Add 111 trajectories (phase 2, remaining runs; batch S30)

phase2/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-privileged--aoucflm.json

@@ -0,0 +1,471 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-can-meat-i00-privileged--aoucflm",
+ "taskKey": "behavior-1k/can_meat",
+ "dag_sha256": "f3528823deacaae41ee48f35af2dbb099ba817ce76d5ff2cd5f1d48523bc2056",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 2783,
+   "sim_steps": 2783,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1484.8,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 38,
+   "agent_resets": 1,
+   "agent_sim_steps": 15896,
+   "agent_records": 3,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-can-meat-i00-privileged--aoucflm/replay.mp4",
+  "duration_s": 92.767,
+  "fps": 30.0,
+  "frames": 2783,
+  "sha256": "02ca0a62a1fefda9505dbfa880c4482ae4ab6e631e3100cd6abddbffd9ff0ac4"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 12,
+  "base": 5,
+  "peak": 6,
+  "final": 6,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "推断：视频约3.5 s腕部画面出现门板下方的黑色开口，随后视频8.5 s及14.5 s头部画面明确显示门板向外伸出、柜内搁板露出，因此开柜事件已发生；首次越过阈值的时刻受相机转动遮挡，视频3.5 s为约略锚点。"
+     },
+     {
+      "t": 14.5,
+      "log_step": 515,
+      "text_zh": "观察：视频14.5 s指定上柜的门板明显展开，搁板及下层罐子可见。log step 515所读第三次录制日志报告左右门分别约1.0732、0.9903 rad；该录制的2783动作由log step 514确认，与评分视频2783帧一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "推断：视频约3.5–8.5 s夹爪从门板下方进入并将柜门拨向外侧；腕部画面及log step 510的由内向外扫门路径支持推开，未见夹紧把手。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频开头机器人底盘驶到上柜前并转向，支承开柜操作。"
+     }
+    ]
+   },
+   "jars_opened_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14.5,
+      "log_step": null,
+      "text_zh": "观察：视频8.5–15.0 s柜内罐子的可见轮廓没有翻起的盖子；视频全程机器人未执行专门抓盖或翻盖操作，随后直接取香肠并向柜前做投放动作，未观察到第1只不同罐露出口部。"
+     },
+     {
+      "t": null,
+      "log_step": 512,
+      "text_zh": "推断：log step 512列出的该次录制流程从开柜直接进入抓香肠、投放和关柜，未包含开罐；结合视频没有盖子翻起的变化，判断未达到开罐事件。此处不把其他会话的开盖试验当成评分尝试。"
+     }
+    ]
+   },
+   "jars_opened_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14.5,
+      "log_step": null,
+      "text_zh": "观察：视频8.5–15.0 s柜内罐子的可见轮廓没有翻起的盖子；视频全程机器人未执行专门抓盖或翻盖操作，随后直接取香肠并向柜前做投放动作，未观察到第2只不同罐露出口部。"
+     },
+     {
+      "t": null,
+      "log_step": 512,
+      "text_zh": "推断：log step 512列出的该次录制流程从开柜直接进入抓香肠、投放和关柜，未包含开罐；结合视频没有盖子翻起的变化，判断未达到开罐事件。此处不把其他会话的开盖试验当成评分尝试。"
+     }
+    ]
+   },
+   "sausages_in_jars_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.75,
+      "log_step": null,
+      "text_zh": "观察：视频21.25–24.75 s左臂在砧板上方下降并收回，香肠没有随夹爪离开；视频27.0 s砧板仍可见四根香肠。视频36.5–40.5 s左臂在柜前执行的是空手投放，没有第1根入罐。"
+     },
+     {
+      "t": null,
+      "log_step": 515,
+      "text_zh": "观察：log step 515所读的2783步录制报告前两次抓取均为None、bw1=False和bw2=False；log step 514报告q_score=0，和视频未出现香肠入罐一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频21.25–24.75 s左夹爪接近香肠并下降，但腕部与手掌遮住接触区；可确定未形成随手提升的抓握，不能分辨是否有短暂单指接触，故不标抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人底盘在砧板和橱柜之间行驶并支承机械臂；对应按执行顺序的取送尝试，未将空手行驶写成持物搬运。"
+     }
+    ]
+   },
+   "sausages_in_jars_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30,
+      "log_step": null,
+      "text_zh": "观察：视频27.0–30.0 s右臂在砧板处执行另一轮下降和回收，未见香肠被带走；视频42.0–46.5 s右臂随后空手伸向柜前。没有累计两根入罐的过程。"
+     },
+     {
+      "t": null,
+      "log_step": 514,
+      "text_zh": "推断：评分器q_score=0不计仍保持的初始目标，但不允许任何新增香肠inside目标在末态成立，因此第2根入罐末态为假；同时视频没有相反的放入证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频27.0–30.0 s右夹爪接近香肠并下降，但腕部与手掌遮住接触区；可确定未形成随手提升的抓握，不能分辨是否有短暂单指接触，故不标抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人底盘在砧板和橱柜之间行驶并支承机械臂；对应按执行顺序的取送尝试，未将空手行驶写成持物搬运。"
+     }
+    ]
+   },
+   "sausages_in_jars_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 56,
+      "log_step": null,
+      "text_zh": "观察：视频54.0–56.0 s左夹爪确实夹住一根弯曲香肠并使其离开砧板，视频60.0–70.75 s仍随机器人移动；视频71.25 s夹爪张开后香肠向柜外下落，没有到达罐内。此为按执行顺序记录的第3次取送尝试，不代表累计第3根已入罐。"
+     },
+     {
+      "t": null,
+      "log_step": 514,
+      "text_zh": "推断：评分器q_score=0结合前两轮空手投放及后续柜外掉落，排除末态累计三根香肠在罐内。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频54.0–70.75 s左夹爪两指夹住弯曲香肠，物体随手离开砧板并被携带，视频71.25 s张指释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约64.0–68.0 s底盘由砧板驶向橱柜，支承左臂所持香肠。"
+     }
+    ]
+   },
+   "sausages_in_jars_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 63,
+      "log_step": null,
+      "text_zh": "观察：视频60.0–63.0 s右臂对砧板上剩余香肠执行下降和回收，右腕画面中目标仍在板上；视频74.0–78.0 s右臂再次空手伸向柜前。没有四根形成每罐两根的状态。"
+     },
+     {
+      "t": null,
+      "log_step": 514,
+      "text_zh": "推断：评分器q_score=0和视频仅一根被携带、后又落在柜外的过程共同排除四根均分入罐的末态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频60.0–63.0 s右夹爪接近香肠并下降，但腕部与手掌遮住接触区；可确定未形成随手提升的抓握，不能分辨是否有短暂单指接触，故不标抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人底盘在砧板和橱柜之间行驶并支承机械臂；对应按执行顺序的取送尝试，未将空手行驶写成持物搬运。"
+     }
+    ]
+   },
+   "jars_closed_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 14.5,
+      "log_step": null,
+      "text_zh": "推断：DAG核实初态两罐均关闭；视频14.5–15.0 s敞柜下层可见罐子，未见盖子翻起。后续没有操纵罐盖的动作，也没有取出罐子的过程，因此至少1只关闭的关系从初态保持；柜前投放时视线受门板遮挡，不能据遮挡虚构开盖再关盖。"
+     }
+    ]
+   },
+   "jars_closed_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 14.5,
+      "log_step": null,
+      "text_zh": "推断：DAG核实初态两罐均关闭；视频14.5–15.0 s敞柜下层可见罐子，未见盖子翻起。后续没有操纵罐盖的动作，也没有取出罐子的过程，因此至少2只关闭的关系从初态保持；柜前投放时视线受门板遮挡，不能据遮挡虚构开盖再关盖。"
+     }
+    ]
+   },
+   "jars_in_cabinet_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 14.5,
+      "log_step": null,
+      "text_zh": "观察：视频14.5–15.0 s打开的指定上柜下层可见罐子；机器人全程没有抓起或搬出罐子的动作。"
+     },
+     {
+      "t": 92.6,
+      "log_step": null,
+      "text_zh": "推断：由DAG核实的两罐初始柜内关系、视频14.5 s柜内轮廓以及后续无移罐过程，判断至少1只罐始终在柜内；视频92.6 s柜门闭合后的遮挡不算移出。"
+     }
+    ]
+   },
+   "jars_in_cabinet_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 14.5,
+      "log_step": null,
+      "text_zh": "观察：视频14.5–15.0 s打开的指定上柜下层可见罐子；机器人全程没有抓起或搬出罐子的动作。"
+     },
+     {
+      "t": 92.6,
+      "log_step": null,
+      "text_zh": "推断：由DAG核实的两罐初始柜内关系、视频14.5 s柜内轮廓以及后续无移罐过程，判断至少2只罐始终在柜内；视频92.6 s柜门闭合后的遮挡不算移出。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      3.5
+     ],
+     [
+      87.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.5,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–2.5 s柜门合拢，视频8.5–15.0 s已明显敞开。"
+     },
+     {
+      "t": 87.5,
+      "log_step": null,
+      "text_zh": "观察：视频82.75–87.5 s腕部画面显示机器人夹爪扫过门板，视频87.5 s及92.6 s头部画面可见两门板重新合拢；最后一秒检查到视频92.6 s仍关闭。"
+     },
+     {
+      "t": null,
+      "log_step": 514,
+      "text_zh": "观察：log step 514所读2783步录制的末态左右柜门均0.0000 rad、Cabinet Open=False，支持视频结尾的关柜判断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约82.75–87.5 s机器人夹爪依次扫推两侧门板回到关闭位置；未见抓紧把手。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约79.0–82.0 s底盘在柜前调整位置，为随后扫推关门定位。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "sausages_in_jars_1",
+   "t": 24.75,
+   "log_step": 515,
+   "where": "操作中",
+   "evidence_zh": "观察：视频21.25–24.75 s左夹爪下降后空手收回，视频27.0 s四根香肠仍在砧板；随后机器人空手到柜前执行投放。视频54.0 s虽后来夹起另一根，但视频71.25 s又将其释放到柜外，直到视频92.6 s仍未有任何一根入罐，所以最早未修复的是第1根入罐；并非最终关柜步骤。log step 515的前两次抓取None与此一致。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 24.75,
+    "log_step": 515,
+    "evidence_zh": "观察：视频21.25–24.75 s机器人左夹爪在香肠处下降、闭合并回收，但香肠没有随夹爪提升；视频27.0 s四根仍在砧板。所需的夹持搬运接触没有建立；这不是已抓起后滑落，短暂碰触是否存在不能由遮挡画面判断。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频21.25–24.75 s机器人已将左夹爪送到砧板香肠附近，却未将其夹起；log step 515读取同一2783步录制的抓取返回None。目标正确而实际夹持未建立，支持抓取执行层面的控制失败；接触面被手掌遮住，不能细分为握法几何、逆解误差或闭合参数问题。"
+   },
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 474的脚本把ok2仅打印，随后无条件进入drop_into_jar；log step 515已报告两次抓取False，但视频36.5–46.5 s仍执行两轮空手投放。log step 512列出的该录制流程还从开柜直接跳到取香肠和投放，省略必须的开罐盖；视频未见开盖。失败返回未触发重抓或修正前置条件，使第1根入罐的失败持续未修复。"
+   }
+  ],
+  "gap_zh": "无状态日志、无成功参考视频。首次柜门越过5%阈值的瞬间被相机转动和门板遮住，视频约3.5 s为腕部开口变化的估计锚点，视频8.5 s确定已打开；关柜恢复时间视频约87.5 s也为视觉估计。罐内和盖沿在投放阶段受门板遮挡，关闭及柜内关系结合已核实初态与未发生移罐/开盖动作推断；新增入罐末态还受评分器q_score=0约束。夹持接触细节不可见，故失败抓取的contact_actual保留未知。log step 514保存的2783步与评分视频/动作数一致；log step 493是2521步旧测试，log step 532是之后新启动脚本的自述，均未当作本次评分节点证据。",
+  "unmet": {
+   "sausages_in_jars_1": false,
+   "sausages_in_jars_2": false,
+   "sausages_in_jars_3": false,
+   "sausages_in_jars_4": false,
+   "jars_closed_1": true,
+   "jars_closed_2": true,
+   "jars_in_cabinet_1": true,
+   "jars_in_cabinet_2": true,
+   "cabinet_closed": true
+  }
+ },
+ "summary_zh": "评分轨迹完成开柜并最终重新关柜，两罐的关闭和柜内初始关系保持，四根香肠入罐均未达到；按本DAG末态6/12。断点为第1根香肠入罐：前两次抓取没有建立夹持，脚本仍空手投放；后来夹起的一根又在柜外释放，且流程省略开罐盖。无状态日志，柜门阈值时刻及遮挡后的罐体关系依赖视觉和上下文推断，末态入罐数量由视频与q_score=0共同约束。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值、时间、断点（第1根香肠入罐，操作中）、没建立接触、控制与推理/规划两个根因均与视频及log step 512/514/515一致（前两次抓取None，罐未开，q_score=0，末态柜门0.0）。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": "2026-10-30T22:00:23Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-can-meat-i00-privileged--aoucflm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-can-meat-i00-privileged--aoucflm/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "edb9ba84af46468f909425a3963daba2af3c8db70b987ae56e606623c3d14acc",
+   "video_sha256": "02ca0a62a1fefda9505dbfa880c4482ae4ab6e631e3100cd6abddbffd9ff0ac4",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-privileged--ec25zvg.json

@@ -0,0 +1,372 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-can-meat-i00-privileged--ec25zvg",
+ "taskKey": "behavior-1k/can_meat",
+ "dag_sha256": "f3528823deacaae41ee48f35af2dbb099ba817ce76d5ff2cd5f1d48523bc2056",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 7068,
+   "sim_breakdown": 0,
+   "goal": 0,
+   "settle_steps": 0,
+   "goal_first_step": -1,
+   "sim_steps": 1341,
+   "fallen": 1,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1107.7,
+   "replay_timeout_s": 5912.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "video_replay_matches": 1,
+   "agent_sessions": 1,
+   "agent_resets": 0,
+   "agent_sim_steps": 9090,
+   "agent_records": 1,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-can-meat-i00-privileged--ec25zvg/replay.mp4",
+  "duration_s": 44.7,
+  "fps": 30.0,
+  "frames": 1341,
+  "sha256": "1af2eaaeff483db41592525b3c97992b07ab6cb12d506a4adb84763482286470"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 12,
+  "base": 5,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0–33.5 s，机器人反复抬起、伸出左臂，腕部画面主要是窗户、墙面或机器人自身，未见夹爪带动柜门拉开、柜内罐子露出的过程；视频 34.7 s 后机身翻倒，直至视频 44.67 s 未恢复。"
+     },
+     {
+      "t": 34.7,
+      "log_step": 62,
+      "text_zh": "推断：交付回放没有完成打开橱柜。log step 62 的开门角度输出来自交互调试；评分视频未复现该输出所称的开门，不将调试结果记为事件已达。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 0–33.5 s 可见机器人左臂伸出与夹爪开合，但腕部视野没有清楚显示左夹爪与指定柜门的接触区域；无法确定实际接触方式，不能照抄调试中直接建立的辅助抓取约束。"
+     }
+    ]
+   },
+   "jars_opened_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 33.5,
+      "log_step": 71,
+      "text_zh": "推断：视频 0–33.5 s 未出现打开橱柜后接近罐子、翻开罐盖或露出罐口的操作，随后视频 34.7–44.67 s 机器人翻倒未恢复；打开第1只罐的事件未达。log step 71 的开盖读数属于交互调试，不能代替评分视频。"
+     }
+    ]
+   },
+   "jars_opened_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 33.5,
+      "log_step": 71,
+      "text_zh": "推断：视频 0–33.5 s 未出现打开橱柜后接近罐子、翻开罐盖或露出罐口的操作，随后视频 34.7–44.67 s 机器人翻倒未恢复；打开第2只罐的事件未达。log step 71 的开盖读数属于交互调试，不能代替评分视频。"
+     }
+    ]
+   },
+   "sausages_in_jars_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.3,
+      "log_step": null,
+      "text_zh": "观察：视频 33.8–34.7 s 转向木色台面时可见砧板及其上的香肠，未见罐子被带到此处，也未见机器人夹起香肠送入罐内；此前视频 0–33.5 s 亦无香肠转移过程。"
+     },
+     {
+      "t": 44.67,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0，结合视频中没有成功取罐、开盖或送入香肠的过程，第1根香肠入罐终值为 false；不是单由零分推断未操作。"
+     }
+    ]
+   },
+   "sausages_in_jars_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.3,
+      "log_step": null,
+      "text_zh": "观察：视频 33.8–34.7 s 转向木色台面时可见砧板及其上的香肠，未见罐子被带到此处，也未见机器人夹起香肠送入罐内；此前视频 0–33.5 s 亦无香肠转移过程。"
+     },
+     {
+      "t": 44.67,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0，结合视频中没有成功取罐、开盖或送入香肠的过程，第2根香肠入罐终值为 false；不是单由零分推断未操��。"
+     }
+    ]
+   },
+   "sausages_in_jars_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.3,
+      "log_step": null,
+      "text_zh": "观察：视频 33.8–34.7 s 转向木色台面时可见砧板及其上的香肠，未见罐子被带到此处，也未见机器人夹起香肠送入罐内；此前视频 0–33.5 s 亦无香肠转移过程。"
+     },
+     {
+      "t": 44.67,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0，结合视频中没有成功取罐、开盖或送入香肠的过程，第3根香肠入罐终值为 false；不是单由零分推断未操作。"
+     }
+    ]
+   },
+   "sausages_in_jars_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.3,
+      "log_step": null,
+      "text_zh": "观察：视频 33.8–34.7 s 转向木色台面时可见砧板及其上的香肠，未见罐子被带到此处，也未见机器人夹起香肠送入罐内；此前视频 0–33.5 s 亦无香肠转移过程。"
+     },
+     {
+      "t": 44.67,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0，结合视频中没有成功取罐、开盖或送入香肠的过程，第4根香肠入罐终值为 false；不是单由零分推断未操作。"
+     }
+    ]
+   },
+   "jars_closed_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG 明确初始两罐均关闭，故关好第1只罐从视频 0 s 成立。视频 0–33.5 s 没有可确认的接近罐盖或翻盖操作，视频 34.7–44.67 s 机器人倒伏；结合此操作链，判断初始关闭关系保持至结束。罐盖本身主要被柜体遮挡，此处是连续性推断。"
+     }
+    ]
+   },
+   "jars_closed_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG 明确初始两罐均关闭，故关好第2只罐从视频 0 s 成立。视频 0–33.5 s 没有可确认的接近罐盖或翻盖操作，视频 34.7–44.67 s 机器人倒伏；结合此操作链，判断初始关闭关系保持至结束。罐盖本身主要被柜体遮挡，此处是连续性推断。"
+     }
+    ]
+   },
+   "jars_in_cabinet_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG 的冻结初态为两罐均在指定橱柜内，故第1只罐在柜内从视频 0 s 成立。视频 0–33.5 s 没有罐子离柜后随夹爪移动或到达台面的过程，视频 34.7–44.67 s 机器人翻倒；据初态和没有取出过程推断柜内容纳关系保持，不采用 log step 63–71 的交互取罐结果。"
+     }
+    ]
+   },
+   "jars_in_cabinet_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG 的冻结初态为两罐均在指定橱柜内，故第2只罐在柜内从视频 0 s 成立。视频 0–33.5 s 没有罐子离柜后随夹爪移动或到达台面的过程，视频 34.7–44.67 s 机器人翻倒；据初态和没有取出过程推断柜内容纳关系保持，不采用 log step 63–71 的交互取罐结果。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG 指定柜门初始关闭。视频 0–33.5 s 未见指定柜门拉开并露出内部空间的过程，视频 34.7–44.67 s 机器人倒伏且没有关柜操作；据初态和操作连续性推断关闭状态保持，不能把交互调试中的开门角度移植到评分回放。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cabinet_opened",
+   "t": 34.7,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 0–33.5 s 机器人执行伸臂和夹爪开合，却没有显示柜门被打开；视频 34.5–35.0 s 两个腕部视野及头部视野一起急剧侧翻，随后一直倒伏到视频 44.67 s。推断：最先未完成且始终未修复的是打开橱柜，后续翻倒使该步骤再无恢复；log step 62 的开门成功读数不是本段回放的节点事实。"
+  },
+  "unmet": {
+   "sausages_in_jars_1": false,
+   "sausages_in_jars_2": false,
+   "sausages_in_jars_3": false,
+   "sausages_in_jars_4": false,
+   "jars_closed_1": true,
+   "jars_closed_2": true,
+   "jars_in_cabinet_1": true,
+   "jars_in_cabinet_2": true,
+   "cabinet_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 34.7,
+    "log_step": null,
+    "evidence_zh": "观察：视频 34.5–35.0 s，机器人头部与腕部相机所见台面、窗户和墙面快速侧转约四分之一圈，之后视频 35.0–44.67 s 始终侧卧低位，最后一秒也未恢复；评分器字段 fallen=1、sim_steps=1341 与此相符。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "交付",
+    "item": "交付操作出错",
+    "log_step": 62,
+    "source_zh": "日志 / 视频 / 评分器字段",
+    "evidence_zh": "观察：log step 47 在交互会话中先将底盘驶到柜前；log step 56 已试录过开门，log step 62 再次 record_start 前没有 reset 或重录前述导航，并在录制中直接调用机器人 _establish_grasp 建立柜门约束。log step 80–81 保存的是 7068×25 的动作数组；评分器 agent_replays=0、agent_resets=0、deterministic=1、video_replay_matches=1，且实际回放只运行 1341 步即 fallen=1；视频 0–33.5 s 未复现交互输出所称的柜门打开，视频 34.7 s 翻倒。推断：录制没有从评分冻结初态覆盖完整的准备动作，且交互中直接建立的抓取约束不能由已保存的动作数组自动重建；这是有日志依据的交付构造问题。"
+   }
+  ],
+  "gap_zh": "没有状态日志，也没有成功示范视频。指定柜内的罐身、罐盖及部分柜门接触区域受到视角遮挡，五个初始真条件的持续成立依据冻结初态和未见实际取罐、翻盖、装罐操作推断，不能逐帧核验原生谓词或 5% 开合阈值；contact_actual 因此保留未知。视频能直接确认翻倒，但不能确认其瞬间受力或具体阻挡物，故不另标碰撞、接触失败或控制子类；日志的开门、取罐及装罐反馈属于交互会话，评分回放与其不同，未借用这些反馈给节点计分。"
+ },
+ "summary_zh": "评分回放没有新增已达步骤；两罐关闭、两罐在柜内和柜门关闭共五个初始条件，依据初态与视频操作连续性推断保留，终态为 5/12，原生 q_score=0。最早未修复的步骤是打开橱柜，机器人在视频约 34.7 s 翻倒并倒伏至视频 44.67 s；日志显示录制缺少柜前准备动作，且依赖直接建立的抓取约束，支持交付操作出错。没有状态日志或成功示范，柜内细节受遮挡，初始条件持续成立和接触方式的把握弱于对翻倒的直接观察。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "逐帧检查未发现可推翻的错误：视频 0–33.5 s 未见柜门被拉开或取罐，视频约 34.5–35 s 机身翻倒并倒伏至结尾，五个初始真条件按 q_score=0 与初态保留合理；交付操作出错有日志依据（step 62 录制中直接调用 _establish_grasp，agent_replays=0）。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:03:36Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-can-meat-i00-privileged--ec25zvg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-can-meat-i00-privileged--ec25zvg/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "41f1c60771be426699635e6c4e9bf921f4bae0c259c76f34324b6822a7406350",
+   "video_sha256": "1af2eaaeff483db41592525b3c97992b07ab6cb12d506a4adb84763482286470",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-privileged--hcephjb.json

@@ -0,0 +1,426 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-can-meat-i00-privileged--hcephjb",
+ "taskKey": "behavior-1k/can_meat",
+ "dag_sha256": "f3528823deacaae41ee48f35af2dbb099ba817ce76d5ff2cd5f1d48523bc2056",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 1307,
+   "sim_steps": 1307,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1069.9,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 4,
+   "agent_resets": 69,
+   "agent_sim_steps": 0,
+   "agent_records": 20,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-can-meat-i00-privileged--hcephjb/replay.mp4",
+  "duration_s": 43.567,
+  "fps": 30.0,
+  "frames": 1307,
+  "sha256": "993c5311c501670750935da6bc8aeede1059393fa7803411343eaacbcdc199ce"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 12,
+  "base": 5,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.5,
+      "log_step": null,
+      "text_zh": "观察：视频 2.0–5.5 s，机器人驶到上方橱柜前并抬动左臂，柜门板仍相互合拢；视频 6.0–13.5 s 的后续接近动作也未使门板翻离柜体。"
+     },
+     {
+      "t": 14.5,
+      "log_step": null,
+      "text_zh": "观察：视频约 14.0–18.5 s，机器人开始离开柜前，柜门仍关闭；随后转向砧板，至视频 43.53 s 未见开柜成功。"
+     },
+     {
+      "t": null,
+      "log_step": 235,
+      "text_zh": "观察：log step 235 的备用脚本在柜前只执行三个末端接近航点，随即转往砧板，未包含此前测试中的压门、拖门或门沿抓取动作；log step 242 确认保存该备用轨迹，共 1307 步，与评分视频帧数一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频 3.0–13.5 s 左臂在柜门下方附近接近、回撤，腕部画面常被机器人自身及台面遮挡，不能确定夹爪是否接触柜体或门板，更不能确认抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 0.0–2.5 s 轮式底盘驶近橱柜，支承机械臂进行柜前接近；随后驶离。"
+     }
+    ]
+   },
+   "jars_opened_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 13.5,
+      "log_step": null,
+      "text_zh": "观察：视频 2.0–18.5 s 可见橱柜门仍合拢，机器人未进入柜内操作罐盖；之后视频 26.1–30.4 s 仅在砧板处操作香肠，没有任何罐口或罐盖翻起的过程。"
+     },
+     {
+      "t": 43.53,
+      "log_step": null,
+      "text_zh": "推断：结合 DAG 所载两罐初始关闭、评分视频全程没有进入柜内或接触罐盖的动作，第1只不同罐曾打开的事件未发生；未将会话其他测试的开合读数计入。"
+     }
+    ]
+   },
+   "jars_opened_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 13.5,
+      "log_step": null,
+      "text_zh": "观察：视频 2.0–18.5 s 可见橱柜门仍合拢，机器人未进入柜内操作罐盖；之后视频 26.1–30.4 s 仅在砧板处操作香肠，没有任何罐口或罐盖翻起的过程。"
+     },
+     {
+      "t": 43.53,
+      "log_step": null,
+      "text_zh": "推断：结合 DAG 所载两罐初始关闭、评分视频全程没有进入柜内或接触罐盖的动作，第2只不同罐曾打开的事件未发生；未将会话其他测试的开合读数计入。"
+     }
+    ]
+   },
+   "sausages_in_jars_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.4,
+      "log_step": null,
+      "text_zh": "观察：视频 27.5–29.33 s 左夹爪在砧板上香肠的端部收拢，视频 29.87–30.4 s 夹爪空着抬离，香肠仍在砧板上；视频其余部分没有把香肠送进罐内的动作，第1根入罐未达到。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器 reward.q_score=0.0，与画面中没有新增香肠入罐关系一致；初始已成立的两罐关闭、两罐柜内和柜门关闭不计入此新增目标分数，因此该零分不否定初始五个节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "视频 28.8–29.33 s，左夹爪合拢后的指尖顶在砧板上香肠的端部；香肠未被夹在两指相对的侧面之间，视频 29.87–30.4 s 夹爪抬离而香肠留板，故不标抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约 19.0–26.0 s 底盘从柜前绕到砧板处，支承左臂接近香肠；视频约 30.0–39.0 s 继续移动，画面未显示携带香肠。"
+     }
+    ]
+   },
+   "sausages_in_jars_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.4,
+      "log_step": null,
+      "text_zh": "观察：视频 27.5–29.33 s 左夹爪在砧板上香肠的端部收拢，视频 29.87–30.4 s 夹爪空着抬离，香肠仍在砧板上；视频其余部分没有把香肠送进罐内的动作，第2根入罐未达到。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器 reward.q_score=0.0，与画面中没有新增香肠入罐关系一致；初始已成立的两罐关闭、两罐柜内和柜门关闭不计入此新增目标分数，因此该零分不否定初始五个节点。"
+     }
+    ]
+   },
+   "sausages_in_jars_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.4,
+      "log_step": null,
+      "text_zh": "观察：视频 27.5–29.33 s 左夹爪在砧板上香肠的端部收拢，视频 29.87–30.4 s 夹爪空着抬离，香肠仍在砧板上；视频其余部分没有把香肠送进罐内的动作，第3根入罐未达到。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器 reward.q_score=0.0，与画面中没有新增香肠入罐关系一致；初始已成立的两罐关闭、两罐柜内和柜门关闭不计入此新增目标分数，因此该零分不否定初始五个节点。"
+     }
+    ]
+   },
+   "sausages_in_jars_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.4,
+      "log_step": null,
+      "text_zh": "观察：视频 27.5–29.33 s 左夹爪在砧板上香肠的端部收拢，视频 29.87–30.4 s 夹爪空着抬离，香肠仍在砧板上；视频其余部分没有把香肠送进罐内的动作，第4根入罐未达到。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器 reward.q_score=0.0，与画面中没有新增香肠入罐关系一致；初始已成立的两罐关闭、两罐柜内和柜门关闭不计入此新增目标分数，因此该零分不否定初始五个节点。"
+     }
+    ]
+   },
+   "jars_closed_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG 的初始条件明确两罐均关闭。视频 0.0–18.5 s 柜门保持合拢，后续机器人仅在柜外及砧板处活动，没有接触罐盖；据初态和操作连续性，至少1只罐关闭从视频 0.0 s 保持至结束，罐盖本身被柜门遮挡。"
+     },
+     {
+      "t": 43.53,
+      "log_step": null,
+      "text_zh": "推断：视频末段至 43.53 s 未发生开罐操作；保留初始关闭状态，不因 q_score=0.0 将初始条件改判为假。"
+     }
+    ]
+   },
+   "jars_closed_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG 的初始条件明确两罐均关闭。视频 0.0–18.5 s 柜门保持合拢，后续机器人仅在柜外及砧板处活动，没有接触罐盖；据初态和操作连续性，至少2只罐关闭从视频 0.0 s 保持至结束，罐盖本身被柜门遮挡。"
+     },
+     {
+      "t": 43.53,
+      "log_step": null,
+      "text_zh": "推断：视频末段至 43.53 s 未发生开罐操作；保留初始关闭状态，不因 q_score=0.0 将初始条件改判为假。"
+     }
+    ]
+   },
+   "jars_in_cabinet_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG 明确两只罐起初都在指定橱柜内。视频 2.0–18.5 s 柜门未打开，整个评分视频没有取罐或搬罐过程，因此至少1只罐在柜内的关系从视频 0.0 s 连续保持；此判断结合初态与过程，未把遮挡解释为移出。"
+     },
+     {
+      "t": 43.53,
+      "log_step": null,
+      "text_zh": "观察：视频 26.1–30.4 s 左腕画面出现的是砧板和香肠，视频 30.4–43.53 s 没有罐子随机器人移动或落出的可见过程。"
+     }
+    ]
+   },
+   "jars_in_cabinet_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG 明确两只罐起初都在指定橱柜内。视频 2.0–18.5 s 柜门未打开，整个评分视频没有取罐或搬罐过程，因此至少2只罐在柜内的关系从视频 0.0 s 连续保持；此判断结合初态与过程，未把遮挡解释为移出。"
+     },
+     {
+      "t": 43.53,
+      "log_step": null,
+      "text_zh": "观察：视频 26.1–30.4 s 左腕画面出现的是砧板和香肠，视频 30.4–43.53 s 没有罐子随机器人移动或落出的可见过程。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2,
+      "log_step": null,
+      "text_zh": "观察：视频 2.0 s 橱柜的两块门板位于柜体正面并合拢；视频 3.0–18.5 s 的多次柜前视图仍显示门板关闭，没有明显向外翻开。"
+     },
+     {
+      "t": 43.53,
+      "log_step": null,
+      "text_zh": "推断：视频约 19.0 s 后机器人离开柜前，后续处理砧板上的香肠并在厨房内移动，至视频 43.53 s 未再操作柜门；结合 DAG 的关闭初态，关柜状态全程保持。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cabinet_opened",
+   "t": 13.5,
+   "log_step": 235,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 3.0–13.5 s 机器人在上方橱柜前反复移动左臂，但门板保持关闭，视频约 14.0–18.5 s 便驶离，之后也未打开柜门。log step 235 的交付备用脚本只保留柜前接近航点，log step 242 确认保存 1307 步；因此最早开始工作而从未补成的步骤是打开橱柜，不能用 log step 260 的另一轮开门测试替代本段进度。"
+  },
+  "unmet": {
+   "sausages_in_jars_1": false,
+   "sausages_in_jars_2": false,
+   "sausages_in_jars_3": false,
+   "sausages_in_jars_4": false,
+   "jars_closed_1": true,
+   "jars_closed_2": true,
+   "jars_in_cabinet_1": true,
+   "jars_in_cabinet_2": true,
+   "cabinet_closed": true
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": null,
+    "log_step": 241,
+    "source_zh": "日志",
+    "evidence_zh": "推断：开柜控制未形成可靠技能。会话测试在 log step 180 中记录左爪只有单指接触门板、辅助抓取射线候选为空；log step 240 的压门后开角仍约为零，log step 241 另一次压门末端误差为 0.173 m 且输出 attempt failed: doorL，随即启动备用任务；log step 242 保存备用轨迹。视频 3.0–18.5 s 对应的交付内容只做到柜前接近便离开。以上会话反馈用于解释为何只交付局部动作，不作为评分视频内发生接触或开门的证明；不足以把控制进一步归到某个子类。"
+   }
+  ],
+  "gap_zh": "无状态日志和成功示范。柜内两罐及罐盖全程被柜门遮挡，其初始关系的延续由 DAG 初态和未取罐、未开盖的操作过程推断；柜前夹爪接触方式无法看清。交付首段只有接近航点，未包含压门或拉门动作，不能判定是抓取落空、滑脱还是受阻，故失败现象层留空，亦不把会话测试中的接触失败移植为本段现象；根因仅据会话反馈保留宽泛的控制。视频 39.2–43.53 s 相机大幅旋转并主要朝向天花板，缺少外部全身视角与基座状态，不能单凭此确定机器人跌倒。"
+ },
+ "summary_zh": "评分视频保留两罐关闭、两罐在柜内和柜门关闭这五个初始节点，最终为 5/12；没有开柜、开罐或香肠入罐的新进度，左夹爪抬离砧板后香肠仍留板。最早未补救的步骤是打开橱柜：机器人在柜前接近后离开，交付的是 log step 242 保存的备用轨迹，会话的开柜反馈支持宽泛的控制瓶颈。柜内状态与接触细节受遮挡且无状态日志，交付未含实际拉门过程，故不强填接触失败现象。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值、断点（cabinet_opened，操作中）、时间和接触标注与视频、log id 一致，我没有发现错误；唯一问题是根因“控制”只靠会话内测试读数（log 180/240/241），而评分轨迹是 log 235 写的备用脚本（log 242 保存 1307 步），其中不含任何压门或拉门动作，会话测试读数不是评分回放的证据。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值、断点（cabinet_opened，操作中）与视频一致：柜门全程合拢，香肠留在砧板。第1轮对根因“控制”的质疑已被合理驳回：会话反馈只用于根因推断，文件已声明其不是评分视频内��接触证据，现象层留空有 gap_zh。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:29:00Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-can-meat-i00-privileged--hcephjb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-can-meat-i00-privileged--hcephjb/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-can-meat-i00-privileged--hcephjb/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-can-meat-i00-privileged--hcephjb/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "60b87f3517367da928361e8207d91bcea70d08c49df2fae24c66eee121f26ae7",
+   "video_sha256": "993c5311c501670750935da6bc8aeede1059393fa7803411343eaacbcdc199ce",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-privileged--pktk9h9.json

@@ -0,0 +1,544 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-can-meat-i00-privileged--pktk9h9",
+ "taskKey": "behavior-1k/can_meat",
+ "dag_sha256": "f3528823deacaae41ee48f35af2dbb099ba817ce76d5ff2cd5f1d48523bc2056",
+ "outcome": {
+  "success": 0,
+  "reward": 0.2222222222222222,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 28785,
+   "sim_steps": 28785,
+   "final_reward": 0.2222222222222222,
+   "q_score": 0.2222222222222222,
+   "replay_wall_s": 7762.8,
+   "replay_timeout_s": 14400.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 3,
+   "agent_resets": 0,
+   "agent_sim_steps": 10475,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-can-meat-i00-privileged--pktk9h9/replay.mp4",
+  "duration_s": 959.5,
+  "fps": 30.0,
+  "frames": 28785,
+  "sha256": "3975a1d3e69b3358e93208e864613bfbf7a2c51c18ffe718ba25ab2de95042c9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 12,
+  "base": 5,
+  "peak": 7,
+  "final": 7,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      21,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 21,
+      "log_step": 79,
+      "text_zh": "观察：视频 19–28 s，机器人左夹爪在柜门前上缘接触并使左门偏离柜体；log step 79 的仿真输出为柜门 open=True、左门关节约0.209 rad。首次超过5%阈值约在视频 21 s，腕部近景和躯干转动使精确过阈时刻不清楚。"
+     },
+     {
+      "t": 90,
+      "log_step": 107,
+      "text_zh": "观察：视频 80–110 s，机器人左夹爪夹住门下缘后拉开，头部画面明确露出柜内搁板和罐；随后反复开门，视频 330–338 s 还通过持门并移动底盘扩大开度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "机器人左夹爪最初在柜门上缘推碰，使门产生开缝。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左夹爪后来夹住柜门下缘，沿铰链方向拉开门。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人持住柜门边缘时移动轮式底盘，扩大开门角度。"
+     }
+    ]
+   },
+   "jars_opened_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      494.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 494.5,
+      "log_step": 257,
+      "text_zh": "推断：视频 490–496 s，机器人左夹爪夹住台面上这只罐的盖沿并上提，罐身随之倾斜，罐口出现小缝；log step 257 输出该罐 open=True、盖关节0.1814 rad，超过全行程5%（约0.156 rad）。首次打开约在视频 494.5 s，过阈时间受夹爪遮挡，约有1 s不确定度。"
+     },
+     {
+      "t": 553,
+      "log_step": 278,
+      "text_zh": "观察：视频 551.5–559 s，同一只罐的盖与罐口明显分离，机器人两手在盖沿、罐身附近配合；视频 685.5–700 s 持罐转姿后盖又完全翻开，均为同一只罐，不增加不同罐计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左夹爪夹持第一只罐的盖沿牵拉；后续又握罐身转姿，罐盖在重力作用下翻开。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "机器人一手夹住罐盖，另一手接近并夹持罐身部位，配合开盖和摆正罐体。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人在持罐调整躯干和手臂姿态时移动底盘，随后将开罐运至砧板旁。"
+     }
+    ]
+   },
+   "jars_opened_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 959.4,
+      "log_step": 444,
+      "text_zh": "推断：视频 230–370 s 只见机器人操作靠左的一只罐；其离柜后，视频 380–959.4 s 的操作始终围绕这只罐和砧板，未返回操作另一只罐。另一罐保持初始柜内位置和合盖状态；第一轮交付前的 log step 444 仍输出该另一罐 open=False，故没有第二只不同罐的开盖事件。"
+     }
+    ]
+   },
+   "sausages_in_jars_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      743,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 743,
+      "log_step": 361,
+      "text_zh": "观察：视频 716–720 s，机器人右夹爪夹起砧板上的一根香肠并带离原位；视频 740–743.5 s 的右腕画面可见香肠下降至罐口内，随后松开，视频 743.5–746 s 可见��留在罐底。约在视频 743 s 达到第一根入罐。"
+     },
+     {
+      "t": 959.4,
+      "log_step": 444,
+      "text_zh": "推断：视频 857.5–959.4 s 未见这根香肠掉出，合盖前罐内仍有食物；交付检查点对应的 log step 444 输出 CONTENTS [3,4]，评分器 q_score=2/9。结合连续装填和搬持过程，第一根入罐关系保持至末态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人右夹爪两指夹住第一根香肠，从砧板提起后送进置于台面的开口罐。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人夹持第一根香肠时转动和移动底盘，把右手带到罐口上方。"
+     }
+    ]
+   },
+   "sausages_in_jars_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      857,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 857,
+      "log_step": 397,
+      "text_zh": "观察：视频 769–800 s，第二根香肠的第一次放入未成功，之后掉到地面；视频 830–834 s 右夹爪重新夹起它。视频 855–857.5 s，右腕画面清楚显示这根香肠进入同一罐口，松手后与已有香肠共同留在罐内；第一根误放已经修复。"
+     },
+     {
+      "t": 959.4,
+      "log_step": 444,
+      "text_zh": "推断：视频 860–959.4 s 机器人再抓罐身、搬持并合盖，没有看到香肠移出；交付前的 log step 444 输出该罐 CONTENTS [3,4]，与两次可见入罐及评分器 q_score=2/9一致，第二根入罐关系保持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人右夹爪先夹起第二根香肠，误放后又从地面夹起，最终将它放入台面上的同一罐。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人携带第二根香肠调整底盘位置和朝向，并移动至地面回收位置后再靠近罐口。"
+     }
+    ]
+   },
+   "sausages_in_jars_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 910,
+      "log_step": 444,
+      "text_zh": "推断：视频 716–860 s 只有两根不同香肠被送入同一只罐；视频 860–950 s 机器人转为操作罐身和罐盖，另外两根仍在砧板或旁边台面，未见第三、第四根的取放。评分器最终 q_score=2/9，只允许两条新增香肠入罐文字成立（初始柜内、合盖等文字不增加该分数），故至少3根入罐的末态为假；此判断同时依据可见的两根装填过程。"
+     }
+    ]
+   },
+   "sausages_in_jars_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 910,
+      "log_step": 444,
+      "text_zh": "推断：视频 716–860 s 只有两根不同香肠被送入同一只罐；视频 860–950 s 机器人转为操作罐身和罐盖，另外两根仍在砧板或旁边台面，未见第三、第四根的取放。评分器最终 q_score=2/9，只允许两条新增香肠入罐文字成立（初始柜内、合盖等文字不增加该分数），故至少4根入罐的末态为假；此判断同时依据可见的两根装填过程。"
+     }
+    ]
+   },
+   "jars_closed_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务初态为两罐合盖；视频 100–110 s、230–270 s 的柜内画面与之相符。整段视频只有取出的一只罐被开合，另一只罐留在柜内未被操作，因而至少一只罐关闭从视频 0 s 保持至视频 959.4 s；不因正在操作的罐开盖而撤销此计数。"
+     }
+    ]
+   },
+   "jars_closed_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      494.5
+     ],
+     [
+      532,
+      551.5
+     ],
+     [
+      573.5,
+      685.5
+     ],
+     [
+      958.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：两只罐初始均关闭，视频 0–490 s 的开柜、取罐、落地回收及台面画面没有显示罐盖翻离；视频 490–496 s 夹盖上提后失去两罐都关闭的状态，首次过阈约视频 494.5 s。"
+     },
+     {
+      "t": 532,
+      "log_step": 266,
+      "text_zh": "观察：视频 525–535 s 已加密查看，机器人持盖搬动罐体，视频 531 s 罐口与盖分离，视频 532–534 s 盖重新贴回罐口；log step 266 对应该段后部，盖关节0.1186 rad、open=False。恢复时间取视频约532 s，细小阈值和遮挡带来约1 s误差。"
+     },
+     {
+      "t": 551.5,
+      "log_step": 278,
+      "text_zh": "观察：视频 536–551 s 盖基本贴合罐口；视频 551.5–553 s 罐身向下翻转，盖与罐口再次明显分离，故结束该关闭区间。"
+     },
+     {
+      "t": 573.5,
+      "log_step": 286,
+      "text_zh": "观察：视频 571–573 s 机器人将罐放低，罐身倒向台面；视频 573.5–576 s 盖合回罐口。视频 580–684.5 s 已连续抽查，机器人抓取、转动罐体时盖仍贴合，没有把放手本身误作状态丢失。"
+     },
+     {
+      "t": 685.5,
+      "log_step": 337,
+      "text_zh": "观察：视频 685.5–688.5 s，机器人持罐转姿后罐盖从罐口翻下，在腕部画面下缘可见盖片分离；此后视频 700–950 s 罐口一直敞开。"
+     },
+     {
+      "t": 958.5,
+      "log_step": 444,
+      "text_zh": "观察：视频 957.5–959.4 s 按约0.1 s加密检查，机器人左手握罐身，右手指推合罐盖；盖在视频 958.5 s 左右落到罐口并保持至末帧，log step 444 输出罐 open=False、盖关节接近0。至少两罐关闭在末态恢复。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "机器人左夹爪握住装有两根香肠的罐身，右夹爪曾夹持盖沿尝试合盖。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "推/扫",
+      "note_zh": "最后机器人左手保持握罐，右手张开的手指推压罐盖背面，使盖合回罐口。"
+     }
+    ]
+   },
+   "jars_in_cabinet_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 959.4,
+      "log_step": 444,
+      "text_zh": "推断：初始两只罐都在柜内；视频 350–370 s 仅一只被拉出并掉落，另一只始终没有被机器人取出。视频 380–959.4 s 机器人围绕已取出的罐和砧板操作，没有再取柜内罐，故至少一只罐在柜内始终成立；log step 444 中另一罐位置仍与初态一致。"
+     }
+    ]
+   },
+   "jars_in_cabinet_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      355
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务初态明确两罐均在厨房上柜内，视频 100–110 s、230–250 s 的敞柜画面可见罐位于搁板内。"
+     },
+     {
+      "t": 355,
+      "log_step": 208,
+      "text_zh": "推断：视频 350–356 s，机器人左夹爪向外拉第一只罐，将罐移到柜口前缘之外；log step 208 输出第一次拉动后罐的位置约[4.229,0.564,1.601]，抓持读数为None。两罐均在内腔的关系约在视频 355 s 失去；柜口附近的包围盒中心过界时刻有约2 s不确定度。"
+     },
+     {
+      "t": 369,
+      "log_step": 210,
+      "text_zh": "观察：视频 368.7–370.1 s，原本随左夹爪外移的罐突然脱离，翻转下落到地面；视频 374–400 s 机器人捡起它并转移至砧板旁。"
+     },
+     {
+      "t": 959.4,
+      "log_step": 550,
+      "text_zh": "观察：视频 400–959.4 s，该罐始终在柜外台面或机器人手中，最后在远离上柜的工作台前合盖，没有回柜动作。log step 550 明确选择此前的28,785步检查点交付，后续会话中的柜口插入尝试不在此视频内；因此末态只有一罐在柜内。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左夹爪两指夹在第一只罐的铰链/盖身边缘处外拉，罐先跟随夹爪移动，随后脱离跌落；后面改夹罐身部位从地面捡回。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人取罐和回收阶段移动底盘，并支承持罐机械臂把罐运至工作台；交付中没有把它运回柜内。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      21
+     ],
+     [
+      33,
+      75
+     ],
+     [
+      125.5,
+      168.5
+     ],
+     [
+      191,
+      209
+     ],
+     [
+      283.5,
+      317
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–19.5 s 上柜门板合拢，机器人尚在接近；视频约21 s 左门产生开缝，初始关闭区间结束。"
+     },
+     {
+      "t": 43,
+      "log_step": 85,
+      "text_zh": "推断：视频 28–43 s 已加密检查，机器人改变左腕姿态时门被推回，视频 43–44 s 头部画面门板合拢；log step 85 输出柜门open=False。第一次恢复的具体时刻在视频约33 s的遮挡转姿段，可能偏差数秒；视频 75–79 s 左夹爪重新拉开下缘，关闭状态再失去。"
+     },
+     {
+      "t": 125.5,
+      "log_step": 114,
+      "text_zh": "观察：视频 113–125 s 门仍打开；视频 125.5–126 s 左臂经过门前，门板回到合拢位置，视频 130–167 s 保持关闭；视频 168–169 s 夹爪外拉又产生开缝。"
+     },
+     {
+      "t": 191,
+      "log_step": 144,
+      "text_zh": "观察：视频 188–190.5 s 门板被左臂逐渐推回，视频约191 s 合拢；视频 202–208 s 的柜门仍贴合，视频 209–210 s 左夹爪再次从下缘拉出缝隙。"
+     },
+     {
+      "t": 283.5,
+      "log_step": 193,
+      "text_zh": "推断：视频 279–283 s 左门仅留小缝，机器人转姿后视频 284 s 门板已贴回柜体；log step 193 输出柜门open=False。恢复时间约视频283.5 s，因转身遮挡可能偏差1–2 s；视频 312–316.5 s 仍合拢，视频317–318 s 左夹爪又将其拉开。"
+     },
+     {
+      "t": 950,
+      "log_step": 444,
+      "text_zh": "推断：视频 330–370 s 左柜门被进一步拉开并留在外侧，此后机器人离开上柜处理罐与香肠，到视频959.4 s 都未返回关门。交付前的log step 444 输出柜门open=True，因此末态关闭为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "机器人左手、腕部在改变姿态和撤臂时推碰柜门，数次使门合拢；这些是实际发生的关闭接触，交付后段没有专门的最终关门操作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.2222222222222222,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "jars_in_cabinet_2",
+   "t": 369,
+   "log_step": 210,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约355 s 第一只罐被左夹爪拉至柜口外，视频368.7–370.1 s 随夹爪移动的罐滑脱并跌至地面；视频374–400 s 虽捡回，但此后直到视频959.4 s 都没有放回柜内。推断：按首个发生故障且其目标关系始终未恢复的步骤，断点取“两罐在柜内”；捡回、开盖、装填和合盖没有修复该关系。log step 550 选择的是log step 444之后保存的检查点，后来的回柜受阻属于未交付的会话测试，不能作为本次断点现象。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 369,
+    "log_step": 210,
+    "evidence_zh": "观察：视频365–368.7 s 罐在左夹爪指间随向外拉动而移动；视频368.7–369.5 s 罐突然离开指间、翻转下落，视频370 s 已在地面，左手没有继续持罐。log step 210 同时输出罐高度约0.086米、HAND None；这是建立过物理夹持后失去承载，未见在指定目标上计划松手。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "推断：log step 171 的接触诊断显示左手两指分别碰罐盖rb1和罐身base_link，辅助抓取未建立；log step 172 的脚本仍采用这种物理夹持向外拉。log step 202 的后续rim_pull脚本反复从同一铰链/盖缘夹持处外拉，没有以稳定持罐成立为前提；log step 208、210 的PULLED读数均为None。与视频350–370 s 的边缘夹持、跟随外移后滑落相符，说明这套夹持没有提供离开搁板后所需的稳定承载。后来从地面抓罐身成功不等于已验证柜内同样可行的替代抓法，故替代可行性为未知。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "观察：inputs中没有状态日志和成功示范视频。log step 550–551 证明实际交付为第一轮28,785步检查点；按30 Hz计恰为视频959.5 s，且已用视频743–746 s的第一根入罐、视频857–860 s的第二根入罐及视频958.5 s合盖与该轮日志核对，未把agent时间换算成视频时间。推断：开合5%阈值和罐中心跨柜口的精确瞬间部分被手腕或转身遮挡，节点给近似边界；尤其视频约33 s的首次重新关柜可能偏差数秒。交付中没有实际回柜插入动作，不能确定如果继续回柜会出现何种接触问题；所标根因只解释取罐滑落，不把未交付测试的插入受阻或时间预算当成现象、根因。",
+  "unmet": {
+   "sausages_in_jars_1": true,
+   "sausages_in_jars_2": true,
+   "sausages_in_jars_3": false,
+   "sausages_in_jars_4": false,
+   "jars_closed_1": true,
+   "jars_closed_2": true,
+   "jars_in_cabinet_1": true,
+   "jars_in_cabinet_2": false,
+   "cabinet_closed": false
+  }
+ },
+ "summary_zh": "观察：交付视频只操作一只罐，取出后滑落并被捡回，随后装入两根香肠，视频约958.5 s合盖；另一罐始终留在柜内且关闭，末态为7/12节点成立。推断：两罐在柜内的关系在取罐阶段失去后从未恢复，断点定位于该步的滑脱，边缘夹持的承载设计有日志和视频支持；第二只罐未打开、余下两根未入罐、柜门最终未关闭。观察：最终交付为先前的28,785步检查点而非后续会话测试，无状态日志或成功示范，部分开合阈值时间只能近似。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点时间与终态与视频一致：958.5 s 罐盖合上、第二根香肠约 857 s 入罐、第一次取罐滑落约 369 s，q=2/9 与终态标注相容（t=0 已成立的目标不计分）。断点取“两罐在柜内”并标注没保持住，可以接受，但略有争议：滑落后的罐很快被捡回并完成装填，真正未走完的是第二只罐。我没有足够证据要求修改，不提出问题。",
+    "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": "2026-10-30T22:21:08Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-can-meat-i00-privileged--pktk9h9/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-can-meat-i00-privileged--pktk9h9/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "edac7623749ed475eb684cc4aafb5c7a8e88067dacde9d5acca55dbb6fbf8ee8",
+   "video_sha256": "3975a1d3e69b3358e93208e864613bfbf7a2c51c18ffe718ba25ab2de95042c9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-privileged--sg9pboa.json

@@ -0,0 +1,396 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-can-meat-i00-privileged--sg9pboa",
+ "taskKey": "behavior-1k/can_meat",
+ "dag_sha256": "f3528823deacaae41ee48f35af2dbb099ba817ce76d5ff2cd5f1d48523bc2056",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 1056,
+   "sim_steps": 1056,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1518.9,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 6,
+   "agent_resets": 1,
+   "agent_sim_steps": 4224,
+   "agent_records": 3,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-can-meat-i00-privileged--sg9pboa/replay.mp4",
+  "duration_s": 35.2,
+  "fps": 30.0,
+  "frames": 1056,
+  "sha256": "a778729cc52ce64c84aaa7a9383f8a26436d15c202682cc00b5530f4f5c7c660"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 12,
+  "base": 5,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.5,
+      "log_step": null,
+      "text_zh": "观察：视频 7.2–8.2 s，机器人左夹爪夹住左柜门下缘向外拉，门板逐渐转离柜体并露出柜内搁板；视频 10.0 s 左门已明显敞开。首次超过开门阈值估在视频 7.5 s，误差约0.5秒。"
+     },
+     {
+      "t": 35.167,
+      "log_step": 219,
+      "text_zh": "观察：视频 34.0–35.167 s，两扇柜门均已打开，罐子可从柜前接近；log step 219 的最终生成记录只完成 stage_doors 并保存1056行动，未进入取罐阶段。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.6–10.0 s 左夹爪夹住左柜门下缘并拉开；视频 24.0–32.0 s 右夹爪夹住右柜门下缘并沿铰链方向拉开。两臂先后操作各自柜门。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 12.0–16.0 s，机器人左夹爪松开下缘、绕到左柜门内侧，推门继续向外打开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–2.0 s，机器人底盘转向并驶至柜前，支承后续开门的躯干和机械臂。"
+     }
+    ]
+   },
+   "jars_opened_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 18.5,
+      "log_step": null,
+      "text_zh": "观察：视频 18.5 s 开柜后下层可见罐体；视频 20.0–35.167 s 机器人继续操作右柜门并收臂，没有夹住罐身、罐盖或把罐盖翻离罐口。"
+     },
+     {
+      "t": 35.167,
+      "log_step": 219,
+      "text_zh": "推断：DAG规定两罐起初关闭，交付视频全过程没有开罐动作，故累计打开第1只罐未达成。log step 219 显示最终生成在预备姿态阶段失败，仅保存开柜段；log step 222 的agent也明确区分交付与会话内的取罐、开盖试验。"
+     }
+    ]
+   },
+   "jars_opened_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 18.5,
+      "log_step": null,
+      "text_zh": "观察：视频 18.5 s 开柜后下层可见罐体；视频 20.0–35.167 s 机器人继续操作右柜门并收臂，没有夹住罐身、罐盖或把罐盖翻离罐口。"
+     },
+     {
+      "t": 35.167,
+      "log_step": 219,
+      "text_zh": "推断：DAG规定两罐起初关闭，交付视频全过程没有开罐动作，故累计打开第2只罐未达成。log step 219 显示最终生成在预备姿态阶段失败，仅保存开柜段；log step 222 的agent也明确区分交付与会话内的取罐、开盖试验。"
+     }
+    ]
+   },
+   "sausages_in_jars_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 35.167,
+      "log_step": 221,
+      "text_zh": "观察：检查视频 0.0–35.167 s，机器人仅驶向柜前、开两扇柜门并收臂，未见携带香肠、向罐口递送或放入香肠的过程；视频 35.167 s 两只罐仍在柜下层。log step 221 的交付回放结果以及 run.json 的 reward.q_score 均为0.0。"
+     },
+     {
+      "t": 35.167,
+      "log_step": null,
+      "text_zh": "推断：结合香肠初始在砧板、交付中没有搬运装罐，以及q_score为0且不计保留的初始目标，最终没有新增香肠入罐目标成立；第1根香肠入罐判为false，并非仅据总分断言未执行。"
+     }
+    ]
+   },
+   "sausages_in_jars_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 35.167,
+      "log_step": 221,
+      "text_zh": "观察：检查视频 0.0–35.167 s，机器人仅驶向柜前、开两扇柜门并收臂，未见携带香肠、向罐口递送或放入香肠的过程；视频 35.167 s 两只罐仍在柜下层。log step 221 的交付回放结果以及 run.json 的 reward.q_score 均为0.0。"
+     },
+     {
+      "t": 35.167,
+      "log_step": null,
+      "text_zh": "推断：结合香肠初始在砧板、交付中没有搬运装罐，以及q_score为0且不计保留的初始目标，最终没有新增香肠入罐目标成立；第2根香肠入罐判为false，并非仅据总分断言未执行。"
+     }
+    ]
+   },
+   "sausages_in_jars_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 35.167,
+      "log_step": 221,
+      "text_zh": "观察：检查视频 0.0–35.167 s，机器人仅驶向柜前、开两扇柜门并收臂，未见携带香肠、向罐口递送或放入香肠的过程；视频 35.167 s 两只罐仍在柜下层。log step 221 的交付回放结果以及 run.json 的 reward.q_score 均为0.0。"
+     },
+     {
+      "t": 35.167,
+      "log_step": null,
+      "text_zh": "推断：结合香肠初始在砧板、交付中没有搬运装罐，以及q_score为0且不计保留的初始目标，最终没有新增香肠入罐目标成立；第3根香肠入罐判为false，并非仅据总分断言未执行。"
+     }
+    ]
+   },
+   "sausages_in_jars_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 35.167,
+      "log_step": 221,
+      "text_zh": "观察：检查视频 0.0–35.167 s，机器人仅驶向柜前、开两扇柜门并收臂，未见携带香肠、向罐口递送或放入香肠的过程；视频 35.167 s 两只罐仍在柜下层。log step 221 的交付回放结果以及 run.json 的 reward.q_score 均为0.0。"
+     },
+     {
+      "t": 35.167,
+      "log_step": null,
+      "text_zh": "推断：结合香肠初始在砧板、交付中没有搬运装罐，以及q_score为0且不计保留的初始目标，最终没有新增香肠入罐目标成立；第4根香肠入罐判为false，并非仅据总分断言未执行。"
+     }
+    ]
+   },
+   "jars_closed_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 18.5,
+      "log_step": null,
+      "text_zh": "推断：DAG明确两只罐初始均关闭；视频 18.5 s 及视频 34.0–35.167 s 可见下层罐体，没有翻起的罐盖，逐秒检查全段仅见机器人操作柜门，从未取罐或掀盖。至少1只罐的关闭状态因此从视频 0.0 s 保持至结束；未把会话内试验中的开盖计入交付。"
+     }
+    ]
+   },
+   "jars_closed_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 18.5,
+      "log_step": null,
+      "text_zh": "推断：DAG明确两只罐初始均关闭；视频 18.5 s 及视频 34.0–35.167 s 可见下层罐体，没有翻起的罐盖，逐秒检查全段仅见机器人操作柜门，从未取罐或掀盖。至少2只罐的关闭状态因此从视频 0.0 s 保持至结束；未把会话内试验中的开盖计入交付。"
+     }
+    ]
+   },
+   "jars_in_cabinet_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 35.167,
+      "log_step": null,
+      "text_zh": "推断：DAG的初始条件为两只罐在指定柜内；视频 18.5 s、22.0 s、34.0–35.167 s 下层仍可见两只罐，机器人双爪操作的是门板，没有罐体离开原位或被带出柜子的过程。至少1只罐在柜内的关系从视频 0.0 s 连续保持。"
+     }
+    ]
+   },
+   "jars_in_cabinet_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 35.167,
+      "log_step": null,
+      "text_zh": "推断：DAG的初始条件为两只罐在指定柜内；视频 18.5 s、22.0 s、34.0–35.167 s 下层仍可见两只罐，机器人双爪操作的是门板，没有罐体离开原位或被带出柜子的过程。至少2只罐在柜内的关系从视频 0.0 s 连续保持。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      7.5
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.0,
+      "log_step": null,
+      "text_zh": "��察：视频 2.0 s 两扇柜门均贴合柜体，视频 6.6–7.0 s 左夹爪位于门下缘、门尚未明显张开；视频 7.2–8.2 s 左门开始转出，关闭状态估在视频 7.5 s 失去。"
+     },
+     {
+      "t": 35.167,
+      "log_step": null,
+      "text_zh": "观察：视频 34.0–35.167 s 两扇柜门敞开，机器人收臂后未再推合门板，末态关闭条件不成立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "jars_opened_1",
+   "t": 34.9,
+   "log_step": 219,
+   "where": "转场",
+   "evidence_zh": "推断：视频 32.0–35.167 s 机器人在拉开右柜门后收臂，始终未开始取罐或翻罐盖；log step 217–219 的最终生成记录显示开门阶段结束后，stage_ready 的预备姿态求解失败并保存仅1056行的轨迹，因此第一只罐的开盖工作没有启动。定位锚点取开门段末尾：log step 219 的1046控制步按任务30 Hz约为视频 34.87 s，总1056步对应视频35.2 s，且已在视频 34.8–35.167 s 的右爪收回、随后停留画面核对；不是将agent工作时间换算为视频时间。"
+  },
+  "unmet": {
+   "sausages_in_jars_1": false,
+   "sausages_in_jars_2": false,
+   "sausages_in_jars_3": false,
+   "sausages_in_jars_4": false,
+   "jars_closed_1": true,
+   "jars_closed_2": true,
+   "jars_in_cabinet_1": true,
+   "jars_in_cabinet_2": true,
+   "cabinet_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 34.9,
+    "log_step": 219,
+    "evidence_zh": "观察：视频 18.5–35.167 s 两罐留在下层，机器人仅开右柜门并收臂，没有开始接近或抓住罐盖、翻盖、取罐的动作。log step 219 显示最终生成在 stage_ready 失败后保存开柜段；第一只罐开盖在交付中未启动，会话里的罐操作不属于本段。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 205 所载脚本在进入取罐前要求先求出双臂预备姿态，只有左右逆解均非空才构造ready；log step 212 又加入额外种子。最终生成的 log step 217–218 多次输出ready cand中右臂为False，log step 219 随后报告stage failed: stage_ready并保存开门段。推断：预备姿态逆解求解失败使机器人未进入第一只罐的操作；这是该脚本所选姿态和求解过程失败，不能据此断言所有合法取罐/开盖方案均不可达。"
+   }
+  ],
+  "gap_zh": "未提供状态日志或成功参照视频，罐盖细节分辨率有限；两罐关闭及柜内关系的持续成立结合DAG初态、开柜后画面和全程未操作罐子的连续性推断，开柜阈值时刻约有0.5秒误差。视频没有开罐失败的物理接触过程，故不从agent会话内试验补充空夹、碰撞或滑脱现象；逆解根因据最终生成日志，而非据画面直接观测。"
+ },
+ "summary_zh": "交付视频仅完成开柜，两罐关闭且留在柜内的四个初始节点保持，柜门关闭节点在视频约7.5 s失去，最终为5/12节点；两次开罐及四根香肠装罐均未达成。断在打开第1只罐之前的转场：最终生成脚本无法求出右臂预备姿态逆解，保存的1056步只含开门段（log step 217–221）。无状态日志或成功参照，罐盖状态延续和开柜阈值时间存在视觉推断，未把会话内取罐、开盖试验算作交付进度。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标注与视频、log一致：交付轨迹只含开柜（视频约7.5 s左门开始转出，两扇门最终敞开），罐子未被操作，初始成立的4个节点保持、final=5/12与q_score=0不冲突；断点jars_opened_1、转场、没尝试、轨迹或逆解（log step 217-219 ready cand右臂False，stage failed: stage_ready，保存1056步）有证据支持，时间锚点由控制步1046/1056换算且说明了核对依据。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": "2026-10-30T22:10:42Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-can-meat-i00-privileged--sg9pboa/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-can-meat-i00-privileged--sg9pboa/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b2b31c05a212cab083344c404092d8fb98c489c4c75898762df6ad9d5b79c452",
+   "video_sha256": "a778729cc52ce64c84aaa7a9383f8a26436d15c202682cc00b5530f4f5c7c660",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-privileged--wkfkvtu.json

@@ -0,0 +1,364 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-can-meat-i00-privileged--wkfkvtu",
+ "taskKey": "behavior-1k/can_meat",
+ "dag_sha256": "f3528823deacaae41ee48f35af2dbb099ba817ce76d5ff2cd5f1d48523bc2056",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 360,
+   "sim_breakdown": 0,
+   "goal": 0,
+   "settle_steps": 150,
+   "goal_first_step": -1,
+   "sim_steps": 510,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1057.7,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "video_replay_matches": 1,
+   "agent_sessions": 2,
+   "agent_resets": 35,
+   "agent_sim_steps": 0,
+   "agent_records": 76,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 6.757,
+   "peak_memory_gb": 9.302,
+   "peak_processes": 20,
+   "peak_disk_gb": 2.109,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-can-meat-i00-privileged--wkfkvtu/replay.mp4",
+  "duration_s": 17.0,
+  "fps": 30.0,
+  "frames": 510,
+  "sha256": "d0bdb12bb22618b91efac4ffe25560290c61beddbc14157fdd9c7500d78baa0c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 12,
+  "base": 5,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.0,
+      "log_step": null,
+      "text_zh": "观察：视频 3.0 s 橱柜两扇反光门板仍合拢；视频 5.0–7.8 s 机器人左夹爪向门板上沿抬升，未见门板向外转开。"
+     },
+     {
+      "t": 16.97,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–16.97 s 柜门保持合拢，没有露出可进入的柜内空间；本次开柜未完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–3.0 s 场景相对机器人连续转动并靠近，轮式底盘驶近橱柜，为随后左臂开柜接近动作提供支承。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 3.0–7.8 s 左夹爪抬向柜门上沿后超出头部画面，腕部小窗也未显示清楚的门板接触。无法确认是否有短暂触碰及其方式，未据典型方案填写抓握；视频中未见有效夹住并拉开柜门。"
+     }
+    ]
+   },
+   "jars_opened_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 16.97,
+      "log_step": null,
+      "text_zh": "推断：已检查视频 0.0–16.97 s，机器人仅驶近并向关闭的橱柜门上沿伸左夹爪，未进入柜内操作罐盖；开柜前置未达，没有完成打开第1只罐的事件。罐本身被门板遮挡，不把会话中其他重置测试当成评分轨迹。"
+     }
+    ]
+   },
+   "jars_opened_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 16.97,
+      "log_step": null,
+      "text_zh": "推断：已检查视频 0.0–16.97 s，机器人仅驶近并向关闭的橱柜门上沿伸左夹爪，未进入柜内操作罐盖；开柜前置未达，没有完成打开第2只罐的事件。罐本身被门板遮挡，不把会话中其他重置测试当成评分轨迹。"
+     }
+    ]
+   },
+   "sausages_in_jars_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 16.97,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–16.97 s 评分轨迹只包含接近橱柜和抬左臂，柜门未打开，也未见机器人抓取或转移香肠；结合任务初态香肠在砧板、罐在柜内，第1根香肠入罐未达。评分器 q_score=0.0 也将新增入罐目标的终值限定为假；该总分不否定初始已成立的关盖、柜内和关柜目标。"
+     }
+    ]
+   },
+   "sausages_in_jars_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 16.97,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–16.97 s 评分轨迹只包含接近橱柜和抬左臂，柜门未打开，也未见机器人抓取或转移香肠；结合任务初态香肠在砧板、罐在柜内，第2根香肠入罐未达。评分器 q_score=0.0 也将新增入罐目标的终值限定为假；该总分不否定初始已成立的关盖、柜内和关柜目标。"
+     }
+    ]
+   },
+   "sausages_in_jars_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 16.97,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–16.97 s 评分轨迹只包含接近橱柜和抬左臂，柜门未打开，也未见机器人抓取或转移香肠；结合任务初态香肠在砧板、罐在柜内，第3根香肠入罐未达。评分器 q_score=0.0 也将新增入罐目标的终值限定为假；该总分不否定初始已成立的关盖、柜内和关柜目标。"
+     }
+    ]
+   },
+   "sausages_in_jars_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 16.97,
+      "log_step": null,
+      "text_zh": "推断：视频 0.0–16.97 s 评分轨迹只包含接近橱柜和抬左臂，柜门未打开，也未见机器人抓取或转移香肠；结合任务初态香肠在砧板、罐在柜内，第4根香肠入罐未达。评分器 q_score=0.0 也将新增入罐目标的终值限定为假；该总分不否定初始已成立的关盖、柜内和关柜目标。"
+     }
+    ]
+   },
+   "jars_closed_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "推断：任务 DAG 明确记载两只罐初始关闭，故至少1只罐关闭从视频 0.0 s 成立；视频 0.0–16.97 s 柜门始终未打开，机器人没有进入柜内翻盖或移罐，推断本关系保持至结束。罐盖在门后，未声称直接看见盖缝。"
+     }
+    ]
+   },
+   "jars_closed_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "推断：任务 DAG 明确记载两只罐初始关闭，故至少2只罐关闭从视频 0.0 s 成立；视频 0.0–16.97 s 柜门始终未打开，机器人没有进入柜内翻盖或移罐，推断本关系保持至结束。罐盖在门后，未声称直接看见盖缝。"
+     }
+    ]
+   },
+   "jars_in_cabinet_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "推断：任务文本及 DAG 明确两罐初始在指定橱柜内，故至少1只罐在柜内从视频 0.0 s 成立；视频 0.0–16.97 s 柜门未打开，未见取罐或罐离柜，机器人仅在门外接近，推断柜内关系全程保持。"
+     }
+    ]
+   },
+   "jars_in_cabinet_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "推断：任务文本及 DAG 明确两罐初始在指定橱柜内，故至少2只罐在柜内从视频 0.0 s 成立；视频 0.0–16.97 s 柜门未打开，未见取罐或罐离柜，机器人仅在门外接近，推断柜内关系全程保持。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.0,
+      "log_step": null,
+      "text_zh": "观察：视频 3.0 s 两扇橱柜门板在柜体前方合拢，中间门缝未敞开；任务 DAG 记载其初始关闭。"
+     },
+     {
+      "t": 16.97,
+      "log_step": null,
+      "text_zh": "观察：视频 5.0–7.8 s 左臂抬升过程中门板没有转开，视频 8.0、16.5、16.97 s 仍合拢；结合连续画面，关闭状态从视频 0.0 s 保持至结束。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cabinet_opened",
+   "t": 7.5,
+   "log_step": 298,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 5.0–7.8 s 机器人左夹爪抬向橱柜上沿并逐渐超出画面，门板没有被带开；视频 8.0–16.97 s 门仍关闭，后续开罐和装香肠未开始。log step 295 录制此轮顶部接近动作，log step 298 将 last_actions 保存为最终轨迹；log step 302 是保存后的另一轮重置测试，不计入本视频。"
+  },
+  "unmet": {
+   "sausages_in_jars_1": false,
+   "sausages_in_jars_2": false,
+   "sausages_in_jars_3": false,
+   "sausages_in_jars_4": false,
+   "jars_closed_1": true,
+   "jars_closed_2": true,
+   "jars_in_cabinet_1": true,
+   "jars_in_cabinet_2": true,
+   "cabinet_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 7.5,
+    "log_step": 297,
+    "evidence_zh": "观察：视频 5.0–7.8 s 左夹爪向门上沿升起，未见夹住门板后带动门板，视频 8.0–16.97 s 两门仍合拢。log step 297 是 log step 295 所录制、log step 298 所保存这轮动作的返回，夹爪接��查询为 contacts set()。推断：这次接近未建立开门所需的有效夹持/牵拉接触；不能据此排除过程中不可见的瞬时擦碰。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 297,
+    "source_zh": "日志",
+    "evidence_zh": "推断：最终保存动作的接触位姿执行未到位。log step 295 的脚本将左末端目标设为 [4.225,0.75,2.10] 米并等待 100 步，log step 297 返回实测 [4.30636,0.75143,2.12442] 米、位置误差约 0.085 米且 contacts set()，log step 298 随后保存这轮动作；视频 5.0–7.8 s 可见左夹爪抬向柜门上沿而门未开启。证据支持控制层未能实现有效接触，尚不足以区分接触几何、关节跟踪或逆解问题。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参照视频；罐与罐盖被关闭的反光柜门遮挡，四个初始罐状态节点依据 DAG 初态及全程未开柜、未移罐的画面作保持推断。左夹爪在视频约 7.8 s 后位于头部画面上方，不能确定全部瞬时接触，所以开柜接触方式标未知；最终保存动作的日志支持有效接触未建立，但没有足够证据细分控制根因。会话内其他重置试验中的碰撞、夹持和手动关节测试均未作为本次评分轨迹的完成证据。"
+ },
+ "summary_zh": "评分轨迹只完成驶近橱柜和左夹爪顶部接近，未打开柜门、开罐或装入香肠；终态为 5/12，均为初始已成立并保持的两罐关闭、两罐在柜内及柜门关闭。断点是打开橱柜：视频约 7.5 s 的接近未建立有效开门接触，最终保存动作的日志显示约 8.5 厘米末端位置误差和空接触集合，支持控制层失败。无状态日志，柜内状态依初态与未操作过程推断，夹爪离开视野后的瞬时接触及控制子类无法核实。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "视频 3–17 s 帧显示柜门始终合拢、左臂抬向门上沿，cabinet_opened 未达、初态成立的5个节点保持，5/12 与 q_score=0 相容；断点、接触未知、日志 step 295/297/298 的引用均与 run.json 一致。根因仅为推断且已声明不足以细分，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:59:53Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-can-meat-i00-privileged--wkfkvtu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-can-meat-i00-privileged--wkfkvtu/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "205c57af357ca360a177695b95bdb9d4ba69f903cdc9529effafcf83bfd35f39",
+   "video_sha256": "d0bdb12bb22618b91efac4ffe25560290c61beddbc14157fdd9c7500d78baa0c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-privileged--xk9rmqq.json

