in_drawer_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      49.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 49.4,
+      "log_step": null,
+      "text_zh": "观察：视频 49.2–49.6 s，机器人持刮板扫动后，一个红色方块越过白色台面边缘，落入打开的目标抽屉；视频 49.6–50.0 s 可见该方块留在浅色内腔，其余四块仍在台面。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：视频 50.0 s，该方块位于抽屉内底部，中心与左右侧壁都有明显间隔，视觉上满足侧壁裕量；据此计为第1个合格方块。无状态日志，不能精确测量 2.5 cm；达到时间取落入后约视频 49.4 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪持刮板对五块方块作整体扫入尝试；视频 49.2–49.6 s 工具扫动使其中一块入屉，其余四块留在台面。计数节点共用此次整体尝试，不表示已确认工具逐一接触每块方块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人持刮板时通过底盘前后移动带动工具扫动，底盘同时支承机械臂和工具。"
+     }
+    ]
+   },
+   "cubes_in_drawer_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 46.4,
+      "log_step": null,
+      "text_zh": "观察：视频 38.6–46.4 s，机器人夹起刮板并向五块所在区域往返扫动；视频 46.4 s 五块仍都留在台面，未形成至少 2 块入屉的状态。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 48.0–50.0 s，只有一块在视频 49.4 s 左右进入抽屉；视频 50.0 s 其余四块均可见于白色台面。因此至少 2 块入屉的节点未达到；此判断来自方块去向，不来自零奖励。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪持刮板对五块方块作整体扫入尝试；视频 49.2–49.6 s 工具扫动使其中一块入屉，其余四块留在台面。计数节点共用此次整体尝试，不表示已确认工具逐一接触每块方块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人持刮板时通过底盘前后移动带动工具扫动，底盘同时支承机械臂和工具。"
+     }
+    ]
+   },
+   "cubes_in_drawer_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 46.4,
+      "log_step": null,
+      "text_zh": "观察：视频 38.6–46.4 s，机器人夹起刮板并向五块所在区域往返扫动；视频 46.4 s 五块仍都留在台面，未形成至少 3 块入屉的状态。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 48.0–50.0 s，只有一块在视频 49.4 s 左右进入抽屉；视频 50.0 s 其余四块均可见于白色台面。因此至少 3 块入屉的节点未达到；此判断来自方块去向，不来自零奖励。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪持刮板对五块方块作整体扫入尝试；视频 49.2–49.6 s 工具扫动使其中一块入屉，其余四块留在台面。计数节点共用此次整体尝试，不表示已确认工具逐一接触每块方块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人持刮板时通过底盘前后移动带动工具扫动，底盘同时支承机械臂和工具。"
+     }
+    ]
+   },
+   "cubes_in_drawer_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 46.4,
+      "log_step": null,
+      "text_zh": "观察：视频 38.6–46.4 s，机器人夹起刮板并向五块所在区域往返扫动；视频 46.4 s 五块仍都留在台面，未形成至少 4 块入屉的状态。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 48.0–50.0 s，只有一块在视频 49.4 s 左右进入抽屉；视频 50.0 s 其余四块均可见于白色台面。因此至少 4 块入屉的节点未达到；此判断来自方块去向，不来自零奖励。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪持刮板对五块方块作整体扫入尝试；视频 49.2–49.6 s 工具扫动使其中一块入屉，其余四块留在台面。计数节点共用此次整体尝试，不表示已确认工具逐一接触每块方块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人持刮板时通过底盘前后移动带动工具扫动，底盘同时支承机械臂和工具。"
+     }
+    ]
+   },
+   "cubes_in_drawer_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 46.4,
+      "log_step": null,
+      "text_zh": "观察：视频 38.6–46.4 s，机器人夹起刮板并向五块所在区域往返扫动；视频 46.4 s 五块仍都留在台面，未形成至少 5 块入屉的状态。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：逐帧检查视频 48.0–50.0 s，只有一块在视频 49.4 s 左右进入抽屉；视频 50.0 s 其余四块均可见于白色台面。因此至少 5 块入屉的节点未达到；此判断来自方块去向，不来自零奖励。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪持刮板对五块方块作整体扫入尝试；视频 49.2–49.6 s 工具扫动使其中一块入屉，其余四块留在台面。计数节点共用此次整体尝试，不表示已确认工具逐一接触每块方块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人持刮板时通过底盘前后移动带动工具扫动，底盘同时支承机械臂和工具。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "cubes_in_drawer_2",
+   "t": 45.8,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 44.8–46.4 s，机器人持刮板并后退扫向抽屉，但工具扫过后五块仍留在台面；视频 49.2–50.0 s 的再次扫动只送入一块，剩余四块仍在台面。首块后来完成，至少两块入屉的步骤一直未修复，故断点为 cubes_in_drawer_2。log step 93 的服务返回 control_steps=1000、done=true、reason=failed，说明评分回合已结束。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 45.8,
+    "log_step": null,
+    "evidence_zh": "观察：视频 44.8–46.4 s，机器人持刮板向台面边缘移动，但刮板扫动未把方块群带到抽屉内；视频 48.4–50.0 s 再次扫动时，只将靠近边缘的一块送入，其余四块仍在工具扫过后的台面上。工具相对方块群的扫动位置未能覆盖所需的整体转移。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 80 的 sweep 函数通过底盘沿单一方向移动，同时跟踪固定机械臂关节目标；log step 82、91 再调用此函数，log step 88–89 另调末端高度和姿态。视频 44.8–46.4 s、48.4–50.0 s 显示这些调整仍未使工具对准并扫走剩余方块，只完成单块入屉，支持工具扫动控制不足。现有证据不能进一步区分接触几何、轨迹设置或反馈调节问题。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "输入没有逐帧状态日志；单一斜俯视画面可追踪一块落入及四块留台，但无法精确测量入屉方块中心到侧壁的 2.5 cm 裕量，也不能识别全部工具接触对或把控制根因细分。日志中 agent 的位置计算与“已抓住刮板”等自述只作为辅助，节点时间均直接取所检查的视频帧；未用 agent 工作时间换算视频时间。",
+  "unmet": {
+   "cubes_in_drawer_1": true,
+   "cubes_in_drawer_2": false,
+   "cubes_in_drawer_3": false,
+   "cubes_in_drawer_4": false,
+   "cubes_in_drawer_5": false
+  }
+ },
+ "summary_zh": "机器人打开了目标抽屉，并在视频约 49.4 s 将一块方块扫入，最终达到 2/6 个节点；其余四块在视频 50.0 s 仍留在台面。断点为第2块入抽屉：持刮板的扫动未能覆盖并转移剩余方块，支持控制层面的失败；回合在 1,000 控制步后结束。无状态日志，入屉方块的精确侧壁裕量及控制根因细分仍有证据缺口。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "抽屉约视频 12.4 s 首次拉出、第1块约 49.4 s 入屉、其余四块 50 s 仍在台面，均与帧一致；断点 cubes_in_drawer_2 与控制类根因证据有限但没有被帧反驳。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:41:50Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-into-drawer-i00-standard--x3z8u87/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-into-drawer-i00-standard--x3z8u87/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4e85f60eaedd897b2e70688d66450df6705c6388facb39370067a29e2363c458",
+   "video_sha256": "607ad2ddbc0aab418ca3e1e8fd9f616a1679b7662e8f901500dd5f0b9fa38458",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/sweep_into_drawer/trajectories/kinder-sweep-into-drawer-i00-standard--zaw3e7m.json b/phase2/kinder/sweep_into_drawer/trajectories/kinder-sweep-into-drawer-i00-standard--zaw3e7m.json
new file mode 100644
index 0000000000000000000000000000000000000000..54ab7329b61fbb989ef9aa710741fc4e00d6bf37
--- /dev/null
+++ b/phase2/kinder/sweep_into_drawer/trajectories/kinder-sweep-into-drawer-i00-standard--zaw3e7m.json
@@ -0,0 +1,318 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-sweep-into-drawer-i00-standard--zaw3e7m",
+ "taskKey": "kinder/sweep_into_drawer",
+ "dag_sha256": "db51b1c850eb394d2fed8f132cb43f543cd8e60ae7829c4988ab6db121cedfcd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 1000,
+   "sim_steps": 1000,
+   "calls": 156,
+   "rows": 1000,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 1749.5,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.31,
+   "peak_processes": 12,
+   "peak_disk_gb": 1.225,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/kinder-sweep-into-drawer-i00-standard--zaw3e7m/replay.mp4",
+  "duration_s": 50.1,
+  "fps": 10.0,
+  "frames": 501,
+  "sha256": "bea33e2e1bf8e607b0b6a77f786ea7b074474205cbd1a8bb5836b5215cbbd6b5"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "drawer_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      22.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 22.4,
+      "log_step": 211,
+      "text_zh": "观察：视频 22.2–22.8 s，机器人夹爪在目标抽屉把手处外拉，面板向机器人一侧移出，台面下露出浅色抽屉内腔；与参考成功视频 7.0 s 的开启形态一致。首次达到时间约为视频 22.2 s，误差约 0.3 s。"
+     },
+     {
+      "t": 24.0,
+      "log_step": 215,
+      "text_zh": "观察：视频 23.0–24.0 s，机器人底盘向岛台返回，抽屉面板随之回到柜面附近，浅色开口消失。此节点为 event，曾打开即保持已达成，不因随后关闭而撤销。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 22.2–22.6 s，Robotiq 夹爪夹住中间抽屉把手并外拉，面板随夹爪向外移动；此前多次空夹未计为成功抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 22.6–23.8 s，轮式底盘在拉屉及随后返回柜前的阶段后退、前进，支承机械臂。"
+     }
+    ]
+   },
+   "cubes_in_drawer_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 五个深红色方块均在台面；机器人早期夹起一块后在视频约 6.0–6.5 s 放回台面。视频 30.0–43.0 s 机械臂反复上下摆动，视频 43.0–50.0 s 的末段动作也未把方块带过台边；视频 49.0–50.0 s 五块仍在白色台面上，故当前至少 1 块入抽屉的条件始终未见成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 3.5–6.0 s，Robotiq 二指夹爪夹起一块红方块，原位置空出，红块随夹爪和底盘移动；视频约 6.0–6.5 s 机器人将其放回台面，为腾出夹爪开屉，并非落入抽屉。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 46.0–49.5 s，机器人夹爪在方块簇处拨扫，一块红方块在台面上向旁边移动，未越过台边；未使用台面刮板。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 4.5–6.0 s，机器人底盘在夹持一块方块时后退再前进，支承载物机械臂。"
+     }
+    ]
+   },
+   "cubes_in_drawer_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 五个深红色方块均在台面；机器人早期夹起一块后在视频约 6.0–6.5 s 放回台面。视频 30.0–43.0 s 机械臂反复上下摆动，视频 43.0–50.0 s 的末段动作也未把方块带过台边；视频 49.0–50.0 s 五块仍在白色台面上，故当前至少 2 块入抽屉的条件始终未见成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 46.0–49.5 s，机器人用夹爪在同一方块簇处拨扫，一块方块被拨向台面旁侧，未形成入屉；这是针对整簇方块的同一次末段推扫尝试（log step 235、239），没有第2至第5次独立抓取，亦未使用刮板。"
+     }
+    ]
+   },
+   "cubes_in_drawer_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 五个深红色方块均在台面；机器人早期夹起一块后在视频约 6.0–6.5 s 放回台面。视频 30.0–43.0 s 机械臂反复上下摆动，视频 43.0–50.0 s 的末段动作也未把方块带过台边；视频 49.0–50.0 s 五块仍在白色台面上，故当前至少 3 块入抽屉的条件始终未见成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 46.0–49.5 s，机器人用夹爪在同一方块簇处拨扫，一块方块被拨向台面旁侧，未形成入屉；这是针对整簇方块的同一次末段推扫尝试（log step 235、239），没有第2至第5次独立抓取，亦未使用刮板。"
+     }
+    ]
+   },
+   "cubes_in_drawer_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 五个深红色方块均在台面；机器人早期夹起一块后在视频约 6.0–6.5 s 放回台面。视频 30.0–43.0 s 机械臂反复上下摆动，视频 43.0–50.0 s 的末段动作也未把方块带过台边；视频 49.0–50.0 s 五块仍在白色台面上，故当前至少 4 块入抽屉的条件始终未见成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 46.0–49.5 s，机器人用夹爪在同一方块簇处拨扫，一块方块被拨向台面旁侧，未形成入屉；这是针对整簇方块的同一次末段推扫尝试（log step 235、239），没有第2至第5次独立抓取，亦未使用刮板。"
+     }
+    ]
+   },
+   "cubes_in_drawer_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 五个深红色方块均在台面；机器人早期夹起一块后在视频约 6.0–6.5 s 放回台面。视频 30.0–43.0 s 机械臂反复上下摆动，视频 43.0–50.0 s 的末段动作也未把方块带过台边；视频 49.0–50.0 s 五块仍在白色台面上，故当前至少 5 块入抽屉的条件始终未见成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 46.0–49.5 s，机器人用夹爪在同一方块簇处拨扫，一块方块被拨向台面旁侧，未形成入屉；这是针对整簇方块的同一次末段推扫尝试（log step 235、239），没有第2至第5次独立抓取，亦未使用刮板。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "cubes_in_drawer_1",
+   "t": 31.0,
+   "log_step": 230,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 22.2–22.8 s 机器人拉开抽屉，视频约 23.0–24.0 s 底盘返回柜前时抽屉被推回；视频 24.0–50.0 s 抽屉前板与柜面齐平，未见再次拉开。机器人随后在关闭的抽屉旁处理台面方块，视频约 30.0–43.0 s 夹爪在方块簇附近反复升降、偏摆，视频约 46.0–49.5 s 拨扫也未将方块送入抽屉，末帧五块仍在台面。log step 230 的 agent 控制程序输出记录下降循环达到 chunk limit 后继续执行 CLOSE；该程序读数辅助解释动作，视频不能精确确认闭爪时刻。"
+  },
+  "unmet": {
+   "cubes_in_drawer_1": false,
+   "cubes_in_drawer_2": false,
+   "cubes_in_drawer_3": false,
+   "cubes_in_drawer_4": false,
+   "cubes_in_drawer_5": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 31.0,
+    "log_step": 230,
+    "evidence_zh": "观察：视频约 30.0–43.0 s，机器人夹爪在方块簇上方反复上下移动，未见方块被带离台面并送向抽屉；视频约 46.0–49.5 s 只在台面拨动方块，视频 49.9 s 五块仍在台面。视频 24.0–50.0 s 抽屉前板与柜面齐平，未见再次拉开。log step 230 的 agent 日志读数（会话内 move_pose 输出）记录下降末端位置误差反复约 0.096–0.109 m，随后输出 chunk limit 和 CLOSE；这些是程序计算的误差与执行记录，远距视频无法精确分辨每次闭爪时刻。推断：机器人未稳定到达预定抓取位姿，后续动作未形成有效搬运。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "观察：视频约 22.5 s 抽屉内腔可见，视频约 24.0 s 前板回到柜面，视频 26.0–49.9 s 的后续画面未见再次拉开。log step 226 agent 自述“The drawer view shows an open gap”，同时承认失去抓握、未能确认最终位置；此自述仅作为 agent 状态估计的依据。log step 228 的抓取脚本仍以“The drawer is open toward the robot”为前提设定放置位置，log step 233 agent 仍称要把方块推入开口。推断：agent 对抽屉当前开闭状态估计错误，未重新拉开抽屉就转去抓取与推扫方块，使入屉目标入口在这些动作期间关闭。"
+   },
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 226 的 move_pose 程序每轮根据当前关节角计算目标，将同一限幅关节增量连续发送 10 步后才更新反馈；log step 230 的 agent 日志读数（会话内 move_pose 输出）显示下降关节角与程序计算的位置误差在两组值之间反复切换，误差约 0.096–0.109 m，达到循环上限后仍输出 CLOSE；log step 231 的抬升误差也反复切换。视频约 30.0–43.0 s 可见夹爪反复升降，未见有效搬运，而视频约 3.5–6.0 s 曾成功夹起方块。推断：位姿反馈控制循环未稳定收敛，在程序尚未确认到达预定抓取位姿时便继续闭爪，是后续抓取失败的另一原因；闭爪与实际接触的精确时序不能由远距画面单独确认。"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志，视频为远处斜俯视，部分手指与方块短时互相遮挡，无法精确还原每次闭爪、接触及控制误差的物理来源；末段整簇推扫的逐块接触身份不能分辨。抽屉关闭由前板齐平及内腔开口消失判断，缺少关节位置读数；agent 自述仅用于判断其状态估计，move_pose 误差为 agent 程序计算的日志读数。侧壁 2.5 cm 裕量无需估计，因为末帧五块均仍在台面；节点时刻均取自视频，没有把 agent 时间或控制步直接换算为视频时间。"
+ },
+ "summary_zh": "机器人曾夹起一块方块后放回台面，并在视频约 22.2 s 拉开中间抽屉，完成“打开抽屉”事件；抽屉随后被推回，视频约 24.0–50.0 s 未再次打开，五个入屉计数节点均未完成，最终进度为 1/6。agent 在未确认抽屉最终位置时仍按打开状态处理方块，且后续抓取位姿控制反复不收敛，末段推扫也只拨动台面方块。置信度由 8 降至 7：开闭状态误判及反馈控制根因由视频与日志联合推断，无逐帧状态日志，远景无法精确确认闭爪时刻、接触身份及误差的物理来源。",
+ "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 drawer_opened（视频约 22.2 s）与五个入屉节点 false、breakpoint=第1块入屉/操作中基本成立；但标签漏掉了关键事实：抽屉在视频约 24 s 被推回后直到 50 s 一直关闭，机器人在抽屉关闭的状态下继续抓取/推扫方块，根因只写“反馈控制”不足以解释失败。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点（抽屉曾打开、五个入屉节点未达成）、断点（cubes_in_drawer_1，操作中）、位姿不准现象及感知/反馈控制根因与视频抽样和日志一致，推断均已标注；未发现需改内容的错误。远景分辨率限制了对抽屉开闭细节的核对，故置信度为7。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:53:38Z",
+  "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/kinder-sweep-into-drawer-i00-standard--zaw3e7m/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-into-drawer-i00-standard--zaw3e7m/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-into-drawer-i00-standard--zaw3e7m/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-into-drawer-i00-standard--zaw3e7m/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9178abc79546817a8d46697b1405fbcf6f60dd8d9d93df425db4ec043cc0f565",
+   "video_sha256": "bea33e2e1bf8e607b0b6a77f786ea7b074474205cbd1a8bb5836b5215cbbd6b5",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/sweep_simple_i01/trajectories/kinder-sweep-simple-i01-privileged--cksv4mm.json b/phase2/kinder/sweep_simple_i01/trajectories/kinder-sweep-simple-i01-privileged--cksv4mm.json
new file mode 100644
index 0000000000000000000000000000000000000000..da5679cdf8616cd6c8286a5eac69295e14d35a15
--- /dev/null
+++ b/phase2/kinder/sweep_simple_i01/trajectories/kinder-sweep-simple-i01-privileged--cksv4mm.json
@@ -0,0 +1,1387 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-sweep-simple-i01-privileged--cksv4mm",
+ "taskKey": "kinder/sweep_simple_i01",
+ "dag_sha256": "37587376b5c516feff7c885d0823681f8d6848199618d114f4e5cd32ada209a8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "n_actions": 162,
+   "sim_steps": 162,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.729,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.262,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/kinder-sweep-simple-i01-privileged--cksv4mm/replay.mp4",
+  "duration_s": 8.2,
+  "fps": 10.0,
+  "frames": 82,
+  "sha256": "87fdb94639ba6badca892a906a2d058c5bafdb935a2b985ee444bde846166637"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 50,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blocks_in_goal_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少1个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少2个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少3个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少4个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少5个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少6个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少7个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少8个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少9个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少10个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少11个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少12个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少13个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少14个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少15个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少16个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_17": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少17个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_18": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少18个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_19": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少19个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_20": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少20个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_21": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少21个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_22": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少22个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_23": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少23个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_24": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少24个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_25": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少25个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_26": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少26个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_27": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少27个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_28": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少28个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_29": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少29个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_30": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少30个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_31": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少31个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_32": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少32个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_33": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少33个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_34": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少34个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_35": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少35个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_36": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少36个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_37": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少37个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_38": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少38个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_39": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少39个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_40": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少40个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_41": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少41个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_42": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少42个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_43": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少43个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_44": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少44个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_45": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少45个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_46": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少46个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_47": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少47个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_48": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少48个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_49": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少49个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_50": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标区可见部分没有红色方块；刮板独立立在墙边。"