@@ -0,0 +1,408 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-can-meat-i00-privileged--xk9rmqq",
+ "taskKey": "behavior-1k/can_meat",
+ "dag_sha256": "f3528823deacaae41ee48f35af2dbb099ba817ce76d5ff2cd5f1d48523bc2056",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 624,
+   "sim_steps": 624,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1078.4,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 21,
+   "agent_resets": 1,
+   "agent_sim_steps": 9633,
+   "agent_records": 17,
+   "agent_replays": 3,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-can-meat-i00-privileged--xk9rmqq/replay.mp4",
+  "duration_s": 20.8,
+  "fps": 30.0,
+  "frames": 624,
+  "sha256": "305e72311d9b6d0ae98eb4521e1eabd99ccb65c3c340cc5b71124d689d021fda"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 12,
+  "base": 5,
+  "peak": 6,
+  "final": 5,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.5,
+      "log_step": null,
+      "text_zh": "观察：视频 4.25–5.0 s，机器人左夹爪夹住上方橱柜门板的下沿并拉动，门板离开柜体；视频 6.0–10.75 s 可见敞开的柜内空间。首次超过开门阈值的时刻按画面估为视频 4.5 s，误差约0.5秒。"
+     },
+     {
+      "t": 9.5,
+      "log_step": 278,
+      "text_zh": "观察：视频 9.5 s 门板大幅外翻；log step 278 的交付生成记录报告左门角度1.611弧度。该日志事件的 t 是脚本运行时间，此处不将其换算为视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–2.0 s，轮式底盘移动、转向至橱柜前，支承双臂完成开柜前的接近。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 4.25–10.75 s 及视频 15.0–20.0 s，机器人使用左二指夹爪夹持柜门下沿并拉开门板；两扇门依次操作，未见双臂共同夹持。"
+     }
+    ]
+   },
+   "jars_opened_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.5,
+      "log_step": 238,
+      "text_zh": "观察：视频 0–20.77 s 的动作均围绕柜门，柜内可见时没有夹爪翻动罐盖或露出罐口的过程；log step 238 中生成脚本的 do_jars 方法只有 pass。未见累计打开1只不同罐的动作。"
+     },
+     {
+      "t": 20.7667,
+      "log_step": 282,
+      "text_zh": "推断：log step 282 显示最终624行交付文件的事件仅有接近、开柜与关柜，结合视频中无罐操作，判定该开罐事件未发生；后续会话伸手实验不计入此轨迹。"
+     }
+    ]
+   },
+   "jars_opened_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.5,
+      "log_step": 238,
+      "text_zh": "观察：视频 0–20.77 s 的动作均围绕柜门，柜内可见时没有夹爪翻动罐盖或露出罐口的过程；log step 238 中生成脚本的 do_jars 方法只有 pass。未见累计打开2只不同罐的动作。"
+     },
+     {
+      "t": 20.7667,
+      "log_step": 282,
+      "text_zh": "推断：log step 282 显示最终624行交付文件的事件仅有接近、开柜与关柜，结合视频中无罐操作，判定该开罐事件未发生；后续会话伸手实验不计入此轨迹。"
+     }
+    ]
+   },
+   "sausages_in_jars_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 20.7667,
+      "log_step": 282,
+      "text_zh": "观察：视频 0–20.77 s 未见机器人从砧板拿起香肠、携带香肠或将其送入罐口；log step 282 所示交付事件只包含柜门动作。"
+     },
+     {
+      "t": 20.7667,
+      "log_step": null,
+      "text_zh": "推断：由任务初态香肠在砧板、视频内无装罐过程，且评分器 reward.q_score=0.0，判定结束时罐内香肠不足1根；q_score不计保持初始成立的闭罐和罐在柜内条件，不能把零分解读为这些条件也为假。"
+     }
+    ]
+   },
+   "sausages_in_jars_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 20.7667,
+      "log_step": 282,
+      "text_zh": "观察：视频 0–20.77 s 未见机器人从砧板拿起香肠、携带香肠或将其送入罐口；log step 282 所示交付事件只包含柜门动作。"
+     },
+     {
+      "t": 20.7667,
+      "log_step": null,
+      "text_zh": "推断：由任务初态香肠在砧板、视频内无装罐过程，且评分器 reward.q_score=0.0，判定结束时罐内香肠不足2根；q_score不计保持初始成立的闭罐和罐在柜内条件，不能把零分解读为这些条件也为假。"
+     }
+    ]
+   },
+   "sausages_in_jars_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 20.7667,
+      "log_step": 282,
+      "text_zh": "观察：视频 0–20.77 s 未见机器人从砧板拿起香肠、携带香肠或将其送入罐口；log step 282 所示交付事件只包含柜门动作。"
+     },
+     {
+      "t": 20.7667,
+      "log_step": null,
+      "text_zh": "推断：由任务初态香肠在砧板、视频内无装罐过程，且评分器 reward.q_score=0.0，判定结束时罐内香肠不足3根；q_score不计保持初始成立的闭罐和罐在柜内条件，不能把零分解读为这些条件也为假。"
+     }
+    ]
+   },
+   "sausages_in_jars_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 20.7667,
+      "log_step": 282,
+      "text_zh": "观察：视频 0–20.77 s 未见机器人从砧板拿起香肠、携带香肠或将其送入罐口；log step 282 所示交付事件只包含柜门动作。"
+     },
+     {
+      "t": 20.7667,
+      "log_step": null,
+      "text_zh": "推断：由任务初态香肠在砧板、视频内无装罐过程，且评分器 reward.q_score=0.0，判定结束时罐内香肠不足4根；q_score不计保持初始成立的闭罐和罐在柜内条件，不能把零分解读为这些条件也为假。"
+     }
+    ]
+   },
+   "jars_closed_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.5,
+      "log_step": null,
+      "text_zh": "推断：DAG明确两只罐初始关闭；视频 6.0–10.75 s 柜内物体仍留在搁板，机器人夹爪始终操作柜门而未翻动罐盖，视频 20.77 s 前也没有开盖动作。因此至少1只罐的关闭状态从视频 0 s 延续到结尾。柜门和低分辨率遮住部分盖沿，未把未见的开合过程当成已完成操作。"
+     }
+    ]
+   },
+   "jars_closed_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.5,
+      "log_step": null,
+      "text_zh": "推断：DAG明确两只罐初始关闭；视频 6.0–10.75 s 柜内物体仍留在搁板，机器人夹爪始终操作柜门而未翻动罐盖，视频 20.77 s 前也没有开盖动作。因此至少2只罐的关闭状态从视频 0 s 延续到结尾。柜门和低分辨率遮住部分盖沿，未把未见的开合过程当成已完成操作。"
+     }
+    ]
+   },
+   "jars_in_cabinet_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.5,
+      "log_step": null,
+      "text_zh": "推断：DAG及任务文本明确两罐初始在指定橱柜内；视频 6.0–10.75 s 可见柜内搁板上的物体，机器人未抓取或搬出罐，视频 0–20.77 s 也没有罐从柜内转移到夹爪或台面的过程。因此至少1只罐在柜内的初始关系一直保持；关门造成遮挡不视为移出。"
+     }
+    ]
+   },
+   "jars_in_cabinet_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.5,
+      "log_step": null,
+      "text_zh": "推断：DAG及任务文本明确两罐初始在指定橱柜内；视频 6.0–10.75 s 可见柜内搁板上的物体，机器人未抓取或搬出罐，视频 0–20.77 s 也没有罐从柜内转移到夹爪或台面的过程。因此至少2只罐在柜内的初始关系一直保持；关门造成遮挡不视为移出。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      4.5
+     ],
+     [
+      12.5,
+      15.5
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–4.0 s 柜门仍贴合柜体；视频约 4.5 s 左门开始被拉开，随后持续敞开。"
+     },
+     {
+      "t": 12.5,
+      "log_step": null,
+      "text_zh": "观察：检查视频 10.5–16.0 s 每0.25秒画面：左门在视频 11.5–12.5 s 回拢，视频 12.5–14.5 s 门板再次贴近柜体，随后夹爪操作另一扇门，视频约 15.5 s 起再次外翻。闭合区间边界按视觉估计，误差约0.5秒。"
+     },
+     {
+      "t": 20.7667,
+      "log_step": 278,
+      "text_zh": "观察：视频 19.8–20.77 s 腕部视图中门板仍明显外翻，末帧未恢复关闭。log step 278 的交付生成记录虽然事件名为 door_closed，但结束关节值为[0.057,0.925]弧度，右门仍敞开；不能采用 log step 329 自述“两门已关闭”的结论。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 11.5–12.5 s，机器人左夹爪仍位于门板下沿，随机械臂回移带回左门；视频 19.8–20.77 s 未见右门成功合拢。log step 246 的关门程序拟重新夹住下沿，最终没有恢复两门关闭。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "jars_opened_1",
+   "t": null,
+   "log_step": 238,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 0–20.77 s 机器人只接近橱柜、拉动柜门，没有开始翻动任何罐盖。log step 238 的交付生成脚本在开柜后调用 do_jars，但该方法只有 pass；log step 278、282 的最终交付事件也没有罐操作。因此断在“打开第1只罐”尚未启动处；首步前指该步骤未启动，并非整个机器人从未移动。无法给未发生的开罐动作定位单一视频时刻，t留空。"
+  },
+  "unmet": {
+   "sausages_in_jars_1": false,
+   "sausages_in_jars_2": false,
+   "sausages_in_jars_3": false,
+   "sausages_in_jars_4": false,
+   "jars_closed_1": true,
+   "jars_closed_2": true,
+   "jars_in_cabinet_1": true,
+   "jars_in_cabinet_2": true,
+   "cabinet_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": null,
+    "log_step": 238,
+    "evidence_zh": "观察：视频 4.5 s 打开柜门后，机器人继续在门板下沿操作，直到视频 20.77 s 结束仍未对罐盖实施动作；log step 238 中 do_jars 为 pass，交付文件的事件记录（log step 282）没有开罐或装罐。开罐在评分轨迹内没有启动，不把会话实验中的失败抓取当作本段接触现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "log_step": 304,
+    "evidence_zh": "推断：未启动开罐的背后有会话中的操控困难证据，而非仅由未尝试反推：log step 198 的多种取罐姿态连续返回 fail_pre/fail_tcp；log step 232 的罐前壁目标[4.162,0.563,1.6]与实际末端[4.2298,0.547,1.6434]有偏差，罐的反复推拉后位置、朝向未变；log step 304 的抬躯干实验到罐前目标仍有0.6526米实际误差、盖关节仍为零。结合 log step 329 中 agent 承认未解出有效取罐/开盖运动，归因于未解决的操控问题。以上均为会话实验，不能视为评分轨迹中的伸手、接触或可达性事实；尚不足以区分逆解、跟踪和接触设计子类。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频；头部视图偏向天花板，腕部视图分辨率低，罐盖细节及部分时段柜内空间被门板遮挡。闭罐与罐在柜内依据已知初态和整段无罐操作的连续性推断；柜门阈值穿越时刻仅能约定在视觉边界附近，约有0.5秒误差。会话诊断支持操控困难，但不能证明所有合法方案均不可行，也不能精确判定控制子类。"
+ },
+ "summary_zh": "评分轨迹只完成开柜事件，未开始开罐或装香肠；两罐初始关闭且在柜内的4个状态持续成立，结束进度为5/12。断点为打开第1只罐之前的未尝试，会话日志显示取罐、开盖的操控问题一直未解决；柜门中途回拢后再次打开，结束仍未关好，与agent最终文字总结不符。无状态日志，罐盖部分遮挡及柜门阈值时间依赖视觉和连续性推断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "未发现需要修改的错误：开柜时刻、闭罐/罐在柜内的初态延续、关柜区间与终值、断点（打开第1只罐，首步前/没尝试）和控制根因均与视频、log 及评分器 q_score=0 相符；视频分辨率低，关柜区间边界只能大致确认。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:08:24Z",
+  "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/behavior-can-meat-i00-privileged--xk9rmqq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-can-meat-i00-privileged--xk9rmqq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "fe60d62bfbc4e09fb41fe5e3e4a0fb4bce94ff496047022429e7b11102339093",
+   "video_sha256": "305e72311d9b6d0ae98eb4521e1eabd99ccb65c3c340cc5b71124d689d021fda",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-standard--4k9yxfs.json

@@ -0,0 +1,402 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-can-meat-i00-standard--4k9yxfs",
+ "taskKey": "behavior-1k/can_meat",
+ "dag_sha256": "f3528823deacaae41ee48f35af2dbb099ba817ce76d5ff2cd5f1d48523bc2056",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "n_actions": 28614,
+   "sim_steps": 28614,
+   "physics_steps": 114456,
+   "steps": 28229,
+   "elapsed_s": 12035.8,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-can-meat-i00-standard--4k9yxfs/replay.mp4",
+  "duration_s": 953.8,
+  "fps": 30.0,
+  "frames": 28614,
+  "sha256": "0b8753f8b5bf40c02724a182103f351b7ff6d54bb6b2a492a42b7accee7d6873"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 12,
+  "base": 5,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 260,
+      "log_step": null,
+      "text_zh": "观察：视频 246–294 s，机器人左臂伸向水槽下方柜面，腕部画面多为近距离柜面及反射；没有看到任务 DAG 所指上方橱柜的门板被拉开，也没有罐子露出。"
+     },
+     {
+      "t": 530,
+      "log_step": null,
+      "text_zh": "观察：视频 530 s 可清楚看到灶台上方橱柜门板合拢；视频 630–930 s 的反复伸臂仍集中在水槽下方，视频 953.7 s 上柜仍合拢。下柜附近的动作不能作为指定上柜打开的证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 200–250 s、490–590 s 和 930–953.7 s，轮式底盘在厨房柜体之间移动，支承机器人寻找并接近候选柜门。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 252–294 s、638–688 s 及 730–930 s，左夹爪在水槽下柜附近反复接近和撤回；指尖与柜面的接触区被近景遮挡，不能确认实际夹持、勾住或压到什么，故不将闭爪命令记为抓握。"
+     }
+    ]
+   },
+   "jars_opened_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 953.7,
+      "log_step": null,
+      "text_zh": "推断：视频 0–953.7 s 的已检查画面中没有从指定上柜取出罐子或翻开罐盖的动作，上柜在视频 530 s 和 953.7 s 均保持关闭；必需前置 cabinet_opened 未达，累计打开第1只不同罐的事件未成立。"
+     }
+    ]
+   },
+   "jars_opened_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 953.7,
+      "log_step": null,
+      "text_zh": "推断：视频 0–953.7 s 的已检查画面中没有从指定上柜取出罐子或翻开罐盖的动作，上柜在视频 530 s 和 953.7 s 均保持关闭；必需前置 cabinet_opened 未达，累计打开第2只不同罐的事件未成立。"
+     }
+    ]
+   },
+   "sausages_in_jars_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 953.7,
+      "log_step": null,
+      "text_zh": "推断：视频 0–953.7 s 的已检查画面没有机器人携带香肠、接近罐口或将香肠送入罐子的过程，机器人主要在柜体附近探查，罐子未被接近；未观察到第1根香肠入罐。评分器 q_score=0.0 且 live_matches_replay=1，也排除了末态新增香肠 inside 目标成立，故 final=false；此结论并非仅由零分判断未执行。"
+     }
+    ]
+   },
+   "sausages_in_jars_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 953.7,
+      "log_step": null,
+      "text_zh": "推断：视频 0–953.7 s 的已检查画面没有机器人携带香肠、接近罐口或将香肠送入罐子的过程，机器人主要在柜体附近探查，罐子未被接近；未观察到第2根香肠入罐。评分器 q_score=0.0 且 live_matches_replay=1，也排除了末态新增香肠 inside 目标成立，故 final=false；此结论并非仅由零分判断未执行。"
+     }
+    ]
+   },
+   "sausages_in_jars_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 953.7,
+      "log_step": null,
+      "text_zh": "推断：视频 0–953.7 s 的已检查画面没有机器人携带香肠、接近罐口或将香肠送入罐子的过程，机器人主要在柜体附近探查，罐子未被接近；未观察到��3根香肠入罐。评分器 q_score=0.0 且 live_matches_replay=1，也排除了末态新增香肠 inside 目标成立，故 final=false；此结论并非仅由零分判断未执行。"
+     }
+    ]
+   },
+   "sausages_in_jars_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 953.7,
+      "log_step": null,
+      "text_zh": "推断：视频 0–953.7 s 的已检查画面没有机器人携带香肠、接近罐口或将香肠送入罐子的过程，机器人主要在柜体附近探查，罐子未被接近；未观察到第4根香肠入罐。评分器 q_score=0.0 且 live_matches_replay=1，也排除了末态新增香肠 inside 目标成立，故 final=false；此结论并非仅由零分判断未执行。"
+     }
+    ]
+   },
+   "jars_closed_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务 DAG 明确两只铰链罐初始均关闭；视频 0–953.7 s 的已检查画面未见机器人打开指定上柜、取出罐子或操作罐盖。因此至少1只罐关闭的初始状态保留，全程区间由初态与未操作共同推定，并非直接看见被柜门遮住的盖子。"
+     },
+     {
+      "t": 953.7,
+      "log_step": null,
+      "text_zh": "观察：视频 952.8–953.7 s，机器人收臂停在柜前，上柜门板合拢，没有持罐或开盖动作。"
+     }
+    ]
+   },
+   "jars_closed_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务 DAG 明确两只铰链罐初始均关闭；视频 0–953.7 s 的已检查画面未见机器人打开指定上柜、取出罐子或操作罐盖。因此至少2只罐关闭的初始状态保留，全程区间由初态与未操作共同推定，并非直接看见被柜门遮住的盖子。"
+     },
+     {
+      "t": 953.7,
+      "log_step": null,
+      "text_zh": "观察：视频 952.8–953.7 s，机器人收臂停在柜前，上柜门板合拢，没有持罐或开盖动作。"
+     }
+    ]
+   },
+   "jars_in_cabinet_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务 DAG 与 inputs/run.json 的 task_text 给出两罐初始在指定柜内；视频 0–953.7 s 的已检查画面无罐子离柜、被夹持或掉出，且没有打开指定上柜。至少1只罐在柜内的初态因此保留；柜门遮挡本身不构成移出。"
+     },
+     {
+      "t": 953.7,
+      "log_step": null,
+      "text_zh": "观察：视频 953.7 s 的头部和双腕视图未见夹爪持罐，上方柜门仍合拢；罐子本体被遮挡。"
+     }
+    ]
+   },
+   "jars_in_cabinet_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务 DAG 与 inputs/run.json 的 task_text 给出两罐初始在指定柜内；视频 0–953.7 s 的已检查画面无罐子离柜、被夹持或掉出，且没有打开指定上柜。至少2只罐在柜内的初态因此保留；柜门遮挡本身不构成移出。"
+     },
+     {
+      "t": 953.7,
+      "log_step": null,
+      "text_zh": "观察：视频 953.7 s 的头部和双腕视图未见夹爪持罐，上方柜门仍合拢；罐子本体被遮挡。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG 给定指定上方橱柜初始关闭；已检查的全片中没有机械臂操作其门板或把手的动作，故未建立开柜区间，关闭状态从视频 0 s 保留。"
+     },
+     {
+      "t": 530,
+      "log_step": null,
+      "text_zh": "观察：视频 530 s 上方橱柜的多块门板都贴合柜体，没有翻出或明显开缝；机器人当时只是调整视角。"
+     },
+     {
+      "t": 953.7,
+      "log_step": null,
+      "text_zh": "观察：视频 952.8–953.7 s 及末帧附近，上方橱柜门板保持合拢。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cabinet_opened",
+   "t": 260.0,
+   "log_step": null,
+   "where": "探索",
+   "evidence_zh": "观察：视频 252–294 s，机器人用左腕相机和夹爪探查水槽下柜，之后在视频 490–590 s 查看灶台及上柜，又回到水槽下柜反复试探，始终未显露柜内罐子；视频 953.7 s 指定上柜仍关闭。���断：打开存罐橱柜这一步卡在目标柜及可操作部位的寻找，后续始终没有修复；视频 260 s 仅为初次下柜探查的粗略导航锚点。"
+  },
+  "unmet": {
+   "sausages_in_jars_1": false,
+   "sausages_in_jars_2": false,
+   "sausages_in_jars_3": false,
+   "sausages_in_jars_4": false,
+   "jars_closed_1": true,
+   "jars_closed_2": true,
+   "jars_in_cabinet_1": true,
+   "jars_in_cabinet_2": true,
+   "cabinet_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "目标搜索/定位失败",
+    "t": 260.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 252–294 s、638–688 s 和 730–930 s，机器人反复把左臂伸到水槽下柜前，视图中没有指定上柜门板打开或两罐出现；视频 530 s、953.7 s 上柜保持合拢。推断：机器人没有找到并打开通向罐子的目标柜，后续开罐和装肠均未开始。",
+    "note_zh": "候选名称：目标搜索/定位失败。现有接触和运动现象不足以表达在多个柜体中未定位存罐目标的失败；机器人已进行大量探查，不能归为没尝试，也不把非目标下柜的局部空夹直接认作目标柜的接触失败。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "log_step": 399,
+    "evidence_zh": "观察：inputs/run.json 的 log steps 340、345、363、369、372、375、379、384 记录 agent 围绕水槽下柜连续安排抓拉、重试、扫深度、摩擦夹持及勾拉；log step 387 才转查此前未检查的西侧灶台下柜。log step 399 中 agent 自述搜索收窄到水槽下方双门，六次开门尝试耗去大部分过程，并提出应限制单柜尝试、先查看所有候选柜的教训。视频 638、650、670、688、700、750、800、850、900、930 s 中机器人仍在水槽下柜附近试探；视频 530 s、953.7 s 上方橱柜门板合拢。推断：搜索策略长期固着于一个未经确认的候选柜，反复局部重试而迟迟未扩展候选柜检查，妨碍了目标上柜的定位与打开；归因依据目标选择和策略记录，不以预算耗尽或停止本身作原因。",
+    "source_zh": "日志 / agent 自述 / 视频"
+   },
+   {
+    "cat": "认知",
+    "item": "感知",
+    "log_step": 340,
+    "evidence_zh": "观察：inputs/run.json 的 log step 340 中 agent 将水槽下柜暗像解释为高度约 0.71–0.79 m 的条状把手，并据此安排抓拉；log step 345 自述“门在移动”。log steps 375、377、379 中 agent 逐步撤回已抓住把手及存在突出把手的判断，log step 399 自述早先的“把手”实为亮面反射。视频 638、650、670、688、700 s 仅见水槽下柜附近的近景反光及夹爪位置变化，不能独立确认 agent 所指像素究竟是反射还是把手，也不能据其自述确认柜门已动。推断：日志中反复修正的部件识别引导了下柜试探，支持感知误判参与搜索失败；这是对水槽下柜试探的归因，不是对目标上柜把手的识别错误，反射的具体身份仍待核实。",
+    "source_zh": "日志 / agent 自述 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频；罐子始终被关闭的目标柜遮挡，两罐关闭及仍在柜内的区间依据 DAG 初态和全片未见操作的连续情境推定。水槽下柜附近的指尖接触被近景遮挡，不能核实具体接触方式；agent 关于运动学极限和零接触的诊断尚不能证明所有合法站位均不可达，故未标够不着或任务/环境根因。日志中的开门自述未获目标上柜的画面支持，不计作完成。agent 将下柜反光误认作把手的具体身份主要依据其 log step 399 自述，视频只能支持近景反光与反复试探，尚不能独立核实该像素身份；感知根因保留为结合日志的推断。"
+ },
+ "summary_zh": "本回合保留两罐关闭、两罐在指定柜内和目标柜关闭共五个初始节点，末态为5/12，没有观察到新增开柜、开罐或香肠入罐进度。机器人在寻找存罐橱柜时反复探查水槽下柜，日志支持搜索策略固着于单一候选柜的推理/规划问题，agent 另自述曾把下柜亮面反射当作把手；视频 530 s 与 953.7 s 指定上柜均关闭，断点为打开橱柜的探索阶段。无状态日志，隐蔽罐子的保留状态与局部接触方式存在证据限制，下柜反射误判的具体身份未获视频独立核实，感知归因属于推断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "进度（5/12，无新增节点）、两罐/柜关闭的保留、断点 cabinet_opened（探索）与现象与视频一致；上柜在视频 530 s 与 953.7 s 均合拢。但根因缺少有日志支持的“推理/规划”：agent 把约 2 小时（log steps 约 120–396）集中在水槽下柜、从未尝试视频中可见的上方��柜，且自述应早点限时并枚举候选柜。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "进度5/12（仅初始节点保留）、断点 cabinet_opened（探索）、推理/规划与感知根因均与视频和日志一致；第1轮意见已采纳，未发现新错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:29:26Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-can-meat-i00-standard--4k9yxfs/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-can-meat-i00-standard--4k9yxfs/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-can-meat-i00-standard--4k9yxfs/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-can-meat-i00-standard--4k9yxfs/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8ae371e0a6ff435889fd11d0faed54faca92ddbe35d529f1eeab3732d0d4fefe",
+   "video_sha256": "0b8753f8b5bf40c02724a182103f351b7ff6d54bb6b2a492a42b7accee7d6873",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-standard--g9j2iyi.json

@@ -0,0 +1,396 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-can-meat-i00-standard--g9j2iyi",
+ "taskKey": "behavior-1k/can_meat",
+ "dag_sha256": "f3528823deacaae41ee48f35af2dbb099ba817ce76d5ff2cd5f1d48523bc2056",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 9601,
+   "sim_steps": 9751,
+   "physics_steps": 39004,
+   "steps": 1690,
+   "elapsed_s": 6626.7,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 150,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.0,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-can-meat-i00-standard--g9j2iyi/replay.mp4",
+  "duration_s": 325.1,
+  "fps": 10.0,
+  "frames": 3251,
+  "sha256": "b2f55d1ae3e9e4f160ac769c97ddc233143c66e09c0efc5f15ebba46426619a7"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 12,
+  "base": 5,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 79,
+      "log_step": 161,
+      "text_zh": "观察：视频 76.5–87.5 s，机器人右夹爪在上方反光柜门前张开、闭合及向门面移动，门板和相邻门缝仍保持贴合，没有露出可接近的柜内空间。"
+     },
+     {
+      "t": 268,
+      "log_step": 661,
+      "text_zh": "观察：视频 261–273.5 s，右夹爪再次贴近门板并向下缘移动；腕相机出现暗区后又回到反光门面，头部画面没有显示柜门翻开。agent 将暗区称为可能的开口（log step 661），本标注不据此记开柜成功。"
+     },
+     {
+      "t": 310,
+      "log_step": 769,
+      "text_zh": "观察：视频 294–311 s，机器人仍对上柜门面及下沿反复闭夹、推压，门板没有可见的打开结果；视频 324.8 s 机器人已转向过道，左夹爪仍持香肠。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 80–87 s、258–273.5 s 及 294–311 s，右夹爪指尖在上柜反光门板、门缝及下缘附近按压、擦动；未确认夹爪包住上柜把手，空夹不记为抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在多轮开柜尝试之间沿厨房过道移动、侧移并转向，底盘支承机械臂重新接近柜面。"
+     }
+    ]
+   },
+   "jars_opened_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 310,
+      "log_step": null,
+      "text_zh": "推断：视频 0–324.8 s 没有上柜门打开后接近罐盖的过程；视频 76.5–87.5 s、261–273.5 s、294–311 s 的动作都停留在柜门外，未出现第1只罐的罐口露出或翻盖过程，且开柜前置未达到。"
+     }
+    ]
+   },
+   "jars_opened_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 310,
+      "log_step": null,
+      "text_zh": "推断：视频 0–324.8 s 没有上柜门打开后接近罐盖的过程；视频 76.5–87.5 s、261–273.5 s、294–311 s 的动作都停留在柜门外，未出现第2只罐的罐口露出或翻盖过程，且开柜前置未达到。"
+     }
+    ]
+   },
+   "sausages_in_jars_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 157,
+      "log_step": 342,
+      "text_zh": "观察：视频 156.5–158.5 s，机器人左夹爪将一根香肠带离砧板和台面，香肠随夹爪抬起；视频 160–324.8 s 该根香肠持续出现在左腕相机的夹指之间，未被送进罐内。"
+     },
+     {
+      "t": 324.8,
+      "log_step": null,
+      "text_zh": "观察：视频 324.8 s，左夹爪仍夹着香肠，右夹爪朝向窗边；未见放入任何罐的过程。评分器 q_score=0.0 与无新增装罐目标相符，但本判断同时依据取物及其后持续持物的画面。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 156.5–158.5 s 左侧二指夹爪夹住一根香肠并将其抬离台面，之后始终夹持至视频 324.8 s。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 160–176 s 机器人持香肠驶回柜边，后续继续持物侧移、转向和沿过道移动。"
+     }
+    ]
+   },
+   "sausages_in_jars_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 324.8,
+      "log_step": null,
+      "text_zh": "观察：视频 133–158.5 s 的取物过程只带走一根香肠，随后视频 160–324.8 s 机器人持该根香肠在柜外活动，未见任何香肠入罐，也未见继续夹取并转移第2根香肠；末帧仍在持物。"
+     }
+    ]
+   },
+   "sausages_in_jars_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 324.8,
+      "log_step": null,
+      "text_zh": "观察：视频 133–158.5 s 的取物过程只带走一根香肠，随后视频 160–324.8 s 机器人持该根香肠在柜外活动，未见任何香肠入罐，也未见继续夹取并转移第3根香肠；末帧仍在持物。"
+     }
+    ]
+   },
+   "sausages_in_jars_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 324.8,
+      "log_step": null,
+      "text_zh": "观察：视频 133–158.5 s 的取物过程只带走一根香肠，随后视频 160–324.8 s 机器人持该根香肠在柜外活动，未见任何香肠入罐，也未见继续夹取并转移第4根香肠；末帧仍在持物。"
+     }
+    ]
+   },
+   "jars_closed_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务 DAG 已核实初始两只铰链罐均关闭；视频 0–324.8 s 未出现进入柜内操作罐盖的动作，柜门外的按压、闭夹和持香肠移动没有形成开罐过程，因此至少1只罐关闭的初始状态延续到结束。罐盖受柜门遮挡，不能从末帧直接量出关节角。"
+     }
+    ]
+   },
+   "jars_closed_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务 DAG 已核实初始两只铰链罐均关闭；视频 0–324.8 s 未出现进入柜内操作罐盖的动作，柜门外的按压、闭夹和持香肠移动没有形成开罐过程，因此至少2只罐关闭的初始状态延续到结束。罐盖受柜门遮挡，不能从末帧直接量出关节角。"
+     }
+    ]
+   },
+   "jars_in_cabinet_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务 DAG 已核实初始两只罐都在指定橱柜内；视频 0–324.8 s 机器人没有打开柜门并将罐取出的过程，两腕画面也没有持罐转移，因此至少1只罐在柜内的初始关系延续。此判断结合已知初态与全过程，不把门板遮挡当作罐子离柜。"
+     }
+    ]
+   },
+   "jars_in_cabinet_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务 DAG 已核实初始两只罐都在指定橱柜内；视频 0–324.8 s 机器人没有打开柜门并将罐取出的过程，两腕画面也没有持罐转移，因此至少2只罐在柜内的初始关系延续。此判断结合已知初态与全过程，不把门板遮挡当作罐子离柜。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 头部画面中上方橱柜门板合拢。"
+     },
+     {
+      "t": 87.5,
+      "log_step": null,
+      "text_zh": "观察：视频 76.5–87.5 s 机器人闭夹和推压后，上柜反光门板及门缝仍贴合；视频 178–194 s、261–273.5 s 和 294–311 s 的再次操作也没有显示门板离开柜体形成开口。"
+     },
+     {
+      "t": 324.8,
+      "log_step": null,
+      "text_zh": "推断：视频 311 s 后机器人离开柜面并转向过道，到视频 324.8 s 没有再操作上柜；结合此前门板仍合拢的画面，柜门关闭状态保持到结束。无状态日志，5%关节阈值按门板贴合外观判断。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cabinet_opened",
+   "t": 79.0,
+   "log_step": 161,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 79–81 s，机器人右夹爪在上柜反光门板前闭合，指间没有包住把手，门仍合拢；log step 161、163 的服务反馈均为右夹爪开度约0。之后视频 178–194 s、261–273.5 s、294–311 s 仍反复在柜门外尝试，没有完成开柜；夹起香肠后也未进入柜内装罐。推断：打开橱柜是最早尝试后始终未完成的步骤，后续持香肠和转场没有修复它。"
+  },
+  "unmet": {
+   "sausages_in_jars_1": false,
+   "sausages_in_jars_2": false,
+   "sausages_in_jars_3": false,
+   "sausages_in_jars_4": false,
+   "jars_closed_1": true,
+   "jars_closed_2": true,
+   "jars_in_cabinet_1": true,
+   "jars_in_cabinet_2": true,
+   "cabinet_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 79.0,
+    "log_step": 161,
+    "evidence_zh": "观察：视频 78–81 s 右夹爪在反光柜门前张合，夹指之间没有可见把手，闭合后门板不随手运动；log step 161、163 返回右夹爪开度0。推断：这一轮上柜抓取没有建立能向外拉门的抓握接触；后来的指尖压门是表面接触，不能替代此次所需的抓握。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 79.0,
+    "log_step": 163,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：视频 78–87.5 s 夹爪在平整门面前闭夹和推压，没有夹住突出部位；log step 161、163 的闭夹均到零开度，agent 随后自述首个接触点不是把手（log step 168），并改成在门边推压。视频 178–194 s 的重试仍未带动门板，log step 408、414、432 也记录上柜闭夹几乎到零。推断：这些抓取位置与闭夹几何未形成可拉动门板的夹持，接触方案没有奏效；现有证据未验证另一种具体抓法能成功。"
+   }
+  ],
+  "gap_zh": "没有状态日志及成功示范视频；两罐的闭盖和柜内关系依据 DAG 核实的初态及视频中未发生取罐、开盖的过程推断，不能直接读取隐藏罐盖的角度或柜门的5%阈值。腕相机常受夹爪遮挡、门面反光，局部触碰的接触对和力不可量化；因此不把短暂夹爪开度当作成功握住把手，也不进一步归因为感知定位或力参数错误。运行日志没有最终总结，最后记录为仍在移动；run.json 的 wall_s=7203、time_limit_s=7200，评分器 success=0、q_score=0.0，无基础设施或仿真错误。"
+ },
+ "summary_zh": "机器人夹起并携带了一根香肠，但始终未打开橱柜，未开罐或完成任何装罐关系；最终5/12个节点成立，均为初始已有的两罐关闭、两罐柜内和柜门关闭。断点为打开橱柜：右夹爪多次在门面前空夹或推压，没有建立有效的拉门抓握。无状态日志，两罐的隐藏状态依照已核实初态与全过程推断，柜门阈值依据可见贴合外观判断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（初态5个成立、开柜及其后续未达成）、断点（打开橱柜，右夹爪在柜门平面前闭夹/推压）以及现象/根因与抽查帧和评分器 q_score=0 一致；无状态日志，推断部分已标明，未发现需要修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:06:21Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-can-meat-i00-standard--g9j2iyi/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-can-meat-i00-standard--g9j2iyi/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "077ed8643356c552474a72dda1fd2024ed88086fd4dd562a5ef88ef257f3f392",
+   "video_sha256": "b2f55d1ae3e9e4f160ac769c97ddc233143c66e09c0efc5f15ebba46426619a7",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-standard--ue9tpcq.json

@@ -0,0 +1,472 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-can-meat-i00-standard--ue9tpcq",
+ "taskKey": "behavior-1k/can_meat",
+ "dag_sha256": "f3528823deacaae41ee48f35af2dbb099ba817ce76d5ff2cd5f1d48523bc2056",
+ "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": 5413,
+   "sim_steps": 5413,
+   "physics_steps": 21652,
+   "steps": 2815,
+   "elapsed_s": 1599.3,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.423,
+   "peak_processes": 10,
+   "peak_disk_gb": 1.105,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-can-meat-i00-standard--ue9tpcq/replay.mp4",
+  "duration_s": 180.433,
+  "fps": 30.0,
+  "frames": 5413,
+  "sha256": "b372138817b1ad63c663a33999ef7b6b5cb3776f75c486222c91f683beba0a65"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 12,
+  "base": 5,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.5,
+      "log_step": null,
+      "text_zh": "观察：视频 7.0–8.0 s 可见灶台、微波炉上方灰色吊柜门合拢；视频全程粗采样及视频 56.0–149.75 s 的密集画面均未见这些上柜门打开、露出两只罐。"
+     },
+     {
+      "t": 144.5,
+      "log_step": 218,
+      "text_zh": "观察：视频 142.5–145.0 s 机器人左夹爪靠近微波炉下方柜门顶沿后闭合，未见把手被夹在两指间；log step 218 返回左指开度均为0，末端距脚本接近目标仍有0.0815米误差。视频 148.5 s 下柜门附近出现较大开缝，但不是DAG判据指明的上方橱柜，且未见罐子。"
+     },
+     {
+      "t": 179.4,
+      "log_step": 226,
+      "text_zh": "推断：按DAG指定的上方橱柜判定，开柜事件未达到；视频 179.4 s 仍无开目标柜或取罐的结果，log step 226 服务最终状态为failure: the robot fell over。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在巡视并接近橱柜的过程中驱动轮式底盘，空手在岛台与墙侧柜之间移动；视频 148.0–180.0 s 又移动和转向。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 142.5–145.0 s 左夹爪在下柜顶沿附近闭合；无法确认指面与把手是否接触，未见可靠包夹，不能标抓握；上柜没有可见手部接触。"
+     }
+    ]
+   },
+   "jars_opened_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 144.5,
+      "log_step": 218,
+      "text_zh": "观察：视频全程未出现罐身被取出、罐盖翻起或露出罐口的过程；机器人视频 142.5–145.0 s 操作的是下柜顶沿，未拿到罐子。"
+     },
+     {
+      "t": 179.4,
+      "log_step": null,
+      "text_zh": "推断：结合DAG记载两只罐初始关闭并在柜内，以及目标上柜始终没有可见打开、机器人没有进入柜内操作，累计打开的不同罐数仍为0；本开盖事件未达到。"
+     }
+    ]
+   },
+   "jars_opened_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 144.5,
+      "log_step": 218,
+      "text_zh": "观察：视频全程未出现罐身被取出、罐盖翻起或露出罐口的过程；机器人视频 142.5–145.0 s 操作的是下柜顶沿，未拿到罐子。"
+     },
+     {
+      "t": 179.4,
+      "log_step": null,
+      "text_zh": "推断：结合DAG记载两只罐初始关闭并在柜内，以及目标上柜始终没有可见打开、机器人没有进入柜内操作，累计打开的不同罐数仍为0；本开盖事件未达到。"
+     }
+    ]
+   },
+   "sausages_in_jars_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.0,
+      "log_step": null,
+      "text_zh": "观察：视频 5.0 s 砧板与橙色香肠位于岛台上；全程未见机器人夹起香肠、携带香肠或向罐内放入。"
+     },
+     {
+      "t": 173.5,
+      "log_step": null,
+      "text_zh": "观察：视频 173.5 s 腕部视角再次近距离扫过砧板，四根香肠仍可见于板面，没有装罐结果；视频 179.4 s 机器人双爪也未持香肠。"
+     },
+     {
+      "t": 179.4,
+      "log_step": null,
+      "text_zh": "推断：由全程未搬运和末段砧板画面，本计数节点始终不成立；评分器q_score=0.0与此相符，但没有单凭零分判断未放入。"
+     }
+    ]
+   },
+   "sausages_in_jars_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.0,
+      "log_step": null,
+      "text_zh": "观察：视频 5.0 s 砧板与橙色香肠位于岛台上；全程未见机器人夹起香肠、携带香肠或向罐内放入。"
+     },
+     {
+      "t": 173.5,
+      "log_step": null,
+      "text_zh": "观察：视频 173.5 s 腕部视角再次近距离扫过砧板，四根香肠仍可见于板面，没有装罐结果；视频 179.4 s 机器人双爪也未持香肠。"
+     },
+     {
+      "t": 179.4,
+      "log_step": null,
+      "text_zh": "推断：由全程未搬运和末段砧板画面，本计数节点始终不成立；评分器q_score=0.0与此相符，但没有单凭零分判断未放入。"
+     }
+    ]
+   },
+   "sausages_in_jars_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.0,
+      "log_step": null,
+      "text_zh": "观察：视频 5.0 s 砧板与橙色香肠位于岛台上；全程未见机器人夹起香肠、携带香肠或向罐内放入。"
+     },
+     {
+      "t": 173.5,
+      "log_step": null,
+      "text_zh": "观察：视频 173.5 s 腕部视角再次近距离扫过砧板，四根香肠仍可见于板面，没有装罐结果；视频 179.4 s 机器人双爪也未持香肠。"
+     },
+     {
+      "t": 179.4,
+      "log_step": null,
+      "text_zh": "推断：由全程未搬运和末段砧板画面，本计数节点始终不成立；评分器q_score=0.0与此相符，但没有单凭零分判断未放入。"
+     }
+    ]
+   },
+   "sausages_in_jars_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.0,
+      "log_step": null,
+      "text_zh": "观察：视频 5.0 s 砧板与橙色香肠位于岛台上；全程未见机器人夹起香肠、携带香肠或向罐内放入。"
+     },
+     {
+      "t": 173.5,
+      "log_step": null,
+      "text_zh": "观察：视频 173.5 s 腕部视角再次近距离扫过砧板，四根香肠仍可见于板面，没有装罐结果；视频 179.4 s 机器人双爪也未持香肠。"
+     },
+     {
+      "t": 179.4,
+      "log_step": null,
+      "text_zh": "推断：由全程未搬运和末段砧板画面，本计数节点始终不成立；评分器q_score=0.0与此相符，但没有单凭零分判断未放入。"
+     }
+    ]
+   },
+   "jars_closed_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG的criterion_zh和初始目标记录明确两只铰链罐起初均关闭；罐盖在闭合柜门后不可直接看见。视频全程未见取罐、开盖或接触罐子的过程，因此按初态及未受操作的连续性判断，关闭的罐数维持2，本节点从视频 0 s 持续到结束。"
+     },
+     {
+      "t": 179.4,
+      "log_step": null,
+      "text_zh": "观察：视频 179.4 s 未出现罐子或开盖结果；该终值不是由agent自述装罐完成得出，也不把q_score=0.0理解为初始关闭目标丢失。"
+     }
+    ]
+   },
+   "jars_closed_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG的criterion_zh和初始目标记录明确两只铰链罐起初均关闭；罐盖在闭合柜门后不可直接看见。视频全程未见取罐、开盖或接触罐子的过程，因此按初态及未受操作的连续性判断，关闭的罐数维持2，本节点从视频 0 s 持续到结束。"
+     },
+     {
+      "t": 179.4,
+      "log_step": null,
+      "text_zh": "观察：视频 179.4 s 未出现罐子或开盖结果；该终值不是由agent自述装罐完成得出，也不把q_score=0.0理解为初始关闭目标丢失。"
+     }
+    ]
+   },
+   "jars_in_cabinet_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG的criterion_zh与初始目标记录明确两只罐起初均在指定柜内。视频全程未见目标上柜打开、罐子离柜或被机器人持起；保留初始柜内关系，本计数节点从视频 0 s 持续到结束。"
+     },
+     {
+      "t": 179.4,
+      "log_step": null,
+      "text_zh": "观察：视频 179.4 s 机器人空手，场景中没有搬出罐子的结果；柜���遮挡本身不视为罐子移出。"
+     }
+    ]
+   },
+   "jars_in_cabinet_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG的criterion_zh与初始目标记录明确两只罐起初均在指定柜内。视频全程未见目标上柜打开、罐子离柜或被机器人持起；保留初始柜内关系，本计数节点从视频 0 s 持续到结束。"
+     },
+     {
+      "t": 179.4,
+      "log_step": null,
+      "text_zh": "观察：视频 179.4 s 机器人空手，场景中没有搬出罐子的结果；柜门遮挡本身不视为罐子移出。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.5,
+      "log_step": null,
+      "text_zh": "观察：视频 7.0–8.0 s 微波炉和灶台上方的灰色柜门合拢；视频 84.0–87.5 s、124.0–127.5 s、152.0 s、172.0 s 可见的上柜门仍处于合拢位置。"
+     },
+     {
+      "t": 179.4,
+      "log_step": null,
+      "text_zh": "推断：结合DAG指定上方橱柜及其初始关闭记录，全程没有目标上柜打开的可见事件，关闭关系从视频 0 s 保留到终态。视频 148.5 s 的下柜开缝不计为这个上柜节点的丢失。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cabinet_opened",
+   "t": 144.5,
+   "log_step": 218,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 142.5–145.0 s 机器人左夹爪在下柜把手附近闭合后仍未可靠夹住把手，上方目标柜没有打开；log step 218 报告接近误差0.0815米、两左指完全闭合。推断：这是最早已投入操作但此后始终未完成的开柜步骤，故断点为cabinet_opened；随后视频 148.0–180.0 s 空手换位与恢复平衡均没有修复开柜步骤，log step 226 服务最终因跌倒终止。"
+  },
+  "unmet": {
+   "sausages_in_jars_1": false,
+   "sausages_in_jars_2": false,
+   "sausages_in_jars_3": false,
+   "sausages_in_jars_4": false,
+   "jars_closed_1": true,
+   "jars_closed_2": true,
+   "jars_in_cabinet_1": true,
+   "jars_in_cabinet_2": true,
+   "cabinet_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 144.5,
+    "log_step": 218,
+    "evidence_zh": "观察：视频 144.25–144.75 s 左腕画面显示两指空合，头部画面中的左夹爪在下柜顶沿前方，未见把手被两指夹住，也未触及DAG指明的上方柜门；log step 218 返回左指关节均为0、接近目标误差0.0815米。推断：开目标柜所需的有效夹持或勾拉接触没有建立，后续未修复；下柜后来出现开缝不能证明目标上柜被打开。"
+   },
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 164.0,
+    "log_step": 220,
+    "evidence_zh": "观察：机器人在尚未打开目标柜时空手换位，视频 148.5–153.0 s 画面快速翻转，视频 164.0–171.0 s 再次大幅侧翻和低位摇摆；log step 220 服务本体反馈的up分量连续出现0.05、-0.25、-0.64、-0.79、-0.84，log step 224 恢复动作最终返回failure: the robot fell over。视频 179.4–180.0 s 仍未产生任何开柜或装罐结果。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "alt_feasible": "未知",
+    "evidence_zh": "观察：log step 200 的ee_go仅插值提交固定数量的末端位姿，未依据到位误差重试；log step 218 的grasp1.py先到预抓取点，误差0.0002米，再以12行指令接近[4.455,0.699,0.813]，实测末端[4.534,0.719,0.822]、误差0.0815米。脚本读取并打印该误差后没有到位判据或修正分支，直接执行10行闭合，返回左指开度0.0、0.0；视频 142.5–145.0 s 可见左夹爪在下柜顶沿附近闭合，视频 144.5 s 未见把手进入两指间。推断：接近执行未到位而控制流程仍继续闭合，导致本次夹取未建立有效接触。缺少接触力、逆解状态及目标位姿可达性证据，不能区分接触几何不适配与轨迹/逆解或跟踪问题，根因子类未知，按03 Step 3.3停在“控制”；替代接触方案可行性未知。"
+   },
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 140 写入的safe_move在倾斜时调用balance后并不要求恢复成功就继续驱动；log step 220 在位置误差已约0.01米时仍反复执行换向，up从0.05降至-0.84，直到后续STAll才退出。log step 224 的平衡恢复随后被跌倒终止；视频 164.0–171.0 s 的翻转与这一失稳过程一致。推断：这条根因解释后续跌倒：底盘闭环��在持续倾斜及残余航向调整时停止驱动，恢复控制也未能保持支承，导致尚未完成开柜即终止；它不解释此前夹爪为何空合。"
+   }
+  ],
+  "gap_zh": "观察：inputs/只有运行记录和视频等文件，没有状态日志或成功参考视频，目标罐全程被柜门遮挡。推断：两只罐关闭且在柜内的四个节点依据DAG明确的初始记录和全程没有取罐/开盖的连续性保留，不是直接看见罐盖或inside谓词。DAG开柜判据指定“厨房上方橱柜”，机器人实际探测微波炉下方柜体；视频 148.5 s 下柜门附近出现明显开缝，但缺少对象实例映射，不能据此认定目标柜打开，也不能确认DAG的“上方”定位是否准确。夹爪接触点、下柜开缝的具体受力来源以及吧凳是否直接导致翻倒均未获接触日志证实，未进一步归因为碰撞、感知或抓取设计问题。 开柜接近误差的底层原因未知：log step 218虽记录trunk [0.04,1.79,0.81,-1.79]，但缺少名义姿态、逆解求解结果、关节限位和接触力记录，不能据此断定躯干偏移导致逆解失败，也不能验证该接触方案或替代方案的可行性。按03 Step 3.3的判别次序，目标柜的实例对应尚不明确，故未断定选错操作对象属于规划错误；能确定的是未到位时仍闭合的控制流程缺陷。"
+ },
+ "summary_zh": "按DAG指定的上方橱柜判据，本次未新增完成节点；两罐关闭、两罐在柜内和柜门关闭五个初始目标保留，终态5/12，四根香肠仍在砧板上。机器人开柜接近末段未到位，脚本未修正便闭合夹爪，未建立有效目标接触；随后空手换位反复失衡，底盘反馈控制未能恢复稳定，服务最终判定跌倒。无状态日志和成功参考视频，罐子的保持状态由初态与未操作推断；接近误差的具体控制子类、替代接触方案可行性及下柜与DAG上柜的实例对应均未知，因此置信度保持6。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "时钟、节点值（5/12 初始保持，无新增）与断点 cabinet_opened 基本成立；但断点处的现象「没建立接触」（接近目标仍差0.0815米、夹爪空合）没有对应的根因，唯一的根因（反馈控制）只解释之后的跌倒。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（初始保持5/12、无新增）、断点cabinet_opened与现象/根因（没建立接触+控制；平衡+反馈控制）与视频和log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": "2026-10-30T22:29:13Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-can-meat-i00-standard--ue9tpcq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-can-meat-i00-standard--ue9tpcq/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-can-meat-i00-standard--ue9tpcq/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-can-meat-i00-standard--ue9tpcq/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3683edbe541f78fc61786c7f4d255776d7cc955df255b504d09a389e5bbf7962",
+   "video_sha256": "b372138817b1ad63c663a33999ef7b6b5cb3776f75c486222c91f683beba0a65",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-standard--zpffod9.json

@@ -0,0 +1,398 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-can-meat-i00-standard--zpffod9",
+ "taskKey": "behavior-1k/can_meat",
+ "dag_sha256": "f3528823deacaae41ee48f35af2dbb099ba817ce76d5ff2cd5f1d48523bc2056",
+ "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": 1438,
+   "sim_steps": 1438,
+   "physics_steps": 5752,
+   "steps": 1438,
+   "elapsed_s": 613.7,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.17,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.251,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-can-meat-i00-standard--zpffod9/replay.mp4",
+  "duration_s": 47.933,
+  "fps": 30.0,
+  "frames": 1438,
+  "sha256": "c04900aa3c655ee5736ebfb08127e60955ac85e8f76a6d552730ae4d8488e22f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 12,
+  "base": 5,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8,
+      "log_step": null,
+      "text_zh": "观察：视频 0–34.5 s 机器人转动、平移观察厨房；视频 8–13 s 及视频 31–34.5 s 可见的上方柜门均合拢，没有夹爪接近把手或门板拉开的过程。"
+     },
+     {
+      "t": 34.8,
+      "log_step": 29,
+      "text_zh": "观察：视频约 34.8 s 头部画面开始持续倾斜，随后翻向天花板；截至视频 47.9 s 没有恢复或开柜。log step 29 的实际调用只把底盘移到两个观察位置。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–34.5 s 轮式底盘支承机身转向、换位观察橱柜；尚未发生夹爪与柜门的操作接触，随后机身倾倒。"
+     }
+    ]
+   },
+   "jars_opened_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.5,
+      "log_step": null,
+      "text_zh": "推断：视频 0–34.5 s 无开柜、伸手入柜或取罐动作，视频 34.8–47.9 s 机器人倾倒且未恢复；结合 DAG 中两只罐初始在关闭的柜内且罐盖关闭，累计打开不同罐数未达到1只。柜内本身不可见。"
+     }
+    ]
+   },
+   "jars_opened_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.5,
+      "log_step": null,
+      "text_zh": "推断：视频 0–34.5 s 无开柜、伸手入柜或取罐动作，视频 34.8–47.9 s 机器人倾倒且未恢复；结合 DAG 中两只罐初始在关闭的柜内且罐盖关闭，累计打开不同罐数未达到2只。柜内本身不可见。"
+     }
+    ]
+   },
+   "sausages_in_jars_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 28,
+      "log_step": null,
+      "text_zh": "观察：视频 1–3 s 及视频 27–30 s，四根橙色香肠仍在岛台砧板上，未见夹取、搬运或放入罐内的过程；视频 28 s 砧板和香肠清晰可见。"
+     },
+     {
+      "t": 47.9,
+      "log_step": null,
+      "text_zh": "推断：视频 34.8–47.9 s 机器人持续倾倒，无后续装罐动作，结合初始香肠在砧板、全程没有转移以及评分器 q_score=0，第1根香肠入罐终态为假；并非仅由零分判定未做。"
+     }
+    ]
+   },
+   "sausages_in_jars_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 28,
+      "log_step": null,
+      "text_zh": "观察：视频 1–3 s 及视频 27–30 s，四根橙色香肠仍在岛台砧板上，未见夹取、搬运或放入罐内的过程；视频 28 s 砧板和香肠清晰可见。"
+     },
+     {
+      "t": 47.9,
+      "log_step": null,
+      "text_zh": "推断：视频 34.8–47.9 s 机器人持续倾倒，无后续装罐动作，结合初始香肠在砧板、全程没有转移以及评分器 q_score=0，第2根香肠入罐终态为假；并非仅由零分判定未做。"
+     }
+    ]
+   },
+   "sausages_in_jars_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 28,
+      "log_step": null,
+      "text_zh": "观察：视频 1–3 s 及视频 27–30 s，四根橙色香肠仍在岛台砧板上，未见夹取、搬运或放入罐内的过程；视频 28 s 砧板和香肠清晰可见。"
+     },
+     {
+      "t": 47.9,
+      "log_step": null,
+      "text_zh": "推断：视频 34.8–47.9 s 机器人持续倾倒，无后续装罐动作，结合初始香肠在砧板、全程没有转移以及评分器 q_score=0，第3根香肠入罐终态为假；并非仅由零分判定未做。"
+     }
+    ]
+   },
+   "sausages_in_jars_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 28,
+      "log_step": null,
+      "text_zh": "观察：视频 1–3 s 及视频 27–30 s，四根橙色香肠仍在岛台砧板上，未见夹取、搬运或放入罐内的过程；视频 28 s 砧板和香肠清晰可见。"
+     },
+     {
+      "t": 47.9,
+      "log_step": null,
+      "text_zh": "推断：视频 34.8–47.9 s 机器人持续倾倒，无后续装罐动作，结合初始香肠在砧板、全程没有转移以及评分器 q_score=0，第4根香肠入罐终态为假；并非仅由零分判定未做。"
+     }
+    ]
+   },
+   "jars_closed_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG 的 criterion_zh 与初态说明明确两只罐初始关闭；视频 0–47.9 s 未发生开柜、取罐或操作罐盖的过程，故至少1只罐关闭从视频 0 s 保持至结束。罐盖被柜门遮挡，此项依据初态与未干预过程推断。"
+     }
+    ]
+   },
+   "jars_closed_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG 的 criterion_zh 与初态说明明确两只罐初始关闭；视频 0–47.9 s 未发生开柜、取罐或操作罐盖的过程，故至少2只罐关闭从视频 0 s 保持至结束。罐盖被柜门遮挡，此项依据初态与未干预过程推断。"
+     }
+    ]
+   },
+   "jars_in_cabinet_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务文本及 DAG 说明两只罐初始在指定厨房橱柜内；视频 0–47.9 s 未见开柜、取罐或搬运罐子，故至少1只罐在柜内从视频 0 s 保持至结束。闭合柜门遮挡内部，不能直接看见罐身。"
+     }
+    ]
+   },
+   "jars_in_cabinet_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务文本及 DAG 说明两只罐初始在指定厨房橱柜内；视频 0–47.9 s 未见开柜、取罐或搬运罐子，故至少2只罐在柜内从视频 0 s 保持至结束。闭合柜门遮挡内部，不能直接看见罐身。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8,
+      "log_step": null,
+      "text_zh": "观察：视频 8–13 s 及视频 31–34.5 s 可见上方柜门板合拢，未出现开门过程，机器人只改变观察位置。"
+     },
+     {
+      "t": 47.9,
+      "log_step": null,
+      "text_zh": "推断：DAG 明确指定橱柜初始关闭；视频 0–47.9 s 没有机器人开柜操作，倾倒后直到末帧也未恢复操作，故关柜状态保持。该 state 节点不受 after 前置门控。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cabinet_opened",
+   "t": 34.8,
+   "log_step": 29,
+   "where": "探索",
+   "evidence_zh": "观察：视频 0–34.5 s 机器人空手转动并在厨房换位查看柜体，没有开柜动作；视频约 34.8 s 起画面持续倾斜，视频 40–47.9 s 头部视野翻向天花板且未恢复。log step 29 是查看西侧橱柜的底盘换位，log step 31 服务返回 done=True、reason=\"failure: the robot fell over\"。推断：机器人在为打开橱柜寻找目标和接近位置的探索阶段跌倒，未完成该步。"
+  },
+  "unmet": {
+   "sausages_in_jars_1": false,
+   "sausages_in_jars_2": false,
+   "sausages_in_jars_3": false,
+   "sausages_in_jars_4": false,
+   "jars_closed_1": true,
+   "jars_closed_2": true,
+   "jars_in_cabinet_1": true,
+   "jars_in_cabinet_2": true,
+   "cabinet_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 34.8,
+    "log_step": 31,
+    "evidence_zh": "观察：视频 34.5 s 柜体仍接近水平，视频 34.8–40 s 头部画面逐渐旋转、翻向天花板，视频 46.9–47.9 s 仍侧翻未恢复；log step 31 的服务状态报告机器人跌倒并终止，随附本体读数 tilt_up=-0.077。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "安全判断",
+    "source_zh": "日志 / agent 自述 / 视频",
+    "evidence_zh": "推断：agent 在底盘换位前未评估家具净空危险。log step 18 已生成深度俯视地图；log step 11 的 drive 将位移和转角分解为开环移动指令，log step 20 的 goto 根据目标与当前底座位姿调用 drive，二者均没有使用地图进行障碍或机器人占地检查。log step 29 连续执行 goto(5.5,-0.9,180) 与 goto(5.5,0.6,180)，视频约 34.8 s 起机器人开始倾倒，log step 31 服务返回 done=True、reason=\"failure: the robot fell over\"。agent 在 log step 35 自述“以 0.4 m/s 行驶，未检查已有地图中的净空，底盘撞到岛台”，其中未作净空检查与脚本一致，支持安全判断缺失；底盘与岛台的具体碰撞点不可见，碰撞对象和净空不足致倒仍为推断，未独立测量接触几何。"
+   }
+  ],
+  "gap_zh": "无状态日志或成功参考视频。柜内两只罐及罐盖始终被关闭柜门遮挡，其保持关闭和留在柜内依据 DAG 确认的初态及视频中全程未开柜、未操作罐子的过程推断；底盘与岛台的碰撞点不在相机视野内，净空不足归因结合脚本与 agent 自述，未独立测量接触几何。"
+ },
+ "summary_zh": "机器人只在厨房转向、换位观察，未开柜、开罐或装入任何香肠；DAG 初始已满足的两罐关闭、两罐在柜内及柜门关闭共5/12个节点保持，新增完成为0。打开橱柜的探索阶段在视频约 34.8 s 因倾倒中断，服务随后判跌倒终止；脚本和 agent 自述支持底盘换位前未评估家具净空危险，根因记为安全判断缺失。柜内罐体与罐盖被遮挡，保持初态及具体碰撞原因含上述推断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "WHERE 标签（5/12 初态节点、新增0、断点 cabinet_opened/探索、倾倒起点约视频 34.8 s）与视频和日志一致；唯一问题是根因类别：\"净空未检查就开底盘\"不是目标/步骤/跨阶段策略选错，归 推理/规划 不符合分类定义。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "5/12 个初态节点保持、新增0、断点 cabinet_opened/探索、约视频 34.8 s 起倾倒、平衡现象与安全判断根因均与视频、日志及 q_score=0 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": "2026-10-30T22:29:39Z",
+  "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/behavior-can-meat-i00-standard--zpffod9/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-can-meat-i00-standard--zpffod9/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-can-meat-i00-standard--zpffod9/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-can-meat-i00-standard--zpffod9/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b75c61b809f5a45e728b9db7c610061a22c5510df1f31e4b865109b0bbf82c79",
+   "video_sha256": "c04900aa3c655ee5736ebfb08127e60955ac85e8f76a6d552730ae4d8488e22f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/canning_food/trajectories/behavior-canning-food-i00-privileged--6v36stp.json

@@ -0,0 +1,464 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-canning-food-i00-privileged--6v36stp",
+ "taskKey": "behavior-1k/canning_food",
+ "dag_sha256": "79f4ae898ca53c66f1426df6e0cf977ab188a121892679dbdd743d829b8da565",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 9957,
+   "sim_breakdown": 0,
+   "goal": 0,
+   "settle_steps": 150,
+   "goal_first_step": -1,
+   "sim_steps": 10107,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 3222.0,
+   "replay_timeout_s": 7838.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "video_replay_matches": 1,
+   "agent_sessions": 1,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 125,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 6.78,
+   "peak_memory_gb": 13.16,
+   "peak_processes": 46,
+   "peak_disk_gb": 1.511,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-canning-food-i00-privileged--6v36stp/replay.mp4",
+  "duration_s": 336.9,
+  "fps": 30.0,
+  "frames": 10107,
+  "sha256": "d18357b869b1bf0c95b9edf5ae597dbc0b648e0e7c28f25d8373e8c0a8f2b617"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 10,
+  "base": 4,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      238.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 238.0,
+      "log_step": 299,
+      "text_zh": "观察：视频 236–244 s，机器人左夹爪在冰箱门把手处闭合，随后门板相对柜体转出，腕部视角可见门侧边和缝隙增大；首次超过开门阈值估计在视频 238 s，误差约1秒。"
+     },
+     {
+      "t": 249.5,
+      "log_step": 307,
+      "text_zh": "观察：视频 249.5–253 s 门板已明显转出，机器人仍以左爪保持把手；这不是仅触碰把手。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人先用右夹爪反复对准冰箱把手，后在视频约 238–306 s 用左侧二指夹爪夹住把手并带动门板；未把先前单指触碰记为成功抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人驶近冰箱，并在左爪保持把手期间多次前后调整底盘。"
+     }
+    ]
+   },
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      72.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 72.0,
+      "log_step": 141,
+      "text_zh": "观察：视频 70.5–74.0 s，机器人右夹爪夹住橱柜门把手后拉动，门板从柜口转出并露出内侧；视频 82–90 s 底盘后退时门进一步打开。首次越过开门阈值约在视频 72.0 s，误差约1秒。"
+     },
+     {
+      "t": 90.0,
+      "log_step": 158,
+      "text_zh": "观察：视频 90.0 s 机器人右爪已离开打开的柜门，未携带碗；随后机器人转向冰箱。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 70.5–87.5 s，右侧二指夹爪夹住橱柜门把手并拉开门板，随后松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人驶近橱柜，并在视频 82–87.5 s 夹着门把手向后移动底盘以继续开门。"
+     }
+    ]
+   },
+   "steak_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 260.5,
+      "log_step": 318,
+      "text_zh": "观察：视频 258–265 s，机器人左爪位于冰箱把手处，右臂向旁侧伸展，腕部视角朝向柜外和地面，夹爪没有带出牛排；视频 270–306 s 后续伸臂也未见牛排转移或刀刃切料。"
+     },
+     {
+      "t": 336.8,
+      "log_step": null,
+      "text_zh": "推断：全片未见牛排离开冰箱或生成丁粒子；评分器 q_score=0，排除了初始不存在的牛排丁在终态成立，因此牛排切丁 final=false。此结论不把零分单独当作未尝试的证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "未知",
+      "note_zh": "观察：视频 262 s、300 s 的取牛排尝试中未见右夹爪夹住牛排；log step 318 发出右爪伸向牛排并闭合的命令，log step 320 返回 HANDR None、LEFT electric_refrigerator.n.01_1。未确认夹爪与牛排的实际接触方式；左爪抓握冰箱把手属于开冰箱，不记为本节点的抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 253–269 s 机器人在准备伸手取牛排时前后移动底盘。"
+     }
+    ]
+   },
+   "pineapple_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 336.8,
+      "log_step": null,
+      "text_zh": "推断：视频全程没有出现取出菠萝、对菠萝施加刀刃或产生菠萝丁的动作；机器人主要操作两扇门并尝试取牛排。初始菠萝丁不存在，评分器 q_score=0 进一步决定终态菠萝切丁为假。"
+     }
+    ]
+   },
+   "steak_bowl_filled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 336.8,
+      "log_step": null,
+      "text_zh": "推断：视频全程未见机器人搬碗、向碗中输送牛排或丁料；牛排切丁未完成。初始装料条件为假，评分器 q_score=0 排除了终态新增的牛排丁装满碗条件；因此 final=false，未把遮挡下的碗内体积作目测定量。"
+     }
+    ]
+   },
+   "pineapple_bowl_filled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 336.8,
+      "log_step": null,
+      "text_zh": "推断：视频全程未见机器人搬碗、向碗中输送菠萝或丁料；菠萝切丁未完成。初始装料条件为假，评分器 q_score=0 排除了终态新增的菠萝丁装满碗条件；因此 final=false，未把遮挡下的碗内体积作目测定量。"
+     }
+    ]
+   },
+   "bowls_in_cabinet_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "推断：任务 DAG 的初态说明明确两只目标碗均在橱柜内，故至少1只碗入柜从视频 0 s 起成立。视频从开柜到转向冰箱及末尾的检查中，没有出现碗离柜或被夹爪带走；两臂操作的是刀和门把手，保持原有柜内数量。"
+     },
+     {
+      "t": 90.0,
+      "log_step": null,
+      "text_zh": "观察：视频 80–91.5 s 机器人拉开后放开柜门，右爪离柜时为空；此后直到视频 336.8 s 未见机器人取出或搬运目标碗。柜内两个碗中心不能在同一视角直接量测，因此保持关系由初态和未搬动推断。"
+     }
+    ]
+   },
+   "bowls_in_cabinet_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "推断：任务 DAG 的初态说明明确两只目标碗均在橱柜内，故至少2只碗入柜从视频 0 s 起成立。视频从开柜到转向冰箱及末尾的检查中，没有出现碗离柜或被夹爪带走；两臂操作的是刀和门把手，保持原有柜内数量。"
+     },
+     {
+      "t": 90.0,
+      "log_step": null,
+      "text_zh": "观察：视频 80–91.5 s 机器人拉开后放开柜门，右爪离柜时为空；此后直到视频 336.8 s 未见机器人取出或搬运目标碗。柜内两个碗中心不能在同一视角直接量测，因此保持关系由初态和未搬动推断。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      238.0
+     ],
+     [
+      259.0,
+      266.0
+     ],
+     [
+      284.0,
+      284.5
+     ],
+     [
+      307.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 2 s 及视频 95–235 s 的冰箱正面门板处于闭合位置；视频约 238 s 左爪开始把门拉开。"
+     },
+     {
+      "t": 260.5,
+      "log_step": null,
+      "text_zh": "观察：已逐帧抽查视频 254–270.5 s；左腕视角中门板逐渐靠回闭合端，在视频约 259–266 s 贴近框边，随后再次转出。边界约有1秒误差。"
+     },
+     {
+      "t": 284.0,
+      "log_step": 336,
+      "text_zh": "推断：视频 282–286.5 s 经过密集检查，门板短暂回到框边后又打开；log step 336 在交付动作累计 8529 行处读取关节约0.0077 rad，log step 340 在8566行处约0.4915 rad，支持视频约 284–284.5 s 的短暂关闭。动作按30赫兹回放，8529/30=视频284.3 s；该映射已在log step 147的2397/30=视频79.9 s开柜状态及视频306–309 s门回闭合处核对。"
+     },
+     {
+      "t": 308.5,
+      "log_step": 379,
+      "text_zh": "观察：视频 306–309.5 s 左爪松开把手，冰箱门板回到框边；视频 315–330 s 及视频 335.9、336.8 s 门板继续闭合，夹爪未带出食物。回闭合起点估计视频 307 s，误差约1秒。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 304–306 s 左侧夹爪仍夹着冰箱把手，手臂内收时门随之向闭合方向转动；随后机器人松开夹爪，门自行回到闭合端。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      72.0
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 141,
+      "text_zh": "推断：DAG 初态为橱柜关闭；视频 15–70.5 s 机器人面前的柜门仍覆盖柜口。视频约 72 s 右爪将门板转出，关闭条件随之失去。"
+     },
+     {
+      "t": 309.5,
+      "log_step": null,
+      "text_zh": "观察：视频 309–309.5 s 腕部视角重新带到橱柜方向，柜门仍向外敞开；后续直到视频 336.8 s 机器人继续留在冰箱前，没有关橱柜动作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "fraction",
+   "threshold": 1,
+   "direction": "higher_better"
+  },
+  {
+   "name": "filled_particle_volume_fraction",
+   "value": null,
+   "unit": "fraction",
+   "threshold": 0.2,
+   "direction": "higher_better"
+  },
+  {
+   "name": "goal_object_linear_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  },
+  {
+   "name": "success_consecutive_control_steps",
+   "value": null,
+   "unit": "control_steps",
+   "threshold": 30,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "steak_diced",
+   "t": 260.5,
+   "log_step": 318,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 258–265 s 机器人已开始为牛排切丁取料，右臂的实际运动停留在冰箱外侧，未把牛排带出；log step 318 的脚本明确以冰箱内牛排上方为右爪目标并闭爪，log step 319–320 返回末端误差约1.36米、HANDR None。视频 270–306 s 后续重试仍未取得牛排，直到视频 336.8 s 均没有切丁结果。"
+  },
+  "unmet": {
+   "steak_diced": false,
+   "pineapple_diced": false,
+   "steak_bowl_filled": false,
+   "pineapple_bowl_filled": false,
+   "bowls_in_cabinet_1": true,
+   "bowls_in_cabinet_2": true,
+   "fridge_closed": true,
+   "cabinet_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 260.5,
+    "log_step": 319,
+    "evidence_zh": "观察：视频 258–265 s 取牛排动作中，右腕相机对着柜外/地面，右夹爪没有进入牛排所在的冰箱下层或带出食材；视频 277–294 s 再次伸臂时仍未见取料。log step 319 的目标为[7.94,-1.93,0.58]米，实测右末端约[7.23,-0.77,0.70]米，体现同一次动作的大幅位置偏差。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 脚本确实把牛排上方坐标作为末端目标（log step 318、327），但控制调用返回约1.36米、1.17米的末端误差（log step 319、328）；随后改用双臂关节目标仍返回右爪在目标侧方、未持物（log step 342–343、352–353）。视频 258–294 s 的柜外伸臂与这些反馈一致，支持控制执行未把取料末端送达。现有证据不足以在逆解、跟踪或接触阻挡之间确定唯一子类。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频。食物及碗内区域多被门板、柜体遮挡；切丁和装料终值结合初态、视频未见转移及评分器q_score=0判定，两只碗留柜由初态和全片未搬碗推断。冰箱5%角度阈值附近的开闭边界约有1秒误差，视频约284 s的短暂关闭辅以交付动作累计行数及日志关节读数定位；未将agent工作时间换算成视频时间。取牛排失败有末端位置反馈，但没有足够接触/力信息细分控制根因。"
+ },
+ "summary_zh": "机器人打开了橱柜和冰箱，两只碗保持初始柜内关系；终态冰箱关闭、橱柜敞开，节点最终成立5/10。牛排切丁的取料阶段反复出现右臂末端未到达目标的情况，未取得牛排，也未生成两种丁料或完成装碗。食物和碗内区域存在遮挡，初始关系保留与部分终值采用上下文及评分总量推断，门阈值时间约有1秒不确定性。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点时间、终值、断点（steak_diced）、现象（位姿不准）和根因（控制，停在父类）基本被视频帧和日志支持；仅 steak_diced 的 contact_actual 把冰箱把手的抓握记到牛排节点下，需要改。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点时间与终值、断点（steak_diced，操作���）、位姿不准现象和控制根因均与视频及日志一致；第1轮的接触修改已落实，未发现需改内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:30:45Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-canning-food-i00-privileged--6v36stp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-canning-food-i00-privileged--6v36stp/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-canning-food-i00-privileged--6v36stp/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-canning-food-i00-privileged--6v36stp/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "310efc8850e2056f8d64420d406dcbe9566cdb59edbd10c0a821840887aec8a2",
+   "video_sha256": "d18357b869b1bf0c95b9edf5ae597dbc0b648e0e7c28f25d8373e8c0a8f2b617",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/canning_food/trajectories/behavior-canning-food-i00-privileged--fhp5yjy.json

@@ -0,0 +1,472 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-canning-food-i00-privileged--fhp5yjy",
+ "taskKey": "behavior-1k/canning_food",
+ "dag_sha256": "79f4ae898ca53c66f1426df6e0cf977ab188a121892679dbdd743d829b8da565",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 1766,
+   "sim_steps": 1766,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1332.8,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 4,
+   "agent_resets": 4,
+   "agent_sim_steps": 1766,
+   "agent_records": 0,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 7.013,
+   "peak_memory_gb": 9.287,
+   "peak_processes": 26,
+   "peak_disk_gb": 2.129,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 1,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-canning-food-i00-privileged--fhp5yjy/replay.mp4",
+  "duration_s": 58.867,
+  "fps": 30.0,
+  "frames": 1766,
+  "sha256": "b821106c771272d7d5d52b0dccea4104e2a6209d8a92b390c8c8ef70ae4f226a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 10,
+  "base": 4,
+  "peak": 5,
+  "final": 4,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      16.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 16.5,
+      "log_step": null,
+      "text_zh": "观察：视频 16.3–17.5 s，机器人右夹爪夹住冰箱门把手并向外带动门板，白色门板明显转出，内腔随后露出；视频 23.5–26.5 s 可见门大开。首次越过5%开度约在视频 16.5 s，视觉估计误差约0.3秒。"
+     },
+     {
+      "t": 26.0,
+      "log_step": null,
+      "text_zh": "观察：视频 26.0 s，冰箱内的完整食材仍在层板上，机器人已松开把手；此处仅完成开门，未取出或切丁。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 14.5–23.5 s，右侧二指夹爪夹住冰箱把手并拉开门板，随后松手。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–2.5 s 底盘转向并靠近厨房操作位；视频 16.3–23.5 s 开门时底盘伴随右臂沿门的运动方向移动。"
+     }
+    ]
+   },
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      32.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 32.4,
+      "log_step": null,
+      "text_zh": "观察：视频 32.3–32.8 s，机器人左夹爪带着橱柜长门的横把手外拉，门板离开闭合平面并露出柜内；视频 34.5–37.7 s 内腔大幅露出。首次超过5%行程约在视频 32.4 s，误差约0.3秒。"
+     },
+     {
+      "t": 48.5,
+      "log_step": null,
+      "text_zh": "观察：视频 39.2–45.5 s 门板一度回到闭合位置，视频 45.6–50.0 s 机器人再次拉开门板；开门是已发生即保持的event节点，因此不因中途关门取消。"
+     },
+     {
+      "t": 58.833,
+      "log_step": null,
+      "text_zh": "观察：视频 58.833 s 最后一帧，橱柜长门仍斜向外开着。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 30.5–37.0 s 及视频 43.5–50.0 s，左二指夹爪夹住橱柜横把手拉门，两次操作先后发生。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 54.0–56.0 s，左夹爪接近并推碰橱柜门板，门板向闭合方向回摆；并未把门推得更开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 26.5–29.5 s 底盘移到橱柜前；视频 32.3–36.0 s 和再次开门时底盘随手臂调整位置。"
+     }
+    ]
+   },
+   "steak_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": 95,
+      "text_zh": "观察：视频 20.0–26.5 s，冰箱下层仍有完整牛排，机器人只在门把手附近活动；整段视频未见机器人持刀或令刀刃接触牛排。log step 40–47 的切料输出来自之前的传送物体测试，log step 95–97 重新加载并重放的是开冰箱动作，不能将测试计入评分轨迹。"
+     },
+     {
+      "t": 58.833,
+      "log_step": 113,
+      "text_zh": "推断：评分器 reward.q_score=0.0，且视频中没有食材加工动作��牛排丁存在是初始为假的新目标，因此最终不成立。初始两碗在柜和门关闭等已成立目标不计入此q_score，不能据此否定保留的入柜关系。"
+     }
+    ]
+   },
+   "pineapple_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.5,
+      "log_step": null,
+      "text_zh": "观察：视频 20.0–26.5 s，冰箱上层可见完整菠萝；视频后续机器人转去橱柜并只操作柜门、尝试取碗，未见切刀进入冰箱或与菠萝接触。"
+     },
+     {
+      "t": 58.833,
+      "log_step": 113,
+      "text_zh": "推断：评分器 reward.q_score=0.0，菠萝丁存在是初始为假的新目标；结合整段评分视频未发生切料，最终菠萝切丁不成立。"
+     }
+    ]
+   },
+   "steak_bowl_filled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 38.4,
+      "log_step": 100,
+      "text_zh": "观察：视频 37.8–39.3 s，机器人俯身伸左臂，左腕/夹爪抵近柜门，柜门随后被推回闭合位置；未见碗离开层板或被夹爪带出，随后机器人空手退回。log step 100 的目标是bowl.n.01_1碗沿，log step 101 两碗位置与初始相符。"
+     },
+     {
+      "t": 38.4,
+      "log_step": 100,
+      "text_zh": "推断：视频 37.8–39.3 s 和log step 100仅能确定机器人尝试取碗，尚无食材加工或装入碗的动作；无法将这段共用准备动作归属于牛排或菠萝装碗，log step 40的会话测试不作为该归属的证据。"
+     },
+     {
+      "t": 58.833,
+      "log_step": 113,
+      "text_zh": "推断：视频 39.3–58.833 s 仅有收臂、重新开门及推门，未再取得碗或转移食材；评分器 reward.q_score=0.0 也排除了初始为假的filled目标。故该节点始终未达到，最终为假。"
+     }
+    ]
+   },
+   "pineapple_bowl_filled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.833,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–58.833 s 未出现向任何碗加入菠萝丁的动作；开冰箱后完整菠萝留在层板上，后半段机器人只在橱柜前操作。"
+     },
+     {
+      "t": 58.833,
+      "log_step": 113,
+      "text_zh": "推断：菠萝丁不存在且没有装料过程，评分器 reward.q_score=0.0 进一步排除了初始为假的filled目标，最终菠萝丁装碗不成立。"
+     }
+    ]
+   },
+   "bowls_in_cabinet_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "推断：DAG的初态说明及任务文本明确两只目标碗最初在柜内，故“至少1只碗在柜内”从视频 0.0 s 成立；本轨迹没有把任何碗搬出柜外。"
+     },
+     {
+      "t": 37.7,
+      "log_step": null,
+      "text_zh": "观察：视频 34.5–37.7 s 开柜后能见柜内层板与碗状物；视频 37.8–39.3 s 取碗动作后，夹爪空着退回，未见碗随手移动。"
+     },
+     {
+      "t": 58.833,
+      "log_step": 101,
+      "text_zh": "推断：视频 48.0–52.0 s 再次开柜后物体仍在层板上，至视频 58.833 s 没有取出或掉碗过程；log step 101 两只碗位置与初始相符。由初态、取碗未成功和后续未搬运，至少1只碗的入柜关系持续成立，按数量计数而不按外观分实例。"
+     }
+    ]
+   },
+   "bowls_in_cabinet_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "推断：DAG的初态说明及任务文本明确两只目标碗最初在柜内，故“至少2只碗在柜内”从视频 0.0 s 成立；本轨迹没有把任何碗搬出柜外。"
+     },
+     {
+      "t": 37.7,
+      "log_step": null,
+      "text_zh": "观察：视频 34.5–37.7 s 开柜后能见柜内层板与碗状物；视频 37.8–39.3 s 取碗动作后，夹爪空着退回，未见碗随手移动。"
+     },
+     {
+      "t": 58.833,
+      "log_step": 101,
+      "text_zh": "推断：视频 48.0–52.0 s 再次开柜后物体仍在层板上，至视频 58.833 s 没有取出或掉碗过程；log step 101 两只碗位置与初始相符。由初态、取碗未成功和后续未搬运，至少2只碗的入柜关系持续成立，按数量计数而不按外观分实例。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      16.5
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.0,
+      "log_step": null,
+      "text_zh": "观察：视频 1.5–16.2 s，冰箱白色门板与箱体闭合；结合任务初态，关闭状态从视频 0.0 s 计入。视频 16.3–17.5 s 门板被机器人拉出，约视频 16.5 s 失去关闭状态。"
+     },
+     {
+      "t": 58.833,
+      "log_step": null,
+      "text_zh": "观察：视频 23.5–26.5 s 冰箱门大开；视频 55.0–58.833 s 画面右缘仍露出冰箱内腔，期间机器人一直在橱柜前操作，没有关闭冰箱。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      32.4
+     ],
+     [
+      39.2,
+      45.7
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.0,
+      "log_step": null,
+      "text_zh": "观察：视频 1.5–32.2 s，橱柜门板均在闭合位置；结合任务初态，关闭状态从视频 0.0 s 计入。机器人首次拉开长门后，约视频 32.4 s 失去该状态。"
+     },
+     {
+      "t": 39.2,
+      "log_step": null,
+      "text_zh": "观察：视频 38.3–39.3 s，取碗时机器人左侧夹爪/腕部推碰门板，长门逐渐回到柜面；视频 39.2–45.5 s 持续可见门板闭合。虽然不是计划的关柜动作，仍按state条件恢复此区间。"
+     },
+     {
+      "t": 45.7,
+      "log_step": null,
+      "text_zh": "观察：视频 45.6–46.0 s，机器人再次抓着把手拉开长门，约视频 45.7 s 超过关闭范围。视频 54.0–58.833 s 门板虽回摆，却始终斜开，没有重新闭合。开关阈值均为视觉估计，误差约0.3秒。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 38.3–39.2 s，左侧夹爪/腕部在取碗时意外推上长门，使其回到闭合位置；这是实际接触及状态恢复，不表示机器人有意执行收尾关柜。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "fraction",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "filled_particle_volume_fraction",
+   "unit": "fraction",
+   "threshold": 0.2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "goal_object_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "success_consecutive_control_steps",
+   "unit": "control_steps",
+   "threshold": 30,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": 38.4,
+   "log_step": 100,
+   "where": "转场",
+   "evidence_zh": "观察：视频 37.8–39.3 s，开完冰箱和橱柜后，机器人空手靠近橱柜、伸左臂取碗，夹爪/腕部推碰柜门并将其推闭，碗没有取出；log step 100目标为bowl.n.01_1碗沿，输出“pre ok False”后仍执行关节运动，log step 101读到夹爪与柜体接触、两碗位置未变。推断：后续视频至58.833 s仅重开或推碰柜门，取碗失败未修复；取碗是DAG未单列的共用准备动作，评分轨迹没有切料或食材分配，无法确定对应哪一个切丁/装碗节点，故ref为unknown。log step 40属于先前的传送测试，不能确定评分轨迹的牛排装碗归属；也不能仅以steak_diced尚未达成，认定机器人在该节点操作失败（docs/03_trajectory.md Step 3.1）。"
+  },
+  "unmet": {
+   "steak_diced": false,
+   "pineapple_diced": false,
+   "steak_bowl_filled": false,
+   "pineapple_bowl_filled": false,
+   "bowls_in_cabinet_1": true,
+   "bowls_in_cabinet_2": true,
+   "fridge_closed": false,
+   "cabinet_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 38.4,
+    "log_step": 100,
+    "evidence_zh": "观察：视频 38.3–39.2 s，机器人伸向柜内的左侧夹爪/腕部顶上门板，门板随动作向闭合方向转回，取碗入口被关闭；机器人随后退回时手中没有碗。视频 48.0–52.0 s 重新开门后也没有把碗取走。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 100 的取碗脚本输出“pre ok False”，但仍把求解器返回的关节数组送入move_joints，接着报告末端未到预抓位置并在下一段直线移动触发“kfast fail left”。log step 101 读到左夹爪指节与柜体接触、门角回到零且两碗位置未变；视频 38.3–39.2 s 同时显示左臂推门回闭。脚本没有在逆解失败后阻止执行，导致取碗运动走偏并碰门；证据支持轨迹/逆解执行问题，未证明所有合法取碗方案不可行。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频，门越过5%行程的时刻按画面估计；柜内较暗且经常被门板、腕部遮挡，两碗持续入柜由DAG初态、未发生搬运的画面及log step 101位置交叉推断。评分轨迹尚未切料或分配食材，DAG没有独立取碗节点；视频及log step 100可以定位取碗碰门的失败，却不能确定它属于哪一个切丁/装碗节点，故断点ref为unknown，不将未开始的steak_diced自动设为断点（Step 3.1、S14）。已删除依据log step 40会话测试作出的牛排装碗归属，早先传送切料测试也不计为评分进度。"
+ },
+ "summary_zh": "评分轨迹完成打开冰箱和打开橱柜两个事件，两碗始终保留在柜内，最终节点为4/10；切丁和装料均未完成，两扇门最终都未关闭。视频 38.3–39.2 s，机器人取碗的共用准备动作推闭橱柜门，之后未完成取碗；log step 100显示脚本在逆解失败后仍执行关节运动，支持轨迹或逆解根因。没有证据把这段转场归入某个食材的切丁/装碗节点，断点ref记为unknown；因断点节点归属不明，且门阈值时间和两碗持续入柜依赖交叉推断，conf由7降为6。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点进度（开冰箱16.5 s、开橱柜32.4 s、取碗时门被推闭39.2–45.7 s、两碗留柜、final 4/10）与视频、log（step 99 door2≈0、step 101 碗位未变）一致；时钟无转换。问题在断点：steak_bowl_filled 的前置 steak_diced 从未开始，把取碗失败归到“牛排装碗”只靠会话测试（log step 40）推断，而会话测试不算证据。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点时间与终值、cabinet_closed 回闭区间、两碗留柜、unknown 断点（取碗为DAG未列的共用动作，无法归属具体节点）及被挡/碰撞 + 轨迹或逆解均与视频和 log 一致；第1轮的断点争议已有证据解决。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:27:45Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-canning-food-i00-privileged--fhp5yjy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-canning-food-i00-privileged--fhp5yjy/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-canning-food-i00-privileged--fhp5yjy/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-canning-food-i00-privileged--fhp5yjy/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8cca766c9231f7cc3687aefd416ff2734288032b4d1b14c93c8bab8372f04b48",
+   "video_sha256": "b821106c771272d7d5d52b0dccea4104e2a6209d8a92b390c8c8ef70ae4f226a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/canning_food/trajectories/behavior-canning-food-i00-privileged--q5kxkt7.json

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+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-canning-food-i00-privileged--q5kxkt7/replay.mp4",
+  "duration_s": 9.5,
+  "fps": 30.0,
+  "frames": 285,
+  "sha256": "cb8532910f2fec00c7bfe3f941d08668d06f1469e3e9bd6a7c821fe2d2464174"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 10,
+  "base": 4,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.0,
+      "log_step": 221,
+      "text_zh": "观察：视频0.0–2.5 s机器人从电器前转向砧板，视频2.5–9.47 s始终在砧板前操作刀具，没有伸手拉冰箱门或露出冰箱内腔；log step 221最终生成脚本仅包含移到砧板、抓刀和提刀，log step 245确认保存285步，和评分器n_actions=285一致。打开冰箱未发生。"
+     }
+    ]
+   },
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 221,
+      "text_zh": "观察：视频0.0–2.0 s可见电器、柜门外表面，未见橱柜门打开；视频2.5–9.47 s机器人只在砧板前操作切肉刀。log step 221最终生成脚本无橱柜操作；会话中其他开门测试不是本次交付。"
+     }
+    ]
+   },
+   "steak_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.47,
+      "log_step": 221,
+      "text_zh": "观察：视频2.5–4.2 s砧板上只有切肉刀等原有物品，没有牛排；视频4.4–9.47 s左臂接近刀柄、合爪并提刀，未搬入牛排、未切食材或生成牛排丁。推断：结合DAG的牛排在闭合冰箱内的初态、交付脚本仅抓刀（log step 221）及评分q_score=0，牛排切丁从未成立。"
+     }
+    ]
+   },
+   "pineapple_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.47,
+      "log_step": 221,
+      "text_zh": "观察：视频2.5–9.47 s砧板上未出现菠萝，机器人只抓取并提起切肉刀，没有切菠萝的动作或菠萝丁出现。推断：结合DAG的菠萝在冰箱内且丁料初始不存在、评分轨迹没有开冰箱或取菠萝、评分q_score=0，菠萝切丁从未成立。"
+     }
+    ]
+   },
+   "steak_bowl_filled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.47,
+      "log_step": 221,
+      "text_zh": "推断：DAG记载目标碗初始未装牛排丁；视频0.0–9.47 s机器人只移动到砧板、抓刀和提刀，未取碗、未取牛排、未切丁或装料，故牛排丁装碗从未成立。评分q_score=0与该判断一致；闭柜遮挡使碗口不可直接检查。"
+     }
+    ]
+   },
+   "pineapple_bowl_filled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.47,
+      "log_step": 221,
+      "text_zh": "推断：DAG记载目标碗初始未装菠萝丁；视频0.0–9.47 s没有菠萝、碗或丁料被搬动的过程，最终交付脚本也仅抓刀（log step 221），故菠萝丁装碗从未成立。评分q_score=0与该判断一致；闭柜遮挡使碗口不可直接检查。"
+     }
+    ]
+   },
+   "bowls_in_cabinet_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 4,
+      "text_zh": "推断：DAG明确初始两只目标碗均在橱柜内，log step 4所读任务初态也列出两只碗inside柜体。视频0.0–9.47 s机器人未打开目标橱柜、未接近或搬动碗，交付代码仅操作刀具（log step 221），故至少1只���在柜内的关系从视频0.0 s持续到结尾；此为保留初态，不是新完成一次放碗。柜门遮挡了碗，未直接看见其内腔位置。"
+     }
+    ]
+   },
+   "bowls_in_cabinet_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 4,
+      "text_zh": "推断：DAG明确初始两只目标碗均在橱柜内，log step 4所读任务初态也列出两只碗inside柜体。视频0.0–9.47 s机器人未打开目标橱柜、未接近或搬动碗，交付代码仅操作刀具（log step 221），故至少2只碗在柜内的关系从视频0.0 s持续到结尾；此为保留初态，不是新完成一次放碗。柜门遮挡了碗，未直接看见其内腔位置。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 221,
+      "text_zh": "推断：DAG已核实冰箱初始关闭；视频0.0–2.5 s冰箱外表面未显露内腔或开门运动，随后机器人转向砧板，至视频9.47 s只操作切肉刀。最终脚本（log step 221）无冰箱动作，因此关闭状态自视频0.0 s保持；不是把日志中开门测试的结果带入评分视频。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 221,
+      "text_zh": "推断：DAG已核实橱柜初始关闭；视频0.0–2.0 s可见柜门外表面，随后至视频9.47 s机器人只在砧板前操作切肉刀，未操作任务橱柜。最终交付代码（log step 221）也无柜门动作，因此关闭状态自视频0.0 s保持。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "fraction",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "filled_particle_volume_fraction",
+   "unit": "fraction",
+   "threshold": 0.2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "goal_object_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "success_consecutive_control_steps",
+   "unit": "control_steps",
+   "threshold": 30,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fridge_opened",
+   "t": null,
+   "log_step": 221,
+   "where": "首步前",
+   "evidence_zh": "观察：视频0.0–9.47 s交付轨迹只有移到砧板、左夹爪抓刀和提刀，没有对冰箱门开展操作；log step 221最终生成脚本止于拿刀，log step 245保存285步，log step 248回放同为285步且all_success=false。推断：取出两种食材必经的打开冰箱步骤在交付中未启动，选此为断点；没有可定位的开门失败瞬间，t留空。"
+  },
+  "unmet": {
+   "steak_diced": false,
+   "pineapple_diced": false,
+   "steak_bowl_filled": false,
+   "pineapple_bowl_filled": false,
+   "bowls_in_cabinet_1": true,
+   "bowls_in_cabinet_2": true,
+   "fridge_closed": true,
+   "cabinet_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": null,
+    "log_step": 221,
+    "evidence_zh": "观察：视频0.0–9.47 s机器人未伸手操作冰箱门，最终仅提起砧板上的刀；log step 221交付生成脚本没有开冰箱动作。会话探针里的开门尝试未被交付，不能作为本段视频的接触失败现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "log_step": 161,
+    "evidence_zh": "观察：log step 161的独立会话probe5输出显示，闭爪后in_hand=None，三次拉门后fridge joint均为0.000；log step 171的摩擦拖拉变体closeX、closeY、outer执行后关节仍为0.000，fridge open=False。log step 206的门边接近诊断显示，逆解的FK位置误差约为0，但物理执行末端误差约0.23米且contacts包含oven_ffitak_0，所选接近姿态受到邻近烤箱阻挡。推断：所测试抓法未能建立有效门板夹持，拖拉方案也未带动门，支持将阻碍开门并最终仅交付拿刀前缀的会话根因细分为抓取和接触设计。agent在log step 251自述门板无把手、门厚约1.5厘米且夹爪无法跨过门板；这些几何解释及尺寸属于agent自述，待核实，不视为独立测量事实。上述探针是会话层面的根因证据，不是评分视频中的开门现象；其他合法开门方案是否可行未验证，故alt_feasible为未知。",
+    "source_zh": "日志",
+    "alt_feasible": "未知"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频。柜内碗和食材被闭合门板遮挡，其保留关系由DAG已核实初态、视频0.0–9.47 s未操作相关物体及最终交付代码综合推断���无逐帧关节角和粒子体积数据。日志中的开门失败均为独立会话测试，无法映射成评分视频的接触或断点时刻；会话探针支持抓取和接触设计子因，但未验证其他可行开门方案；log step 251自述的门厚和夹爪通行间隙仍待核实。agent在log step 251自述任务不可解，但现有证据不能排除所有合法方案，故不标任务或环境根因。拿刀只是准备，DAG没有拿刀节点；未把握刀接触重复记成刀刃与食材接触，评分轨迹也未实际操作任何一个DAG节点，故各节点不添加contact_actual。"
+ },
+ "summary_zh": "评分视频0.0–9.47 s仅包含移到砧板、左夹爪抓刀并提起的准备动作，没有开门、取食材、切丁或装碗；10个节点中仅两碗在柜内及冰箱、橱柜关闭这4个初始状态保持成立，没有新增节点完成。断点为打开冰箱／首步前，现象为没尝试；独立会话测试多次未能抓住或拉开冰箱门，结合门边接近时受到烤箱阻挡的诊断，支持控制·抓取和接触设计根因；可行替代方案未知，不证明任务无解。没有状态日志，柜内关系依赖已核实初态与未被操作的上下文推断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值、断点（打开冰箱/首步前/没尝试）和时钟均与视频及交付脚本一致，评分q=0也支持。唯一问题：根因停在泛化的“控制”，而log step 251的会话测量已指向接触几何（门板无把手，夹爪无法夹住），应按判别顺序标为抓取和接触设计并写alt_feasible。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值、断点（打开冰箱/首步前/没尝试）与视频及交付脚本一致；初态保持节点依DAG推断并已标注；根因抓取和接触设计来自会话探针（step 161/171/206），已明确标为会话证据且alt_feasible=未知，不主张任务无解，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": "2026-10-30T22:27:42Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-canning-food-i00-privileged--q5kxkt7/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-canning-food-i00-privileged--q5kxkt7/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-canning-food-i00-privileged--q5kxkt7/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-canning-food-i00-privileged--q5kxkt7/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "52a9337eadb6fd4804b3ee3c8964919f815c82dd808279c6929215f1cfc055b1",
+   "video_sha256": "cb8532910f2fec00c7bfe3f941d08668d06f1469e3e9bd6a7c821fe2d2464174",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/canning_food/trajectories/behavior-canning-food-i00-privileged--uuv47wr.json

@@ -0,0 +1,368 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-canning-food-i00-privileged--uuv47wr",
+ "taskKey": "behavior-1k/canning_food",
+ "dag_sha256": "79f4ae898ca53c66f1426df6e0cf977ab188a121892679dbdd743d829b8da565",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 546,
+   "sim_steps": 546,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1144.9,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 20,
+   "agent_resets": 0,
+   "agent_sim_steps": 18754,
+   "agent_records": 1,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 9.032,
+   "peak_memory_gb": 11.992,
+   "peak_processes": 43,
+   "peak_disk_gb": 0.74
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-canning-food-i00-privileged--uuv47wr/replay.mp4",
+  "duration_s": 18.2,
+  "fps": 30.0,
+  "frames": 546,
+  "sha256": "3ac8ad822ee45fe4b35b75c05aafb52f800d096d35d7cc6a393099d15db13f7c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 10,
+  "base": 4,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 18.167,
+      "log_step": null,
+      "text_zh": "观察：视频 0–18.167 s 机器人先移动至料理台，右臂在砧板附近动作，最后移到冰箱附近停下；没有夹爪拉门或冰箱内腔入口露出的画面。"
+     },
+     {
+      "t": null,
+      "log_step": 774,
+      "text_zh": "观察：log step 774 的交付生成脚本在取刀尝试后仅移动底盘到冰箱附近并保持，未包含开冰箱动作；这与视频一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 15.6–17.2 s，轮式底盘支承机器人从料理台移向冰箱工作位置；未见夹爪接触冰箱把手。"
+     }
+    ]
+   },
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 18.167,
+      "log_step": null,
+      "text_zh": "观察：视频 0–18.167 s 未见机器人对任务橱柜门把手实施操作，也未见柜门摆出或柜内入口露出；可见柜门保持闭合。"
+     },
+     {
+      "t": null,
+      "log_step": 774,
+      "text_zh": "观察：log step 774 的交付脚本没有开橱柜动作。"
+     }
+    ]
+   },
+   "steak_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.6,
+      "log_step": null,
+      "text_zh": "观察：视频 9.0–15.6 s 机器人在砧板及切肉刀附近伸臂、合拢夹爪并撤回，视频 15.0–15.6 s 刀仍平放砧板上，夹爪没有把刀带走；未见食材取出、刀刃作用于牛排或生成丁粒子。"
+     },
+     {
+      "t": 18.167,
+      "log_step": 774,
+      "text_zh": "推断：DAG 记载牛排丁初始不存在；视频全程未发生切丁动作，交付脚本（log step 774）也仅含共同取刀准备。因此该节点全程未成立；评分器 q_score=0.0 进一步限定初始为假的 real 丁料目标在终态仍为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–9 s 底盘支承机器人接近料理台，属于两项切丁共用的取刀准备；并非已分别实施两种食材的切割。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频约 12.2–15.6 s 右夹爪进行共同取刀尝试，刀没有被带走；闭合时指尖与刀的局部接触被遮挡，未见对向夹持。推断：没有证据把这次共用准备唯一归属到牛排或菠萝，也没有刀刃与该食材接触的证据。"
+     }
+    ]
+   },
+   "pineapple_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.6,
+      "log_step": null,
+      "text_zh": "观察：视频 9.0–15.6 s 机器人在砧板及切肉刀附近伸臂、合拢夹爪并撤回，视频 15.0–15.6 s 刀仍平放砧板上，夹爪没有把刀带走；未见食材取出、刀刃作用于菠萝或生成丁粒子。"
+     },
+     {
+      "t": 18.167,
+      "log_step": 774,
+      "text_zh": "推断：DAG 记载菠萝丁初始不存在；视频全程未发生切丁动作，交付脚本（log step 774）也仅含共同取刀准备。因此该节点全程未成立；评分器 q_score=0.0 进一步限定初始为假的 real 丁料目标在终态仍为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–9 s 底盘支承机器人接近料理台，属于两项切丁共用的取刀准备；并非已分别实施两种食材的切割。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频约 12.2–15.6 s 右夹爪进行共同取刀尝试，刀没有被带走；闭合时指尖与刀的局部接触被遮挡，未见对向夹持。推断：没有证据把这次共用准备唯一归属到牛排或菠萝，也没有刀刃与该食材接触的证据。"
+     }
+    ]
+   },
+   "steak_bowl_filled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 18.167,
+      "log_step": null,
+      "text_zh": "推断：DAG 初态说明目标碗未装满牛排丁；视频 0–18.167 s 没有开柜取碗、搬运碗或装料动作，两种食材均未被处理，故此节点未成立。柜门遮挡了碗内画面；评分器 q_score=0.0 对初始为假的 filled 目标给出终态为假的逻辑约束。"
+     }
+    ]
+   },
+   "pineapple_bowl_filled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 18.167,
+      "log_step": null,
+      "text_zh": "推断：DAG 初态说明目标碗未装满菠萝丁；视频 0–18.167 s 没有开柜取碗、搬运碗或装料动作，两种食材均未被处理，故此节点未成立。柜门遮挡了碗内画面；评分器 q_score=0.0 对初始为假的 filled 目标给出终态为假的逻辑约束。"
+     }
+    ]
+   },
+   "bowls_in_cabinet_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG 的 criterion_zh 和 open_questions_zh 明确两只目标碗初始均已在任务橱柜内，因此“至少1只碗在柜内”从视频 0 s 成立；这不是本次搬碗动作的完成。"
+     },
+     {
+      "t": 18.167,
+      "log_step": 774,
+      "text_zh": "推断：视频 0–18.167 s 机器人没有开橱柜或搬动目标碗，交付脚本（log step 774）亦没有碗操作，所以初始柜内关系保持到结束。碗体被柜门遮挡，依据既定初态与未发生改变关系的动作判断。"
+     }
+    ]
+   },
+   "bowls_in_cabinet_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG 的 criterion_zh 和 open_questions_zh 明确两只目标碗初始均已在任务橱柜内，因此“至少2只碗在柜内”从视频 0 s 成立；这不是本次搬碗动作的完成。"
+     },
+     {
+      "t": 18.167,
+      "log_step": 774,
+      "text_zh": "推断：视频 0–18.167 s 机器人没有开橱柜或搬动目标碗，交付脚本（log step 774）亦没有碗操作，所以初始柜内关系保持到结束。碗体被柜门遮挡，依据既定初态与未发生改变关系的动作判断。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG 明确冰箱初始关闭；视频起始后的移动和料理台操作未改变该状态。"
+     },
+     {
+      "t": 18.167,
+      "log_step": null,
+      "text_zh": "观察：视频约 16.0–18.167 s 机器人到达冰箱附近后停止，没有拉开门板、露出内腔或扶门关门的动作。"
+     },
+     {
+      "t": null,
+      "log_step": 774,
+      "text_zh": "推断：log step 774 的交付脚本只导航至冰箱，没有开门命令；结合视频，初始关闭状态持续成立。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG 明确任务橱柜初始关闭；两碗位于柜内并不要求本次再打开和关上。"
+     },
+     {
+      "t": 18.167,
+      "log_step": 774,
+      "text_zh": "推断：视频 0–18.167 s 没有橱柜开合操作，可见柜门未摆出；交付脚本（log step 774）没有橱柜动作，因此初始关闭状态持续成立。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": 13.4,
+   "log_step": 774,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 12.2–15.6 s 右夹爪在砧板处合拢、撤离，刀仍留在砧板，机器人没有带刀进入任何切割动作；该取刀失败直到视频结束都未修复。log step 774 的交付脚本对应取刀、抬臂、移向冰箱后停止。推断：失败发生于切丁所用工具的准备，但取刀不是 DAG 的独立节点，且交付脚本与画面均未指定先切牛排还是菠萝，不能把该共同准备唯一归到某一切丁节点。"
+  },
+  "unmet": {
+   "steak_diced": false,
+   "pineapple_diced": false,
+   "steak_bowl_filled": false,
+   "pineapple_bowl_filled": false,
+   "bowls_in_cabinet_1": true,
+   "bowls_in_cabinet_2": true,
+   "fridge_closed": true,
+   "cabinet_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 13.4,
+    "log_step": 774,
+    "evidence_zh": "观察：视频 12.2–15.6 s 右夹爪执行取刀姿态和撤离动作，视频 15.0–15.6 s 刀仍在原砧板上，夹爪未把刀带离；没有先持住再掉落的画面。推断：未建立能带走切肉刀的夹持接触；不能由此声称指尖从未发生轻触。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：取刀控制未能建立有效夹持。视频 12.2–15.6 s 的失败与交付脚本（log step 774）中的末端接近、闭爪和抬起动作相符；会话测试日志 log step 245 记录末端接近及抬起后 object_in_hand=None、刀位置仍约为原位置，log step 416 又记录多种高度下末端误差接近零但 in_hand=None，说明问题持续存在于取刀执行而非已证实的错误物体识别。这些测试仅支持根因，不用作本次节点进度。缺少本次接触及末端跟踪数据，不能进一步区分接触设计、逆解或跟踪控制。",
+    "source_zh": "日志",
+    "log_step": 774
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频。闭合夹爪时刀与指尖接触区部分遮挡，不能确定轻触方式或控制子类；两种食材和柜内碗体未直接露出，其状态依据 DAG 已核定初态、整段视频未发生相应操作及评分器总分推断。取刀是两项切丁的共同准备，未出现具体食材操作，故断点 ref 保留 unknown；切丁节点的接触条目记录同一共同准备，不代表分别做过两次切割尝试。q_score 排除初始已为真的目标，零分不否定保留的四个初始目标状态。"
+ },
+ "summary_zh": "本次轨迹只进行了厨房内移动及未成功的取刀准备，随后移向冰箱并停止；两只碗在柜内、冰箱关闭和橱柜关闭四项初始状态保持成立，进度始终为 4/10。右夹爪未将刀从砧板带走，未开门、切丁或装碗，根因可支持到取刀控制失败。取刀未指向具体食材，无法唯一确定失败所属切丁节点；无状态日志，柜内关系与未处理食材的状态依既定初态和未发生改变动作推断。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "视频帧与标注一致：机器人走向料理台，右夹爪在砧板处闭合后刀仍留在砧板，随后移向冰箱停止；四个初始为真的节点保持、其余未达成，进度4/10合理。断点 unknown、现象“没建立接触”、根因“控制”有 log step 245/774 与帧支撑，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": "2026-10-30T22:06:39Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-canning-food-i00-privileged--uuv47wr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-canning-food-i00-privileged--uuv47wr/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8d408fd13597598b46b5bda1323d58e4cbf409dfcdcef1880cef7209b7ba63be",
+   "video_sha256": "3ac8ad822ee45fe4b35b75c05aafb52f800d096d35d7cc6a393099d15db13f7c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/canning_food/trajectories/behavior-canning-food-i00-standard--5k363mg.json

@@ -0,0 +1,409 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-canning-food-i00-standard--5k363mg",
+ "taskKey": "behavior-1k/canning_food",
+ "dag_sha256": "79f4ae898ca53c66f1426df6e0cf977ab188a121892679dbdd743d829b8da565",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 1829,
+   "sim_steps": 1829,
+   "physics_steps": 7316,
+   "steps": 1616,
+   "elapsed_s": 1977.7,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 0,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.0,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-canning-food-i00-standard--5k363mg/replay.mp4",
+  "duration_s": 61.0,
+  "fps": 10.0,
+  "frames": 610,
+  "sha256": "5253ad73c431913755d63703d338bc3dd17bfc5820d1dd6cca530b1d1c228fd9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 10,
+  "base": 4,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2,
+      "log_step": null,
+      "text_zh": "观察：视频 0–18 s 的转身与前移画面中，机器人夹爪未拉开冰箱门，未露出冰箱内腔；后续至视频 60.9 s 可见移动、视频约 20–36 s 的大幅倾斜及恢复、视频约 51 s 后的再次倾倒和自救，未见开冰箱动作。"
+     },
+     {
+      "t": 60.9,
+      "log_step": 62,
+      "text_zh": "推断：结合任务给定的冰箱初始关闭状态、全段视频未见开门及 log step 62 的倒地终止状态，打开冰箱事件未发生。"
+     }
+    ]
+   },
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8,
+      "log_step": null,
+      "text_zh": "观察：视频 0–18 s、视频 38–50.5 s 可见厨房柜面和空夹爪，未见机器人拉开柜门或露出任务柜内腔；视频约 20–36 s 出现大幅倾斜及恢复，视频 51–60.9 s 为再次倾倒后的恢复动作，这两段也未见开柜门动作。"
+     },
+     {
+      "t": 60.9,
+      "log_step": 42,
+      "text_zh": "推断：log step 42 只宣布去寻找砧板、刀和橱柜；结合视频未见柜门打开，不能把巡视或靠近柜面算作打开橱柜。"
+     }
+    ]
+   },
+   "steak_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8,
+      "log_step": null,
+      "text_zh": "观察：视频 6–18 s 机器人伸出的夹爪为空，未见持刀或取出牛排；整段移动、倾斜及恢复过程中未见刀刃切割食材或生成丁料。"
+     },
+     {
+      "t": 60.9,
+      "log_step": null,
+      "text_zh": "推断：任务给定初态没有牛排丁，视频未显示切丁过程，评分器 q_score=0.0 又排除了新增的丁料存在目标在终态成立，故牛排切丁未达成；并非仅凭零分推断没有动作。"
+     }
+    ]
+   },
+   "pineapple_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8,
+      "log_step": null,
+      "text_zh": "观察：视频 6–18 s 机器人伸出的夹爪为空，未见持刀或取出菠萝；整段移动、倾斜及恢复过程中未见刀刃切割食材或生成丁料。"
+     },
+     {
+      "t": 60.9,
+      "log_step": null,
+      "text_zh": "推断：任务给定初态没有菠萝丁，视频未显示切丁过程，评分器 q_score=0.0 又排除了新增的丁料存在目标在终态成立，故菠萝切丁未达成；并非仅凭零分推断没有动作。"
+     }
+    ]
+   },
+   "steak_bowl_filled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0–18 s、视频 38–50.5 s 中机器人空手移动、转动视角及调整双臂；视频约 20–36 s 出现大幅倾斜及恢复。上述过程未见机器人取碗、持碗接料或把牛排丁送入碗；视频 51–60.9 s 的再次倾倒及恢复过程中也未见食材操作。"
+     },
+     {
+      "t": 60.9,
+      "log_step": null,
+      "text_zh": "推断：结合初态碗中没有丁料、未出现牛排切丁或装料动作，以及评分器 q_score=0.0 对新增目标的约束，牛排丁装碗未达成。"
+     }
+    ]
+   },
+   "pineapple_bowl_filled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0–18 s、视频 38–50.5 s 中机器人空手移动、转动视角及调整双臂；视频约 20–36 s 出现大幅倾斜及恢复。上述过程未见机器人取碗、持碗接料或把菠萝丁送入碗；视频 51–60.9 s 的再次倾倒及恢复过程中也未见食材操作。"
+     },
+     {
+      "t": 60.9,
+      "log_step": null,
+      "text_zh": "推断：结合初态碗中没有丁料、未出现菠萝切丁或装料动作，以及评分器 q_score=0.0 对新增目标的约束，菠萝丁装碗未达成。"
+     }
+    ]
+   },
+   "bowls_in_cabinet_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务文本及 DAG open_questions_zh 给定两只目标碗初始已在任务橱柜内，故“至少1只碗在柜内”从视频 0 s 成立；视频中的闭合柜门遮住了碗，未把初态当作直接看见。"
+     },
+     {
+      "t": 60.9,
+      "log_step": null,
+      "text_zh": "推断：全段视频未见打开任务橱柜、拿出碗或搬运碗；机器人最终在柜外倾倒。依据给定初态与没有取碗过程，柜内碗数保持为两只；q_score=0.0 不扣除这些初始已成立的关系。"
+     }
+    ]
+   },
+   "bowls_in_cabinet_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务文本及 DAG open_questions_zh 给定两只目标碗初始已在任务橱柜内，故“至少2只碗在柜内”从视频 0 s 成立；视频中的闭合柜门遮住了碗，未把初态当作直接看见。"
+     },
+     {
+      "t": 60.9,
+      "log_step": null,
+      "text_zh": "推断：全段视频未见打开任务橱柜、拿出碗或搬运碗；机器人最终在柜外倾倒。依据给定初态与没有取碗过程，柜内碗数保持为两只；q_score=0.0 不扣除这些初始已成立的关系。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG 给定冰箱初始关闭；视频 0–18 s 巡视时可见的门板未显示打开后的内腔，机器人没有实施开门操作，因此关闭状态从视频 0 s 起成立。"
+     },
+     {
+      "t": 60.9,
+      "log_step": null,
+      "text_zh": "推断：视频全段未见冰箱被打开，视频 51–60.9 s 的机器人倾倒恢复也没有开门动作；据初态和动作过程判断该关闭关系持续到终态。末尾视角未直接量出所有门铰链的5%阈值。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG 给定橱柜初始关闭；视频 0–18 s 巡视时可见的门板未显示打开后的内腔，机器人没有实施开门操作，因此关闭状态从视频 0 s 起成立。"
+     },
+     {
+      "t": 60.9,
+      "log_step": null,
+      "text_zh": "推断：视频全段未见橱柜被打开，视频 51–60.9 s 的机器人倾倒恢复也没有开门动作；据初态和动作过程判断该关闭关系持续到终态。末尾视角未直接量出所有门铰链的5%阈值。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "fraction",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "filled_particle_volume_fraction",
+   "unit": "fraction",
+   "threshold": 0.2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "goal_object_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "success_consecutive_control_steps",
+   "unit": "control_steps",
+   "threshold": 30,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": 51.0,
+   "log_step": 55,
+   "where": "探索",
+   "evidence_zh": "观察：视频 47–51.5 s 中机器人在台面附近空手转动、移动，随后画面大幅翻转，视频 52–60.9 s 保持接近侧倒的视角，未恢复站稳；log step 55 是去台面东端观察的底盘移动，log step 56 的服务本体读数显示倾斜竖直分量由0.216降至约0.077，log step 62 确认回合以 failure: the robot fell over 结束。推断：此时仍在寻找台面、刀具和橱柜，未见针对某个门或食材的明确操作，无法唯一映射到一个 DAG 步骤，故 ref 为 unknown。"
+  },
+  "unmet": {
+   "steak_diced": false,
+   "pineapple_diced": false,
+   "steak_bowl_filled": false,
+   "pineapple_bowl_filled": false,
+   "bowls_in_cabinet_1": true,
+   "bowls_in_cabinet_2": true,
+   "fridge_closed": true,
+   "cabinet_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 51.0,
+    "log_step": 56,
+    "evidence_zh": "观察：视频约 20–36 s 已出现相机画面大幅倾斜、天花板和窗户倒置及贴近柜面的视角；log step 43 的底盘移动后，log step 45 从服务本体信息读取的倾斜竖直分量为0.515、base_joint_pos 高度为0.231米，log step 46 后退后该分量恢复到0.997、高度降至0.014米，并输出 UPRIGHT。视频约 51–60.9 s，机器人相机视角持续翻倒并贴近柜体、地面，末秒仍未回正；log step 56 的服务本体反馈记录倾斜竖直分量0.216，后退后约0.077，log step 60 恢复动作后仍约0.06，log step 62 的服务终止原因是机器人倒地。推断：第一次严重倾斜曾被恢复，最后一次则是轮式机器人失去正常支撑且恢复失败，不是尚未开门造成的接触失败。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 51.0,
+    "log_step": 55,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 43 的底盘靠近台面移动后，log step 45 本体信息中的倾斜竖直分量为0.515、高度为0.231米；log step 46 命令底盘后退后恢复到0.997、高度0.014米。视频约 20–36 s 的大幅倾斜及随后恢复与这一顺序一致。log step 55 的移动脚本命令底盘到世界坐标(8.05,-1.05)，实际服务反馈停在(6.59,-0.66)、基座高度约0.38米；log step 56 检查到严重倾斜，连续后退仍不能恢复；log step 59–61 又尝试双手下压及躯干推动，log step 60 的倾斜竖直分量仍约0.06。视频 47–51.5 s 显示近柜移动时视角骤变，视频 52–60.9 s 持续倒置。推断：机器人在首次严重倾斜并后退恢复后，再次接近台面时的运动控制仍未维持机体稳定，后续自救控制也未恢复支撑；证据不足以进一步区分路径生成、跟踪或具体参数问题。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频；碗和食材始终在关闭容器内不可直接见，四个初始目标的保留依据任务/DAG给定初态与视频中的动作过程推断，门关节阈值未直接测得。倾倒发生在机器人巡视、寻找台面和橱柜期间，无法确定当时正在执行哪一个语义节点，因此断点 ref 保留 unknown；没有把全局巡视、底盘移动和自救接触任意归给一个未开始的开门/切丁节点，故各节点不添加 contact_actual。视频看不到轮子与障碍物的完整接触，不能仅据 agent 自述确认爬上踢脚板的具体机制；三个未报告的原生指标留 null。"
+ },
+ "summary_zh": "本回合保留了两碗在柜内、冰箱关闭和橱柜关闭这四个初始目标，终态为4/10；未见开门、切丁或装碗。机器人在寻找台面和橱柜的移动探索中，视频约20–36 s 已出现大幅倾斜并经后退恢复，视频约51 s 再次倾倒且持续未恢复，底盘运动与恢复控制未能保持或恢复稳定，服务随后以倒地结束回合。碗及食材被门板遮挡，初始关系的保留属上下文推断；探索尚未指向唯一语义步骤，断点为 unknown。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "进度（4/10，初始成立项保留）、断点 unknown、全身·平衡 与 控制 根因总体成立；但标签把视频约 20–36 s 的第一次爬上障碍/大幅倾斜（log step 43–46，倾斜竖直分量 0.515，经后退恢复）写成“巡视”，漏掉了同一危险的第一次发生，使“后续控制未能避免再次倾倒”的证据不完整。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "进度 4/10（四个初始成立项保留、其余未达成）、断点 unknown/探索、全身·平衡现象与控制根因均有帧和 log 支持；上一轮指出的首次倾斜已补入，未发现新的内容错误。",
+    "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": "2026-10-30T22:30:38Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-canning-food-i00-standard--5k363mg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-canning-food-i00-standard--5k363mg/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-canning-food-i00-standard--5k363mg/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-canning-food-i00-standard--5k363mg/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "29d0799fae78379ac741e537ac8a52bf4838bdd4ae58a50ac98db01a1dc5096c",
+   "video_sha256": "5253ad73c431913755d63703d338bc3dd17bfc5820d1dd6cca530b1d1c228fd9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/canning_food/trajectories/behavior-canning-food-i00-standard--myyo6vy.json

@@ -0,0 +1,394 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-canning-food-i00-standard--myyo6vy",
+ "taskKey": "behavior-1k/canning_food",
+ "dag_sha256": "79f4ae898ca53c66f1426df6e0cf977ab188a121892679dbdd743d829b8da565",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "n_actions": 5163,
+   "sim_steps": 5163,
+   "physics_steps": 20652,
+   "steps": 2064,
+   "elapsed_s": 1284.4,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.237,
+   "peak_processes": 6,
+   "peak_disk_gb": 0.256
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-canning-food-i00-standard--myyo6vy/replay.mp4",
+  "duration_s": 172.1,
+  "fps": 30.0,
+  "frames": 5163,
+  "sha256": "3246bdd93fdf5607edd1c888e7a03cb515228a5f7f15aac9d118f52f4146e41e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 10,
+  "base": 4,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 48,
+      "log_step": 158,
+      "text_zh": "观察：视频43.0–58.0 s中机器人左夹爪靠近冰箱竖把手、合指并向外移，但白色门板未随夹爪打开，冰箱内腔未露出。"
+     },
+     {
+      "t": 140,
+      "log_step": 220,
+      "text_zh": "观察：视频130.0–145.0 s中机器人换用右夹爪接近竖把手、合指后回撤，白色门板仍保持闭合，未见食材被取出；log step 220为这一轮开冰箱脚本。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频43.0–58.0 s左夹爪、130.0–145.0 s右夹爪在竖把手附近合指和撤回；腕部视角未清楚显示指腹夹持把手，实际接触方式未知。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘在视频18.0–24.0 s靠近冰箱，并在视频115.0–128.0 s驶向另一侧操作位置。"
+     }
+    ]
+   },
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 32,
+      "log_step": 145,
+      "text_zh": "观察：视频29.0–37.5 s中机器人右夹爪接近台面下横把手、合指并回撤，但所见柜面未被拉出、未露出内腔；log step 145的脚本把这段动作设为开橱柜。"
+     },
+     {
+      "t": 80,
+      "log_step": 168,
+      "text_zh": "观察：视频64.0–90.0 s中机器人改用向下的右夹爪姿态再次接近、闭合并撤回，未见柜门打开或碗露出；视频96.0–100.0 s所见台面下柜面仍闭合。"
+     },
+     {
+      "t": 172.07,
+      "log_step": 237,
+      "text_zh": "观察：视频末帧172.07 s仍没有打开的橱柜内腔或取出的碗；log step 237的服务状态为done=True、reason=failure: the robot fell over，未有后续修复。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频31.0–36.0 s及64.0–90.0 s可见右夹爪在横把手附近合指、回撤；指腹与把手的接触点被柜面及夹爪遮挡，不能确认实际触碰方式，不能把空合指记为抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频18.0–24.0 s机器人轮式底盘行驶、转向并靠近台面下把手操作位置。"
+     }
+    ]
+   },
+   "steak_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 145,
+      "log_step": 220,
+      "text_zh": "观察：已检查视频全程及视频172.07 s末帧，机器人仅在门把手附近操作和空手移动，未见牛排离开冰箱、有效刀刃接触食材或丁粒子生成。"
+     },
+     {
+      "t": 172.07,
+      "log_step": null,
+      "text_zh": "推断：结合DAG记录的初始无牛排丁、全程未见取出或切料，以及评分器q_score=0.0、live_matches_replay=1，牛排切丁最终为假；此结论不单由零分作出。"
+     }
+    ]
+   },
+   "pineapple_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 145,
+      "log_step": 220,
+      "text_zh": "观察：已检查视频全程及视频172.07 s末帧，机器人仅在门把手附近操作和空手移动，未见菠萝离开冰箱、有效刀刃接触食材或丁粒子生成。"
+     },
+     {
+      "t": 172.07,
+      "log_step": null,
+      "text_zh": "推断：结合DAG记录的初始无菠萝丁、全程未见取出或切料，以及评分器q_score=0.0、live_matches_replay=1，菠萝切丁最终为假；此结论不单由零分作出。"
+     }
+    ]
+   },
+   "steak_bowl_filled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 172.07,
+      "log_step": null,
+      "text_zh": "推断：视频0.0–172.07 s未见机器人取碗、承接丁料或把食材送入碗；结合初始碗未装丁料、未发生牛排切丁，以及评分器q_score=0.0，牛排丁装碗最终为假。碗内被柜门遮挡，无法直接测量填充比例。"
+     }
+    ]
+   },
+   "pineapple_bowl_filled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 172.07,
+      "log_step": null,
+      "text_zh": "推断：视频0.0–172.07 s未见机器人取碗、承接丁料或把食材送入碗；结合初始碗未装丁料、未发生菠萝切丁，以及评分器q_score=0.0，菠萝丁装碗最终为假。碗内被柜门遮挡，无法直接测量填充比例。"
+     }
+    ]
+   },
+   "bowls_in_cabinet_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": 51,
+      "text_zh": "推断：DAG明确初始两只目标碗均在柜内，log step 51的服务任务说明也给出两碗在厨房橱柜中；视频0.0–18.0 s初始扫视中柜面闭合，碗被门板遮住，未直接看到碗。"
+     },
+     {
+      "t": 172.07,
+      "log_step": null,
+      "text_zh": "推断：视频全程未见橱柜内腔露出，也未见碗离柜或被夹爪携带，视频172.07 s末帧仍无柜外碗；结合已知初态，至少一只目标碗在柜内的关系从视频0.0 s持续成立。q_score不计入一直保持的初始目标关系，故q_score=0.0不否定此状态。"
+     }
+    ]
+   },
+   "bowls_in_cabinet_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": 51,
+      "text_zh": "推断：DAG明确初始两只目标碗均在柜内，log step 51的服务任务说明也给出两碗在厨房橱柜中；视频0.0–18.0 s初始扫视中柜面闭合，碗被门板遮住，未直接看到碗。"
+     },
+     {
+      "t": 172.07,
+      "log_step": null,
+      "text_zh": "推断：视频全程未见橱柜内腔露出，也未见碗离柜或被夹爪携带，视频172.07 s末帧仍无柜外碗；结合已知初态，两只目标碗在柜内的关系从视频0.0 s持续成立。q_score不计入一直保持的初始目标关系，故q_score=0.0不否定此状态。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 24,
+      "log_step": null,
+      "text_zh": "观察：视频20.0–24.0 s可见白色冰箱门面处于闭合位置；视频43.0–58.0 s和130.0–145.0 s的夹爪动作未露出冰箱入口，视频172.07 s末帧白色门面仍闭合。"
+     },
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：结合DAG的初始关闭状态及视频中未见门板实际打开，冰箱关闭关系从视频0.0 s持续成立，机器人未另作成功开门后的关门动作。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 22,
+      "log_step": null,
+      "text_zh": "观察：视频20.0–24.0 s可见台面下柜面闭合；视频29.0–37.5 s右夹爪合指回撤未带出柜面，视频96.0–100.0 s及末段所见柜面仍闭合。"
+     },
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：结合DAG初始橱柜关闭状态，视频中未见打开的柜腔或门板离开闭合位置，橱柜关闭关系从视频0.0 s持续成立；开柜尝试没有转化为一次已完成的开门再关门。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "fraction",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "filled_particle_volume_fraction",
+   "unit": "fraction",
+   "threshold": 0.2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "goal_object_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "success_consecutive_control_steps",
+   "unit": "control_steps",
+   "threshold": 30,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cabinet_opened",
+   "t": 34.0,
+   "log_step": 145,
+   "where": "操作中",
+   "evidence_zh": "���察：视频31.0–36.0 s机器人右夹爪在台面下横把手附近闭合、向后撤回，柜面没有随之拉开；log step 145–148记录该段意图为开橱柜。视频64.0–90.0 s再次尝试后仍未露出内腔，此步直到结束未修复；后续开冰箱也未完成，视频约162.0 s机器人转场时倾倒，视频172.07 s仍侧倾，log step 237的服务确认倒地终止。"
+  },
+  "unmet": {
+   "steak_diced": false,
+   "pineapple_diced": false,
+   "steak_bowl_filled": false,
+   "pineapple_bowl_filled": false,
+   "bowls_in_cabinet_1": true,
+   "bowls_in_cabinet_2": true,
+   "fridge_closed": true,
+   "cabinet_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 34.0,
+    "log_step": 145,
+    "evidence_zh": "推断：视频32.0–34.0 s腕部视图中右夹爪两指在横把手下侧合拢，随后夹爪回撤而柜面未随动；视频35.0–36.0 s两指重新张开，未见把手被包夹、随手移动的阶段。结合log step 145的闭爪拉柄动作，所需的有效把手抓握未建立；无法确认是否有过轻微单侧触碰。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 34.0,
+    "log_step": 145,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 145的脚本在右夹爪到达预定把手位姿后直接闭爪并沿+Y回拉，未检验把手是否被夹住；视频32.0–36.0 s显示夹爪完成闭合和回撤但柜面不随动。log step 168改换夹爪朝向再执行同类动作，视频64.0–90.0 s仍未开柜，支持开柜接触执行未奏效；缺少接触力和辅助抓握状态，不能进一步区分接触几何、到位误差或抓握绑定问题。"
+   }
+  ],
+  "gap_zh": "无状态日志或成功参考视频。柜门遮住两只碗及碗内状态，柜内数量的持续成立依据DAG初态与视频中未见任何碗出柜作推断；丁料及装碗终值结合动作缺失与评分器总分判定。夹爪指腹与把手接触点部分遮挡，不能确认轻微接触方式，也不能据此细分控制根因；contact_actual因此保留未知。"
+ },
+ "summary_zh": "本次连续仿真回放未完成开橱柜、开冰箱、两种切丁或装碗，最终仅保留两碗在柜内及冰箱和橱柜关闭这4/10个初始状态。最早未修复的断点是视频约34.0 s开橱柜时未建立有效把手抓握，后续改姿重试也未成功；机器人在视频约162.0 s转场中倾倒，服务最终因倒地终止。无状态日志或成功参考视频，柜内碗状态及接触细节仍有遮挡，控制根因只标到大类。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "逐项核对后未发现会改变读者结论的错误：开柜、开冰箱未达成，q_score=0，倒地终止（log step 237 状态 done=True, reason=robot fell over）与帧一致；断点 cabinet_opened、现象「没建立接触」、根因「控制」（未细分）证据与自述的不确定性相符。视频多视角画面遮挡较重，无法独立证明夹爪是否曾轻触把手，但文件已标未知。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:13:23Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-canning-food-i00-standard--myyo6vy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-canning-food-i00-standard--myyo6vy/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7e0e214257698f7979eda184761f3a7796d9354525cf591f8d96ee7cac9a7c16",
+   "video_sha256": "3246bdd93fdf5607edd1c888e7a03cb515228a5f7f15aac9d118f52f4146e41e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/canning_food/trajectories/behavior-canning-food-i00-standard--pvbweur.json

@@ -0,0 +1,387 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-canning-food-i00-standard--pvbweur",
+ "taskKey": "behavior-1k/canning_food",
+ "dag_sha256": "79f4ae898ca53c66f1426df6e0cf977ab188a121892679dbdd743d829b8da565",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "n_actions": 63879,
+   "sim_steps": 63879,
+   "physics_steps": 255516,
+   "steps": 44565,
+   "elapsed_s": 13628.8,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-canning-food-i00-standard--pvbweur/replay.mp4",
+  "duration_s": 2129.3,
+  "fps": 30.0,
+  "frames": 63879,
+  "sha256": "d67839e2f2666710df2c7a4825c1e35e7ba38deb86c8cc79214854243e0ad933"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 10,
+  "base": 4,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.5,
+      "log_step": 49,
+      "text_zh": "观察：视频 6.5–13.0 s，机器人在厨房家具旁行驶、转动后视野持续侧翻，尚未打开冰箱。log step 49 的调用目标是驶向冰箱，随后 log step 52 继续脱困和旋转。"
+     },
+     {
+      "t": 1006,
+      "log_step": 263,
+      "text_zh": "观察：视频 974.0–989.5 s、1002.5–1017.5 s，机器人右臂伸向深色冰箱正面后撤回、底盘退开；门板仍与相邻面板齐平，没有露出冰箱内腔或食材。log step 249、263–264 的夹爪闭合和 TCP 拉动读数本身不能证明拉开了门。"
+     },
+     {
+      "t": 2129.26,
+      "log_step": 367,
+      "text_zh": "推断：视频 1028.0–1040.0 s 再次出现翻倒，此后至视频 2129.26 s 只见机身与近处表面、空夹爪和恢复摆动，未观察到后续开门成功；因此打开冰箱事件未达到。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 3.5–13.0 s 机器人向冰箱方向行驶并转动，视频约 900–1020 s 又驶近冰箱及后退调整站位，轮式底盘承载运动。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 974.0–989.5 s、1003.0–1010.0 s 的右臂拉动过程中，腕部画面被夹爪外壳或邻近表面遮挡，不能确认指垫是否接触、夹住或勾住冰箱把手；不以 log step 263 的 agent 抓住把手自述代替接触事实。"
+     }
+    ]
+   },
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0.5–1.5 s 厨房可见柜门处于闭合位置；全片粗查以及视频 904.0–1037.5 s 密查未见机器人对装碗橱柜执行开门，也未见柜体内腔或碗露出。"
+     },
+     {
+      "t": 2129.26,
+      "log_step": null,
+      "text_zh": "推断：视频约 1040.0 s 后机器人一直翻倒并尝试恢复，直至视频 2129.26 s 未观察到开柜动作；结合任务初态，打开橱柜事件未达到。"
+     }
+    ]
+   },
+   "steak_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1006,
+      "log_step": null,
+      "text_zh": "观察：全片按视频 20 s 间隔检查，视频 904.0–1037.5 s 加密检查，机器人只在导航、伸臂尝试开冰箱及翻倒恢复；未见牛排离开冰箱、与刀刃接触或生成丁粒子。"
+     },
+     {
+      "t": 2129.26,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0、live_matches_replay=1，结合上述未发生食材加工的画面，牛排切丁终态为假；此判断并非只由零分推出。"
+     }
+    ]
+   },
+   "pineapple_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1006,
+      "log_step": null,
+      "text_zh": "观察：全片按视频 20 s 间隔检查，视频 904.0–1037.5 s 加密检查，机器人只在导航、伸臂尝试开冰箱及翻倒恢复；未见菠萝离开冰箱、与刀刃接触或生成丁粒子。"
+     },
+     {
+      "t": 2129.26,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0、live_matches_replay=1，结合上述未发生食材加工的画面，菠萝切丁终态为假；此判断并非只由零分推出。"
+     }
+    ]
+   },
+   "steak_bowl_filled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1017,
+      "log_step": null,
+      "text_zh": "观察：视频 904.0–1037.5 s 操作阶段未见碗被取出、盛接或装入牛排丁，之后至视频 2129.26 s 机器人只进行翻倒恢复。"
+     },
+     {
+      "t": 2129.26,
+      "log_step": null,
+      "text_zh": "推断：DAG 记载此装料关系初始为假，画面无丁料生成或入碗过程，评分器 q_score=0 又不允许新增的 filled 目标成立，故牛排丁装碗终态为假。"
+     }
+    ]
+   },
+   "pineapple_bowl_filled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1017,
+      "log_step": null,
+      "text_zh": "观察：视频 904.0–1037.5 s 操作阶段未见碗被取出、盛接或装入菠萝丁，之后至视频 2129.26 s 机器人只进行翻倒恢复。"
+     },
+     {
+      "t": 2129.26,
+      "log_step": null,
+      "text_zh": "推断：DAG 记载此装料关系初始为假，画面无丁料生成或入碗过程，评分器 q_score=0 又不允许新增的 filled 目标成立，故菠萝丁装碗终态为假。"
+     }
+    ]
+   },
+   "bowls_in_cabinet_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": 13,
+      "text_zh": "推断：任务 DAG 的初始谓词说明两只目标碗均已在柜内，log step 13 的任务文本亦说明碗在厨房橱柜中。视频起点柜内被门板遮挡；全片未观察到开柜、抓碗、运碗或碗脱离柜内，故至少1只碗在柜内的初始关系按持续保持标注。"
+     },
+     {
+      "t": 2129.26,
+      "log_step": null,
+      "text_zh": "推断：视频末段至视频 2129.26 s 只有翻倒机身附近表面与空夹爪，未出现碗搬运；该关系保留初始值。评分器 q_score=0 不计仍保持的初始真目标，不能据此否定碗在柜内。"
+     }
+    ]
+   },
+   "bowls_in_cabinet_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": 13,
+      "text_zh": "推断：任务 DAG 的初始谓词说明两只目标碗均已在柜内，log step 13 的任务文本亦说明碗在厨房橱柜中。视频起点柜内被门板遮挡；全片未观察到开柜、抓碗、运碗或碗脱离柜内，故至少2只碗在柜内的初始关系按持续保持标注。"
+     },
+     {
+      "t": 2129.26,
+      "log_step": null,
+      "text_zh": "推断：视频末段至视频 2129.26 s 只有翻倒机身附近表面与空夹爪，未出现碗搬运；该关系保留初始值。评分器 q_score=0 不计仍保持的初始真目标，不能据此否定碗在柜内。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0.5–1.0 s、904.0–918.0 s 的深色冰箱正面均未露出内腔，门板保持闭合外观。"
+     },
+     {
+      "t": 1016.5,
+      "log_step": null,
+      "text_zh": "观察：视频 1003.0–1017.5 s 机器人伸臂、后退并转动后，冰箱门板仍与周围立面齐平，没有随手臂拉动而打开。"
+     },
+     {
+      "t": 2129.26,
+      "log_step": null,
+      "text_zh": "推断：DAG 记载冰箱初始关闭；视频最后一次清楚看见门板时仍关闭，随后机器人翻倒并在远离把手的姿态下持续恢复至视频 2129.26 s，未见改变冰箱状态的后续动作，故关闭关系保持。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.5,
+      "log_step": null,
+      "text_zh": "推断：DAG 记载目标橱柜初始关闭；视频 0.5–1.5 s 可见厨房闭合柜门，全片未见机器人打开装碗橱柜或露出两碗，故关闭关系自视频 0 s 起保持。"
+     },
+     {
+      "t": 2129.26,
+      "log_step": null,
+      "text_zh": "推断：视频约 1040.0 s 至视频 2129.26 s 机器人一直翻倒恢复，未见操作目标橱柜；结合其初态，最终仍关闭。目标柜门末段不在镜头内，属于上下文推断。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "fraction",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "filled_particle_volume_fraction",
+   "unit": "fraction",
+   "threshold": 0.2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "goal_object_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "success_consecutive_control_steps",
+   "unit": "control_steps",
+   "threshold": 30,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fridge_opened",
+   "t": 7.5,
+   "log_step": 49,
+   "where": "转场",
+   "evidence_zh": "观察：视频约 7.5–13.0 s，机器人空手驶向冰箱并在家具旁转动，随后视野横转、侧倒；log step 49 记录同一位置附近连续行驶受阻，log step 57 读到明显倾斜的基座姿态。推断：这是打开冰箱步骤最早发生且该步骤始终未完成的偏差；视频约 880 s 虽重新直立，视频 974.0–1017.5 s 的开门尝试仍没有露出内腔，随后再次翻倒并恢复至视频 2129.26 s，起身并未修复开门步骤。"
+  },
+  "unmet": {
+   "steak_diced": false,
+   "pineapple_diced": false,
+   "steak_bowl_filled": false,
+   "pineapple_bowl_filled": false,
+   "bowls_in_cabinet_1": true,
+   "bowls_in_cabinet_2": true,
+   "fridge_closed": true,
+   "cabinet_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 7.5,
+    "log_step": 57,
+    "evidence_zh": "观察：视频 7.5–13.0 s 机器人机身视角从正常高度转成明显侧倒，视频 20.0–860.0 s 长时间以侧向视角滑移、摆动；log step 57 的基座高度为 0.428 m，姿态四元数为 [-0.426,-0.737,-0.411,-0.326]。视频约 880 s 恢复直立，视频约 1028.0–1040.0 s 再次翻倒，视频 2128.3–2129.26 s 仍无恢复后的正常操作视野。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 41 的导航脚本在底盘移动和停止行中都把躯干、双臂与夹爪设为全零目标，且没有基座倾斜的停止判断；log step 49 连续向受阻方向发指令，在位置几乎不变时继续多次转向，视频 6.5–13.0 s 随之出现明显失衡。log step 169 后新增的倾斜检查只覆盖平移，转向仍直接调用 turnto；log step 267 的转向输出反复偏离目标，log step 272 又读得 upz=-0.093，视频约 1028.0–1040.0 s 同样显示侧倒。因此归为底盘及姿态运动控制失败；没有足够证据细分具体接触力或参数原因。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频；冰箱关节角、实际指垫接触及辅助抓握状态均未记录。开门操作中手指与把手的关系经常被外壳或邻近面板遮挡，因此手部 contact_actual 保留未知，不把 agent 声称抓住把手当成抓握证据。两碗一直在闭合柜内不可直接看见，其在柜内与柜门关闭的全程保持依据 DAG 初态、未见开柜取碗及后续持续翻倒推断；末段冰箱门也不在镜头内。翻倒的直接力学接触点不能确定，根因只标控制，不推断感知错误或环境故障。"
+ },
+ "summary_zh": "本次连续尝试未完成开冰箱、开橱柜、两种切丁或装碗；最终计入的4/10节点均为两碗在柜内及两门关闭的初始保持状态，q_score=0与此不矛盾。打开冰箱步骤在视频约7.5 s 的前往途中首次翻倒，恢复直立后仍未拉开门，随后再次翻倒并长期恢复未果；日志中的受阻后持续驱动和无倾斜保护的转向支持控制失败。无状态日志，手部实际接触及柜内两碗被遮挡，相关保持状态依据初态与完整动作上下文推断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "抽查视频与日志后未发现需要改内容的错误：视频早段机身即倾斜，约 880 s 起直立，约 1028–1040 s 再倾倒，与 log step 49–57、263–272 的读数（z=0.428、upz=-0.093）相符；开冰箱、开柜、切丁、装碗均未见达成，初态保持的4个节点与 q_score=0 一致；断点、平衡现象与控制根因有证据且表述谨慎。视频时间与日志步的对应只能粗略验证，故置信度不高。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:16:06Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-canning-food-i00-standard--pvbweur/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-canning-food-i00-standard--pvbweur/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1531de01bc5f63229f8e73d6346a2d9169bf5168b456ca0466444337caf44f15",
+   "video_sha256": "d67839e2f2666710df2c7a4825c1e35e7ba38deb86c8cc79214854243e0ad933",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/canning_food/trajectories/behavior-canning-food-i00-standard--rzw58v4.json

@@ -0,0 +1,477 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-canning-food-i00-standard--rzw58v4",
+ "taskKey": "behavior-1k/canning_food",
+ "dag_sha256": "79f4ae898ca53c66f1426df6e0cf977ab188a121892679dbdd743d829b8da565",
+ "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": 7017,
+   "sim_steps": 7017,
+   "physics_steps": 28068,
+   "steps": 876,
+   "elapsed_s": 6558.9,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-canning-food-i00-standard--rzw58v4/replay.mp4",
+  "duration_s": 233.9,
+  "fps": 30.0,
+  "frames": 7017,
+  "sha256": "ea1b57c4dfa21c7232db7949f585b2607d4ec8df6c757d1e19c5b356c1f06fb1"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 10,
+  "base": 4,
+  "peak": 5,
+  "final": 4,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      151.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 151.8,
+      "log_step": 225,
+      "text_zh": "观察：视频 151.6–152.8 s，机器人右夹爪夹住白色冰箱门把手向外拉，白色门板逐渐转出，视频 152.8–153.2 s 可见内腔及层架。开门阈值时刻估计为视频 151.8 s，误差约0.3秒。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频 150–153.2 s，机器人右二指夹爪夹住白色冰箱竖把手并拉开门。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人在视频 145–149 s 驱动轮式底盘转向并靠近白色冰箱的操作位置。"
+     }
+    ]
+   },
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      177.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 177.1,
+      "log_step": 259,
+      "text_zh": "观察：视频 176.8–179.8 s，机器人左夹爪抓住烤箱旁黑色高柜把手，门板转出；视频 180–186 s 柜内层架与两只碗可见。该高柜为目标橱柜，之前被打开检查的其他柜体不计入此节点。开门时刻约为视频 177.1 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左二指夹爪在视频 176–180 s 夹住目标黑色高柜把手向外拉，随后多次重新夹把手调整开度。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "视频 186–191 s、193–198 s 等段，机器人左夹爪抵拨目标柜门板，门板随之摆动；此处为推拨而非夹住门板。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人在视频 173–176 s 驱动底盘到目标高柜前，随后为开门及观察柜内多次调整底盘位置。"
+     }
+    ]
+   },
+   "steak_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 153.0,
+      "log_step": null,
+      "text_zh": "观察：视频 152.8–153.2 s 冰箱内可见层架及食材，机器人没有把食材取出；全片粗查及视频 145–233.87 s 的操作检查只见开关柜门和取空碗，未见刀刃作用于牛排或生成牛排丁。"
+     },
+     {
+      "t": 233.87,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0.0 且 live_matches_replay=1，结合未见切料动作，牛排丁存在这一初始为假的目标在结束时为假；此结论并非仅由零分推定未尝试。"
+     }
+    ]
+   },
+   "pineapple_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 153.0,
+      "log_step": null,
+      "text_zh": "观察：视频 152.8–153.2 s 冰箱打开时，机器人只检查内腔，随后关门；全片检查未见菠萝被取出、刀刃切菠萝或生成菠萝丁。"
+     },
+     {
+      "t": 233.87,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0.0 且 live_matches_replay=1，结合没有切料过程，菠萝丁存在这一初始���假的目标在结束时为假。"
+     }
+    ]
+   },
+   "steak_bowl_filled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 226.0,
+      "log_step": null,
+      "text_zh": "观察：视频 223–233.87 s，机器人取出并搬运的碗内未见牛排丁；视频 233.6–233.87 s 该碗留在台面上，机器人没有舀料、扫料或倒料入碗。"
+     },
+     {
+      "t": 233.87,
+      "log_step": null,
+      "text_zh": "推断：视频未见牛排切丁或丁料转移，评分器 q_score=0.0 也排除了初始未成立的牛排丁装碗目标在结束时成立。"
+     }
+    ]
+   },
+   "pineapple_bowl_filled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 226.0,
+      "log_step": null,
+      "text_zh": "观察：视频 223–233.87 s，机器人搬出的碗内未见菠萝丁，随后只把空碗放在台面上；未见菠萝丁生成或装碗动作。"
+     },
+     {
+      "t": 233.87,
+      "log_step": null,
+      "text_zh": "推断：另一只碗留在柜内，未发生切料或装料；结合评分器 q_score=0.0，菠萝丁装碗目标在结束时为假。"
+     }
+    ]
+   },
+   "bowls_in_cabinet_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 181.0,
+      "log_step": null,
+      "text_zh": "观察：视频 180–186 s 目标高柜打开后，上下层各有一只碗；视频 212–223 s 柜内下层碗仍在原处，机器人只操作上层碗。"
+     },
+     {
+      "t": 233.87,
+      "log_step": null,
+      "text_zh": "推断：DAG 已核实初态两只碗均在柜内，视频在首次开柜前没有取碗动作；视频 223–233.87 s 只有上层碗被搬出，下层碗未被操作，因此至少一只碗在柜内的关系从起点持续成立。这里按柜内数量计数，不固定实例身份。"
+     }
+    ]
+   },
+   "bowls_in_cabinet_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      223.0
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 181.0,
+      "log_step": null,
+      "text_zh": "推断：DAG 初态两只碗均在目标柜内；视频 180–186 s 开门后可见两层上的碗，至视频 221.8 s 尚未看到任一碗被带出柜体。"
+     },
+     {
+      "t": 223.0,
+      "log_step": 342,
+      "text_zh": "观察：视频 222.6–224.8 s，机器人右夹爪夹住上层碗沿，将整只碗从层架带到柜外，随后视频 225–233.87 s 持碗离开并放在台面，未放回；两只碗同时在柜内的关系约在视频 223.0 s 失去，时刻误差约0.5秒。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频 219–224 s，机器人右二指夹爪包夹上层碗沿并把碗提离层架，随后持续持碗；较早的左臂取碗尝试未把碗带出。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 224–231 s，机器人驱动轮式底盘，右夹爪持碗从目标柜前驶向切板旁台面，未把碗放回柜内。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      151.8
+     ],
+     [
+      154.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 149.0,
+      "log_step": null,
+      "text_zh": "观察：视频 145–151.4 s 白色冰箱门在闭合位置；视频 151.6–153.2 s 被机器人右夹爪拉开，内腔显露。结合 DAG 初始关闭状态，首段从视频 0 s 开始。"
+     },
+     {
+      "t": 154.4,
+      "log_step": 231,
+      "text_zh": "观察：视频 153.4–154.6 s，机器人右夹爪把冰箱门带回闭合位置后松手；此后未再打开该冰箱，视频 233.87 s 白色冰箱门仍闭合。视频 151.8–154.4 s 的整段缺口已检查，门板确实离开闭合位置。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频 153.4–154.4 s，机器人右二指夹爪仍夹着冰箱把手，沿回程带动门板闭合，随后松开把手。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      177.1
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 176.8,
+      "log_step": null,
+      "text_zh": "观察：视频 174–176.8 s 目标黑色高柜门仍闭合；结合 DAG 初始关闭状态，从视频 0 s 计入。"
+     },
+     {
+      "t": 177.1,
+      "log_step": 259,
+      "text_zh": "观察：视频 177–180 s 目标柜门被机器人左夹爪拉开，之后视频 180–233.87 s 的检查显示门板反复摆动但一直明显离开闭合位置；视频 225–230 s 柜内层架入口敞开，机器人持碗离开。未见机器人执行将此目标柜关回闭合端的动作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "fraction",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "filled_particle_volume_fraction",
+   "unit": "fraction",
+   "threshold": 0.2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "goal_object_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "success_consecutive_control_steps",
+   "unit": "control_steps",
+   "threshold": 30,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "steak_diced",
+   "t": 154.4,
+   "log_step": 231,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 151.6–153.5 s，机器人右夹爪拉开白色冰箱门，内腔与层架显露，未见食材被取出；视频 154–154.6 s，机器人把门关上后转去探查其他柜体。全片粗查及视频 154.4–233.87 s 的操作检查只见机器人开柜、取出一只空碗并放在台面，未见取牛排、持刀或刀刃作用于食材。日志 log step 229–230 是定位冰箱内食材的会话计算，log step 231 为关冰箱并开其他柜门；log step 348–354 仍在搬碗及测试第二只碗的运动学。推断：开冰箱是已单独记录的前置步骤，牛排切丁工作从未启动，故位置为首步前；视频约154.4 s 仅作未取料即关冰箱的导航锚点，不表示此刻发生切割失败。橱柜关闭及两碗同时在柜内关系的后续丢失保留在进度和 unmet 中。"
+  },
+  "unmet": {
+   "steak_diced": false,
+   "pineapple_diced": false,
+   "steak_bowl_filled": false,
+   "pineapple_bowl_filled": false,
+   "bowls_in_cabinet_1": true,
+   "bowls_in_cabinet_2": false,
+   "fridge_closed": true,
+   "cabinet_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 154.4,
+    "log_step": 231,
+    "evidence_zh": "观察：全片粗查未见机器人取出牛排或菠萝、持刀或让刀刃接触食材；视频 152.5–153.5 s 冰箱内腔露出而无食材被取出，视频 154.4–233.87 s 机器人转去开柜取空碗，视频 223–233.87 s 只搬碗并将其放在砧板旁台面。观察：inputs/run.json 的 reward.n_actions=7017、replay_success=0、live_matches_replay=1，说明有已回放评分的动作轨迹。推断：牛排切丁步骤根本未启动，标为没尝试；此判断来自操作过程，不是仅由 q_score=0.0 或预算结束推定。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 提供完整视频与运行记录，没有状态日志或成功参考视频；视频中切料工作从未启动，但未见可归于该步骤的具体接触或运动失败。观察：inputs/run.json 的 wall_s=7203、time_limit_s=7200 为会话墙钟字段，不转换为视频时刻；log step 348–354 记录搬碗及第二只碗的运动学测试。推断：这些证据不足以区分为何没有进入切丁，不能从没尝试或预算结束反推认知、控制根因，根因层留空（docs/03_trajectory.md Step 3.3，CASES.md FAIL-22）。柜内视角较暗，不能直接测量门关节5%边界、碗包围盒中心或粒子体积分数；节点视频时刻按可见变化估计，误差约0.3–0.5秒。评分器 q_score=0.0 不否定从起点成立并保留的关系。"
+ },
+ "summary_zh": "机器人打开冰箱后重新关闭，随后打开目标高柜，最终取出一只空碗并放到台面；未见牛排或菠萝切丁及装料，结束时两项开门事件、至少一碗仍在柜内、冰箱关闭共4/10节点成立。断点为牛排切丁，位置为首步前，现象为没尝试：视频约154.4 s 未取料即关冰箱后，机器人直至视频233.87 s 都未启动切料；橱柜关闭和两碗同时在柜内的后续丢失仍记录在节点进度及 unmet 中。缺少足以区分未启动切料之具体原因的证据，根因层留空；柜内遮挡及精确判据的视觉测量仍有限。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点时间与接触基本与帧一致，但断点选错：cabinet_closed 是必须先被开门破坏的终末收尾步骤，开柜是取碗所必需，不是失败；机器人真正没往下做的是牛排/菠萝切丁（开冰箱看过内腔后又关上、从未取食材），应以 steak_diced 为断点。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点进度与时间与帧一致（冰箱约151.8 s开、154.4 s关；高柜约177 s开；上层碗约223 s被取出）。问题在失败层：断点 steak_diced 的切料工作全程从未启动，却标成探索并让现象层留空；这不是外因截断且无交付的情形，应按‘步骤工作从���开始’标注。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "I1 的接受已在 prev/trajectory.json 中完整落实：断点 where=首步前（ref=steak_diced），现象为没尝试，根因层留空并保留 gap_zh，summary 同步；与视频一致。",
+    "n_issues": 0,
+    "n_checks": 1
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "I1 的接受已在 prev/trajectory.json 中完整落实：断点 where=首步前（ref=steak_diced），现象为没尝试，根因层留空并保留 gap_zh，summary 同步；与视频一致。",
+   "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": "2026-10-30T22:33:38Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-canning-food-i00-standard--rzw58v4/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-canning-food-i00-standard--rzw58v4/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-canning-food-i00-standard--rzw58v4/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-canning-food-i00-standard--rzw58v4/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-canning-food-i00-standard--rzw58v4/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/behavior-canning-food-i00-standard--rzw58v4/06_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": "5ba1560f184fc6b09068fbe1c5c12fe82ffea8ca2da2f09b338ca214ab5e46d2",
+   "video_sha256": "ea1b57c4dfa21c7232db7949f585b2607d4ec8df6c757d1e19c5b356c1f06fb1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/canning_food/trajectories/behavior-canning-food-i00-standard--wzsdmlu.json