+     },
+     {
+      "t": 8.1,
+      "log_step": null,
+      "text_zh": "推断：对照视频 0.0 s、视频 1.5–7.2 s 的连续帧及视频 7.2–8.1 s 尾段，机器人空夹爪巡行，经过后可见方块仍散在原地，未出现向灰色目标区的转移；据前后位置和没有入箱运动判断当前入箱数量为0，故“至少50个”未成立。底盘经过时会短时遮挡，非逐块状态日志计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.8–7.7 s，移动底盘承载机械臂穿过整批方块所在通道并折返；这是面向整批方块的同一次巡行，对各计数节点共用。夹爪保持空着且高于地面，未观察到手持刮板或夹爪直接扫块的接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "blocks_in_goal_1",
+   "t": 2.4,
+   "log_step": 245,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 2.4 s 起，机器人底盘驶过散落方块区域，空夹爪悬在地面上方，刮板仍立在墙边；视频 3.5–7.2 s 折返后方块仍散落，未见扫入目标区的运动。log step 245 的最终生成脚本只伸臂并巡行七个底盘航点；log step 250 确认保存162个动作，log step 257 的交付文件重放报告 success=false。推断：这次批量扫块尝试未建立有效扫动，第1个入箱计数始终未达成。"
+  },
+  "unmet": {
+   "blocks_in_goal_1": false,
+   "blocks_in_goal_2": false,
+   "blocks_in_goal_3": false,
+   "blocks_in_goal_4": false,
+   "blocks_in_goal_5": false,
+   "blocks_in_goal_6": false,
+   "blocks_in_goal_7": false,
+   "blocks_in_goal_8": false,
+   "blocks_in_goal_9": false,
+   "blocks_in_goal_10": false,
+   "blocks_in_goal_11": false,
+   "blocks_in_goal_12": false,
+   "blocks_in_goal_13": false,
+   "blocks_in_goal_14": false,
+   "blocks_in_goal_15": false,
+   "blocks_in_goal_16": false,
+   "blocks_in_goal_17": false,
+   "blocks_in_goal_18": false,
+   "blocks_in_goal_19": false,
+   "blocks_in_goal_20": false,
+   "blocks_in_goal_21": false,
+   "blocks_in_goal_22": false,
+   "blocks_in_goal_23": false,
+   "blocks_in_goal_24": false,
+   "blocks_in_goal_25": false,
+   "blocks_in_goal_26": false,
+   "blocks_in_goal_27": false,
+   "blocks_in_goal_28": false,
+   "blocks_in_goal_29": false,
+   "blocks_in_goal_30": false,
+   "blocks_in_goal_31": false,
+   "blocks_in_goal_32": false,
+   "blocks_in_goal_33": false,
+   "blocks_in_goal_34": false,
+   "blocks_in_goal_35": false,
+   "blocks_in_goal_36": false,
+   "blocks_in_goal_37": false,
+   "blocks_in_goal_38": false,
+   "blocks_in_goal_39": false,
+   "blocks_in_goal_40": false,
+   "blocks_in_goal_41": false,
+   "blocks_in_goal_42": false,
+   "blocks_in_goal_43": false,
+   "blocks_in_goal_44": false,
+   "blocks_in_goal_45": false,
+   "blocks_in_goal_46": false,
+   "blocks_in_goal_47": false,
+   "blocks_in_goal_48": false,
+   "blocks_in_goal_49": false,
+   "blocks_in_goal_50": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 2.4,
+    "log_step": 245,
+    "evidence_zh": "观察：视频 2.4–5.5 s，机器人空夹爪位于方块上方，底盘穿过方块散布区；刮板始终留在墙边，经过后可见红色方块仍停在地面原处。推断：机器人没有建立把方块推向目标区所需的有效扫动接触；此标签不表示排除了底盘与个别方块的轻微擦碰。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：交付动作的作用端布局没有形成贴地扫块接触：log step 245 的脚本固定伸臂关节配置并只改变底盘位置，没有取用刮板或降低夹爪扫块的动作；视频 2.4–5.5 s 显示该空夹爪始终高于方块且经过后没有有效带动方块。会话测试 log step 112 还显示底盘驶入方块中心区域后，位移超过0.05米的方块为0，仅作接触方案失败的辅助证据，不作为评分轨迹节点计数。未验证其他接触方案是否可行。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 有评分视频和完整运行日志，没有状态日志，也没有成功参考视频。厨岛遮住部分地面，底盘经过时也短时覆盖方块；入箱为0是根据目标区可见部分、前后方块位置及未见入箱运动作出的视觉推断，无法逐块核验遮挡期间的毫米级边界关系或轻微擦碰。会话里的刮板抓取测试没有出现在交付视频中，未作为本次评分轨迹的接触或进度。"
+ },
+ "summary_zh": "评分视频中机器人空夹爪沿方块通道巡行并折返，刮板始终留在墙边；根据前后帧没有入箱运动，判断五十个计数节点均未达成，最终为0/50。断点为第1个方块入箱，未建立有效扫动接触，交付动作的作用端布局没有贴地扫块；log step 257 的重放同样报告失败。没有状态日志，厨岛及底盘遮挡使逐块边界关系无法直接核验，零入箱数量包含视觉连续性推断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频帧与 log 均支持标注：空夹爪底盘巡行、方块原地未动、刮板留在墙边，50 个计数节点均未达成，log step 245/250/257 所述与原文一致；断点、现象和根因有证据支持。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:37:43Z",
+  "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/kinder-sweep-simple-i01-privileged--cksv4mm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-simple-i01-privileged--cksv4mm/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0a804c2703dc9254663c09264714c7d4d156ade32ca73727d98881c3c46fe467",
+   "video_sha256": "87fdb94639ba6badca892a906a2d058c5bafdb935a2b985ee444bde846166637",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/sweep_simple_i01/trajectories/kinder-sweep-simple-i01-privileged--ebzrtuy.json b/phase2/kinder/sweep_simple_i01/trajectories/kinder-sweep-simple-i01-privileged--ebzrtuy.json
new file mode 100644
index 0000000000000000000000000000000000000000..397d485f5cb8e022d2a34204662033aa4948ff3c
--- /dev/null
+++ b/phase2/kinder/sweep_simple_i01/trajectories/kinder-sweep-simple-i01-privileged--ebzrtuy.json
@@ -0,0 +1,1038 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-sweep-simple-i01-privileged--ebzrtuy",
+ "taskKey": "kinder/sweep_simple_i01",
+ "dag_sha256": "37587376b5c516feff7c885d0823681f8d6848199618d114f4e5cd32ada209a8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "n_actions": 1,
+   "sim_steps": 1,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.369,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.252,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/kinder-sweep-simple-i01-privileged--ebzrtuy/replay.mp4",
+  "duration_s": 0.1,
+  "fps": 10.0,
+  "frames": 1,
+  "sha256": "fb0a6e3f71db752d579617f20d2ee5d222d327b31cf2a4dc89146301b92d4e57"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 50,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blocks_in_goal_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少1个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少2个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少3个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少4个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少5个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少6个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少7个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少8个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少9个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少10个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少11个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少12个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少13个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少14个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少15个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少16个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_17": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少17个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_18": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少18个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_19": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少19个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_20": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少20个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_21": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少21个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_22": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少22个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_23": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少23个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_24": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少24个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_25": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少25个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_26": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少26个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_27": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少27个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_28": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少28个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_29": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少29个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_30": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少30个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_31": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少31个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_32": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少32个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_33": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少33个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_34": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少34个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_35": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少35个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_36": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少36个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_37": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少37个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_38": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少38个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_39": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少39个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_40": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少40个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_41": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少41个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_42": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少42个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_43": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少43个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_44": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少44个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_45": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少45个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_46": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少46个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_47": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少47个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_48": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少48个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_49": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少49个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   },
+   "blocks_in_goal_50": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 为全片唯一帧，亦为末帧；深红色方块散落在厨岛另一侧地面，靠机器人一端的半透明灰色目标区未见方块中心。机器人夹爪空置，刮板仍独立立在远侧地面，没有显示至少50个方块中心入箱。"
+     },
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "推断：log step 5 的 agent 脚本以 np.zeros((1, 11)) 保存单步占位轨迹，log step 6 启动该脚本；评分器记录 n_actions=1、sim_steps=1，且视频 0.0 s 保留初始散落布局，支持该评分片段没有执行方块转移，而非从 success=0 单独推断未达成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "blocks_in_goal_1",
+   "t": 0.0,
+   "log_step": 5,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0.0 s（唯一帧）中机器人空爪、刮板独立立在地面，方块仍散落于厨岛另一侧，未显示将方块扫入灰色目标区的操作；评分器记录 n_actions=1、sim_steps=1。推断：结合 log step 5 保存单步全零占位轨迹、log step 72 才启动正式生成而 log step 73 仍等待完成，评分交付在第1个方块入箱的工作开始前结束。"
+  },
+  "unmet": {
+   "blocks_in_goal_1": false,
+   "blocks_in_goal_2": false,
+   "blocks_in_goal_3": false,
+   "blocks_in_goal_4": false,
+   "blocks_in_goal_5": false,
+   "blocks_in_goal_6": false,
+   "blocks_in_goal_7": false,
+   "blocks_in_goal_8": false,
+   "blocks_in_goal_9": false,
+   "blocks_in_goal_10": false,
+   "blocks_in_goal_11": false,
+   "blocks_in_goal_12": false,
+   "blocks_in_goal_13": false,
+   "blocks_in_goal_14": false,
+   "blocks_in_goal_15": false,
+   "blocks_in_goal_16": false,
+   "blocks_in_goal_17": false,
+   "blocks_in_goal_18": false,
+   "blocks_in_goal_19": false,
+   "blocks_in_goal_20": false,
+   "blocks_in_goal_21": false,
+   "blocks_in_goal_22": false,
+   "blocks_in_goal_23": false,
+   "blocks_in_goal_24": false,
+   "blocks_in_goal_25": false,
+   "blocks_in_goal_26": false,
+   "blocks_in_goal_27": false,
+   "blocks_in_goal_28": false,
+   "blocks_in_goal_29": false,
+   "blocks_in_goal_30": false,
+   "blocks_in_goal_31": false,
+   "blocks_in_goal_32": false,
+   "blocks_in_goal_33": false,
+   "blocks_in_goal_34": false,
+   "blocks_in_goal_35": false,
+   "blocks_in_goal_36": false,
+   "blocks_in_goal_37": false,
+   "blocks_in_goal_38": false,
+   "blocks_in_goal_39": false,
+   "blocks_in_goal_40": false,
+   "blocks_in_goal_41": false,
+   "blocks_in_goal_42": false,
+   "blocks_in_goal_43": false,
+   "blocks_in_goal_44": false,
+   "blocks_in_goal_45": false,
+   "blocks_in_goal_46": false,
+   "blocks_in_goal_47": false,
+   "blocks_in_goal_48": false,
+   "blocks_in_goal_49": false,
+   "blocks_in_goal_50": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 5,
+    "evidence_zh": "观察：视频 0.0 s 是全片唯一帧，机器人未持刮板、夹爪与散落方块分离，目标区未见红色方块；评分器只执行1个动作。推断：这与 log step 5 的单步全零占位动作一致，评分尝试没有启动扫入第1个方块；会话中的抓取、移动与扫动测试不属于这段交付回放。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "交付",
+    "item": "交付操作出错",
+    "t": null,
+    "log_step": 72,
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 5 的 agent 脚本向交付文件保存 np.zeros((1, 11))，log step 6 执行该脚本；log step 72 将生成脚本改为记录多轮扫动后才调用 save_trajectory，并启动后台生成；最后的 log step 73 仍自述等待生成完成，未记录新轨迹保存或重放验证。评分器实际收到有效但仅1动作的轨迹（missing_trajectory=0、invalid_trajectory=0、n_actions=1），视频 0.0 s 也只呈现初态。推断：正式动作没有替换已保存的占位交付，因而机器人在评分回放中没有开始扫块；此归因依据具体的占位保存与后置覆盖流程。"
+   }
+  ],
+  "gap_zh": "观察：inputs 中没有状态日志或成功参考视频，评分视频总长仅0.1 s、只有视频 0.0 s 一帧；厨岛和底盘遮挡了部分地面，不能逐块重建三维中心或检查任何长程扫动的接触。日志没有 log step 72 后台生成任务的完成输出，也没有最终交付动作数组，故占位轨迹未被覆盖的具体执行环节仍待核实；会话测试中的工具倾斜、抓取和扫动结果不能当作本评分尝试的物理失败。"
+ },
+ "summary_zh": "评分视频仅0.1 s、一帧，机器人保持空爪，刮板仍立在地面，灰色目标区未见方块，50个计数节点均未达成。断点为第1个方块入箱的首步前，现象为没尝试；log step 5 保存的单步全零占位轨迹与评分器仅1动作相符，而 log step 72 的正式生成在 log step 73 仍未确认保存，支持交付操作出错。缺少状态日志及最终生成完成记录，不能把会话扫动测试的物理现象移入评分回放。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "视频仅一帧(0.0 s)，初态散落方块、空爪、刮板立在地面；50个节点均未达成、断点首步前/没尝试、交付操作出错均与 log step 5（np.zeros((1,11)) 占位保存）、step 72/73（正式生成脚本在 t=1705/1757 s agent 时钟才启动，wall_s=1803 超出 1800 s 限时，未见保存）及评分器 n_actions=1 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": "2026-10-30T02:28:45Z",
+  "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/kinder-sweep-simple-i01-privileged--ebzrtuy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-simple-i01-privileged--ebzrtuy/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ab651d551ed66d74571e92ac0bd715611a8f0cad5849af30c080dd872826c1e8",
+   "video_sha256": "fb0a6e3f71db752d579617f20d2ee5d222d327b31cf2a4dc89146301b92d4e57",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/sweep_simple_i01/trajectories/kinder-sweep-simple-i01-privileged--mwzptqh.json b/phase2/kinder/sweep_simple_i01/trajectories/kinder-sweep-simple-i01-privileged--mwzptqh.json
new file mode 100644
index 0000000000000000000000000000000000000000..256ae635a2948765d2248ac33e435fb4e952faee
--- /dev/null
+++ b/phase2/kinder/sweep_simple_i01/trajectories/kinder-sweep-simple-i01-privileged--mwzptqh.json
@@ -0,0 +1,1048 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-sweep-simple-i01-privileged--mwzptqh",
+ "taskKey": "kinder/sweep_simple_i01",
+ "dag_sha256": "37587376b5c516feff7c885d0823681f8d6848199618d114f4e5cd32ada209a8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "n_actions": 313,
+   "sim_steps": 313,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "video_rendered": 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/kinder-sweep-simple-i01-privileged--mwzptqh/replay.mp4",
+  "duration_s": 15.7,
+  "fps": 10.0,
+  "frames": 157,
+  "sha256": "2cd426c4b95bc2deed0a522340dc4a5d5aef5bae794b290f981fccb94e0fbacf"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 50,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blocks_in_goal_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少1个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 7.7–8.6 s，单臂二指夹爪在刮板杆中段合拢夹持，随后刮板倾倒脱离。该接触是首个方块入箱步骤中准备工具的实际尝试；未观察到刮板工作面接触方块，故不标手持工具推/扫。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–4.0 s 底盘承载机械臂驶向直立刮板，视频约 8.6–10.0 s 又短距离移动；这些移动用于首个入箱步骤的取工具和拖动尝试。"
+     }
+    ]
+   },