@@ -0,0 +1,337 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-canning-food-i00-standard--wzsdmlu",
+ "taskKey": "behavior-1k/canning_food",
+ "dag_sha256": "79f4ae898ca53c66f1426df6e0cf977ab188a121892679dbdd743d829b8da565",
+ "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": 1256,
+   "sim_steps": 1256,
+   "physics_steps": 5024,
+   "steps": 419,
+   "elapsed_s": 734.0,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.372,
+   "peak_processes": 13,
+   "peak_disk_gb": 1.129,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-canning-food-i00-standard--wzsdmlu/replay.mp4",
+  "duration_s": 41.867,
+  "fps": 30.0,
+  "frames": 1256,
+  "sha256": "c51e1a372e45d761dc2aaeec176201af558deab94b3f75a0abd9c051463be01c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 10,
+  "base": 4,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 41.83,
+      "log_step": 116,
+      "text_zh": "推断：视频 0–41.83 s 中机器人仅转向、试移底盘、倾倒及自救，未见夹爪拉动任务冰箱门或其内腔露出。结合DAG所载冰箱初始关闭、log step 47、53、100、113、116 的扫描/建图控制，没有成立过开冰箱事件的证据。"
+     }
+    ]
+   },
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 41.83,
+      "log_step": 116,
+      "text_zh": "推断：视频 0–41.83 s 未见机器人针对装碗的任务橱柜把手实施开门，也未见碗所在内腔露出；结合DAG初态与log step 47–121 的控制内容，任务橱柜未被打开。画面中的黑色烤箱等厨房设备不据此当作目标橱柜。"
+     }
+    ]
+   },
+   "steak_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 41.83,
+      "log_step": 123,
+      "text_zh": "推断：DAG初态无牛排丁；视频 0–41.83 s 未见牛排从冰箱取出、刀刃切料或丁粒子生成，机器人始终在扫描和恢复本体姿态。评分器 q_score=0.0 且 live_matches_replay=1，进一步排除末态新增的牛排丁存在目标；并非仅凭零分判断未切。"
+     }
+    ]
+   },
+   "pineapple_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 41.83,
+      "log_step": 123,
+      "text_zh": "推断：DAG初态无菠萝丁；视频 0–41.83 s 未见菠萝取出或刀刃接触食材、生成菠萝丁，机器人只执行扫描、移动和自救。评分器 q_score=0.0 且 live_matches_replay=1，也排除末态新增的菠萝丁存在目标。"
+     }
+    ]
+   },
+   "steak_bowl_filled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 41.83,
+      "log_step": 123,
+      "text_zh": "推断：DAG初态碗内无牛排丁；视频 0–41.83 s 未见机器人切牛排、持碗承接或把牛排丁送入碗。结合牛排丁未生成与评分器 q_score=0.0，牛排丁装碗未达成；未从被遮挡的碗口估计20%比例。"
+     }
+    ]
+   },
+   "pineapple_bowl_filled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 41.83,
+      "log_step": 123,
+      "text_zh": "推断：DAG初态碗内无菠萝丁；视频 0–41.83 s 未见切菠萝、持碗承接或向碗中送丁料的动作。结合菠萝丁未生成及评分器 q_score=0.0，菠萝丁装碗未达成；没有用遮挡画面估计粒子体积。"
+     }
+    ]
+   },
+   "bowls_in_cabinet_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 41.83,
+      "log_step": 121,
+      "text_zh": "推断：DAG明确两只目标碗初始已在任务橱柜内，因此至少1只碗在柜内从视频 0 s 成立。视频 0–41.83 s 的机器人活动及log step 47–121 的已执行控制均为扫描、底盘移动和自救，未见开目标柜、抓取或取出碗，故保留该初始关��。柜内被门遮挡，不能直接逐碗核验；q_score=0.0 不扣除保持的初始真目标。"
+     }
+    ]
+   },
+   "bowls_in_cabinet_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 41.83,
+      "log_step": 121,
+      "text_zh": "推断：DAG明确两只目标碗初始已在任务橱柜内，因此至少2只碗在柜内从视频 0 s 成立。视频 0–41.83 s 的机器人活动及log step 47–121 的已执行控制均为扫描、底盘移动和自救，未见开目标柜、抓取或取出碗，故保留该初始关系。柜内被门遮挡，不能直接逐碗核验；q_score=0.0 不扣除保持的初始真目标。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 41.83,
+      "log_step": 121,
+      "text_zh": "推断：DAG记载任务冰箱初始全部门板关闭；视频 0–41.83 s 未见机器人实施冰箱开门操作或暴露其内腔，结合log step 47–121 的控制内容，关闭状态持续保留。部分视角被机器人及家具遮挡，未直接测量5%关节阈值；q_score=0.0 与保持初始关闭不矛盾。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 41.83,
+      "log_step": 121,
+      "text_zh": "推断：DAG记载装碗的目标橱柜初始关闭；视频 0–41.83 s 未见机器人对该柜实施开门，亦未见碗被取出；结合log step 47–121 的执行内容，保留初始关闭关系。目标柜身份及关节阈值缺少逐帧状态核验，不能把画面中其他设备的门板当作目标柜门。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "fraction",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "filled_particle_volume_fraction",
+   "unit": "fraction",
+   "threshold": 0.2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "goal_object_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "success_consecutive_control_steps",
+   "unit": "control_steps",
+   "threshold": 30,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": 31.8,
+   "log_step": 116,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 31.5–32.3 s 机器人视角从直立扫描变为贴近家具并大幅倾斜，视频 38–41.83 s 保持侧倒；视频全程未见开始开冰箱、开目标柜、切料或装碗。log step 116 的机器人脚本先后退再做全周扫描，log step 119 本体读数上轴竖直分量为0.063，log step 121 继续等待稳定后服务报告翻倒失败。推断：失败发生在任何任务操作启动之前；扫描未明确指向冰箱或装碗柜中的一个，不能唯一指定失败的DAG节点，故ref为unknown。"
+  },
+  "unmet": {
+   "steak_diced": false,
+   "pineapple_diced": false,
+   "steak_bowl_filled": false,
+   "pineapple_bowl_filled": false,
+   "bowls_in_cabinet_1": true,
+   "bowls_in_cabinet_2": true,
+   "fridge_closed": true,
+   "cabinet_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 31.8,
+    "log_step": 119,
+    "evidence_zh": "观察：视频 3.5–15.5 s 有明显翻滚、侧倾，视频约 15.8–31.5 s 曾恢复直立扫描；视频 31.8 s 再次倾倒，此后至视频 41.83 s 未恢复。log step 119 的实时本体读数cos(rx)cos(ry)=0.063，log step 121 的服务终止原因是failure: the robot fell over，吻合画面。"
+   },
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 31.8,
+    "log_step": 116,
+    "evidence_zh": "观察：视频 0–41.83 s 只见机器人旋转扫描、底盘试移及倾倒恢复，夹爪未对任务冰箱或橱柜把手形成操作，也未见拿食材、持刀切料或搬碗。log step 47、53、100、113、116 的实际脚本分别用于旋转观测、建图和全周扫描，任务操作尚未启动即翻倒判负。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 34 的服务规格明确本体关节数组左右臂交错，而joint_position动作要求左臂7关节、右臂7关节各成一段；log step 47 和53 的agent脚本却直接用jpos[4:11]及jpos[11:18]构造两臂目标。视频 0–6 s 机器人伴随转向出现异常摆臂、倾斜。log step 116 后退扫描脚本又持续给每控制步0.05米的底盘目标，未在移动循环中检查倾角；视频 31.8 s 再次失衡，log step 119、121 仍显著倾斜并最终判负。推断：关节目标构造错误及缺少倾角保护的底盘控制使探索���段发生并反复加重本体失稳；证据不足以把全部过程细分为某一种轨迹或反馈子类，保留控制大项。"
+   }
+  ],
+  "gap_zh": "无状态日志和成功参考视频。两碗柜内与两扇目标门的终态主要由DAG初态、视频未见相关操作以及实际执行的扫描/自救脚本推断，门后碗和精确关节阈值无法直接核验；画面中的黑色烤箱等不据此识别为目标柜。机器人在任务操作前即失败，扫描未明确选定一个任务对象，所以断点节点无法唯一确定。log step 32 的控制频率30赫兹及log step 123 的1256控制步给出约视频41.87 s，与视频总长一致；log step 89 的恢复直立423/30约视频14.1 s与视频约14–16 s的恢复过程相符，仅作粗略校核，标注时刻以实际查看的视频帧为准。"
+ },
+ "summary_zh": "机器人未启动开门、切丁或装碗操作；按DAG初态及全程未见相应目标操作，推断两碗在柜内、冰箱关闭和橱柜关闭四个节点一直保留，最终4/10，q_score=0.0不计保持的初始真目标。机器人探索扫描时因关节目标顺序错误及不受倾角保护的底盘控制反复失衡，中途恢复后于视频约31.8 s再次侧倒并被服务判负；没有证据将其唯一归入某个任务操作节点。没有状态日志，目标柜内的碗及门的精确阈值被遮挡，四个保留状态属于上下文推断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "标签与视频一致：全程仅见机器人视角的扫描、倾倒、恢复再侧倒，未见任何任务操作；4个初始保持节点的 final 与 q_score=0 相符，断点 unknown/首步前、平衡+没尝试、控制根因均有证据支持。未发现需要修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:06:45Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-canning-food-i00-standard--wzsdmlu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-canning-food-i00-standard--wzsdmlu/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "52f034ddc05e178c3e2fdec6c849e2845627f779e041eef347fd9914450155d5",
+   "video_sha256": "c51e1a372e45d761dc2aaeec176201af558deab94b3f75a0abd9c051463be01c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/canning_food/trajectories/behavior-canning-food-i00-standard--xcwmnef.json

@@ -0,0 +1,373 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-canning-food-i00-standard--xcwmnef",
+ "taskKey": "behavior-1k/canning_food",
+ "dag_sha256": "79f4ae898ca53c66f1426df6e0cf977ab188a121892679dbdd743d829b8da565",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 17215,
+   "sim_steps": 17365,
+   "physics_steps": 69460,
+   "steps": 2304,
+   "elapsed_s": 6628.1,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 150,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.0,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-canning-food-i00-standard--xcwmnef/replay.mp4",
+  "duration_s": 578.9,
+  "fps": 10.0,
+  "frames": 5789,
+  "sha256": "ffb791ce6fc1541e69c55a66b6e1cefc937146344d67386092ee99d289ee9907"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 10,
+  "base": 4,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 123,
+      "log_step": 135,
+      "text_zh": "观察：视频 118–133 s 左腕靠近带控制旋钮和金属烤架的烤箱，入口露出的是烤箱内腔；log step 135 中 agent 也纠正此前到达的是烤箱。全片按视频约5秒间隔检查，并密查视频 38–51 s、196–222 s、532–541.5 s、564–578.8 s，未见冰箱门打开并露出其内腔的完成线索。"
+     },
+     {
+      "t": 568.5,
+      "log_step": 726,
+      "text_zh": "观察：视频 564–572.5 s 左夹爪仍在烤箱控制面和门沿附近活动；视频 573–578.8 s 转到相邻白色面板前，手中无食材，未打开该面板。log step 726 中 agent 再次自述此前看的是烤箱。先前“冰箱已开”的自述不作为完成依据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 200–218 s 左二指夹爪在电器把手处合拢后向外拉，视频 564–568.5 s 又在烤箱门沿/把手处合爪拉动；这些是寻找并打开冰箱过程中对错误电器的夹持操作，不能计作冰箱被抓开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在视频 0–20 s 转向电器排，在视频约 110 s、315–320 s、495–500 s、545–549 s 调整底盘位置，以继续寻找和接近冰箱；轮式底盘承载移动。"
+     }
+    ]
+   },
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 578.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0–578.8 s 机器人围绕电器排探查、伸手和拉门，未见目标储碗橱柜的门板离开闭合位置，也未露出装有两碗的柜内入口；末帧仍在相邻白色电器面板前。没有把烤箱开门计作橱柜开门。"
+     }
+    ]
+   },
+   "steak_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 578.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0–578.8 s 未见机器人从冰箱取出牛排，也未见夹爪持刀或把食材送到刀刃，手中始终未出现食材或刀，画面没有切丁粒子生成。"
+     },
+     {
+      "t": 578.8,
+      "log_step": null,
+      "text_zh": "推断：结合全片未发生切割动作、DAG记载丁料初始不存在及评分器 q_score=0，牛排切丁最终不成立；不是仅凭零分判定未做。"
+     }
+    ]
+   },
+   "pineapple_diced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 578.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0–578.8 s 未见机器人从冰箱取出菠萝，也未见夹爪持刀或把食材送到刀刃，手中始终未出现食材或刀，画面没有切丁粒子生成。"
+     },
+     {
+      "t": 578.8,
+      "log_step": null,
+      "text_zh": "推断：结合全片未发生切割动作、DAG记载丁料初始不存在及评分器 q_score=0，菠萝切丁最终不成立；不是仅凭零分判定未做。"
+     }
+    ]
+   },
+   "steak_bowl_filled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 578.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0–578.8 s 未见目标碗被取出、搬动、承接或装入任何丁料；机器人一直在电器门前操作。"
+     },
+     {
+      "t": 578.8,
+      "log_step": null,
+      "text_zh": "推断：DAG记载初始碗未装满牛排丁；结合没有牛排切丁及装料动作、评分器 q_score=0，该装碗节点最终为假。"
+     }
+    ]
+   },
+   "pineapple_bowl_filled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 578.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0–578.8 s 未见目标碗被取出、搬动、承接或装入任何丁料；机器人一直在电器门前操作。"
+     },
+     {
+      "t": 578.8,
+      "log_step": null,
+      "text_zh": "推断：DAG记载初始碗未装满菠萝丁；结合没有菠萝切丁及装料动作、评分器 q_score=0，该装碗节点最终为假。"
+     }
+    ]
+   },
+   "bowls_in_cabinet_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务DAG的初态说明明确两只目标碗起始均在橱柜内，因此至少1只碗在柜内从视频 0 s 成立。全片视频 0–578.8 s 未见储碗柜打开、碗被取出或碗出现在夹爪中，按未受操作的初始关系持续保留；柜内被门板遮挡，不能直接逐帧看到碗。"
+     }
+    ]
+   },
+   "bowls_in_cabinet_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务DAG的初态说明明确两只目标碗起始均在橱柜内，因此至少2只碗在柜内从视频 0 s 成立。全片视频 0–578.8 s 未见储碗柜打开、碗被取出或碗出现在夹爪中，按未受操作的初始关系持续保留；柜内被门板遮挡，不能直接逐帧看到碗。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG初态明确冰箱关闭；视频 0–578.8 s 可确认的打开内腔均属于烤箱，未见冰箱入口露出。结合视频 335 s 的电器排外观及视频 573–578.8 s 相邻白色面板仍贴合，保留初始关闭状态；无关节日志，不能测得精确开度。"
+     }
+    ]
+   },
+   "cabinet_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG初态明确储碗橱柜关闭；视频 0–578.8 s 未见机器人对储碗柜进行开门或取碗，也没有柜内入口露出，故其关闭状态从视频 0 s 持续保留。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "fraction",
+   "threshold": 1,
+   "direction": "higher_better",
+   "value": 0.0
+  },
+  {
+   "name": "filled_particle_volume_fraction",
+   "unit": "fraction",
+   "threshold": 0.2,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "goal_object_linear_speed",
+   "unit": "m/s",
+   "threshold": 0.05,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "success_consecutive_control_steps",
+   "unit": "control_steps",
+   "threshold": 30,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fridge_opened",
+   "t": 123,
+   "log_step": 135,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 123–133 s 机器人左腕到达并探入带金属烤架的烤箱；log step 135 中 agent 自述“we were at the oven, not the refrigerator”。视频 532–541.5 s 和564–572.5 s 仍反复在烤箱内腔、门沿及控制面前操作，视频 578.8 s 仍未露出冰箱内腔，也未取得食材。推断：最早持续未修复的步骤是打开冰箱，视频 123 s 作为明确误操作的导航锚点。"
+  },
+  "unmet": {
+   "steak_diced": false,
+   "pineapple_diced": false,
+   "steak_bowl_filled": false,
+   "pineapple_bowl_filled": false,
+   "bowls_in_cabinet_1": true,
+   "bowls_in_cabinet_2": true,
+   "fridge_closed": true,
+   "cabinet_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "目标查找失败",
+    "t": 123,
+    "log_step": 135,
+    "note_zh": "候选名称：目标查找失败。依CASES.md OPEN-18／DECISIONS.md D25(d)暂用其他：机器人把动作施加到错误电器，不能仅归为静态目标的末端位姿��差，也不能说从未尝试。",
+    "evidence_zh": "观察：视频 123–133 s、240–250 s、485–490 s、535–541.5 s 左腕所见均为烤箱烤架；头部视角可见带旋钮的烤箱面板及向下翻开的炉门。视频 564–572.5 s 左夹爪继续在同一烤箱上操作，最后视频 573–578.8 s 转向白色面板但未打开，始终未找到可取食材的冰箱入口。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 628 中 agent 声称拉开冰箱，log step 630 随即根据红色旋钮和金属烤架纠正为烤箱；log step 691 又声称白门已打开，log step 719、726 再次纠正腕部正对烤箱。视频 535–541.5 s、564–572.5 s 确实显示烤箱内腔、旋钮和炉门，视频 578.8 s 手中仍无食材。推断：agent 对电器身份及把手归属的反复错误识别，使抓拉动作持续施加于错误对象，阻止了打开冰箱并取食材。"
+   }
+  ],
+  "gap_zh": "没有状态日志和成功参考视频。腕部近景与部分头部视角遮挡了门缝，不能精确核对5%关节阈值或确认每次合爪是否夹住目标把手；两碗始终未暴露，柜内关系和未被操作的关闭状态依据DAG初态与全片动作连续性推断。未将agent声称开门或非零夹爪开度单独当成节点完成，也不把烤箱开门误记为冰箱/储碗柜开门。"
+ },
+ "summary_zh": "本次实时评分轨迹未新增完成节点，保留初始两碗在柜内、冰箱关闭和橱柜关闭四项，最终4/10；未见食材取出、切丁或装碗。断点为打开冰箱：机器人反复把烤箱及相邻面板当作冰箱操作，日志多次纠正电器身份，与视频中的烤架、控制旋钮及下翻炉门相符。无状态日志和成功参考，门缝局部遮挡且碗一直隐藏，因此初始关系的保持与精确开度存在推断成分。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标注与证据一致：视频 130 s 左腕可见烤箱烤架，末帧仍在白色面板前，冰箱未打开；4/10 与 q_score=0 相符，断点 fridge_opened、其他+目标查找失败、感知根因均有日志与视频支撑。时间按 30 Hz 控制步（17365/30≈579 s）换算，与视频 578.9 s 吻合。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:22:54Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-canning-food-i00-standard--xcwmnef/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-canning-food-i00-standard--xcwmnef/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8a39b072f7e0d4f74105c2bdde8e09734de644934f09249f2a59ced3a14fbea6",
+   "video_sha256": "ffb791ce6fc1541e69c55a66b6e1cefc937146344d67386092ee99d289ee9907",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_up_your_desk/trajectories/behavior-clean-up-your-desk-i00-privileged--3wmp3vh.json

@@ -0,0 +1,479 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-up-your-desk-i00-privileged--3wmp3vh",
+ "taskKey": "behavior-1k/clean_up_your_desk",
+ "dag_sha256": "c10db90087a2c419bb5d64f7cdaed29bd918775b4ff3a9aa79a6a9942098ee72",
+ "outcome": {
+  "success": 0,
+  "reward": 0.09090909090909091,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 1780,
+   "sim_steps": 1780,
+   "fallen": 1,
+   "final_reward": 0.09090909090909091,
+   "q_score": 0.09090909090909091,
+   "replay_wall_s": 1307.5,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 10,
+   "agent_resets": 32,
+   "agent_sim_steps": 13400,
+   "agent_records": 5,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-clean-up-your-desk-i00-privileged--3wmp3vh/replay.mp4",
+  "duration_s": 59.333,
+  "fps": 30.0,
+  "frames": 1780,
+  "sha256": "fc9d9e0977a45652ffaa8b815f165ecea02e2eb8dfae2351d84ce4dc54b9c1d1"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 11,
+  "base": 1,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "folders_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–41.5 s 的头部与腕部抽帧中未见文件夹离开夹爪后放入书柜，书柜各格未新增文件夹；视频 48–59.2 s 机器人翻倒后也未出现入柜搬运。"
+     },
+     {
+      "t": 48.0,
+      "log_step": 278,
+      "text_zh": "推断：视频 48.0 s 桌上仍有蓝色文件夹，柜内未见新增文件夹；椅上文件夹的完整运动被遮挡，不能确认其具体落点。最终合盖已成立而评分器 q_score 仅为 1/11，不允许再计一个新完成的文件夹目标。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "脚本尝试处理文件夹，但腕视图被机器人、桌沿及家具遮挡，无法确认夹爪与文件夹实际怎样接触；不将脚本的推或夹动作当成已发生接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人在桌、椅与书柜附近移动及调整朝向，底盘支撑这一收纳尝试。"
+     }
+    ]
+   },
+   "folders_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–41.5 s 的头部与腕部抽帧中未见文件夹离开夹爪后放入书柜，书柜各格未新增文件夹；视频 48–59.2 s 机器人翻倒后也未出现入柜搬运。"
+     },
+     {
+      "t": 48.0,
+      "log_step": 278,
+      "text_zh": "推断：视频 48.0 s 桌上仍有蓝色文件夹，柜内未见新增文件夹；椅上文件夹的完整运动被遮挡，不能确认其具体落点。最终合盖已成立而评分器 q_score 仅为 1/11，不允许再计一个新完成的文件夹目标。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "脚本尝试处理文件夹，但腕视图被机器人、桌沿及家具遮挡，无法确认夹爪与文件夹实际怎样接触；不将脚本的推或夹动作当成已发生接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人在桌、椅与书柜附近移动及调整朝向，底盘支撑这一收纳尝试。"
+     }
+    ]
+   },
+   "books_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": null,
+      "text_zh": "观察：视频 28.5–41.5 s 的腕视图持续显示平装书在桌面；未见书被夹起并送入书柜。视频 48.0 s 桌面两端仍可见彩色书封面，柜内未新增书。"
+     },
+     {
+      "t": 59.2,
+      "log_step": 278,
+      "text_zh": "推断：视频末段没有入柜搬运；评分器 q_score=1/11 的新增目标额度由合盖占用，因此两级书入柜计数最终均为 false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "机器人执行桌边接近与夹爪动作，但未看清夹指与书封面或书边的接触，不能确认推扫、压擦或抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘在书桌与书柜旁调整位置，支撑搬书尝试。"
+     }
+    ]
+   },
+   "books_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.0,
+      "log_step": null,
+      "text_zh": "观察：视频 28.5–41.5 s 的腕视图持续显示平装书在桌面；未见书被夹起并送入书柜。视频 48.0 s 桌面两端仍可见彩色书封面，柜内未新增书。"
+     },
+     {
+      "t": 59.2,
+      "log_step": 278,
+      "text_zh": "推断：视频末段没有入柜搬运；评分器 q_score=1/11 的新增目标额度由合盖占用，因此两级书入柜计数最终均为 false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "机器人执行桌边接近与夹爪动作，但未看清夹指与书封面或书边的接触，不能确认推扫、压擦或抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘在书桌与书柜旁调整位置，支撑搬书尝试。"
+     }
+    ]
+   },
+   "pencil_in_pencil_box": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 16.0,
+      "log_step": null,
+      "text_zh": "观察：视频 16.0 s、26.0 s 及 39.0–41.5 s 腕视图中的黄色铅笔仍躺在桌面、蓝色文具盒外；未见铅笔离开桌面并进入盒内。"
+     },
+     {
+      "t": 59.2,
+      "log_step": 278,
+      "text_zh": "推断：末段未发生入盒搬运，且最终 q_score=1/11 的新增目标额度由合盖占用，铅笔入盒最终不成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "机器人有向铅笔附近伸爪的动作，黄色铅笔仍在桌面；画面无法确认是否实际碰到铅笔。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人驶向书桌工作位置并调整底盘，支撑铅笔收纳尝试。"
+     }
+    ]
+   },
+   "pens_in_pencil_box_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.0,
+      "log_step": null,
+      "text_zh": "观察：视频 21.0 s 银白色笔仍在桌面；视频 22.0–24.0 s 左夹爪两指合拢夹住该笔，笔随夹爪抬离原处。"
+     },
+     {
+      "t": 26.7,
+      "log_step": null,
+      "text_zh": "观察：视频 26.0–27.4 s 的腕视图密集帧显示，左夹爪携笔靠近文具盒，约视频 26.5 s 张开后，笔落在蓝色盒子外侧、邻近彩色书封面上缘的桌面；视频 28.5–41.5 s 仍可见这支横放的笔在盒外。"
+     },
+     {
+      "t": 59.2,
+      "log_step": 278,
+      "text_zh": "推断：视频中没有任何一支笔完成入盒；最终 q_score=1/11 与合盖这一新增目标相符，并不能把日志中的 dropped 当成入盒成功。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 22.0–26.5 s 左二指夹爪夹住银白色笔，抬起并携带，随后张开释放在文具盒外。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘驶向书桌并调整工作位置，支撑抓笔和向盒旁搬运。"
+     }
+    ]
+   },
+   "pens_in_pencil_box_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 18.0,
+      "log_step": null,
+      "text_zh": "观察：视频 14.0–20.0 s 机器人向桌上远侧文具区域伸爪，但未见远侧笔被夹起；另一支笔在视频 22.0–26.5 s 被夹起后也落在盒外，始终未出现两支笔入盒。"
+     },
+     {
+      "t": 59.2,
+      "log_step": 278,
+      "text_zh": "推断：第1支笔入盒都未成立，两支入盒计数也不成立；最终 q_score=1/11 不支持新增笔入盒目标。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "远侧笔的抓取尝试没有可见的包夹或随爪移动，夹指是否触及该笔不能从视图确认。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人驶向书桌工作位置，支撑对另一支笔的接近尝试。"
+     }
+    ]
+   },
+   "pencil_box_on_desk": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.0,
+      "log_step": null,
+      "text_zh": "观察：视频 3.0 s 蓝色文具盒已放在绿色书桌上；视频 26.0–27.4 s 抓笔释放期间盒子仍由桌面支撑，视频 28.5–41.5 s 与 48.0 s 仍在桌上，未见抬离或掉落。"
+     }
+    ]
+   },
+   "stapler_on_desk": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14.0,
+      "log_step": null,
+      "text_zh": "观察：视频 14.0 s ���部视图可见订书机仍在书柜低格内，后续未见夹爪携订书机离柜并放到桌面；视频 34.0 s 桌面未新增订书机。"
+     },
+     {
+      "t": 59.2,
+      "log_step": 278,
+      "text_zh": "推断：最终合盖已成立且 q_score=1/11，订书机上桌不能再成立。脚本的抓订书机指令不是实际搬运证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "机器人向书柜侧接近，但低格及夹指接触区域不可见，无法判断夹爪是否触碰订书机。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人在书柜前调整底盘位置，支撑取订书机的尝试。"
+     }
+    ]
+   },
+   "laptop_on_desk": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 30.0 s 笔记本电脑仍在床上、屏幕竖起；视频 53.3–55.8 s 腕视图仍显示电脑在床面附近，视频 59.2 s 头部视图可见电脑仍留在床上，未搬到绿色书桌。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "末段左夹爪在床边电脑附近开合并接近，未见包夹后把电脑抬离床面，实际接触部位无法确认。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人向床侧移动、调整朝向，支撑接近电脑的操作。"
+     }
+    ]
+   },
+   "laptop_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      59.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 30.0 s 电脑屏幕明显立起，合盖尚未成立；视频 53.3–55.8 s 腕视图中夹爪靠近床上的电脑，但合页与屏幕运动多被床框和机器人遮挡。"
+     },
+     {
+      "t": 59.1,
+      "log_step": 219,
+      "text_zh": "推断：视频约 59.1–59.2 s 头部视图重新露出床面，电脑呈合拢的黑色扁平外形；同脚本且同 state_sha 的生成结果在 log step 219 报告 lid closed? True，最终评分 q_score=1/11 与合盖相符。以视频 59.1 s 首次末态可见确认作为区间起点，实际合盖可能更早。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "左夹爪接近电脑屏幕并执行下压动作，但指端与屏幕相交处受遮挡，不能确定接触形式；不直接照抄脚本为压擦。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人在床旁移动并改变姿态，支撑合盖尝试。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.09090909090909091,
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pens_in_pencil_box_1",
+   "t": 26.6,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 22.0–26.5 s 左夹爪夹起一支银白色笔并搬向文具盒；视频约 26.5–26.8 s 释放后，笔位于盒外、彩色书封面上缘附近，视频 28.5–41.5 s 仍留在盒外。此前远侧笔的接近也没有完成入盒，因此最早未修复的计数步骤是第1支笔入盒；后来处理文件夹、书和电脑以及视频约 49 s 翻倒，均未修复这一步。"
+  },
+  "unmet": {
+   "folders_in_bookcase_1": false,
+   "folders_in_bookcase_2": false,
+   "books_in_bookcase_1": false,
+   "books_in_bookcase_2": false,
+   "pencil_in_pencil_box": false,
+   "pens_in_pencil_box_1": false,
+   "pens_in_pencil_box_2": false,
+   "pencil_box_on_desk": true,
+   "stapler_on_desk": false,
+   "laptop_on_desk": false,
+   "laptop_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 26.6,
+    "log_step": null,
+    "evidence_zh": "观察：视频 26.0–27.4 s 的密集腕视图中，左夹爪在笔尚未位于蓝色文具盒内部时张开，笔落到盒外桌面；视频 39.0–41.5 s 仍横放在盒外。这是未对准目标内部的释放。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：视频 26.5–26.8 s 机器人在盒外释放笔；log step 211 写入、log step 275 恢复后用于最终生成的脚本中，reach 在末端误差未达阈值时仍返回数值 best，搬到盒上方的调用只检查返回值是否非 None，随即 open_gripper，没有要求末端误差达标。log step 278 和 282 确认最终 1780 步结果及确定性回放；这一到位检查不足与画面中的错误释放相符，但具体逆解或接触控制子因无法分辨。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "无状态日志和成功参考视频；头部与腕部视图存在机器人及家具遮挡，无法确认文件夹、书、订书机以及电脑操作的具体接触方式，已标未知。电脑合页的精确闭合时刻受遮挡，区间起点采用视频 59.1 s 末态首次可见确认，实际可能在此前数秒已经闭合；该闭合判断结合视频末态、同脚本同 state_sha 的 log step 219 以及最终评分，不能精确验证 5% 关节阈值。q_score 排除开局保持的文具盒上桌目标，故最终节点计数 2/11 与 q_score=1/11 不矛盾。"
+ },
+ "summary_zh": "机器人夹起一支笔，但在视频约 26.6 s 将其释放在文具盒外，第1支笔入盒始终未修复；文件夹、书、铅笔及订书机均未完成目标搬放。文具盒保持在桌上，电脑末态合盖但仍在床上，最终为 2/11 个节点，机器人在视频约 49 s 开始明显翻倒，评分失败。合盖时刻及多项实际接触受遮挡，控制根因依据错误释放与最终脚本缺少到位门槛推断。",
+ "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（2/11，与 q_score=1/11 加开局文具盒的口径一致）、断点（第1支笔入盒，视频 26.6 s 释放在盒外）、位姿不准现象和控制根因均与视频及日志 step 211/219/275/278/282 相符；未发现需改的内容。合盖起点 59.1 s 已在 gap 中说明为末态首次可见。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:54:36Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-clean-up-your-desk-i00-privileged--3wmp3vh/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-up-your-desk-i00-privileged--3wmp3vh/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "2eea59ca8678def1763fa6bfbbfb0c5ad4d178cbb96284683649c63bd1b6cfba",
+   "video_sha256": "fc9d9e0977a45652ffaa8b815f165ecea02e2eb8dfae2351d84ce4dc54b9c1d1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_up_your_desk/trajectories/behavior-clean-up-your-desk-i00-privileged--iyohmcn.json

@@ -0,0 +1,456 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-up-your-desk-i00-privileged--iyohmcn",
+ "taskKey": "behavior-1k/clean_up_your_desk",
+ "dag_sha256": "c10db90087a2c419bb5d64f7cdaed29bd918775b4ff3a9aa79a6a9942098ee72",
+ "outcome": {
+  "success": 0,
+  "reward": 0.09090909090909091,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 4485,
+   "sim_steps": 4485,
+   "fallen": 1,
+   "final_reward": 0.09090909090909091,
+   "q_score": 0.09090909090909091,
+   "replay_wall_s": 3097.0,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 27,
+   "agent_resets": 0,
+   "agent_sim_steps": 23359,
+   "agent_records": 2,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-clean-up-your-desk-i00-privileged--iyohmcn/replay.mp4",
+  "duration_s": 149.5,
+  "fps": 30.0,
+  "frames": 4485,
+  "sha256": "721130f7c91da6a654c465e37ce2387b3efdd2b4d2f0868bff557dbdc5ab15de"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 11,
+  "base": 1,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "folders_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.5,
+      "log_step": 409,
+      "text_zh": "观察：视频 2–8 s，左腕画面中的蓝色文件夹离开椅面，随左夹爪升起并移到书桌处；视频 9 s 可见蓝色文件夹在桌面，未进入书柜。此处将首先操作的椅上文件夹作为第1个计数对象。"
+     },
+     {
+      "t": 149.33,
+      "log_step": 410,
+      "text_zh": "观察：视频 128–149.33 s 未见文件夹进入柜格，桌面仍可见蓝色文件夹；log step 410 的交付运行输出记录随后两次文件夹操作均报无 IK 解，未修复入柜目标。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 4–8 s，左夹爪夹住椅上的蓝色文件夹并搬至桌上暂放；这不是入柜。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–9 s，底盘移动、转向，配合左臂取椅上文件夹并移到书桌。"
+     }
+    ]
+   },
+   "folders_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9,
+      "log_step": null,
+      "text_zh": "观察：视频 9 s，蓝色文件夹在桌面，书柜格中未见两个文件夹；此前只把椅上文件夹暂放到桌上。"
+     },
+     {
+      "t": 149.33,
+      "log_step": 410,
+      "text_zh": "观察：视频 139–149.33 s，机器人在书柜旁倾斜，未见第二个文件夹入柜；log step 410 记录另一文件夹抓取目标无 IK 解，没有形成第二次入柜。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 410 记录交付运行尝试了另一文件夹，但报无 IK 解；视频 139–149.33 s 的腕部与机身遮挡使夹爪是否接触该文件夹无法确认，不把命令当作抓握。"
+     }
+    ]
+   },
+   "books_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 122,
+      "log_step": null,
+      "text_zh": "观察：视频 121–127 s 的桌面及左腕画面仍可见彩色封面的书，未见机器人把书送入柜格。"
+     },
+     {
+      "t": 149.33,
+      "log_step": 410,
+      "text_zh": "观察：视频 132–149.33 s 未见书从桌面转移到书柜；log step 410 记录先尝试的书抓取读数为 None，随后另一本书报无 IK 解。入柜数量始终未见达到1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 410 记录交付运行对第一本书进行了抓取尝试；视频 139–149.33 s 机器人倾斜、腕部遮挡，不能确认书与夹爪的实际接触方式。"
+     }
+    ]
+   },
+   "books_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 127,
+      "log_step": null,
+      "text_zh": "观察：视频 121–127 s 没有书入柜，桌面仍有书。"
+     },
+     {
+      "t": 149.33,
+      "log_step": 410,
+      "text_zh": "观察：视频直到 149.33 s 未出现两本书置于柜内的画面；log step 410 记录后尝试的另一本书在接近时即报无 IK 解。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 410 记录交付运行尝试了另一本书的接近动作，但没有 IK 解；视频末段无法确认对应目标处的夹爪接触。"
+     }
+    ]
+   },
+   "pencil_in_pencil_box": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 123.5,
+      "log_step": null,
+      "text_zh": "观察：视频 123–125 s 的左腕画面可见黄色铅笔仍在桌面、盒外；没有铅笔被夹起入盒的画面。"
+     },
+     {
+      "t": 149.33,
+      "log_step": 410,
+      "text_zh": "推断：视频 132–149.33 s 没有铅笔搬运入盒，log step 410 的交付运行记录铅笔抓取为 None；最终 q_score=1/11 对应已观察到的合盖增量，不能再计铅笔入盒。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 410 记录交付运行试抓铅笔，但视频末段机身倾斜与遮挡使铅笔处的手指接触不能分辨；未观察到对向夹持或搬运。"
+     }
+    ]
+   },
+   "pens_in_pencil_box_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 124.5,
+      "log_step": null,
+      "text_zh": "观察：视频 123–125 s 的左腕画面可见白色笔仍躺在桌面、盒外；未见笔被送入文具盒。"
+     },
+     {
+      "t": 149.33,
+      "log_step": 410,
+      "text_zh": "推断：视频 132–149.33 s 未见笔的成功搬运，log step 410 记录先试的笔抓取为 None，另一支接近报无 IK 解；最终 q_score=1/11 已由合盖解释，没有额外入盒目标成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 410 记录交付运行尝试了第一支笔；视频 139–149.33 s 的倾斜视角、机身及腕部遮挡使实际接触方式不能确认。"
+     }
+    ]
+   },
+   "pens_in_pencil_box_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 124.5,
+      "log_step": null,
+      "text_zh": "观察：视频 123–125 s 未见笔入盒，仍可见盒外桌面的笔。"
+     },
+     {
+      "t": 149.33,
+      "log_step": 410,
+      "text_zh": "推断：视频到 149.33 s 没有两支笔入盒的搬运动作，log step 410 记录后试的另一支笔报无 IK 解；最终 q_score=1/11 也不容许两支笔目标成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：log step 410 记录交付运行尝试接近另一支笔，但报无 IK 解；视频末段无法确认是否有与该笔的实际接触。"
+     }
+    ]
+   },
+   "pencil_box_on_desk": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 文具盒位于绿色书桌上；视频 121–128 s 和 149.33 s 再次看到盒子仍在桌上。全程未见机器人抬起或移走文具盒，保持初始桌面关系。"
+     }
+    ]
+   },
+   "stapler_on_desk": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 132.5,
+      "log_step": 410,
+      "text_zh": "观察：视频 129–133 s，机器人靠近书柜并将右夹爪伸向柜内，未见订书机随夹爪离柜。"
+     },
+     {
+      "t": 149.33,
+      "log_step": 410,
+      "text_zh": "推断：视频 133–149.33 s 未见订书机放上书桌；log step 410 的交付运行记录订书机抓取为 None。最终 q_score=1/11 由合盖解释，不能再计订书机上桌。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 130–133 s 右夹爪伸向书柜，但柜板遮住低层订书机和指尖接触区，不能确认是否夹到、压到或未碰到订书机。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 128–130 s，底盘从书桌旁移向书柜，为取订书机调整工作位置。"
+     }
+    ]
+   },
+   "laptop_on_desk": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 120.5,
+      "log_step": 411,
+      "text_zh": "观察：视频 119.5–121 s，左夹爪夹住电脑边缘，电脑离开床面，床上原位置变空；随后机器人携电脑移向书桌。"
+     },
+     {
+      "t": 127.5,
+      "log_step": 411,
+      "text_zh": "观察：视频 123–127.5 s，电脑悬在书桌近侧边缘外，未见整机由桌面承托；视频约 127.5–128.25 s 夹爪松开后电脑落到地板，未形成释放静止的上桌关系。log step 411 的交��运行反馈为 ontop=False。"
+     },
+     {
+      "t": 149.33,
+      "log_step": null,
+      "text_zh": "观察：视频 133–149.33 s，带红色标记的黑色电脑仍在桌旁地板，未被重新拾起上桌。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 119.5–127.5 s 左夹爪夹住电脑边缘，将其从床搬向书桌；释放后电脑落地。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 120–123 s，底盘转向并行驶，左臂携电脑从床旁到书桌旁。"
+     }
+    ]
+   },
+   "laptop_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      50.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 50.5,
+      "log_step": 409,
+      "text_zh": "观察：视频 49–50.5 s，左夹爪向前压推屏幕，盖板折向键盘并贴近平放；视频 51–119 s 盖板保持合上。log step 409 的交付运行也记录 j_screen 接近0、Open=False。"
+     },
+     {
+      "t": 128,
+      "log_step": 411,
+      "text_zh": "观察：视频 120–128 s，搬运及落地后的电脑呈合盖薄板状；视频 133–149.33 s 地板上的电脑未见重新张开的屏幕。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 45–54 s 左夹爪抵住屏幕并向键盘方向压推，使电脑合盖；没有夹住盖板搬动的证据。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 33–44 s，底盘从椅子区域驶向床边并转向电脑，进入合盖工作位置。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.09090909090909091,
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "laptop_on_desk",
+   "t": 127.5,
+   "log_step": 411,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 119.5–123 s 左夹爪把电脑从床搬到桌旁，视频 123–127.5 s 电脑仍悬在桌边外；约视频 127.5–128.25 s 松爪后电脑落到地板，直到视频 149.33 s 都未修复。log step 411 报告同一4485动作交付运行的电脑 ontop=False，随后继续取订书机；较早的文件夹操作只是成功暂放桌面，尚非失败的入柜放置。"
+  },
+  "unmet": {
+   "folders_in_bookcase_1": false,
+   "folders_in_bookcase_2": false,
+   "books_in_bookcase_1": false,
+   "books_in_bookcase_2": false,
+   "pencil_in_pencil_box": false,
+   "pens_in_pencil_box_1": false,
+   "pens_in_pencil_box_2": false,
+   "pencil_box_on_desk": true,
+   "stapler_on_desk": false,
+   "laptop_on_desk": false,
+   "laptop_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 127.5,
+    "log_step": 415,
+    "evidence_zh": "观察：视频 123–127.5 s，左夹爪携电脑停在书桌近侧，电脑主体低悬于桌沿外；视频约 127.5–128.25 s 松开后直接落地。log step 415 的交付脚本在两个固定末端目标之后执行 open_gripper，log step 411 反馈 ontop=False；这是未到桌面支承位置即释放。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 127.5,
+    "log_step": 415,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 414–415 显示 agent 的交付脚本抓住电脑后，以固定末端位姿搬向桌面，随后直接松爪，直到松爪之后才读取 OnTop；视频 123–128.25 s 显示实际电脑主体仍在桌沿外并落地，log step 411 确认 ontop=False。放置动作与释放控制未把电脑送至桌面支承范围；没有末端跟踪误差或接触力记录，无法可靠细分为抓取几何、逆解或反馈控制。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 只有视频和运行记录等文件，没有逐帧状态日志或成功参考视频；视频末段柜板、机身及腕部遮挡了订书机、铅笔、两支笔及书的具体指尖接触，因此这些尝试的 contact_actual 留未知。log step 409–411 的4485动作、终态及保存记录与评分器 n_actions=4485 相符，故用于识别交付运行；log step 446–448 只是更晚启动的新脚本，不能把其计划或其他会话测试计入视频进度。合盖时刻约视频 50.5 s、释放落地时刻约视频 127.5–128.25 s；关节5%阈值和具体放置控制误差无状态日志可精确复核。"
+ },
+ "summary_zh": "评分轨迹保持文具盒在桌面的初始关系，并在视频约 50.5 s 合上笔记本，最终完成2/11节点；文件夹只暂放桌上，书和文具未完成归位。断点是笔记本上桌：视频约 127.5 s 在桌沿外释放后电脑落地，放置控制未到位且未修复，随后机器人在书柜旁倾倒，评分器记录 fallen=1。无逐帧状态日志，末段若干小物体的实际接触无法分辨，已标未知；未把更晚会话脚本的计划计入交付轨迹。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值、q_score=1/11 的界定（文具盒开局即真不计、合盖计1）、断点（笔记本上桌，松爪落地未修复）与位姿不准/控制根因均与视频及 log step 409–415 相符；未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:55:45Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-clean-up-your-desk-i00-privileged--iyohmcn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-up-your-desk-i00-privileged--iyohmcn/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1fc2f358767676b43049e81ed8a50498586fa54a770037e6643e8c0a7f4a5f52",
+   "video_sha256": "721130f7c91da6a654c465e37ce2387b3efdd2b4d2f0868bff557dbdc5ab15de",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_up_your_desk/trajectories/behavior-clean-up-your-desk-i00-privileged--rjpmwuz.json

@@ -0,0 +1,475 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-up-your-desk-i00-privileged--rjpmwuz",
+ "taskKey": "behavior-1k/clean_up_your_desk",
+ "dag_sha256": "c10db90087a2c419bb5d64f7cdaed29bd918775b4ff3a9aa79a6a9942098ee72",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 8960,
+   "sim_breakdown": 0,
+   "goal": 0,
+   "settle_steps": 150,
+   "goal_first_step": -1,
+   "sim_steps": 9110,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 2280.0,
+   "replay_timeout_s": 7173.3,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "video_replay_matches": 1,
+   "agent_sessions": 4,
+   "agent_resets": 0,
+   "agent_sim_steps": 15010,
+   "agent_records": 3,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-clean-up-your-desk-i00-privileged--rjpmwuz/replay.mp4",
+  "duration_s": 303.667,
+  "fps": 30.0,
+  "frames": 9110,
+  "sha256": "76ab088cd77a7f2f998f45880bf28ac1b39c625735a6be3ac583bef4511c2003"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 11,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "folders_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 20,
+      "log_step": null,
+      "text_zh": "观察：视频 18–36 s，机器人左夹爪在椅上蓝色文件夹旁反复伸缩、合拢，上抬时文件夹仍留在椅面；视频 36 s 仍未带走。"
+     },
+     {
+      "t": 132,
+      "log_step": null,
+      "text_zh": "观察：视频 132 s，蓝色文件夹可见于书桌下方地面附近，机器人已经转去操作桌上物品；未见该文件夹进入书柜。"
+     },
+     {
+      "t": 303.6,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0、goal=0，结合开局只有文具盒留桌面已成立及全片未见入柜搬运，终态柜内文件夹数为 0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 10–14 s，左夹爪贴压椅上蓝色文件夹；视频 18–36 s 的取物动作未将其带走。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 6–9 s 底盘移向椅子，视频 37–40 s 又驶向书柜，为该文件夹的取放调整工作位置。"
+     }
+    ]
+   },
+   "folders_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 160,
+      "log_step": null,
+      "text_zh": "观察：视频 152–170 s，机器人左夹爪反复下降到桌上蓝色文件夹处并收回，视频 160 s 文件夹仍贴着桌面，未见持物运往书柜。"
+     },
+     {
+      "t": 303.6,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0，且视频未出现两个文件夹入柜；终态“至少两个文件夹在柜内”为假。计数节点不固定实例身份，此处记录另一文件夹的实际尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 160–164 s，左夹爪接触、贴压桌上蓝色文件夹，未见带离桌面。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 150–156 s，底盘在桌旁调整位置以接近蓝色文件夹。"
+     }
+    ]
+   },
+   "books_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 140,
+      "log_step": null,
+      "text_zh": "观察：视频 134–150 s，机器人左臂在桌边彩色封面的平装书附近反复伸出、收回；书仍在桌上，未见夹起后送入书柜。"
+     },
+     {
+      "t": 303.6,
+      "log_step": null,
+      "text_zh": "推断：视频 190 s、250 s 和 303.6 s 仍可见桌面书籍；结合评分器 q_score=0，终态没有新增书入柜目标成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 134–150 s 机器人在桌边书籍处尝试取物；腕视图中书页与夹爪交叠，无法确认实际接触方式。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 130–136 s 底盘从书柜旁移向桌边，���整取书位置。"
+     }
+    ]
+   },
+   "books_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 184,
+      "log_step": null,
+      "text_zh": "观察：视频 174–188 s，机器人继续在另一桌面取物位置反复伸缩夹爪，未见持书进入柜格；log step 99 的第三次录制监控分别报告两本书 grasped: False。"
+     },
+     {
+      "t": 303.6,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0，结合视频未见任何书籍入柜，“至少两本书在柜内”的终态条件为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 174–188 s 机器人有桌面取书动作；物体与夹爪接触区在腕相机边缘，无法确认是否碰到或如何碰到第二本书。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 172–178 s 底盘沿桌边换工作位置，继续尝试取书。"
+     }
+    ]
+   },
+   "pencil_in_pencil_box": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 190,
+      "log_step": null,
+      "text_zh": "观察：视频 190 s，黄色铅笔仍单独躺在桌面上，在文具盒外；视频 200–290 s 机器人在桌旁持续伸缩夹爪，没有可见的持铅笔入盒过程。"
+     },
+     {
+      "t": 303.6,
+      "log_step": null,
+      "text_zh": "推断：末段细小物体部分遮挡，但评分器 q_score=0，且该关系开局不成立，故铅笔入盒终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 200–290 s 的细物操作中，夹爪及目标常在桌沿以下或画面外；无法直接判定铅笔尝试的具体接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 190–200 s 及后段底盘在桌旁多次调整工作位置，配合细物取放流程。"
+     }
+    ]
+   },
+   "pens_in_pencil_box_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 190,
+      "log_step": null,
+      "text_zh": "观察：视频 190 s，一支灰白色笔仍躺在桌面上、位于文具盒外；机器人随后长时间在桌边伸缩夹爪，没有可见的持笔入盒过程。"
+     },
+     {
+      "t": 250,
+      "log_step": 100,
+      "text_zh": "观察：log step 100 的第三次录制监控报告 pen.n.01_1 抓取返回 None；视频 250 s 未见夹爪携笔。此日志只辅助确认所做步骤，未把日志时间转换成视频时间。"
+     },
+     {
+      "t": 303.6,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0，初始两支笔均在盒外，故终态“至少一支笔入盒”为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 190–290 s 机器人在桌旁尝试细物取放，头部及腕部画面无法确认笔与指面的接触方式。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 190–200 s 底盘转向、移近桌边，后续继续调整细物操作位置。"
+     }
+    ]
+   },
+   "pens_in_pencil_box_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 303.6,
+      "log_step": null,
+      "text_zh": "推断：视频 190–303.6 s 未见两支笔被放入文具盒；评分器 q_score=0，初始两支笔均不在盒内，故终态“至少两支笔入盒”为假。"
+     },
+     {
+      "t": 290,
+      "log_step": 67,
+      "text_zh": "推断：log step 67 所示脚本将两支笔和铅笔分别列为取放对象；交付视频后段持续在桌旁操作，但遮挡使第二支笔的具体尝试时刻和接触不能独立确定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频后段的夹爪和桌面细物接触区常在画面外；无法确定第二支笔是否受到实际接触及接触方式。"
+     }
+    ]
+   },
+   "pencil_box_on_desk": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7,
+      "log_step": null,
+      "text_zh": "观察：视频 7 s 可见文具盒位于绿色书桌远端；该桌面关系从开局即成立。"
+     },
+     {
+      "t": 190,
+      "log_step": null,
+      "text_zh": "观察：视频 190–290 s，蓝白色开口文具盒持续坐落在绿色桌面上，未见被抬离。"
+     },
+     {
+      "t": 303.633,
+      "log_step": null,
+      "text_zh": "观察：视频 303.633 s 的最后一帧以及视频 302.7–303.5 s 的连续末段帧中，文具盒仍留在桌面。"
+     }
+    ]
+   },
+   "stapler_on_desk": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 84,
+      "log_step": null,
+      "text_zh": "观察：视频 76–128 s，机器人在书柜下部反复伸出、收回右夹爪，夹爪离柜时未见夹带订书机，也未见随后在桌面释放订书机。"
+     },
+     {
+      "t": 303.6,
+      "log_step": null,
+      "text_zh": "推断：末帧未同时展示书柜底格与全部桌面；评分器 q_score=0，订书机上桌是初始未成立的目标，故其终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 76–128 s 右夹爪向书柜低层伸入；目标订书机及接触点被柜板、手臂和视角遮挡，实际接触方式未知。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 70–78 s 底盘在书柜前换位，调整右臂操作低层柜格的位置。"
+     }
+    ]
+   },
+   "laptop_on_desk": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 90,
+      "log_step": null,
+      "text_zh": "观察：视频 90 s 和 130 s，打开的黑色笔记本电脑仍完整留在床上；机器人随后转向书桌操作。"
+     },
+     {
+      "t": 186,
+      "log_step": null,
+      "text_zh": "观察：视频 186 s 电脑仍在床上且打开；全片未见将电脑夹起并搬至书桌。"
+     },
+     {
+      "t": 303.6,
+      "log_step": null,
+      "text_zh": "推断：末段视线转向桌面，电脑不在视野内；结合评分器 q_score=0，初始不成立的电脑上桌目标终态为假。"
+     }
+    ]
+   },
+   "laptop_closed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 186,
+      "log_step": null,
+      "text_zh": "观察：视频 130 s、160 s、186 s，床上电脑的屏幕盖明显张开；没有可见的压盖或转动屏幕盖操作。"
+     },
+     {
+      "t": 303.6,
+      "log_step": null,
+      "text_zh": "推断：视频后段机器人一直在桌旁操作，未见返回床边合盖；评分器 q_score=0，初始未成立的合盖目标终态为假。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "folders_in_bookcase_1",
+   "t": 20.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 18–36 s，机器人在椅上蓝色文件夹旁反复合拢并提起左夹爪，但文件夹仍停在椅面；随后机器人移向书柜和书桌，始终没有完成该文件夹入柜。推断：这是最早启动而未被后续修复的目标步骤。"
+  },
+  "unmet": {
+   "folders_in_bookcase_1": false,
+   "folders_in_bookcase_2": false,
+   "books_in_bookcase_1": false,
+   "books_in_bookcase_2": false,
+   "pencil_in_pencil_box": false,
+   "pens_in_pencil_box_1": false,
+   "pens_in_pencil_box_2": false,
+   "pencil_box_on_desk": true,
+   "stapler_on_desk": false,
+   "laptop_on_desk": false,
+   "laptop_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 20.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 18–36 s 的文件夹取物阶段，左夹爪多次收合、上抬，蓝色文件夹未随夹爪离开椅面，所需的搬运抓握没有建立。log step 97 另记载此前移椅准备动作曾误识别夹到文件夹并主动释放；该准备动作的主动释放不作为滑落现象。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：视频 18–36 s，机器人已到文件夹附近但重复夹取不能把文件夹带走；log step 98 的第三次录制监控继续出现目标文件夹抓取 None、左臂 move_ee 无逆解并最终 placed: False。证据支持取物控制未能实现目标，尚不能区分接触几何、轨迹求解与跟踪误差各自的贡献。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志和成功参考视频。头部及腕部相机在书柜低层、桌面细物操作时常遮住目标接触点；不能确认这些尝试的具体接触，已标未知。日志包含三次录制，且部分脚本文本在输入记录中被截断；只用第三次录制监控辅助说明控制问题，不将 agent 时间或方括号内的墙钟读数映射成视频时间。未达节点的终态在不可见处以评分器 q_score=0 的总量约束推断，未以该总分替代可见搬运动作。"
+ },
+ "summary_zh": "评分回放只保持了开局已成立的文具盒留桌面，终态及已观察峰值均为 1/11；未见文件夹、书或笔完成目标搬运，电脑仍在床上打开。最早未修复的步骤是第1个文件夹入柜：机器人反复收合、上抬夹爪却没有带走椅上文件夹，视频与第三次录制日志支持控制层面的取物失败。无状态日志，柜内及细物接触受遮挡，具体接触和控制子原因仍有缺口。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "终态 1/11（仅开局成立的文具盒）与 q_score=0、goal=0 一致；抽查视频 0/20/24/44/303 s 及 log id 70/71/90/98/99，未见文件夹、书、笔入柜入盒，断点（第1个文件夹，视频约 20 s，操作中）与「没建立接触 + 控制」标签有视频和监控日志支持，未发现需要改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:55:47Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-clean-up-your-desk-i00-privileged--rjpmwuz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-up-your-desk-i00-privileged--rjpmwuz/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0154b33ca5409c74cc23b480d16b7b588e945f1feaafcf62f0ea676b60593ebf",
+   "video_sha256": "76ab088cd77a7f2f998f45880bf28ac1b39c625735a6be3ac583bef4511c2003",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_up_your_desk/trajectories/behavior-clean-up-your-desk-i00-standard--23wgkge.json

@@ -0,0 +1,336 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-up-your-desk-i00-standard--23wgkge",
+ "taskKey": "behavior-1k/clean_up_your_desk",
+ "dag_sha256": "c10db90087a2c419bb5d64f7cdaed29bd918775b4ff3a9aa79a6a9942098ee72",
+ "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": 862,
+   "sim_steps": 862,
+   "physics_steps": 3448,
+   "steps": 834,
+   "elapsed_s": 1551.4,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-clean-up-your-desk-i00-standard--23wgkge/replay.mp4",
+  "duration_s": 28.733,
+  "fps": 30.0,
+  "frames": 862,
+  "sha256": "2cc0c75fe94bf64a307c0699ff5c32fb06b1805bbd3780b783caf570a7993076"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 11,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "folders_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 28.7,
+      "log_step": 198,
+      "text_zh": "推断：完整视频抽查及视频 3.0–4.1 s、8.0–13.8 s、14.0–25.3 s 和27.7–28.7 s的密集画面只显示机器人环视、移动、失衡与尝试扶正，未显示完成“第1个文件夹入柜”的物体转移或操作。log step 36 的服务任务文本给出该条件初始未成立；评分器 q_score=0、live_matches_replay=1，排除终态新增的该目标关系，因此 final=false；不是仅凭失败总分判定未尝试。"
+     }
+    ]
+   },
+   "folders_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 28.7,
+      "log_step": 198,
+      "text_zh": "推断：完整视频抽查及视频 3.0–4.1 s、8.0–13.8 s、14.0–25.3 s 和27.7–28.7 s的密集画面只显示机器人环视、移动、失衡与尝试扶正，未显示完成“第2个文件夹入柜”的物体转移或操作。log step 36 的服务任务文本给出该条件初始未成立；评分器 q_score=0、live_matches_replay=1，排除终态新增的该目标关系，因此 final=false；不是仅凭失败总分判定未尝试。"
+     }
+    ]
+   },
+   "books_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 28.7,
+      "log_step": 198,
+      "text_zh": "推断：完整视频抽查及视频 3.0–4.1 s、8.0–13.8 s、14.0–25.3 s 和27.7–28.7 s的密集画面只显示机器人环视、移动、失衡与尝试扶正，未显示完成“第1本书入柜”的物体转移或操作。log step 36 的服务任务文本给出该条件初始未成立；评分器 q_score=0、live_matches_replay=1，排除终态新增的该目标关系，因此 final=false；不是仅凭失败总分判定未尝试。"
+     }
+    ]
+   },
+   "books_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 28.7,
+      "log_step": 198,
+      "text_zh": "推断：完整视频抽查及视频 3.0–4.1 s、8.0–13.8 s、14.0–25.3 s 和27.7–28.7 s的密集画面只显示机器人环视、移动、失衡与尝试扶正，未显示完成“第2本书入柜”的物体转移或操作。log step 36 的服务任务文本给出该条件初始未成立；评分器 q_score=0、live_matches_replay=1，排除终态新增的该目标关系，因此 final=false；不是仅凭失败总分判定未尝试。"
+     }
+    ]
+   },
+   "pencil_in_pencil_box": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 28.7,
+      "log_step": 198,
+      "text_zh": "推断：完整视频抽查及视频 3.0–4.1 s、8.0–13.8 s、14.0–25.3 s 和27.7–28.7 s的密集画面只显示机器人环视、移动、失衡与尝试扶正，未显示完成“铅笔入文具盒”的物体转移或操作。log step 36 的服务任务文本给出该条件初始未成立；评分器 q_score=0、live_matches_replay=1，排除终态新增的该目标关系，因此 final=false；不是仅凭失败总分判定未尝试。"
+     }
+    ]
+   },
+   "pens_in_pencil_box_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 28.7,
+      "log_step": 198,
+      "text_zh": "推断：完整视频抽查及视频 3.0–4.1 s、8.0–13.8 s、14.0–25.3 s 和27.7–28.7 s的密集画面只显示机器人环视、移动、失衡与尝试扶正，未显示完成“第1支笔入盒”的物体转移或操作。log step 36 的服务任务文本给出该条件初始未成立；评分器 q_score=0、live_matches_replay=1，排除终态新增的该目标关系，因此 final=false；不是仅凭失败总分判定未尝试。"
+     }
+    ]
+   },
+   "pens_in_pencil_box_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 28.7,
+      "log_step": 198,
+      "text_zh": "推断：完整视频抽查及视频 3.0–4.1 s、8.0–13.8 s、14.0–25.3 s 和27.7–28.7 s的密集画面只显示机器人环视、移动、失衡与尝试扶正，未显示完成“第2支笔入盒”的物体转移或操作。log step 36 的服务任务文本给出该条件初始未成立；评分器 q_score=0、live_matches_replay=1，排除终态新增的该目标关系，因此 final=false；不是仅凭失败总分判定未尝试。"
+     }
+    ]
+   },
+   "pencil_box_on_desk": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": 36,
+      "text_zh": "推断：log step 36 的服务任务文本明确文具盒开局在书桌上；视频 0.0 s 可见书桌及桌面物品，视频 9.0 s、12.0 s 和14.0–15.5 s 的较近视角可见浅蓝色盒状物仍在绿色桌面靠窗处，结合初态判为文具盒在桌面关系从视频 0.0 s 起成立。"
+     },
+     {
+      "t": 28.7,
+      "log_step": 198,
+      "text_zh": "推断：已检查全片及视频 27.7–28.7 s 的末段；未见机器人夹起文具盒或盒子离开桌面，视频 20.0–25.3 s 的侧倒视角主要显示桌椅与书柜，末段桌面被遮挡。按前后画面和没有文具盒搬移动作的过程推断初始关系保持至终态；评分器 q_score=0 不计一直保持的初始目标，不能据此将该节点判假。"
+     }
+    ]
+   },
+   "stapler_on_desk": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 28.7,
+      "log_step": 198,
+      "text_zh": "推断：完整视频抽查及视频 3.0–4.1 s、8.0–13.8 s、14.0–25.3 s 和27.7–28.7 s的密集画面只显示机器人环视、移动、失衡与尝试扶正，未显示完成“订书机上桌”的物体转移或操作。log step 36 的服务任务文本给出该条件初始未成立；评分器 q_score=0、live_matches_replay=1，排除终态新增的该目标关系，因此 final=false；不是仅凭失败总分判定未尝试。"
+     }
+    ]
+   },
+   "laptop_on_desk": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 28.7,
+      "log_step": 198,
+      "text_zh": "推断：完整视频抽查及视频 3.0–4.1 s、8.0–13.8 s、14.0–25.3 s 和27.7–28.7 s的密集画面只显示机器人环视、移动、失衡与尝试扶正，未显示完成“笔记本上桌”的物体转移或操作。log step 36 的服务任务文本给出该条件初始未成立；评分器 q_score=0、live_matches_replay=1，排除终态新增的该目标关系，因此 final=false；不是仅凭失败总分判定未尝试。"
+     }
+    ]
+   },
+   "laptop_closed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 28.7,
+      "log_step": 198,
+      "text_zh": "推断：完整视频抽查及视频 3.0–4.1 s、8.0–13.8 s、14.0–25.3 s 和27.7–28.7 s的密集画面只显示机器人环视、移动、失衡与尝试扶正，未显示完成“合上笔记本”的物体转移或操作。log step 36 的服务任务文本给出该条件初始未成立；评分器 q_score=0、live_matches_replay=1，排除终态新增的该目标关系，因此 final=false；不是仅凭失败总分判定未尝试。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": 3.3,
+   "log_step": 82,
+   "where": "探索",
+   "evidence_zh": "观察：视频 3.0–4.1 s 中，机器人环视时头部与腕部视角快速翻转，随后画面偏向天花板；此时未见夹爪对任何一件目标进行抓取。log step 82 执行的是机器人原地旋转采集房间点云，log step 115 的服务本体读数报告底盘上轴竖直分量 cos(rx)cos(ry)=-0.38485；视频 15.5–20.0 s 再次明显侧倒，视频 27.7–28.7 s 仍未扶正，log step 198 的服务状态为 failure: the robot fell over。无法从环视和通用靠近书桌的行为唯一确定正在处理哪��项物品，故步骤 ref=unknown。"
+  },
+  "unmet": {
+   "folders_in_bookcase_1": false,
+   "folders_in_bookcase_2": false,
+   "books_in_bookcase_1": false,
+   "books_in_bookcase_2": false,
+   "pencil_in_pencil_box": false,
+   "pens_in_pencil_box_1": false,
+   "pens_in_pencil_box_2": false,
+   "pencil_box_on_desk": true,
+   "stapler_on_desk": false,
+   "laptop_on_desk": false,
+   "laptop_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 3.3,
+    "log_step": 115,
+    "evidence_zh": "观察：视频 3.0–4.1 s 的环视过程中场景发生大幅翻转；视频 15.5–20.0 s 各相机再次剧烈侧转并降向地面，视频 27.7–28.7 s 的最后一秒保持侧倒低视角。log step 115 的服务底盘读数为 cos(rx)cos(ry)=-0.38485，log step 178 的服务读数为 rx=-4.042、ry=-2.064，log step 198 明确以机器人摔倒终止，说明是机器人失衡而非仅相机主动俯仰。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 82 的机器人环视脚本每个控制步命令底盘旋转 0.2618 rad，并从新测关节位置重新生成躯干和臂的目标，没有检查底盘倾角；log step 115 已读到倒置的底盘上轴，后续仍继续底盘标定。log step 174–176 的位置闭环只依据头相机平面位置求底盘指令，反复达到每步 ±0.15 m，并在位置停滞时继续驱动；视频 15.5–20.0 s 可见进一步失衡。log step 190、194、196 的底盘和躯干扶正动作最终也未恢复。由实际控制代码、服务倾角与视频判断为移动及姿态控制失效；没有独立证据将其归为感知、任务理解或某个已证实的单一参数错误。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志或成功参考视频；头部和双腕相机随躯干运动，不能据相机倾斜连续重建底盘姿态。机器人只做房间扫描和靠近书桌的调试，没有清晰选定某件物品，无法唯一绑定断点到 DAG 节点，也不能把通用移动的底盘接触任意分配给各物品节点；因此未给未开展的物品步骤添加 contact_actual。细小文具和末段桌面存在遮挡，文具盒保持至终态依赖前后画面推断；其余终态结合初态、未见完成动作与 q_score=0 判定。"
+ },
+ "summary_zh": "本回合没有确认完成新的整理步骤，初始文具盒在桌面关系推断保持，初始、峰值和终态均为 1/11。机器人在环视及靠近书桌调试时反复失衡，移动和姿态控制未能恢复，服务最终以摔倒结束回合。没有状态日志，末段桌面被遮挡，且无法唯一判断机器人当时正为哪件物品工作，断点步骤保留 unknown。 因靠近书桌所服务的具体物品步骤无法核实，置信度由 7 降为 6。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点值（仅文具盒在桌面保持，其余 false）、倒地现象“平衡”和根因“控制”与视频及服务读数一致；唯一问题是断点 ref 写成 unknown：机器人在做第一个步骤之前的环视/靠近书桌途中就翻倒，没有任何物品步骤开始，按 FAIL-2/S14，断点应是被处理或下一个未完成的首步，而不是 unknown。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（仅文具盒在桌面保持，其余 false）、平衡现象、控制根因与视频一致；机器人始终只在环视/靠近书桌并早期翻倒，未对任何物品开展动作，证据无法指出具体步骤，ref=unknown 符合 03 规则，不重复上一轮已被合理驳回的意见。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:27:14Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-clean-up-your-desk-i00-standard--23wgkge/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-up-your-desk-i00-standard--23wgkge/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-up-your-desk-i00-standard--23wgkge/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-clean-up-your-desk-i00-standard--23wgkge/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d1098323ec1b8e123e6ed8d5eb028c91988725576c846c376ce0d4c8921271d6",
+   "video_sha256": "2cc0c75fe94bf64a307c0699ff5c32fb06b1805bbd3780b783caf570a7993076",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_up_your_desk/trajectories/behavior-clean-up-your-desk-i00-standard--8n3qsyo.json

@@ -0,0 +1,398 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-up-your-desk-i00-standard--8n3qsyo",
+ "taskKey": "behavior-1k/clean_up_your_desk",
+ "dag_sha256": "c10db90087a2c419bb5d64f7cdaed29bd918775b4ff3a9aa79a6a9942098ee72",
+ "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": 4138,
+   "sim_steps": 4138,
+   "physics_steps": 16552,
+   "steps": 2893,
+   "elapsed_s": 1392.2,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.284,
+   "peak_processes": 10,
+   "peak_disk_gb": 0.222,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-clean-up-your-desk-i00-standard--8n3qsyo/replay.mp4",
+  "duration_s": 137.933,
+  "fps": 30.0,
+  "frames": 4138,
+  "sha256": "8c9381e0795aeec00a7d43f78522ee684ee67708dcd3990d9c5b01240a822616"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 11,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "folders_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 32,
+      "log_step": 42,
+      "text_zh": "观察：视频 30–40.5 s，机器人右夹爪在椅上蓝色文件夹上方调整，文件夹仍由椅面承托，未进入夹爪。log step 42 的脚本目标为移到椅上文件夹上方。"
+     },
+     {
+      "t": 41,
+      "log_step": 46,
+      "text_zh": "观察：视频 40.5–42 s，机器人右臂扫向椅子，椅子随之翻倒，蓝色文件夹离开椅面；视频 94–100 s 可见它落在书柜前地面，机器人未将其送入柜内。"
+     },
+     {
+      "t": 120,
+      "log_step": null,
+      "text_zh": "推断：视频 44–120 s 桌上另一文件夹仍在原处，落地文件夹未被拾起；后续视频 122–137.9 s 机器人转向床边并翻倒，没有文件夹入柜，故最终柜内计数为零。评分字段 q_score=0.0 与此一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 41 s，准备抓椅上文件夹时，机器人右臂及腕部扫碰椅子并将其碰倒；未见夹爪夹住文件夹。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 88–115 s，为清理碰倒椅子造成的柜前障碍，机器人右夹爪包住椅腿并拖移椅子；抓握对象是椅腿，不是文件夹。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人底盘驶向椅上文件夹的操作位置，随后在视频约 90–115 s 支撑右臂拖移倒椅；此恢复过程未使文件夹入柜。"
+     }
+    ]
+   },
+   "folders_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 60,
+      "log_step": null,
+      "text_zh": "观察：视频 16–40 s 两个蓝色文件夹分别在桌面和椅面；视频 60 s 桌上文件夹仍在桌面，另一文件夹已随椅子翻倒落地，书柜没有新增文件夹。"
+     },
+     {
+      "t": 120,
+      "log_step": null,
+      "text_zh": "推断：视频全程没有文件夹被机器人搬入书柜，视频 98–120 s 仍可见一个在桌上、一个在柜前地面；最终不足两个，评分字段 q_score=0.0 支持最终为假。"
+     }
+    ]
+   },
+   "books_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 60,
+      "log_step": null,
+      "text_zh": "观察：视频 16 s、44–60 s 及 92 s，两本彩色封面的平装书仍分别平放在书桌两端；机器人没有抓取或搬运书本，书柜中未出现搬入的书。"
+     },
+     {
+      "t": 137.9,
+      "log_step": null,
+      "text_zh": "推断：视频 122–137.9 s 机器人在床边翻倒，未再返回书桌搬书；结合前段两本书始终留桌及评分字段 q_score=0.0，柜内书本不足1本，最终为假。"
+     }
+    ]
+   },
+   "books_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 60,
+      "log_step": null,
+      "text_zh": "观察：视频 16 s、44–60 s 及 92 s，两本彩色封面的平装书仍分别平放在书桌两端；机器人没有抓取或搬运书本，书柜中未出现搬入的书。"
+     },
+     {
+      "t": 137.9,
+      "log_step": null,
+      "text_zh": "推断：视频 122–137.9 s 机器人在床边翻倒，未再返回书桌搬书；结合前段两本书始终留桌及评分字段 q_score=0.0，柜内书本不足2本，最终为假。"
+     }
+    ]
+   },
+   "pencil_in_pencil_box": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 60,
+      "log_step": null,
+      "text_zh": "观察：视频 44–60 s，黄色铅笔样细长物仍在桌面文具盒旁，机器人右臂未到达该区域，也未进行入盒放置。"
+     },
+     {
+      "t": 137.9,
+      "log_step": null,
+      "text_zh": "推断：视频全程机器人只在椅子及床边活动，未改变铅笔与文具盒关系；评分字段 q_score=0.0，且该入盒关系开局不成立，约束其最终为假。"
+     }
+    ]
+   },
+   "pens_in_pencil_box_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 60,
+      "log_step": null,
+      "text_zh": "观察：视频 44–60 s 可见桌上文具盒及附近细小文具；机器人没有接近这些笔，也没有执行任何抓笔或向盒内释放的动作。"
+     },
+     {
+      "t": 137.9,
+      "log_step": null,
+      "text_zh": "推断：两支笔开局在桌上，视频全程没有入盒操作；小物体的最终位置在翻倒后的视角中不可直接辨清，但评分字段 q_score=0.0 排除新增的入盒目标成立，因此至少1支笔入盒最终为假。"
+     }
+    ]
+   },
+   "pens_in_pencil_box_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 60,
+      "log_step": null,
+      "text_zh": "观察：视频 44–60 s 可见桌上文具盒及附近细小文具；机器人没有接近这些笔，也没有执行任何抓笔或向盒内释放的动作。"
+     },
+     {
+      "t": 137.9,
+      "log_step": null,
+      "text_zh": "推断：两支笔开局在桌上，视频全程没有入盒操作；小物体的最终位置在翻倒后的视角中不可直接辨清，但评分字段 q_score=0.0 排除新增的入盒目标成立，因此至少2支笔入盒最终为假。"
+     }
+    ]
+   },
+   "pencil_box_on_desk": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的 task_text 指明文具盒开局在书桌上；视频 16 s 及 44–60 s 可见桌面远端的文具盒，机器人从未抓取或抬离它，因此关系从视频 0 s 起成立。"
+     },
+     {
+      "t": 120,
+      "log_step": null,
+      "text_zh": "观察：视频 60 s、92 s 及 120 s，文具盒留在书桌原位置，机器人未触碰盒子或桌面。"
+     },
+     {
+      "t": 137.9,
+      "log_step": null,
+      "text_zh": "推断：视频 122–137.9 s 机器人在床边翻倒，书桌在另一侧，没有作用到文具盒；末帧书桌区域离开视野，但结合前后动作判断盒仍在桌上。q_score=0.0 不计开局已成立且保持的目标关系。"
+     }
+    ]
+   },
+   "stapler_on_desk": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 60,
+      "log_step": null,
+      "text_zh": "观察：视频 54–64 s 机器人只调整右臂并转向倒椅；视频 64–115 s 夹爪操作椅腿，没有从书柜取出订书机或放到桌面的动作。"
+     },
+     {
+      "t": 137.9,
+      "log_step": null,
+      "text_zh": "推断：订书机按 task_text 开局在书柜内；全程无订书机转移，评分字段 q_score=0.0 也排除新增订书机上桌目标，最终为假。"
+     }
+    ]
+   },
+   "laptop_on_desk": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 98,
+      "log_step": 104,
+      "text_zh": "观察：视频 96–124 s 黑色打开的笔记本电脑仍在床面；机器人移开椅子后空手转向床边，未抓住电脑。"
+     },
+     {
+      "t": 137.9,
+      "log_step": 105,
+      "text_zh": "观察：视频 125–132 s 机器人失衡翻倒；视频 137–137.9 s 的末尾画面仍见电脑机身和打开的屏幕在床边，未被送到绿色书桌上。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 123–132 s，机器人底盘空手驶向床上笔记本电脑的取物位置，随后失衡翻倒；夹爪没有接触电脑。"
+     }
+    ]
+   },
+   "laptop_closed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 120,
+      "log_step": null,
+      "text_zh": "观察：视频 96–124 s 黑色笔记本在床面保持打开，屏幕��对键盘明显竖起；机器人没有压盖或夹住盖板。"
+     },
+     {
+      "t": 137.9,
+      "log_step": null,
+      "text_zh": "观察：视频 137–137.9 s，床边电脑屏幕与键盘仍明显分开，未接近闭合，故合盖最终为假。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "folders_in_bookcase_1",
+   "t": 41.0,
+   "log_step": 46,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 30–40.5 s，机器人右夹爪已在椅上文件夹上方准备取物；视频约 41 s，右臂转动时扫倒椅子，文件夹滑落，视频 98 s 仍在柜前地面。log step 42 明确以椅上文件夹为目标，log step 46 执行改向动作，log step 49 的 agent 自述承认大幅腕部转动碰倒椅子。推断：后来拖开椅子没有完成文件夹入柜，首次失败的这一步始终未修复，因此断点保留在第1个文件夹入柜；视频约 125–132 s 床边翻倒是后续终止事件。"
+  },
+  "unmet": {
+   "folders_in_bookcase_1": false,
+   "folders_in_bookcase_2": false,
+   "books_in_bookcase_1": false,
+   "books_in_bookcase_2": false,
+   "pencil_in_pencil_box": false,
+   "pens_in_pencil_box_1": false,
+   "pens_in_pencil_box_2": false,
+   "pencil_box_on_desk": true,
+   "stapler_on_desk": false,
+   "laptop_on_desk": false,
+   "laptop_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 41.0,
+    "log_step": 46,
+    "evidence_zh": "观察：视频 40.5 s 椅子和文件夹仍在原位，机器人右臂紧邻椅面；视频 41–42 s 右臂扫动后椅子翻倒、文件夹离开椅面，视频 98 s 蓝色文件夹落在柜前地面。机器人没有建立对文件夹的抓握，不能将这次掉落称为持物后失手；可见异常是右臂碰倒承托文件夹的椅子。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 42 的 move_cart/path_rows 代码用局部逆解生成关节序列并插值执行，目标是把右夹爪移到椅上文件夹上方；log step 45–46 为使腕相机朝前，将右夹爪朝向翻转并执行这条关节路径，代码未检查路径与椅子的碰撞。视频 38–42 s 显示腕部大幅改向时右臂扫过椅子；log step 49 的 agent 自述也将碰倒归于这次腕部转动。推断：取文件夹的目标本身正确，但生成的改向轨迹未让整条右臂避开椅子，导致碰撞并中断取物。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频，无法核验物体包围盒、速度和精确接触链接；碰倒椅子时部分接触点受腕部遮挡。文具盒末态和微小文具的最终关系结合未发生转移的画面及评分字段推断，未把 agent 的抓取自述当成目标完成证据。"
+ },
+ "summary_zh": "仅保持开局已成立的文具盒留桌面，最终为 1/11，其余目标均未完成（q_score=0.0 不计初始已满足关系）。机器人准备取椅上文件夹时在视频约 41 s 因右臂改向轨迹碰倒椅子，文件夹落地后从未入柜；随后拖开椅子，空手驶向床上电脑时于视频约 125–132 s 翻倒，log step 105 确认服务以跌倒终止。无状态日志，微小文具与末帧视野外关系需要结合全程动作和评分字段判断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "断点（约 41 s 右臂改向时扫倒椅子、取椅上文件夹中断且之后未修复）、各节点终值（仅开局成立的文具盒为真，其余为假）、跌倒终止时间（视频约 125–132 s）与现象/根因均得到视频帧和 log 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": "2026-10-30T21:54:46Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-clean-up-your-desk-i00-standard--8n3qsyo/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-up-your-desk-i00-standard--8n3qsyo/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a52796729cdb4889d7433a2ff88ad2214c74e37c80e3920e3de86b47c97a2bdc",
+   "video_sha256": "8c9381e0795aeec00a7d43f78522ee684ee67708dcd3990d9c5b01240a822616",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_up_your_desk/trajectories/behavior-clean-up-your-desk-i00-standard--beuihje.json

@@ -0,0 +1,476 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-up-your-desk-i00-standard--beuihje",
+ "taskKey": "behavior-1k/clean_up_your_desk",
+ "dag_sha256": "c10db90087a2c419bb5d64f7cdaed29bd918775b4ff3a9aa79a6a9942098ee72",
+ "outcome": {
+  "success": 0,
+  "reward": 0.45454545454545453,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "n_actions": 19142,
+   "sim_steps": 19142,
+   "physics_steps": 76568,
+   "steps": 18695,
+   "elapsed_s": 13619.6,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "q_score": 0.45454545454545453,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-clean-up-your-desk-i00-standard--beuihje/replay.mp4",
+  "duration_s": 638.067,
+  "fps": 30.0,
+  "frames": 19142,
+  "sha256": "0e9e753df1da09d32dcb0affc61ea676a87866b56042a646252b626689adea9b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 11,
+  "base": 1,
+  "peak": 6,
+  "final": 6,
+  "nodes": {
+   "folders_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      264.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 264.0,
+      "log_step": 344,
+      "text_zh": "观察：视频 250–263 s 机器人右夹爪携带蓝色文件夹进入书柜格内；视频 263.7–267 s 夹爪张开撤离，文件夹竖靠格内侧壁并由层板支承，未再随手移动。首次完成时间约为视频 264 s。"
+     },
+     {
+      "t": 525.0,
+      "log_step": null,
+      "text_zh": "观察：视频 525–527 s 可见该蓝色文件夹仍在柜格内，后放入的彩色封面书位于同格。两文件夹按入柜数量计，此件计第1个。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人右夹爪先拨动桌面文件夹露出边缘，随后夹住边缘、提起并放入柜格（视频 230–267 s）。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人持文件夹从书桌转向书柜并调整工作位置（视频 251–259 s）。"
+     }
+    ]
+   },
+   "folders_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 539.0,
+      "log_step": 525,
+      "text_zh": "观察：视频 530–537 s 机器人右手在椅面滑动另一蓝色文件夹，视频 539–541 s 文件夹由椅面落到地板；视频 558–565 s 再次夹取时它仍留在地面，视频 570–578 s 也未被带走。柜内始终只有先前放入的1个文件夹。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "机器人右夹爪在椅面推移文件夹，后在地板边角处夹取未形成持握，文件夹被推动（视频 533–565 s）。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人在椅子及落地文件夹附近调整位置，随后撤离（视频 554–578 s）。"
+     }
+    ]
+   },
+   "books_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      525.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 525.0,
+      "log_step": 514,
+      "text_zh": "观察：视频 510–518 s 机器人右夹爪将桌上剩余的彩色封面书提起并移到书柜；视频 523–525 s 张爪撤离，书留在蓝色文件夹所在柜格内，视频 526–527 s 可见其平放并静止。按实际入柜数量，这本后搬运的书计第1本。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人右夹爪先推动书至桌边，夹住露出边缘后搬运并释放（视频 466–527 s）。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人持书由书桌转向书柜，在柜前调整位置（视频 512–518 s）。"
+     }
+    ]
+   },
+   "books_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 69.0,
+      "log_step": 137,
+      "text_zh": "观察：视频 64–68.8 s 机器人左夹爪持最先拿起的书停在柜格前；视频约 69 s 松手后书向下落出视野，柜格未留下这本书。视频 267.7 s、284–289 s 腕部视图可见白色书背平躺在柜前地面，右手回收动作没有把它提起。"
+     },
+     {
+      "t": 527.0,
+      "log_step": 364,
+      "text_zh": "推断：视频 525–527 s 只有后来搬运的另一本书入柜，原来落地的书未被回收，因此“至少2本入柜”从���成立；该落地未恢复的搬运对应仍缺的第2本计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左夹爪夹住先搬运书的边缘并携带至柜前，松手后书落地；右夹爪随后在地面尝试夹取/从边缘拨起，未再次持住（视频 40–69 s、270–289 s）。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人携书从桌边驶至书柜前（视频 43–64 s），并为地面回收调整位置。"
+     }
+    ]
+   },
+   "pencil_in_pencil_box": {
+    "method": "visual",
+    "intervals": [
+     [
+      365.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 350.0,
+      "log_step": 403,
+      "text_zh": "观察：视频 346–350 s 首次释放的黄色铅笔横落在文具盒外桌面，并未入盒。"
+     },
+     {
+      "t": 365.0,
+      "log_step": 411,
+      "text_zh": "观察：视频 360–364.3 s 机器人右夹爪重新夹起黄色铅笔并对准开口；视频 364.7 s 松手下落，视频 365–370 s 黄色笔杆已沿盒长轴躺在内部且不再随夹爪移动。"
+     },
+     {
+      "t": 457.5,
+      "log_step": null,
+      "text_zh": "观察：视频 434–457.5 s 腕部视图仍能看到黄色铅笔位于盒内；后续机器人转去搬书和操作电脑，未再取出铅笔。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人右夹爪夹住黄色铅笔、提起、调整方向并再次释放到文具盒内部（视频 338–365 s）。"
+     }
+    ]
+   },
+   "pens_in_pencil_box_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      431.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 395.0,
+      "log_step": null,
+      "text_zh": "观察：视频 327–335 s 的首次笔投放后笔仍在盒旁；视频 395–403 s 的另一投放后仍可见笔落在桌面，未按 agent 的投放自述计入。"
+     },
+     {
+      "t": 431.5,
+      "log_step": 455,
+      "text_zh": "观察：视频 424–431 s 机器人右夹爪夹住跨盒口的笔，沿开口重新调整；视频 431.5–436.5 s 夹爪张开撤离后，该笔斜躺在盒内，前端略伸出但中段位于盒内。两支笔按入盒数量计，此件计第1支。"
+     },
+     {
+      "t": 460.0,
+      "log_step": null,
+      "text_zh": "推断：视频 446–461.5 s 仍有1支笔中段留在盒内，另1支落在盒外；之后不再操作文具盒。评分器 q_score=5/11，结合1个文件夹、1本书、铅笔及订书机这4个新增关系，支持终态另有1支笔入盒；初始已成立的文具盒上桌不计入该原生分数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人右夹爪多次夹住笔杆并搬到盒口，最终调整原先跨在盒口的笔，使其中段落入盒内（视频 316–335 s、379–395 s、424–433.5 s）。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人驶回并调整桌边工作位置后开始取笔（视频 290–310 s）。"
+     }
+    ]
+   },
+   "pens_in_pencil_box_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 418.5,
+      "log_step": null,
+      "text_zh": "观察：视频 418–423 s 可见1支笔跨在盒口，另1支在桌面；未出现两支笔都在内部静止的状态。"
+     },
+     {
+      "t": 460.0,
+      "log_step": 481,
+      "text_zh": "观察：视频 437–444.5 s 机器人右夹爪夹起盒外笔并移到盒口，视频 445–447 s 释放后该笔仍在桌面；视频 450–457.5 s 再次夹起释放又横搭盒口，视频 459.5–461.5 s 可见它已落到盒旁桌面。之后机器人离开处理书、文件夹和电脑，未修复这支笔。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人右夹爪夹住尚在盒外的笔杆，反复调整投放位置并张爪释放，笔仍落在盒旁（视频 405–423 s、437–461.5 s）。"
+     }
+    ]
+   },
+   "pencil_box_on_desk": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 文具盒已放在绿色书桌上；视频 305–461.5 s 机器人投放文具时盒子多次平移、旋转或倾侧，但始终仍由桌面支承，未见被提离桌面。视频 573–578 s 盒子仍在书桌靠窗一侧。"
+     },
+     {
+      "t": 638.0,
+      "log_step": null,
+      "text_zh": "推断：机器人末段在床边操作电脑，未再操作桌上文具盒；结合视频 578 s 的最后桌面视图，终态保留该初始目标关系。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "机器人右夹爪投放和重新抓取笔时碰到文具盒，使盒子在桌面旋转、移动；并未将盒子夹起（视频 330–335 s、445–449 s、457–459 s）。"
+     }
+    ]
+   },
+   "stapler_on_desk": {
+    "method": "visual",
+    "intervals": [
+     [
+      207.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 207.0,
+      "log_step": 300,
+      "text_zh": "观察：视频 184–206.7 s 右夹爪持着从柜前取出的灰黑色订书机移向桌面；视频 206.8–207.8 s 张爪后订书机独立立放在绿色桌面上，视频 208–214.7 s 机器人手离开而订书机不再移动。"
+     },
+     {
+      "t": 578.0,
+      "log_step": null,
+      "text_zh": "观察：视频 550–578 s 的桌面视图仍可见灰黑色订书机留在桌子另一端。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "机器人右夹爪先把底层柜格内的订书机向外拨出，随后再抓取（视频 170–183 s）。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人右夹爪夹住已移到柜外的订书机，提起并搬到桌面张爪释放（视频 184–207 s）。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人持订书机离开书柜、驶向书桌并调整桌边位置（视频 187–203 s）。"
+     }
+    ]
+   },
+   "laptop_on_desk": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 638.0,
+      "log_step": null,
+      "text_zh": "观察：视频 590–638 s 笔记本电脑始终由床垫支承，机器人只在屏幕盖附近操作，没有将电脑提起并运到书桌。末帧视频 638 s 仍清楚可见电脑机身在床上。"
+     }
+    ]
+   },
+   "laptop_closed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 638.0,
+      "log_step": 574,
+      "text_zh": "观察：视频 598–638 s 机器人右夹爪反复从屏幕盖上方、后方及边框处操作；视频 637–638 s 仍能同时看到敞开的屏幕盖与键盘机身，盖未贴近闭合。末段夹爪运动没有完成合盖。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频 598–638 s 可见机器人右夹爪反复靠近盖板及上边框，局部手指接触被盖板和手臂遮挡；无法确认实际推压或稳定抓握，不能由闭爪命令补出接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人从书桌、椅子区域驶到床边以操作电脑（视频 580–590 s）。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.45454545454545453,
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "books_in_bookcase_2",
+   "t": 69.0,
+   "log_step": 137,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 68.7–69.2 s 机器人左夹爪在柜格前释放书，书随即向柜前下方落去；视频 267.7 s、284–289 s 可见该书仍平躺柜外地面，回收未成功。推断：后续视频 525 s 只将另一本书入柜，按入柜数量计为第1本；早期落地书从未恢复，对应仍未完成的第2本书入柜，是最早持续至终态的失败。"
+  },
+  "unmet": {
+   "folders_in_bookcase_1": true,
+   "folders_in_bookcase_2": false,
+   "books_in_bookcase_1": true,
+   "books_in_bookcase_2": false,
+   "pencil_in_pencil_box": true,
+   "pens_in_pencil_box_1": true,
+   "pens_in_pencil_box_2": false,
+   "pencil_box_on_desk": true,
+   "stapler_on_desk": true,
+   "laptop_on_desk": false,
+   "laptop_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 69.0,
+    "log_step": 137,
+    "evidence_zh": "观察：视频 67–68.8 s 书仍由左夹爪夹在柜格前缘外侧；视频 69 s 左夹爪张开后书向下掉落，柜格内没有留下书。视频 267.7 s、284–289 s 的地面白色书背视图确认它落在柜外。推断：释放时书尚未获得柜内层板的有效承托，属于目标位置未到位即松手。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "t": 69.0,
+    "log_step": 149,
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 58 的 move 函数仅在 IK 求解失败时返回 False，提交关节轨迹后直接返回 True，没有按实际末端误差阻止下一动作；log step 132/137 对左末端指定进入柜内的 y=12.63 m 并随后发出松手。log step 149 读取同次实际本体反馈：松手前两次左末端 y 约为12.806 m、12.806 m，未达到进入位置。推断：控制脚本未依据约0.18 m的实际到位偏差中止释放，导致视频约69 s 在��前放掉书；不把尚未证实的遮挡物或感知误差作为根因。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频；柜内/盒内关系的精确包围盒中心、内部容积以及电脑关节角阈值不能逐帧读取，部分目标在末段不在相机视野中，故依据前后画面、未再操作的连续性和评分器总量推断终态。床边末端与盖板的局部接触被手臂遮挡，未将闭爪命令当成已抓握证据。节点时间取视频可见的释放及稳定时刻，约有0.5 s误差；未将agent工作时间换算为视频时间。"
+ },
+ "summary_zh": "评分轨迹最终6/11节点成立：文具盒保持在桌面，另完成1个文件夹和1本书入柜、铅笔及1支笔入盒、订书机上桌；q_score=5/11不计初始已成立的文具盒关系。最早未修复的是视频约69 s在柜前未到位就释放的书，后续落地回收失败，按数量对应仍缺的第2本书入柜；控制脚本没有用实际到位误差阻止松手。另一个文件夹和1支笔未归位，电脑最终仍在床上敞开；没有状态日志，精确容积谓词及部分终态依据视觉和总分推断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值、时间与终态（6/11，q_score=5/11 不计初始成立的文具盒）相互一致；按数量计的书第2本未入柜，断点定在 69 s 落地的书，现象与根因有日志和画面支撑。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": "2026-10-30T21:57:58Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-clean-up-your-desk-i00-standard--beuihje/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-up-your-desk-i00-standard--beuihje/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e12dfb05cee17d80c537e5d5bf975440374fc3d213620eacbc470d76205dda8c",
+   "video_sha256": "0e9e753df1da09d32dcb0affc61ea676a87866b56042a646252b626689adea9b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_up_your_desk/trajectories/behavior-clean-up-your-desk-i00-standard--nsuzzq9.json

@@ -0,0 +1,442 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-up-your-desk-i00-standard--nsuzzq9",
+ "taskKey": "behavior-1k/clean_up_your_desk",
+ "dag_sha256": "c10db90087a2c419bb5d64f7cdaed29bd918775b4ff3a9aa79a6a9942098ee72",
+ "outcome": {
+  "success": 0,
+  "reward": 0.2727272727272727,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 6303,
+   "sim_steps": 6303,
+   "physics_steps": 25212,
+   "steps": 1571,
+   "elapsed_s": 6581.2,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "q_score": 0.2727272727272727,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-clean-up-your-desk-i00-standard--nsuzzq9/replay.mp4",
+  "duration_s": 210.1,
+  "fps": 30.0,
+  "frames": 6303,
+  "sha256": "83e630023ac1b0e7184c1a9d75e6e5c8c518e30674e7db49fa77e009a7c26a60"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 11,
+  "base": 1,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "folders_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      34.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 17.5,
+      "log_step": 57,
+      "text_zh": "观察：视频 16.5–19.5 s，机器人右夹爪夹住椅面蓝色文件夹，文件夹随后离开椅面并随右手移动。"
+     },
+     {
+      "t": 34.5,
+      "log_step": 77,
+      "text_zh": "观察：视频 33.7–35.7 s，机器人把第一个文件夹送入书柜右列格内，右爪张开并退出，文件夹留在格板上；以视频约 34.5 s 记入柜，时刻误差约半秒。"
+     },
+     {
+      "t": 210.067,
+      "log_step": null,
+      "text_zh": "观察：视频 209.3–210.067 s，两个蓝色文件夹仍叠放在书柜右列格内，没有被重新取出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 16.5–34.5 s，右二指夹爪夹持椅面文件夹并在柜内释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 20–32 s，轮式底盘载着持文件夹的机器人驶向书柜，并调整入柜位置。"
+     }
+    ]
+   },
+   "folders_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      103.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 96.2,
+      "log_step": 133,
+      "text_zh": "观察：视频 96.2–102.7 s，机器人右手夹持原在书桌中央的第二个蓝色文件夹，驶至书柜并将其放到第一个文件夹所在格内。"
+     },
+     {
+      "t": 103.0,
+      "log_step": 139,
+      "text_zh": "观察：视频 102.7–104.7 s，右夹爪张开后退出，两个文件夹叠在同一格板上；第二个入柜约为视频 103.0 s，误差约半秒。"
+     },
+     {
+      "t": 210.067,
+      "log_step": null,
+      "text_zh": "观察：视频 210.067 s，书柜右列格中仍能看见叠放的蓝色文件夹。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 85–103 s，右夹爪夹住桌面文件夹，运至书柜后松开；另一只手此时另持平装书。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 93–100 s，底盘在右手持第二个文件夹时驶向书柜。"
+     }
+    ]
+   },
+   "books_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      156.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 107.7,
+      "log_step": 139,
+      "text_zh": "观察：视频 106.2–110.7 s，机器人左手首次释放彩色封面平装书后，书从目标格前方落下；视频 111.2–113.7 s 它停在柜前下方，未形成稳定入柜。"
+     },
+     {
+      "t": 156.0,
+      "log_step": 221,
+      "text_zh": "观察：视频 150–154 s，机器人右手重新拾起该书并送向右列下一层格；视频 155.6–157.4 s，张开的右爪退离，书靠在格内、下边缘由格板支承，约视频 156.0 s 起记入柜。"
+     },
+     {
+      "t": 164.5,
+      "log_step": 227,
+      "text_zh": "观察：视频 158.2–164.5 s，机器人右爪再次推书向格内，书始终留在同一格板上；视频 209.3–210.067 s 仍可见这本彩色封面的书，未再次离柜。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 74.5–107 s，左夹爪夹住桌面平装书并搬运；视频约 149–155 s，右夹爪重新夹起首次掉落的书并入柜。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 158–161 s，右爪闭合后顶住书的前缘，把已经支承在格板上的书向柜内推。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 93–100 s，底盘载着左手持书的机器人从桌前驶至书柜；后续拾书时也调整了柜前位置。"
+     }
+    ]
+   },
+   "books_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 130.5,
+      "log_step": null,
+      "text_zh": "观察：视频 58.5–63.5 s，桌上有左右两本彩色封面平装书；左侧那本被搬走后，视频 120–130 s 右端靠文具盒的另一本仍留在桌上，后段机器人一直在书柜前操作，未搬运它。"
+     },
+     {
+      "t": 210.067,
+      "log_step": null,
+      "text_zh": "推断：视频终态仅见一本平装书入柜，两个文件夹也保持入柜；评分器 q_score=3/11，已由这三个新增关系占满，故第二本书入柜终态为假。初始成立且保持的文具盒上桌关系不计入该原生分数。"
+     }
+    ]
+   },
+   "pencil_in_pencil_box": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 62.5,
+      "log_step": null,
+      "text_zh": "观察：视频 61.5–63.5 s 的腕部画面中，桌面文具盒旁有散放的细长文具；整段轨迹中机器人处理文件夹、一本书、椅子和订书机，没有把铅笔送进文具盒的动作。"
+     },
+     {
+      "t": 210.067,
+      "log_step": null,
+      "text_zh": "推断：评分器终态 q_score=3/11，两个文件夹及一本书入柜已占三个新增目标；结合视频中没有收笔操作，铅笔入文具盒终态为假。评分总数用于限制终态，不用于给未见的抓取或放置计功。"
+     }
+    ]
+   },
+   "pens_in_pencil_box_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 62.5,
+      "log_step": null,
+      "text_zh": "观察：视频 61.5–63.5 s 的腕部画面中，桌面文具盒旁有散放的细长文具；整段轨迹中机器人处理文件夹、一本书、椅子和订书机，没有把第一支笔送进文具盒的动作。"
+     },
+     {
+      "t": 210.067,
+      "log_step": null,
+      "text_zh": "推断：评分器终态 q_score=3/11，两个文件夹及一本书入柜已占三个新增目标；结合视频中没有收笔操作，第一支笔入文具盒终态为假。评分总数用于限制终态，不用于给未见的抓取或放置计功。"
+     }
+    ]
+   },
+   "pens_in_pencil_box_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 62.5,
+      "log_step": null,
+      "text_zh": "观察：视频 61.5–63.5 s 的腕部画面中，桌面文具盒旁有散放的细长文具；整段轨迹中机器人处理文件夹、一本书、椅子和订书机，没有把第二支笔送进文具盒的动作。"
+     },
+     {
+      "t": 210.067,
+      "log_step": null,
+      "text_zh": "推断：评分器终态 q_score=3/11，两个文件夹及一本书入柜已占三个新增目标；结合视频中没有收笔操作，第二支笔入文具盒终态为假。评分总数用于限制终态，不用于给未见的抓取或放置计功。"
+     }
+    ]
+   },
+   "pencil_box_on_desk": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.233,
+      "log_step": null,
+      "text_zh": "观察：视频 0.233 s，文具盒位于绿色书桌靠窗右端；视频 58.5–63.5 s 和视频 130 s 的桌面视图中，盒仍由桌面支承。"
+     },
+     {
+      "t": 210.067,
+      "log_step": null,
+      "text_zh": "推断：视频全程未见机器人搬起或推动文具盒，后段始终在书柜前操作，文具盒上桌关系从初态保持到终态；该初始目标不计入 q_score 的新增目标数。"
+     }
+    ]
+   },
+   "stapler_on_desk": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 173.5,
+      "log_step": 240,
+      "text_zh": "观察：视频 166.5–193.5 s，机器人交替调整双臂与底盘，试图把夹爪降到书柜底层订书机所在格；订书机一直留在该格，未向书桌搬运。"
+     },
+     {
+      "t": 195.5,
+      "log_step": 305,
+      "text_zh": "观察��视频 194.2–198.7 s，右腕相机显示右爪在柜底板外侧偏低、接近地板的位置闭合，再空手退回；看不到订书机被夹住或离开原位。"
+     },
+     {
+      "t": 210.067,
+      "log_step": 312,
+      "text_zh": "观察：视频 202.2–208.2 s 再次伸爪后，视频 209.3–210.067 s 机器人再次空手抬起，订书机仍在书柜底层中间格；log step 312 的抓取指令不能替代画面中的实际结果。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 166–210.067 s，左右夹爪先后伸向底层订书机，右爪两次闭合后均空手退出；格板遮住目标附近的接触区域，无法确认是否曾擦碰订书机，不能标为已抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 185–210 s，底盘在书柜前侧移及前后进退，以配合夹爪对准和伸入底层格。"
+     }
+    ]
+   },
+   "laptop_on_desk": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 112.7,
+      "log_step": null,
+      "text_zh": "观察：视频 0.7 s、视频 112.7 s 及视频 145 s，打开的黑色笔记本电脑仍在床面；轨迹中没有抓起或搬运电脑的动作，电脑没有上桌。"
+     }
+    ]
+   },
+   "laptop_closed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 145.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.7 s、视频 112.7 s 及视频 145 s，床上的笔记本屏幕盖仍明显抬起，远未接近闭合；机器人未接触或压下盖板，后续一直在书柜前操作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.2727272727272727,
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "stapler_on_desk",
+   "t": 195.0,
+   "log_step": 305,
+   "where": "操作中",
+   "evidence_zh": "观察：第一本书在视频约 156 s 已重新入柜，早先落书已修复；此后机器人在视频约 166–210.067 s 持续伸向底层订书机。视频 194.2–198.7 s 的右爪在柜底板外侧偏低处空夹，视频 199.2–200.2 s 空手撤回；最后一次重试后，视频 210.067 s 订书机仍留在原格，因此断点为订书机上桌。"
+  },
+  "unmet": {
+   "folders_in_bookcase_1": true,
+   "folders_in_bookcase_2": true,
+   "books_in_bookcase_1": true,
+   "books_in_bookcase_2": false,
+   "pencil_in_pencil_box": false,
+   "pens_in_pencil_box_1": false,
+   "pens_in_pencil_box_2": false,
+   "pencil_box_on_desk": true,
+   "stapler_on_desk": false,
+   "laptop_on_desk": false,
+   "laptop_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 195.5,
+    "log_step": 305,
+    "evidence_zh": "观察：视频 194.2–198.7 s，右夹爪从张开变为闭合，但闭合区域在底层格板前下方，爪间没有订书机；视频 199.2–200.2 s 右手抬起时为空，视频 209.3–210.067 s 最后一次重试后也为空。所需的夹持接触未建立，订书机未离开原格。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent 脚本在 log step 305 以基座前进、闭爪、后退、抬臂执行订书机抓取；log step 309 的实际末端轨迹显示，闭爪附近 right_eef 从 [22.7841,12.6888,0.1450] 降至约 [22.7920,12.6614,0.0921]，闭爪开度随后接近零。视频 194.2–198.7 s 对应可见右爪在柜底板外侧偏低处空夹，目标仍在格内；取物目标正确，但实际伸入与闭爪动作没有到达夹持位置，支持控制层归因，尚不足区分接触设计、碰撞阻断或跟踪问题。"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志，也无成功参考视频；书柜包围盒及内部容积判据只能从格板支承、物体位置与评分总数推断，入柜时刻约有半秒误差。底层格板遮住部分夹爪和订书机接触区域，能确认没有建立搬运所需的抓握，但不能确认是否有瞬时擦碰，也不能进一步确定控制子类；因此该段目标接触填未知。"
+ },
+ "summary_zh": "机器人将两个文件夹和一本平装书放入书柜，并保持文具盒在桌面，终态为 4/11；原生 q_score=3/11 对应三个新增目标，初始文具盒关系另计。首次落书后来已修复，断点为订书机上桌：后段反复伸爪和空夹，订书机直到视频 210.067 s 仍在书柜底层，支持控制层失败。没有状态日志或成功参考，底层接触局部受遮挡，控制子类及精确入柜阈值不能直接核实。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点时间、q_score=3/11 的终态约束、断点（订书机上桌）与接触未建立现象均与帧一致；根因归控制属推断，已标注为推断且措辞克制，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:55:45Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-clean-up-your-desk-i00-standard--nsuzzq9/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-up-your-desk-i00-standard--nsuzzq9/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3c7b1de806f2d62d5133217dbb5b9fe71219f01420ef181edeeb292a6477fd7b",
+   "video_sha256": "83e630023ac1b0e7184c1a9d75e6e5c8c518e30674e7db49fa77e009a7c26a60",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_up_your_desk/trajectories/behavior-clean-up-your-desk-i00-standard--px2jgpr.json

@@ -0,0 +1,371 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-up-your-desk-i00-standard--px2jgpr",
+ "taskKey": "behavior-1k/clean_up_your_desk",
+ "dag_sha256": "c10db90087a2c419bb5d64f7cdaed29bd918775b4ff3a9aa79a6a9942098ee72",
+ "outcome": {
+  "success": 0,
+  "reward": 0.09090909090909091,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "n_actions": 16731,
+   "sim_steps": 16731,
+   "physics_steps": 66924,
+   "steps": 16731,
+   "elapsed_s": 13469.7,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "q_score": 0.09090909090909091,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-clean-up-your-desk-i00-standard--px2jgpr/replay.mp4",
+  "duration_s": 557.7,
+  "fps": 30.0,
+  "frames": 16731,
+  "sha256": "64c70a19e52807b75891fb0454c88cc86980092c63ccbacb1314acb8b824ff67"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 11,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "folders_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3,
+      "log_step": null,
+      "text_zh": "观察：视频 3 s 绿色书桌上有文件夹和书本，椅面另有蓝色文件夹，未见文件夹已经收入右侧白色书柜；视频 45 s 桌上物体仍在原区域。"
+     },
+     {
+      "t": 557,
+      "log_step": null,
+      "text_zh": "推断：视频 0–65 s 的头部与双腕画面显示机器人转动、倾倒并恢复，未见夹爪携带任务物体；视频 100–555 s 每隔约 5 s 的画面显示机器人在门窗、露台、泳池及草地间移动，视频 556.7–557.5 s 仍在室外侧倒。因此未见本节点的搬运或放入动作；终值结合初态与后续未操作推断。"
+     }
+    ]
+   },
+   "folders_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3,
+      "log_step": null,
+      "text_zh": "观察：视频 3 s 可见一个文件夹在桌上、另一个在椅面，视频 45 s 桌上文件夹仍未收起；视频 50–60 s 椅子倒在地上，没有出现两只文件夹进入书柜的画面。"
+     },
+     {
+      "t": 557,
+      "log_step": null,
+      "text_zh": "推断：视频 0–65 s 的头部与双腕画面显示机器人转动、倾倒并恢复，未见夹爪携带任务物体；视频 100–555 s 每隔约 5 s 的画面显示机器人在门窗、露台、泳池及草地间移动，视频 556.7–557.5 s 仍在室外侧倒。因此未见本节点的搬运或放入动作；终值结合初态与后续未操作推断。"
+     }
+    ]
+   },
+   "books_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3,
+      "log_step": null,
+      "text_zh": "观察：视频 3 s 绿色桌面可见平装书，视频 45 s 仍可见桌上的书堆；机器人夹爪未把书取走，白色书柜没有出现机器人放书的动作。"
+     },
+     {
+      "t": 557,
+      "log_step": null,
+      "text_zh": "推断：视频 0–65 s 的头部与双腕画面显示机器人转动、倾倒并恢复，未见夹爪携带任务物体；视频 100–555 s 每隔约 5 s 的画面显示机器人在门窗、露台、泳池及草地间移动，视频 556.7–557.5 s 仍在室外侧倒。因此未见本节点的搬运或放入动作；终值结合初态与后续未操作推断。"
+     }
+    ]
+   },
+   "books_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 45,
+      "log_step": null,
+      "text_zh": "观察：视频 3 s、45 s 两处桌面视图仍可见书本，未见机器人搬书或两本书入柜的过程。"
+     },
+     {
+      "t": 557,
+      "log_step": null,
+      "text_zh": "推断：视频 0–65 s 的头部与双腕画面显示机器人转动、倾倒并恢复，未见夹爪携带任务物体；视频 100–555 s 每隔约 5 s 的画面显示机器人在门窗、露台、泳池及草地间移动，视频 556.7–557.5 s 仍在室外侧倒。因此未见本节点的搬运或放入动作；终值结合初态与后续未操作推断。"
+     }
+    ]
+   },
+   "pencil_in_pencil_box": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 45,
+      "log_step": null,
+      "text_zh": "观察：视频 3 s、45 s 可见桌面文具盒和细长文具，但不能精确判定铅笔包围盒中心相对盒内空间的位置；其后目标区域离开视野。"
+     },
+     {
+      "t": 557.2,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的 reward.q_score=0.09090909090909091（1/11）、live_matches_replay=1；视频 0–80 s 按约 1 s 间隔检查，之后全片按约 5 s 间隔粗查，并查看视频 556.7 s、557.2 s 的末段画面，未定位到本节点达成的时刻。推断：按 docs/03_trajectory.md Step 2 与 CASES.md PROG-10，开局已成立且保持的文具盒留桌面不贡献 q_score，所以至少另一个非初始目标关系终态成立；总分无法在本节点、其余细小文具入盒及电脑合盖之间定位，不能仅凭未见主动操作判为 false，也不能将总分指派给本节点，故保留未知且不编造区间。"
+     }
+    ]
+   },
+   "pens_in_pencil_box_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 45,
+      "log_step": null,
+      "text_zh": "观察：视频 3 s、45 s 可见桌面文具盒和散放文具，未见机器人抓笔、投放；细小笔与盒内空间的位置关系未能辨清，末段目标区域不在相机视野。"
+     },
+     {
+      "t": 557.2,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的 reward.q_score=0.09090909090909091（1/11）、live_matches_replay=1；视频 0–80 s 按约 1 s 间隔检查，之后全片按约 5 s 间隔粗查，并查看视频 556.7 s、557.2 s 的末段画面，未定位到本节点达成的时刻。推断：按 docs/03_trajectory.md Step 2 与 CASES.md PROG-10，开局已成立且保持的文具盒留桌面不贡献 q_score，所以至少另一个非初始目标关系终态成立；总分无法在本节点、其余细小文具入盒及电脑合盖之间定位，不能仅凭未见主动操作判为 false，也不能将总分指派给本节点，故保留未知且不编造区间。"
+     }
+    ]
+   },
+   "pens_in_pencil_box_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3,
+      "log_step": null,
+      "text_zh": "观察：视频 3 s、45 s 桌面上可见文具盒和散放文具；双腕画面未出现夹持笔或将笔释放到盒内的动作。"
+     },
+     {
+      "t": 557,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的 reward.q_score=1/11、live_matches_replay=1；按 docs/03_trajectory.md Step 2 与 CASES.md PROG-10，两支笔开局在桌上，两支均入盒需两个非初始目标字面量，而终态总分仅容许一个，因此本计数节点 final=false。视频 0–65 s 未见机器人取放笔也与此一致；这一上界不能确定第1支笔节点的终值。"
+     }
+    ]
+   },
+   "pencil_box_on_desk": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 绿色书桌上已有文具盒；视频 3 s、45 s 可较清楚看见盒子仍由桌面支承，机器人未抬起盒子。"
+     },
+     {
+      "t": 557,
+      "log_step": null,
+      "text_zh": "推断：视频 60 s 桌面仍在原位；随后机器人离开房间，在视频 100–555 s 的室外移动与最后视频 556.7–557.5 s 中均未返回操作该盒，故初始桌面关系保持至结束。"
+     }
+    ]
+   },
+   "stapler_on_desk": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3,
+      "log_step": null,
+      "text_zh": "观察：视频 3 s、45 s 可见书桌和右侧白色书柜，未见机器人伸爪从柜中取出订书机或携带订书机。"
+     },
+     {
+      "t": 557,
+      "log_step": null,
+      "text_zh": "推断：订书机初态位于书柜（inputs/run.json 的 task_text）；结合视频 0–65 s 未发生取放、随后机器人全程在工作区外移动至视频 557 s，订书机上桌未完成。"
+     }
+    ]
+   },
+   "laptop_on_desk": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40,
+      "log_step": null,
+      "text_zh": "观察：视频 4 s、40 s、50 s 黑色笔记本电脑仍在床面上，绿色书桌位于另一侧；机器人没有把电脑夹离床面或释放到书桌。"
+     },
+     {
+      "t": 557,
+      "log_step": null,
+      "text_zh": "推断：视频 60 s 后机器人离开床与书桌所在区域，随后画面到视频 557 s 都没有携带电脑返回书桌，故电脑上桌未完成。"
+     }
+    ]
+   },
+   "laptop_closed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 50,
+      "log_step": null,
+      "text_zh": "观察：视频 4 s、40 s、50 s 电脑仍在床上，早期可见键盘及打开的外形，未见机器人主动合盖；后续相机离开目标区域，终态无法判定所有开合关节是否均在关闭行程的 5% 内。"
+     },
+     {
+      "t": 557.2,
+      "log_step": null,
+      "text_zh": "观察：inputs/run.json 的 reward.q_score=0.09090909090909091（1/11）、live_matches_replay=1；视频 0–80 s 按约 1 s 间隔检查，之后全片按约 5 s 间隔粗查，并查看视频 556.7 s、557.2 s 的末段画面，未定位到本节点达成的时刻。推断：按 docs/03_trajectory.md Step 2 与 CASES.md PROG-10，开局已成立且保持的文具盒留桌面不贡献 q_score，所以至少另一个非初始目标关系终态成立；总分无法在本节点、其余细小文具入盒及电脑合盖之间定位，不能仅凭未见主动操作判为 false，也不能将总分指派给本节点，故保留未知且不编造区间。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.09090909090909091,
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": 13.0,
+   "log_step": 65,
+   "where": "转场",
+   "evidence_zh": "观察：视频 9–19 s 机器人视野从正常房间转为侧倾、贴近椅子和地面，视频 20–35 s 房间持续横置；log step 65 的服务本体读数显示基座俯仰约 1.50–1.52 rad，后续机器人虽多次恢复，始终未执行物品整理，视频 557 s 仍侧倒在室外。推断：失败发生在空手接近书桌的转场阶段；视频与日志都不能辨认它当时准备先处理哪件物品，不能指定某个文件夹、书或文具节点。"
+  },
+  "unmet": {
+   "folders_in_bookcase_1": false,
+   "folders_in_bookcase_2": false,
+   "books_in_bookcase_1": false,
+   "books_in_bookcase_2": false,
+   "pencil_in_pencil_box": null,
+   "pens_in_pencil_box_1": null,
+   "pens_in_pencil_box_2": false,
+   "pencil_box_on_desk": true,
+   "stapler_on_desk": false,
+   "laptop_on_desk": false,
+   "laptop_closed": null
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 13.0,
+    "log_step": 65,
+    "evidence_zh": "观察：视频 9–19 s 房间墙线明显倾转，随后视频 20–35 s 地板和墙面横置，机器人未保持轮式基座正常支撑姿态；视频 60–75 s 又出现持续侧倒视图，视频 556.7–557.5 s 仍是室外横置画面。log step 65 的本体读数给出俯仰约 1.50 rad，log step 331 的基座上轴竖直分量为 -0.12，支持实际倾倒，而非仅头部相机转动。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "观察：agent 脚本在 log step 42 命令底盘前移 1.2 m 后，log step 46 的本体读数已为俯仰 -0.478 rad；log step 51 曾退回至俯仰 0.101 rad，但 log step 54 又执行转动及前移，log step 62 连续旋转扫描，log step 65 随后的退出动作中俯仰达到约 1.50 rad。视频 9–35 s 核实了转动、接近家具之后失衡并持续侧倒，后续恢复也未把机器人送回可操作位置。推断：底盘与躯干的运动控制未能在接近家具和恢复过程中维持稳定，阻断了整理动作；现有证据不足以将其唯一归到控制参数、接触设计或反馈子类。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志或成功参考视频；机器人空手寻找、接近书桌时未承诺到某个物品节点，视频 9–35 s 和 log steps 42–65 只能定位导航中失衡，故按 docs/03_trajectory.md:231–247 保留断点 ref=unknown；DAG 的列表顺序不是实际操作顺序，场景导航接触不强行分配到某个物品节点。观察：inputs/run.json 的 reward.q_score=1/11、live_matches_replay=1；视频 0 s、3 s 的文具盒已在桌上。推断：按 CASES.md PROG-10，保持的初始关系不计入该分数，因此至少另一个非初始目标关系终态成立。已检查视频全片至 557.2 s（早期约每 1 s、之后约每 5 s），未见可归属的物品整理操作，但铅笔、单支笔与盒内空间及电脑最终关节状态无法精确判断；这三个节点改为未知，总分不能定位是哪一个成立，不据此虚构拾取、入盒或合盖动作及时间。其余未完成关系保留画面与初态支持的判断，两支笔均入盒还受总分上界排除。文具盒留桌面是明确的一项，整体最终节点数不能从当前可定位证据完整计算，因此汇总进度为 null；任务 DAG 对 q_score 归一化的旧疑问不能覆盖当前轨迹规则 PROG-10。"
+ },
+ "summary_zh": "观察：本回合保持了开局即成立的文具盒留桌面关系，未见机器人完成任务物体的主动抓取、搬运或合盖。推断：评分器 q_score=1/11 不计保持的初始关系，故至少另一个非初始目标关系在终态成立，但无法在铅笔入盒、第1支笔入盒及电脑合盖中定位，这三个节点与整体进度汇总保留未知，置信度降为 5。观察：机器人在视频约 13 s 的空手转场中失衡，之后反复倾倒、恢复并离开儿童房，视频 557.2 s 仍侧倒在室外；具体目标步骤无法定位，根因证据支持运动控制失稳。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "整体叙事（空手转场中失衡倾倒、全程未整理）成立，但进度终值与评分器总分不符：q_score=1/11 按 BEHAVIOR 规则不计 t=0 即成立的文具盒在桌上，说明另有一个目标关系在终态成立，而文件把其余 10 个节点全标 false；另外断点 ref 用 unknown 过于宽泛。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "标签与视频、日志一致：空手转场中失衡侧倒，全程未整理；q_score=1/11 的约束处理合理，三个未知节点有依据；断点 unknown 此前已有证据驳回，无新证据。",
+    "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": "2026-10-30T22:29:38Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-clean-up-your-desk-i00-standard--px2jgpr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-up-your-desk-i00-standard--px2jgpr/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-up-your-desk-i00-standard--px2jgpr/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-clean-up-your-desk-i00-standard--px2jgpr/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "dd005050e3723d8d4a6a0f47cc58c5f9d0de83ba5cf404377d30fab58bbf21df",
+   "video_sha256": "64c70a19e52807b75891fb0454c88cc86980092c63ccbacb1314acb8b824ff67",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_up_your_desk/trajectories/behavior-clean-up-your-desk-i00-standard--q2f8zjb.json

@@ -0,0 +1,422 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-up-your-desk-i00-standard--q2f8zjb",
+ "taskKey": "behavior-1k/clean_up_your_desk",
+ "dag_sha256": "c10db90087a2c419bb5d64f7cdaed29bd918775b4ff3a9aa79a6a9942098ee72",
+ "outcome": {
+  "success": 0,
+  "reward": 0.09090909090909091,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 11639,
+   "sim_steps": 11639,
+   "physics_steps": 46556,
+   "steps": 1686,
+   "elapsed_s": 5361.4,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 0,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.09090909090909091,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-clean-up-your-desk-i00-standard--q2f8zjb/replay.mp4",
+  "duration_s": 388.0,
+  "fps": 10.0,
+  "frames": 3880,
+  "sha256": "a9b2df3e2bd817ea8563c0bdb1afe1191a7991b9eeb6cae4ec4eea5d376c9beb"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 11,
+  "base": 1,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "folders_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 299,
+      "log_step": 437,
+      "text_zh": "观察：视频 295–305 s，右夹爪夹住桌上的蓝色文件夹并将其抬离桌面，随后机器人持物转身驶向书柜。"
+     },
+     {
+      "t": 324.5,
+      "log_step": 515,
+      "text_zh": "观察：视频 324.5 s，右夹爪打开后蓝色文件夹离开手部；视频 330.5–338.5 s，文件夹落在书柜外、床边的棕色承托区域并展开，柜格中未留下该文件夹。log step 515 的 agent 自述“已在柜内”与这些画面不符，按视频判未入柜。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "视频 214–296 s，左右夹爪先后接近并压碰桌上蓝色文件夹；未同时夹持。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频约 297–324.5 s，右夹爪夹住蓝色文件夹并持物搬运，随后张爪释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人在抓取阶段前移调整距离，并在视频 300–320 s 持文件夹转向、横移到书柜旁。"
+     }
+    ]
+   },
+   "folders_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 330.5,
+      "log_step": null,
+      "text_zh": "观察：视频 20–35 s 可见另一蓝色文件夹留在椅面；机器人未从椅面取走它。视频 330.5–355 s，被搬运的文件夹也在书柜外，未形成两件入柜的状态。"
+     }
+    ]
+   },
+   "books_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 33,
+      "log_step": 79,
+      "text_zh": "观察：视频 30.5–33.5 s，左夹爪在彩色封面平装书上合拢后抬起，头部视图中的书仍平放在桌面，未随手移动。"
+     },
+     {
+      "t": 118,
+      "log_step": 170,
+      "text_zh": "观察：视频 42–60 s、112–124 s，机器人继续对靠近文具盒的彩色封面书做闭爪、抬手测试，书仍在桌面；后续搬走的是蓝色文件夹，没有平装书进入书柜。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "左夹爪的指端在彩色平装书封面附近压碰、合拢并抬离；视频未显示夹住书的两侧并携书离桌。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人先驶近书桌，在视频约 34–40 s 横移、调整到书柜附近后继续尝试夹书。"
+     }
+    ]
+   },
+   "books_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 49,
+      "log_step": 124,
+      "text_zh": "观察：视频约 35–60 s，机器人改向桌子另一端、文具盒旁的另一本彩色封面书反复夹取，书未离桌；视频 112–124 s 再次闭爪抬手仍未带走该书。两本书入柜的数量条件从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "左夹爪依次尝试桌面两本彩色平装书，对第二本也仅见指端压碰封面、合拢和空手抬起。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人在视频约 34–40 s 移动底盘以靠近桌子另一端的书。"
+     }
+    ]
+   },
+   "pencil_in_pencil_box": {
+    "method": "visual",
+    "intervals": [
+     [
+      192.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 180,
+      "log_step": 238,
+      "text_zh": "观察：视频 175–180 s，右夹爪闭合在黄色铅笔两侧，铅笔离开原桌面位置，随夹爪抬起；视频 183–191.6 s，铅笔被带到蓝色花纹文具盒开口附近。"
+     },
+     {
+      "t": 192.5,
+      "log_step": 269,
+      "text_zh": "观察：视频 191.8–192.2 s，右夹爪张开，黄色铅笔向盒口落下，随后只露出局部黄色端部，文具盒仍在桌上；视频 192.4–197 s 未见铅笔重新被拿起。log step 269 服务报告 control_steps=5781、两爪已打开。"
+     },
+     {
+      "t": 387.9,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=1/11；文具盒上桌是初始已真关系，不占新增得分。结合视频中书与文件夹均未入柜、笔未入盒、订书机未搬出及电脑仍在床上敞开，唯一新增成立的目标是铅笔入盒；因此将释放后约视频 192.5 s 起记真并保持至终态，盒壁遮挡使内部中心位置需此联合推断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右夹爪对向夹住黄色铅笔，抬起、搬至文具盒并在视频约 191.8 s 张爪释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人持铅笔调整朝向以查看文具盒，视频约 182–184 s 的视角和桌面相对位置随底盘变化。"
+     }
+    ]
+   },
+   "pens_in_pencil_box_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 210,
+      "log_step": 307,
+      "text_zh": "观察：视频 200–212 s，右夹爪在桌面银灰色笔附近合拢、抬起并重试，笔仍留在桌面，没有随夹爪搬到盒口；视频 212–215 s 机器人撤手改向蓝色文件夹。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "右夹爪在桌面银灰色笔旁合拢并轻拨，笔有少量转向，未形成可见的夹持抬起。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人在视频约 197–200 s 前移以缩短接近桌面笔的距离。"
+     }
+    ]
+   },
+   "pens_in_pencil_box_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 212,
+      "log_step": null,
+      "text_zh": "观察：视频 175–197 s，文具盒外可见银灰色笔；视频 200–212 s 的夹取尝试没有带走桌面笔。全过程未出现两支笔被放进盒内的动作或结果。"
+     }
+    ]
+   },
+   "pencil_box_on_desk": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频起始头部视图可见蓝色花纹文具盒在绿色书桌上；视频 140–145 s、183–197 s、325–329 s 的桌面视图中盒子仍受桌面支承，机器人没有把盒子抬走或碰落。"
+     },
+     {
+      "t": 387.9,
+      "log_step": null,
+      "text_zh": "推断：视频后段机器人在书柜和床边活动，未再搬动文具盒；结合此前持续在桌的画面，初始上桌关系保持到终态。"
+     }
+    ]
+   },
+   "stapler_on_desk": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 355,
+      "log_step": null,
+      "text_zh": "观察：视频 20–35 s、325–355 s，书柜下部格内可见小型深色物；全片没有机器人将订书机从柜格取出并送到绿色桌面的动作，桌面后续视图也未出现新增订书机。"
+     }
+    ]
+   },
+   "laptop_on_desk": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 359,
+      "log_step": null,
+      "text_zh": "观察：视频 20–35 s，黑色敞开笔记本电脑在棕色床面；视频 357–369 s 仍可见它在床面。机器人未夹起或搬运电脑，绿色书桌上未出现电脑。"
+     }
+    ]
+   },
+   "laptop_closed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 345,
+      "log_step": 556,
+      "text_zh": "观察：视频 335–347 s，机器人右夹爪伸向床后上方白墙并在墙面附近���动；画面未显示电脑屏幕被推下。视频 357–369 s，床面黑色电脑屏幕仍竖起，未形成合盖状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人执行合盖尝试时，右夹爪实际在床后白墙附近顶压、移动；未见夹爪有效作用于床面电脑盖。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "合盖尝试期间，机器人在视频约 347–350 s、后续重试时调整底盘以靠近床面。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.09090909090909091,
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "books_in_bookcase_1",
+   "t": 33,
+   "log_step": 79,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 30.5–33.5 s，机器人左夹爪合拢后抬起，彩色封面书仍在桌面；视频 42–60 s、112–124 s 的后续抓书也未将书带走，此后没有任何一本平装书入柜。推断：第1本书入柜是最早开始但始终未完成的步骤；后来的铅笔入盒及文件夹搬运没有修复它。视频 387.0–387.9 s 可见机器人倾倒，log step 646 服务以“failure: the robot fell over”终止，但那是更晚的事件。"
+  },
+  "unmet": {
+   "folders_in_bookcase_1": false,
+   "folders_in_bookcase_2": false,
+   "books_in_bookcase_1": false,
+   "books_in_bookcase_2": false,
+   "pencil_in_pencil_box": true,
+   "pens_in_pencil_box_1": false,
+   "pens_in_pencil_box_2": false,
+   "pencil_box_on_desk": true,
+   "stapler_on_desk": false,
+   "laptop_on_desk": false,
+   "laptop_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 33,
+    "log_step": 79,
+    "evidence_zh": "观察：视频 30.5–33.5 s，左夹爪闭合后空手抬离，彩色平装书没有离开原桌面；视频 46–49 s、53–56 s、115–118 s 重试也只见手部进退、书留桌面。推断：没有建立能带走书的对向夹持接触；不以短暂夹爪开度作为已抓住书的证据。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "source_zh": "视频 / agent 自述",
+    "evidence_zh": "推断：视频 30.5–33.5 s、46–56 s 显示左夹爪从书面上方合拢，指端落在大面积封面附近，未包住书的相对边缘；抬手时书不随动，表明这组接触几何未建立承载夹持。agent 在 log step 124 也自述“夹爪碰的是封面而非边缘”，与画面一致；虽然后续旋转夹爪和重估中心，视频 112–124 s 仍未提起书。没有在本运行验证成功的该书替代握法。"
+   }
+  ],
+  "gap_zh": "无状态日志和成功参考视频。铅笔释放后的主体被文具盒遮挡，入盒终值由可见搬运、释放、其他目标的排除及评分器 q_score 联合推断，达到时刻约有 0.5 s 不确定性；未用 agent 的入柜自述替代蓝色文件夹的可见落点。后段电脑接触尝试的目标估计有误，但不将该较晚事件作为早期抓书断点的原因。视频与服务控制计数相符：log step 78 的 915/30=视频 30.5 s 闭爪、log step 269 的 5781/30=视频 192.7 s 放铅笔后开爪，终止 11639/30≈视频 388.0 s；未使用 agent 工作时间换算视频时间。"
+ },
+ "summary_zh": "机器人保留了文具盒在桌面的初始关系，并在视频约 192.5 s 将铅笔释放到盒口，结合评分推断入盒成立，终态为 2/11。最早未修复的断点是第1本书入柜：夹爪在封面处反复闭合、抬手但未夹住带走书；后来蓝色文件夹落到柜外，电脑也未上桌或合盖，最终服务因机器人摔倒结束。无状态日志，铅笔的盒内中心与精确达成时刻需结合遮挡前后画面和评分推断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "标注与视频、服务控制步数和 q_score=1/11 相符：铅笔入盒由评分联合推断，文件夹落在柜外，书未被带走，断点取第1本书入柜合理。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": "2026-10-30T22:00:22Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-clean-up-your-desk-i00-standard--q2f8zjb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-up-your-desk-i00-standard--q2f8zjb/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "aa26bbdadadd0bb81d63c29625a783234926077809de750d5aabcde80e31d9b3",
+   "video_sha256": "a9b2df3e2bd817ea8563c0bdb1afe1191a7991b9eeb6cae4ec4eea5d376c9beb",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_up_your_desk/trajectories/behavior-clean-up-your-desk-i00-standard--uumkp5c.json

@@ -0,0 +1,400 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-up-your-desk-i00-standard--uumkp5c",
+ "taskKey": "behavior-1k/clean_up_your_desk",
+ "dag_sha256": "c10db90087a2c419bb5d64f7cdaed29bd918775b4ff3a9aa79a6a9942098ee72",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 1232,
+   "sim_steps": 1232,
+   "physics_steps": 4928,
+   "steps": 1192,
+   "elapsed_s": 1888.0,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 0,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.0,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-clean-up-your-desk-i00-standard--uumkp5c/replay.mp4",
+  "duration_s": 41.1,
+  "fps": 10.0,
+  "frames": 411,
+  "sha256": "6e25d005cd33453ca9de1448d9e4cc1cbcca3376f5c257fbef007fb3b2853e34"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 11,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "folders_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.5,
+      "log_step": null,
+      "text_zh": "观察：视频 21.5 s 的头部画面中，蓝色文件夹分别在绿色书桌上及白色椅子座面上，未在白色格柜内；视频 27.0–27.2 s 可见一件蓝色文件夹已在椅旁地板上。全段未见机器人夹取文件夹并送入格柜。"
+     },
+     {
+      "t": 41.0,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的实时评分 q_score=0；按 BEHAVIOR 排除开局已满足关系的计分规则，该新增目标在终态为假。该推断结合全段视频未见相应搬运，并非仅由失败总分判定。"
+     }
+    ]
+   },
+   "folders_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.5,
+      "log_step": null,
+      "text_zh": "观察：视频 21.5 s 的头部画面中，蓝色文件夹分别在绿色书桌上及白色椅子座面上，未在白色格柜内；视频 27.0–27.2 s 可见一件蓝色文件夹已在椅旁地板上。全段未见机器人夹取文件夹并送入格柜。"
+     },
+     {
+      "t": 41.0,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的实时评分 q_score=0；按 BEHAVIOR 排除开局已满足关系的计分规则，该新增目标在终态为假。该推断结合全段视频未见相应搬运，并非仅由失败总分判定。"
+     }
+    ]
+   },
+   "books_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.5,
+      "log_step": null,
+      "text_zh": "观察：视频 21.5 s、23.0 s、26.5 s 的头部画面显示彩色封面平装书在绿色桌面上；机器人随后侧翻，未见夹爪抓住书、携书到格柜或在柜内释放的过程。视频 40.0–41.0 s 仍是侧倒视角。"
+     },
+     {
+      "t": 41.0,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的实时评分 q_score=0；按 BEHAVIOR 排除开局已满足关系的计分规则，该新增目标在终态为假。该推断结合全段视频未见相应搬运，并非仅由失败总分判定。"
+     }
+    ]
+   },
+   "books_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.5,
+      "log_step": null,
+      "text_zh": "观察：视频 21.5 s、23.0 s、26.5 s 的头部画面显示彩色封面平装书在绿色桌面上；机器人随后侧翻，未见夹爪抓住书、携书到格柜或在柜内释放的过程。视频 40.0–41.0 s 仍是侧倒视角。"
+     },
+     {
+      "t": 41.0,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的实时评分 q_score=0；按 BEHAVIOR 排除开局已满足关系的计分规则，该新增目标在终态为假。该推断结合全段视频未见相应搬运，并非仅由失败总分判定。"
+     }
+    ]
+   },
+   "pencil_in_pencil_box": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.1,
+      "log_step": null,
+      "text_zh": "观察：视频 23.1 s 的头部视角中，细长文具散在桌面上；此前及之后可见的腕部画面未显示机器人夹住铅笔、抬离桌面并送入盒内。全段机器人主要扫描、调整躯干、行驶及尝试起身。"
+     },
+     {
+      "t": 41.0,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的实时评分 q_score=0；按 BEHAVIOR 排除开局已满足关系的计分规则，该新增目标在终态为假。该推断结合全段视频未见相应搬运，并非仅由失败总分判定。"
+     }
+    ]
+   },
+   "pens_in_pencil_box_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.1,
+      "log_step": null,
+      "text_zh": "观察：视频 21.5–23.1 s 可见桌上散放的细长文具，未见机器人将笔从原处夹起并放入文具盒；视频 24.0 s 以后机器人失衡，视频 40.0–41.0 s 仍未恢复直立。"
+     },
+     {
+      "t": 41.0,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的实时评分 q_score=0；按 BEHAVIOR 排除开局已满足关系的计分规则，该新增目标在终态为假。该推断结合全段视频未见相应搬运，并非仅由失败总分判定。"
+     }
+    ]
+   },
+   "pens_in_pencil_box_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 23.1,
+      "log_step": null,
+      "text_zh": "观察：视频 21.5–23.1 s 可见桌上散放的细长文具，未见机器人将笔从原处夹起并放入文具盒；视频 24.0 s 以后机器人失衡，视频 40.0–41.0 s 仍未恢复直立。"
+     },
+     {
+      "t": 41.0,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的实时评分 q_score=0；按 BEHAVIOR 排除开局已满足关系的计分规则，该新增目标在终态为假。该推断结合全段视频未见相应搬运，并非仅由失败总分判定。"
+     }
+    ]
+   },
+   "pencil_box_on_desk": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": 6,
+      "text_zh": "观察：DAG 的 pencil_box_on_desk 判据及 log step 6 的初始观察对应同一回合；视频 0.0 s 可见绿色书桌和其上物件，文具盒开局放在桌面，计为初始成立。"
+     },
+     {
+      "t": 26.5,
+      "log_step": null,
+      "text_zh": "推断：视频 18.5 s、21.5 s、23.0 s、26.5 s 的桌面视角中，后侧文具盒区域仍在桌上；全段未见夹爪抓盒或盒离开桌面。结合开局已成立的关系，保留至结尾；末段侧倒后该区域被遮挡，终态延续为上下文推断。q_score=0 不否定开局已满足且保持的关系。"
+     }
+    ]
+   },
+   "stapler_on_desk": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.5,
+      "log_step": null,
+      "text_zh": "观察：视频 21.5 s 可见白色格柜与绿色书桌，机器人未把手伸入格柜取订书机，也未见任何订书机从柜内到桌面的搬运。此后机器人在桌边失衡并持续侧倒。"
+     },
+     {
+      "t": 41.0,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的实时评分 q_score=0；按 BEHAVIOR 排除开局已满足关系的计分规则，该新增目标在终态为假。该推断结合全段视频未见相应搬运，并非仅由失败总分判定。"
+     }
+    ]
+   },
+   "laptop_on_desk": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.0,
+      "log_step": null,
+      "text_zh": "观察：视频 21.0–21.5 s 的头部视角可见床上深色打开的笔记本电脑；绿色书桌上没有该电脑。全段未见机器人抓起电脑或携带、放置电脑。"
+     },
+     {
+      "t": 41.0,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的实时评分 q_score=0；按 BEHAVIOR 排除开局已满足关系的计分规则，该新增目标在终态为假。该推断结合全段视频未见相应搬运，并非仅由失败总分判定。"
+     }
+    ]
+   },
+   "laptop_closed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.5,
+      "log_step": null,
+      "text_zh": "观察：视频 21.5 s 的头部视角中，床上深色电脑的屏幕盖仍立起；全段未见机器人操作屏幕盖。视频后段大幅翻滚且视野被机身和墙面遮挡。"
+     },
+     {
+      "t": 41.0,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的实时评分 q_score=0；按 BEHAVIOR 排除开局已满足关系的计分规则，该新增目标在终态为假。该推断结合全段视频未见相应搬运，并非仅由失败总分判定。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": 24.0,
+   "log_step": 43,
+   "where": "转场",
+   "evidence_zh": "观察：视频 22.0–24.5 s 机器人空手在书桌、椅子附近移动，视频约 24.0 s 起房间竖线明显倾斜，随后多次翻滚；视频 34.0–41.0 s 持续侧倒。log step 43 的动作仅是驶向书桌工作位，log step 44 读取基座竖直分量约 0.007；log step 52 服务返回 done=True、reason=\"failure: the robot fell over\"。推断：失败发生在空手接近书桌的转场中，但画面及当时日志未显示已选定哪一件文具或书本，不能把断点强行归给任一收纳节点。"
+  },
+  "unmet": {
+   "folders_in_bookcase_1": false,
+   "folders_in_bookcase_2": false,
+   "books_in_bookcase_1": false,
+   "books_in_bookcase_2": false,
+   "pencil_in_pencil_box": false,
+   "pens_in_pencil_box_1": false,
+   "pens_in_pencil_box_2": false,
+   "pencil_box_on_desk": true,
+   "stapler_on_desk": false,
+   "laptop_on_desk": false,
+   "laptop_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 24.0,
+    "log_step": 44,
+    "evidence_zh": "观察：视频 24.0–25.5 s 相机画面随机器人大幅倾斜、翻转，视频 27.5–30.5 s 头部视角贴近地面并被机身遮住；视频 34.0–41.0 s 房间保持侧向。log step 44 的服务本体读数给出基座竖直分量约 0.007，log step 52 最终服务明确以机器人跌倒结束回合；恢复动作未使机器人重新直立。"
+   },
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 24.0,
+    "log_step": 43,
+    "evidence_zh": "观察：log step 17 从服务返回的本体状态读取 base_z=0.136888 米；log step 43 驶向书桌工作位的 nav 返回 False，服务本体状态给出 base=[22.97,14.99,0.38]，未到目标 [23.25,14.62]；log step 44 随后读取 base_footprint_z_joint=0.379 米、倾斜余弦 0.007。视频 22.0–25.0 s 机器人在绿色书桌与白色椅子附近移动，头部画面在视频约 24.0 s 明显翻斜。推断：结合家具近旁的受阻位移、基座抬高和姿态突变，支持机器人顶碰家具障碍后失衡；具体接触点被机身遮挡，不能唯一确定撞到书桌还是椅子。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 24.0,
+    "log_step": 43,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 16 定义的 nav 每个小段按基座位置误差生成 10 行命令，行向量先全置零、仅填写底盘位移和偏航，没有保持躯干/臂关节，也没有读取障碍距离或倾斜后停止的分支；log step 30 只改了 hold_rows，未改 nav。log step 43 实际调用该 nav 后返回未到位且基座升高至约 0.38 米，log step 44 已几乎水平；视频 22.0–25.5 s 可见接近书桌时机身姿态突变并失衡。推断：实际执行的导航控制同时把非底盘绝对关节目标归零，且在家具近旁缺少防撞与失衡停止反馈，支持归因于控制实现；现有证据不足以把两种影响的贡献分开，保留在控制总类。"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志或成功参考视频；头部画面只有 224×224，双腕视野常被机器人自身遮住。倒地后无法直接检查文具盒与笔记本关节的最终状态：文具盒留桌面依初态、倒地前画面及未见移盒推断，其余新增目标终态结合实时 q_score=0 限定。机器人在转场前未选定具体操作物，因此 breakpoint.ref 为 unknown；不给未开始的物品操作复制计划接触。视频 27.0–27.2 s 显示蓝色文件夹在地上，与 agent 在 log step 56 自述“没有目标物被移动”不一致，以视频为准。"
+ },
+ "summary_zh": "评分回合只保留了开局文具盒在桌面的目标关系，进度为 1/11，没有观察到文件夹、书本、笔或电脑的成功搬运。机器人在视频约 24.0 s 空手接近书桌时碰撞家具障碍并失衡（碰撞由本体读数与画面结合推断），导航代码未保持非底盘关节且缺少障碍与倾斜停止反馈，后续起身失败，服务以跌倒结束。具体操作物尚未选定，断点节点记 unknown；缺少状态日志且倒地后遮挡，文具盒的终态延续为推断，其余新增目标终态结合 q_score=0 判假。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "进度 1/11（仅开局成立的文具盒）、断点 ref=unknown/转场、平衡现象与控制根因大体有据；时钟与控制步换算未见问题。缺一个有服务读数支持的接触类现象：导航时底盘撞上/爬上家具。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "进度 1/11（仅开局文具盒）、断点 ref=unknown/转场、平衡与被挡/碰撞现象及控制根因均有服务读数与画面支持；时钟无转换问题，上轮意见已采纳，未发现新错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:27:53Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-clean-up-your-desk-i00-standard--uumkp5c/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-up-your-desk-i00-standard--uumkp5c/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-up-your-desk-i00-standard--uumkp5c/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-clean-up-your-desk-i00-standard--uumkp5c/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e8030af56769cf3b1d6fb84e6138fd34a202a0d8abd2383a07f4c9bdd9f2ec8c",
+   "video_sha256": "6e25d005cd33453ca9de1448d9e4cc1cbcca3376f5c257fbef007fb3b2853e34",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/clean_up_your_desk/trajectories/behavior-clean-up-your-desk-i00-standard--xguchaq.json

@@ -0,0 +1,439 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-clean-up-your-desk-i00-standard--xguchaq",
+ "taskKey": "behavior-1k/clean_up_your_desk",
+ "dag_sha256": "c10db90087a2c419bb5d64f7cdaed29bd918775b4ff3a9aa79a6a9942098ee72",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "n_actions": 4688,
+   "sim_steps": 4688,
+   "physics_steps": 18752,
+   "steps": 4626,
+   "elapsed_s": 3237.1,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-clean-up-your-desk-i00-standard--xguchaq/replay.mp4",
+  "duration_s": 156.267,
+  "fps": 30.0,
+  "frames": 4688,
+  "sha256": "92ab1afdc9efd1e930a3f792c16798641c11abfa7dac259fd8197b004a4712c3"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 11,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "folders_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 22,
+      "log_step": 154,
+      "text_zh": "观察：视频 20–25 s，机器人左爪夹持蓝色文件夹并向书柜方向移动；视频 26.2 s 文件夹已出现在书柜外的木地板上，未见进入柜格后静置。"
+     },
+     {
+      "t": 89,
+      "log_step": 326,
+      "text_zh": "观察：视频 80–91 s 回捡及向柜格伸爪时，蓝色文件夹仍留在柜外地面；视频 109–123 s 及 136 s 的腕部视野仍可见它在地上。log step 326 的脚本虽称要将该文件夹入柜，画面不支持完成。"
+     },
+     {
+      "t": 156.23,
+      "log_step": null,
+      "text_zh": "推断：结合柜外落地与后续未搬走的画面，评分器 reward.q_score=0.0 且 live_matches_replay=1；按总分上界，开局尚未成立的目标关系最终均未新增成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 20–25 s 左侧二指夹爪夹住蓝色文件夹边缘，文件夹随左臂及底盘转移；后续回捡未见重新夹起。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 22–24 s 底盘承载机器人及左爪所夹文件夹，向书柜前移动并转向。"
+     }
+    ]
+   },
+   "folders_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6,
+      "log_step": null,
+      "text_zh": "观察：视频 6 s 椅上与桌面各有一个文件夹；机器人随后只处理椅上的蓝色文件夹，未见搬运桌上另一个文件夹。"
+     },
+     {
+      "t": 156.23,
+      "log_step": null,
+      "text_zh": "推断：未见任何文件夹入柜，评分器 reward.q_score=0.0 且 live_matches_replay=1；按总分上界，开局尚未成立的目标关系最终均未新增成立。"
+     }
+    ]
+   },
+   "books_in_bookcase_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6,
+      "log_step": null,
+      "text_zh": "观察：视频 6 s 两本彩色封面的平装书仍在绿色书桌上；视频 62–64 s 及 80–82 s 再次扫过桌面时未见书被取走，整段未见搬书入柜。"
+     },
+     {
+      "t": 156.23,
+      "log_step": null,
+      "text_zh": "推断：没有观察到至少1本书在柜内释放静置，评分器 reward.q_score=0.0 且 live_matches_replay=1；按总分上界，开局尚未成立的目标关系最终均未新增成立。"
+     }
+    ]
+   },
+   "books_in_bookcase_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6,
+      "log_step": null,
+      "text_zh": "观察：视频 6 s 两本彩色封面的平装书仍在绿色书桌上；视频 62–64 s 及 80–82 s 再次扫过桌面时未见书被取走，整段未见搬书入柜。"
+     },
+     {
+      "t": 156.23,
+      "log_step": null,
+      "text_zh": "推断：没有观察到至少2本书在柜内释放静置，评分器 reward.q_score=0.0 且 live_matches_replay=1；按总分上界，开局尚未成立的目标关系最终均未新增成立。"
+     }
+    ]
+   },
+   "pencil_in_pencil_box": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6,
+      "log_step": null,
+      "text_zh": "观察：视频 6 s 书桌上有文具盒和散放的细小文具；全程已查看画面未见机器人拾取铅笔并放入盒内。"
+     },
+     {
+      "t": 156.23,
+      "log_step": null,
+      "text_zh": "推断：微小文具末态被遮挡，结合没有装盒动作及评分器 reward.q_score=0.0 且 live_matches_replay=1；按总分上界，开局尚未成立的目标关系最终均未新增成立。"
+     }
+    ]
+   },
+   "pens_in_pencil_box_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6,
+      "log_step": null,
+      "text_zh": "观察：视频 6 s 文具盒在桌面，桌上细小文具难逐支辨清；已查看全程未见机器人执行取笔、搬笔和入盒动作。"
+     },
+     {
+      "t": 156.23,
+      "log_step": null,
+      "text_zh": "推断：没有至少1支笔入盒的可见过程；评分器 reward.q_score=0.0 且 live_matches_replay=1；按总分上界，开局尚未成立的目标关系最终均未新增成立。"
+     }
+    ]
+   },
+   "pens_in_pencil_box_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6,
+      "log_step": null,
+      "text_zh": "观察：视频 6 s 文具盒在桌面，桌上细小文具难逐支辨清；已查看全程未见机器人执行取笔、搬笔和入盒动作。"
+     },
+     {
+      "t": 156.23,
+      "log_step": null,
+      "text_zh": "推断：没有至少2支笔入盒的可见过程；评分器 reward.q_score=0.0 且 live_matches_replay=1；按总分上界，开局尚未成立的目标关系最终均未新增成立。"
+     }
+    ]
+   },
+   "pencil_box_on_desk": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 开局文具盒位于绿色书桌的书柜一端；视频 6 s 及 80–82 s、88 s 的腕部视野可再次见到蓝色文具盒仍在该桌面。"
+     },
+     {
+      "t": 156.23,
+      "log_step": null,
+      "text_zh": "推断：机器人未抓取或搬动文具盒，也未见它离开桌面，故初始桌面关系持续保留；视频 153–156.23 s 末段仅能看到桌侧和桌底，最终保持依据前后场景连续性推断。q_score 不计仍保持的开局目标关系，故原生零分不否定本节点。"
+     }
+    ]
+   },
+   "stapler_on_desk": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 68,
+      "log_step": 236,
+      "text_zh": "观察：视频 67–77 s 机器人左臂伸向书柜下部柜格，撤回时没有可见订书机随爪带出；随后仍在柜前反复伸爪，未见从柜内运往桌面的订书机。"
+     },
+     {
+      "t": 99,
+      "log_step": 367,
+      "text_zh": "观察：视频 94–108 s 左爪再次伸入柜格并撤出，近距离柜板遮住部分接触区；未见订书机在夹爪中或被放到绿色书桌上。"
+     },
+     {
+      "t": 156.23,
+      "log_step": null,
+      "text_zh": "推断：没有完成取出并上桌的可见过程，评分器 reward.q_score=0.0 且 live_matches_replay=1；按总分上界，开局尚未成立的目标关系最终均未新增成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 67–77 s、94–108 s 左爪向书柜下格开合，柜板与手部遮挡订书机接触区域，无法确认是否碰到订书机或形成何种接触；未据脚本的抓取目标计为已抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 62–67 s 底盘从床旁移至书柜前，为取订书机调整位置。"
+     }
+    ]
+   },
+   "laptop_on_desk": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 57,
+      "log_step": 218,
+      "text_zh": "观察：视频 54–61 s 左爪在床上电脑附近开合并抬起，随后电脑仍留在原床面，未随夹爪离床；视频 62–64 s 可见整台电脑仍在床上。"
+     },
+     {
+      "t": 136,
+      "log_step": null,
+      "text_zh": "观察：视频 94–108 s 及 123–136 s 电脑继续停留在床面，未见向书桌转运。"
+     },
+     {
+      "t": 156.23,
+      "log_step": null,
+      "text_zh": "推断：结合电脑持续留床的画面及评分器 reward.q_score=0.0 且 live_matches_replay=1；按总分上界，开局尚未成立的目标关系最终均未新增成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 54–61 s 左侧夹爪在电脑边缘执行合爪与抬升，腕部图像被电脑和夹爪遮挡，未见电脑随爪离床，不能确认建立了夹持接触。"
+     }
+    ]
+   },
+   "laptop_closed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 32,
+      "log_step": 210,
+      "text_zh": "观察：视频 32–58 s 机器人在电脑旁多次伸爪，双腕视野靠近键盘/机身表面；电脑之后仍明显打开。log step 200、210 记录双臂按压合盖脚本，仅作为动作意图核对。"
+     },
+     {
+      "t": 64,
+      "log_step": null,
+      "text_zh": "观察：视频 62–64 s 电脑屏幕与键盘仍呈明显张开的夹角；视频 94–108 s 及 136 s 再次看到该打开姿态，未达到接近闭合的判据。"
+     },
+     {
+      "t": 156.23,
+      "log_step": null,
+      "text_zh": "推断：未见合盖达标后再打开的过程；评分器 reward.q_score=0.0 且 live_matches_replay=1；按总分上界，开局尚未成立的目标关系最终均未新增成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "压/擦",
+      "note_zh": "观察：视频 47.5–52 s 两个腕部视野均可见黑色电脑表面接近并抵住指端，机器人双臂协同施压，未见包围夹持；此前也有单侧夹爪接近并按推。具体盖板与底座接触点受近距离遮挡。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "folders_in_bookcase_1",
+   "t": 26.2,
+   "log_step": 154,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 22–25 s 机器人夹持蓝色文件夹移向书柜，视频 25.6–26.2 s 文件夹离开左腕近景并落到柜外地板。视频 80–91 s 与 109–123 s 的后续回捡没有把它搬入柜内；这是最早尝试而始终未修复的步骤。推断：文件夹送入途中脱手，故以视频 26.2 s 的柜外落地作为第1个文件夹入柜失败的锚点；log step 153–154 仅记录插入脚本及其启动，不能证明实际张爪的位置。后续合盖、取订书机及视频 144–156.23 s 翻倒没有修复该步。"
+  },
+  "unmet": {
+   "folders_in_bookcase_1": false,
+   "folders_in_bookcase_2": false,
+   "books_in_bookcase_1": false,
+   "books_in_bookcase_2": false,
+   "pencil_in_pencil_box": false,
+   "pens_in_pencil_box_1": false,
+   "pens_in_pencil_box_2": false,
+   "pencil_box_on_desk": true,
+   "stapler_on_desk": false,
+   "laptop_on_desk": false,
+   "laptop_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 26.2,
+    "log_step": 154,
+    "evidence_zh": "观察：视频 22–25.2 s 蓝色文件夹贴近左腕相机并随机器人移动；视频 25.6–26.0 s 左腕视野转为地板和椅腿，文件夹从视野左上方滑出并向地面落下，视频 26.2 s 已在柜外地板上，未见进入柜格。推断：先前已建立的握持在送入途中丢失，符合“没保持住”；log step 153 的张爪指令仅是脚本内容，不能证明此处是有计划的柜外释放。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 26.2,
+    "log_step": 153,
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "观察：视频 22–25.2 s 文件夹随左臂搬运，视频 25.6–26.2 s 文件夹脱离腕部近景并落在柜外地板；log step 153 编写的插入脚本计划移向柜格后张爪，log step 154 只返回后台任务已启动，未提供逐段执行或实际张爪位置的输出。推断：实际握持/搬运控制未能保持文件夹直至完成入柜；现有证据不能进一步区分接触布局、轨迹执行或反馈控制子类，保留一般“控制”根因。"
+   }
+  ],
+  "gap_zh": "无状态日志与成功参考视频；头部/腕部相机在柜前多被柜板或电脑遮挡，订书机及电脑提取尝试的真实接触不能完整确认，文具盒末态保持由连续场景推断。文件夹脱手前的精确夹持点、实际张爪时刻和关节跟踪没有记录，不能从脚本计划确定脱手机制，故只给一般控制根因，不细分机制。标签以单次实时视频为准；log step 562 才写出的 gen.py 后续仅经 log step 564 编译、565 设置权限，未见执行，不能把其中全部清理流程计入本次进度。"
+ },
+ "summary_zh": "本次初始、峰值和最终均为 1/11，仅保持文具盒在桌面；文件夹、书、文具、订书机和电脑均未新增达标，评分器 q_score=0 与此一致。机器人最先处理的蓝色文件夹在视频 25.6–26.2 s 送入书柜途中脱手并落到柜外地面，后续回捡未修复，断点为第1个文件夹入柜，现象为“没保持住”，根因保留一般控制；末段视频 144–156.23 s 机器人又发生翻倒。无状态日志且部分实际接触被柜板/电脑遮挡，脱手机制不能进一步细分，接触未知项和末态文具盒保持推断已注明。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "进度全 false、仅文具盒保持（1/11）、断点在第1个文件夹入柜，与视频和 q_score=0 一致；但 26 s 处的现象定为“位姿不准（柜外释放）”缺证据：视频里文件夹是在夹爪朝向地面、并未进入柜格时从爪中滑落，更像“没保持住”，所谓“入柜后张爪”只来自脚本意图。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "复核视频：蓝色文件夹在 24–25.4 s 随左爪搬运，25.8–26.2 s 起离开腕部视野落在柜外地板，27 s 仍在地上；断点、没保持住、一般控制根因与 1/11 进度均与帧和 q_score=0 一致，未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:27:29Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-clean-up-your-desk-i00-standard--xguchaq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-up-your-desk-i00-standard--xguchaq/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-clean-up-your-desk-i00-standard--xguchaq/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-clean-up-your-desk-i00-standard--xguchaq/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "de673ffebcaf3c587f1bee0c43c1c88b190949254d1cf03e60b3e29a7963c93f",
+   "video_sha256": "92ab1afdc9efd1e930a3f792c16798641c11abfa7dac259fd8197b004a4712c3",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_brussels_sprouts/trajectories/behavior-cook-brussels-sprouts-i00-privileged--pxvl7e7.json