+   "blocks_in_goal_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少2个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少3个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少4个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少5个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少6个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少7个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少8个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少9个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少10个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少11个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少12个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少13个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少14个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少15个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少16个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_17": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少17个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_18": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少18个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_19": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少19个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_20": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少20个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_21": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少21个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_22": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少22个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_23": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少23个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_24": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少24个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_25": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少25个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_26": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少26个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_27": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少27个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_28": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少28个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_29": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少29个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_30": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少30个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_31": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少31个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_32": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少32个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_33": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少33个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_34": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少34个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_35": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少35个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_36": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少36个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_37": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少37个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_38": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少38个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_39": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少39个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_40": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少40个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_41": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少41个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_42": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少42个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_43": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少43个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_44": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少44个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_45": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少45个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_46": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少46个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_47": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少47个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_48": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少48个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_49": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少49个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   },
+   "blocks_in_goal_50": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 5,
+      "text_zh": "观察：视频 0.0 s 的深红色方块散落在厨岛与后方橱柜之间，刮板在旁边直立；log step 5 读取的场景配置将五十个方块初始化在 x∈[1,2]、y∈[-1,1] 的区域，而目标区为 x∈[0.125,0.875]、y∈[-1.375,-1.0]，两区分离。"
+     },
+     {
+      "t": 15.6,
+      "log_step": 17,
+      "text_zh": "推断：结合初始区域与视频 0.0–15.6 s，机器人仅接近、夹持刮板并短移，刮板倒下后未扫动方块；可见方块保持散落位置，没有向目标区转移的过程。故当前入箱数量始终为零，“至少50个方块入箱”从未成立；此判断并非由零分倒推。log step 17 保存并重放的也是这段抓取加短拖动轨迹（313 个动作，重放 False）。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "blocks_in_goal_1",
+   "t": 8.7,
+   "log_step": 17,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 8.6–9.1 s，机器人夹爪接触的刮板杆从近竖直迅速倾倒，未随随后移动的夹爪保持原夹持位置；截至视频 15.6 s，机器人没有重新取得刮板或完成任何方块入箱。log step 17 的交付脚本只包含侧向夹持和短拖动，重放返回 False；首个入箱步骤在准备扫动工具时失败。"
+  },
+  "unmet": {
+   "blocks_in_goal_1": false,
+   "blocks_in_goal_2": false,
+   "blocks_in_goal_3": false,
+   "blocks_in_goal_4": false,
+   "blocks_in_goal_5": false,
+   "blocks_in_goal_6": false,
+   "blocks_in_goal_7": false,
+   "blocks_in_goal_8": false,
+   "blocks_in_goal_9": false,
+   "blocks_in_goal_10": false,
+   "blocks_in_goal_11": false,
+   "blocks_in_goal_12": false,
+   "blocks_in_goal_13": false,
+   "blocks_in_goal_14": false,
+   "blocks_in_goal_15": false,
+   "blocks_in_goal_16": false,
+   "blocks_in_goal_17": false,
+   "blocks_in_goal_18": false,
+   "blocks_in_goal_19": false,
+   "blocks_in_goal_20": false,
+   "blocks_in_goal_21": false,
+   "blocks_in_goal_22": false,
+   "blocks_in_goal_23": false,
+   "blocks_in_goal_24": false,
+   "blocks_in_goal_25": false,
+   "blocks_in_goal_26": false,
+   "blocks_in_goal_27": false,
+   "blocks_in_goal_28": false,
+   "blocks_in_goal_29": false,
+   "blocks_in_goal_30": false,
+   "blocks_in_goal_31": false,
+   "blocks_in_goal_32": false,
+   "blocks_in_goal_33": false,
+   "blocks_in_goal_34": false,
+   "blocks_in_goal_35": false,
+   "blocks_in_goal_36": false,
+   "blocks_in_goal_37": false,
+   "blocks_in_goal_38": false,
+   "blocks_in_goal_39": false,
+   "blocks_in_goal_40": false,
+   "blocks_in_goal_41": false,
+   "blocks_in_goal_42": false,
+   "blocks_in_goal_43": false,
+   "blocks_in_goal_44": false,
+   "blocks_in_goal_45": false,
+   "blocks_in_goal_46": false,
+   "blocks_in_goal_47": false,
+   "blocks_in_goal_48": false,
+   "blocks_in_goal_49": false,
+   "blocks_in_goal_50": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 8.7,
+    "log_step": 17,
+    "evidence_zh": "观察：视频约 7.7–8.6 s，刮板杆位于合拢的夹爪处，仍近竖直；视频约 8.7–9.1 s 杆身向侧面倒下、离开夹持位置，机械臂继续移动而没有带住刮板。推断：短暂夹持未能在拖动开始后维持，工具未能用于扫块；log step 15 的试拖输出也记录刮板最终水平倾倒，log step 17 保存并重放该段。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 15 与 log step 17 的交付脚本先把夹爪侧向定位到刮板杆、执行闭合，再以保持闭合的命令短移底盘；视频约 8.6–9.1 s 的工具倾倒与脱离说明这套抓取、拖动控制没有维持工具夹持，因此后续扫块动作未执行。证据支持控制层失败，但不足以进一步区分接触几何、夹持力与轨迹跟踪问题。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "无状态日志或逐接触、夹持力记录；视频中的夹爪较小，部分杆身与刮板头受机器人和厨岛遮挡，无法独立核实对向接触力及脱离的精细机制，故根因停留在控制层。部分方块及目标区边缘被厨岛遮挡；零入箱数量由场景初始化区域、全片未发生扫块转移及可见方块位置综合推断，不提供逐块中心坐标。没有成功参考视频。"
+ },
+ "summary_zh": "五十个入箱计数节点均未达成，最终为 0/50：交付轨迹只有取刮板和短拖动，未执行扫块。视频约 8.7 s，夹爪未保持住刮板，工具倾倒后未恢复，断在首个方块入箱步骤；日志与视频支持控制层失败。无状态和接触力日志，夹持失效的具体机制及遮挡处逐块坐标无法精确核实。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "抽查视频 0/4/7.7/8.7/10/15.6 s：刮板被夹后倒下，方块始终散落未入箱，50 个节点均未达成，断点与现象与画面一致；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": "2026-10-30T02:32:47Z",
+  "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/kinder-sweep-simple-i01-privileged--mwzptqh/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-simple-i01-privileged--mwzptqh/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "2678db1d1d0ffacc4457e880e387df0b63384d93a3981a866a12831ea0ede80c",
+   "video_sha256": "2cd426c4b95bc2deed0a522340dc4a5d5aef5bae794b290f981fccb94e0fbacf",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/sweep_simple_i01/trajectories/kinder-sweep-simple-i01-privileged--otyswvk.json b/phase2/kinder/sweep_simple_i01/trajectories/kinder-sweep-simple-i01-privileged--otyswvk.json
new file mode 100644
index 0000000000000000000000000000000000000000..42297cc8192635487cc8690f8de465e7556fddae
--- /dev/null
+++ b/phase2/kinder/sweep_simple_i01/trajectories/kinder-sweep-simple-i01-privileged--otyswvk.json
@@ -0,0 +1,1888 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-sweep-simple-i01-privileged--otyswvk",
+ "taskKey": "kinder/sweep_simple_i01",
+ "dag_sha256": "37587376b5c516feff7c885d0823681f8d6848199618d114f4e5cd32ada209a8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "n_actions": 667,
+   "sim_steps": 667,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "video_rendered": 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/kinder-sweep-simple-i01-privileged--otyswvk/replay.mp4",
+  "duration_s": 33.4,
+  "fps": 10.0,
+  "frames": 334,
+  "sha256": "603f430b63b18028e5bf3aed96603511e7485461feedccef5113409407e0ec14"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 50,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blocks_in_goal_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少1个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少2个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少3个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少4个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少5个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少6个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少7个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少8个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少9个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少10个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少11个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少12个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少13个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少14个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少15个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少16个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_17": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少17个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_18": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少18个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_19": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少19个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_20": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少20个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_21": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少21个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_22": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少22个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_23": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少23个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_24": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少24个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_25": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少25个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_26": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少26个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_27": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少27个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_28": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少28个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_29": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少29个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_30": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少30个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_31": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少31个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_32": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少32个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_33": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少33个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_34": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少34个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_35": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少35个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_36": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少36个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_37": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少37个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_38": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少38个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_39": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少39个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_40": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少40个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_41": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少41个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_42": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少42个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_43": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少43个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_44": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少44个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_45": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少45个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_46": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少46个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_47": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少47个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_48": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少48个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_49": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少49个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   },
+   "blocks_in_goal_50": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：视频 0.0 s，深红方块散布在厨岛与壁柜之间，目标灰箱位于厨岛端部；log step 15 读取的固定场景配置也将方块初始散布区与目标区分别设置。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0 s、14.0 s、21.0 s、28.0 s 的无遮挡片段及视频 32.4–33.3 s，方块仍留在原散布带；机器人持刮板往返时工作面多次抬高或翻转，末段刮板留在散布区地面，未见方块被扫到厨岛端部灰箱。"
+     },
+     {
+      "t": 33.3,
+      "log_step": null,
+      "text_zh": "推断：结合初始区域分离及机器人各次经过前后的画面，没有方块完成入箱；因此“至少50个方块中心入箱”全程不成立。此判断来自视频中的位置与运动，不能由评分为零单独推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人以二指夹爪夹持刮板杆并带动整件工具，这是批量扫入五十方块尝试中可见的准备接触；未确认刮板工作面与方块建立有效推扫接触，因此不追加工具—方块接触链。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘承载机械臂及夹持的刮板，沿厨岛与壁柜之间往返多次，末段驶向厨岛端部；并非底盘直接扫动方块。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "blocks_in_goal_1",
+   "t": 8.8,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 0.5–4.0 s，机器人夹持并带动近直立的刮板；视频 8.8–11.0 s，机器人返回散布带时刮板杆已近横向，黑色工作面升到方块上方，未形成贴地扫入；视频 25.8–33.3 s，刮板留在散布区地面，机器人空夹移动，仍无方块到达目标箱。推断：批量扫入在第1个计数节点即未达，后续往返没有修复该入箱步骤；视频 8.8 s 是工具姿态明显不适于扫地的可见导航锚点。"
+  },
+  "unmet": {
+   "blocks_in_goal_1": false,
+   "blocks_in_goal_2": false,
+   "blocks_in_goal_3": false,
+   "blocks_in_goal_4": false,
+   "blocks_in_goal_5": false,
+   "blocks_in_goal_6": false,
+   "blocks_in_goal_7": false,
+   "blocks_in_goal_8": false,
+   "blocks_in_goal_9": false,
+   "blocks_in_goal_10": false,
+   "blocks_in_goal_11": false,
+   "blocks_in_goal_12": false,
+   "blocks_in_goal_13": false,
+   "blocks_in_goal_14": false,
+   "blocks_in_goal_15": false,
+   "blocks_in_goal_16": false,
+   "blocks_in_goal_17": false,
+   "blocks_in_goal_18": false,
+   "blocks_in_goal_19": false,
+   "blocks_in_goal_20": false,
+   "blocks_in_goal_21": false,
+   "blocks_in_goal_22": false,
+   "blocks_in_goal_23": false,
+   "blocks_in_goal_24": false,
+   "blocks_in_goal_25": false,
+   "blocks_in_goal_26": false,
+   "blocks_in_goal_27": false,
+   "blocks_in_goal_28": false,
+   "blocks_in_goal_29": false,
+   "blocks_in_goal_30": false,
+   "blocks_in_goal_31": false,
+   "blocks_in_goal_32": false,
+   "blocks_in_goal_33": false,
+   "blocks_in_goal_34": false,
+   "blocks_in_goal_35": false,
+   "blocks_in_goal_36": false,
+   "blocks_in_goal_37": false,
+   "blocks_in_goal_38": false,
+   "blocks_in_goal_39": false,
+   "blocks_in_goal_40": false,
+   "blocks_in_goal_41": false,
+   "blocks_in_goal_42": false,
+   "blocks_in_goal_43": false,
+   "blocks_in_goal_44": false,
+   "blocks_in_goal_45": false,
+   "blocks_in_goal_46": false,
+   "blocks_in_goal_47": false,
+   "blocks_in_goal_48": false,
+   "blocks_in_goal_49": false,
+   "blocks_in_goal_50": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 8.8,
+    "log_step": null,
+    "evidence_zh": "观察：视频 8.8–11.0 s，机器人夹爪带着近横向的刮板移动，黑色工作面位于地面方块上方；视频 12.0–24.8 s 的后续往返中工具倾角继续变化，未见连续贴地扫动把方块送往灰箱。推断：工具工作面的高度和朝向未维持在可扫动这些低矮方块的位姿，机器人移动经过散布带而方块仍留在地面。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 8.8,
+    "log_step": 166,
+    "evidence_zh": "推断：视频 0.5–4.0 s 已显示机器人能夹持并带动刮板，但视频 8.8–11.0 s 工作面翻高，视频 25.6–26.0 s 工具离开夹爪落在地面，说明本次执行未能持续控制刮板的扫地位姿；不据此细分为夹持几何、逆解或姿态跟踪问题。观察：log step 166 的最终说明确认交付的是667步刮板往返扫动候选并承认 success 为假，与视频中的扫动尝试及评分器 n_actions=667 一致。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频。单一场景视角中，厨岛、底盘及画面边缘会短暂遮挡部分方块和工具；零入箱是结合固定初态区域与各段前后画面的综合推断，没有逐块三维中心计数。视频 7.6–8.2 s 工具随机器人出画，不能确定翻转开始的精确时刻；也无本次逐帧夹持接触、夹爪命令及受力数据，不能断言末段脱离是滑脱还是张爪，根因仅标控制。会话中124步、463步和821步等旧候选的诊断未用于本次节点数值。"
+ },
+ "summary_zh": "评分轨迹中机器人夹持刮板沿厨岛旁多次往返，但方块仍留在原散布带，综合画面推断最终0/50个计数节点成立。断点为第1个方块入箱：视频 8.8 s 可见刮板翻为近横向、工作面抬离方块，后续也未完成贴地扫入，反映工具位姿控制失败。无状态日志，部分方块和夹持区域短暂遮挡，零入箱及控制归因依赖前后画面综合判断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "抽查视频 0/2/8.8/12/25/26.5/33 s：方块始终散布在地面，刮板在 25 s 后落在散布区，无方块入箱；0/50 节点、断点 blocks_in_goal_1、位姿不准/控制的标注与画面一致。无状态日志，零入箱为画面推断，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": "2026-10-30T02:44:01Z",
+  "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/kinder-sweep-simple-i01-privileged--otyswvk/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-simple-i01-privileged--otyswvk/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a42d2e51282159c47f9268f7df1cbb107498b3b727888c0dcefbece3bd77c595",
+   "video_sha256": "603f430b63b18028e5bf3aed96603511e7485461feedccef5113409407e0ec14",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/sweep_simple_i01/trajectories/kinder-sweep-simple-i01-privileged--q4q2k6p.json b/phase2/kinder/sweep_simple_i01/trajectories/kinder-sweep-simple-i01-privileged--q4q2k6p.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef4386dffd4a74c2ab2f770742b9e80d63346b37
--- /dev/null
+++ b/phase2/kinder/sweep_simple_i01/trajectories/kinder-sweep-simple-i01-privileged--q4q2k6p.json
@@ -0,0 +1,1893 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-sweep-simple-i01-privileged--q4q2k6p",
+ "taskKey": "kinder/sweep_simple_i01",
+ "dag_sha256": "37587376b5c516feff7c885d0823681f8d6848199618d114f4e5cd32ada209a8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "n_actions": 968,
+   "sim_steps": 968,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 2.633,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.838,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/kinder-sweep-simple-i01-privileged--q4q2k6p/replay.mp4",
+  "duration_s": 48.5,
+  "fps": 10.0,
+  "frames": 485,
+  "sha256": "8e91d38c1df481177ac2c6a618c405db655a629672d672a63bafa36c1087915d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 50,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blocks_in_goal_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第1个方块入箱所要求的“至少1个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第2个方块入箱所要求的“至少2个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第3个方块入箱所要求的“至少3个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第4个方块入箱所要求的“至少4个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第5个方块入箱所要求的“至少5个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第6个方块入箱所要求的“至少6个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第7个方块入箱所要求的“至少7个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第8个方块入箱所要求的“至少8个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第9个方块入箱所要求的“至少9个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第10个方块入箱所要求的“至少10个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第11个方块入箱所要求的“至少11个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第12个方块入箱所要求的“至少12个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第13个方块入箱所要求的“至少13个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第14个方块入箱所要求的“至少14个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第15个方块入箱所要求的“至少15个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第16个方块入箱所要求的“至少16个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_17": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第17个方块入箱所要求的“至少17个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_18": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第18个方块入箱所要求的“至少18个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_19": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第19个方块入箱所要求的“至少19个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_20": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第20个方块入箱所要求的“至少20个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_21": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第21个方块入箱所要求的“至少21个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_22": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第22个方块入箱所要求的“至少22个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_23": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第23个方块入箱所要求的“至少23个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_24": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第24个方块入箱所要求的“至少24个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_25": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第25个方块入箱所要求的“至少25个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_26": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第26个方块入箱所要求的“至少26个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_27": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第27个方块入箱所要求的“至少27个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_28": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第28个方块入箱所要求的“至少28个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_29": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第29个方块入箱所要求的“至少29个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_30": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第30个方块入箱所要求的“至少30个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_31": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第31个方块入箱所要求的“至少31个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_32": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第32个方块入箱所要求的“至少32个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_33": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第33个方块入箱所要求的“至少33个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_34": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第34个方块入箱所要求的“至少34个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_35": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第35个方块入箱所要求的“至少35个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_36": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第36个方块入箱所要求的“至少36个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_37": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第37个方块入箱所要求的“至少37个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_38": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第38个方块入箱所要求的“至少38个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_39": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第39个方块入箱所要求的“至少39个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_40": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第40个方块入箱所要求的“至少40个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_41": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第41个方块入箱所要求的“至少41个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_42": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第42个方块入箱所要求的“至少42个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_43": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第43个方块入箱所要求的“至少43个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_44": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第44个方块入箱所要求的“至少44个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_45": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第45个方块入箱所要求的“至少45个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_46": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第46个方块入箱所要求的“至少46个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_47": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第47个方块入箱所要求的“至少47个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_48": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第48个方块入箱所要求的“至少48个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_49": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第49个方块入箱所要求的“至少49个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   },
+   "blocks_in_goal_50": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s，深红色方块散在厨岛与后方橱柜之间，厨岛靠机器人一端的半透明灰色地面目标箱内未见方块。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "观察：视频0–48.4 s的全段抽帧及视频47.5–48.4 s逐帧检查显示，方块被少量拨动后仍散在厨岛后侧地面；没有方块越过厨岛端部进入灰色目标箱，结尾箱内仍空。"
+     },
+     {
+      "t": 48.4,
+      "log_step": null,
+      "text_zh": "推断：依据视频中的空箱与未发生入箱的连续动作，第50个方块入箱所要求的“至少50个中心在箱内”全程不成立；不是依据评分为零反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "机器人单夹爪夹住刮板头部一端，以刮板推扫地面深红色方块；视频约17–20 s、25–28 s、33–36 s为同一批方块的三条扫动。五十个节点是这次批量入箱尝试的数量阈值，接触描述共用，不表示成功扫入五十块。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约12–41 s，轮式底盘承载机械臂与所持刮板移动，配合搬运和各条扫动；后段丢失工具后，视频约41–48.4 s底盘继续执行横推路线。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "blocks_in_goal_1",
+   "t": 18.0,
+   "log_step": 65,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约17–20 s，机器人底盘带着夹持刮板的机械臂完成第一条扫动，工具长柄明显倾斜，方块没有沿刮板汇集到厨岛端部，许多块仍留在扫过的地面；后续两条扫动和横向动作到视频48.4 s也未将任何方块送入灰色箱。log step 61的脚本是三条扫动加横推，log step 95、105确认最终交付该full.npz的968步轨迹；首次失效的入箱步骤此后未修复。此处视频时刻直接取自画面，不由agent工作时间或控制步换算。"
+  },
+  "unmet": {
+   "blocks_in_goal_1": false,
+   "blocks_in_goal_2": false,
+   "blocks_in_goal_3": false,
+   "blocks_in_goal_4": false,
+   "blocks_in_goal_5": false,
+   "blocks_in_goal_6": false,
+   "blocks_in_goal_7": false,
+   "blocks_in_goal_8": false,
+   "blocks_in_goal_9": false,
+   "blocks_in_goal_10": false,
+   "blocks_in_goal_11": false,
+   "blocks_in_goal_12": false,
+   "blocks_in_goal_13": false,
+   "blocks_in_goal_14": false,
+   "blocks_in_goal_15": false,
+   "blocks_in_goal_16": false,
+   "blocks_in_goal_17": false,
+   "blocks_in_goal_18": false,
+   "blocks_in_goal_19": false,
+   "blocks_in_goal_20": false,
+   "blocks_in_goal_21": false,
+   "blocks_in_goal_22": false,
+   "blocks_in_goal_23": false,
+   "blocks_in_goal_24": false,
+   "blocks_in_goal_25": false,
+   "blocks_in_goal_26": false,
+   "blocks_in_goal_27": false,
+   "blocks_in_goal_28": false,
+   "blocks_in_goal_29": false,
+   "blocks_in_goal_30": false,
+   "blocks_in_goal_31": false,
+   "blocks_in_goal_32": false,
+   "blocks_in_goal_33": false,
+   "blocks_in_goal_34": false,
+   "blocks_in_goal_35": false,
+   "blocks_in_goal_36": false,
+   "blocks_in_goal_37": false,
+   "blocks_in_goal_38": false,
+   "blocks_in_goal_39": false,
+   "blocks_in_goal_40": false,
+   "blocks_in_goal_41": false,
+   "blocks_in_goal_42": false,
+   "blocks_in_goal_43": false,
+   "blocks_in_goal_44": false,
+   "blocks_in_goal_45": false,
+   "blocks_in_goal_46": false,
+   "blocks_in_goal_47": false,
+   "blocks_in_goal_48": false,
+   "blocks_in_goal_49": false,
+   "blocks_in_goal_50": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 18.0,
+    "log_step": 65,
+    "evidence_zh": "观察：视频16.5–20.5 s的密集画面显示，机器人扫动时刮板长柄由接近竖直变为明显倾斜，刮板头部未持续保持平贴地面的扫动姿态，方块留在其后方及两侧；视频25–28 s和33–36 s再次出现同类倾斜与漏扫。log step 65记录交付脚本首条扫动结束时刮板位置高度约0.032米、姿态rot=[0.457,-0.128,-0.069]，支持工具偏离贴地姿态的观察；未把这条会话读数换算为视频时刻。"
+   },
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 37.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频33.5–36.0 s刮板仍随机器人扫动；视频约36.5–40.5 s转向后，刮板留在厨岛后侧地面，长柄恢复近竖直。视频40.5–48.4 s机器人机械臂和底盘移到右侧再返回，而刮板始终停在原处，夹爪不再带着工具，且未重新抓回；夹爪脱离的瞬间受厨岛遮挡，视频37.0 s仅作导航锚点。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频17–20 s、25–28 s、33–36 s显示机器人已能拿起并搬运刮板，却不能在扫地过程中稳定其姿态，随后又在视频约36.5–40.5 s失去工具。log step 61的交付脚本对三条扫动复用固定qfloor机械臂目标；log step 67、73对同一fullpartial轨迹前406步的诊断仍检出刮板与左右指垫的相对接触，而工具已明显倾斜，log step 76的agent自述也将其判断为受载后抬起。综合只归为控制，尚不能从这些证据独立确认是接触几何、夹紧力还是关节跟踪导致，故不细分子类。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频，无法给出每块方块的精确中心坐标和接触力；灰色目标箱可见且没有方块接近其边界，因此未将节点留作未知。视频约36.5–40.5 s夹爪与刮板的局部关系被厨岛遮挡，失握的准确瞬间只能按前后画面界定；缺少受力和关节跟踪数据，控制根因不能再细分。日志包含多次未交付的重置试验，平放工具及最后推动变体不用于本轨迹的节点进度或现象。"
+ },
+ "summary_zh": "机器人拿起刮板，移动底盘完成三条批量扫动并尝试横推，但到视频48.4 s灰色目标箱仍空，五十个入箱计数节点最终为0/50。首次扫动在视频约18 s已出现工具倾斜、漏扫，随后视频约36.5–40.5 s又失去刮板，断点为“第1个方块入箱”的操作中，根因只能确认到控制层。无逐帧状态及受力数据，失握局部受厨岛遮挡；log step 95、100、105确认最终保留的是重放失败的968步轨迹，而非后续测试变体。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "50个入箱节点均为false、peak/final=0与视频一致（全程灰色箱内未见方块）；断点为第1个方块入箱的操作中，位姿不准（刮板倾斜漏扫）与没保持住（视频约37 s后刮板留在原地）有画面支持，根因停在控制合理；log step按run.json的id引用且存在，未把agent时间换算为视频时间。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:49:37Z",
+  "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/kinder-sweep-simple-i01-privileged--q4q2k6p/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-simple-i01-privileged--q4q2k6p/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3013fb0b90f737d315b91e29da0864db3ad831f798156c1f965886f226c48063",
+   "video_sha256": "8e91d38c1df481177ac2c6a618c405db655a629672d672a63bafa36c1087915d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/sweep_simple_i01/trajectories/kinder-sweep-simple-i01-privileged--yx7kgtr.json b/phase2/kinder/sweep_simple_i01/trajectories/kinder-sweep-simple-i01-privileged--yx7kgtr.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d0ffcb8aae7ae3ca5de425ea843fe585dd42024
--- /dev/null
+++ b/phase2/kinder/sweep_simple_i01/trajectories/kinder-sweep-simple-i01-privileged--yx7kgtr.json
@@ -0,0 +1,1636 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-sweep-simple-i01-privileged--yx7kgtr",
+ "taskKey": "kinder/sweep_simple_i01",
+ "dag_sha256": "37587376b5c516feff7c885d0823681f8d6848199618d114f4e5cd32ada209a8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "n_actions": 956,
+   "sim_steps": 956,
+   "missing_trajectory": 0,
+   "invalid_trajectory": 0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.525,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.004,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/kinder-sweep-simple-i01-privileged--yx7kgtr/replay.mp4",
+  "duration_s": 47.9,
+  "fps": 10.0,
+  "frames": 479,
+  "sha256": "cd3578f79216e95b72a02ed773da59d1b7fcc38e18069df4aacfa69a2ca3a528"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 50,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blocks_in_goal_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少1个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少2个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少3个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少4个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少5个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少6个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少7个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少8个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少9个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少10个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少11个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少12个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少13个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少14个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少15个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少16个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_17": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少17个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_18": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少18个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_19": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少19个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_20": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少20个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_21": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少21个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_22": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少22个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_23": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少23个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_24": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少24个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_25": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少25个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_26": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少26个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_27": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少27个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_28": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少28个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_29": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少29个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_30": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少30个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_31": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少31个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_32": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少32个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_33": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少33个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_34": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少34个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_35": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少35个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_36": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少36个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_37": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少37个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_38": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少38个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_39": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少39个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_40": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少40个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_41": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少41个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_42": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少42个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_43": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少43个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_44": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少44个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_45": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少45个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_46": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少46个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_47": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少47个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_48": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少48个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_49": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少49个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_50": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 17,
+      "text_zh": "推断：log step 17所读固定场景配置将方块初始区域放在世界坐标x为1至2米、y为-1至1米；log step 39列出的目标箱中心为(0.5,-1.1875,0.05)米、半尺寸为(0.425,0.2375,0.05)米，两区域分离。视频0.0 s可见深红方块散落在厨岛与后排柜体之间，目标箱位于厨岛靠机器人初始位置的端部，初始无方块入箱。"
+     },
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频2.4–3.9 s机器人底盘从散块区经过，机械臂夹爪保持在底盘上方，未伸到地面；刮板仍立在后方，未见方块随机器人向目标箱移动。视频5.0–11.2 s机器人又经过散块区后驶出画面。"
+     },
+     {
+      "t": 47.8,
+      "log_step": null,
+      "text_zh": "推断：检查视频0–46 s每2秒画面、视频0–11.5 s每0.5秒画面及视频46.8–47.8 s逐帧，厨岛端部目标箱在底盘离开后一直为空，散块仍留在原散布区，没有可见入箱过程；短时遮挡前后也未见方块转移。因此“至少50个方块中心入箱”全程不成立，终值为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频0–11.2 s底盘移动承载单臂，驶过散块区，属于对整批方块的扫动尝试；可见夹爪始终悬空、没有持刮板或推到方块，不据生成脚本的意图补记手持工具或夹爪与方块接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "blocks_in_goal_1",
+   "t": 2.6,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频2.4–3.9 s机器人开始穿过散落方块区，夹爪却保持在底盘上方，刮板未被取用，未见建立地面推扫接触；视频5.0–11.2 s再次经过后驶出画面，视频47.8 s目标箱仍为空。首次入箱这一步始终未完成，故断点为blocks_in_goal_1。"
+  },
+  "unmet": {
+   "blocks_in_goal_1": false,
+   "blocks_in_goal_2": false,
+   "blocks_in_goal_3": false,
+   "blocks_in_goal_4": false,
+   "blocks_in_goal_5": false,
+   "blocks_in_goal_6": false,
+   "blocks_in_goal_7": false,
+   "blocks_in_goal_8": false,
+   "blocks_in_goal_9": false,
+   "blocks_in_goal_10": false,
+   "blocks_in_goal_11": false,
+   "blocks_in_goal_12": false,
+   "blocks_in_goal_13": false,
+   "blocks_in_goal_14": false,
+   "blocks_in_goal_15": false,
+   "blocks_in_goal_16": false,
+   "blocks_in_goal_17": false,
+   "blocks_in_goal_18": false,
+   "blocks_in_goal_19": false,
+   "blocks_in_goal_20": false,
+   "blocks_in_goal_21": false,
+   "blocks_in_goal_22": false,
+   "blocks_in_goal_23": false,
+   "blocks_in_goal_24": false,
+   "blocks_in_goal_25": false,
+   "blocks_in_goal_26": false,
+   "blocks_in_goal_27": false,
+   "blocks_in_goal_28": false,
+   "blocks_in_goal_29": false,
+   "blocks_in_goal_30": false,
+   "blocks_in_goal_31": false,
+   "blocks_in_goal_32": false,
+   "blocks_in_goal_33": false,
+   "blocks_in_goal_34": false,
+   "blocks_in_goal_35": false,
+   "blocks_in_goal_36": false,
+   "blocks_in_goal_37": false,
+   "blocks_in_goal_38": false,
+   "blocks_in_goal_39": false,
+   "blocks_in_goal_40": false,
+   "blocks_in_goal_41": false,
+   "blocks_in_goal_42": false,
+   "blocks_in_goal_43": false,
+   "blocks_in_goal_44": false,
+   "blocks_in_goal_45": false,
+   "blocks_in_goal_46": false,