@@ -0,0 +1,1018 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-brussels-sprouts-i00-privileged--pxvl7e7",
+ "taskKey": "behavior-1k/cook_brussels_sprouts",
+ "dag_sha256": "bf76cda0e3966e940a07729b29828c06815c78a9533d4989ef80a262c4504c19",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 1,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 15047,
+   "sim_steps": 15047,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 1.0,
+   "replay_wall_s": 3420.1,
+   "replay_timeout_s": 8723.5,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 4,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 10.562,
+   "peak_memory_gb": 8.901,
+   "peak_processes": 31,
+   "peak_disk_gb": 1.983,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "regrade_0154": {
+    "tag": "behavior-254-0154",
+    "old": 1,
+    "new": 0,
+    "why": "stricter rule",
+    "at": "2026-10-18 02:08:19"
+   }
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-cook-brussels-sprouts-i00-privileged--pxvl7e7/replay.mp4",
+  "duration_s": 501.567,
+  "fps": 30.0,
+  "frames": 15047,
+  "sha256": "0372ec5ea7298daddee5802e7e1bf28e78b3dee3bd6e23414cbae0810109308f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 24,
+  "base": null,
+  "peak": null,
+  "final": 24,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      27.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 27.5,
+      "log_step": null,
+      "text_zh": "观察：视频 27.0–29.0 s，机器人左夹爪随冰箱门向外运动，门板离开门框，冷藏层架和装有整颗甘蓝的保鲜盒显露；开门时刻约为视频 27.5 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左二指夹爪夹持冰箱门把手并拉开门板；腕部画面可见夹爪与把手共同移动。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人先从厨房过道驶到冰箱前，开门期间调整底盘位置。"
+     }
+    ]
+   },
+   "oven_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      254.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 254.5,
+      "log_step": null,
+      "text_zh": "观察：视频 252–260 s，机器人左夹爪在上层烤箱门把手附近闭合并牵动门板；视频 254–255 s 门板已偏离门框，随后炉腔显露，视频 263–268 s 可清楚看到打开的上层门。开度越过5%的时刻约为视频 254.5 s，误差约1秒。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左二指夹爪夹住上层烤箱门把手，沿门的转动方向拉开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人空手由切割台驶到烤箱前，并在拉门时调整停靠位置。"
+     }
+    ]
+   },
+   "sprouts_halved_1": {
+    "method": "visual",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": 180.5,
+      "log_step": null,
+      "text_zh": "观察：视频 180.5–183.0 s 保鲜盒仍在台面，左夹爪握刀；视频 183.5–211.0 s 刀在腕部画面中运动，但刀刃与甘蓝接触区位于各相机视野之外，不能逐颗定位切半瞬间。"
+     },
+     {
+      "t": 215.0,
+      "log_step": null,
+      "text_zh": "推断：视频 213.5–235 s 保鲜盒重新进入视野，盒内为多个具有切面的小块；视频 285–320 s 同一批小块随盒搬入烤箱，未见之后再次切割。评分器终态 q_score=1.0、all_success=1，结合任务的八个real目标文字，支持至少2个目标半颗最终存在，即第1颗切半 final=true；四个切半节点按数量计数，不固定实例。首次达成时间无法可靠细分，因此 intervals=null。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "左夹爪持切肉刀，刀向保鲜盒内下压后回撤；结合此前整颗与随后盒中半颗形态，推断刀刃完成切割，接触点本身被相机视野遮去。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "切割准备阶段，底盘载着右夹爪提住的保鲜盒从冰箱移至台面；四颗甘蓝一起随盒搬运，切割时底盘停住。"
+     }
+    ]
+   },
+   "sprouts_halved_2": {
+    "method": "visual",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": 180.5,
+      "log_step": null,
+      "text_zh": "观察：视频 180.5–183.0 s 保鲜盒仍在台面，左夹爪握刀；视频 183.5–211.0 s 刀在腕部画面中运动，但刀刃与甘蓝接触区位于各相机视野之外，不能逐颗定位切半瞬间。"
+     },
+     {
+      "t": 215.0,
+      "log_step": null,
+      "text_zh": "推断：视频 213.5–235 s 保鲜盒重新进入视野，盒内为多个具有切面的小块；视频 285–320 s 同一批小块随盒搬入烤箱，未见之后再次切割。评分器终态 q_score=1.0、all_success=1，结合任务的八个real目标文字，支持至少4个目标半颗最终存在，即第2颗切半 final=true；四个切半节点按数量计数，不固定实例。首次达成时间无法可靠细分，因此 intervals=null。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "左夹爪持切肉刀，刀向保鲜盒内下压后回撤；结合此前整颗与随后盒中半颗形态，推断刀刃完成切割，接触点本身被相机视野遮去。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "切割准备阶段，底盘载着右夹爪提住的保鲜盒从冰箱移至台面；四颗甘蓝一起随盒搬运，切割时底盘停住。"
+     }
+    ]
+   },
+   "sprouts_halved_3": {
+    "method": "visual",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": 180.5,
+      "log_step": null,
+      "text_zh": "观察：视频 180.5–183.0 s 保鲜盒仍在台面，左夹爪握刀；视频 183.5–211.0 s 刀在腕部画面中运动，但刀刃与甘蓝接触区位于各相机视野之外，不能逐颗定位切半瞬间。"
+     },
+     {
+      "t": 215.0,
+      "log_step": null,
+      "text_zh": "推断：视频 213.5–235 s 保鲜盒重新进入视野，盒内为多个具有切面的小块；视频 285–320 s 同一批小块随盒搬入烤箱，未见之后再次切割。评分器终态 q_score=1.0、all_success=1，结合任务的八个real目标文字，支持至少6个目标半颗最终存在，即第3颗切半 final=true；四个切半节点按数量计数，不固定实例。首次达成时间无法可靠细分，因此 intervals=null。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "左夹爪持切肉刀，刀向保鲜盒内下压后回撤；结合此前整颗与随后盒中半颗形态，推断刀刃完成切割，接触点本身被相机视野遮去。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "切割准备阶段，底盘载着右夹爪提住的保鲜盒从冰箱移至台面；四颗甘蓝一起随盒搬运，切割时底盘停住。"
+     }
+    ]
+   },
+   "sprouts_halved_4": {
+    "method": "visual",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": 180.5,
+      "log_step": null,
+      "text_zh": "观察：视频 180.5–183.0 s 保鲜盒仍在台面，左夹爪握刀；视频 183.5–211.0 s 刀在腕部画面中运动，但刀刃与甘蓝接触区位于各相机视野之外，不能逐颗定位切半瞬间。"
+     },
+     {
+      "t": 215.0,
+      "log_step": null,
+      "text_zh": "推断：视频 213.5–235 s 保鲜盒重新进入视野，盒内为多个具有切面的小块；视频 285–320 s 同一批小块随盒搬入烤箱，未见之后再次切割。评分器终态 q_score=1.0、all_success=1，结合任务的八个real目标文字，支持至少8个目标半颗最终存在，即第4颗切半 final=true；四个切半节点按数量计数，不固定实例。首次达成时间无法可靠细分，因此 intervals=null。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "左夹爪持切肉刀，刀向保鲜盒内下压后回撤；结合此前整颗与随后盒中半颗形态，推断刀刃完成切割，接触点本身被相机视野遮去。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "切割准备阶段，底盘载着右夹爪提住的保鲜盒从冰箱移至台面；四颗甘蓝一起随盒搬运，切割时底盘停住。"
+     }
+    ]
+   },
+   "halves_in_oven_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      316.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 316.5,
+      "log_step": null,
+      "text_zh": "观察：视频 285–305 s，机器人右夹爪夹持装有半颗甘蓝的保鲜盒，保鲜盒确实离开台面；视频 313–318 s 整盒向上层炉腔内部平移，视频 322–325 s 保鲜盒落在炉内层架，右夹爪张开撤走，盒内小块随盒保留。第1半颗入炉与整批搬运共同发生，约为视频 316.5 s，各小块跨越内腔边界的细微先后不可分。"
+     },
+     {
+      "t": 501.5,
+      "log_step": null,
+      "text_zh": "推断：视频 325–501.5 s 未见机器人再取出上层保鲜盒；评分器终态 q_score=1.0、all_success=1 支持八份inside目标文字均成立，故至少1份在炉内，final=true。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "右二指夹爪夹住保鲜盒边缘，保鲜盒底部承载八个半颗，整盒送入上层炉腔并释放在层架上；没有逐个直接夹取半颗。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘在右臂持盒时从切割台驶向烤箱，八个半颗一起随盒运输。"
+     }
+    ]
+   },
+   "halves_in_oven_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      316.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 316.5,
+      "log_step": null,
+      "text_zh": "观察：视频 285–305 s，机器人右夹爪夹持装有半颗甘蓝的保鲜盒，保鲜盒确实离开台面；视频 313–318 s 整盒向上层炉腔内部平移，视频 322–325 s 保鲜盒落在炉内层架，右夹爪张开撤走，盒内小块随盒保留。第2半颗入炉与整批搬运共同发生，约为视频 316.5 s，各小块跨越内腔边界的细微先后不可分。"
+     },
+     {
+      "t": 501.5,
+      "log_step": null,
+      "text_zh": "推断：视频 325–501.5 s 未见机器人再取出上层保鲜盒；评分器终态 q_score=1.0、all_success=1 支持八份inside目标文字均成立，故至少2份在炉内，final=true。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "右二指夹爪夹住保鲜盒边缘，保鲜盒底部承载八个半颗，整盒送入上层炉腔并释放在层架上；没有逐个直接夹取半颗。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘在右臂持盒时从切割台驶向烤箱，八个半颗一起随盒运输。"
+     }
+    ]
+   },
+   "halves_in_oven_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      316.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 316.5,
+      "log_step": null,
+      "text_zh": "观察：视频 285–305 s，机器人右夹爪夹持装有半颗甘蓝的保鲜盒，保鲜盒确实离开台面；视频 313–318 s 整盒向上层炉腔内部平移，视频 322–325 s 保鲜盒落在炉内层架，右夹爪张开撤走，盒内小块随盒保留。第3半颗入炉与整批搬运共同发生，约为视频 316.5 s，各小块跨越内腔边界的细微先后不可分。"
+     },
+     {
+      "t": 501.5,
+      "log_step": null,
+      "text_zh": "推断：视频 325–501.5 s 未见机器人再取出上层保鲜盒；评分器终态 q_score=1.0、all_success=1 支持八份inside目标文字均成立，故至少3份在炉内，final=true。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "右二指夹爪夹住保鲜盒边缘，保鲜盒底部承载八个半颗，整盒送入上层炉腔并释放在层架上；没有逐个直接夹取半颗。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘在右臂持盒时从切割台驶向烤箱，八个半颗一起随盒运输。"
+     }
+    ]
+   },
+   "halves_in_oven_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      316.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 316.5,
+      "log_step": null,
+      "text_zh": "观察：视频 285–305 s，机器人右夹爪夹持装有半颗甘蓝的保鲜盒，保鲜盒确实离开台面；视频 313–318 s 整盒向上层炉腔内部平移，视频 322–325 s 保鲜盒落在炉内层架，右夹爪张开撤走，盒内小块随盒保留。第4半颗入炉与整批搬运共同发生，约为视频 316.5 s，各小块跨越内腔边界的细微先后不可分。"
+     },
+     {
+      "t": 501.5,
+      "log_step": null,
+      "text_zh": "推断：视频 325–501.5 s 未见机器人再取出上层保鲜盒；评分器终态 q_score=1.0、all_success=1 支持八份inside目标文字均成立，故至少4份在炉内，final=true。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "右二指夹爪夹住保鲜盒边缘，保鲜盒底部承载八个半颗，整盒送入上层炉腔并释放在层架上；没有逐个直接夹取半颗。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘在右臂持盒时从切割台驶向烤箱，八个半颗一起随盒运输。"
+     }
+    ]
+   },
+   "halves_in_oven_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      316.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 316.5,
+      "log_step": null,
+      "text_zh": "观察：视频 285–305 s，机器人右夹爪夹持装有半颗甘蓝的保鲜盒，保鲜盒确实离开台面；视频 313–318 s 整盒向上层炉腔内部平移，视频 322–325 s 保鲜盒落在炉内层架，右夹爪张开撤走，盒内小块随盒保留。第5半颗入炉与整批搬运共同发生，约为视频 316.5 s，各小块跨越内腔边界的细微先后不可分。"
+     },
+     {
+      "t": 501.5,
+      "log_step": null,
+      "text_zh": "推断：视频 325–501.5 s 未见机器人再取出上层保鲜盒；评分器终态 q_score=1.0、all_success=1 支持八份inside目标文字均成立，故至少5份在炉内，final=true。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "右二指夹爪夹住保鲜盒边缘，保鲜盒底部承载八个半颗，整盒送入上层炉腔并释放在层架上；没有逐个直接夹取半颗。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘在右臂持盒时从切割台驶向烤箱，八个半颗一起随盒运输。"
+     }
+    ]
+   },
+   "halves_in_oven_6": {
+    "method": "visual",
+    "intervals": [
+     [
+      316.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 316.5,
+      "log_step": null,
+      "text_zh": "观察：视频 285–305 s，机器人右夹爪夹持装有半颗甘蓝的保鲜盒，保鲜盒确实离开台面；视频 313–318 s 整盒向上层炉腔内部平移，视频 322–325 s 保鲜盒落在炉内层架，右夹爪张开撤走，盒内小块随盒保留。第6半颗入炉与整批搬运共同发生，约为视频 316.5 s，各小块跨越内腔边界的细微先后不可分。"
+     },
+     {
+      "t": 501.5,
+      "log_step": null,
+      "text_zh": "推断：视频 325–501.5 s 未见机器人再取出上层保鲜盒；评分器终态 q_score=1.0、all_success=1 支持八份inside目标文字均成立，故至少6份在炉内，final=true。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "右二指夹爪夹住保鲜盒边缘，保鲜盒底部承载八个半颗，整盒送入上层炉腔并释放在层架上；没有逐个直接夹取半颗。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘在右臂持盒时从切割台驶向烤箱，八个半颗一起随盒运输。"
+     }
+    ]
+   },
+   "halves_in_oven_7": {
+    "method": "visual",
+    "intervals": [
+     [
+      316.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 316.5,
+      "log_step": null,
+      "text_zh": "观察：视频 285–305 s，机器人右夹爪夹持装有半颗甘蓝的保鲜盒，保鲜盒确实离开台面；视频 313–318 s 整盒向上层炉腔内部平移，视频 322–325 s 保鲜盒落在炉内层架，右夹爪张开撤走，盒内小块随盒保留。第7半颗入炉与整批搬运共同发生，约为视频 316.5 s，各小块跨越内腔边界的细微先后不可分。"
+     },
+     {
+      "t": 501.5,
+      "log_step": null,
+      "text_zh": "推断：视频 325–501.5 s 未见机器人再取出上层保鲜盒；评分器终态 q_score=1.0、all_success=1 支持八份inside目标文字均成立，故至少7份在炉内，final=true。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "右二指夹爪夹住保鲜盒边缘，保鲜盒底部承载八个半颗，整盒送入上层炉腔并释放在层架上；没有逐个直接夹取半颗。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘在右臂持盒时从切割台驶向烤箱，八个半颗一起随盒运输。"
+     }
+    ]
+   },
+   "halves_in_oven_8": {
+    "method": "visual",
+    "intervals": [
+     [
+      316.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 316.5,
+      "log_step": null,
+      "text_zh": "观察：视频 285–305 s，机器人右夹爪夹持装有半颗甘蓝的保鲜盒，保鲜盒确实离开台面；视频 313–318 s 整盒向上层炉腔内部平移，视频 322–325 s 保鲜盒落在炉内层架，右夹爪张开撤走，盒内小块随盒保留。第8半颗入炉与整批搬运共同发生，约为视频 316.5 s，各小块跨越内腔边界的细微先后不可分。"
+     },
+     {
+      "t": 501.5,
+      "log_step": null,
+      "text_zh": "推断：视频 325–501.5 s 未见机器人再取出上层保鲜盒；评分器终态 q_score=1.0、all_success=1 支持八份inside目标文字均成立，故至少8份在炉内，final=true。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "右二指夹爪夹住保鲜盒边缘，保鲜盒底部承载八个半颗，整盒送入上层炉腔并释放在层架上；没有逐个直接夹取半颗。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘在右臂持盒时从切割台驶向烤箱，八个半颗一起随盒运输。"
+     }
+    ]
+   },
+   "halves_cooked_1": {
+    "method": "visual",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": 358.0,
+      "log_step": null,
+      "text_zh": "观察：视频 354–360 s，机器人左夹爪接触烤箱红色圆形控制部位，指示由红变绿；上层保鲜盒随后一直被炉门遮挡。视频 420–475 s，机器人又把台面烤盘拿起、运至下层炉腔并放入。亮灯、搬入烤盘均不单独证明甘蓝已熟。"
+     },
+     {
+      "t": 501.5,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=1.0 且 all_success=1，结合任务八个cooked文字，支持至少1份最终已熟；视频 500.6–501.5 s 没有显示与之相反的炉内食物状态。熟态的首次转换不在任何可用视角中，亦无逐帧温度或cooked日志，故 final=true 而 intervals=null，不能把开机时刻当成熟态时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "机器人右臂经保鲜盒底部承载甘蓝半颗，完成上层炉腔装载；加热本身由设备完成。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人左夹爪按压烤箱圆形控制部位，视频 358 s 左腕画面可见指示变绿。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "后续补充加热操作中，右二指夹爪夹住烤盘边缘，把烤盘放进下层炉腔；不据此断言烤盘与甘蓝存在传热接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人为装载及补充加热往返于台面与烤箱，持保鲜盒、持烤盘的运输均有底盘移动。"
+     }
+    ]
+   },
+   "halves_cooked_2": {
+    "method": "visual",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": 358.0,
+      "log_step": null,
+      "text_zh": "观察：视频 354–360 s，机器人左夹爪接触烤箱红色圆形控制部位，指示由红变绿；上层保鲜盒随后一直被炉门遮挡。视频 420–475 s，机器人又把台面烤盘拿起、运至下层炉腔并放入。亮灯、搬入烤盘均不单独证明甘蓝已熟。"
+     },
+     {
+      "t": 501.5,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=1.0 且 all_success=1，结合任务八个cooked文字，支持至少2份最终已熟；视频 500.6–501.5 s 没有显示与之相反的炉内食物状态。熟态的首次转换不在任何可用视角中，亦无逐帧温度或cooked日志，故 final=true 而 intervals=null，不能把开机时刻当成熟态时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "机器人右臂经保鲜盒底部承载甘蓝半颗，完成上层炉腔装载；加热本身由设备完成。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人左夹爪按压烤箱圆形控制部位，视频 358 s 左腕画面可见指示变绿。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "后续补充加热操作中，右二指夹爪夹住烤盘边缘，把烤盘放进下层炉腔；不据此断言烤盘与甘蓝存在传热接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人为装载及补充加热往返于台面与烤箱，持保鲜盒、持烤盘的运输均有底盘移动。"
+     }
+    ]
+   },
+   "halves_cooked_3": {
+    "method": "visual",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": 358.0,
+      "log_step": null,
+      "text_zh": "观察：视频 354–360 s，机器人左夹爪接触烤箱红色圆形控制部位，指示由红变绿；上层保鲜盒随后一直被炉门遮挡。视频 420–475 s，机器人又把台面烤盘拿起、运至下层炉腔并放入。亮灯、搬入烤盘均不单独证明甘蓝已熟。"
+     },
+     {
+      "t": 501.5,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=1.0 且 all_success=1，结合任务八个cooked文字，支持至少3份最终已熟；视频 500.6–501.5 s 没有显示与之相反的炉内食物状态。熟态的首次转换不在任何可用视角中，亦无逐帧温度或cooked日志，故 final=true 而 intervals=null，不能把开机时刻当成熟态时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "机器人右臂经保鲜盒底部承载甘蓝半颗，完成上层炉腔装载；加热本身由设备完成。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人左夹爪按压烤箱圆形控制部位，视频 358 s 左腕画面可见指示变绿。"
+     },
+     {
+      "who": "手指/夹��",
+      "how": "抓握",
+      "note_zh": "后续补充加热操作中，右二指夹爪夹住烤盘边缘，把烤盘放进下层炉腔；不据此断言烤盘与甘蓝存在传热接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人为装载及补充加热往返于台面与烤箱，持保鲜盒、持烤盘的运输均有底盘移动。"
+     }
+    ]
+   },
+   "halves_cooked_4": {
+    "method": "visual",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": 358.0,
+      "log_step": null,
+      "text_zh": "观察：视频 354–360 s，机器人左夹爪接触烤箱红色圆形控制部位，指示由红变绿；上层保鲜盒随后一直被炉门遮挡。视频 420–475 s，机器人又把台面烤盘拿起、运至下层炉腔并放入。亮灯、搬入烤盘均不单独证明甘蓝已熟。"
+     },
+     {
+      "t": 501.5,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=1.0 且 all_success=1，结合任务八个cooked文字，支持至少4份最终已熟；视频 500.6–501.5 s 没有显示与之相反的炉内食物状态。熟态的首次转换不在任何可用视角中，亦无逐帧温度或cooked日志，故 final=true 而 intervals=null，不能把开机时刻当成熟态时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "机器人右臂经保鲜盒底部承载甘蓝半颗，完成上层炉腔装载；加热本身由设备完成。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人左夹爪按压烤箱圆形控制部位，视频 358 s 左腕画面可见指示变绿。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "后续补充加热操作中，右二指夹爪夹住烤盘边缘，把烤盘放进下层炉腔；不据此断言烤盘与甘蓝存在传热接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人为装载及补充加热往返于台面与烤箱，持保鲜盒、持烤盘的运输均有底盘移动。"
+     }
+    ]
+   },
+   "halves_cooked_5": {
+    "method": "visual",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": 358.0,
+      "log_step": null,
+      "text_zh": "观察：视频 354–360 s，机器人左夹爪接触烤箱红色圆形控制部位，指示由红变绿；上层保鲜盒随后一直被炉门遮挡。视频 420–475 s，机器人又把台面烤盘拿起、运至下层炉腔并放入。亮灯、搬入烤盘均不单独证明甘蓝已熟。"
+     },
+     {
+      "t": 501.5,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=1.0 且 all_success=1，结合任务八个cooked文字，支持至少5份最终已熟；视频 500.6–501.5 s 没有显示与之相反的炉内食物状态。熟态的首次转换不在任何可用视角中，亦无逐帧温度或cooked日志，故 final=true 而 intervals=null，不能把开机时刻当成熟态时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "机器人右臂经保鲜盒底部承载甘蓝半颗，完成上层炉腔装载；加热本身由设备完成。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人左夹爪按压烤箱圆形控制部位，视频 358 s 左腕画面可见指示变绿。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "后续补充加热操作中，右二指夹爪夹住烤盘边缘，把烤盘放进下层炉腔；不据此断言烤盘与甘蓝存在传热接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人为装载及补充加热往返于台面与烤箱，持保鲜盒、持烤盘的运输均有底盘移动。"
+     }
+    ]
+   },
+   "halves_cooked_6": {
+    "method": "visual",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": 358.0,
+      "log_step": null,
+      "text_zh": "观察：视频 354–360 s，机器人左夹爪接触烤箱红色圆形控制部位，指示由红变绿；上层保鲜盒随后一直被炉门遮挡。视频 420–475 s，机器人又把台面烤盘拿起、运至下层炉腔并放入。亮灯、搬入烤盘均不单独证明甘蓝已熟。"
+     },
+     {
+      "t": 501.5,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=1.0 且 all_success=1，结合任务八个cooked文字，支持至少6份最终已熟；视频 500.6–501.5 s 没有显示与之相反的炉内食物状态。熟态的首次转换不在任何可用视角中，亦无逐帧温度或cooked日志，故 final=true 而 intervals=null，不能把开机时刻当成熟态时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "机器人右臂经保鲜盒底部承载��蓝半颗，完成上层炉腔装载；加热本身由设备完成。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人左夹爪按压烤箱圆形控制部位，视频 358 s 左腕画面可见指示变绿。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "后续补充加热操作中，右二指夹爪夹住烤盘边缘，把烤盘放进下层炉腔；不据此断言烤盘与甘蓝存在传热接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人为装载及补充加热往返于台面与烤箱，持保鲜盒、持烤盘的运输均有底盘移动。"
+     }
+    ]
+   },
+   "halves_cooked_7": {
+    "method": "visual",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": 358.0,
+      "log_step": null,
+      "text_zh": "观察：视频 354–360 s，机器人左夹爪接触烤箱红色圆形控制部位，指示由红变绿；上层保鲜盒随后一直被炉门遮挡。视频 420–475 s，机器人又把台面烤盘拿起、运至下层炉腔并放入。亮灯、搬入烤盘均不单独证明甘蓝已熟。"
+     },
+     {
+      "t": 501.5,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=1.0 且 all_success=1，结合任务八个cooked文字，支持至少7份最终已熟；视频 500.6–501.5 s 没有显示与之相反的炉内食物状态。熟态的首次转换不在任何可用视角中，亦无逐帧温度或cooked日志，故 final=true 而 intervals=null，不能把开机时刻当成熟态时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "机器人右臂经保鲜盒底部承载甘蓝半颗，完成上层炉腔装载；加热本身由设备完成。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人左夹爪按压烤箱圆形控制部位，视频 358 s 左腕画面可见指示变绿。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "后续补充加热操作中，右二指夹爪夹住烤盘边缘，把烤盘放进下层炉腔；不据此断言烤盘与甘蓝存在传热接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人为装载及补充加热往返于台面与烤箱，持保鲜盒、持烤盘的运输均有底盘移动。"
+     }
+    ]
+   },
+   "halves_cooked_8": {
+    "method": "visual",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": 358.0,
+      "log_step": null,
+      "text_zh": "观察：视频 354–360 s，机器人左夹爪接触烤箱红色圆形控制部位，指示由红变绿；上层保鲜盒随后一直被炉门遮挡。视频 420–475 s，机器人又把台面烤盘拿起、运至下层炉腔并放入。亮灯、搬入烤盘均不单独证明甘蓝已熟。"
+     },
+     {
+      "t": 501.5,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=1.0 且 all_success=1，结合任务八个cooked文字，支持至少8份最终已熟；视频 500.6–501.5 s 没有显示与之相反的炉内食物状态。熟态的首次转换不在任何可用视角中，亦无逐帧温度或cooked日志，故 final=true 而 intervals=null，不能把开机时刻当成熟态时刻。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "机器人右臂经保鲜盒底部承载甘蓝半颗，完成上层炉腔装载；加热本身由设备完成。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人左夹爪按压烤箱圆形控制部位，视频 358 s 左腕画面可见指示变绿。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "后续补充加热操作中，右二指夹爪夹住烤盘边缘，把烤盘放进下层炉腔；不据此断言烤盘与甘蓝存在传热接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人为装载及补充加热往返于台面与烤箱，持保鲜盒、持烤盘的运输均有底盘移动。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      27.5
+     ],
+     [
+      391.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 冰箱位于厨房远端，未见敞开的门板；任务DAG的初始目标记录也明确冰箱开局关闭。视频 27.5 s 门板打开，此后失去关闭状态。"
+     },
+     {
+      "t": 391.8,
+      "log_step": null,
+      "text_zh": "观察：视频 378–391.5 s，机器人右夹爪握住冰箱门边，随底盘和右臂的弧线运动把门逐步带回；视频 391.75–392.0 s 右腕视角的层架被门板遮去，随后右夹爪张开并撤离。恢复关闭约为视��� 391.8 s，之后没有再次开冰箱。"
+     },
+     {
+      "t": 501.5,
+      "log_step": null,
+      "text_zh": "推断：末段视频未再操作冰箱，且评分器 q_score=1.0、all_success=1 与冰箱关闭一致；DAG freeze_held=false，关闭状态不等待夹爪释放才计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右二指夹爪夹住冰箱门边，带门转回门框后松手。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人从烤箱驶到冰箱，并在握门关闭过程中移动底盘跟随门边弧线。"
+     }
+    ]
+   },
+   "oven_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      254.5
+     ],
+     [
+      344.5,
+      409.0
+     ],
+     [
+      501.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 烤箱位于厨房远端，门板未敞开；DAG初始目标记录明确其开局关闭。视频约 254.5 s 上层门打开，初始关闭状态失去。"
+     },
+     {
+      "t": 344.5,
+      "log_step": null,
+      "text_zh": "观察：视频 330–344.5 s 左夹爪分段带动上层门合拢；视频 344.5–346 s 正面门板已回到门框，炉内保鲜盒不可见。视频 408–412 s 机器人又拉开下层门，约在视频 409 s 再次失去整台烤箱关闭状态，误差约1秒。"
+     },
+     {
+      "t": 501.5,
+      "log_step": 353,
+      "text_zh": "推断：视频 480–501.5 s 机器人最终处理下层门，末段左腕仍紧邻门板、头部视野转向墙面；log step 353 给出交付文件的最终控制步15047及 FINAL_DOORS=False,False，评分器 all_success=1、q_score=1.0支持原生not-open关系最终成立。按30 Hz控制步，15047/30=视频501.57 s，与视频总长一致，并以log step 345的控制步14263/30=视频475.43 s烤盘释放事件核对映射；此处仅在视频501.5 s末帧附近确认关闭，无法精确定位被遮挡的5%阈值越过时刻。DAG freeze_held=false，因此门关闭与共同松手静置验收分开判断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左二指夹爪先夹上层门边、再夹把手使上层门合拢；后续夹住下层门边并换至把手完成关门操作。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人在两次关门操作前及操作过程中调整烤箱前的底盘位置。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 1.0,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "oven_closed",
+   "t": 501.5,
+   "log_step": 353,
+   "where": "终态验收",
+   "evidence_zh": "观察：最后一项操作是关闭下层烤箱门，视频 493.5–501.5 s 左腕相机仍紧邻门把手/门板，未见清楚的最终松爪撤离；log step 353 的最终控制步为15047，旧会话返回success=True并保存同长轨迹。评分器原始字段all_success=1、deterministic=1、q_score=1.0，但regrade_0154明确把old=1改为new=0，理由仅为“stricter rule”。因此把最后关烤箱后的联合验收作为断点导航位置，不能把它解释成八份食物未入炉或未切半。"
+  },
+  "unmet": {
+   "sprouts_halved_1": true,
+   "sprouts_halved_2": true,
+   "sprouts_halved_3": true,
+   "sprouts_halved_4": true,
+   "halves_in_oven_1": true,
+   "halves_in_oven_2": true,
+   "halves_in_oven_3": true,
+   "halves_in_oven_4": true,
+   "halves_in_oven_5": true,
+   "halves_in_oven_6": true,
+   "halves_in_oven_7": true,
+   "halves_in_oven_8": true,
+   "halves_cooked_1": true,
+   "halves_cooked_2": true,
+   "halves_cooked_3": true,
+   "halves_cooked_4": true,
+   "halves_cooked_5": true,
+   "halves_cooked_6": true,
+   "halves_cooked_7": true,
+   "halves_cooked_8": true,
+   "fridge_closed": true,
+   "oven_closed": true
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/仅有运行日志、评分记录和三视角视频，没有逐帧状态日志或成功参考视频。视频 183.5–211 s 切割接触点在视野外，视频 344.5 s之后上层食物被炉门遮住，四个切半节点及八个熟态节点的精确首次达成时间不可定位，intervals保留null，但最终值结合q_score=1.0和all_success=1确定；视频 316.5 s整批入炉和视频末段门阈值的时间也有约1秒不确定性。任务设计问题：旧记录与重评使用的验收版本不一致，regrade_0154只说明“stricter rule”，未给出新增条件的逐项判定；DAG要求的全部目标释放、速度阈值和连续30步窗口没有可核对读数。末段夹爪贴近烤箱门提示释放窗口可能相关，但不足以证实是未松开、速度不稳或其他新条件导致改判，故不虚构失败现���与根因。log step 307所说两个熟态标记追踪烤盘仅是会话解释，未作为重评失败原因。"
+ },
+ "summary_zh": "机器人打开冰箱并取出装菜保鲜盒，四颗切半后的八个半颗随盒送入上层烤箱，启动加热、关闭冰箱，又把烤盘放入下层后关闭最后一扇门；结合视频与原始评分q_score=1.0、all_success=1，24个节点的最终关系均有支持。最终成功仍按目录记0，断点放在关烤箱后的终态验收；任务设计问题：重评以未展开的“stricter rule”把旧成功改判失败，无法从现有证据确定失败的联合验收条件，故现象和根因留空。切割瞬间、熟态转换及终态持有/静置状态缺少直接观测，相关首次达成时间不编造。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "24个节点的最终值有评分器q_score=1.0、all_success=1支撑，切割/熟态用null区间并写明推断，合规；断点放在oven_closed终态验收，现象/根因留空并以“任务设计问题：regrade仅写stricter rule”说明，符合S9与P19。视频帧无法反驳任何节点值（保鲜盒与烤箱细节被遮挡，无法逐项复核）。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:07:06Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-cook-brussels-sprouts-i00-privileged--pxvl7e7/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-brussels-sprouts-i00-privileged--pxvl7e7/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4edc1497b47cd0bbbaf94984b32c3a6cbb8e0682e0975180c60b13ae5fede248",
+   "video_sha256": "0372ec5ea7298daddee5802e7e1bf28e78b3dee3bd6e23414cbae0810109308f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_brussels_sprouts/trajectories/behavior-cook-brussels-sprouts-i00-privileged--uek6xwe.json

@@ -0,0 +1,682 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-brussels-sprouts-i00-privileged--uek6xwe",
+ "taskKey": "behavior-1k/cook_brussels_sprouts",
+ "dag_sha256": "bf76cda0e3966e940a07729b29828c06815c78a9533d4989ef80a262c4504c19",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 4787,
+   "sim_steps": 4787,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1501.6,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 7,
+   "agent_resets": 13,
+   "agent_sim_steps": 13909,
+   "agent_records": 2,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-cook-brussels-sprouts-i00-privileged--uek6xwe/replay.mp4",
+  "duration_s": 159.567,
+  "fps": 30.0,
+  "frames": 4787,
+  "sha256": "dbcf1bb6eddaeebaf85254e5de180f44dff754801f21bd5262e2f72ed99bc299"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 24,
+  "base": 2,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      14.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 14.5,
+      "log_step": null,
+      "text_zh": "观察：视频 12–14 s 冰箱门尚接近门框，视频约 14.5–16 s 左门板向外转动并露出冷藏内腔，视频 20.5–24 s 已大幅打开；首次超过开度阈值的时间按画面估计，误差约1秒。"
+     },
+     {
+      "t": 21,
+      "log_step": 277,
+      "text_zh": "推断：视频 14.5–21 s 机器人左夹爪停留在门把手处，随后底盘移动并带着门板继续转动；交付生成日志的把手持有读数及拉门过程与画面一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左二指夹爪夹住冰箱左门把手并拉门；门随夹爪及底盘移动而转开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘驶到冰箱前，持住把手时继续移动以拉开门，再绕过打开的门板。"
+     }
+    ]
+   },
+   "oven_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 159.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0–159.5 s 机器人主要在冰箱和切菜台之间操作，未见机器人接近烤箱并拉开炉门。"
+     },
+     {
+      "t": 159.5,
+      "log_step": 283,
+      "text_zh": "推断：log step 283 的交付生成日志记录第二次容器抓取失败；log step 250、260 的生成代码仅在该抓取成功后才调用开烤箱操作，与视频未进入烤箱操作阶段一致。"
+     }
+    ]
+   },
+   "sprouts_halved_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 82,
+      "log_step": null,
+      "text_zh": "观察：视频 26–79.5 s 左腕视角仍可见保鲜盒内整颗甘蓝；视频 80–82 s 盒子倾斜并有甘蓝掉出，未见整颗被两个独立半颗替代。"
+     },
+     {
+      "t": 123,
+      "log_step": null,
+      "text_zh": "观察：视频 100–123 s 机器人在冰箱前移动空夹爪，仍可见整颗甘蓝；没有可确认的刀刃切过甘蓝或成对半颗产物。"
+     },
+     {
+      "t": 159.5,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0，且这些目标半颗开局不存在；若“第1颗切半”最终成立，至少需新增2个real文字，与总分为0不相容，故final=false。此结论结合画面中未见半颗产生；初始两扇门关闭不贡献q分数。"
+     },
+     {
+      "t": 99,
+      "log_step": 281,
+      "text_zh": "观察：视频 97.5–100.5 s 机器人在台面刀具旁尝试夹取，离开后左夹爪中未见刀；交付生成日志报告 knife grasp FAILED。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "左夹爪为切菜备料反复触碰、拨拉装整颗甘蓝的白色保鲜盒边壁；画面显示盒子被拉动和倾斜，未显示稳定夹持搬运，不计抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘在冰箱与放有刀和砧板的台面之间移动，为切割备料。"
+     }
+    ]
+   },
+   "sprouts_halved_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 82,
+      "log_step": null,
+      "text_zh": "观察：视频 26–79.5 s 左腕视角仍可见保鲜盒内整颗甘蓝；视频 80–82 s 盒子倾斜并有甘蓝掉出，未见整颗被两个独立半颗替代。"
+     },
+     {
+      "t": 123,
+      "log_step": null,
+      "text_zh": "观察：视频 100–123 s 机器人在冰箱前移动空夹爪，仍可见整颗甘蓝；没有可确认的刀刃切过甘蓝或成对半颗产物。"
+     },
+     {
+      "t": 159.5,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0，且这些目标半颗开局不存在；若“第2颗切半”最终成立，至少需新增4个real文字，与总分为0不相容，故final=false。此结论结合画面中未见半颗产生；初始两扇门关闭不贡献q分数。"
+     },
+     {
+      "t": 123,
+      "log_step": 283,
+      "text_zh": "推断：log step 281、283 的交付生成日志显示脚本对四颗整菜逐一执行切割程序，但视频中没有持刀；将这四颗的切割尝试归入计数节点，不能据日志中的“cutting”认定切割成功。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "脚本执行对整颗甘蓝的切割尝试，但左夹爪未持刀，菜与指端局部被遮挡，不能确认该次是否发生直接接触。"
+     }
+    ]
+   },
+   "sprouts_halved_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 82,
+      "log_step": null,
+      "text_zh": "观察：视频 26–79.5 s 左腕视角仍可见保鲜盒内整颗甘蓝；视频 80–82 s 盒子倾斜并有甘蓝掉出，未见整颗被两个独立半颗替代。"
+     },
+     {
+      "t": 123,
+      "log_step": null,
+      "text_zh": "观察：视频 100–123 s 机器人在冰箱前移动空夹爪，仍可见整颗甘蓝；没有可确认的刀刃切过甘蓝或成对半颗产物。"
+     },
+     {
+      "t": 159.5,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0，且这些目标半颗开局不存在；若“第3颗切半”最终成立，至少需新增6个real文字，与总分为0不相容，故final=false。此结论结合画面中未见半颗产生；初始两扇门关闭不贡献q分数。"
+     },
+     {
+      "t": 123,
+      "log_step": 283,
+      "text_zh": "推断：log step 281、283 的交付生成日志显示脚本对四颗整菜逐一执行切割程序，但视频中没有持刀；将这四颗的切割尝试归入计数节点，不能据日志中的“cutting”认定切割成功。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "脚本执行对整颗甘蓝的切割尝试，但左夹爪未持刀，菜与指端局部被遮挡，不能确认该次是否发生直接接触。"
+     }
+    ]
+   },
+   "sprouts_halved_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 82,
+      "log_step": null,
+      "text_zh": "观察：视频 26–79.5 s 左腕视角仍可见保鲜盒内整颗甘蓝；视频 80–82 s 盒子倾斜并有甘蓝掉出，未见整颗被两个独立半颗替代。"
+     },
+     {
+      "t": 123,
+      "log_step": null,
+      "text_zh": "观察：视频 100–123 s 机器人在冰箱前移动空夹爪，仍可见整颗甘蓝；没有可确认的刀刃切过甘蓝或成对半颗产物。"
+     },
+     {
+      "t": 159.5,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0，且这些目标半颗开局不存在；若“第4颗切半”最终成立，至少需新增8个real文字，与总分为0不相容，故final=false。此结论结合画面中未见半颗产生；初始两扇门关闭不贡献q分数。"
+     },
+     {
+      "t": 123,
+      "log_step": 283,
+      "text_zh": "推断：log step 281、283 的交付生成日志显示脚本对四颗整菜逐一执行切割程序，但视频中没有持刀；将这四颗的切割尝试归入计数节点，不能据日志中的“cutting”认定切割成功。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "脚本执行对整颗甘蓝的切割尝试，但左夹爪未持刀，菜与指端局部被遮挡，不能确认该次是否发生直接接触。"
+     }
+    ]
+   },
+   "halves_in_oven_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 144,
+      "log_step": null,
+      "text_zh": "观察：视频 80–82 s 甘蓝散出，视频 126 s 冰箱前地上有整颗甘蓝与白色容器；视频 144–159.5 s 机器人仍停在打开的冰箱前，未见半颗被送入烤箱。"
+     },
+     {
+      "t": 159.5,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0，目标半颗的inside关系开局不成立；若当前至少1个目标半颗���炉则至少增加1个满足文字，因此最终入炉计数未达1。"
+     }
+    ]
+   },
+   "halves_in_oven_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 144,
+      "log_step": null,
+      "text_zh": "观察：视频 80–82 s 甘蓝散出，视频 126 s 冰箱前地上有整颗甘蓝与白色容器；视频 144–159.5 s 机器人仍停在打开的冰箱前，未见半颗被送入烤箱。"
+     },
+     {
+      "t": 159.5,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0，目标半颗的inside关系开局不成立；若当前至少2个目标半颗入炉则至少增加2个满足文字，因此最终入炉计数未达2。"
+     }
+    ]
+   },
+   "halves_in_oven_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 144,
+      "log_step": null,
+      "text_zh": "观察：视频 80–82 s 甘蓝散出，视频 126 s 冰箱前地上有整颗甘蓝与白色容器；视频 144–159.5 s 机器人仍停在打开的冰箱前，未见半颗被送入烤箱。"
+     },
+     {
+      "t": 159.5,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0，目标半颗的inside关系开局不成立；若当前至少3个目标半颗入炉则至少增加3个满足文字，因此最终入炉计数未达3。"
+     }
+    ]
+   },
+   "halves_in_oven_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 144,
+      "log_step": null,
+      "text_zh": "观察：视频 80–82 s 甘蓝散出，视频 126 s 冰箱前地上有整颗甘蓝与白色容器；视频 144–159.5 s 机器人仍停在打开的冰箱前，未见半颗被送入烤箱。"
+     },
+     {
+      "t": 159.5,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0，目标半颗的inside关系开局不成立；若当前至少4个目标半颗入炉则至少增加4个满足文字，因此最终入炉计数未达4。"
+     }
+    ]
+   },
+   "halves_in_oven_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 144,
+      "log_step": null,
+      "text_zh": "观察：视频 80–82 s 甘蓝散出，视频 126 s 冰箱前地上有整颗甘蓝与白色容器；视频 144–159.5 s 机器人仍停在打开的冰箱前，未见半颗被送入烤箱。"
+     },
+     {
+      "t": 159.5,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0，目标半颗的inside关系开局不成立；若当前至少5个目标半颗入炉则至少增加5个满足文字，因此最终入炉计数未达5。"
+     }
+    ]
+   },
+   "halves_in_oven_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 144,
+      "log_step": null,
+      "text_zh": "观察：视频 80–82 s 甘蓝散出，视频 126 s 冰箱前地上有整颗甘蓝与白色容器；视频 144–159.5 s 机器人仍停在打开的冰箱前，未见半颗被送入烤箱。"
+     },
+     {
+      "t": 159.5,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0，目标半颗的inside关系开局不成立；若当前至少6个目标半颗入炉则至少增加6个满足文字，因此最终入炉计数未达6。"
+     }
+    ]
+   },
+   "halves_in_oven_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 144,
+      "log_step": null,
+      "text_zh": "观察：视频 80–82 s 甘蓝散出，视频 126 s 冰箱前地上有整颗甘蓝与白色容器；视频 144–159.5 s 机器人仍停在打开的冰箱前，未见半颗被送入烤箱。"
+     },
+     {
+      "t": 159.5,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0，目标半颗的inside关系开局不成立；若当前至少7个目标半颗入炉则至少增加7个满足文字，因此最终入炉计数未达7。"
+     }
+    ]
+   },
+   "halves_in_oven_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 144,
+      "log_step": null,
+      "text_zh": "观察：视频 80–82 s 甘蓝散出，视频 126 s 冰箱前地上有整颗甘蓝与白色容器；视频 144–159.5 s 机器人仍停在打开的冰箱前，未见半颗被送入烤箱。"
+     },
+     {
+      "t": 159.5,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0，目标半颗的inside关系开局不成立；若当前至少8个目标半颗入炉则至少增加8个满足文字，因此最终入炉计数未达8。"
+     }
+    ]
+   },
+   "halves_cooked_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 159.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0–159.5 s 未见目标半颗形成后接受加热，也未见目标半颗熟态外观或原生cooked读数；机器人没有进入烤箱加载、加热阶段。"
+     },
+     {
+      "t": 159.5,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0，半颗熟态开局不成立；若至少1个目标半颗已熟则至少增加1个满足文字，因此最终熟态计数未达1。"
+     }
+    ]
+   },
+   "halves_cooked_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 159.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0–159.5 s 未见目标半颗形成后接受加热，也未见目标半颗熟态外观或原生cooked读数；机器人没有进入烤箱加载、加热阶段。"
+     },
+     {
+      "t": 159.5,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0，半颗熟态开局不成立；若至少2个目标半颗已熟则至少增加2个满足文字，因此最终熟态计数未达2。"
+     }
+    ]
+   },
+   "halves_cooked_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 159.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0–159.5 s 未见目标半颗形成后接受加热，也未见目标半颗熟态外观或原生cooked读数；机器人没有进入烤箱加载、加热阶段。"
+     },
+     {
+      "t": 159.5,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0，半颗熟态开局不成立；若至少3个目标半颗已熟则至少增加3个满足文字，因此最终熟态计数未达3。"
+     }
+    ]
+   },
+   "halves_cooked_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 159.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0–159.5 s 未见目标半颗形成后接受加热，也未见目标半颗熟态外观或原生cooked读数；机器人没有进入烤箱加载、加热阶段。"
+     },
+     {
+      "t": 159.5,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0，半颗熟态开局不成立；若至少4个目标半颗已熟则至少增加4个满足文字，因此最终熟态计数未达4。"
+     }
+    ]
+   },
+   "halves_cooked_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 159.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0–159.5 s 未见目标半颗形成后接受加热，也未见目标半颗熟态外观或原生cooked读数；机器人没有进入烤箱加载、加热阶段。"
+     },
+     {
+      "t": 159.5,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0，半颗熟态开局不成立；若至少5个目标半颗已熟则至少增加5个满足文字，因此最终熟态计数未达5。"
+     }
+    ]
+   },
+   "halves_cooked_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 159.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0–159.5 s 未见目标半颗形成后接受加热，也未见目标半颗熟态外观或原生cooked读数；机器人没有进入烤箱加载、加热阶段。"
+     },
+     {
+      "t": 159.5,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0，半颗熟态开局不成立；若至少6个目标半颗已熟则至少增加6个满足文字，因此最终熟态计数未达6。"
+     }
+    ]
+   },
+   "halves_cooked_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 159.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0–159.5 s 未见目标半颗形成后接受加热，也未见目标半颗熟态外观或原生cooked读数；机器人没有进入烤箱加载、加热阶段。"
+     },
+     {
+      "t": 159.5,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0，半颗熟态开局不成立；若至少7个目标半颗已熟则至少增加7个满足文字，因此最终熟态计数未达7。"
+     }
+    ]
+   },
+   "halves_cooked_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 159.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0–159.5 s 未见目标半颗形成后接受加热，也未见目标半颗熟态外观或原生cooked读数；机器人没有进入烤箱加载、加热阶段。"
+     },
+     {
+      "t": 159.5,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0，半颗熟态开局不成立；若至少8个目标半颗已熟则至少增加8个满足文字，因此最终熟态计数未达8。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      14.5
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6,
+      "log_step": null,
+      "text_zh": "观察：视频 6–14 s 冰箱玻璃门板仍位于门框前，视频约 14.5–16 s 开门；初始关闭状态与DAG的初态记录一致。"
+     },
+     {
+      "t": 159.5,
+      "log_step": null,
+      "text_zh": "观察：视频 126 s、144 s 及 158.5–159.5 s，��箱左门一直伸在门框外，内腔可见；结束前未恢复关闭。"
+     }
+    ]
+   },
+   "oven_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": 113,
+      "text_zh": "推断：DAG记录烤箱初始关闭，log step 113 的初态探查也读到 oven_open=False；视频 0–159.5 s 未见机器人操作烤箱，故保持初始关闭关系，未把该初始关系计作新增q分数。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "sprouts_halved_1",
+   "t": 80.5,
+   "log_step": 279,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 26–79.5 s 机器人为切菜反复夹取装菜盒，未将盒子稳定抓起；视频 80–82 s 左夹爪拉动盒子，盒子倾斜，整颗甘蓝散出。随后视频 97.5–100.5 s 拿刀未成，视频 100–123 s 未见持刀切菜或半颗产物；这是第1颗切半的备料/取工具操作，直到结束也未完成该步。log step 279、281、283 的交付生成日志分别记录容器未持有、拿刀失败、半颗数为0，与画面一致。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 80.5,
+    "log_step": 279,
+    "evidence_zh": "观察：视频 75–82 s 左夹爪只能拨拉盒缘，盒子与手指相对运动、倾斜并散出整菜，没有建立把盒子可靠提起的夹持；视频 97.5–100.5 s 后离开刀具台面时夹爪中亦未见刀。log step 279 的交付生成日志各次pinch为None、container out时held为None，log step 281 记录knife grasp FAILED；需要的备料及持刀抓取未建立，不能把接触盒壁视为已抓稳后掉落。"
+   }
+  ],
+  "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 271、275 的交付脚本在object_in_hand仍为None时，让闭合夹爪沿盒壁向外拖动，末端高度保持不变，没有从下方承托盒子或先建立可靠夹持；视频 80–82 s 对应地出现盒子倾斜和甘蓝散出。该接触与承载方式未能稳定取出切割所需原料。未有证据排除所有其他抓法，也不采用agent对壁厚、质量或绝对不可达的自述作已核实原因。"
+   }
+  ],
+  "gap_zh": "没有状态日志和成功参考视频；局部指端、刀刃及甘蓝接触经常被腕部/层架遮挡，不能确定每次空手切割动作是否碰到整菜，也无法精确测定门开度阈值或逐半颗温度。切半、入炉、熟态的终值结合最终q_score=0约束确定；未把会话中其他重置试验或agent最终报告中声称的入炉、开关炉动作当作本段进展。",
+  "unmet": {
+   "sprouts_halved_1": false,
+   "sprouts_halved_2": false,
+   "sprouts_halved_3": false,
+   "sprouts_halved_4": false,
+   "halves_in_oven_1": false,
+   "halves_in_oven_2": false,
+   "halves_in_oven_3": false,
+   "halves_in_oven_4": false,
+   "halves_in_oven_5": false,
+   "halves_in_oven_6": false,
+   "halves_in_oven_7": false,
+   "halves_in_oven_8": false,
+   "halves_cooked_1": false,
+   "halves_cooked_2": false,
+   "halves_cooked_3": false,
+   "halves_cooked_4": false,
+   "halves_cooked_5": false,
+   "halves_cooked_6": false,
+   "halves_cooked_7": false,
+   "halves_cooked_8": false,
+   "fridge_closed": false,
+   "oven_closed": true
+  }
+ },
+ "summary_zh": "机器人在视频约14.5 s 打开冰箱，切割备料时未可靠抓住装菜盒，视频80–82 s 拉动盒子使甘蓝散出，随后拿刀也未成功，未完成任何一颗切半或半颗入炉、烤熟。冰箱最终仍开着，烤箱保持初始关闭，最终节点为2/24；断点是第1颗切半的备料操作，主要证据指向抓取与承载接触设计不适配。无状态日志，局部接触受遮挡，门阈值时刻为视觉估计，半颗目标终值由画面与q_score=0共同约束。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "抽查帧与日志，节点值（冰箱开于约14.5 s、切半/入炉/熟态未达、q_score=0约束）、断点（第1颗切半，操作中）及现象/根因均有证据支持，未发现需修改之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:00:12Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-cook-brussels-sprouts-i00-privileged--uek6xwe/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-brussels-sprouts-i00-privileged--uek6xwe/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "826c079dfd723332fba11ef2ac37120795ce4c28056ef5fdc38b19253749be61",
+   "video_sha256": "dbcf1bb6eddaeebaf85254e5de180f44dff754801f21bd5262e2f72ed99bc299",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_brussels_sprouts/trajectories/behavior-cook-brussels-sprouts-i00-privileged--xrsuqy6.json

@@ -0,0 +1,577 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-brussels-sprouts-i00-privileged--xrsuqy6",
+ "taskKey": "behavior-1k/cook_brussels_sprouts",
+ "dag_sha256": "bf76cda0e3966e940a07729b29828c06815c78a9533d4989ef80a262c4504c19",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 2307,
+   "sim_steps": 2307,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1472.5,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 22,
+   "agent_resets": 0,
+   "agent_sim_steps": 12520,
+   "agent_records": 13,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-cook-brussels-sprouts-i00-privileged--xrsuqy6/replay.mp4",
+  "duration_s": 76.9,
+  "fps": 30.0,
+  "frames": 2307,
+  "sha256": "81b0949a58d8eedec1195a732c9067c65f1e41cb39732af250c57e7bfd9b6018"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 24,
+  "base": 2,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      37.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 37.3,
+      "log_step": null,
+      "text_zh": "观察：视频 36.75–38.5 s，机器人左夹爪留在冰箱门附近，门板开始向外转开，视频 37.5 s 已露出内部搁架；视频 40–44 s 开口进一步扩大。开门时刻约为视频 37.3 s，视觉误差约 0.3 s。"
+     },
+     {
+      "t": 43,
+      "log_step": 258,
+      "text_zh": "观察：视频 43–45 s，冰箱内腔与搁架外露，机器人随后离开冰箱前往烤箱；log step 258 的生成脚本输出也记录已打开冰箱后进入烤箱阶段。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 36.75–43 s，左夹爪在门边随门板运动，但门板与夹爪遮住指端接触区；无法可靠区分夹住门边、勾拉或压住门面后的辅助附着。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–12 s，轮式底盘驶向冰箱；视频 37–43 s，底盘沿门外侧转动并后退，冰箱门随之打开。"
+     }
+    ]
+   },
+   "oven_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 57,
+      "log_step": null,
+      "text_zh": "观察：视频 54–59 s、63–67 s、72–76.8 s，机器人左夹爪三次靠近烤箱下层门的外表面并闭合、退回，门板始终留在门框内，未露出炉腔。"
+     },
+     {
+      "t": 76.8,
+      "log_step": 261,
+      "text_zh": "观察：视频 75.8–76.8 s 及最后一帧附近，左夹爪空着离开门面，烤箱仍关闭；log step 261 记录三次 press_grasp 返回 None，脚本随后保存 2307 个动作的失败轨迹，与本视频动作数和操作顺序一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 56–59 s、65–67 s、73–75 s，左夹爪在烤箱门面前闭合后空爪退回，未见包夹门把手；指尖与门面间隙被遮挡，不能确认是否发生按压接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 44–51 s，轮式底盘将机器人从冰箱处移至烤箱前。"
+     }
+    ]
+   },
+   "sprouts_halved_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 44,
+      "log_step": null,
+      "text_zh": "观察：视频 0–44 s，机器人只移动底盘并操作冰箱门；视频 44–76.8 s 转去操作烤箱门，未见机器人拿刀、拿甘蓝或进行切割。"
+     },
+     {
+      "t": 76.8,
+      "log_step": null,
+      "text_zh": "推断：DAG 记录半颗初始尚不存在，视频中没有切割动作；评分器 q_score=0 又限制终态没有新增的 real 半颗目标文字成立，因此未达到第1颗切半（至少2个半颗存在）。此终态判断并非只从零分反推动作未做。"
+     }
+    ]
+   },
+   "sprouts_halved_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 44,
+      "log_step": null,
+      "text_zh": "观察：视频 0–44 s，机器人只移动底盘并操作冰箱门；视频 44–76.8 s 转去操作烤箱门，未见机器人拿刀、拿甘蓝或进行切割。"
+     },
+     {
+      "t": 76.8,
+      "log_step": null,
+      "text_zh": "推断：DAG 记录半颗初始尚不存在，视频中没有切割动作；评分器 q_score=0 又限制终态没有新增的 real 半颗目标文字成立，因此未达到第2颗切��（至少4个半颗存在）。此终态判断并非只从零分反推动作未做。"
+     }
+    ]
+   },
+   "sprouts_halved_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 44,
+      "log_step": null,
+      "text_zh": "观察：视频 0–44 s，机器人只移动底盘并操作冰箱门；视频 44–76.8 s 转去操作烤箱门，未见机器人拿刀、拿甘蓝或进行切割。"
+     },
+     {
+      "t": 76.8,
+      "log_step": null,
+      "text_zh": "推断：DAG 记录半颗初始尚不存在，视频中没有切割动作；评分器 q_score=0 又限制终态没有新增的 real 半颗目标文字成立，因此未达到第3颗切半（至少6个半颗存在）。此终态判断并非只从零分反推动作未做。"
+     }
+    ]
+   },
+   "sprouts_halved_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 44,
+      "log_step": null,
+      "text_zh": "观察：视频 0–44 s，机器人只移动底盘并操作冰箱门；视频 44–76.8 s 转去操作烤箱门，未见机器人拿刀、拿甘蓝或进行切割。"
+     },
+     {
+      "t": 76.8,
+      "log_step": null,
+      "text_zh": "推断：DAG 记录半颗初始尚不存在，视频中没有切割动作；评分器 q_score=0 又限制终态没有新增的 real 半颗目标文字成立，因此未达到第4颗切半（至少8个半颗存在）。此终态判断并非只从零分反推动作未做。"
+     }
+    ]
+   },
+   "halves_in_oven_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 76.8,
+      "log_step": null,
+      "text_zh": "观察：视频 37.3–44 s 打开冰箱后，机器人未搬出食物；视频 49–76.8 s 烤箱门持续关闭，左夹爪空着反复接近门面，未有食物进入炉腔。"
+     },
+     {
+      "t": 76.8,
+      "log_step": null,
+      "text_zh": "推断：结合半颗初始不存在、全片没有切割或搬运食物，以及评分器 q_score=0，第1半颗入炉所需的至少1份 inside 关系终态不成立。"
+     }
+    ]
+   },
+   "halves_in_oven_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 76.8,
+      "log_step": null,
+      "text_zh": "观察：视频 37.3–44 s 打开冰箱后，机器人未搬出食物；视频 49–76.8 s 烤箱门持续关闭，左夹爪空着反复接近门面，未有食物进入炉腔。"
+     },
+     {
+      "t": 76.8,
+      "log_step": null,
+      "text_zh": "推断：结合半颗初始不存在、全片没有切割或搬运食物，以及评分器 q_score=0，第2半颗入炉所需的至少2份 inside 关系终态不成立。"
+     }
+    ]
+   },
+   "halves_in_oven_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 76.8,
+      "log_step": null,
+      "text_zh": "观察：视频 37.3–44 s 打开冰箱后，机器人未搬出食物；视频 49–76.8 s 烤箱门持续关闭，左夹爪空着反复接近门面，未有食物进入炉腔。"
+     },
+     {
+      "t": 76.8,
+      "log_step": null,
+      "text_zh": "推断：结合半颗初始不存在、全片没有切割或搬运食物，以及评分器 q_score=0，第3半颗入炉所需的至少3份 inside 关系终态不成立。"
+     }
+    ]
+   },
+   "halves_in_oven_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 76.8,
+      "log_step": null,
+      "text_zh": "观察：视频 37.3–44 s 打开冰箱后，机器人未搬出食物；视频 49–76.8 s 烤箱门持续关闭，左夹爪空着反复接近门面，未有食物进入炉腔。"
+     },
+     {
+      "t": 76.8,
+      "log_step": null,
+      "text_zh": "推断：结合半颗初始不存在、全片没有切割或搬运食物，以及评分器 q_score=0，第4半颗入炉所需的至少4份 inside 关系终态不成立。"
+     }
+    ]
+   },
+   "halves_in_oven_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 76.8,
+      "log_step": null,
+      "text_zh": "观察：视频 37.3–44 s 打开冰箱后，机器人未搬出食物；视频 49–76.8 s 烤箱门持续关闭，左夹爪空着反复接近门面，未有食物进入炉腔。"
+     },
+     {
+      "t": 76.8,
+      "log_step": null,
+      "text_zh": "推断：结合半颗初始不存在、全片没有切割或搬运食物，以及评分器 q_score=0，第5半颗入炉所需的至少5份 inside 关系终态不成立。"
+     }
+    ]
+   },
+   "halves_in_oven_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 76.8,
+      "log_step": null,
+      "text_zh": "观察：视频 37.3–44 s 打开冰箱后，机器人未搬出食物；视频 49–76.8 s 烤箱门持续关闭，左夹爪空着反复接近门面，未有食物进入炉腔。"
+     },
+     {
+      "t": 76.8,
+      "log_step": null,
+      "text_zh": "推断：结合半颗初始不存在、全片没有切割或搬运食物，以及评分器 q_score=0，第6半颗入炉所需的至少6份 inside 关系终态不成立。"
+     }
+    ]
+   },
+   "halves_in_oven_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 76.8,
+      "log_step": null,
+      "text_zh": "观察：视频 37.3–44 s 打开冰箱后，机器人未搬出食物；视频 49–76.8 s 烤箱门持续关闭，左夹爪空着反复接近门面，未有食物进入炉腔。"
+     },
+     {
+      "t": 76.8,
+      "log_step": null,
+      "text_zh": "推断：结合半颗初始不存在、全片没有切割或搬运食物，以及评分器 q_score=0，第7半颗入炉所需的至少7份 inside 关系终态不成立。"
+     }
+    ]
+   },
+   "halves_in_oven_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 76.8,
+      "log_step": null,
+      "text_zh": "观察：视频 37.3–44 s 打开冰箱后，机器人未搬出食物；视频 49–76.8 s 烤箱门持续关闭，左夹爪空着反复接近门面，未有食物进入炉腔。"
+     },
+     {
+      "t": 76.8,
+      "log_step": null,
+      "text_zh": "推断：结合半颗初始不存在、全片没有切割或搬运食物，以及评分器 q_score=0，第8半颗入炉所需的至少8份 inside 关系终态不成立。"
+     }
+    ]
+   },
+   "halves_cooked_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 76.8,
+      "log_step": null,
+      "text_zh": "推断：DAG 记录八个目标半颗初始尚不存在，视频 0–76.8 s 只有导航和两台设备门前操作，未见切割产物或加热食物；评分器 q_score=0 排除了任何新增的 cooked 目标文字成立，因此未达到至少1个真实熟半颗。这里不以烤箱面板红色部件当作熟态证据。"
+     }
+    ]
+   },
+   "halves_cooked_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 76.8,
+      "log_step": null,
+      "text_zh": "推断：DAG 记录八个目标半颗初始尚不存在，视频 0–76.8 s 只有导航和两台设备门前操作，未见切割产物或加热食物；评分器 q_score=0 排除了任何新增的 cooked 目标文字成立，因此未达到至少2个真实熟半颗。这里不以烤箱面板红色部件当作熟态证据。"
+     }
+    ]
+   },
+   "halves_cooked_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 76.8,
+      "log_step": null,
+      "text_zh": "推断：DAG 记录八个目标半颗初始尚不存在，视频 0–76.8 s 只有导航和两台设备门前操作，未见切割产物或加热食物；评分器 q_score=0 排除了任何新增的 cooked 目标文字成立，因此未达到至少3个真实熟半颗。这里不以烤箱面板红色部件当作熟态证据。"
+     }
+    ]
+   },
+   "halves_cooked_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 76.8,
+      "log_step": null,
+      "text_zh": "推断：DAG 记录八个目标半颗初始尚不存在，视频 0–76.8 s 只有导航和两台设备门前操作，未见切割产物或加热食物；评分器 q_score=0 排除了任何新增的 cooked 目标文字成立，因此未达到至少4个真实熟半颗。这里不以烤箱面板红色部件当作熟态证据。"
+     }
+    ]
+   },
+   "halves_cooked_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 76.8,
+      "log_step": null,
+      "text_zh": "推断：DAG 记录八个目标半颗初始尚不存在，视频 0–76.8 s 只有导航和两台设备门前操作，未见切割产物或加热食物；评分器 q_score=0 排除了任何新增的 cooked 目标文字成立，因此未达到至少5个真实熟半颗。这里不以烤箱面板红色部件当作熟态证据。"
+     }
+    ]
+   },
+   "halves_cooked_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 76.8,
+      "log_step": null,
+      "text_zh": "推断：DAG 记录八个目标半颗初始尚不存在，视频 0–76.8 s 只有导航和两台设备门前操作，未见切割产物或加热食物；评分器 q_score=0 排除了任何新增的 cooked 目标文字成立，因此未达到至少6个真实熟半颗。这里不以烤箱面板红色部件当作熟态证据。"
+     }
+    ]
+   },
+   "halves_cooked_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 76.8,
+      "log_step": null,
+      "text_zh": "推断：DAG 记录八个目标半颗初始尚不存在，视频 0–76.8 s 只有导航和两台设备门前操作，未见切割产物或加热食物；评分器 q_score=0 排除了任何新增的 cooked 目标文字成立，因此未达到至少7个真实熟半颗。这里不以烤箱面板红色部件当作熟态证据。"
+     }
+    ]
+   },
+   "halves_cooked_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 76.8,
+      "log_step": null,
+      "text_zh": "推断：DAG 记录八个目标半颗初始尚不存在，视频 0–76.8 s 只有导航和两台设备门前操作，未见切割产物或加热食物；评分器 q_score=0 排除了任何新增的 cooked 目标文字成立，因此未达到至少8个真实熟半颗。这里不以烤箱面板红色部件当作熟态证据。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      37.3
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG 的初始目标位串证实冰箱开局关闭；视频 12–36.75 s 机器人面前的门板遮住冷藏内腔。"
+     },
+     {
+      "t": 37.3,
+      "log_step": null,
+      "text_zh": "观察：视频 37.3–44 s 冰箱门外转并露出搁架，关闭条件失去；视频 44–76.8 s 机器人转向烤箱并一直留在那里，未回冰箱关门。"
+     },
+     {
+      "t": 76.8,
+      "log_step": 261,
+      "text_zh": "推断：冰箱最后可见时仍敞开，之后没有关门动作，故终态为未关闭。log step 261 保存前自检记录冰箱门仍打开，与视频顺序相符。"
+     }
+    ]
+   },
+   "oven_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG 初始目标位串证实烤箱开局关闭，视频 0–49 s 没有操作烤箱的动作。"
+     },
+     {
+      "t": 76.8,
+      "log_step": null,
+      "text_zh": "观察：视频 53–59 s、60–67 s、68–76.8 s 的腕部视图可见烤箱两层门板都保持在门框内，未露出内腔，最后一秒亦如此；开门尝试没有破坏关闭状态。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "oven_opened",
+   "t": 57.0,
+   "log_step": 261,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 54–59 s，机器人左夹爪靠近烤箱门面、闭合后空爪退回，门没有随爪运动；视频 63–67 s 和 72–76.8 s 重试仍未打开。这是已完成冰箱开门后首次始终未修复的操作失败；log step 261 记录 oven door grasp failed 后保存轨迹。"
+  },
+  "unmet": {
+   "sprouts_halved_1": false,
+   "sprouts_halved_2": false,
+   "sprouts_halved_3": false,
+   "sprouts_halved_4": false,
+   "halves_in_oven_1": false,
+   "halves_in_oven_2": false,
+   "halves_in_oven_3": false,
+   "halves_in_oven_4": false,
+   "halves_in_oven_5": false,
+   "halves_in_oven_6": false,
+   "halves_in_oven_7": false,
+   "halves_in_oven_8": false,
+   "halves_cooked_1": false,
+   "halves_cooked_2": false,
+   "halves_cooked_3": false,
+   "halves_cooked_4": false,
+   "halves_cooked_5": false,
+   "halves_cooked_6": false,
+   "halves_cooked_7": false,
+   "halves_cooked_8": false,
+   "fridge_closed": false,
+   "oven_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 57.0,
+    "log_step": 261,
+    "evidence_zh": "观察：视频 56–59 s、65–67 s、73–75 s，左夹爪在烤箱门前闭合，随后空爪离开，门板始终不随爪移动，也没有先握住再滑脱的阶段；未建立开门所需的有效抓持。log step 261 的三次抓取返回 None 与此一致；这不等于断言指尖从未轻触门面。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频 54–76.8 s 显示机器人已到烤箱前并多次完成接近、闭爪、退回动作，却无法形成带门运动的抓持。log step 238 的脚本明确把目标设在烤箱门前表面，log step 261 显示末端位置达到脚本目标但抓取仍返回 None；证据支持开门接触执行失败，尚不足以区分接触几何、实际指垫间隙或辅助抓取触发问题，故根因停在控制层级。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频；两台设备门前的指端接触区遮挡，无法可靠判别冰箱开门时的具体接触方式，也不能确认烤箱失败夹取是否轻触门面或测得接触力。冰箱开门阈值时刻为视觉近似；终段冰箱离开视野，终态依据最后可见开门状态及后续没有返回关门推断。半颗终态由初始条件、视频操作和评分器总分共同约束，未把生成脚本自检替代为逐对象状态日志。log step 263 的进程崩溃发生在 log step 260–261 已保存失败轨迹之后，���改变该评分片段已发生的物理失败。"
+ },
+ "summary_zh": "机器人约在视频 37.3 s 打开冰箱，随后移至烤箱前，多次闭合左夹爪仍未建立有效抓持，断在打开烤箱；没有开始切半、入炉或烹熟。终态为打开冰箱事件已达成、烤箱始终关闭，共 2/24 个节点成立；冰箱未关回，评分器 q_score=0（开局已成立的关门文字不计新增进度）。缺少状态日志且指端接触遮挡，具体接触方式和控制子原因无法确定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点（冰箱开门约视频 37–38 s、烤箱始终关闭、其余未达成）、断点 oven_opened 与「没建立接触 + 控制」均有视频和 log step 259–261 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": "2026-10-30T22:04:22Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-cook-brussels-sprouts-i00-privileged--xrsuqy6/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-brussels-sprouts-i00-privileged--xrsuqy6/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6ab028c8e849c73badf36e111badff71966c2d1488c73f0a667b7aded9b3ae9e",
+   "video_sha256": "81b0949a58d8eedec1195a732c9067c65f1e41cb39732af250c57e7bfd9b6018",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_brussels_sprouts/trajectories/behavior-cook-brussels-sprouts-i00-standard--9ggh3da.json