+   "blocks_in_goal_47": false,
+   "blocks_in_goal_48": false,
+   "blocks_in_goal_49": false,
+   "blocks_in_goal_50": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 2.6,
+    "log_step": null,
+    "evidence_zh": "观察：视频2.4–3.9 s及视频5.0–9.5 s，底盘经过深红方块时夹爪悬在底盘上方，未下到方块所在的地面；刮板始终立在原处，未见夹爪或所持工具建立推动方块的接触。视频47.8 s方块仍散落、目标箱为空。"
+   }
+  ],
+  "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 135的生成脚本在with s.recording()之前求解IK并执行c.move_arm(q_plow)，IK函数还直接改写仿真机械臂qpos；脚本只保存rec.actions，没有录入这段准备过程，也没有在录制前恢复标准初态。log step 145的最终修改仍保留这一结构；log step 146报告生成过程共1016控制步，保存并重放的却只有956动作，差60步，且生成过程自检“moved 5”只属于该过程。log step 152对交付文件重放仍为956动作、success=false，评分器deterministic=1；视频2.4–3.9 s显示重放时机械臂未处于脚本依赖的地面推扫起始姿态。遗漏准备动作及依赖未录制状态导致交付重放缺少所需接触，不能把生成过程的方块移动算入评分轨迹。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志或其他机位；厨岛、底盘短时遮住部分方块，机器人在视频约11.3 s之后驶出画面，无法逐项确认画外动作或精确接触对。节点进度依据目标箱前后及末帧为空、没有可见入箱过程并结合固定初始区域推断，未使用会话自检的“5个移动、0个入箱”作为评分轨迹的计数；未将agent关于窄夹爪宽度及刮板滑脱的解释标成此交付轨迹的额外原因。"
+ },
+ "summary_zh": "评分轨迹中机器人以底盘驶过散落方块区，夹爪保持悬空、刮板未取用，目标箱一直未见方块进入，最终为0/50个计数节点。断点是第1个方块入箱（视频约2.6 s），现象为没建立接触；日志显示脚本把依赖的机械臂准备过程留在录制之外，交付重放从标准初态开始，构成交付操作出错。没有状态日志且机器人后段驶出画面，不能把会话生成过程报告的方块移动或刮板测试结果当作评分轨迹的进度。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "0/50、断点blocks_in_goal_1、没建立接触、交付操作出错均与视频和日志一致：视频0–11 s底盘载着收起的机械臂驶过散块区，之后机器人出画，目标箱全程为空；日志显示录制外有60步准备动作（1016 vs 956），录下的机械臂指令是相对增量，从标准初态重放时臂无法放低，因果推断成立。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:38:49Z",
+  "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/kinder-sweep-simple-i01-privileged--yx7kgtr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-simple-i01-privileged--yx7kgtr/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ec8c2d848409db72e3b14cde82e83eeddad17ad0d6ac73391b9b182be07f2ff9",
+   "video_sha256": "cd3578f79216e95b72a02ed773da59d1b7fcc38e18069df4aacfa69a2ca3a528",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/sweep_simple_i01/trajectories/kinder-sweep-simple-i01-standard--6wwehdx.json b/phase2/kinder/sweep_simple_i01/trajectories/kinder-sweep-simple-i01-standard--6wwehdx.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b8761941ddc446be6dc047c7615d1a6aa7eadae
--- /dev/null
+++ b/phase2/kinder/sweep_simple_i01/trajectories/kinder-sweep-simple-i01-standard--6wwehdx.json
@@ -0,0 +1,1677 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-sweep-simple-i01-standard--6wwehdx",
+ "taskKey": "kinder/sweep_simple_i01",
+ "dag_sha256": "37587376b5c516feff7c885d0823681f8d6848199618d114f4e5cd32ada209a8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 1000,
+   "sim_steps": 1000,
+   "calls": 129,
+   "rows": 1000,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 1520.2,
+   "video_rendered": 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/kinder-sweep-simple-i01-standard--6wwehdx/replay.mp4",
+  "duration_s": 50.1,
+  "fps": 10.0,
+  "frames": 501,
+  "sha256": "0bd93e208e1f72debb3c7b95d01b8bfdeb2501b3d9f3fc04f09eb5b8e86cba5c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 50,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blocks_in_goal_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到1个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "未知",
+      "note_zh": "视频 20.6–22.0 s 机器人夹爪在刮板杆上部附近闭合，log step 107 返回闭合位置0.9837；这是获取扫地工具的抓取尝试，但帧中不能确认手指是否从两侧夹住细杆，具体接触方式记未知。log step 126 随后主动张爪换低位，视频约 22.3–23.0 s 杆倒到地面，后续没有持工具扫动；同一批量入箱尝试的前置工具操作记在第1个计数节点。"
+     }
+    ]
+   },
+   "blocks_in_goal_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到2个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到3个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到4个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到5个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到6个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到7个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到8个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到9个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到10个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到11个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到12个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到13个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到14个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到15个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到16个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_17": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到17个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_18": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到18个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_19": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到19个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_20": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到20个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_21": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到21个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_22": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到22个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_23": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到23个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_24": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到24个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_25": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到25个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_26": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到26个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_27": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到27个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_28": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到28个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_29": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到29个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_30": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到30个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_31": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到31个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_32": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到32个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_33": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到33个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_34": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到34个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_35": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到35个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_36": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到36个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_37": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到37个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_38": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到38个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_39": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到39个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_40": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到40个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_41": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到41个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_42": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到42个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_43": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到43个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_44": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到44个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_45": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到45个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_46": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到46个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_47": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到47个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_48": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到48个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_49": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到49个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   },
+   "blocks_in_goal_50": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方矮柜之间，目标箱位于厨岛靠机器人一端，所见箱区没有红色方块；机器人未持刮板。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24.3–35.5 s 机器人以高悬的空夹爪随底盘往返穿行，刮板仍留在场地右侧；视频 39.5 s 可见的灰色箱区为空，散落方块仍在箱外，未见方块被扫入。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：结合视频 0.0–50.0 s 的前后连续画面，未见方块从散落区转移入箱；视频 49.0–50.0 s 逐帧仍见原散落区的方块和高悬空夹爪，故判断箱内数量未达到50个，该计数节点全程未成立。此判断依据可见箱区和运动连续性，非由零成功分数反推。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 24.6–50.0 s，轮式底盘承载机械臂，在散落方块区及箱口附近多次移动，尝试整批方块入箱；五十个计数节点共用此次批量尝试。未见夹爪或持握刮板与方块形成推扫接触，不记抓握或手持工具扫动。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "blocks_in_goal_1",
+   "t": 22.0,
+   "log_step": 126,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 20.6–22.0 s，机器人夹爪在直立刮板杆上部附近闭合，刮板工作面仍在原地地面；视频约 22.3–23.0 s 杆倾倒到地面，视频 24.0 s 起机器人空夹爪离开，之后刮板未再随机器人移动。log step 107 提交闭爪指令，返回 Gripper position=0.9837；log step 126 先提交5行张爪指令，再保持张爪移向低位抓姿。推断：批量入箱尝试更早在刮板获取及换握阶段失去有效工具接触，后续空夹爪穿行未修复，第1个方块入箱始终未完成。视频 22.0 s 是该失败过程的近似导航锚点，不由日志工作时间换算。"
+  },
+  "unmet": {
+   "blocks_in_goal_1": false,
+   "blocks_in_goal_2": false,
+   "blocks_in_goal_3": false,
+   "blocks_in_goal_4": false,
+   "blocks_in_goal_5": false,
+   "blocks_in_goal_6": false,
+   "blocks_in_goal_7": false,
+   "blocks_in_goal_8": false,
+   "blocks_in_goal_9": false,
+   "blocks_in_goal_10": false,
+   "blocks_in_goal_11": false,
+   "blocks_in_goal_12": false,
+   "blocks_in_goal_13": false,
+   "blocks_in_goal_14": false,
+   "blocks_in_goal_15": false,
+   "blocks_in_goal_16": false,
+   "blocks_in_goal_17": false,
+   "blocks_in_goal_18": false,
+   "blocks_in_goal_19": false,
+   "blocks_in_goal_20": false,
+   "blocks_in_goal_21": false,
+   "blocks_in_goal_22": false,
+   "blocks_in_goal_23": false,
+   "blocks_in_goal_24": false,
+   "blocks_in_goal_25": false,
+   "blocks_in_goal_26": false,
+   "blocks_in_goal_27": false,
+   "blocks_in_goal_28": false,
+   "blocks_in_goal_29": false,
+   "blocks_in_goal_30": false,
+   "blocks_in_goal_31": false,
+   "blocks_in_goal_32": false,
+   "blocks_in_goal_33": false,
+   "blocks_in_goal_34": false,
+   "blocks_in_goal_35": false,
+   "blocks_in_goal_36": false,
+   "blocks_in_goal_37": false,
+   "blocks_in_goal_38": false,
+   "blocks_in_goal_39": false,
+   "blocks_in_goal_40": false,
+   "blocks_in_goal_41": false,
+   "blocks_in_goal_42": false,
+   "blocks_in_goal_43": false,
+   "blocks_in_goal_44": false,
+   "blocks_in_goal_45": false,
+   "blocks_in_goal_46": false,
+   "blocks_in_goal_47": false,
+   "blocks_in_goal_48": false,
+   "blocks_in_goal_49": false,
+   "blocks_in_goal_50": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 22.0,
+    "log_step": 126,
+    "evidence_zh": "观察：视频 20.6–22.0 s，机器人夹爪在刮板杆上部附近闭合，未见刮板被提起或随夹爪搬动；视频约 22.3–23.0 s 刮板杆倒向地面，夹爪移离，视频 24.0–50.0 s 刮板留在原侧地面而机器人空夹爪行驶。log step 107 返回闭合位置0.9837，log step 126 随后主动张爪并换低位抓姿。推断：抓取及换握没有使刮板到达并保持可随臂扫动的持握位姿；闭爪读数不能单独证明曾持住，故采用位姿不准，不将这次主动张爪后的倒杆断言为已持住后滑脱。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "source_zh": "日志、视频",
+    "evidence_zh": "观察：log step 107 在杆上部附近闭合夹爪；log step 126 的换低位抓姿脚本先张爪5行，随后25行移臂仍保持张爪，没有同时扶住刮板或重建抓握的动作。视频 21.0–22.0 s 刮板仍直立在地，视频约 22.3–23.0 s 换姿过程中杆倒下，视频 24.0 s 后夹爪空着离开。推断：从高处闭爪到低位换握的接触安排没有维持对自由站立刮板的支承，也未建立后续扫动所需持握，导致工具获取失败；这比后续关节目标与反馈的差值更早解释失效。task/task_dag.json 的典型持刮板方案及直接夹爪拨推替代方案均未由成功轨迹验证，不能据此确认可行替代，alt_feasible 记未知。"
+   }
+  ],
+  "gap_zh": "未提供状态日志或成功参考视频；视频分辨率及视角不能确定闭合夹爪是否曾对细杆形成承载抓握，也不能区分倒杆中具体的手指碰撞、脱离或支承力，故不标已确认的持住后滑脱。厨岛和底盘遮住部分地面及箱体，零入箱仍依据可见箱区及全程运动连续性判断；关节目标与实际角的差值不足以确认底层反馈控制故障，已删除该归因。所有时间锚点取自视频，未换算日志工作时间。"
+ },
+ "summary_zh": "机器人在刮板杆上部附近闭爪，随后张爪换低位时刮板约于视频 22–23 s 倒地，此后空夹爪配合底盘穿行；五十个入箱计数节点均未达成，实时服务最终返回失败。断点前移到第1个方块入箱尝试中的工具获取及换握阶段，现象为位姿不准，根因推断为换握时缺少连续支承的抓取和接触设计。置信度降为6：闭爪与细杆的承载关系和具体倒杆接触力不可直接确认，箱区部分遮挡；不再将关节目标与实际角差直接归因于反馈控制。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "零入箱、50 个节点全 false 正确；但标签漏掉了真正的第一处失败：刮板在视频约 20–23 s 被夹在高处后倒地，此后整段扫地都没有刮板；断点时间、现象和根因都落在后续的“空夹爪行驶”上，反馈控制根因证据不足。",
+    "n_issues": 4,
+    "n_major": 3
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "50 个入箱节点全 false、断点在刮板获取/换握（视频约 22 s）、位姿不准 + 抓取和接触设计均与帧一致；第 1 轮意见已被采纳，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": "2026-10-30T02:52:59Z",
+  "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/kinder-sweep-simple-i01-standard--6wwehdx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-simple-i01-standard--6wwehdx/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-simple-i01-standard--6wwehdx/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-simple-i01-standard--6wwehdx/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d81d2816fa475bbe6091ac22e4943add503f061d3d9af4ff899b31167b7a6aaf",
+   "video_sha256": "0bd93e208e1f72debb3c7b95d01b8bfdeb2501b3d9f3fc04f09eb5b8e86cba5c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/sweep_simple_i01/trajectories/kinder-sweep-simple-i01-standard--bywhj8k.json b/phase2/kinder/sweep_simple_i01/trajectories/kinder-sweep-simple-i01-standard--bywhj8k.json
new file mode 100644
index 0000000000000000000000000000000000000000..de3d5a0cf460b69fb4c391c2cacc6b4ce635e00c
--- /dev/null
+++ b/phase2/kinder/sweep_simple_i01/trajectories/kinder-sweep-simple-i01-standard--bywhj8k.json
@@ -0,0 +1,1056 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-sweep-simple-i01-standard--bywhj8k",
+ "taskKey": "kinder/sweep_simple_i01",
+ "dag_sha256": "37587376b5c516feff7c885d0823681f8d6848199618d114f4e5cd32ada209a8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "live_rule": 1,
+   "live_verdict_error": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "instance_mismatch": 0,
+   "n_actions": 259,
+   "sim_steps": 259,
+   "calls": 21,
+   "rows": 259,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 1696.2,
+   "video_rendered": 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/kinder-sweep-simple-i01-standard--bywhj8k/replay.mp4",
+  "duration_s": 13.0,
+  "fps": 10.0,
+  "frames": 130,
+  "sha256": "8a0c9a7075ab9098ceb0d591ca8f10050cc787960f938bb92f0bdd4b995c72ad"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 50,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blocks_in_goal_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少1个中心入箱”全程不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–6.5 s，移动底盘承载机械臂转向寻找并接近刮板，属于首个方块入箱的工具准备；视频 6.5–12.9 s 夹爪空手伸出、闭合，刮板仍在原位，未观察到有效抓握或工具与方块的推扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少2个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少3个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少4个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少5个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少6个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少7个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少8个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少9个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少10个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少11个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少12个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少13个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少14个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少15个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少16个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_17": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少17个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_18": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少18个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_19": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少19个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_20": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少20个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_21": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少21个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_22": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少22个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_23": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少23个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_24": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少24个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_25": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少25个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_26": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少26个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_27": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少27个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_28": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少28个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_29": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少29个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_30": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少30个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_31": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少31个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_32": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少32个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_33": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少33个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_34": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少34个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_35": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少35个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_36": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少36个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_37": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少37个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_38": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少38个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_39": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少39个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_40": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少40个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_41": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少41个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_42": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少42个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_43": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少43个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_44": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少44个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_45": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少45个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_46": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少46个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_47": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少47个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_48": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少48个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_49": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少49个中心入箱”全程不成立。"
+     }
+    ]
+   },
+   "blocks_in_goal_50": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人端的半透明灰色目标箱可见部分没有红块；视频 4.0 s 机器人移开后露出的箱内地面也无红块。"
+     },
+     {
+      "t": 12.9,
+      "log_step": null,
+      "text_zh": "推断：逐帧核对视频 0.0–12.9 s，机器人只转向、移动底盘和空手伸臂，刮板未离开原位，散落方块未被扫向目标箱；结合视频 4.0 s、6.0 s 与12.9 s 的空箱及方块原位置，当前入箱数为0，因此“至少50个中心入箱”全程不成立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "blocks_in_goal_1",
+   "t": 9.0,
+   "log_step": 36,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 8.5–9.1 s，机械臂向地面刮板伸出后夹爪仍悬在高处，刮板未被拿起；视频 9.7–12.9 s 再次伸臂仍未形成抓握，直到结束未开始扫方块。log step 36 是首次抓取调用，log step 42 是后续抓取调用。推断：第1个方块入箱在取用刮板的准备动作中受阻，此后未修复，故以该节点为断点。"
+  },
+  "unmet": {
+   "blocks_in_goal_1": false,
+   "blocks_in_goal_2": false,
+   "blocks_in_goal_3": false,
+   "blocks_in_goal_4": false,
+   "blocks_in_goal_5": false,
+   "blocks_in_goal_6": false,
+   "blocks_in_goal_7": false,
+   "blocks_in_goal_8": false,
+   "blocks_in_goal_9": false,
+   "blocks_in_goal_10": false,
+   "blocks_in_goal_11": false,
+   "blocks_in_goal_12": false,
+   "blocks_in_goal_13": false,
+   "blocks_in_goal_14": false,
+   "blocks_in_goal_15": false,
+   "blocks_in_goal_16": false,
+   "blocks_in_goal_17": false,
+   "blocks_in_goal_18": false,
+   "blocks_in_goal_19": false,
+   "blocks_in_goal_20": false,
+   "blocks_in_goal_21": false,
+   "blocks_in_goal_22": false,
+   "blocks_in_goal_23": false,
+   "blocks_in_goal_24": false,
+   "blocks_in_goal_25": false,
+   "blocks_in_goal_26": false,
+   "blocks_in_goal_27": false,
+   "blocks_in_goal_28": false,
+   "blocks_in_goal_29": false,
+   "blocks_in_goal_30": false,
+   "blocks_in_goal_31": false,
+   "blocks_in_goal_32": false,
+   "blocks_in_goal_33": false,
+   "blocks_in_goal_34": false,
+   "blocks_in_goal_35": false,
+   "blocks_in_goal_36": false,
+   "blocks_in_goal_37": false,
+   "blocks_in_goal_38": false,
+   "blocks_in_goal_39": false,
+   "blocks_in_goal_40": false,
+   "blocks_in_goal_41": false,
+   "blocks_in_goal_42": false,
+   "blocks_in_goal_43": false,
+   "blocks_in_goal_44": false,
+   "blocks_in_goal_45": false,
+   "blocks_in_goal_46": false,
+   "blocks_in_goal_47": false,
+   "blocks_in_goal_48": false,
+   "blocks_in_goal_49": false,
+   "blocks_in_goal_50": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 9.0,
+    "log_step": 36,
+    "evidence_zh": "观察：视频 8.5–9.1 s 的夹爪闭合未带动或夹起刮板；视频 10.0–12.9 s 夹爪继续空悬于地面刮板上方，刮板的长柄与地面横条保持原位。推断：用于后续扫动的工具抓握从未建立，而非握住后滑落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 31 的 reach 函数按预测关节角递推生成整段指令，执行后才读取实测角；log step 36 的脚本诊断打印目标高度0.070 m、按实测关节角计算的夹爪高度0.571 m，随后仍发出闭合命令。log step 38 的服务关节编码器显示连续六行每行−0.09 rad指令只使关节1实际变化约−0.141 rad；log step 42 的再次抓取诊断仍给出目标高度0.060 m、计算高度0.479 m。视频 8.5–12.9 s 同样显示夹爪始终高于地面工具且空合。推断：伸臂指令未把末端送到抓取位置，后续调整也未消除偏差，导致无法取用刮板；证据只支持控制层，不能进一步确定运动学模型、逆解与执行跟踪各自的责任。"
+   }
+  ],
+  "gap_zh": "无状态日志和成功参考视频；固定场景视角中厨岛、底盘对局部地面有遮挡，入箱数依据机器人移开后的空箱和全程方块未向箱体移动作上下文推断，无法用原生逐块中心谓词复核。日志中的末端坐标是agent脚本计算值，并非独立物体真值；控制失败的具体子类未获验证。视频时间直接取帧，未把agent时间或控制步数换算为视频时间。"
+ },
+ "summary_zh": "机器人完成转向搜索并接近刮板，随后两次伸臂抓取均未建立工具接触；未执行有效扫动，五十个计数节点全程均未达成（终态0/50）。断点为第1个方块入箱的取工具准备阶段，现象为没建立接触，视频与日志共同支持控制失败；无逐块状态日志，入箱数及控制子类存在所述核验缺口。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "视频 0–12.9 s 抽帧确认：机器人转向并接近刮板，夹爪两次伸臂均悬在刮板上方未取到，箱内无方块，50 个节点均未达成、断点在 blocks_in_goal_1、现象为没建立接触，与文件一致；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": "2026-10-30T02:22:15Z",
+  "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/kinder-sweep-simple-i01-standard--bywhj8k/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-simple-i01-standard--bywhj8k/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c4281e2611776684ff20db2ce5e398040b32b098d2084c2da02950c7eb1331a7",
+   "video_sha256": "8a0c9a7075ab9098ceb0d591ca8f10050cc787960f938bb92f0bdd4b995c72ad",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/sweep_simple_i01/trajectories/kinder-sweep-simple-i01-standard--pkl32zs.json b/phase2/kinder/sweep_simple_i01/trajectories/kinder-sweep-simple-i01-standard--pkl32zs.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7571e9162c22e8dac0fa50846c4036f8150519e
--- /dev/null
+++ b/phase2/kinder/sweep_simple_i01/trajectories/kinder-sweep-simple-i01-standard--pkl32zs.json
@@ -0,0 +1,1472 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-sweep-simple-i01-standard--pkl32zs",
+ "taskKey": "kinder/sweep_simple_i01",
+ "dag_sha256": "37587376b5c516feff7c885d0823681f8d6848199618d114f4e5cd32ada209a8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 1000,
+   "sim_steps": 1000,
+   "calls": 927,
+   "rows": 1000,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 1028.3,
+   "video_rendered": 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/kinder-sweep-simple-i01-standard--pkl32zs/replay.mp4",
+  "duration_s": 50.1,
+  "fps": 10.0,
+  "frames": 501,
+  "sha256": "3c5d5083908b4be5eae1546eb457542c46aa2656359d1748995eef71761000e4"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 50,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "blocks_in_goal_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的固定场景视角可见厨岛后方散落的方块，但厨岛台面及侧壁遮住靠机器人一端的低矮灰色目标区域；视频32.5–47.0 s机器人持刮板往返，视频49.0–50.0 s仍不能看清目标区内部，无法确认是否至少1个中心入箱。没有状态日志或逐块计数结果，不能由总成功值0反推出该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的固定场景视角可见厨岛后方散落的方块，但厨岛台面及侧壁遮住靠机器人一端的低矮灰色目标区域；视频32.5–47.0 s机器人持刮板往返，视频49.0–50.0 s仍不能看清目标区内部，无法确认是否至少2个中心入箱。没有状态日志或逐块计数结果，不能由总成功值0反推出该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的固定场景视角可见厨岛后方散落的方块，但厨岛台面及侧壁遮住靠机器人一端的低矮灰色目标区域；视频32.5–47.0 s机器人持刮板往返，视频49.0–50.0 s仍不能看清目标区内部，无法确认是否至少3个中心入箱。没有状态日志或逐块计数结果，不能由总成功值0反推出该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的固定场景视角可见厨岛后方散落的方块，但厨岛台面及侧壁遮住靠机器人一端的低矮灰色目标区域；视频32.5–47.0 s机器人持刮板往返，视频49.0–50.0 s仍不能看清目标区内部，无法确认是否至少4个中心入箱。没有状态日志或逐块计数结果，不能由总成功值0反推出该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_5": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的固定场景视角可见厨岛后方散落的方块，但厨岛台面及侧壁遮住靠机器人一端的低矮灰色目标区域；视频32.5–47.0 s机器人持刮板往返，视频49.0–50.0 s仍不能看清目标区内部，无法确认是否至少5个中心入箱。没有状态日志或逐块计数结果，不能由总成功值0反推出该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_6": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的固定场景视角可见厨岛后方散落的方块，但厨岛台面及侧壁遮住靠机器人一端的低矮灰色目标区域；视频32.5–47.0 s机器人持刮板往返，视频49.0–50.0 s仍不能看清目标区内部，无法确认是否至少6个中心入箱。没有状态日志或逐块计数结果，不能由总成功值0反推出该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_7": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的固定场景视角可见厨岛后方散落的方块，但厨岛台面及侧壁遮住靠机器人一端的低矮灰色目标区域；视频32.5–47.0 s机器人持刮板往返，视频49.0–50.0 s仍不能看清目标区内部，无法确认是否至少7个中心入箱。没有状态日志或逐块计数结果，不能由总成功值0反推出该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_8": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的固定场景视角可见厨岛后方散落的方块，但厨岛台面及侧壁遮住靠机器人一端的低矮灰色目标区域；视频32.5–47.0 s机器人持刮板往返，视频49.0–50.0 s仍不能看清目标区内部，无法确认是否至少8个中心入箱。没有状态日志或逐块计数结果，不能由总成功值0反推出该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_9": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的固定场景视角可见厨岛后方散落的方块，但厨岛台面及侧壁遮住靠机器人一端的低矮灰色目标区域；视频32.5–47.0 s机器人持刮板往返，视频49.0–50.0 s仍不能看清目标区内部，无法确认是否至少9个中心入箱。没有状态日志或逐块计数结果，不能由总成功值0反推出该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_10": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的固定场景视角可见厨岛后方散落的方块，但厨岛台面及侧壁遮住靠机器人一端的低矮灰色目标区域；视频32.5–47.0 s机器人持刮板往返，视频49.0–50.0 s仍不能看清目标区内部，无法确认是否至少10个中心入箱。没有状态日志或逐块计数结果，不能由总成功值0反推出该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_11": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的固定场景视角可见厨岛后方散落的方块，但厨岛台面及侧壁遮住靠机器人一端的低矮灰色目标区域；视频32.5–47.0 s机器人持刮板往返，视频49.0–50.0 s仍不能看清目标区内部，无法确认是否至少11个中心入箱。没有状态日志或逐块计数结果，不能由总成功值0反推出该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_12": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的固定场景视角可见厨岛后方散落的方块，但厨岛台面及侧壁遮住靠机器人一端的低矮灰色目标区域；视频32.5–47.0 s机器人持刮板往返，视频49.0–50.0 s仍不能看清目标区内部，无法确认是否至少12个中心入箱。没有状态日志或逐块计数结果，不能由总成功值0反推出该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_13": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的固定场景视角可见厨岛后方散落的方块，但厨岛台面及侧壁遮住靠机器人一端的低矮灰色目标区域；视频32.5–47.0 s机器人持刮板往返，视频49.0–50.0 s仍不能看清目标区内部，无法确认是否至少13个中心入箱。没有状态日志或逐块计数结果，不能由总成功值0反推出该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_14": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的固定场景视角可见厨岛后方散落的方块，但厨岛台面及侧壁遮住靠机器人一端的低矮灰色目标区域；视频32.5–47.0 s机器人持刮板往返，视频49.0–50.0 s仍不能看清目标区内部，无法确认是否至少14个中心入箱。没有状态日志或逐块计数结果，不能由总成功值0反推出该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_15": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的固定场景视角可见厨岛后方散落的方块，但厨岛台面及侧壁遮住靠机器人一端的低矮灰色目标区域；视频32.5–47.0 s机器人持刮板往返，视频49.0–50.0 s仍不能看清目标区内部，无法确认是否至少15个中心入箱。没有状态日志或逐块计数结果，不能由总成功值0反推出该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_16": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的固定场景视角可见厨岛后方散落的方块，但厨岛台面及侧壁遮住靠机器人一端的低矮灰色目标区域；视频32.5–47.0 s机器人持刮板往返，视频49.0–50.0 s仍不能看清目标区内部，无法确认是否至少16个中心入箱。没有状态日志或逐块计数结果，不能由总成功值0反推出该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_17": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的固定场景视角可见厨岛后方散落的方块，但厨岛台面及侧壁遮住靠机器人一端的低矮灰色目标区域；视频32.5–47.0 s机器人持刮板往返，视频49.0–50.0 s仍不能看清目标区内部，无法确认是否至少17个中心入箱。没有状态日志或逐块计数结果，不能由总成功值0反推出该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_18": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的固定场景视角可见厨岛后方散落的方块，但厨岛台面及侧壁遮住靠机器人一端的低矮灰色目标区域；视频32.5–47.0 s机器人持刮板往返，视频49.0–50.0 s仍不能看清目标区内部，无法确认是否至少18个中心入箱。没有状态日志或逐块计数结果，不能由总成功值0反推出该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_19": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的固定场景视角可见厨岛后方散落的方块，但厨岛台面及侧壁遮住靠机器人一端的低矮灰色目标区域；视频32.5–47.0 s机器人持刮板往返，视频49.0–50.0 s仍不能看清目标区内部，无法确认是否至少19个中心入箱。没有状态日志或逐块计数结果，不能由总成功值0反推出该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_20": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的固定场景视角可见厨岛后方散落的方块，但厨岛台面及侧壁遮住靠机器人一端的低矮灰色目标区域；视频32.5–47.0 s机器人持刮板往返，视频49.0–50.0 s仍不能看清目标区内部，无法确认是否至少20个中心入箱。没有状态日志或逐块计数结果，不能由总成功值0反推出该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_21": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的固定场景视角可见厨岛后方散落的方块，但厨岛台面及侧壁遮住靠机器人一端的低矮灰色目标区域；视频32.5–47.0 s机器人持刮板往返，视频49.0–50.0 s仍不能看清目标区内部，无法确认是否至少21个中心入箱。没有状态日志或逐块计数结果，不能由总成功值0反推出该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_22": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的固定场景视角可见厨岛后方散落的方块，但厨岛台面及侧壁遮住靠机器人一端的低矮灰色目标区域；视频32.5–47.0 s机器人持刮板往返，视频49.0–50.0 s仍不能看清目标区内部，无法确认是否至少22个中心入箱。没有状态日志或逐块计数结果，不能由总成功值0反推出该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_23": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的固定场景视角可见厨岛后方散落的方块，但厨岛台面及侧壁遮住靠机器人一端的低矮灰色目标区域；视频32.5–47.0 s机器人持刮板往返，视频49.0–50.0 s仍不能看清目标区内部，无法确认是否至少23个中心入箱。没有状态日志或逐块计数结果，不能由总成功值0反推出该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_24": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的固定场景视角可见厨岛后方散落的方块，但厨岛台面及侧壁遮住靠机器人一端的低矮灰色目标区域；视频32.5–47.0 s机器人持刮板往返，视频49.0–50.0 s仍不能看清目标区内部，无法确认是否至少24个中心入箱。没有状态日志或逐块计数结果，不能由总成功值0反推出该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_25": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的固定场景视角可见厨岛后方散落的方块，但厨岛台面及侧壁遮住靠机器人一端的低矮灰色目标区域；视频32.5–47.0 s机器人持刮板往返，视频49.0–50.0 s仍不能看清目标区内部，无法确认是否至少25个中心入箱。没有状态日志或逐块计数结果，不能由总成功值0反推出该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_26": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的固定场景视角可见厨岛后方散落的方块，但厨岛台面及侧壁遮住靠机器人一端的低矮灰色目标区域；视频32.5–47.0 s机器人持刮板往返，视频49.0–50.0 s仍不能看清目标区内部，无法确认是否至少26个中心入箱。没有状态日志或逐块计数结果，不能由总成功值0反推出该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_27": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的固定场景视角可见厨岛后方散落的方块，但厨岛台面及侧壁遮住靠机器人一端的低矮灰色目标区域；视频32.5–47.0 s机器人持刮板往返，视频49.0–50.0 s仍不能看清目标区内部，无法确认是否至少27个中心入箱。没有状态日志或逐块计数结果，不能由总成功值0反推出该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_28": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的固定场景视角可见厨岛后方散落的方块，但厨岛台面及侧壁遮住靠机器人一端的低矮灰色目标区域；视频32.5–47.0 s机器人持刮板往返，视频49.0–50.0 s仍不能看清目标区内部，无法确认是否至少28个中心入箱。没有状态日志或逐块计数结果，不能由总成功值0反推出该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_29": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的固定场景视角可见厨岛后方散落的方块，但厨岛台面及侧壁遮住靠机器人一端的低矮灰色目标区域；视频32.5–47.0 s机器人持刮板往返，视频49.0–50.0 s仍不能看清目标区内部，无法确认是否至少29个中心入箱。没有状态日志或逐块计数结果，不能由总成功值0反推出该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_30": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的固定场景视角可见厨岛后方散落的方块，但厨岛台面及侧壁遮住靠机器人一端的低矮灰色目标区域；视频32.5–47.0 s机器人持刮板往返，视频49.0–50.0 s仍不能看清目标区内部，无法确认是否至少30个中心入箱。没有状态日志或逐块计数结果，不能由总成功值0反推出该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_31": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的固定场景视角可见厨岛后方散落的方块，但厨岛台面及侧壁遮住靠机器人一端的低矮灰色目标区域；视频32.5–47.0 s机器人持刮板往返，视频49.0–50.0 s仍不能看清目标区内部，无法确认是否至少31个中心入箱。没有状态日志或逐块计数结果，不能由总成功值0反推出该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_32": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的固定场景视角可见厨岛后方散落的方块，但厨岛台面及侧壁遮住靠机器人一端的低矮灰色目标区域；视频32.5–47.0 s机器人持刮板往返，视频49.0–50.0 s仍不能看清目标区内部，无法确认是否至少32个中心入箱。没有状态日志或逐块计数结果，不能由总成功值0反推出该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_33": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的固定场景视角可见厨岛后方散落的方块，但厨岛台面及侧壁遮住靠机器人一端的低矮灰色目标区域；视频32.5–47.0 s机器人持刮板往返，视频49.0–50.0 s仍不能看清目标区内部，无法确认是否至少33个中心入箱。没有状态日志或逐块计数结果，不能由总成功值0反推出该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_34": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的固定场景视角可见厨岛后方散落的方块，但厨岛台面及侧壁遮住靠机器人一端的低矮灰色目标区域；视频32.5–47.0 s机器人持刮板往返，视频49.0–50.0 s仍不能看清目标区内部，无法确认是否至少34个中心入箱。没有状态日志或逐块计数结果，不能由总成功值0反推出该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_35": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s的固定场景视角可见厨岛后方散落的方块，但厨岛台面及侧壁遮住靠机器人一端的低矮灰色目标区域；视频32.5–47.0 s机器人持刮板往返，视频49.0–50.0 s仍不能看清目标区内部，无法确认是否至少35个中心入箱。没有状态日志或逐块计数结果，不能由总成功值0反推出该节点为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_36": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s及视频33.0、36.0 s，厨岛与后排柜子间可辨出至少15个分离的深红色方块，远离厨岛右端的目标区；这些方块在开始阶段留在原散布区。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：逐段核对视频36.5–38.9、40.0–47.0 s及视频49.0–50.0 s，尽管机器人与刮板使部分方块小幅移动，至少15个方块仍留在目标端以外的散布区，未被整批运到灰色目标区域；箱内数至多35，故“至少36个”未达成。目标区遮挡不影响这个保守上界；这不是用零分推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_37": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s及视频33.0、36.0 s，厨岛与后排柜子间可辨出至少15个分离的深红色方块，远离厨岛右端的目标区；这些方块在开始阶段留在原散布区。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：逐段核对视频36.5–38.9、40.0–47.0 s及视频49.0–50.0 s，尽管机器人与刮板使部分方块小幅移动，至少15个方块仍留在目标端以外的散布区，未被整批运到灰色目标区域；箱内数至多35，故“至少37个”未达成。目标区遮挡不影响这个保守上界；这不是用零分推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_38": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s及视频33.0、36.0 s，厨岛与后排柜子间可辨出至少15个分离的深红色方块，远离厨岛右端的目标区；这些方块在开始阶段留在原散布区。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：逐段核对视频36.5–38.9、40.0–47.0 s及视频49.0–50.0 s，尽管机器人与刮板使部分方块小幅移动，至少15个方块仍留在目标端以外的散布区，未被整批运到灰色目标区域；箱内数至多35，故“至少38个”未达成。目标区遮挡不影响这个保守上界；这不是用零分推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_39": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s及视频33.0、36.0 s，厨岛与后排柜子间可辨出至少15个分离的深红色方块，远离厨岛右端的目标区；这些方块在开始阶段留在原散布区。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：逐段核对视频36.5–38.9、40.0–47.0 s及视频49.0–50.0 s，尽管机器人与刮板使部分方块小幅移动，至少15个方块仍留在目标端以外的散布区，未被整批运到灰色目标区域；箱内数至多35，故“至少39个”未达成。目标区遮挡不影响这个保守上界；这不是用零分推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_40": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s及视频33.0、36.0 s，厨岛与后排柜子间可辨出至少15个分离的深红色方块，远离厨岛右端的目标区；这些方块在开始阶段留在原散布区。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：逐段核对视频36.5–38.9、40.0–47.0 s及视频49.0–50.0 s，尽管机器人与刮板使部分方块小幅移动，至少15个方块仍留在目标端以外的散布区，未被整批运到灰色目标区域；箱内数至多35，故“至少40个”未达成。目标区遮挡不影响这个保守上界；这不是用零分推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_41": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s及视频33.0、36.0 s，厨岛与后排柜子间可辨出至少15个分离的深红色方块，远离厨岛右端的目标区；这些方块在开始阶段留在原散布区。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：逐段核对视频36.5–38.9、40.0–47.0 s及视频49.0–50.0 s，尽管机器人与刮板使部分方块小幅移动，至少15个方块仍留在目标端以外的散布区，未被整批运到灰色目标区域；箱内数至多35，故“至少41个”未达成。目标区遮挡不影响这个保守上界；这不是用零分推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_42": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s及视频33.0、36.0 s，厨岛与后排柜子间可辨出至少15个分离的深红色方块，远离厨岛右端的目标区；这些方块在开始阶段留在原散布区。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：逐段核对视频36.5–38.9、40.0–47.0 s及视频49.0–50.0 s，尽管机器人与刮板使部分方块小幅移动，至少15个方块仍留在目标端以外的散布区，未被整批运到灰色目标区域；箱内数至多35，故“至少42个”未达成。目标区遮挡不影响这个保守上界；这不是用零分推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_43": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s及视频33.0、36.0 s，厨岛与后排柜子间可辨出至少15个分离的深红色方块，远离厨岛右端的目标区；这些方块在开始阶段留在原散布区。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：逐段核对视频36.5–38.9、40.0–47.0 s及视频49.0–50.0 s，尽管机器人与刮板使部分方块小幅移动，至少15个方块仍留在目标端以外的散布区，未被整批运到灰色目标区域；箱内数至多35，故“至少43个”未达成。目标区遮挡不影响这个保守上界；这不是用零分推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_44": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s及视频33.0、36.0 s，厨岛与后排柜子间可辨出至少15个分离的深红色方块，远离厨岛右端的目标区；这些方块在开始阶段留在原散布区。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：逐段核对视频36.5–38.9、40.0–47.0 s及视频49.0–50.0 s，尽管机器人与刮板使部分方块小幅移动，至少15个方块仍留在目标端以外的散布区，未被整批运到灰色目标区域；箱内数至多35，故“至少44个”未达成。目标区遮挡不影响这个保守上界；这不是用零分推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_45": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s及视频33.0、36.0 s，厨岛与后排柜子间可辨出至少15个分离的深红色方块，远离厨岛右端的目标区；这些方块在开始阶段留在原散布区。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：逐段核对视频36.5–38.9、40.0–47.0 s及视频49.0–50.0 s，尽管机器人与刮板使部分方块小幅移动，至少15个方块仍留在目标端以外的散布区，未被整批运到灰色目标区域；箱内数至多35，故“至少45个”未达成。目标区遮挡不影响这个保守上界；这不是用零分推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_46": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s及视频33.0、36.0 s，厨岛与后排柜子间可辨出至少15个分离的深红色方块，远离厨岛右端的目标区；这些方块在开始阶段留在原散布区。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：逐段核对视频36.5–38.9、40.0–47.0 s及视频49.0–50.0 s，尽管机器人与刮板使部分方块小幅移动，至少15个方块仍留在目标端以外的散布区，未被整批运到灰色目标区域；箱内数至多35，故“至少46个”未达成。目标区遮挡不影响这个保守上界；这不是用零分推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_47": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s及视频33.0、36.0 s，厨岛与后排柜子间可辨出至少15个分离的深红色方块，远离厨岛右端的目标区；这些方块在开始阶段留在原散布区。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：逐段核对视频36.5–38.9、40.0–47.0 s及视频49.0–50.0 s，尽管机器人与刮板使部分方块小幅移动，至少15个方块仍留在目标端以外的散布区，未被整批运到灰色目标区域；箱内数至多35，故“至少47个”未达成。目标区遮挡不影响这个保守上界；这不是用零分推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_48": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s及视频33.0、36.0 s，厨岛与后排柜子间可辨出至少15个分离的深红色方块，远离厨岛右端的目标区；这些方块在开始阶段留在原散布区。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：逐段核对视频36.5–38.9、40.0–47.0 s及视频49.0–50.0 s，尽管机器人与刮板使部分方块小幅移动，至少15个方块仍留在目标端以外的散布区，未被整批运到灰色目标区域；箱内数至多35，故“至少48个”未达成。目标区遮挡不影响这个保守上界；这不是用零分推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_49": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s及视频33.0、36.0 s，厨岛与后排柜子间可辨出至少15个分离的深红色方块，远离厨岛右端的目标区；这些方块在开始阶段留在原散布区。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：逐段核对视频36.5–38.9、40.0–47.0 s及视频49.0–50.0 s，尽管机器人与刮板使部分方块小幅移动，至少15个方块仍留在目标端以外的散布区，未被整批运到灰色目标区域；箱内数至多35，故“至少49个”未达成。目标区遮挡不影响这个保守上界；这不是用零分推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   },
+   "blocks_in_goal_50": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0 s及视频33.0、36.0 s，厨岛与后排柜子间可辨出至少15个分离的深红色方块，远离厨岛右端的目标区；这些方块在开始阶段留在原散布区。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：逐段核对视频36.5–38.9、40.0–47.0 s及视频49.0–50.0 s，尽管机器人与刮板使部分方块小幅移动，至少15个方块仍留在目标端以外的散布区，未被整批运到灰色目标区域；箱内数至多35，故“至少50个”未达成。目标区遮挡不影响这个保守上界；这不是用零分推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频36.5–38.3 s，机器人单夹爪夹住刮板杆，以刮板在方块散布区拖扫；视频42.1–43.3 s再次持刮板穿过该区域。这里记录整批方块的实际扫动尝试，不表示已确认某个计数入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频32.5–38.3 s及视频41.8–50.0 s，移动底盘承载机械臂与刮板沿厨岛旁地面行驶，配合批量扫动和向目标端移动。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": 37.7,
+   "log_step": 97,
+   "where": "操作中",
+   "evidence_zh": "观察：视频36.8–38.3 s机器人正持刮板沿方块区移动，刮板杆相对夹爪滑动，黑色刮板头从夹爪远侧移至夹爪附近，多块方块被留在身后；视频49.0–50.0 s仍有多块在箱外。推断：失败发生于批量方块入箱操作；由于目标区内部始终被厨岛遮挡，既不知道初始箱内数，也不知道最后箱内数，无法唯一指定50个计数节点中第一个未修复的k值，故ref保留unknown。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 37.7,
+    "log_step": 97,
+    "evidence_zh": "观察：视频36.8 s夹爪夹在刮板杆的中段，视频37.4–38.3 s机器人继续移动时，杆在夹爪中的相对位置改变，刮板头逐渐滑至夹爪附近，未保持原有工具抓持位置，方块仍散在地面。log step 97中agent也自述“wiper has been slipping under floor load”；该自述仅为辅助，滑移由上述连续画面支持。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "source_zh": "视频",
+    "evidence_zh": "推断：视频36.8–38.3 s机器人以单个二指夹爪夹刮板细杆，拖扫期间工具相对夹爪滑移，说明这次抓持未能稳定约束工具、传递扫地负载，影响将方块一起推向目标。log step 85的夹爪读数由agent脚本打印为接近全闭，log step 97承认工具滑移；未见力传感数据，不能进一步断定摩擦系数或夹紧力参数，也没有验证过可行的替代抓法。"
+   }
+  ],
+  "gap_zh": "观察：inputs/仅提供本次视频与run.json等记录，没有状态日志或成功参考视频。固定外部视角中目标区被厨岛遮挡，低计数节点blocks_in_goal_1至blocks_in_goal_35的初态、达成区间和终值均无法确认；能确认至少15个方块留在箱外，故blocks_in_goal_36至blocks_in_goal_50为假。推断：无法定位首个未完成计数节点，断点ref保留unknown；没有用agent的视觉估算替代入箱事实。视频总长50.1 s，而日志报告1000个control steps及每步0.1 s，未用agent时间或该控制步计数换算视频时间；所有时间锚均直接来自已查看的视频帧。",
+  "unmet": {
+   "blocks_in_goal_1": null,
+   "blocks_in_goal_2": null,
+   "blocks_in_goal_3": null,
+   "blocks_in_goal_4": null,
+   "blocks_in_goal_5": null,
+   "blocks_in_goal_6": null,
+   "blocks_in_goal_7": null,
+   "blocks_in_goal_8": null,
+   "blocks_in_goal_9": null,
+   "blocks_in_goal_10": null,
+   "blocks_in_goal_11": null,
+   "blocks_in_goal_12": null,
+   "blocks_in_goal_13": null,
+   "blocks_in_goal_14": null,
+   "blocks_in_goal_15": null,
+   "blocks_in_goal_16": null,
+   "blocks_in_goal_17": null,
+   "blocks_in_goal_18": null,
+   "blocks_in_goal_19": null,
+   "blocks_in_goal_20": null,
+   "blocks_in_goal_21": null,
+   "blocks_in_goal_22": null,
+   "blocks_in_goal_23": null,
+   "blocks_in_goal_24": null,
+   "blocks_in_goal_25": null,
+   "blocks_in_goal_26": null,
+   "blocks_in_goal_27": null,
+   "blocks_in_goal_28": null,
+   "blocks_in_goal_29": null,
+   "blocks_in_goal_30": null,
+   "blocks_in_goal_31": null,
+   "blocks_in_goal_32": null,
+   "blocks_in_goal_33": null,
+   "blocks_in_goal_34": null,
+   "blocks_in_goal_35": null,
+   "blocks_in_goal_36": false,
+   "blocks_in_goal_37": false,
+   "blocks_in_goal_38": false,
+   "blocks_in_goal_39": false,
+   "blocks_in_goal_40": false,
+   "blocks_in_goal_41": false,
+   "blocks_in_goal_42": false,
+   "blocks_in_goal_43": false,
+   "blocks_in_goal_44": false,
+   "blocks_in_goal_45": false,
+   "blocks_in_goal_46": false,
+   "blocks_in_goal_47": false,
+   "blocks_in_goal_48": false,
+   "blocks_in_goal_49": false,
+   "blocks_in_goal_50": false
+  }
+ },
+ "summary_zh": "观察：机器人拾起刮板并沿方块散布区往返，但视频50.0 s仍有至少15个方块在目标端以外，确认未完成第36至第50个计数目标；log step 107的服务状态为1000控制步、done=true、reason=failed。推断：视频37.4–38.3 s的刮板杆滑移表明抓持接触未能稳定传递扫动负载，批量入箱操作未完成。目标箱内部被厨岛遮挡，前35个计数节点保留未知，不能报告准确入箱总数或唯一的首个失败计数节点。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "标注整体可接受：目标箱被厨岛遮挡，前35个计数节点保持unknown、后15个为false（视频50.0 s仍有大量方块在箱外）符合证据；断点ref为unknown并说明理由；没有把agent时间换算成视频时间；校验通过。刮板杆滑移在视频36.8–38.3 s可见，现象与根因有视频支持。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T02:25:51Z",
+  "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/kinder-sweep-simple-i01-standard--pkl32zs/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-simple-i01-standard--pkl32zs/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5afdf5cbbb860c839dae65c06733cdbb4e7137ff0da0c5b468d1c9bb4c325805",
+   "video_sha256": "3c5d5083908b4be5eae1546eb457542c46aa2656359d1748995eef71761000e4",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/sweep_simple_i01/trajectories/kinder-sweep-simple-i01-standard--snd3fgz.json b/phase2/kinder/sweep_simple_i01/trajectories/kinder-sweep-simple-i01-standard--snd3fgz.json
new file mode 100644
index 0000000000000000000000000000000000000000..f13a829b01b639536ee9a0c0fde2eef036b9bbda
--- /dev/null
+++ b/phase2/kinder/sweep_simple_i01/trajectories/kinder-sweep-simple-i01-standard--snd3fgz.json
@@ -0,0 +1,1647 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-sweep-simple-i01-standard--snd3fgz",
+ "taskKey": "kinder/sweep_simple_i01",
+ "dag_sha256": "37587376b5c516feff7c885d0823681f8d6848199618d114f4e5cd32ada209a8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 1000,
+   "sim_steps": 1000,
+   "calls": 198,
+   "rows": 1000,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 1595.3,
+   "video_rendered": 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/kinder-sweep-simple-i01-standard--snd3fgz/replay.mp4",
+  "duration_s": 50.1,
+  "fps": 10.0,
+  "frames": 501,
+  "sha256": "e907f4f90aa1754b30d24ebcc396f89293541da2fdc945f1f9f375398a07a6a6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 50,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blocks_in_goal_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少1个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少2个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少3个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少4个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少5个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少6个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少7个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少8个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少9个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少10个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少11个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少12个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少13个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少14个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少15个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少16个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_17": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少17个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_18": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少18个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_19": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少19个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_20": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少20个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_21": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少21个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_22": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少22个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_23": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少23个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_24": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少24个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_25": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少25个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_26": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少26个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_27": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少27个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_28": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少28个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_29": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少29个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_30": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少30个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_31": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少31个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_32": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少32个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_33": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少33个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_34": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少34个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_35": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少35个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_36": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少36个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_37": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少37个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_38": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少38个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_39": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少39个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_40": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少40个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_41": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少41个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_42": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少42个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_43": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少43个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_44": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少44个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_45": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少45个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_46": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少46个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_47": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少47个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_48": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少48个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_49": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少49个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   },
+   "blocks_in_goal_50": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间的地面通道，厨岛靠机器人一端的目标位置没有可见方块；尚无方块入箱。"
+     },
+     {
+      "t": 50.0,
+      "log_step": 222,
+      "text_zh": "推断：对照视频 0.0 s、视频 30.0–35.0 s 的扫动及视频 40.0–50.0 s 的往返（含视频 49.0–50.0 s 逐帧），方块仍散在厨岛远侧通道，没有方块随工具或夹爪绕至近端目标区，末帧该处地面也未见方块，因此入箱数量为0，未达到至少50个的阈值。log step 222 的服务终局为 control_steps=1000、done=true、reason=failed；此总判负仅作支持，不用于单独推断零进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 25.0–25.5 s，单臂夹爪靠近直立刮板杆后将其碰得倾倒；视频 29.1–30.1 s 夹爪降到刮板头附近但未夹持并带走刮板。后续夹爪随底盘低位扫过方块通道；不把未握持的刮板记为手持工具。五十个节点是同一批量扫入尝试的数量阈值，共用此接触记录，不表示逐个方块都被触及。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–35.0 s、视频 40.0–50.0 s，轮式底盘承载机械臂在方块通道和厨岛端部往返，为整批扫入尝试提供移动；不是底盘已经把方块推入箱的证据。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "blocks_in_goal_1",
+   "t": 29.5,
+   "log_step": 195,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 29.1–30.1 s，机器人为扫方块而把夹爪降至已倒下的刮板头附近，闭爪后移动时没有带走刮板，刮板仍留在原地。视频 30.0–50.0 s 后续扫动未将任何方块送到厨岛近端目标区；第1个方块入箱始终未完成。log step 195 记录了这次闭爪，log step 222 服务在1000个控制步后判负。"
+  },
+  "unmet": {
+   "blocks_in_goal_1": false,
+   "blocks_in_goal_2": false,
+   "blocks_in_goal_3": false,
+   "blocks_in_goal_4": false,
+   "blocks_in_goal_5": false,
+   "blocks_in_goal_6": false,
+   "blocks_in_goal_7": false,
+   "blocks_in_goal_8": false,
+   "blocks_in_goal_9": false,
+   "blocks_in_goal_10": false,
+   "blocks_in_goal_11": false,
+   "blocks_in_goal_12": false,
+   "blocks_in_goal_13": false,
+   "blocks_in_goal_14": false,
+   "blocks_in_goal_15": false,
+   "blocks_in_goal_16": false,
+   "blocks_in_goal_17": false,
+   "blocks_in_goal_18": false,
+   "blocks_in_goal_19": false,
+   "blocks_in_goal_20": false,
+   "blocks_in_goal_21": false,
+   "blocks_in_goal_22": false,
+   "blocks_in_goal_23": false,
+   "blocks_in_goal_24": false,
+   "blocks_in_goal_25": false,
+   "blocks_in_goal_26": false,
+   "blocks_in_goal_27": false,
+   "blocks_in_goal_28": false,
+   "blocks_in_goal_29": false,
+   "blocks_in_goal_30": false,
+   "blocks_in_goal_31": false,
+   "blocks_in_goal_32": false,
+   "blocks_in_goal_33": false,
+   "blocks_in_goal_34": false,
+   "blocks_in_goal_35": false,
+   "blocks_in_goal_36": false,
+   "blocks_in_goal_37": false,
+   "blocks_in_goal_38": false,
+   "blocks_in_goal_39": false,
+   "blocks_in_goal_40": false,
+   "blocks_in_goal_41": false,
+   "blocks_in_goal_42": false,
+   "blocks_in_goal_43": false,
+   "blocks_in_goal_44": false,
+   "blocks_in_goal_45": false,
+   "blocks_in_goal_46": false,
+   "blocks_in_goal_47": false,
+   "blocks_in_goal_48": false,
+   "blocks_in_goal_49": false,
+   "blocks_in_goal_50": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 29.5,
+    "log_step": 195,
+    "evidence_zh": "观察：视频 29.1–30.1 s，机器人夹爪在刮板头附近闭合，随后机器人离开，刮板头及杆仍留在后方地面，未形成可带动刮板扫方块的夹持接触；视频 31.0–35.0 s 机器人穿行方块通道时没有持刮板。这里指所选工具路线的夹持未建立，不是否认此前夹爪碰倒刮板的轻推接触。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 194 的抓取脚本用固定刮板头位置 BLADE=(-0.195,-1.792)、向下的夹爪及末端高度0.020米直接闭爪；log step 197 的脚本计算闭爪时末端高度约0.039米，log step 195 记录夹爪接近完全闭合（0.9837）。结合视频 29.1–30.1 s 刮板头留在地面、机器人未带走工具，所选低位抓取没有使指垫对向夹住薄刮板头，后续也未建立可靠的宽刮板扫动接触。精确间隙不能从画面测出，未验证其他握法是否可行。"
+   }
+  ],
+  "gap_zh": "没有状态日志和成功参考视频；单一场景视角中，厨岛与底盘会暂时遮挡部分方块及接触点。零入箱依据全程前后位置和未出现向目标区转移的运动作视觉推断；不能逐块测量中心坐标，也不能测量指垫与刮板头的精确间隙或判定所有短暂轻触，故接触几何根因保留为推断，可行替代为未知。"
+ },
+ "summary_zh": "机器人先转动底盘和调整机械臂观察场景，随后碰倒刮板、尝试抓取刮板头，再以低位夹爪随底盘反复扫动；对照初末帧与扫动过程，未见方块进入厨岛近端目标区，五十个计数节点均未达到。断点为第1个方块入箱：闭爪未建立刮板夹持，后续未用上刮板，也未把方块扫至目标；服务在1000个控制步后判负。无状态日志，零入箱及指垫接触几何由视频前后变化和日志联合推断，精确坐标与接触间隙不可核实。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "零入箱与视频一致：0 s、20–50 s 帧中方块始终散在通道，刮板在 29–30 s 后仍躺在原地；断点 blocks_in_goal_1、没建立接触、抓取和接触设计（推断）均有证据支持，时钟用的控制步映射（583/1000≈29.2 s）与视频吻合。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": "2026-10-30T02:23:17Z",
+  "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/kinder-sweep-simple-i01-standard--snd3fgz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-simple-i01-standard--snd3fgz/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "2fd1a46c974f1c543dbddf144d594edb4b4a2d0f6e6807348d05ff262b6aa483",
+   "video_sha256": "e907f4f90aa1754b30d24ebcc396f89293541da2fdc945f1f9f375398a07a6a6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/sweep_simple_i01/trajectories/kinder-sweep-simple-i01-standard--t7kgs9l.json b/phase2/kinder/sweep_simple_i01/trajectories/kinder-sweep-simple-i01-standard--t7kgs9l.json
new file mode 100644
index 0000000000000000000000000000000000000000..70edd2a75cf834e34ac4428a899331e7bcdc2e6f
--- /dev/null
+++ b/phase2/kinder/sweep_simple_i01/trajectories/kinder-sweep-simple-i01-standard--t7kgs9l.json
@@ -0,0 +1,1398 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-sweep-simple-i01-standard--t7kgs9l",
+ "taskKey": "kinder/sweep_simple_i01",
+ "dag_sha256": "37587376b5c516feff7c885d0823681f8d6848199618d114f4e5cd32ada209a8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 1000,
+   "sim_steps": 1000,
+   "calls": 198,
+   "rows": 1000,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 896.0,
+   "video_rendered": 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/kinder-sweep-simple-i01-standard--t7kgs9l/replay.mp4",
+  "duration_s": 50.1,
+  "fps": 10.0,
+  "frames": 501,
+  "sha256": "5142e78d2b693ed67b5b5404fc7f94acd748cf1775770e02cbcd60e43886e0c1"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 50,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blocks_in_goal_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少1个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少2个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少3个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少4个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少5个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少6个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少7个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少8个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少9个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少10个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少11个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少12个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少13个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少14个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少15个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少16个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_17": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少17个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_18": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少18个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_19": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少19个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_20": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少20个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_21": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少21个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_22": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少22个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_23": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少23个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_24": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少24个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_25": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少25个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_26": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少26个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_27": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少27个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_28": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少28个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_29": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少29个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_30": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少30个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_31": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少31个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_32": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少32个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_33": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少33个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_34": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少34个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_35": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少35个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_36": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少36个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_37": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少37个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_38": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少38个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_39": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少39个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_40": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少40个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_41": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少41个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_42": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少42个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_43": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少43个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_44": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少44个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_45": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少45个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_46": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少46个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_47": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少47个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_48": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少48个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_49": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少49个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   },
+   "blocks_in_goal_50": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散布在厨岛与后方橱柜之间；厨岛靠机器人端的半透明灰色目标区可见处没有红方块。刮板仍直立在后方，机器人夹爪空着。"
+     },
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "推断：从视频 0.0–50.0 s 每约 0.5 s 的局部画面、视频 8.5–11.5 s 与 16.0–18.2 s 的密集画面，以及视频 49.0–50.0 s 逐帧检查，可见方块的位置和散布形状未改变，机器人始终没有进入这片方块区，也没有持刮板扫动或携块转移；结合初态目标区为空，判断箱内数量保持为0，未达到至少50个中心入箱的条件。这不是由 success=0 单独推得。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "五十个计数节点共用同一批量扫入尝试：机器人轮式底盘支承机体，在厨岛近侧及端部反复平移、转向；未见底盘接触实际红方块，夹爪未持刮板，故不标推/扫或抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "blocks_in_goal_1",
+   "t": 9.5,
+   "log_step": 34,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 8.5–11.5 s，机器人在厨岛右端及近侧短距离移动、转向，而红方块在厨岛远侧保持不动，底盘未接触方块；log step 34 中 agent 明确宣称朝方块推进并执行底盘命令，故已有扫入尝试。后续视频 16.0–18.2 s、24.0–46.0 s 和 49.0–50.0 s 仍没有方块转移，第1个方块入箱始终未修复；log step 92 的服务状态在 control_steps=1000 时返回 done=true、reason=failed。视频 9.5 s 是可见空推的粗略导航锚点，未将日志工作时间换算为视频时间。"
+  },
+  "unmet": {
+   "blocks_in_goal_1": false,
+   "blocks_in_goal_2": false,
+   "blocks_in_goal_3": false,
+   "blocks_in_goal_4": false,
+   "blocks_in_goal_5": false,
+   "blocks_in_goal_6": false,
+   "blocks_in_goal_7": false,
+   "blocks_in_goal_8": false,
+   "blocks_in_goal_9": false,
+   "blocks_in_goal_10": false,
+   "blocks_in_goal_11": false,
+   "blocks_in_goal_12": false,
+   "blocks_in_goal_13": false,
+   "blocks_in_goal_14": false,
+   "blocks_in_goal_15": false,
+   "blocks_in_goal_16": false,
+   "blocks_in_goal_17": false,
+   "blocks_in_goal_18": false,
+   "blocks_in_goal_19": false,
+   "blocks_in_goal_20": false,
+   "blocks_in_goal_21": false,
+   "blocks_in_goal_22": false,
+   "blocks_in_goal_23": false,
+   "blocks_in_goal_24": false,
+   "blocks_in_goal_25": false,
+   "blocks_in_goal_26": false,
+   "blocks_in_goal_27": false,
+   "blocks_in_goal_28": false,
+   "blocks_in_goal_29": false,
+   "blocks_in_goal_30": false,
+   "blocks_in_goal_31": false,
+   "blocks_in_goal_32": false,
+   "blocks_in_goal_33": false,
+   "blocks_in_goal_34": false,
+   "blocks_in_goal_35": false,
+   "blocks_in_goal_36": false,
+   "blocks_in_goal_37": false,
+   "blocks_in_goal_38": false,
+   "blocks_in_goal_39": false,
+   "blocks_in_goal_40": false,
+   "blocks_in_goal_41": false,
+   "blocks_in_goal_42": false,
+   "blocks_in_goal_43": false,
+   "blocks_in_goal_44": false,
+   "blocks_in_goal_45": false,
+   "blocks_in_goal_46": false,
+   "blocks_in_goal_47": false,
+   "blocks_in_goal_48": false,
+   "blocks_in_goal_49": false,
+   "blocks_in_goal_50": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 9.5,
+    "log_step": 34,
+    "evidence_zh": "观察：视频 8.5–11.5 s 的推进中，机器人底盘与实际红方块之间隔着厨岛端部的空地，夹爪也没有触到方块；视频 16.0–18.2 s 及末段视频 46.0–50.0 s 均未出现方块被带动。log step 34、47 所称推方块对应的是 agent 的判断，视频未显示所需的机器人—方块推扫接触。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "t": 16.8,
+    "log_step": 47,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 将错误的视觉目标当作方块簇，反复朝没有实际方块的区域执行推拢。log step 31、44–45 的脚本用宽松颜色阈值 r>25、r-g>15、r-b>10 的像素数量和质心估计方块方向；log step 47 自述“底盘正在推一团方块”，但视频 16.0–18.2 s 中机器人在厨岛近侧，远侧红方块阵列原地不动。log step 76 的掩码检查得到3602个红像素，log step 79 修改脚本时明确记载需排除偏红木地板误检，log step 96 再自述此前追逐的若干方块簇是地板纹理。上述估计、行动和视频位置的不一致支持感知错误，而非仅由任务失败倒推。"
+   }
+  ],
+  "gap_zh": "没有逐方块中心或接触状态日志，也没有成功参考视频；固定场景视角中厨岛和底盘遮住目标区的部分边界，无法核验精确三维边界和每块中心坐标。零入箱判断结合初始目标区可见部分、方块散布始终不变和全程无转移作出；agent 关于已推动方块的叙述与视频不符，以视频为准。日志注明控制步长为0.1 s，而视频总长为50.1 s，未验证两者的播放映射，所有导航时间均直接取自视频。"
+ },
+ "summary_zh": "机器人未持刮板，反复用底盘在厨岛近侧及端部执行批量推拢路线；视频中实际红方块始终留在远侧原处，判断全部50个入箱计数节点均未达到，最终为0/50。断点为第1个方块入箱，现象是未建立推扫接触；日志中的方块簇判断、颜色掩码误检记录和视频位置不符，支持感知错误，回合最终在1000个控制步后失败。缺少逐方块状态日志和成功参考，目标区部分受遮挡，零入箱为结合初态与全程未发生转移的视觉推断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频全程机器人在厨岛右端/近侧移动，远侧红方块阵列位置不变，0/50 与断点 blocks_in_goal_1、没建立接触、感知根因均有帧与日志支持，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": "2026-10-30T02:40:00Z",
+  "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/kinder-sweep-simple-i01-standard--t7kgs9l/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-simple-i01-standard--t7kgs9l/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "51d6ee3dd0878a5892b89dedfa6770f0a9d88b76b208c513de68e9e0625cd80f",
+   "video_sha256": "5142e78d2b693ed67b5b5404fc7f94acd748cf1775770e02cbcd60e43886e0c1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/kinder/sweep_simple_i01/trajectories/kinder-sweep-simple-i01-standard--z2ranvy.json b/phase2/kinder/sweep_simple_i01/trajectories/kinder-sweep-simple-i01-standard--z2ranvy.json
new file mode 100644
index 0000000000000000000000000000000000000000..564d31ff2111eb604a421db89e06f65b584bd32e
--- /dev/null
+++ b/phase2/kinder/sweep_simple_i01/trajectories/kinder-sweep-simple-i01-standard--z2ranvy.json
@@ -0,0 +1,1649 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "kinder-sweep-simple-i01-standard--z2ranvy",
+ "taskKey": "kinder/sweep_simple_i01",
+ "dag_sha256": "37587376b5c516feff7c885d0823681f8d6848199618d114f4e5cd32ada209a8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "n_actions": 782,
+   "sim_steps": 782,
+   "calls": 711,
+   "rows": 782,
+   "resets": 0,
+   "reset_budget": 0,
+   "sim_startups": 1,
+   "elapsed_s": 673.7,
+   "video_rendered": 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/kinder-sweep-simple-i01-standard--z2ranvy/replay.mp4",
+  "duration_s": 39.2,
+  "fps": 10.0,
+  "frames": 392,
+  "sha256": "42a3dcf761c4179235ae9c95f372230c51c796af3bfca200b125a77d4bf7d420"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 50,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blocks_in_goal_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少1个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少2个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少3个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少4个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少5个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少6个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少7个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少8个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少9个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少10个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少11个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少12个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少13个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少14个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少15个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少16个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_17": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少17个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_18": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少18个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_19": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少19个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_20": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少20个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_21": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少21个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_22": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少22个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_23": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少23个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_24": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少24个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_25": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少25个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_26": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少26个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_27": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少27个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_28": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少28个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_29": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少29个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_30": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少30个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_31": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少31个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_32": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少32个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_33": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少33个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_34": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少34个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_35": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少35个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_36": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少36个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_37": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少37个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_38": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少38个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_39": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少39个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_40": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少40个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_41": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少41个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_42": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少42个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_43": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少43个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_44": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少44个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_45": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少45个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_46": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少46个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_47": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少47个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_48": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少48个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_49": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少49个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   },
+   "blocks_in_goal_50": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，深红色方块散落在厨岛与后方橱柜之间的地面，厨岛靠机器人一端的灰色目标箱中未见方块。"
+     },
+     {
+      "t": 28.3,
+      "log_step": 40,
+      "text_zh": "观察：视频 25.9–28.3 s，机器人以底盘穿过方块分布区域，夹爪保持在地面上方且未持刮板；底盘经过后，可见方块仍在原处，未随机器人进入灰色目标箱。log step 40 记录该次底盘直线推扫指令。"
+     },
+     {
+      "t": 39.1,
+      "log_step": null,
+      "text_zh": "推断：视频 30.5–33.0 s 的再次穿行及视频 38.2–39.1 s 的逐帧末段检查均未见方块移入目标箱；局部遮挡前后散落布局一致，目标箱仍空。因此当前入箱数量为0，“至少50个方块中心入箱”不成立；判断来自画面及运动连续性，而非仅由零分推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 25.9–28.3 s、30.5–33.0 s，轮式底盘承载机械臂穿行于方块区域，执行批量扫入尝试；同一批量动作对应这些累计数量节点。夹爪悬空，未抓取或使用刮板，未观察到将方块推走的有效接触。这里只记录底盘行驶时的地面支撑，不把底盘经过方块的投影当作已发生推/扫接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "blocks_in_goal_1",
+   "t": 26.5,
+   "log_step": 40,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 26.5 s，机器人开始让底盘沿方块所在通道驶向目标箱，但夹爪仍高悬、未持刮板；视频 28.3 s 可见底盘已经穿过一条方块带，方块未被带走。log step 40 的脚本只发送底盘位移；视频 30.5–33.0 s 的后续尝试也未完成第1个方块入箱，该步骤直到视频 39.1 s 仍未修复。"
+  },
+  "unmet": {
+   "blocks_in_goal_1": false,
+   "blocks_in_goal_2": false,
+   "blocks_in_goal_3": false,
+   "blocks_in_goal_4": false,
+   "blocks_in_goal_5": false,
+   "blocks_in_goal_6": false,
+   "blocks_in_goal_7": false,
+   "blocks_in_goal_8": false,
+   "blocks_in_goal_9": false,
+   "blocks_in_goal_10": false,
+   "blocks_in_goal_11": false,
+   "blocks_in_goal_12": false,
+   "blocks_in_goal_13": false,
+   "blocks_in_goal_14": false,
+   "blocks_in_goal_15": false,
+   "blocks_in_goal_16": false,
+   "blocks_in_goal_17": false,
+   "blocks_in_goal_18": false,
+   "blocks_in_goal_19": false,
+   "blocks_in_goal_20": false,
+   "blocks_in_goal_21": false,
+   "blocks_in_goal_22": false,
+   "blocks_in_goal_23": false,
+   "blocks_in_goal_24": false,
+   "blocks_in_goal_25": false,
+   "blocks_in_goal_26": false,
+   "blocks_in_goal_27": false,
+   "blocks_in_goal_28": false,
+   "blocks_in_goal_29": false,
+   "blocks_in_goal_30": false,
+   "blocks_in_goal_31": false,
+   "blocks_in_goal_32": false,
+   "blocks_in_goal_33": false,
+   "blocks_in_goal_34": false,
+   "blocks_in_goal_35": false,
+   "blocks_in_goal_36": false,
+   "blocks_in_goal_37": false,
+   "blocks_in_goal_38": false,
+   "blocks_in_goal_39": false,
+   "blocks_in_goal_40": false,
+   "blocks_in_goal_41": false,
+   "blocks_in_goal_42": false,
+   "blocks_in_goal_43": false,
+   "blocks_in_goal_44": false,
+   "blocks_in_goal_45": false,
+   "blocks_in_goal_46": false,
+   "blocks_in_goal_47": false,
+   "blocks_in_goal_48": false,
+   "blocks_in_goal_49": false,
+   "blocks_in_goal_50": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 26.5,
+    "log_step": 40,
+    "evidence_zh": "推断：视频 25.9–28.3 s 与 30.5–33.0 s，机器人底盘经过散落方块，方块在被遮住前及露出后仍处于相同位置，没有随底盘推移；夹爪始终高于地面，刮板仍立在旁边。因此该扫入尝试未建立能推动方块的有效接触，并非夹住方块后丢失。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 26.5,
+    "log_step": 40,
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：log step 38 定义的 drive.py 只给底盘平移、转向指令，log step 40–42 用它执行多条扫入路线，未安排夹爪或刮板在地面与方块接触；视频 25.9–33.0 s 显示底盘能够行驶而方块不随之移动，夹爪保持悬空。所选作用端及接触几何没有形成有效推扫，是失败的直接原因。agent 在 log step 46 自述“底盘不能推动方块”，与画面相符；其提出的刮板或低位机械臂替代方案未实际验证。"
+   }
+  ],
+  "gap_zh": "没有状态日志、逐方块中心入箱计数或接触对记录，也没有成功参考视频。底盘短时遮住局部方块；零入箱判断使用遮挡前后布局、可见目标箱及未发生运输的连续性推断，不能进一步断言轮胎从未轻触方块。刮板或夹爪替代方案的可行性未经验证。"
+ },
+ "summary_zh": "机器人转动观察、调整相机并绕行厨岛，随后用底盘多次穿过散落方块区域；视频始末及推扫前后均未见方块入箱，50个累计计数节点最终均不成立。断点为第1个方块入箱：底盘未形成有效推扫接触，机械臂夹爪悬空且未使用刮板，所选接触方案未使方块移动。无状态日志或逐方块计数，局部遮挡依靠前后画面的连续性判断，替代接触方案尚未验证。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "50个计数节点全为false与视频一致（0、20、26、28、30、32、34、39 s帧均未见方块进入灰色目标箱），断点、现象与根因有证据支持，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": "2026-10-30T02:30:52Z",
+  "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/kinder-sweep-simple-i01-standard--z2ranvy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/kinder-sweep-simple-i01-standard--z2ranvy/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "2d1a2b4d48daa2ab1fe45efce7772118aef25a16c8a12b3e11a449125322cca9",
+   "video_sha256": "42a3dcf761c4179235ae9c95f372230c51c796af3bfca200b125a77d4bf7d420",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}