@@ -0,0 +1,585 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-brussels-sprouts-i00-standard--9ggh3da",
+ "taskKey": "behavior-1k/cook_brussels_sprouts",
+ "dag_sha256": "bf76cda0e3966e940a07729b29828c06815c78a9533d4989ef80a262c4504c19",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 4683,
+   "sim_steps": 4833,
+   "physics_steps": 19332,
+   "steps": 210,
+   "elapsed_s": 6793.0,
+   "video_rendered": 1,
+   "video_live": 1,
+   "video_pending": 0,
+   "settled_success": 0,
+   "settle_steps": 150,
+   "sim_breakdown": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "sim_error": 0,
+   "sim_crashed_on_call": 0,
+   "q_score": 0.0,
+   "goal_first_step": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-cook-brussels-sprouts-i00-standard--9ggh3da/replay.mp4",
+  "duration_s": 161.2,
+  "fps": 10.0,
+  "frames": 1612,
+  "sha256": "8a7d24ec2ed53c9bb41e980c08d0ecd0242d0778af9ab1a6143d0cae9588ba41"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 24,
+  "base": 2,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 68,
+      "log_step": null,
+      "text_zh": "观察：视频 5.0 s、62.0–69.4 s 冰箱正面两扇深色玻璃门可见，能够透视层架；机器人靠近时未见门板相对门框转出。视频 140.0–155.5 s 右夹爪闭合、后退，门框和玻璃面仍没有随手拉开的可辨位移；视频 161.1 s 仍保持该前面结构。"
+     },
+     {
+      "t": 150,
+      "log_step": 557,
+      "text_zh": "推断：log step 522、525、555、557 记录闭合右夹爪并后退的开门尝试，但视频没有对应门板离框、打开通道的结果，故不记已打开。agent 自述“右门已开”（log step 302）与“内腔打开”（log step 562）不足以替代门板运动证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 62–74 s 及视频 140–155 s 轮式底盘支承机器人接近冰箱、调整位置并后退。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 146–151 s 右夹爪在冰箱前闭合后退，未见门板跟随；视角不能确认手指是否碰到或夹住门把手，不标抓握。"
+     }
+    ]
+   },
+   "oven_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5,
+      "log_step": null,
+      "text_zh": "观察：视频 4.0–6.0 s 头部视角可见左侧台面下的烤箱门保持合拢；随后机器人在砧板处伸手、沿通道移向冰箱，未到烤箱门前拉门，至视频 161.1 s 未见烤箱门板离框。"
+     }
+    ]
+   },
+   "sprouts_halved_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 43.5,
+      "log_step": 181,
+      "text_zh": "观察：视频 34.0 s 刀仍在砧板上，视频 40.0–43.5 s 左夹爪在砧板位置反复闭合后空手撤离，未见刀刃接触甘蓝或整颗变成两个半颗；后续至视频 161.1 s 机器人只在冰箱前操作，未返回切割。"
+     },
+     {
+      "t": 161.1,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0；目标半颗的 real 是新增目标文字，故终态不存在目标半颗，第1颗切半的至少2个半颗条件为假。此总分用于约束终态，切割过程未达到另由视频支持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 3–6 s、视频 36–45 s 底盘支承机器人朝砧板调整位置及空手撤离，服务于切半的取刀准备。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 40.0–43.5 s 左夹爪在砧板前闭合再张开，没有刀随手移动；手指与砧板的微小接触被夹爪遮挡，无法定接触方式。未观察到手持刀或刀刃与甘蓝接触。"
+     }
+    ]
+   },
+   "sprouts_halved_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 43.5,
+      "log_step": 181,
+      "text_zh": "观察：视频 34.0 s 刀仍在砧板上，视频 40.0–43.5 s 左夹爪在砧板位置反复闭合后空手撤离，未见刀刃接触甘蓝或整颗变成两个半颗；后续至视频 161.1 s 机器人只在冰箱前操作，未返回切割。"
+     },
+     {
+      "t": 161.1,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0；目标半颗的 real 是新增目标文字，故终态不存在目标半颗，第2颗切半的至少4个半颗条件为假。此总分用于约束终态，切割过程未达到另由视频支持。"
+     }
+    ]
+   },
+   "sprouts_halved_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 43.5,
+      "log_step": 181,
+      "text_zh": "观察：视频 34.0 s 刀仍在砧板上，视频 40.0–43.5 s 左夹爪在砧板位置反复闭合后空手撤离，未见刀刃接触甘蓝或整颗变成两个半颗；后续至视频 161.1 s 机器人只在冰箱前操作，未返回切割。"
+     },
+     {
+      "t": 161.1,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0；目标半颗的 real 是新增目标文字，故终态不存在目标半颗，第3颗切半的至少6个半颗条件为假。此总分用于约束终态，切割过程未达到另由视频支持。"
+     }
+    ]
+   },
+   "sprouts_halved_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 43.5,
+      "log_step": 181,
+      "text_zh": "观察：视频 34.0 s 刀仍在砧板上，视频 40.0–43.5 s 左夹爪在砧板位置反复闭合后空手撤离，未见刀刃接触甘蓝或整颗变成两个半颗；后续至视频 161.1 s 机器人只在冰箱前操作，未返回切割。"
+     },
+     {
+      "t": 161.1,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0；目标半颗的 real 是新增目标文字，故终态不存在目标半颗，第4颗切半的至少8个半颗条件为假。此总分用于约束终态，切割过程未达到另由视频支持。"
+     }
+    ]
+   },
+   "halves_in_oven_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 161.1,
+      "log_step": null,
+      "text_zh": "观察：视频 0–161.1 s 的全程粗查及取刀、冰箱伸手的加密画面中，没有甘蓝半颗随夹爪离开冰箱、运到烤箱或进入炉腔；视频 160.5–161.1 s 机器人仍停在冰箱前。"
+     },
+     {
+      "t": 161.1,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0，且半颗 real 是新增目标文字，终态无目标半颗，因而至少1个半颗入炉条件为假。"
+     }
+    ]
+   },
+   "halves_in_oven_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 161.1,
+      "log_step": null,
+      "text_zh": "观察：视频 0–161.1 s 的全程粗查及取刀、冰箱伸手的加密画面中，没有甘蓝半颗随夹爪离开冰箱、运到烤箱或进入炉腔；视频 160.5–161.1 s 机器人仍停在冰箱前。"
+     },
+     {
+      "t": 161.1,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0，且半颗 real 是新增目标文字，终态无目标半颗，因而至少2个半颗入炉条件为假。"
+     }
+    ]
+   },
+   "halves_in_oven_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 161.1,
+      "log_step": null,
+      "text_zh": "观察：视频 0–161.1 s 的全程粗查及取刀、冰箱伸手的加密画面中，没有甘蓝半颗随夹爪离开冰箱、运到烤箱或进入炉腔；视频 160.5–161.1 s 机器人仍停在冰箱前。"
+     },
+     {
+      "t": 161.1,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0，且半颗 real 是新增目标文字，终态无目标半颗，因而至少3个半颗入炉条件为假。"
+     }
+    ]
+   },
+   "halves_in_oven_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 161.1,
+      "log_step": null,
+      "text_zh": "观察：视频 0–161.1 s 的全程粗查及取刀、冰箱伸手的加密画面中，没有甘蓝半颗随夹爪离开冰箱、运到烤箱或进入炉腔；视频 160.5–161.1 s 机器人仍停在冰箱前。"
+     },
+     {
+      "t": 161.1,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0，且半颗 real 是新增目标文字，终态无目标半颗，因而至少4个半颗入炉条件为假。"
+     }
+    ]
+   },
+   "halves_in_oven_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 161.1,
+      "log_step": null,
+      "text_zh": "观察：视频 0–161.1 s 的全程粗查及取刀、冰箱伸手的加密画面中，没有甘蓝半颗随夹爪离开冰箱、运到烤箱或进入炉腔；视频 160.5–161.1 s 机器人仍停在冰箱前。"
+     },
+     {
+      "t": 161.1,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0，且半颗 real 是新增目标文字，终态无目标半颗，因而至少5个半颗入炉条件为假。"
+     }
+    ]
+   },
+   "halves_in_oven_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 161.1,
+      "log_step": null,
+      "text_zh": "观察：视频 0–161.1 s 的全程粗查及取刀、冰箱伸手的加密画面中，没有甘蓝半颗随夹爪离开冰箱、运到烤箱或进入炉腔；视频 160.5–161.1 s 机器人仍停在冰箱前。"
+     },
+     {
+      "t": 161.1,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0，且半颗 real 是新增目标文字，终态无目标半颗，因而至少6个半颗入炉条件为假。"
+     }
+    ]
+   },
+   "halves_in_oven_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 161.1,
+      "log_step": null,
+      "text_zh": "观察：视频 0–161.1 s 的全程粗查及取刀、冰箱伸手的加密画面中，没有甘蓝半颗随夹爪离开冰箱、运到烤箱或进入炉腔；视频 160.5–161.1 s 机器人仍停在冰箱前。"
+     },
+     {
+      "t": 161.1,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0，且半颗 real 是新增目标文字，终态无目标半颗，因而至少7个半颗入炉条件为假。"
+     }
+    ]
+   },
+   "halves_in_oven_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 161.1,
+      "log_step": null,
+      "text_zh": "观察：视频 0–161.1 s 的全程粗查及取刀、冰箱伸手的加密画面中，没有甘蓝半颗随夹爪离开冰箱、运到烤箱或进入炉腔；视频 160.5–161.1 s 机器人仍停在冰箱前。"
+     },
+     {
+      "t": 161.1,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0，且半颗 real 是新增目标文字，终态无目标半颗，因而至少8个半颗入炉条件为假。"
+     }
+    ]
+   },
+   "halves_cooked_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 161.1,
+      "log_step": null,
+      "text_zh": "推断：视频 34.0–43.5 s 未完成取刀，后续至视频 161.1 s 未见切割或半颗装炉加热；评分器 reward.q_score=0 排除终态任何新增的 real/cooked 半颗目标文字，故至少1个目标半颗已熟条件为假。没有凭烤箱灯光推定熟态。"
+     }
+    ]
+   },
+   "halves_cooked_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 161.1,
+      "log_step": null,
+      "text_zh": "推断：视频 34.0–43.5 s 未完成取刀，后续至视频 161.1 s 未见切割或半颗装炉加热；评分器 reward.q_score=0 排除终态任何新增的 real/cooked 半颗目标文字，故至少2个目标半颗已熟条件为假。没有凭烤箱灯光推定熟态。"
+     }
+    ]
+   },
+   "halves_cooked_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 161.1,
+      "log_step": null,
+      "text_zh": "推断：视频 34.0–43.5 s 未完成取刀，后续至视频 161.1 s 未见切割或半颗装炉加热；评分器 reward.q_score=0 排除终态任何新增的 real/cooked 半颗目标文字，故至少3个目标半颗已熟条件为假。没有凭烤箱灯光推定熟态。"
+     }
+    ]
+   },
+   "halves_cooked_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 161.1,
+      "log_step": null,
+      "text_zh": "推断：视频 34.0–43.5 s 未完成取刀，后续至视频 161.1 s 未见切割或半颗装炉加热；评分器 reward.q_score=0 排除终态任何新增的 real/cooked 半颗目标文字，故至少4个目标半颗已熟条件为假。没有凭烤箱灯光推定熟态。"
+     }
+    ]
+   },
+   "halves_cooked_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 161.1,
+      "log_step": null,
+      "text_zh": "推断：视频 34.0–43.5 s 未完成取刀，后续至视频 161.1 s 未见切割或半颗装炉加热；评分器 reward.q_score=0 排除终态任何新增的 real/cooked 半颗目标文字，故至少5个目标半颗已熟条件为假。没有凭烤箱灯光推定熟态。"
+     }
+    ]
+   },
+   "halves_cooked_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 161.1,
+      "log_step": null,
+      "text_zh": "推断：视频 34.0–43.5 s 未完成取刀，后续至视频 161.1 s 未见切割或半颗装炉加热；评分器 reward.q_score=0 排除终态任何新增的 real/cooked 半颗目标文字，故至少6个目标半颗已熟条件为假。没有凭烤��灯光推定熟态。"
+     }
+    ]
+   },
+   "halves_cooked_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 161.1,
+      "log_step": null,
+      "text_zh": "推断：视频 34.0–43.5 s 未完成取刀，后续至视频 161.1 s 未见切割或半颗装炉加热；评分器 reward.q_score=0 排除终态任何新增的 real/cooked 半颗目标文字，故至少7个目标半颗已熟条件为假。没有凭烤箱灯光推定熟态。"
+     }
+    ]
+   },
+   "halves_cooked_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 161.1,
+      "log_step": null,
+      "text_zh": "推断：视频 34.0–43.5 s 未完成取刀，后续至视频 161.1 s 未见切割或半颗装炉加热；评分器 reward.q_score=0 排除终态任何新增的 real/cooked 半颗目标文字，故至少8个目标半颗已熟条件为假。没有凭烤箱灯光推定熟态。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5,
+      "log_step": null,
+      "text_zh": "观察：视频 5.0 s 可见远处冰箱两扇玻璃门的正面，视频 62.0–69.4 s 近看仍为同一门框结构；视频 140.0–155.5 s 闭爪和后退后未见门板转出，视频 160.5–161.1 s 结构保持。"
+     },
+     {
+      "t": 161.1,
+      "log_step": null,
+      "text_zh": "推断：DAG 的初态记录确认冰箱开局关闭；视频未见门板打开或开合状态改变，因此将关闭状态保留为视频 0 s 至结束。玻璃可透视层架不作为打开的证据；未把 agent 在 log step 576 的“未关冰箱”自述当作实际开度读数。"
+     }
+    ]
+   },
+   "oven_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5,
+      "log_step": null,
+      "text_zh": "观察：视频 4.0–6.0 s 左侧台面下烤箱门合拢，之后没有机器人拉动烤箱门的动作。"
+     },
+     {
+      "t": 161.1,
+      "log_step": null,
+      "text_zh": "推断：DAG 初态记录确认烤箱关闭，机器人后续始终未操作它，故保持视频 0 s 至结束的初始关闭状态；这是初态保留，并非完成了一次主动关门。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "sprouts_halved_1",
+   "t": 40.3,
+   "log_step": 159,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 34.0 s 刀仍躺在砧板上，视频 40.0–43.5 s 左夹爪在砧板位置闭合、张开，最终空手退开；log step 159、167 是取刀闭爪指令，log step 176 记录 agent 发现把砧板槽误当刀柄。推断：这是第1颗切半所选持刀方案的取刀准备失败；本 DAG 没有独立取刀节点，归入 sprouts_halved_1。后续视频至 161.1 s 没有返回取刀或完成切半，早期失败未修复。"
+  },
+  "unmet": {
+   "sprouts_halved_1": false,
+   "sprouts_halved_2": false,
+   "sprouts_halved_3": false,
+   "sprouts_halved_4": false,
+   "halves_in_oven_1": false,
+   "halves_in_oven_2": false,
+   "halves_in_oven_3": false,
+   "halves_in_oven_4": false,
+   "halves_in_oven_5": false,
+   "halves_in_oven_6": false,
+   "halves_in_oven_7": false,
+   "halves_in_oven_8": false,
+   "halves_cooked_1": false,
+   "halves_cooked_2": false,
+   "halves_cooked_3": false,
+   "halves_cooked_4": false,
+   "halves_cooked_5": false,
+   "halves_cooked_6": false,
+   "halves_cooked_7": false,
+   "halves_cooked_8": false,
+   "fridge_closed": true,
+   "oven_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 40.3,
+    "log_step": 159,
+    "evidence_zh": "观察：视频 34.0–34.5 s 左腕画面中刀躺在砧板上；视频 40.1–40.5 s、42.7–43.1 s 左夹爪闭合处只有砧板木面，未夹住刀，视频 43.3–44.0 s 撤离时手中为空。推断：用于切半的刀柄抓握没有建立，也就未形成刀刃与甘蓝的切割接触；没有先握住刀再滑落的证据。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "source_zh": "agent 自述 / 日志 / 视频",
+    "evidence_zh": "观察：log step 138 将砧板上的位置认作刀的位置，log step 159、167 向该位置闭爪；log step 176 明确自述此前把砧板的深色手柄槽当成刀柄。视频 34.0 s 可见刀还在砧板上，视频 40.1–43.1 s 夹爪却在另一处木面前空合。推断：目标识别错误使取刀动作落在错误部位，阻断第1颗切半的工具准备；这项归因由记录与画面共同支持。"
+   }
+  ],
+  "gap_zh": "无状态日志和成功参考视频，玻璃冰箱门的精确关节开度及夹爪是否碰到把手无法直接读取；以可见门板未离框保留初始关闭状态，不用透视内腔或 agent 开门自述给开门记分。取刀时手指与木面的细小接触遮挡，contact_actual 保留未知；后续冰箱取物失败是否源于门板、层架或躯干碰撞不能逐一确证，未追加根因。食品终态的否定同时使用视频和 q_score 总分约束；没有将 agent 工作时间映射为视频时间。"
+ },
+ "summary_zh": "机器人先尝试取刀、随后移动至冰箱前多次伸手和闭爪，未见甘蓝被取出、切半、入炉或烤熟；终态 2/24 个节点为真，均为初始关闭状态的保留，q_score=0 与此相容。最早未修复的失败在第1颗切半的取刀准备：左夹爪空合，日志与视频支持把砧板槽误认作刀柄的感知错误。没有状态日志或参考视频，冰箱玻璃门精确开度及微小接触仍有证据缺口，开门自述不作进度依据。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "标签与视频基本相符：切半、入炉、烤熟均无画面支持，q_score=0 约束终态，两个关闭状态节点自 0 s 保持；断点取在取刀失败（左夹爪在砧板木面空合，约视频 40–44 s）有视频与日志支持。冰箱门是否打开：视频 66 s 前为两扇深色玻璃门，76–155 s 近景可见层架且无法分辨玻璃与开门，现有帧不足以推翻 fridge_opened=false，故不提改动。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:55:27Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-cook-brussels-sprouts-i00-standard--9ggh3da/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-brussels-sprouts-i00-standard--9ggh3da/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "cfeb6088ea1f03f3434e4086fb07148b36720d6812a4dc3f51eccaf1ad0617a5",
+   "video_sha256": "8a7d24ec2ed53c9bb41e980c08d0ecd0242d0778af9ab1a6143d0cae9588ba41",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_brussels_sprouts/trajectories/behavior-cook-brussels-sprouts-i00-standard--9qnovw2.json

@@ -0,0 +1,565 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-brussels-sprouts-i00-standard--9qnovw2",
+ "taskKey": "behavior-1k/cook_brussels_sprouts",
+ "dag_sha256": "bf76cda0e3966e940a07729b29828c06815c78a9533d4989ef80a262c4504c19",
+ "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": 4681,
+   "sim_steps": 4681,
+   "physics_steps": 18724,
+   "steps": 1561,
+   "elapsed_s": 1799.4,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 2,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-cook-brussels-sprouts-i00-standard--9qnovw2/replay.mp4",
+  "duration_s": 156.033,
+  "fps": 30.0,
+  "frames": 4681,
+  "sha256": "67231f6ec71a1059bdb146ede20b3198242e7ce82a977024fcd55fd2d617c6b1"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 24,
+  "base": 2,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 45.8,
+      "log_step": 104,
+      "text_zh": "观察：视频 45.6–46.8 s 机器人空手在岛台边行驶时视野急剧翻转；视频 53、58、65 s 的冰箱近景中门板仍在门框内，未见抓把手、拉门或门板打开。"
+     },
+     {
+      "t": 156.0,
+      "log_step": null,
+      "text_zh": "观察：视频 72–156 s 机器人继续移动和翻滚，未见夹爪实施开冰箱动作；视频 154.8–156 s 仍空手且视野侧倒。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 39–46 s 及后续恢复阶段，轮式底盘支承机器人向冰箱方向移动、转向；未见夹爪抓握冰箱把手，不补记手部开门接触。"
+     }
+    ]
+   },
+   "oven_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 102.0,
+      "log_step": null,
+      "text_zh": "观察：视频 102 s 炉灶下方烤箱门保持关闭；全段抽帧未见机器人把夹爪送到烤箱把手后拉开门板，未出现开门露出炉腔的动作。"
+     }
+    ]
+   },
+   "sprouts_halved_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 69.0,
+      "log_step": null,
+      "text_zh": "观察：视频 36–72 s 的连续抽帧中，机器人在岛台和冰箱附近移动、翻滚；视频 69 s 可见砧板已在地面，夹爪未持甘蓝或刀具，未见整颗被切成半颗。"
+     },
+     {
+      "t": 156.0,
+      "log_step": null,
+      "text_zh": "推断：全段视频未见机器人从冰箱取菜或实施切割；评分器 q_score=0 且 live_matches_replay=1，初始已关闭的门不贡献该分数，故最终不能有新增的真实目标半颗，达不到第1颗切半所需的至少2个半颗。"
+     }
+    ]
+   },
+   "sprouts_halved_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 69.0,
+      "log_step": null,
+      "text_zh": "观察：视频 36–72 s 的连续抽帧中，机器人在岛台和冰箱附近移动、翻滚；视频 69 s 可见砧板已在地面，夹爪未持甘蓝或刀具，未见整颗被切成半颗。"
+     },
+     {
+      "t": 156.0,
+      "log_step": null,
+      "text_zh": "推断：全段视频未见机器人从冰箱取菜或实施切割；评分器 q_score=0 且 live_matches_replay=1，初始已关闭的门不贡献该分数，故最终不能有新增的真实目标半颗，达不到第2颗切半所需的至少4个半颗。"
+     }
+    ]
+   },
+   "sprouts_halved_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 69.0,
+      "log_step": null,
+      "text_zh": "观察：视频 36–72 s 的连续抽帧中，机器人在岛台和冰箱附近移动、翻滚；视频 69 s 可见砧板已在地面，夹爪未持甘蓝或刀具，未见整颗被切成半颗。"
+     },
+     {
+      "t": 156.0,
+      "log_step": null,
+      "text_zh": "推断：全段视频未见机器人从冰箱取菜或实施切割；评分器 q_score=0 且 live_matches_replay=1，初始已关闭的门不贡献该分数，故最终不能有新增的真实目标半颗，达不到第3颗切半所需的至少6个半颗。"
+     }
+    ]
+   },
+   "sprouts_halved_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 69.0,
+      "log_step": null,
+      "text_zh": "观察：视频 36–72 s 的连续抽帧中，机器人在岛台和冰箱附近移动、翻滚；视频 69 s 可见砧板已在地面，夹爪未持甘蓝或刀具，未见整颗被切成半颗。"
+     },
+     {
+      "t": 156.0,
+      "log_step": null,
+      "text_zh": "推断：全段视频未见机器人从冰箱取菜或实施切割；评分器 q_score=0 且 live_matches_replay=1，初始已关闭的门不贡献该分数，故最终不能有新增的真实目标半颗，达不到第4颗切半所需的至少8个半颗。"
+     }
+    ]
+   },
+   "halves_in_oven_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 102.0,
+      "log_step": null,
+      "text_zh": "观察：视频 102 s 可见机器人旁的炉灶与关闭的烤箱门，机器人夹爪空着；全段抽帧未见开炉、持半颗或送菜入炉。"
+     },
+     {
+      "t": 156.0,
+      "log_step": null,
+      "text_zh": "推断：未见任何切割产物或入炉动作，且评分器 q_score=0、live_matches_replay=1；至少1份目标半颗在炉内的条件最终不成立。"
+     }
+    ]
+   },
+   "halves_in_oven_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 102.0,
+      "log_step": null,
+      "text_zh": "观察：视频 102 s 可见机器人旁的炉灶与关闭的烤箱门，机器人夹爪空着；全段抽帧未见开炉、持半颗或送菜入炉。"
+     },
+     {
+      "t": 156.0,
+      "log_step": null,
+      "text_zh": "推断：未见任何切割产物或入炉动作，且评分器 q_score=0、live_matches_replay=1；至少2份目标半颗在炉内的条件最终不成立。"
+     }
+    ]
+   },
+   "halves_in_oven_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 102.0,
+      "log_step": null,
+      "text_zh": "观察：视频 102 s 可见机器人旁的炉灶与关闭的烤箱门，机器人夹爪空着；全段抽帧未见开炉、持半颗或送菜入炉。"
+     },
+     {
+      "t": 156.0,
+      "log_step": null,
+      "text_zh": "推断：未见任何切割产物或入炉动作，且评分器 q_score=0、live_matches_replay=1；至少3份目标半颗在炉内的条件最终不成立。"
+     }
+    ]
+   },
+   "halves_in_oven_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 102.0,
+      "log_step": null,
+      "text_zh": "观察：视频 102 s 可见机器人旁的炉灶与关闭的烤箱门，机器人夹爪空着；全段抽帧未见开炉、持半颗或送菜入炉。"
+     },
+     {
+      "t": 156.0,
+      "log_step": null,
+      "text_zh": "推断：未见任何切割产物或入炉动作，且评分器 q_score=0、live_matches_replay=1；至少4份目标半颗在炉内的条件最终不成立。"
+     }
+    ]
+   },
+   "halves_in_oven_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 102.0,
+      "log_step": null,
+      "text_zh": "观察：视频 102 s 可见机器人旁的炉灶与关闭的烤箱门，机器人夹爪空着；全段抽帧未见开炉、持半颗或送菜入炉。"
+     },
+     {
+      "t": 156.0,
+      "log_step": null,
+      "text_zh": "推断：未见任何切割产物或入炉动作，且评分器 q_score=0、live_matches_replay=1；至少5份目标半颗在炉内的条件最终不成立。"
+     }
+    ]
+   },
+   "halves_in_oven_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 102.0,
+      "log_step": null,
+      "text_zh": "观察：视频 102 s 可见机器人旁的炉灶与关闭的烤箱门，机器人夹爪空着；全段抽帧未见开炉、持半颗或送菜入炉。"
+     },
+     {
+      "t": 156.0,
+      "log_step": null,
+      "text_zh": "推断：未见任何切割产物或入炉动作，且评分器 q_score=0、live_matches_replay=1；至少6份目标半颗在炉内的条件最终不成立。"
+     }
+    ]
+   },
+   "halves_in_oven_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 102.0,
+      "log_step": null,
+      "text_zh": "观察：视频 102 s 可见机器人旁的炉灶与关闭的烤箱门，机器人夹爪空着；全段抽帧未见开炉、持半颗或送菜入炉。"
+     },
+     {
+      "t": 156.0,
+      "log_step": null,
+      "text_zh": "推断：未见任何切割产物或入炉动作，且评分器 q_score=0、live_matches_replay=1；至少7份目标半颗在炉内的条件最终不成立。"
+     }
+    ]
+   },
+   "halves_in_oven_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 102.0,
+      "log_step": null,
+      "text_zh": "观察：视频 102 s 可见机器人旁的炉灶与关闭的烤箱门，机器人夹爪空着；全段抽帧未见开炉、持半颗或送菜入炉。"
+     },
+     {
+      "t": 156.0,
+      "log_step": null,
+      "text_zh": "推断：未见任何切割产物或入炉动作，且评分器 q_score=0、live_matches_replay=1；至少8份目标半颗在炉内的条件最终不成立。"
+     }
+    ]
+   },
+   "halves_cooked_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 156.0,
+      "log_step": null,
+      "text_zh": "推断：视频全段仅见机器人观察场景、行驶和翻滚，未见食材操作或加热操作；评分器 q_score=0、live_matches_replay=1 排除了任何新增的目标熟态 literal，至少1份半颗已熟的条件最终不成立。"
+     }
+    ]
+   },
+   "halves_cooked_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 156.0,
+      "log_step": null,
+      "text_zh": "推断：视频全段仅见机器人观察场景、行驶和翻滚，未见食材操作或加热操作；评分器 q_score=0、live_matches_replay=1 排除了任何新增的目标熟态 literal，至少2份半颗已熟的条件最终不成立。"
+     }
+    ]
+   },
+   "halves_cooked_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 156.0,
+      "log_step": null,
+      "text_zh": "推断：视频全段仅见机器人观察场景、行驶和翻滚，未见食材操作或加热操作；评分器 q_score=0、live_matches_replay=1 排除了任何新增的目标熟态 literal，至少3份半颗已熟的条件最终不成立。"
+     }
+    ]
+   },
+   "halves_cooked_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 156.0,
+      "log_step": null,
+      "text_zh": "推断：视频全段仅见机器人观察场景、行驶和翻滚，未见食材操作或加热操作；评分器 q_score=0、live_matches_replay=1 排除了任何新增的目标熟态 literal，至少4份半颗已熟的条件最终不成立。"
+     }
+    ]
+   },
+   "halves_cooked_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 156.0,
+      "log_step": null,
+      "text_zh": "推断：视频全段仅见机器人观察场景、行驶和翻滚，未见食材操作或加热操作；评分器 q_score=0、live_matches_replay=1 排除了任何新增的目标熟态 literal，至少5份半颗已熟的条件最终不成立。"
+     }
+    ]
+   },
+   "halves_cooked_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 156.0,
+      "log_step": null,
+      "text_zh": "推断：视频全段仅见机器人观察场景、行驶和翻滚，未见食材操作或加热操作；评分器 q_score=0、live_matches_replay=1 排除了任何新增的目标熟态 literal，至少6份半颗已熟的条件最终不成立。"
+     }
+    ]
+   },
+   "halves_cooked_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 156.0,
+      "log_step": null,
+      "text_zh": "推断：视频全段仅见机器人观察场景、行驶和翻滚，未见食材操作或加热操作；评分器 q_score=0、live_matches_replay=1 排除了任何新增的目标熟态 literal，至少7份半颗已熟的条件最终不成立。"
+     }
+    ]
+   },
+   "halves_cooked_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 156.0,
+      "log_step": null,
+      "text_zh": "推断：视频全段仅见机器人观察场景、行驶和翻滚，未见食材操作或加热操作；评分器 q_score=0、live_matches_replay=1 排除了任何新增的目标熟态 literal，至少8份半颗已熟的条件最终不成立。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 58.0,
+      "log_step": null,
+      "text_zh": "观察：视频 58 s 可见冰箱门板保持在门框内；全段抽帧未见机器人打开该门。"
+     },
+     {
+      "t": 156.0,
+      "log_step": null,
+      "text_zh": "推断：DAG记录冰箱开局已关闭，结合视频中门板仍关闭且机器人始终未进行开门操作，关闭状态从视频 0 s 保留至视频结束；末帧视线侧倒，末态沿用未发生开门的连续性判断。"
+     }
+    ]
+   },
+   "oven_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 102.0,
+      "log_step": null,
+      "text_zh": "观察：视频 102 s 可见烤箱门板保持在门框内；全段抽帧未见机器人打开该门。"
+     },
+     {
+      "t": 156.0,
+      "log_step": null,
+      "text_zh": "推断：DAG记录烤箱开局已关闭，结合视频中门板仍关闭且机器人始终未进行开门操作，关闭状态从视频 0 s 保留至视频结束；末帧视线侧倒，末态沿用未发生开门的连续性判断。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fridge_opened",
+   "t": 45.8,
+   "log_step": 104,
+   "where": "转场",
+   "evidence_zh": "观察：视频 45.6–46.8 s，机器人空手向冰箱方向行驶时，岛台进入近处，头部与腕部视野发生剧烈翻转；视频 64–66 s 仍明显侧倒。log step 103–105 的脚本和执行记录显示该段目标是到冰箱前；后来虽尝试恢复直立，视频中始终未完成开冰箱，log step 142 的服务终态为 failure: the robot fell over。"
+  },
+  "unmet": {
+   "sprouts_halved_1": false,
+   "sprouts_halved_2": false,
+   "sprouts_halved_3": false,
+   "sprouts_halved_4": false,
+   "halves_in_oven_1": false,
+   "halves_in_oven_2": false,
+   "halves_in_oven_3": false,
+   "halves_in_oven_4": false,
+   "halves_in_oven_5": false,
+   "halves_in_oven_6": false,
+   "halves_in_oven_7": false,
+   "halves_in_oven_8": false,
+   "halves_cooked_1": false,
+   "halves_cooked_2": false,
+   "halves_cooked_3": false,
+   "halves_cooked_4": false,
+   "halves_cooked_5": false,
+   "halves_cooked_6": false,
+   "halves_cooked_7": false,
+   "halves_cooked_8": false,
+   "fridge_closed": true,
+   "oven_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 45.8,
+    "log_step": 108,
+    "evidence_zh": "观察：视频 45.8–47 s 机器人视野由朝前突然翻向天花板，随后反复侧翻；视频 64–66 s 头部及腕部画面均明显旋转。log step 108 的本体读数给出 base_z=0.4523 m、up_z=-0.4382；该实时单回合的 control_steps=1968，按 log step 29 的30 Hz映射到视频 65.6 s，与所查画面吻合，4681/30也等于视频总长约156.03 s。视频 154.8–156 s 仍侧倒，log step 142 服务报告跌倒终止。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 45.8,
+    "log_step": 102,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 85、102 的导航控制器仅按水平位置及航向误差生成底盘位移，未根据障碍接触或机体倾斜调整该段行驶；log step 108 已测到 up_z=-0.4382，log step 109–110 的恢复仍主要通过水平位移命令移回目标点。结合视频 45.8–72 s 的反复翻转及视频 154.8–156 s 的持续侧倒，底盘行驶与恢复控制未维持支撑稳定，导致机器人未能完成冰箱接近和开门；现有证据不足以细分具体动力学或控制参数错误。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志或成功参考视频；头部和腕部视角不能直接显示全部轮地接触及首次失衡的精确碰撞部位，故不额外标注碰撞现象或具体控制子类。甘蓝位于未打开的冰箱内，半颗存在、入炉及熟态的末值由未实施食材操作的画面与评分器 q_score=0 共同推断；末帧未同时拍到两扇设备门，关门末态依据初态与全程未开门的连续性判断。"
+ },
+ "summary_zh": "机器人完成场景观察并尝试驶向冰箱，但视频约45.8 s在岛台附近开始严重失衡，之后反复翻滚，最终由服务判定跌倒终止，打开冰箱始终未完成。没有观察到取菜、切半、入炉或烹饪；最终仅保留开局已有的冰箱和烤箱关闭两项，进度为2/24，q_score=0。无状态日志，具体失衡接触及控制子类不能确定，遮挡内的食材末态结合评分总分判断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标签与视频、日志一致：机器人在约45.8 s驶向冰箱途中失衡翻倒，之后未空手恢复，未开冰箱，进度2/24（仅开局即真的两扇门关闭）与q_score=0吻合；断点fridge_opened/转场、平衡现象、控制根因均有证据支持，未发现需要改的错误。",
+    "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": "2026-10-30T22:01:20Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-cook-brussels-sprouts-i00-standard--9qnovw2/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-brussels-sprouts-i00-standard--9qnovw2/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f8f9bf0a99bfb66fca18d130fa0771b6d6cd5a70bfcc0688d510be68b2850fbb",
+   "video_sha256": "67231f6ec71a1059bdb146ede20b3198242e7ce82a977024fcd55fd2d617c6b1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_brussels_sprouts/trajectories/behavior-cook-brussels-sprouts-i00-standard--ikadqtn.json

@@ -0,0 +1,595 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-brussels-sprouts-i00-standard--ikadqtn",
+ "taskKey": "behavior-1k/cook_brussels_sprouts",
+ "dag_sha256": "bf76cda0e3966e940a07729b29828c06815c78a9533d4989ef80a262c4504c19",
+ "outcome": {
+  "success": 0,
+  "reward": 0.15384615384615385,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 0,
+   "live_matches_replay": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 4728,
+   "sim_steps": 4728,
+   "physics_steps": 18912,
+   "steps": 688,
+   "elapsed_s": 6814.7,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "q_score": 0.15384615384615385,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-cook-brussels-sprouts-i00-standard--ikadqtn/replay.mp4",
+  "duration_s": 157.6,
+  "fps": 30.0,
+  "frames": 4728,
+  "sha256": "c2ffa8da7551f69540c0768428b06d301ad71760a07a0ed676951cdabbd47edc"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 24,
+  "base": null,
+  "peak": null,
+  "final": 4,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      49.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 49.0,
+      "log_step": 77,
+      "text_zh": "观察：视频 45.0–52.0 s，机器人右夹爪靠近并夹住冰箱门把手，门板随后向外转出，视频 50.5 s 已明显露出无门板遮挡的入口；首次超过小开度阈值约在视频 49.0 s，误差约0.5秒。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右侧二指夹爪夹住冰箱门把手并外拉；随后松手，门板保持外开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 37.0–54.0 s，底盘驶近冰箱，并在继续拉开门板时移动。"
+     }
+    ]
+   },
+   "oven_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      157.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 157.4,
+      "log_step": 363,
+      "text_zh": "观察：视频 155.0–157.55 s，机器人右夹爪闭合在烤箱上层门把手处，最后约0.6秒外拉，门板右侧离开机身并形成可见缝隙；视频 157.4 s 可见门面转角，达到小开度打开，时间约为视频 157.2 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右侧二指夹爪包住烤箱上门的竖把手，闭合后带动门板向外转动。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 150.0–154.8 s，机器人空手驾底盘到烤箱前并靠近把手。"
+     }
+    ]
+   },
+   "sprouts_halved_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      125.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 125.6,
+      "log_step": 268,
+      "text_zh": "观察：视频 124.4–126.0 s，右手持刀下压后，盒内原来圆形的菜变成分离的浅色切面与绿色半颗；视频 136.0 s 和视频 144.55 s 的左腕俯视仍可见成对半颗，因此至少2个目标半颗保留。首次形成半颗的时刻约为视频 125.5 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：机器人右夹爪持切肉刀，在保鲜盒中的甘蓝上方反复向下压刀；夹爪未直接抓菜。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 113.0–118.0 s，底盘携带右手的刀调整到保鲜盒旁，再进行切割。"
+     }
+    ]
+   },
+   "sprouts_halved_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      131.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 131.8,
+      "log_step": 282,
+      "text_zh": "观察：视频 130.2–131.8 s 再次下刀后，盒内出现更多独立切面；视频 136.0 s 的腕部俯视可见上下两组较大的绿色半颗，中间另有浅色碎块。达到至少4个半颗的时刻估计为视频 131.5 s，遮挡使其不如开门时刻确定。"
+     },
+     {
+      "t": 144.55,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0.15384615384615385，即4/26；视频中菜始终留在岛台保鲜盒、未入炉也未加热，因此这4项最合理对应保留的4个real半颗，支持本节点终值为真。live_matches_replay=0，该总量来自实时回合，仅用于画面未排除的终态计数；不把浅色碎块逐个当作半颗。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：机器人右夹爪持切肉刀，在保鲜盒中的甘蓝上方反复向下压刀；夹爪未直接抓菜。"
+     }
+    ]
+   },
+   "sprouts_halved_3": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 144.55,
+      "log_step": null,
+      "text_zh": "推断：第3颗切半要求至少6个真实目标半颗，超过评分器实时回合总量4/26允许的最大4个；视频 136.0 s、140.5 s、144.55 s 显示较大绿色菜块与浅色碎块混在一起，没有足以反驳该上界的6个完整半颗证据，故终值为假。"
+     },
+     {
+      "t": 133.8,
+      "log_step": 291,
+      "text_zh": "观察：视频 118.0–144.8 s 机器人多次对盒内不同位置持刀下压，菜块逐渐出现大量碎块；机械臂和低分辨率遮挡了切割转换，不能可靠判定是否曾短暂达到更高的real数量，历史区间留空值而非断言从未达到。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：机器人右夹爪持切肉刀，在保鲜盒中的甘蓝上方反复向下压刀；夹爪未直接抓菜。"
+     }
+    ]
+   },
+   "sprouts_halved_4": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 144.55,
+      "log_step": null,
+      "text_zh": "推断：第4颗切半要求至少8个真实目标半颗，超过评分器实时回合总量4/26允许的最大4个；视频 136.0 s、140.5 s、144.55 s 显示较大绿色菜块与浅色碎块混在一起，没有足以反驳该上界的8个完整半颗证据，故终值为假。"
+     },
+     {
+      "t": 133.8,
+      "log_step": 291,
+      "text_zh": "观察：视频 118.0–144.8 s 机器人多次对盒内不同位置持刀下压，菜块逐渐出现大量碎块；机械臂和低分辨率遮挡了切割转换，不能可靠判定是否曾短暂达到更高的real数量，历史区间留空值而非断言从未达到。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：机器人右夹爪持切肉刀，在保鲜盒中的甘蓝上方反复向下压刀；夹爪未直接抓菜。"
+     }
+    ]
+   },
+   "halves_in_oven_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 149.0,
+      "log_step": null,
+      "text_zh": "观察：视频 144.55 s 菜仍在岛台保鲜盒内；视频 147.0–150.0 s 机器人放下刀并空手离开，视频 155.0–157.55 s 右手只操作烤箱门把手，全程没有把保鲜盒或半颗送入炉腔。至少1个半颗入炉的关系未成立。"
+     }
+    ]
+   },
+   "halves_in_oven_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 149.0,
+      "log_step": null,
+      "text_zh": "观察：视频 144.55 s 菜仍在岛台保鲜盒内；视频 147.0–150.0 s 机器人放下刀并空手离开，视频 155.0–157.55 s 右手只操作烤箱门把手，全程没有把保鲜盒或半颗送入炉腔。至少2个半颗入炉的关系未成立。"
+     }
+    ]
+   },
+   "halves_in_oven_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 149.0,
+      "log_step": null,
+      "text_zh": "观察：视频 144.55 s 菜仍在岛台保鲜盒内；视频 147.0–150.0 s 机器人放下刀并空手离开，视频 155.0–157.55 s 右手只操作烤箱门把手，全程没有把保鲜盒或半颗送入炉腔。至少3个半颗入炉的关系未成立。"
+     }
+    ]
+   },
+   "halves_in_oven_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 149.0,
+      "log_step": null,
+      "text_zh": "观察：视频 144.55 s 菜仍在岛台保鲜盒内；视频 147.0–150.0 s 机器人放下刀并空手离开，视频 155.0–157.55 s 右手只操作烤箱门把手，全程没有把保鲜盒或半颗送入炉腔。至少4个半颗入炉的关系未成立。"
+     }
+    ]
+   },
+   "halves_in_oven_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 149.0,
+      "log_step": null,
+      "text_zh": "观察：视频 144.55 s 菜仍在岛台保鲜盒内；视频 147.0–150.0 s 机器人放下刀并空手离开，视频 155.0–157.55 s 右手只操作烤箱门把手，全程没有把保鲜盒或半颗送入炉腔。至��5个半颗入炉的关系未成立。"
+     }
+    ]
+   },
+   "halves_in_oven_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 149.0,
+      "log_step": null,
+      "text_zh": "观察：视频 144.55 s 菜仍在岛台保鲜盒内；视频 147.0–150.0 s 机器人放下刀并空手离开，视频 155.0–157.55 s 右手只操作烤箱门把手，全程没有把保鲜盒或半颗送入炉腔。至少6个半颗入炉的关系未成立。"
+     }
+    ]
+   },
+   "halves_in_oven_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 149.0,
+      "log_step": null,
+      "text_zh": "观察：视频 144.55 s 菜仍在岛台保鲜盒内；视频 147.0–150.0 s 机器人放下刀并空手离开，视频 155.0–157.55 s 右手只操作烤箱门把手，全程没有把保鲜盒或半颗送入炉腔。至少7个半颗入炉的关系未成立。"
+     }
+    ]
+   },
+   "halves_in_oven_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 149.0,
+      "log_step": null,
+      "text_zh": "观察：视频 144.55 s 菜仍在岛台保鲜盒内；视频 147.0–150.0 s 机器人放下刀并空手离开，视频 155.0–157.55 s 右手只操作烤箱门把手，全程没有把保鲜盒或半颗送入炉腔。至少8个半颗入炉的关系未成立。"
+     }
+    ]
+   },
+   "halves_cooked_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 144.55,
+      "log_step": null,
+      "text_zh": "观察：视频 100.0–144.8 s 甘蓝一直在岛台保鲜盒内接受切割；之后仍留在台上，机器人只走向烤箱拉门，未见菜接近热源或发生熟态外观变化。推断：未经历加热，至少1个目标半颗已熟的条件不成立。"
+     }
+    ]
+   },
+   "halves_cooked_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 144.55,
+      "log_step": null,
+      "text_zh": "观察：视频 100.0–144.8 s 甘蓝一直在岛台保鲜盒内接受切割；之后仍留在台上，机器人只走向烤箱拉门，未见菜接近热源或发生熟态外观变化。推断：未经历加热，至少2个目标半颗已熟的条件不成立。"
+     }
+    ]
+   },
+   "halves_cooked_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 144.55,
+      "log_step": null,
+      "text_zh": "观察：视频 100.0–144.8 s 甘蓝一直在岛台保鲜盒内接受切割；之后仍留在台上，机器人只走向烤箱拉门，未见菜接近热源或发生熟态外观变化。推断：未经历加热，至少3个目标半颗已熟的条件不成立。"
+     }
+    ]
+   },
+   "halves_cooked_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 144.55,
+      "log_step": null,
+      "text_zh": "观察：视频 100.0–144.8 s 甘蓝一直在岛台保鲜盒内接受切割；之后仍留在台上，机器人只走向烤箱拉门，未见菜接近热源或发生熟态外观变化。推断：未经历加热，至少4个目标半颗已熟的条件不成立。"
+     }
+    ]
+   },
+   "halves_cooked_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 144.55,
+      "log_step": null,
+      "text_zh": "观察：视频 100.0–144.8 s 甘蓝一直在岛台保鲜盒内接受切割；之后仍留在台上，机器人只走向烤箱拉门，未见菜接近热源或发生熟态外观变化。推断：未经历加热，至少5个目标半颗已熟的条件不成立。"
+     }
+    ]
+   },
+   "halves_cooked_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 144.55,
+      "log_step": null,
+      "text_zh": "观察：视频 100.0–144.8 s 甘蓝一直在岛台保鲜盒内接受切割；之后仍留在台上，机器人只走向烤箱拉门，未见菜接近热源或发生熟态外观变化。推断：未经历加热，至少6个目标半颗已熟的条件不成立。"
+     }
+    ]
+   },
+   "halves_cooked_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 144.55,
+      "log_step": null,
+      "text_zh": "观察：视频 100.0–144.8 s 甘蓝一直在岛台保鲜盒内接受切割；之后仍留在台上，机器人只走向烤箱拉门，未见菜接近热源或发生熟态外观变化。推断：未经历加热，至少7个目标半颗已熟的条件不成立。"
+     }
+    ]
+   },
+   "halves_cooked_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 144.55,
+      "log_step": null,
+      "text_zh": "观察：视频 100.0–144.8 s 甘蓝一直在岛台保鲜盒内接受切割；之后仍留在台上，机器人只走向烤箱拉门，未见菜接近热源��发生熟态外观变化。推断：未经历加热，至少8个目标半颗已熟的条件不成立。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      49.0
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频 40.0–45.0 s 冰箱门框及玻璃门板仍处于闭合位置，可透过玻璃看见层架；推断：结合DAG的已核实初态，本节点从视频 0 s 成立，至视频约 49.0 s 开门时失去。"
+     },
+     {
+      "t": 82.5,
+      "log_step": 127,
+      "text_zh": "观察：视频 76.2–82.5 s，机器人右手持保鲜盒，左夹爪闭合并随底盘在冰箱前扫过，外开的门板未随之合回门框；视频 83.5–85.0 s 离开时仍明显外开。之后未返回冰箱，终值为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：左夹爪在视频 76.2–82.5 s 做关门推扫尝试，但画面未显示它与外开门板形成可靠接触；没有接触对日志，细小擦碰方式无法确认。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 73.0–85.0 s，底盘绕到冰箱门前并在左臂关门尝试中行驶，右手携带保鲜盒。"
+     }
+    ]
+   },
+   "oven_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      157.2
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 153.5,
+      "log_step": null,
+      "text_zh": "观察：视频 32.0 s、89.0 s、153.5 s 烤箱门板均与机身闭合；推断：结合DAG初态且此前没有操作，本节点自视频 0 s 持续成立。"
+     },
+     {
+      "t": 157.4,
+      "log_step": 363,
+      "text_zh": "观察：视频 157.0–157.55 s 右夹爪外拉上层炉门，门板右侧离开机身，未再合拢；在视频约 157.2 s 失去关闭状态。这里只发生开门，没有另一次关炉门尝试。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.15384615384615385,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fridge_closed",
+   "t": 78.5,
+   "log_step": 127,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 76.2–82.5 s，机器人左夹爪在冰箱前做推门动作，右手一直持装菜保鲜盒；左夹爪的扫动没有把外开的门板带回门框，视频 83.5–85.0 s 门仍外开。此后机器人带盒离开，未再修复冰箱关闭步骤；后面的切割计数不足和炉门只开一小段均晚于本次失败。"
+  },
+  "unmet": {
+   "sprouts_halved_1": true,
+   "sprouts_halved_2": true,
+   "sprouts_halved_3": false,
+   "sprouts_halved_4": false,
+   "halves_in_oven_1": false,
+   "halves_in_oven_2": false,
+   "halves_in_oven_3": false,
+   "halves_in_oven_4": false,
+   "halves_in_oven_5": false,
+   "halves_in_oven_6": false,
+   "halves_in_oven_7": false,
+   "halves_in_oven_8": false,
+   "halves_cooked_1": false,
+   "halves_cooked_2": false,
+   "halves_cooked_3": false,
+   "halves_cooked_4": false,
+   "halves_cooked_5": false,
+   "halves_cooked_6": false,
+   "halves_cooked_7": false,
+   "halves_cooked_8": false,
+   "fridge_closed": false,
+   "oven_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 78.5,
+    "log_step": 127,
+    "evidence_zh": "观察：视频 77.0–82.5 s，闭合的左夹爪随底盘扫过冰箱正面下部，未沿外开门板完成合拢运动；视频 83.5 s 冰箱入口仍敞开。关门所需的末端与门板相对位置未达成，未见足以确认夹住门板后滑脱或受阻的画面。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：log step 126 的控制脚本明确以左臂闭合夹爪作推杆，固定臂姿、依次驾底盘扫过三个预设位置后就撤回；视频 76.2–85.0 s 对应动作未令门板合拢。目标是正确的关闭冰箱，但预设的底盘与手臂运动没有实现所需接触及门板运动；缺少逐帧接触和跟踪误差，不能进一步区分接触设计与轨迹控制。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频。评分字段 live_matches_replay=0、deterministic=0，因此实时日志中的自测成功说法不能替代重放画面；q_score只作未被画面排除的终态计数依据。切菜时只有低分辨率头部及腕部视角，刀和手臂遮住转换瞬间，无法可靠恢复第3、4颗切半是否曾短暂成立，二者历史区间为null，但终值受4/26上界约束为假；第2颗达到时间也是估计。冰箱关门时看不到可靠的夹爪—门板接触，也没有接触力或控制误差记录，故根因只标到控制。"
+ },
+ "summary_zh": "机器人打开冰箱并取出装菜保鲜盒，在岛台持刀反复切割；保留半颗计数按画面及实时评分4/26推断达到前两颗切半，未把菜入炉或烤熟，结尾仅将烤箱门拉开小缝，最终4/24个节点为真。最早未修复的是视频约 78.5 s 的冰箱关门尝试：左夹爪随底盘扫动却未令门板合拢，反映该次预设运动的控制失败。无状态日志且实时与重放不一致，部分切割历史数量及精确接触无法确认。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "冰箱开门、切割节点、断点（冰箱关门未成功，视频约78.5 s）与根因均有画面支持；q_score 4/26 对切半上界的使用符合 PROG-10。烤箱开门发生在视频末尾约0.4 s，画面分辨率低，但未发现可证伪的证据。",
+    "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": "2026-10-30T22:05:24Z",
+  "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/behavior-cook-brussels-sprouts-i00-standard--ikadqtn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-brussels-sprouts-i00-standard--ikadqtn/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8a968320ddf1c87373f169cf4955cf115fa8feb875a3a5f691522acd441410c1",
+   "video_sha256": "c2ffa8da7551f69540c0768428b06d301ad71760a07a0ed676951cdabbd47edc",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/cook_brussels_sprouts/trajectories/behavior-cook-brussels-sprouts-i00-standard--vzwhav7.json

@@ -0,0 +1,517 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-cook-brussels-sprouts-i00-standard--vzwhav7",
+ "taskKey": "behavior-1k/cook_brussels_sprouts",
+ "dag_sha256": "bf76cda0e3966e940a07729b29828c06815c78a9533d4989ef80a262c4504c19",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 0,
+   "live_matches_replay": 0,
+   "finalized": 1,
+   "n_actions": 6346,
+   "sim_steps": 6345,
+   "physics_steps": 25380,
+   "steps": 684,
+   "elapsed_s": 6712.3,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-cook-brussels-sprouts-i00-standard--vzwhav7/replay.mp4",
+  "duration_s": 209.733,
+  "fps": 30.0,
+  "frames": 6292,
+  "sha256": "7a173cb0a42662ac43b0627aae1230da6143896156c647ad81544451d7a03b70"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 24,
+  "base": 2,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "fridge_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": null,
+      "text_zh": "观察：视频 7 s 黑色双门冰箱在厨房远端，门板处于闭合外观；视频 32–43 s 机器人在金属架旁转向、碰倒架子并倾斜，双夹爪没有接近冰箱把手。"
+     },
+     {
+      "t": 209.7,
+      "log_step": null,
+      "text_zh": "观察：逐秒检查视频 0–209 s 并加密检查视频 208.5–209.7 s，未见机器人拉开冰箱、露出冰箱内腔或取出保鲜盒；机器人始终未进入开门操作阶段。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人为接近冰箱而在厨房空手行驶与转向，轮式底盘支承移动；视频 32–37 s 移动中碰倒金属架。未见夹爪抓握冰箱把手，不把计划中的抓握计为实际接触。"
+     }
+    ]
+   },
+   "oven_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.0,
+      "log_step": null,
+      "text_zh": "观察：视频 5 s 可见灶台下烤箱的闭合正面，机器人夹爪保持空手且没有触及炉门；后续视频 0–209.7 s 没有拉门或向炉内装载的动作。"
+     }
+    ]
+   },
+   "sprouts_halved_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 37.0,
+      "log_step": null,
+      "text_zh": "推断：第1颗切半未达成。视频 0–209.7 s 的三相机画面中，机器人只空手转向、行驶及失衡，没有打开冰箱取出甘蓝，也没有让甘蓝与刀刃接触或出现独立半颗；视频 37 s 可见冰箱仍在远处。初始甘蓝在冰箱内，结合这一动作过程判断该节点始终为假。"
+     },
+     {
+      "t": 209.7,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的 live q_score=0.0，live_matches_replay=0；按26个目标文字及初始关门条件不计入新增分数的规则，live终态没有新增real半颗。视频未见与此矛盾的切割，故该总分也约束本节点终值为false。"
+     }
+    ]
+   },
+   "sprouts_halved_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 37.0,
+      "log_step": null,
+      "text_zh": "推断：第2颗切半未达成。视频 0–209.7 s 的三相机画面中，机器人只空手转向、行驶及失衡，没有打开冰箱取出甘蓝，也没有让甘蓝与刀刃接触或出现独立半颗；视频 37 s 可见冰箱仍在远处。初始甘蓝在冰箱内，结合这一动作过程判断该节点始终为假。"
+     },
+     {
+      "t": 209.7,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的 live q_score=0.0，live_matches_replay=0；按26个目标文字及初始关门条件不计入新增分数的规则，live终态没有新增real半颗。视频未见与此矛盾的切割，故该总分也约束本节点终值为false。"
+     }
+    ]
+   },
+   "sprouts_halved_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 37.0,
+      "log_step": null,
+      "text_zh": "推断：第3颗切半未达成。视频 0–209.7 s 的三相机画面中，机器人只空手转向、行驶及失衡，没有打开冰箱取出甘蓝，也没有让甘蓝与刀刃接触或出现独立半颗；视频 37 s 可见冰箱仍在远处。初始甘蓝在冰箱内，结合这一动作过程判断该节点始终为假。"
+     },
+     {
+      "t": 209.7,
+      "log_step": null,
+      "text_zh": "推���：inputs/run.json 的 live q_score=0.0，live_matches_replay=0；按26个目标文字及初始关门条件不计入新增分数的规则，live终态没有新增real半颗。视频未见与此矛盾的切割，故该总分也约束本节点终值为false。"
+     }
+    ]
+   },
+   "sprouts_halved_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 37.0,
+      "log_step": null,
+      "text_zh": "推断：第4颗切半未达成。视频 0–209.7 s 的三相机画面中，机器人只空手转向、行驶及失衡，没有打开冰箱取出甘蓝，也没有让甘蓝与刀刃接触或出现独立半颗；视频 37 s 可见冰箱仍在远处。初始甘蓝在冰箱内，结合这一动作过程判断该节点始终为假。"
+     },
+     {
+      "t": 209.7,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的 live q_score=0.0，live_matches_replay=0；按26个目标文字及初始关门条件不计入新增分数的规则，live终态没有新增real半颗。视频未见与此矛盾的切割，故该总分也约束本节点终值为false。"
+     }
+    ]
+   },
+   "halves_in_oven_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 209.7,
+      "log_step": null,
+      "text_zh": "推断：第1半颗入炉未达成。视频 0–209.7 s 中机器人始终没有从冰箱取菜、切出半颗或携菜进入炉腔；视频 5 s 可见炉灶正面未被操作，视频 209.7 s 终帧已无法正常观察厨房。初始没有目标半颗，且整个过程没有产生或搬运半颗的动作，故该节点始终为假；live q_score=0.0（live_matches_replay=0）与此一致。"
+     }
+    ]
+   },
+   "halves_in_oven_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 209.7,
+      "log_step": null,
+      "text_zh": "推断：第2半颗入炉未达成。视频 0–209.7 s 中机器人始终没有从冰箱取菜、切出半颗或携菜进入炉腔；视频 5 s 可见炉灶正面未被操作，视频 209.7 s 终帧已无法正常观察厨房。初始没有目标半颗，且整个过程没有产生或搬运半颗的动作，故该节点始终为假；live q_score=0.0（live_matches_replay=0）与此一致。"
+     }
+    ]
+   },
+   "halves_in_oven_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 209.7,
+      "log_step": null,
+      "text_zh": "推断：第3半颗入炉未达成。视频 0–209.7 s 中机器人始终没有从冰箱取菜、切出半颗或携菜进入炉腔；视频 5 s 可见炉灶正面未被操作，视频 209.7 s 终帧已无法正常观察厨房。初始没有目标半颗，且整个过程没有产生或搬运半颗的动作，故该节点始终为假；live q_score=0.0（live_matches_replay=0）与此一致。"
+     }
+    ]
+   },
+   "halves_in_oven_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 209.7,
+      "log_step": null,
+      "text_zh": "推断：第4半颗入炉未达成。视频 0–209.7 s 中机器人始终没有从冰箱取菜、切出半颗或携菜进入炉腔；视频 5 s 可见炉灶正面未被操作，视频 209.7 s 终帧已无法正常观察厨房。初始没有目标半颗，且整个过程没有产生或搬运半颗的动作，故该节点始终为假；live q_score=0.0（live_matches_replay=0）与此一致。"
+     }
+    ]
+   },
+   "halves_in_oven_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 209.7,
+      "log_step": null,
+      "text_zh": "推断：第5半颗入炉未达成。视频 0–209.7 s 中机器人始终没有从冰箱取菜、切出半颗或携菜进入炉腔；视频 5 s 可见炉灶正面未被操作，视频 209.7 s 终帧已无法正常观察厨房。初始没有目标半颗，且整个过程没有产生或搬运半颗的动作，故该节点始终为假；live q_score=0.0（live_matches_replay=0）与此一致。"
+     }
+    ]
+   },
+   "halves_in_oven_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 209.7,
+      "log_step": null,
+      "text_zh": "推断：第6半颗入炉未达成。视频 0–209.7 s 中机器人始终没有从冰箱取菜、切出半颗或携菜进入炉腔；视频 5 s 可见炉灶正面未被操作，视频 209.7 s 终帧已无法正常观察厨房。初始没有目标半颗，且整个过程没有产生或搬运半颗的动作，故该节点始终为假；live q_score=0.0（live_matches_replay=0）与此一致。"
+     }
+    ]
+   },
+   "halves_in_oven_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 209.7,
+      "log_step": null,
+      "text_zh": "推断：第7半颗入炉未达成。视频 0–209.7 s 中机器人始终没有从冰箱取菜、切出半颗或携菜进入炉腔；视频 5 s 可���炉灶正面未被操作，视频 209.7 s 终帧已无法正常观察厨房。初始没有目标半颗，且整个过程没有产生或搬运半颗的动作，故该节点始终为假；live q_score=0.0（live_matches_replay=0）与此一致。"
+     }
+    ]
+   },
+   "halves_in_oven_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 209.7,
+      "log_step": null,
+      "text_zh": "推断：第8半颗入炉未达成。视频 0–209.7 s 中机器人始终没有从冰箱取菜、切出半颗或携菜进入炉腔；视频 5 s 可见炉灶正面未被操作，视频 209.7 s 终帧已无法正常观察厨房。初始没有目标半颗，且整个过程没有产生或搬运半颗的动作，故该节点始终为假；live q_score=0.0（live_matches_replay=0）与此一致。"
+     }
+    ]
+   },
+   "halves_cooked_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 209.7,
+      "log_step": null,
+      "text_zh": "推断：第1半颗烤熟未达成。视频 0–209.7 s 没有可见的取菜、切半、装炉或供热操作，初始目标半颗尚不存在，也没有之后生成半颗的动作，故不能形成已熟目标半颗。inputs/run.json 的live q_score=0.0（live_matches_replay=0）也不允许终态有新增cooked目标文字；本结论并非仅由零分推得。"
+     }
+    ]
+   },
+   "halves_cooked_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 209.7,
+      "log_step": null,
+      "text_zh": "推断：第2半颗烤熟未达成。视频 0–209.7 s 没有可见的取菜、切半、装炉或供热操作，初始目标半颗尚不存在，也没有之后生成半颗的动作，故不能形成已熟目标半颗。inputs/run.json 的live q_score=0.0（live_matches_replay=0）也不允许终态有新增cooked目标文字；本结论并非仅由零分推得。"
+     }
+    ]
+   },
+   "halves_cooked_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 209.7,
+      "log_step": null,
+      "text_zh": "推断：第3半颗烤熟未达成。视频 0–209.7 s 没有可见的取菜、切半、装炉或供热操作，初始目标半颗尚不存在，也没有之后生成半颗的动作，故不能形成已熟目标半颗。inputs/run.json 的live q_score=0.0（live_matches_replay=0）也不允许终态有新增cooked目标文字；本结论并非仅由零分推得。"
+     }
+    ]
+   },
+   "halves_cooked_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 209.7,
+      "log_step": null,
+      "text_zh": "推断：第4半颗烤熟未达成。视频 0–209.7 s 没有可见的取菜、切半、装炉或供热操作，初始目标半颗尚不存在，也没有之后生成半颗的动作，故不能形成已熟目标半颗。inputs/run.json 的live q_score=0.0（live_matches_replay=0）也不允许终态有新增cooked目标文字；本结论并非仅由零分推得。"
+     }
+    ]
+   },
+   "halves_cooked_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 209.7,
+      "log_step": null,
+      "text_zh": "推断：第5半颗烤熟未达成。视频 0–209.7 s 没有可见的取菜、切半、装炉或供热操作，初始目标半颗尚不存在，也没有之后生成半颗的动作，故不能形成已熟目标半颗。inputs/run.json 的live q_score=0.0（live_matches_replay=0）也不允许终态有新增cooked目标文字；本结论并非仅由零分推得。"
+     }
+    ]
+   },
+   "halves_cooked_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 209.7,
+      "log_step": null,
+      "text_zh": "推断：第6半颗烤熟未达成。视频 0–209.7 s 没有可见的取菜、切半、装炉或供热操作，初始目标半颗尚不存在，也没有之后生成半颗的动作，故不能形成已熟目标半颗。inputs/run.json 的live q_score=0.0（live_matches_replay=0）也不允许终态有新增cooked目标文字；本结论并非仅由零分推得。"
+     }
+    ]
+   },
+   "halves_cooked_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 209.7,
+      "log_step": null,
+      "text_zh": "推断：第7半颗烤熟未达成。视频 0–209.7 s 没有可见的取菜、切半、装炉或供热操作，初始目标半颗尚不存在，也没有之后生成半颗的动作，故不能形成已熟目标半颗。inputs/run.json 的live q_score=0.0（live_matches_replay=0）也不允许终态有新增cooked目标文字；本结论并非仅由零分推得。"
+     }
+    ]
+   },
+   "halves_cooked_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 209.7,
+      "log_step": null,
+      "text_zh": "推断：第8半颗烤熟未达成。视频 0���209.7 s 没有可见的取菜、切半、装炉或供热操作，初始目标半颗尚不存在，也没有之后生成半颗的动作，故不能形成已熟目标半颗。inputs/run.json 的live q_score=0.0（live_matches_replay=0）也不允许终态有新增cooked目标文字；本结论并非仅由零分推得。"
+     }
+    ]
+   },
+   "fridge_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": null,
+      "text_zh": "观察：视频 7 s 可见冰箱门板呈闭合外观，未见门板拉离门框。"
+     },
+     {
+      "t": 209.7,
+      "log_step": null,
+      "text_zh": "推断：DAG注明冰箱初始关闭；视频 0–209.7 s 机器人从未进行该设备开门操作，也未见其碰开该门，故将关闭状态从视频 0 s 延续到结束。视频 208.5–209.7 s 场景异常且门不在视野内，终值依赖此前动作和门状态延续推断，未声称最后一帧直接看见门。"
+     }
+    ]
+   },
+   "oven_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.0,
+      "log_step": null,
+      "text_zh": "观察：视频 5 s 可见烤箱门板呈闭合外观，未见门板拉离门框。"
+     },
+     {
+      "t": 209.7,
+      "log_step": null,
+      "text_zh": "推断：DAG注明烤箱初始关闭；视频 0–209.7 s 机器人从未进行该设备开门操作，也未见其碰开该门，故将关闭状态从视频 0 s 延续到结束。视频 208.5–209.7 s 场景异常且门不在视野内，终值依赖此前动作和门状态延续推断，未声称最后一帧直接看见门。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fridge_opened",
+   "t": 32.4,
+   "log_step": 103,
+   "where": "转场",
+   "evidence_zh": "观察：视频 32.2–32.8 s 机器人空手移动时金属架进入近前视野，视频 33–37 s 金属架翻倒并横在通道中；视频 43.2 s 后机身又明显倾斜，直到结束均未开冰箱。log step 103 是agent脚本明确驶向冰箱前位置的调用，返回多次blocked和goto: gave up；此处log只用于说明该移动的目标，不将agent秒换算为视频秒。开冰箱这一步的接近过程失败且该步之后始终没有完成。"
+  },
+  "unmet": {
+   "sprouts_halved_1": false,
+   "sprouts_halved_2": false,
+   "sprouts_halved_3": false,
+   "sprouts_halved_4": false,
+   "halves_in_oven_1": false,
+   "halves_in_oven_2": false,
+   "halves_in_oven_3": false,
+   "halves_in_oven_4": false,
+   "halves_in_oven_5": false,
+   "halves_in_oven_6": false,
+   "halves_in_oven_7": false,
+   "halves_in_oven_8": false,
+   "halves_cooked_1": false,
+   "halves_cooked_2": false,
+   "halves_cooked_3": false,
+   "halves_cooked_4": false,
+   "halves_cooked_5": false,
+   "halves_cooked_6": false,
+   "halves_cooked_7": false,
+   "halves_cooked_8": false,
+   "fridge_closed": true,
+   "oven_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 32.4,
+    "log_step": 103,
+    "evidence_zh": "观察：视频 32.2–32.8 s 机器人移动时近前金属架横梁与机体发生挤碰，随后视频 33.2–37 s 架子明显翻倒、横卧地面；机器人没有穿过通道抵达冰箱开门位置。更早视频 20.8–21.6 s 也曾逼近架子横梁，log step 82 中agent自述“plowed into the shelf rack”后执行后退；不把这一自述单独当作接触证据。"
+   },
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 43.2,
+    "log_step": 113,
+    "evidence_zh": "观察：视频 42.8–44 s 三相机视野同时发生大幅倾斜，视频 44–74 s 机身持续侧仰，画面主要朝向天花板而不能靠近冰箱操作。log step 113 的服务本体读数显示base高度0.388 m、四元数[0.506,-0.604,-0.071,0.611]，支持机身严重倾斜；视频 77–80 s 虽恢复较正常视角，之后仍未完成开冰箱，故起身不视为该节点已修复。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "t": 32.4,
+    "log_step": 90,
+    "source_zh": "日志",
+    "evidence_zh": "推断：agent导航反馈使用了与底盘不一致的朝向。log step 73、90 的Nav.pose读取头相机世界朝向，goto却直接用目标方位减该朝向所得误差生成机器人底盘坐标中的dx/dy及转向命令，没有相机至底盘的朝向补偿；log step 167 实测base yaw=0.344 rad、camera yaw=1.934 rad，相差约1.59 rad，且旋转后仍有相近差值。该反馈坐标错误足以使朝向和位移修正偏向，结合视频 32–37 s 的货架碰撞及视频 43 s 的失衡，支持接近冰箱阶段的反馈控制失败；不据此断言末尾NaN的内部成因。"
+   }
+  ],
+  "gap_zh": "观察：inputs/中有完整run.json和replay.mp4，但无states.jsonl或oracle视频；live_matches_replay=0，不能把live日志中的位姿和动作结果直接当作重放事实，节点与现象时间以实际观看的帧为准。视频 96–146 s、150–198 s 视角长时间近乎不变；视频 206–209.7 s 场景急剧异常并露出天空，log step 168–170 服务返回base_link四元数NaN及done=True、reason=error，无法证明具体的物理引擎故障成因或用末帧直接复核设备门状态。已有视频 32–44 s 的碰撞和失衡发生在该错误之前，且开冰箱节点始终未完成，因此仍标注此前的物理失败；半颗存在、入炉及熟态的终值另受live q_score=0约束（初始关闭的两门不贡献新增分数）。"
+ },
+ "summary_zh": "评分轨迹未开冰箱或烤箱，也未取出、切半、入炉或烤熟任何甘蓝；仅两扇门的初始关闭状态延续，终态为2/24个节点。机器人在接近冰箱的转场中碰倒金属架并失衡，开冰箱步骤始终未修复；导航日志支持相机与底盘朝向混用所致的反馈控制问题。无状态日志或成功参考，live与replay不匹配且末尾出现NaN仿真错误，门终态采用动作连续性推断，未将异常本身归咎于机器人。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点终值（仅两扇门保持关闭、其余均未达成）与 q_score=0、视频一致；断点在开冰箱、现象（碰撞、失衡）和反馈控制根因在所抽查的帧中未见矛盾。抽查帧有限，未逐项复核每一秒。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:10:17Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-cook-brussels-sprouts-i00-standard--vzwhav7/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-cook-brussels-sprouts-i00-standard--vzwhav7/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "df640f88e08e66840950dc037d6dae91e07c7378862008af627eb411e5ae3f11",
+   "video_sha256": "7a173cb0a42662ac43b0627aae1230da6143896156c647ad81544451d7a03b70",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-privileged--hlzzwbt.json

@@ -0,0 +1,315 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-laying-tile-floors-i00-privileged--hlzzwbt",
+ "taskKey": "behavior-1k/laying_tile_floors",
+ "dag_sha256": "9bf4d7ab26900c399e507d461862a0b11aed154e1aacec0f08de6cb2afc3792c",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 1150,
+   "sim_steps": 1150,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 775.5,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 22,
+   "agent_resets": 0,
+   "agent_sim_steps": 1992,
+   "agent_records": 1,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-laying-tile-floors-i00-privileged--hlzzwbt/replay.mp4",
+  "duration_s": 38.333,
+  "fps": 30.0,
+  "frames": 1150,
+  "sha256": "d72121cdad3c0b0807971e6175e595dfeb46a54fdf127a2832cead96e97934ab"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "bathroom_door_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      32.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 29.0–32.3 s，机器人向走廊尽头的棕色门板前行，门板仍占据入口；视频 32.7 s 下方小视角开始露出浴室，视频 33.0–33.7 s 两个小视角可见室内地面、成排隔间和卫生设施，门板已转到侧面，通口足以送砖。达成时刻约为视频 32.7 s，误差约0.3秒。"
+     },
+     {
+      "t": 33.3,
+      "log_step": 314,
+      "text_zh": "推断：log step 314 的交付生成脚本以底盘前行通过入口；结合视频 32.3–33.3 s 门板转开和机器人通过的连续画面，本步已完成。这里依据实际门板和通口变化判断，未仅以机器人入室作为开门证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人移动底盘支承机身向浴室门前行并穿过入口。"
+     },
+     {
+      "who": "未知",
+      "how": "推/扫",
+      "note_zh": "推断：门板随着机器人向前接近而向侧面转开，机器人以身体前行推门；实际触门的具体机器人链路被近处机身遮挡，未见夹爪包夹门把手。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.4,
+      "log_step": 314,
+      "text_zh": "观察：视频 8.8–12.4 s，走廊内的白色瓷砖先后出现在机器人近处和前方，随后被近处黑色机身遮住；视频 19.0–24.5 s 又可见前方两块白砖随机器人接近而进入机身遮挡区。log step 314 的交付脚本以连续底盘航点尝试沿走廊推砖，未调用夹爪抓取；会话中的其他抓取测试不计入本段轨迹。"
+     },
+     {
+      "t": 38.3,
+      "log_step": null,
+      "text_zh": "观察：视频 33.3–38.3 s 的浴室可见地面没有呈现白色瓷砖落到地面并与另一块邻接的过程；最后一秒已逐帧加密检查至视频 38.3 s。评分器 reward.q_score=0.0、success=0、deterministic=1，初态四砖均在走廊（log step 3、4）。"
+     },
+     {
+      "t": 38.3,
+      "log_step": null,
+      "text_zh": "推断：本节点要求至少1块砖同时满足浴室地面及异砖相邻关系；这些浴室地面目标初始均不成立，评分器终值 q_score=0.0 因而排除本节点最终成立。结合机器人沿走廊接近砖后直接前往浴室、全过程未见砖到达目标的画面，本次未确认任何达成区间，按未达标记空区间；砖进入机身遮挡后的具体去向不能由画面确定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：四块砖的整体扫推尝试中，移动底盘沿走廊前行并驶向浴室；按同类物品计数，不把日志实例编号固定对应本节点。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：机器人接近走廊白砖时，砖与机器人低处的潜在接触区被机身遮挡；无法确认实际触砖链路、是否建立推移接触及持续方式，不能把脚本的底盘推砖意图当成已发生的接��。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.4,
+      "log_step": 314,
+      "text_zh": "观察：视频 8.8–12.4 s，走廊内的白色瓷砖先后出现在机器人近处和前方，随后被近处黑色机身遮住；视频 19.0–24.5 s 又可见前方两块白砖随机器人接近而进入机身遮挡区。log step 314 的交付脚本以连续底盘航点尝试沿走廊推砖，未调用夹爪抓取；会话中的其他抓取测试不计入本段轨迹。"
+     },
+     {
+      "t": 38.3,
+      "log_step": null,
+      "text_zh": "观察：视频 33.3–38.3 s 的浴室可见地面没有呈现白色瓷砖落到地面并与另一块邻接的过程；最后一秒已逐帧加密检查至视频 38.3 s。评分器 reward.q_score=0.0、success=0、deterministic=1，初态四砖均在走廊（log step 3、4）。"
+     },
+     {
+      "t": 38.3,
+      "log_step": null,
+      "text_zh": "推断：本节点要求至少2块砖同时满足浴室地面及异砖相邻关系；这些浴室地面目标初始均不成立，评分器终值 q_score=0.0 因而排除本节点最终成立。结合机器人沿走廊接近砖后直接前往浴室、全过程未见砖到达目标的画面，本次未确认任何达成区间，按未达标记空区间；砖进入机身遮挡后的具体去向不能由画面确定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：四块砖的整体扫推尝试中，移动底盘沿走廊前行并驶向浴室；按同类物品计数，不把日志实例编号固定对应本节点。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：机器人接近走廊白砖时，砖与机器人低处的潜在接触区被机身遮挡；无法确认实际触砖链路、是否建立推移接触及持续方式，不能把脚本的底盘推砖意图当成已发生的接触。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.4,
+      "log_step": 314,
+      "text_zh": "观察：视频 8.8–12.4 s，走廊内的白色瓷砖先后出现在机器人近处和前方，随后被近处黑色机身遮住；视频 19.0–24.5 s 又可见前方两块白砖随机器人接近而进入机身遮挡区。log step 314 的交付脚本以连续底盘航点尝试沿走廊推砖，未调用夹爪抓取；会话中的其他抓取测试不计入本段轨迹。"
+     },
+     {
+      "t": 38.3,
+      "log_step": null,
+      "text_zh": "观察：视频 33.3–38.3 s 的浴室可见地面没有呈现白色瓷砖落到地面并与另一块邻接的过程；最后一秒已逐帧加密检查至视频 38.3 s。评分器 reward.q_score=0.0、success=0、deterministic=1，初态四砖均在走廊（log step 3、4）。"
+     },
+     {
+      "t": 38.3,
+      "log_step": null,
+      "text_zh": "推断：本节点要求至少3块砖同时满足浴室地面及异砖相邻关系；这些浴室地面目标初始均不成立，评分器终值 q_score=0.0 因而排除本节点最终成立。结合机器人沿走廊接近砖后直接前往浴室、全过程未见砖到达目标的画面，本次未确认任何达成区间，按未达标记空区间；砖进入机身遮挡后的具体去向不能由画面确定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：四块砖的整体扫推尝试中，移动底盘沿走廊前行并驶向浴室；按同类物品计数，不把日志实例编号固定对应本节点。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：机器人接近走廊白砖时，砖与机器人低处的潜在接触区被机身遮挡；无法确认实际触砖链路、是否建立推移接触及持续方式，不能把脚本的底盘推砖意图当成已发生的接触。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.4,
+      "log_step": 314,
+      "text_zh": "观察：视频 8.8–12.4 s，走廊内的白色瓷砖先后出现在机器人近处和前方，随后被近处黑色机身遮住；视频 19.0–24.5 s 又可见前方两块白砖随机器人接近而进入机身遮挡区。log step 314 的交付脚本以连续底盘航点尝试沿走廊推砖，未调用夹爪抓取；会话中的其他抓取测试不计入本段轨迹。"
+     },
+     {
+      "t": 38.3,
+      "log_step": null,
+      "text_zh": "观察：视频 33.3–38.3 s 的浴室可见地面没有呈现白色瓷砖落到地面并与另一块邻接的过程；最后一秒已逐帧加密检查至视频 38.3 s。评分器 reward.q_score=0.0、success=0、deterministic=1，初态四砖均在走廊（log step 3、4）。"
+     },
+     {
+      "t": 38.3,
+      "log_step": null,
+      "text_zh": "推断：本节点要求至少4块砖同时满足浴室地面及异砖相邻关系；这些浴室地面目标初始均不成立，评分器终值 q_score=0.0 因而排除本节点最终成立。结合机器人沿走廊接近砖后直接前往浴室、全过程未见砖到达目标的画面，本次未确认任何达成区间，按未达标记空区间；砖进入机身遮挡后的具体去向不能由画面确定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：四块砖的整体扫推尝试中，移动底盘沿走廊前行并驶向浴室；按同类物品计数，不把日志实例编号固定对应本节点。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：机器人接近走廊白砖时，砖与机器人低处的潜在接触区被机身遮挡；无法确认实际触砖链路、是否建立推移接触及持续方式，不能把脚本的底盘推砖意图当成已发生的接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "tiles_on_bathroom_floor_1",
+   "t": 11.6,
+   "log_step": 314,
+   "where": "操作中",
+   "evidence_zh": "推断：视频 8.8–12.4 s，机器人已在进行沿走廊向前接近瓷砖的首轮推移尝试；白砖进入近处机身遮挡后，机器人继续前往后面的砖和浴室。视频 33.3–38.3 s 未见任何砖到浴室地面形成相邻关系，评分器 q_score=0.0 排除最终完成第1块；因此断点为首次未修复的铺砖步骤，而非后来已完成的开门。视频 11.6 s 仅为首轮尝试的导航锚点，具体接触失效时刻不可见。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "没有状态日志，成功参考也没有视频。视频大视角在大部分推移期间朝向天花板或被机身遮挡，小视角中的砖在靠近机器人后进入盲区，未连续显示底盘与砖的接触及砖离开盲区后的运动；因此不能区分未建立接触、短暂接触后脱离、从砖上方驶过或其他推移失效，现象层留空。交付脚本（log step 314）提供底盘推砖意图，但仅有航点、未见目标接触反馈并不足以确定失败根因；会话抓取测试也不能说明本次底盘推移为何失败，根因层留空。视频 11.6 s 是首轮尝试锚点，非直接观察到的失效时刻；四个铺砖节点的终值由初态、视频及评分器总分联合推断，具体砖位和接触过程未能恢复。",
+  "unmet": {
+   "tiles_on_bathroom_floor_1": false,
+   "tiles_on_bathroom_floor_2": false,
+   "tiles_on_bathroom_floor_3": false,
+   "tiles_on_bathroom_floor_4": false
+  }
+ },
+ "summary_zh": "机器人沿走廊接近四块瓷砖并尝试用底盘扫推，约在视频 32.7 s 打开浴室门，完成1/5个节点。视频末段未见瓷砖送到浴室地面，评分器 q_score=0.0，四个铺砖计数节点最终均为假，断点为第1块砖铺浴室。近处机身遮挡了实际触砖过程，无法可靠确定接触失效现象和根因。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "标注与视频一致：门约32.7 s打开，四个铺砖节点为假（q_score=0），断点在第1块砖；现象/根因因机身遮挡留空并有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": "2026-10-30T21:54:59Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-laying-tile-floors-i00-privileged--hlzzwbt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-laying-tile-floors-i00-privileged--hlzzwbt/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
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+  }
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+}

phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-privileged--jys5ern.json

@@ -0,0 +1,282 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-laying-tile-floors-i00-privileged--jys5ern",
+ "taskKey": "behavior-1k/laying_tile_floors",
+ "dag_sha256": "9bf4d7ab26900c399e507d461862a0b11aed154e1aacec0f08de6cb2afc3792c",
+ "outcome": {
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+  "reward": 0.0,
+  "source": "catalog",
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+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 2457,
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+   "final_reward": 0.0,
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+   "replay_wall_s": 1028.2,
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+   "video_rendered": 1,
+   "agent_sessions": 2,
+   "agent_resets": 12,
+   "agent_sim_steps": 2457,
+   "agent_records": 1,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1
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+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-laying-tile-floors-i00-privileged--jys5ern/replay.mp4",
+  "duration_s": 81.9,
+  "fps": 30.0,
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+  "sha256": "44b7f8f1c07b2a9a6be2f2dd13d1c955cd24e72fcaccc2e946e870814ca6d8b7"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "bathroom_door_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      33.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 20.5,
+      "log_step": 392,
+      "text_zh": "观察：视频20.5–22.5 s机器人左臂向棕色门板伸出，入口起初仍被门板封住；log step 392记录交付录制从reset后开始，包含左臂接近门板和随后底盘前进。"
+     },
+     {
+      "t": 33.0,
+      "log_step": null,
+      "text_zh": "观察：视频32.5–35.0 s门板已转离门框，视角越过入口可见白色卫生设施和室内空间，形成可送入瓷砖的通口；以视频33.0 s作为首次明确可用开口的近似时刻，误差约0.5 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频20.5–22.5 s左夹爪伸向并抵推门板，未见夹住把手的对向抓握；随后底盘前进使门进一步转开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频18.0–35.0 s底盘承载机器人接近入口并向门口前进，配合左臂开门。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.5,
+      "log_step": null,
+      "text_zh": "观察：视频1.5–16.5 s机器人沿走廊驶向浴室入口，白色瓷砖仍在走廊地面；未见机器人持砖进入浴室。"
+     },
+     {
+      "t": 81.85,
+      "log_step": 426,
+      "text_zh": "推断：视频全段未见第1块满足浴室地面及邻砖关系的瓷砖；视频73.0–81.85 s至少两块白砖仍在走廊黑色地面，机器人停在墙边。评分器reward及log step 426的新进程交付重放均报告q_score=0，结合瓷砖起初均在走廊，终态不可能有至少1块同时满足浴室地面及邻接目标，故final=false；不由零分单独推断未尝试。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频35.0 s后机器人空手从打开的浴室入口附近移动，准备返回走廊取砖；转场中机身显著倾转，未完成首块砖铺设。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频68.0–73.0 s夹爪及相机姿态改变，但作用区域被墙面与机体遮住，无法确认左指是否实际接触或推移瓷砖；log step 400的“双指接触”是agent自述，不作为已抓握或已推砖的证据。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.5,
+      "log_step": null,
+      "text_zh": "观察：视频1.5–16.5 s机器人沿走廊驶向浴室入口，白色瓷砖仍在走廊地面；未见机器人持砖进入浴室。"
+     },
+     {
+      "t": 81.85,
+      "log_step": 426,
+      "text_zh": "推断：视频全段未见第2块满足浴室地面及邻砖关系的瓷砖；视频73.0–81.85 s至少两块白砖仍在走廊黑色地面，机器人停在墙边。评分器reward及log step 426的新进程交付重放均报告q_score=0，结合瓷砖起初均在走廊，终态不可能有至少2块同时满足浴室地面及邻接目标，故final=false；不由零分单独推断未尝试。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.5,
+      "log_step": null,
+      "text_zh": "观察：视频1.5–16.5 s机器人沿走廊驶向浴室入口，白色瓷砖仍在走廊地面；未见机器人持砖进入浴室。"
+     },
+     {
+      "t": 81.85,
+      "log_step": 426,
+      "text_zh": "推断：视频全段未见第3块满足浴室地面及邻砖关系的瓷砖；视频73.0–81.85 s至少两块白砖仍在走廊黑色地面，机器人停在墙边。评分器reward及log step 426的新进程交付重放均报告q_score=0，结合瓷砖起初均在走廊，终态不可能有至少3块同时满足浴室地面及邻接目标，故final=false；不由零分单独推断未尝试。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.5,
+      "log_step": null,
+      "text_zh": "观察：视频1.5–16.5 s机器人沿走廊驶向浴室入口，白色瓷砖仍在走廊地面；未见机器人持砖进入浴室。"
+     },
+     {
+      "t": 81.85,
+      "log_step": 426,
+      "text_zh": "推断：视频全段未见第4块满足浴室地面及邻砖关系的瓷砖；视频73.0–81.85 s至少两块白砖仍在走廊黑色地面，机器人停在墙边。评分器reward及log step 426的新进程交付重放均报告q_score=0，结合瓷砖起初均在走廊，终态不可能有至少4块同时满足浴室地面及邻接目标，故final=false；不由零分单独推断未尝试。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "tiles_on_bathroom_floor_1",
+   "t": 38.5,
+   "log_step": 395,
+   "where": "转场",
+   "evidence_zh": "推断：视频24.0–34.0 s开门期间已出现倾斜，但视频33.0–35.0 s浴室门随后形成可用通口，打开浴室门这一event节点已经完成。视频38.0–42.0 s机器人空手返回走廊取砖时视角进一步大幅翻转，视频49.0–64.0 s仍反复倾转，至视频81.87 s未实现任何铺砖关系；log step 395记录退出入口、返回瓷砖后方的底盘动作。因此按docs/03_trajectory.md Step 3.1及DECISIONS.md S14，将未完成且未修复的第1块砖铺浴室作为断点，位置仍为取砖转场；视频38.5 s锚定该步骤中的失稳延续或加剧，并非首次倾斜时刻，不把已完成的开门步骤改作失败断点。"
+  },
+  "unmet": {
+   "tiles_on_bathroom_floor_1": false,
+   "tiles_on_bathroom_floor_2": false,
+   "tiles_on_bathroom_floor_3": false,
+   "tiles_on_bathroom_floor_4": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 25.0,
+    "log_step": null,
+    "evidence_zh": "推断：视频24.0、25.0、26.0 s开门期间已可见头部视角倾斜，视频28.0、30.0、32.0、34.0 s仍有斜视，故不能把视频38.0 s后的返程视为姿态异常的起点；以视频25.0 s作为早期倾斜的近似导航锚点。视频38.0、40.0、42.0 s墙地边界进一步大幅翻转，视频49.0、56.0、64.0 s继续出现转动和朝向天花板的视图，结合多个视角的变化支持机身失衡；视频73.0–81.87 s停在墙边，仍未把砖送入浴室。早期倾斜不等同于已触发评分器的跌倒阈值。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 392的交付录制包含左臂推门及随后底盘前进，log step 394的实际输出记录doorbase1期间“move_base: no progress for 60 steps, 0.04 m / 0.00 rad short (blocked?)”，随后门关节读数由0.5720增至1.7392；审阅意见所引log step 388并无该提示。视频约24.0–26.0 s开门期间已出现倾斜，视频38.0–64.0 s后续运动继续大幅倾转，故移动及推门操作未维持稳定姿态的控制归因仍有支持，但仅保留粗类“控制”。受阻反馈提示开门接触或阻挡可能参与失稳，不能确定碰撞对象、接触力或控制子类，也不能把log step 395的返程动作认定为最初诱因。"
+   }
+  ],
+  "gap_zh": "没有状态日志，无法测量底座倾角、确认支承丢失的精确时刻或触发失衡的具体接触；视频约24.0–26.0 s的相机倾斜仅作早期姿态异常锚点，不能据此认定跌倒阈值已触发。log step 394的受阻提示不能区分碰撞、接触几何与反馈控制问题，控制根因仍为粗类推断。视频末段操作区域被墙面及机体遮挡，不能确认左指与砖的接触，故首块砖的手部接触记未知；没有成功参考视频可作视角对照。log step 403–405在保存后reset进行的另一次抓砖测试不属于交付轨迹；未把其中动作计入本次进度。"
+ },
+ "summary_zh": "交付轨迹打开了浴室门，最终完成1/5个节点；四个铺砖计数节点均未达成，评分器q_score=0。机器人在开门期间约视频24.0–26.0 s已出现倾斜，随后返程取首块砖时继续大幅倾转，未完成的首块铺砖步骤为断点。缺少状态日志，控制根因仅为粗类推断，推门受阻与失衡的具体因果关系及末段手指是否碰砖均无法确认，故置信度维持6。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值（门开、4块砖未达成、q=0）与终态判断我认可；但机体倾斜在视频约24–26 s就出现在头部相机（开门推底盘阶段），而文件把失衡起点/断点写成38.0–42.0 s的返程转场并归因于log step 395的返程动作，时间与归因与视频不符。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（开门达成、4个铺砖节点未达成、q_score=0）、断点（首块铺砖，转场）及“平衡/控制”标签与视频、log一致；上一轮指出的倾斜起点与log步号问题已改正，未发现需要修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
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+  "engine": "codex",
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+  "effort": "high",
+  "created": "2026-10-30T22:29:42Z",
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+}

phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-privileged--mvzl5ga.json

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+   "regrade_0154": {
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+  "sha256": "7ec38444a3a42360ec80466512a3c7a40d14660af6051b8d28b290abad5ad639"
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+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "bathroom_door_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      21.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 14.5,
+      "log_step": null,
+      "text_zh": "观察：视频 14.5 s 浴室入口的棕色门板仍挡住通口；视频 15.0–22.0 s 机器人右夹爪抵着门板自由边向内推，视频 21.0 s 已露出可送砖通过的入口、棕色室内地面及卫生设施，视频 22.5 s 夹爪撤回后门仍打开。"
+     },
+     {
+      "t": 75.0,
+      "log_step": null,
+      "text_zh": "观察：视频 75.0–80.0 s 机器人底盘实际携砖穿过该通口，确认开门形成的通口可用；开门达成时间取视频约 21.0 s，误差约半秒。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 15.0–22.0 s 右夹爪抵住棕色浴室门板自由边并推开门，未见包住把手的抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–14.5 s 机器人底盘驱动至浴室门前，为右臂推门提供站位与支承。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      136.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 87.5,
+      "log_step": 110,
+      "text_zh": "观察：视频 55.0–62.0 s 第一块砖随左夹爪抬离走廊原位并被运走，视频 80.0–87.5 s 机器人将它下降、松开，视频 87.5 s 砖独立留在浴室地面；此时室内仅这一块砖，尚无不同邻砖，故第1计数节点还不成立。"
+     },
+     {
+      "t": 136.8,
+      "log_step": 111,
+      "text_zh": "观察：视频 101.0–107.0 s 第二块砖随左夹爪离开走廊，视频 130.0–137.0 s 被放到第一块旁，视频 136.6–137.2 s 左夹爪打开并撤离，两砖留在浴室地面且边缘相邻；视频 138.0–140.0 s 可见两砖之间仅窄缝。以视频约 136.8 s 计第1、第2节点同时成立，贴地时刻存在约半秒不确定性。"
+     },
+     {
+      "t": 262.167,
+      "log_step": null,
+      "text_zh": "观察：视频 138.5 s 的两砖、视频 202.5 s 的三砖及视频 262.167 s 末帧的原有三砖均留在同一浴室地面一列；其间机器人往返取后续砖，未见已铺砖被移走或邻接关系丢失。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 55.0–87.5 s 左二指夹爪夹住第一块砖边缘，抬起、搬运并放开；视频 136.8 s 第二块落到旁边后才形成计数所需的邻接。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 62.0–80.0 s 底盘支承持砖机器人，从走廊行驶并穿门进入浴室。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      136.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 136.8,
+      "log_step": 111,
+      "text_zh": "观察：视频 101.0–107.0 s 第二块砖随左夹爪离���走廊，视频 130.0–137.0 s 被放到第一块旁，视频 136.6–137.2 s 左夹爪打开并撤离，两砖留在浴室地面且边缘相邻；视频 138.0–140.0 s 可见两砖之间仅窄缝。以视频约 136.8 s 计第1、第2节点同时成立，贴地时刻存在约半秒不确定性。"
+     },
+     {
+      "t": 262.167,
+      "log_step": null,
+      "text_zh": "观察：视频 138.5 s 的两砖、视频 202.5 s 的三砖及视频 262.167 s 末帧的原有三砖均留在同一浴室地面一列；其间机器人往返取后续砖，未见已铺砖被移走或邻接关系丢失。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 101.0–137.0 s 左二指夹爪夹住第二块搬入的砖边缘，搬运并在第一块旁松开；同类砖按达到关系的数量计数。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 107.0–130.0 s 底盘携第二块砖从走廊行驶进入浴室。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      201.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 163.0,
+      "log_step": 113,
+      "text_zh": "观察：视频 158.0–163.0 s 左夹爪夹起第三块砖，走廊原位露出，砖随夹爪升高并被搬运；视频 195.0–201.4 s 机器人将其放到原有两砖旁。"
+     },
+     {
+      "t": 201.4,
+      "log_step": null,
+      "text_zh": "观察：视频 201.2–201.6 s 机器人左夹爪打开、撤回，视频 202.0–204.0 s 三块砖独立留在浴室地面排成一列，每块均有邻砖；第3节点达成时间取视频约 201.4 s，贴地时刻误差约半秒。"
+     },
+     {
+      "t": 262.167,
+      "log_step": null,
+      "text_zh": "观察：视频 138.5 s 的两砖、视频 202.5 s 的三砖及视频 262.167 s 末帧的原有三砖均留在同一浴室地面一列；其间机器人往返取后续砖，未见已铺砖被移走或邻接关系丢失。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 158.0–201.6 s 左二指夹爪夹住第三块砖边缘，抬起、搬运并在原有两砖旁松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 164.0–195.0 s 底盘携第三块砖沿走廊行驶并穿门进入浴室。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      262.167,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 230.0,
+      "log_step": 114,
+      "text_zh": "观察：视频 222.0 s 第四块砖仍在走廊地面，视频 225.0–230.0 s 左夹爪夹起该砖，砖离开原位并随机器人移动；视频 256.0–261.8 s 机器人将它携入浴室并向已有三砖的近端下降。"
+     },
+     {
+      "t": 262.167,
+      "log_step": null,
+      "text_zh": "观察：视频 261.8–262.167 s 可见原有三砖仍相邻排列，第四块在左夹爪处下降至这一列近端；末帧夹爪仍贴着砖边，未显示释放。评分器字段 q_score=1.0、all_success=1，当前 success=0；重评记录注明 old=1、new=0、why=stricter rule。"
+     },
+     {
+      "t": 262.167,
+      "log_step": 114,
+      "text_zh": "推断：结合末帧落点与 q_score=1.0，裸目标的四砖贴地及各有不同邻砖在末尾成立；此节点 freeze_held=false，联合释放静止窗口不参与局部计数，故 final=true。最后接触处被砖和夹爪遮挡，无法逐帧确定触地瞬间，保守锚定已检查的最后一帧（视频 262.167 s），不声称联合终态通过。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 225.0–262.167 s 左二指夹爪夹住第四块砖边缘、抬起并搬入浴室，视频结束时仍在砖边保持夹持姿态。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 230.0–261.8 s 底盘支承持第四块砖的机器人沿走廊行驶并进入浴室。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 1.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "tiles_on_bathroom_floor_4",
+   "t": 262.167,
+   "log_step": 114,
+   "where": "终态验收",
+   "evidence_zh": "观察：视频 261.2–262.167 s 机器人仍在下降最后一块砖，末帧左夹爪未撤离、砖仍有倾斜，视频随即结束；裸目标 q_score=1.0，但当前 success=0，reward.regrade_0154 将旧判成功改为失败（stricter rule）。log step 114、123 的实际录制与新进程回放都报告旧规则 success=true、sim_steps=7866。推断：第4块的裸关系成立后，交付没有包含全体释��、静止并保持30控制步的联合验收过程，断点在最后一块砖的终态验收。"
+  },
+  "unmet": {
+   "tiles_on_bathroom_floor_1": true,
+   "tiles_on_bathroom_floor_2": true,
+   "tiles_on_bathroom_floor_3": true,
+   "tiles_on_bathroom_floor_4": true
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：本目录没有状态日志，参考轨迹也没有视频；末帧砖底与地面的接触点受遮挡，缺少辅助抓取连接、各砖线速度及连续保持计数，不能独立分解重评具体是哪项终态条件未通过。任务设计问题：inputs/run.json 的 task_text 明称裸目标成立时 episode 自动结束，log step 114、123 证明录制及回放旧验收均通过，而 reward.regrade_0154 又因 stricter rule 改判失败；视频 262.167 s 最后一块仍在夹爪边、来不及显示释放静止。推断：这支持旧自动结束契约与新增联合终态验收不一致；依S9记录设计问题，现象及机器人根因留空，不把旧评分器的自动结束解释为机器人主动拒绝松手或误以为完成。精确触地时间、终态速度及辅助抓取是否解除无法由现有画面测定。"
+ },
+ "summary_zh": "观察：机器人推开浴室门，逐块将四砖搬入；视频约 136.8 s 前两砖形成相邻对、视频约 201.4 s 第三块加入，末尾 q_score=1.0 支持四块裸关系成立，5/5节点最终为真，但整次评分 success=0。任务设计问题：旧说明承诺裸目标成立即自动结束，log step 114、123 的录制与回放旧验收确实成功，随后因 stricter rule 重评失败；视频 262.167 s 最后一块仍在左夹爪边，断在其联合终态验收，不归为有证据的机器人现象或根因。推断：交付缺少全体释放静止连续保持的过程；无状态日志，无法精确核实最后触地、辅助抓取连接及速度窗口。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "末帧第四块砖仍在夹爪处下降，q_score=1.0 支持节点全真；success=0 来自重评更严规则，标注为任务设计问题并留空现象/根因，与证据一致。",
+    "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": "2026-10-30T21:54:29Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-laying-tile-floors-i00-privileged--mvzl5ga/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-laying-tile-floors-i00-privileged--mvzl5ga/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f66c4845b621fba26cdf1ad14a038472293a3ed5efde8a49bb12250b90d77568",
+   "video_sha256": "7ec38444a3a42360ec80466512a3c7a40d14660af6051b8d28b290abad5ad639",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-privileged--wv2ksfb.json

@@ -0,0 +1,301 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-laying-tile-floors-i00-privileged--wv2ksfb",
+ "taskKey": "behavior-1k/laying_tile_floors",
+ "dag_sha256": "9bf4d7ab26900c399e507d461862a0b11aed154e1aacec0f08de6cb2afc3792c",
+ "outcome": {
+  "success": 0,
+  "reward": 0.125,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 1381,
+   "sim_steps": 1381,
+   "fallen": 1,
+   "final_reward": 0.125,
+   "q_score": 0.125,
+   "replay_wall_s": 1217.2,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 6,
+   "agent_resets": 22,
+   "agent_sim_steps": 7622,
+   "agent_records": 5,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-laying-tile-floors-i00-privileged--wv2ksfb/replay.mp4",
+  "duration_s": 46.033,
+  "fps": 30.0,
+  "frames": 1381,
+  "sha256": "7846812f8ba62050182ce3da3cc2280953e22b8b372f10ce967f4d255bbaf9bb"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "bathroom_door_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 11.5,
+      "log_step": null,
+      "text_zh": "观察：视频11.5 s机器人已驶至棕色浴室门前，门板仍封住入口，前方有一块白色瓷砖。"
+     },
+     {
+      "t": 12.8,
+      "log_step": 224,
+      "text_zh": "观察：视频12.0–13.5 s门板逐渐转开；视频12.8 s起已露出宽通口、棕色室内地面和卫生设施，视频13.5 s门口宽度足以通过瓷砖。log step 224交付脚本用底盘向前行驶推门，不是夹爪握把手。达成时刻约有0.3 s误差。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "推/扫",
+      "note_zh": "推断：视频11.5–13.5 s机器人向门板前进、门板随之转开，夹爪未见夹持把手；结合log step 224的底盘推门动作，实际为底盘前部推开浴室门。门板与机体的具体接触点被遮挡。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0–13.5 s轮式机器人驶向浴室门并调整方向，在推门过程中继续前移。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 13.5,
+      "log_step": null,
+      "text_zh": "观察：视频11.3–14.0 s可见白色砖随机器人前移至打开的浴室入口；视频13.5 s入口处只有一块孤立的砖，未见它邻接另一块砖。不能把单块到达浴室入口直接计为本节点。"
+     },
+     {
+      "t": 27.0,
+      "log_step": null,
+      "text_zh": "观察：视频20.0–27.0 s机器人再次接近浴室门旁，腕部画面中可见的白砖仍单独位于门口附近；视频27.0–34.0 s机器人在木饰面墙旁停滞，未见另一块砖移至该砖旁边。"
+     },
+     {
+      "t": 46.0,
+      "log_step": null,
+      "text_zh": "推断：视频35.0–46.0 s机器人随后倾倒，至视频46.0 s仍为倾斜视角，未见修复砖的邻接关系；结合前段砖的分离情况及评分器q_score=0.125，判定终态没有同时满足浴室地面与邻接条件的砖。q_score只有总量，不能单凭它把一块入浴室等同于本节点达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "推/扫",
+      "note_zh": "推断：视频11.3–14.0 s门前白砖随底盘前进而滑移，未被夹爪夹持；log step 224脚本以底盘直接推砖。后续视频20.0–27.0 s继续执行推砖通行，具体轮缘或外壳接触点被机体遮住。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在视频0–14.0 s和视频19.5–27.0 s驱动底盘，将门前瓷砖向浴室方向推送。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.0,
+      "log_step": 224,
+      "text_zh": "观察：视频20.0–27.0 s机器人沿走廊向浴室门旁前进，随后停在门旁；log step 224的交付脚本将这一段设为底盘推送前两块砖的通行。画面未显示两块砖均到浴室地面并邻接。"
+     },
+     {
+      "t": 46.0,
+      "log_step": null,
+      "text_zh": "推断：评分器q_score=0.125=1/8；开局四砖均在走廊，浴室地面关系均非初始成立条件，因此终态至多新增一块砖的浴室地面关系，不能满足至少两块的本节点。视频末段机器人倾倒，也没有后续运砖修复。该结论未把初始可能成立的砖间邻接计作新增得分。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "推/扫",
+      "note_zh": "推断：视频20.0–27.0 s机器人执行底盘推砖通行，结合log step 224可确定该段同时为前两块砖的搬送尝试；砖及底盘下缘大部分被机体遮住，不能确定逐个接触点，没有夹持搬运的画面。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频19.5–27.0 s机器人驱动轮式底盘前进，约视频27.0 s在浴室门旁停止取得位移。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 37.0,
+      "log_step": 224,
+      "text_zh": "推断：视频34.5–38.0 s机器人从门旁停滞处再次移动，随后明显倾倒；log step 224脚本在前两块砖推送结束后开始回走廊取第三块砖的路线。此次转场未显示机器人到达第三块砖旁，更未显示它入浴室。"
+     },
+     {
+      "t": 46.0,
+      "log_step": null,
+      "text_zh": "推断：评分器q_score=1/8，初始没有砖在浴室地面，终态不足以支持三块砖的浴室地面关系；视频全段未见第三块砖被搬入浴室并建立邻接。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "推断：视频34.5–38.0 s机器人从停滞位置重新驱动底盘，log step 224将这一段用于回走廊取第三块砖的转场；尚未接触第三块砖便倾倒，未观察到该砖的操作接触。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 46.0,
+      "log_step": 224,
+      "text_zh": "推断：视频0–46.0 s未显示第四块砖的取放，末段机器人持续倾斜，log step 224中第四块砖的操作还在第三块之后，画面未进入该段；评分器q_score=1/8也不足以支持四块砖均在浴室地面的终态，因此本节点未达成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.125,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "tiles_on_bathroom_floor_1",
+   "t": 27.0,
+   "log_step": 224,
+   "where": "操作中",
+   "evidence_zh": "推断：视频约27.0 s机器人在尝试用底盘把前两块砖推向浴室时顶到门旁木饰面墙处，视频27.0–34.0 s几乎没有取得位移，入口单砖也未与其他砖建立邻接。第1个铺砖计数节点从未完成，后来的移位和倾倒没有修复它，因此断点取该步骤，而非跌倒约束或尚未取到的第三块砖。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 27.0,
+    "log_step": 228,
+    "evidence_zh": "推断：视频26.5–27.0 s机器人贴近浴室门旁的木饰面墙，视频27.0–34.0 s头部视角被近处墙面占据且腕部视角几乎不变；对应交付运行的log step 228记录底盘在多次向前动作后仍停在[13.61,8.94]，瓷砖位置也不再变化。两者共同支持推砖路线被门旁墙体阻断。"
+   },
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 36.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频35.5–38.0 s机器人重新移动时，门框和天花板在头部与腕部画面中大幅旋转；视频38.0–46.0 s持续为倒向一侧的视角，最后一帧仍未恢复。评分器fallen=1，确认该次交付以机器人跌倒失败。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "evidence_zh": "推断：log step 224最终脚本让机器人在走廊y≈8.80处开始连续向东的底盘推砖，直接期望穿入浴室，却没有在门前转至开口中心；log step 110的场景几何记录浴室门位于y=7.64–8.65，门旁有墙。log step 228交付运行的底盘最终卡在[13.61,8.94]，视频27.0–34.0 s也显示机器人顶在门旁墙面。脚本在推送失败后仍执行以已通过入口为前提的后续路线，视频35.5–38.0 s继而倾倒；这是未按实际入口和阶段结果安排推送、转场路线的规划错误。",
+    "source_zh": "日志",
+    "log_step": 224
+   }
+  ],
+  "gap_zh": "无状态日志；inputs/oracle/oracle.json确认参考运行没有视频，无法对照成功操作。头部多朝向天花板或近墙，腕部被机体遮挡，瓷砖与底盘的具体接触部位、地面接触瞬间及精确邻接阈值不能直接测量；第1块终态为结合可见的���立砖、后续无修复和评分总量的推断，第2至第4块终态由评分总量给出上界。未将日志中其他测试的抓取失败、崩溃或agent自述“抓握不可能”作为本次物理失败证据。",
+  "unmet": {
+   "tiles_on_bathroom_floor_1": false,
+   "tiles_on_bathroom_floor_2": false,
+   "tiles_on_bathroom_floor_3": false,
+   "tiles_on_bathroom_floor_4": false
+  }
+ },
+ "summary_zh": "评分轨迹打开了浴室门，但仅见单块瓷砖到达入口附近，未建立浴室地面与砖间邻接的完整组合条件，最终为1/5节点。底盘推砖路线在视频约27.0 s被门旁墙体挡住，后续移位于视频约36.5 s开始倾倒，评分器报告fallen=1、q_score=0.125；交付脚本未按门口位置和推送失败结果调整路线。没有状态日志或参考视频，砖的精确接触与邻接存在遮挡，未以agent自述的“一块入浴室”代替节点验收。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "门打开、其余砖节点未达成与评分器q=0.125、fallen=1相符；断点、被挡/平衡现象及规划根因有帧和日志支撑，未发现需改内容的错误。视频14–18 s头部画面发黑、腕部朝向天花板，较难解读，但20 s后画面恢复，不足以推翻标注。",
+    "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": "2026-10-30T22:04:04Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-laying-tile-floors-i00-privileged--wv2ksfb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-laying-tile-floors-i00-privileged--wv2ksfb/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3d464c6ba6b8bb4250f6a20936f234f3b362a8b357f7b9d2dbda67281ed2af20",
+   "video_sha256": "7846812f8ba62050182ce3da3cc2280953e22b8b372f10ce967f4d255bbaf9bb",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-standard--dpzmueg.json

@@ -0,0 +1,313 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-laying-tile-floors-i00-standard--dpzmueg",
+ "taskKey": "behavior-1k/laying_tile_floors",
+ "dag_sha256": "9bf4d7ab26900c399e507d461862a0b11aed154e1aacec0f08de6cb2afc3792c",
+ "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": 5221,
+   "sim_steps": 5221,
+   "physics_steps": 20884,
+   "steps": 364,
+   "elapsed_s": 5383.9,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-laying-tile-floors-i00-standard--dpzmueg/replay.mp4",
+  "duration_s": 174.033,
+  "fps": 30.0,
+  "frames": 5221,
+  "sha256": "e80832511c573ec50b5b0ccadbf38f9d82d066ee64ec48faed3bf77247236d45"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "bathroom_door_opened": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 68.0,
+      "log_step": 120,
+      "text_zh": "观察：视频 65.0–69.0 s，机器人左夹爪推开的北侧木门露出木地板和窗户；agent 随后在 log step 120 承认该处是办公室或会议室，不能把这次开门记作浴室门达成。"
+     },
+     {
+      "t": 159.5,
+      "log_step": 210,
+      "text_zh": "观察：视频 154.0–155.5 s 和视频 159.2–159.6 s 可见东侧入口木门已转开并露出部分暗色地面；双爪仍各持一块砖。但门牌无法辨读，门后大部分区域始终被门板、墙体遮挡，没有可辨认的卫生设施。log step 210 的脚本及 log step 211 的 agent 自述把它称作浴室门，画面不能独立确认这一身份及 DAG 所要求的可用通口。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：本次没有状态日志，参考成功运行也没有视频；无法用其他观测补足门后房间及浴室入口身份，因此此节点的达成时间与终值保留未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 151.0–159.5 s，底盘支承机器人在候选入口前进退、转向，双爪仍持砖。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：候选入口门板在视频 154.0–155.5 s 转动，但直接作用端在相机视野之外；log step 210 编写的是底盘侧面推门，无法从画面确定实际碰门的是底盘、躯干还是其他部位，亦未确认该门就是浴室门。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 56.5,
+      "log_step": 97,
+      "text_zh": "观察：视频 32.0 s 两块砖位于走廊墙脚；视频 44.0–54.5 s 两块砖随各自夹爪移动离开原处；视频 56.5–60.0 s 它们又被临时放在同一条走廊，未放到浴室地面。视频 75.0–77.0 s 机器人再次夹起这两块砖。未观察到至少1块砖满足浴室地面且与另一块砖邻接的条件。"
+     },
+     {
+      "t": 173.9,
+      "log_step": 241,
+      "text_zh": "观察：视频 80.0–159.5 s 机器人一直携带两块砖穿行走廊；视频 164.0–174.0 s 机器人失衡，至视频 173.9 s 两块砖仍分别连接在左右夹爪前，未落到目标地面，另外两块未见被搬运。"
+     },
+     {
+      "t": 174.0,
+      "log_step": null,
+      "text_zh": "推断：评分器字段 q_score=0.0、live_matches_replay=1，初始四块砖均在走廊；结合全片未见浴室铺放、末段两块砖仍被持有，最终不足1块满足本节点的地面及邻接关系，final=false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 44.0–54.5 s 及视频 75.0–174.0 s，左右二指夹爪各夹一块砖的边缘，同时提起并搬运首批两块砖；视频 56.5–60.0 s 曾在走廊临放后再夹起。此为同时尝试的前两块铺砖计数，未完成目标铺放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 46.0–54.0 s 及视频 80.0–164.0 s，移动底盘支承机器人携带两块砖沿走廊行驶并靠近候选入口。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 56.5,
+      "log_step": 97,
+      "text_zh": "观察：视频 32.0 s 两块砖位于走廊墙脚；视频 44.0–54.5 s 两块砖随各自夹爪移动离开原处；视频 56.5–60.0 s 它们又被临时放在同一条走廊，未放到浴室地面。视频 75.0–77.0 s 机器人再次夹起这两块砖。未观察到至少2块砖满足浴室地面且与另一块砖邻接的条件。"
+     },
+     {
+      "t": 173.9,
+      "log_step": 241,
+      "text_zh": "观察：视频 80.0–159.5 s 机器人一直携带两块砖穿行走廊；视频 164.0–174.0 s 机器人失衡，至视频 173.9 s 两块砖仍分别连接在左右夹爪前，未落到目标地面，另外两块未见被搬运。"
+     },
+     {
+      "t": 174.0,
+      "log_step": null,
+      "text_zh": "推断：评分器字段 q_score=0.0、live_matches_replay=1，初始四块砖均在走廊；结合全片未见浴室铺放、末段两块砖仍被持有，最终不足2块满足本节点的地面及邻接关系，final=false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 44.0–54.5 s 及视频 75.0–174.0 s，左右二指夹爪各夹一块砖的边缘，同时提起并搬运首批两块砖；视频 56.5–60.0 s 曾在走廊临放后再夹起。此为同时尝试的前两块铺砖计数，未完成目标铺放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 46.0–54.0 s 及视频 80.0–164.0 s，移动底盘支承机器人携带两块砖沿走廊行驶并靠近候选入口。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 56.5,
+      "log_step": 97,
+      "text_zh": "观察：视频 32.0 s 两块砖位于走廊墙脚；视频 44.0–54.5 s 两块砖随各自夹爪移动离开原处；视频 56.5–60.0 s 它们又被临时放在同一条走廊，未放到浴室地面。视频 75.0–77.0 s 机器人再次夹起这两块砖。未观察到至少3块砖满足浴室地面且与另一块砖邻接的条件。"
+     },
+     {
+      "t": 173.9,
+      "log_step": 241,
+      "text_zh": "观察：视频 80.0–159.5 s 机器人一直携带两块砖穿行走廊；视频 164.0–174.0 s 机器人失衡，至视频 173.9 s 两块砖仍分别连接在左右夹爪前，未落到目标地面，另外两块未见被搬运。"
+     },
+     {
+      "t": 174.0,
+      "log_step": null,
+      "text_zh": "推断：评分器字段 q_score=0.0、live_matches_replay=1，初始四块砖均在走廊；结合全片未见浴室铺放、末段两块砖仍被持有，最终不足3块满足本节点的地面及邻接关系，final=false。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 56.5,
+      "log_step": 97,
+      "text_zh": "观察：视频 32.0 s 两块砖位于走廊墙脚；视频 44.0–54.5 s 两块砖随各自夹爪移动离开原处；视频 56.5–60.0 s 它们又被临时放在同一条走廊，未放到浴室地面。视频 75.0–77.0 s 机器人再次夹起这两块砖。未观察到至少4块砖满足浴室地面且与另一块砖邻接的条件。"
+     },
+     {
+      "t": 173.9,
+      "log_step": 241,
+      "text_zh": "观察：视频 80.0–159.5 s 机器人一直携带两块砖穿行走廊；视频 164.0–174.0 s 机器人失衡，至视频 173.9 s 两块砖仍分别连接在左右夹爪前，未落到目标地面，另外两块未见被搬运。"
+     },
+     {
+      "t": 174.0,
+      "log_step": null,
+      "text_zh": "推断：评分器字段 q_score=0.0、live_matches_replay=1，初始四块砖均在走廊；结合全片未见浴室铺放、末段两块砖仍被持有，最终不足4块满足本节点的地面及邻接关系，final=false。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "tiles_on_bathroom_floor_1",
+   "t": 164.0,
+   "log_step": 222,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 159.5 s 两块砖仍各被一只夹爪持有；视频 163.4–166.4 s，机器人在入口附近继续持砖移动，视野逐渐压向地面并明显翻转，随后视频 167.0–174.0 s 仍持续倾斜，未完成任何浴室铺砖。log step 222 提交持砖侧移进入入口的动作，log step 241 的机器人服务返回 done=True、reason=\"failure: the robot fell over\"。推断：这是首批瓷砖送往目标地面的操作阶段，第一块铺砖始终未完成，后续恢复动作没有修复此步骤。"
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 164.0,
+    "log_step": 241,
+    "evidence_zh": "观察：视频 164.0–166.4 s，机器人持砖时相机朝向地面并持续倾斜；视频 167.5–170.0 s，墙面和天花板大幅转过视野，视频 173.0–174.0 s 仍未恢复直立。log step 226 记录本次进入动作后的底座上轴竖直分量约 -0.044；log step 241 的服务结果明确为机器人跌倒失败。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 164.0,
+    "log_step": 222,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 222 的脚本在双爪持续闭合持砖、躯干和手臂固定的条件下，用预先计算的底盘位移连续侧移穿过入口，执行中没有逐步根据倾斜或接触调整；视频 163.4–166.4 s 显示该段动作未维持直立。log step 226、227 记录进入动作后严重倾斜，log step 231、232、236 的底盘恢复动作仍未使机器人直立，最终 log step 241 报跌倒。证据支持入口运动与稳定恢复的控制失败，但不足以区分接触几何、轨迹跟踪或具体参数问题。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 中没有状态日志，inputs/oracle/oracle.json 明确参考运行无视频。视频中腕部视角大部分被机器人或墙面遮挡，末段门后的卫生设施和门牌不可辨，故浴室门节点保留未知；开门的直接接触部位、失衡时究竟哪一部位卡住也不可见。agent 在 log step 243 自述躯干卡门框，不能替代实际碰撞证据，因此不追加被挡/碰撞现象或更细的控制子类。",
+  "unmet": {
+   "tiles_on_bathroom_floor_1": false,
+   "tiles_on_bathroom_floor_2": false,
+   "tiles_on_bathroom_floor_3": false,
+   "tiles_on_bathroom_floor_4": false
+  }
+ },
+ "summary_zh": "观察：机器人用双臂各夹一块砖，在走廊临放后再次夹起并长距离搬运；四个浴室铺砖节点均未达成，评分器 q_score=0.0。推断：首批砖送往目标入口的操作在视频约 164.0 s 出现持续失衡，后续恢复无效，服务最终判定跌倒；动作与恢复控制失败，但具体卡碰机制不可见。观察：候选入口的门板确实转开，然而浴室身份及通口条件未能确认，无状态日志和成功参考视频可补证，浴室开门节点保留未知。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "标签与视频、评分器字段一致：持砖进入入口时失衡跌倒，四个铺砖节点未达成，浴室门节点保留未知合理；断点、平衡现象与控制根因有证据支持，未发现需改动之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:02:17Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-laying-tile-floors-i00-standard--dpzmueg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-laying-tile-floors-i00-standard--dpzmueg/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "48f89d7643b019846e14071a165649fc5d7096365014b3a1441e2705b71ffcb6",
+   "video_sha256": "e80832511c573ec50b5b0ccadbf38f9d82d066ee64ec48faed3bf77247236d45",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-standard--gqgugmv.json

@@ -0,0 +1,264 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-laying-tile-floors-i00-standard--gqgugmv",
+ "taskKey": "behavior-1k/laying_tile_floors",
+ "dag_sha256": "9bf4d7ab26900c399e507d461862a0b11aed154e1aacec0f08de6cb2afc3792c",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "n_actions": 42931,
+   "sim_steps": 42931,
+   "physics_steps": 171724,
+   "steps": 41073,
+   "elapsed_s": 12740.2,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-laying-tile-floors-i00-standard--gqgugmv/replay.mp4",
+  "duration_s": 1431.033,
+  "fps": 30.0,
+  "frames": 42931,
+  "sha256": "7febbe85168b259e8a1eb5c9b3d035153fe388a659704552e4a21337b7b93428"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "bathroom_door_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1177.5,
+      "log_step": 224,
+      "text_zh": "观察：视频 1177.5–1192.5 s 可见走廊木门及旁边的木地板房间；随后视频 1207.5–1430.7 s 主要为近处白色墙面和木门边缘，没有看到带卫生间标识的门板转开、露出卫生设施及可送砖通口。log step 224、230、237 记录机器人靠底盘移动试探候选入口，而非夹爪操作已确认的浴室门。"
+     },
+     {
+      "t": 1430.7,
+      "log_step": 244,
+      "text_zh": "推断：全片抽帧及末段密查均未见浴室开门判据，log step 244 的 agent 最终报告也称尚未找到浴室，故未记达成；不能确认其试推的西端白色表面就是 DAG 所指浴室门。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 1317.5–1430.7 s 机器人在走廊端部移动、靠近白色竖直表面；log step 224、230、237 记录底盘靠近和试推候选门的动作。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 1327.5–1430.7 s 近处表面遮住机体与表面的接触位置；无法确认浴室门身份及实际作用端，不能把脚本所称推门记为夹爪推门或抓门把手。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 104.5,
+      "log_step": 44,
+      "text_zh": "观察：视频 104.5 s 两块白色方砖仍在黑色走廊地面；视频约 105–109 s 机器人行驶时画面剧烈滚转并朝向天花板。log step 43 明确将此段行驶用于搜寻瓷砖，log step 47 的服务本体姿态读数显示底座上轴竖直分量为 0.27。"
+     },
+     {
+      "t": 1069.6,
+      "log_step": 205,
+      "text_zh": "观察：视频 1031–1055 s 瓷砖仍散放在走廊；视频 1057–1069.6 s 机器人俯身伸臂，头部视野被机体遮住，腕部仅能见瓷砖局部，未见一块砖被完整夹起并转移到浴室。log step 191、207 的 agent 脚本分别尝试用闭合左夹爪作推片、驱动底盘向西移动；这些指令本身不证明推砖成功。"
+     },
+     {
+      "t": 1430.7,
+      "log_step": 243,
+      "text_zh": "推断：可见的砖一直位于走廊，视频末段也没有送砖进入浴室的动作；评分器 q_score=0 且 live_matches_replay=1，起始砖均在走廊，因此零新增目标文字项排除终态已有任一块满足浴室地面及相邻关系，final=false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 104–109 s 及 787.5–892.5 s 底盘载着机器人行驶寻找并靠近走廊瓷砖；视频约 1147–1192 s 又沿走廊移动。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 1057–1069.6 s 头部画面受机体遮挡，腕部仅见瓷砖局部；log step 207 虽命令闭合左夹爪作推片，但画面不足以确认夹爪与砖是否实际接触及推移距离，未见包夹持砖证据。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1037,
+      "log_step": null,
+      "text_zh": "观察：视频 817.5–892.5 s 及 1031–1055 s 白色瓷砖仍分散在黑色走廊地面，没有看到至少2块砖被送到浴室并形成相邻关系；后段机器人在走廊端部试探入口，没有连续搬运其他瓷砖��"
+     },
+     {
+      "t": 1430.7,
+      "log_step": 243,
+      "text_zh": "推断：评分器 q_score=0、live_matches_replay=1；结合砖初始位于走廊，终态不可能已有至少2块砖同时满足浴室地面和相邻关系，故 final=false。此判断并非仅由零分推断机器人从未操作瓷砖。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1037,
+      "log_step": null,
+      "text_zh": "观察：视频 817.5–892.5 s 及 1031–1055 s 白色瓷砖仍分散在黑色走廊地面，没有看到至少3块砖被送到浴室并形成相邻关系；后段机器人在走廊端部试探入口，没有连续搬运其他瓷砖。"
+     },
+     {
+      "t": 1430.7,
+      "log_step": 243,
+      "text_zh": "推断：评分器 q_score=0、live_matches_replay=1；结合砖初始位于走廊，终态不可能已有至少3块砖同时满足浴室地面和相邻关系，故 final=false。此判断并非仅由零分推断机器人从未操作瓷砖。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1037,
+      "log_step": null,
+      "text_zh": "观察：视频 817.5–892.5 s 及 1031–1055 s 白色瓷砖仍分散在黑色走廊地面，没有看到至少4块砖被送到浴室并形成相邻关系；后段机器人在走廊端部试探入口，没有连续搬运其他瓷砖。"
+     },
+     {
+      "t": 1430.7,
+      "log_step": 243,
+      "text_zh": "推断：评分器 q_score=0、live_matches_replay=1；结合砖初始位于走廊，终态不可能已有至少4块砖同时满足浴室地面和相邻关系，故 final=false。此判断并非仅由零分推断机器人从未操作瓷砖。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "tiles_on_bathroom_floor_1",
+   "t": 105.5,
+   "log_step": 44,
+   "where": "转场",
+   "evidence_zh": "观察：log step 43–44 记录机器人开往疑似瓷砖方向并沿走廊扫描；视频约 105–109 s 机身视角突然大幅滚转，随后长时间仰视天花板，log step 47 的底座上轴竖直分量为 0.27。推断：此时失败的是取送第一块砖的转场；后来恢复直立并继续靠近、试推瓷砖，但截至视频 1430.7 s 仍无一块铺入浴室，第一块砖节点从未修复，故不把更晚的候选门试推改作最早断点。"
+  },
+  "unmet": {
+   "tiles_on_bathroom_floor_1": false,
+   "tiles_on_bathroom_floor_2": false,
+   "tiles_on_bathroom_floor_3": false,
+   "tiles_on_bathroom_floor_4": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 105.5,
+    "log_step": 47,
+    "evidence_zh": "观察：视频 104.5 s 走廊画面尚近于水平，视频约 105.5–108 s 视角迅速旋转至墙面、天花板，视频 109–124 s 持续侧倾仰视；log step 47 服务返回底座高度 0.361 m、上轴竖直分量 0.27，证实机器人已翻倒。视频后段虽恢复直立，该次为第一块砖搜寻转场引发的任务中断仍未以铺砖完成修复。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：底盘驱动执行失稳导致首次翻倒。log step 44 的脚本将 base_x=0.12 的位移指令以 dt=1/30 连续提交 98 行，块内没有姿态反馈检查；任务接口说明该指令每控制步叠加。log step 45 记录底盘在短序列中往返偏移且朝向剧变，log step 53 的 base_joint_effort x 分量达 -8823.5，log step 54 改送零底盘指令后该量变为 661；视频约 105–109 s 同时呈现翻倒。agent 在 log step 55 自述此前块内目标累计约 11.8 m，与上述命令记录相符；不据此归咎仿真故障。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 无状态日志，oracle 仅有文字记录、无参考视频；视频 1057–1069.6 s 的推砖接触位置及大量后段画面被机器人机体或近墙遮挡，不能核实 agent 所称的推砖距离，也不能确认西端候选门的浴室身份。推断：四个铺砖节点终态由可见砖仍在走廊及评分总量共同限定；完整相邻几何、瞬时接触对和浴室门初始角度无法恢复，开门节点按未出现其可见达成判据记未达。"
+ },
+ "summary_zh": "评分尝试未完成任何 DAG 节点（终态 0/5）：机器人沿走廊寻找瓷砖，多次翻倒恢复，后段仅尝试接近、推移一块砖及试探候选入口，未见瓷砖进入浴室，评分器 q_score=0。最早未修复的断点为第一块砖的搜寻转场，视频约 105.5 s 底盘连续驱动失稳翻倒；恢复站立后该铺砖步骤仍未完成。无状态日志和参考视频，推砖实际接触及候选浴室门身份存在遮��与识别缺口。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "终态 0/5、各节点未达、断点（第一块砖搜寻转场中的首次翻倒，约视频 105.5 s）与平衡现象均与视频和 log step 44–55 吻合；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": "2026-10-30T22:00:41Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-laying-tile-floors-i00-standard--gqgugmv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-laying-tile-floors-i00-standard--gqgugmv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b54c804efb71c4891d3692f4203974ad86e5240f80911eae4936f480f11c1240",
+   "video_sha256": "7febbe85168b259e8a1eb5c9b3d035153fe388a659704552e4a21337b7b93428",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-standard--tasz4am.json

@@ -0,0 +1,252 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-laying-tile-floors-i00-standard--tasz4am",
+ "taskKey": "behavior-1k/laying_tile_floors",
+ "dag_sha256": "9bf4d7ab26900c399e507d461862a0b11aed154e1aacec0f08de6cb2afc3792c",
+ "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": 5706,
+   "sim_steps": 5706,
+   "physics_steps": 22824,
+   "steps": 1902,
+   "elapsed_s": 2364.7,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.241,
+   "peak_processes": 6,
+   "peak_disk_gb": 0.271,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-laying-tile-floors-i00-standard--tasz4am/replay.mp4",
+  "duration_s": 190.2,
+  "fps": 30.0,
+  "frames": 5706,
+  "sha256": "b0b3d2bddc0e9c82b63e6b90923472226b6d0ca45936c8a4025aec4ec3b6a18d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "bathroom_door_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 117.4,
+      "log_step": 196,
+      "text_zh": "观察：视频 117.4 s，两扇带标牌的木门仍封住入口；机器人已在门前调整站位。log step 196 的脚本明确将此处作为卫生间门前位置。"
+     },
+     {
+      "t": 118.2,
+      "log_step": 202,
+      "text_zh": "观察：视频 117.8–120.4 s，机器人抬起张开的左夹爪伸向木门，头部视角随躯干运动明显转动；未见门板转开后露出浴室地面、卫生设施及可送砖通口。log step 202 提交的是左臂向门板方向的推行动作，并非抓住把手后拉门。"
+     },
+     {
+      "t": 124,
+      "log_step": 209,
+      "text_zh": "推断：结合视频 120.4–124.0 s 机器人收臂离开门前、随后沿走廊继续探索，且后续未再完成该门操作，打开浴室门节点未达到；相邻的木地板房间开口在推门前已存在，不能计为此次开门。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 95.0–117.6 s，机器人移动、转动底盘，在两扇木门前反复调整操作站位。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 117.8–120.4 s，左夹爪张开并伸向木门，但指端与门板的接触点在腕部视角和头部视角中受手臂遮挡；无法确认实际碰触方式，不将脚本的推门指令当作已发生的接触。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 124,
+      "log_step": null,
+      "text_zh": "观察：视频 123.0–124.0 s，白色瓷砖仍散放在走廊黑色地面上，机器人空手离开；此前的视频巡查及唯一的伸臂动作均未显示抓起、推移或向浴室搬入瓷砖，没有至少1块砖同时在浴室地面并邻接另一块砖的画面。"
+     },
+     {
+      "t": 190.166,
+      "log_step": 229,
+      "text_zh": "推断：视频 125.0–190.166 s，机器人继续沿长走廊探索，未携带瓷砖；末帧仍在走廊，log step 229 服务状态为跌倒失败。评分器 q_score=0.0、live_matches_replay=1，结合瓷砖初始在走廊且全程未见搬入浴室，最终不满足至少1块砖铺浴室的条件。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 124,
+      "log_step": null,
+      "text_zh": "观察：视频 123.0–124.0 s，白色瓷砖仍散放在走廊黑色地面上，机器人空手离开；此前的视频巡查及唯一的伸臂动作均未显示抓起、推移或向浴室搬入瓷砖，没有至少2块砖同时在浴室地面并邻接另一块砖的画面。"
+     },
+     {
+      "t": 190.166,
+      "log_step": 229,
+      "text_zh": "推断：视频 125.0–190.166 s，机器人继续沿长走廊探索，未携带瓷砖；末帧仍在走廊，log step 229 服务状态为跌倒失败。评分器 q_score=0.0、live_matches_replay=1，结合瓷砖初始在走廊且全程未见搬入浴室，最���不满足至少2块砖铺浴室的条件。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 124,
+      "log_step": null,
+      "text_zh": "观察：视频 123.0–124.0 s，白色瓷砖仍散放在走廊黑色地面上，机器人空手离开；此前的视频巡查及唯一的伸臂动作均未显示抓起、推移或向浴室搬入瓷砖，没有至少3块砖同时在浴室地面并邻接另一块砖的画面。"
+     },
+     {
+      "t": 190.166,
+      "log_step": 229,
+      "text_zh": "推断：视频 125.0–190.166 s，机器人继续沿长走廊探索，未携带瓷砖；末帧仍在走廊，log step 229 服务状态为跌倒失败。评分器 q_score=0.0、live_matches_replay=1，结合瓷砖初始在走廊且全程未见搬入浴室，最终不满足至少3块砖铺浴室的条件。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 124,
+      "log_step": null,
+      "text_zh": "观察：视频 123.0–124.0 s，白色瓷砖仍散放在走廊黑色地面上，机器人空手离开；此前的视频巡查及唯一的伸臂动作均未显示抓起、推移或向浴室搬入瓷砖，没有至少4块砖同时在浴室地面并邻接另一块砖的画面。"
+     },
+     {
+      "t": 190.166,
+      "log_step": 229,
+      "text_zh": "推断：视频 125.0–190.166 s，机器人继续沿长走廊探索，未携带瓷砖；末帧仍在走廊，log step 229 服务状态为跌倒失败。评分器 q_score=0.0、live_matches_replay=1，结合瓷砖初始在走廊且全程未见搬入浴室，最终不满足至少4块砖铺浴室的条件。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bathroom_door_opened",
+   "t": 118.2,
+   "log_step": 202,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 117.8–120.4 s，机器人在两扇木门前伸出左夹爪，但没有打开符合判据的浴室通口；随后收臂离开并沿走廊探索，直到视频 190.166 s 仍未修复这一前置步骤。log step 202 记录推门动作，log step 205 记录收臂，log step 208–210 记录转去探索长走廊；log step 228–229 的服务结果最终为机器人跌倒。推断：最早尝试后始终未完成的是打开浴室门，而非后续未启动的铺砖计数节点。"
+  },
+  "unmet": {
+   "tiles_on_bathroom_floor_1": false,
+   "tiles_on_bathroom_floor_2": false,
+   "tiles_on_bathroom_floor_3": false,
+   "tiles_on_bathroom_floor_4": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：本目录没有状态日志，inputs/oracle/oracle.json 明确参考成功运行无视频；门牌文字不能从本次画面独立辨读，DAG本身也将门身份和通路列为待核实。视频 117.8–120.4 s 的指端接触区被手臂遮挡，能确认伸臂后没有形成所需通口，却不能区分未接触、推压受阻、接触方向或轨迹执行偏差；因此开门断点的现象和根因均留空，不从推门指令或最终跌倒反推接触失败类型。视频末段可见视角倾斜，log step 229 服务确认跌倒终止，但没有支持把这一后发终止事件当作早先开门失败原因的记录。"
+ },
+ "summary_zh": "本次连续运行未打开符合判据的浴室通口，也未见任何瓷砖从走廊搬入浴室，节点最终为0/5，评分器q_score=0.0。机器人在视频约118.2 s伸臂尝试开门后离开，该步始终未修复，随后继续探索，最终由服务以机器人跌倒结束（log step 229）。缺少状态日志和成功参考视频，关键指端接触受遮挡，因此不强判开门失败的具体现象或根因。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "复核视频与 log：机器人在约118–124 s（视频时钟）以张开的左夹爪做一次关节空间推门动作（log step 202，20 行×0.1 s），门板未转开，之后转去探索，全程未触及瓷砖，末段服务判定跌倒；5 个节点全为 false、断点落在 bathroom_door_opened 均有帧和 q_score=0 支持。现象/根因留空并附 gap_zh，理由（无状态日志、指端被遮挡、无成功参考视频）成立，未发现需要改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:58:06Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-laying-tile-floors-i00-standard--tasz4am/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-laying-tile-floors-i00-standard--tasz4am/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "66102c1970e7d5a374dbb4b76f47980b0ec65605b07d24ded3fad8f22b41b5e3",
+   "video_sha256": "b0b3d2bddc0e9c82b63e6b90923472226b6d0ca45936c8a4025aec4ec3b6a18d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-standard--x43khze.json

@@ -0,0 +1,272 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-laying-tile-floors-i00-standard--x43khze",
+ "taskKey": "behavior-1k/laying_tile_floors",
+ "dag_sha256": "9bf4d7ab26900c399e507d461862a0b11aed154e1aacec0f08de6cb2afc3792c",
+ "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": 641,
+   "sim_steps": 641,
+   "physics_steps": 2564,
+   "steps": 41,
+   "elapsed_s": 617.9,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.319,
+   "peak_processes": 12,
+   "peak_disk_gb": 0.997,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-laying-tile-floors-i00-standard--x43khze/replay.mp4",
+  "duration_s": 21.367,
+  "fps": 30.0,
+  "frames": 641,
+  "sha256": "71782f4bbe218139ddebdec17b01c19c5bb59b3ddf3693b1a07af30be1da4108"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "bathroom_door_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1.0,
+      "log_step": 37,
+      "text_zh": "观察：视频0.0–4.8 s机器人原地旋转查看走廊；视频1.0 s及3.6 s可见旁侧已敞开的门内为木地板和大窗，未见卫生设施，也未见机器人抓住门把手或推动门板。"
+     },
+     {
+      "t": 11.3,
+      "log_step": 68,
+      "text_zh": "观察：视频4.8–11.2 s机器人沿走廊移动，头部视角逐渐朝向天花板；视频11.3–15.2 s发生翻倒，直至视频21.333 s均未恢复。全片未出现浴室门被机器人转开并露出卫生设施的事件；log step 68执行的是走廊移动与全景扫描，没有开门指令。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.2,
+      "log_step": 47,
+      "text_zh": "观察：视频0.4、1.6及4.0–4.4 s可见白色方砖留在黑色走廊地面，机器人旋转观察场景；视频8.5–11.1 s腕部视角仍显示走廊地面上的砖，没有砖随夹爪抬起或被推入房间。全片未见达到至少1块砖铺在浴室且各邻接另一块砖的画面。"
+     },
+     {
+      "t": 21.333,
+      "log_step": 83,
+      "text_zh": "推断：视频11.3 s后机器人翻倒，视频20.4–21.333 s仍未恢复，也无铺砖动作；log step 68实际只执行底盘探索，log steps 77、83仅继续观察，未执行抓砖或送砖。初始砖在走廊、没有可见搬运，加上评分器q_score=0、live_matches_replay=1，支持第1块砖铺浴室全程未达成且终态为假；不是仅由零分反推未做。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.2,
+      "log_step": 47,
+      "text_zh": "观察：视频0.4、1.6及4.0–4.4 s可见白色方砖留在黑色走廊地面，机器人旋转观察场景；视频8.5–11.1 s腕部视角仍显示走廊地面上的砖，没有砖随夹爪抬起或被推入房间。全片未见达到至少2块砖铺在浴室且各邻接另一块砖的画面。"
+     },
+     {
+      "t": 21.333,
+      "log_step": 83,
+      "text_zh": "推断：视频11.3 s后机器人翻倒，视频20.4–21.333 s仍未恢复，也无铺砖动作；log step 68实际只执行底盘探索，log steps 77、83仅继续观察，未执行抓砖或送砖。初始砖在走廊、没有可见搬运，加上评分器q_score=0、live_matches_replay=1，支持第2块砖铺浴室全程未达成且终态为假；不是仅由零分反推未做。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.2,
+      "log_step": 47,
+      "text_zh": "观察：视频0.4、1.6及4.0–4.4 s可见白色方砖留在黑色走廊地面，机器人旋转观察场景；视频8.5–11.1 s腕部视角仍显示走廊地面上的砖，没有砖随夹爪抬起或被推入房间。全片未见达到至少3块砖铺在浴室且各邻接另一块砖的画面。"
+     },
+     {
+      "t": 21.333,
+      "log_step": 83,
+      "text_zh": "推��：视频11.3 s后机器人翻倒，视频20.4–21.333 s仍未恢复，也无铺砖动作；log step 68实际只执行底盘探索，log steps 77、83仅继续观察，未执行抓砖或送砖。初始砖在走廊、没有可见搬运，加上评分器q_score=0、live_matches_replay=1，支持第3块砖铺浴室全程未达成且终态为假；不是仅由零分反推未做。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.2,
+      "log_step": 47,
+      "text_zh": "观察：视频0.4、1.6及4.0–4.4 s可见白色方砖留在黑色走廊地面，机器人旋转观察场景；视频8.5–11.1 s腕部视角仍显示走廊地面上的砖，没有砖随夹爪抬起或被推入房间。全片未见达到至少4块砖铺在浴室且各邻接另一块砖的画面。"
+     },
+     {
+      "t": 21.333,
+      "log_step": 83,
+      "text_zh": "推断：视频11.3 s后机器人翻倒，视频20.4–21.333 s仍未恢复，也无铺砖动作；log step 68实际只执行底盘探索，log steps 77、83仅继续观察，未执行抓砖或送砖。初始砖在走廊、没有可见搬运，加上评分器q_score=0、live_matches_replay=1，支持第4块砖铺浴室全程未达成且终态为假；不是仅由零分反推未做。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": 11.3,
+   "log_step": 68,
+   "where": "探索",
+   "evidence_zh": "观察：视频0.0–4.8 s机器人旋转扫描走廊与旁侧房间，随后沿走廊移动；视频11.3–12.1 s三路相机同步明显翻转，机器人倾倒后一直未恢复至视频21.333 s。log step 68执行走廊巡查和全景转动，未操作门或砖；log step 83服务返回done=true、reason=\"failure: the robot fell over\"。推断：故障发生于任务场景探索，尚不能从实际动作唯一确定是在为开浴室门还是第1块砖的搬运作准备，故不按DAG排序强选节点。"
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 11.3,
+    "log_step": 73,
+    "evidence_zh": "观察：视频11.3–12.1 s腕部相机中的走廊地面及机器人手臂一起翻转，视频15.2–21.333 s保持侧倒的低位视角。log step 73在服务control_steps=454时读得底座上轴竖直分量为-0.354，log step 77继续观察仍约为-0.354至-0.352；log step 83最终由服务判定机器人跌倒。推断：这是整机失去支撑后的持续翻倒，不是仅有头部仰视；本回合30 Hz、641控制步对应视频21.367 s，control step 454/30≈视频15.13 s已与视频15.2 s侧倒静止画面核对。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：移动控制未能在探索中保持整机稳定。log step 67的base_chunk把恒定底盘位移行重复执行（interpolate=\"hold\"），row_from把当时测得的躯干角度直接作为新的目标；log step 68连续驱动后又执行四段1.6 rad全景转动，中间只检查done而无倾斜保护或姿态恢复。视频5.2–11.2 s头部已持续朝天，随后视频11.3 s起整机翻倒，log steps 73、77的本体姿态读数确认持续失稳；这些执行与画面支持控制层归因。没有对照试验能单独确认速度、加速度或躯干保持中的哪一项是主因，因此不细分参数调试、反馈控制等子项。"
+   }
+  ],
+  "gap_zh": "没有状态日志；inputs/oracle/oracle.json明确参考成功运行也无视频，不能独立核对浴室门身份、初态及完整通路。机器人只做场景扫描和底盘移动，未承诺某个门或砖的操作，无法唯一对应DAG断点，故ref=unknown；五个物理节点均未实际操作，不向它们分摊通用巡查的底盘接触，也不虚构夹爪接触。后半段头部视角朝天且翻倒后局部遮挡，终态铺砖判定结合前段画面、实际动作日志及评分总量；具体致倒动力学因素未被独立验证。",
+  "unmet": {
+   "tiles_on_bathroom_floor_1": false,
+   "tiles_on_bathroom_floor_2": false,
+   "tiles_on_bathroom_floor_3": false,
+   "tiles_on_bathroom_floor_4": false
+  }
+ },
+ "summary_zh": "机器人只完成走廊旋转扫描和移动探索，未开出可确认的浴室通口，也未搬移瓷砖，五个DAG节点最终均未达成。视频约11.3 s开始整机翻倒，持续至视频21.333 s，服务随后以跌倒终止回合；执行脚本与画面支持移动控制失稳，回合结束后编写的修正版并未执行。无状态日志及可用参考视频，且探索尚未锁定某个DAG操作，断点节点保留unknown。 本轮复核保留断点争议：inputs/run.json的log step 64、68只给出走廊坐标移动及全景扫描，视频未确认浴室门身份，不能仅凭首个未达成节点���定探索所服务的步骤；也不能排除探索是在为开门准备，故置信度由7降为6。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点全为假、翻倒时间（视频约11.3 s）与平衡现象均与画面一致；主要问题是断点 ref 用了 unknown，而第一个未达成的步骤（打开浴室门）正是翻倒时正在前往/探索的步骤。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点全为假、翻倒约视频11.3 s、平衡现象和控制根因与画面一致；断点 unknown 在第1轮已有证据驳回（走廊巡查未对应具体节点），无新证据，不再重提。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:39:34Z",
+  "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_rerun1/runs/behavior-laying-tile-floors-i00-standard--x43khze/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work_rerun1/runs/behavior-laying-tile-floors-i00-standard--x43khze/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work_rerun1/runs/behavior-laying-tile-floors-i00-standard--x43khze/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work_rerun1/runs/behavior-laying-tile-floors-i00-standard--x43khze/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "656b6a31ebb648371303eec06968d307f5bae36064ddfec2f80b0ee0fec2f1bb",
+   "video_sha256": "71782f4bbe218139ddebdec17b01c19c5bb59b3ddf3693b1a07af30be1da4108",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-standard--zfbawwq.json

@@ -0,0 +1,284 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-laying-tile-floors-i00-standard--zfbawwq",
+ "taskKey": "behavior-1k/laying_tile_floors",
+ "dag_sha256": "9bf4d7ab26900c399e507d461862a0b11aed154e1aacec0f08de6cb2afc3792c",
+ "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": 11183,
+   "sim_steps": 11183,
+   "physics_steps": 44732,
+   "steps": 9655,
+   "elapsed_s": 1632.8,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.221,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.478,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-laying-tile-floors-i00-standard--zfbawwq/replay.mp4",
+  "duration_s": 372.767,
+  "fps": 30.0,
+  "frames": 11183,
+  "sha256": "3558a84e3d4a71a9723c5f4d6747f1cd4a25298fd8334d9470dd6c403af59cd0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "bathroom_door_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 126.0,
+      "log_step": 59,
+      "text_zh": "观察：视频118.0–126.0 s中机器人顶开候选木门，门后可见木地板和整面窗户；视频198.0–204.0 s另一扇门后可见会议桌椅，均未出现浴室卫生设施。log step 59、65中agent也分别将已查看房间改认作办公室、会议室。"
+     },
+     {
+      "t": 363.0,
+      "log_step": 83,
+      "text_zh": "观察：视频348.0–362.5 s机器人再次靠近并推动走廊西端木门，门后仍是木地板和窗户；视频363.0 s起视野大幅侧倾，至视频372.7 s未恢复。通览视频未出现带卫生间标识的浴室门被打开并露出卫生设施的判据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频118.0–126.0 s、190.0–204.0 s及348.0–363.0 s，轮式底盘支承并移动机器人靠近、抵推候选门；候选门并非已确认的浴室门。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频356.0–362.5 s门板贴近机器人并遮住前方，腕部画面昏暗，具体贴门的机器人部位不可见；log step 81仅命令底盘向前，不能据此认定是夹爪、躯干或底盘直接接触门板。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 18.0,
+      "log_step": null,
+      "text_zh": "观察：视频6.0、12.0、18.0 s的转向视野显示白色瓷砖分布在黑色走廊地面；视频24.0 s亦可见走廊中的两块砖。全片机器人主要沿走廊搜索并探门，未见将1块瓷砖送入浴室并形成所需地面及邻接关系。"
+     },
+     {
+      "t": 258.0,
+      "log_step": null,
+      "text_zh": "观察：视频210.0–218.0 s两块白砖仍在走廊，机器人驶近后其中一块从画面下缘消失；视频258.0 s又可见一块白砖处于走廊地面，未见浴室内的铺砖操作。"
+     },
+     {
+      "t": 372.7,
+      "log_step": 84,
+      "text_zh": "推断：评分器reward.q_score=0.0、live_matches_replay=1；初始瓷砖均在走廊，视频中未见入浴室放置，故至少1块同时满足浴室地面及邻接关系的终值为false。视频371.7–372.7 s机器人侧倾停在木地板房间门口；log step 84的服务状态确认本次单回合以跌倒结束。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 18.0,
+      "log_step": null,
+      "text_zh": "观察：视频6.0、12.0、18.0 s的转向视野显示白色瓷砖分布在黑色走廊地面；视频24.0 s亦可见走廊中的两块砖。全片机器人主要沿走廊搜索并探门，未见将2块瓷砖送入浴室并形成所需地面及邻接关系。"
+     },
+     {
+      "t": 258.0,
+      "log_step": null,
+      "text_zh": "观察：视频210.0–218.0 s两块白砖仍在走廊，机器人驶近后其中一块从画面下缘消失；视频258.0 s又可见一块白砖处于走廊地面，未见浴室内��铺砖操作。"
+     },
+     {
+      "t": 372.7,
+      "log_step": 84,
+      "text_zh": "推断：评分器reward.q_score=0.0、live_matches_replay=1；初始瓷砖均在走廊，视频中未见入浴室放置，故至少2块同时满足浴室地面及邻接关系的终值为false。视频371.7–372.7 s机器人侧倾停在木地板房间门口；log step 84的服务状态确认本次单回合以跌倒结束。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 18.0,
+      "log_step": null,
+      "text_zh": "观察：视频6.0、12.0、18.0 s的转向视野显示白色瓷砖分布在黑色走廊地面；视频24.0 s亦可见走廊中的两块砖。全片机器人主要沿走廊搜索并探门，未见将3块瓷砖送入浴室并形成所需地面及邻接关系。"
+     },
+     {
+      "t": 258.0,
+      "log_step": null,
+      "text_zh": "观察：视频210.0–218.0 s两块白砖仍在走廊，机器人驶近后其中一块从画面下缘消失；视频258.0 s又可见一块白砖处于走廊地面，未见浴室内的铺砖操作。"
+     },
+     {
+      "t": 372.7,
+      "log_step": 84,
+      "text_zh": "推断：评分器reward.q_score=0.0、live_matches_replay=1；初始瓷砖均在走廊，视频中未见入浴室放置，故至少3块同时满足浴室地面及邻接关系的终值为false。视频371.7–372.7 s机器人侧倾停在木地板房间门口；log step 84的服务状态确认本次单回合以跌倒结束。"
+     }
+    ]
+   },
+   "tiles_on_bathroom_floor_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 18.0,
+      "log_step": null,
+      "text_zh": "观察：视频6.0、12.0、18.0 s的转向视野显示白色瓷砖分布在黑色走廊地面；视频24.0 s亦可见走廊中的两块砖。全片机器人主要沿走廊搜索并探门，未见将4块瓷砖送入浴室并形成所需地面及邻接关系。"
+     },
+     {
+      "t": 258.0,
+      "log_step": null,
+      "text_zh": "观察：视频210.0–218.0 s两块白砖仍在走廊，机器人驶近后其中一块从画面下缘消失；视频258.0 s又可见一块白砖处于走廊地面，未见浴室内的铺砖操作。"
+     },
+     {
+      "t": 372.7,
+      "log_step": 84,
+      "text_zh": "推断：评分器reward.q_score=0.0、live_matches_replay=1；初始瓷砖均在走廊，视频中未见入浴室放置，故至少4块同时满足浴室地面及邻接关系的终值为false。视频371.7–372.7 s机器人侧倾停在木地板房间门口；log step 84的服务状态确认本次单回合以跌倒结束。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bathroom_door_opened",
+   "t": 363.0,
+   "log_step": 83,
+   "where": "探索",
+   "evidence_zh": "观察：视频348.0–362.5 s机器人在寻找浴室的过程中再次用前进行为试探候选木门，尚未找到浴室；视频356.0–360.5 s门板充满前方视野，视频363.0 s起机器人视野大幅侧倾并持续到视频372.7 s。log step 83返回服务异常EpisodeOver: failure: the robot fell over，log step 84确认done=true。浴室开门节点始终未完成，断点归到这一步的场景探索。"
+  },
+  "unmet": {
+   "tiles_on_bathroom_floor_1": false,
+   "tiles_on_bathroom_floor_2": false,
+   "tiles_on_bathroom_floor_3": false,
+   "tiles_on_bathroom_floor_4": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 363.0,
+    "log_step": 83,
+    "evidence_zh": "观察：视频362.5 s前视野尚接近直立，视频363.0–364.0 s发生明显侧翻，视频364.0–372.7 s墙线、门框与地板持续大幅倾斜，机器人未恢复支撑姿态。log step 83、84中评测服务明确报告failure: the robot fell over；该终止原因与视频末段一致。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 356.0,
+    "log_step": 81,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 81的脚本在候选门前连续执行四段固定向前0.3米的底盘指令，读回位置和偏航后仍继续；读回的平移增量缩小且偏航从约1.54变至1.10弧度。log step 23、36、48所示导航/等待逻辑以平面位置、偏航和躯干关节误差为反馈，没有倾斜或受阻停止判断。结合视频356.0–360.5 s门板近距离遮挡、视频363.0 s后持续侧翻，可归因为门口接触运动中的机体控制失稳，未及时制止；现有证据不足以进一步确定接触几何、力或控制参数哪一项主导。"
+   }
+  ],
+  "gap_zh": "无状态日志；腕部视角大多昏暗，门板与机器人接触的具体部位及接触力不可见，故探门接触保留未知项，控制根因不细分。Oracle目录只有说明文件而无参考视频，无法独立核对实际浴室门的身份与初态；本次视频中打开的房间可见办公或会议空间，不能将这些门的打开计为浴室门完成。未见瓷砖入浴室，终值另以评分器零进度作逻辑约束。"
+ },
+ "summary_zh": "机器人始终在走廊及办公区域搜索浴室，虽推动了候选木门，但未完成浴室开门，也未见任何瓷砖铺到浴室，五个节点终态均未达成。视频约363.0 s末次探门时机器人侧翻，直到视频372.7 s仍未恢复，服务以跌倒终止；脚本持续驱动受阻机体且缺少倾斜停止判断，支持控制层根因。无状态日志且门口接触部位被遮挡，无法确定具体接触几何和力。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点终值全 false、断点 bathroom_door_opened（探索）、平衡现象与服务报告的跌倒一致；视频 356–372 s 帧与 log step 81/83/84 支持标签，控制根因已标为推断并说明了证据不足之处，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": "2026-10-30T22:03:54Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-laying-tile-floors-i00-standard--zfbawwq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-laying-tile-floors-i00-standard--zfbawwq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3e622464fba5863c4972640a8ffe58c6896dd5cce9aa499e5b734d54cf3c8c07",
+   "video_sha256": "3558a84e3d4a71a9723c5f4d6747f1cd4a25298fd8334d9470dd6c403af59cd0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/packing_meal_for_delivery/trajectories/behavior-packing-meal-for-delivery-i00-privileged--gt6whqg.json

@@ -0,0 +1,277 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-packing-meal-for-delivery-i00-privileged--gt6whqg",
+ "taskKey": "behavior-1k/packing_meal_for_delivery",
+ "dag_sha256": "4fcaf2f7983d9623e89a1c1b8bf9493a93ef2e245dcdd37262fa201c9fa6cd68",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 0,
+   "n_actions": 1760,
+   "sim_steps": 1760,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 617.6,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 1,
+   "agent_resets": 9,
+   "agent_sim_steps": 0,
+   "agent_records": 2,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-packing-meal-for-delivery-i00-privileged--gt6whqg/replay.mp4",
+  "duration_s": 58.667,
+  "fps": 30.0,
+  "frames": 1760,
+  "sha256": "f9dab305c5c50b44e259e2ebefbb100f29d206cdd8f880bc5dfbf1c93d34dbf3"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "hamburgers_in_sacks_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–58.6 s 的已检查画面中，机器人只伸左夹爪操作近侧纸袋，未见夹取包装汉堡或把汉堡送入任何袋内；视频 14.0 s 可见远侧托盘仍有包装汉堡。"
+     },
+     {
+      "t": 58.6,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，且任务初始无汉堡入袋关系，故最终有效汉堡—袋配对少于1对；结合全段未发生汉堡搬运，将本计数节点判为始终未达成。"
+     }
+    ]
+   },
+   "hamburgers_in_sacks_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–58.6 s 的已检查画面中，机器人只伸左夹爪操作近侧纸袋，未见夹取包装汉堡或把汉堡送入任何袋内；视频 14.0 s 可见远侧托盘仍有包装汉堡。"
+     },
+     {
+      "t": 58.6,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，且任务初始无汉堡入袋关系，故最终有效汉堡—袋配对少于2对；结合全段未发生汉堡搬运，将本计数节点判为始终未达成。"
+     }
+    ]
+   },
+   "hamburgers_in_sacks_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–58.6 s 的已检查画面中，机器人只伸左夹爪操作近侧纸袋，未见夹取包装汉堡或把汉堡送入任何袋内；视频 14.0 s 可见远侧托盘仍有包装汉堡。"
+     },
+     {
+      "t": 58.6,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0，且任务初始无汉堡入袋关系，故最终有效汉堡—袋配对少于3对；结合全段未发生汉堡搬运，将本计数节点判为始终未达成。"
+     }
+    ]
+   },
+   "sacks_on_box_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.0,
+      "log_step": null,
+      "text_zh": "观察：视频 11.0–15.8 s 左夹爪靠近近侧纸袋袋沿并闭合，随后空爪上抬，纸袋仍由金属台面承托；橙色储物箱为空，未发生把纸袋送至箱上的过程。全段未见第1只袋直接由箱顶承托。"
+     },
+     {
+      "t": 58.6,
+      "log_step": null,
+      "text_zh": "推断：视频 42.0–58.6 s 近侧纸袋仍立在箱旁台面，未见后续搬袋修复；评分器 reward.q_score=0.0，初始袋上箱关系均不成立，故最终箱上直接承托的袋数少于1只。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 11.0–14.8 s 左夹爪指端触碰并拨动近侧纸袋的上缘，袋口朝向改变；未见袋壁被两指夹住后随夹爪离台，视频 15.0 s 左爪空抬。实际接触按推碰记录。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–8.0 s 轮式底盘转向并驶近纸袋；视频 16.0–44.0 s 机器人继续调整操作位置。底盘支撑机器人移动，但未携带纸袋。"
+     }
+    ]
+   },
+   "sacks_on_box_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.0,
+      "log_step": null,
+      "text_zh": "观察：视频 11.0–15.8 s 左夹爪靠近近侧纸袋袋沿并闭合，随后空爪上抬，纸袋仍由金属台面承托；橙色储物箱为空，未发生把纸袋送至箱上的过程。全段未见第2只袋直接由箱顶承托。"
+     },
+     {
+      "t": 58.6,
+      "log_step": null,
+      "text_zh": "推断：视频 42.0–58.6 s 近侧纸袋仍立在箱旁台面，未见后续搬袋修复；评分器 reward.q_score=0.0，初始袋上箱关系均不成立，故最终箱上直接承托的袋数少于2只。"
+     }
+    ]
+   },
+   "sacks_on_box_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 15.0,
+      "log_step": null,
+      "text_zh": "观察：视频 11.0–15.8 s 左夹爪靠近近侧纸袋袋沿并闭合，随后空爪上抬，纸袋仍由金属台面承托；橙色储物箱为空，未发生把纸袋送至箱上的过程。全段未见第3只袋直接由箱顶承托。"
+     },
+     {
+      "t": 58.6,
+      "log_step": null,
+      "text_zh": "推断：视频 42.0–58.6 s 近侧纸袋仍立在箱旁台面，未见后续搬袋修复；评分器 reward.q_score=0.0，初始袋上箱关系均不成立，故最终箱上直接承托的袋数少于3只。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "sacks_on_box_1",
+   "t": 15.0,
+   "log_step": 67,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 15.0 s 左夹爪抬离袋沿时没有带走纸袋，纸袋仍在原台面；视频 58.6 s 仍未上箱。这是本次轨迹先尝试且始终未修复的步骤。log step 66 在 reset 后启动最终录制；log step 67 的该次脚本输出 sack1 None，随后在 put_sack 内报逆解失败并保存 1760 行动作；log step 68 将此文件复制为最终交付，与评分器 n_actions=1760 一致。"
+  },
+  "unmet": {
+   "hamburgers_in_sacks_1": false,
+   "hamburgers_in_sacks_2": false,
+   "hamburgers_in_sacks_3": false,
+   "sacks_on_box_1": false,
+   "sacks_on_box_2": false,
+   "sacks_on_box_3": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 15.0,
+    "log_step": 67,
+    "evidence_zh": "观察：视频 11.0–14.8 s 左夹爪在纸袋上缘附近闭合并推碰纸袋；视频 15.0–15.8 s 夹爪升起而纸袋仍站在金属台面，未曾被可靠夹持并提离支撑面。log step 67 的最终录制输出 sack1 None 与空爪抬升一致；这里缺失的是搬袋所需的抓握，并非曾持住后掉落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "note_zh": "抓取未成功后继续执行搬运；控制脚本随后在逆解失败处退出。现有证据不足以把最初抓取失败细分为接触设计或反馈控制。",
+    "evidence_zh": "推断：视频 15.0–15.8 s 显示左爪空抬；log step 65 的最终脚本只打印 slow_close 的返回值，未在抓取为空时中止、调整或重试，仍调用 lift_sack、put_sack。log step 67 确认该次返回 sack1 None，继而由自写 move_ee2 在 ik fail 时抛出 RuntimeError，结束本次录制；因此可确认控制执行及失败恢复不足，但不据此断言纸袋不可抓或任务不可达。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志及成功参考视频；视频的头部与腕部视角部分遮挡指尖和薄袋壁，无法确认逐指接触位置、法向力或最初抓取失败的具体控制子因。最终值由未搬运的可见过程与评分器 q_score=0.0 共同确定；此前会话测试中的汉堡抓取、其他纸袋搬运及放置不计入最终 1760 步轨迹。"
+ },
+ "summary_zh": "本次评分轨迹六个节点均未达成，最终为 0/6；机器人先尝试搬第一只纸袋上箱，视频约 15.0 s 左夹爪空抬、纸袋留在台面，此后未修复。最终录制日志显示抓取返回空值后脚本继续搬运动作，随后逆解失败退出，未进入汉堡装袋阶段，评分器 q_score=0.0。缺少状态日志且局部接触受遮挡，最初抓取失败的具体控制子因不能确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "六个节点均未达成、最终 0/6 与 q_score=0.0 一致；断点、现象与根因（控制，已声明子因不可分）有证据支持，未发现需改动之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:02:01Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-packing-meal-for-delivery-i00-privileged--gt6whqg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-packing-meal-for-delivery-i00-privileged--gt6whqg/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e6043883a9fed6e50305073bfa007db7bffa401d2ab49f6c148fd3e99858f5f7",
+   "video_sha256": "f9dab305c5c50b44e259e2ebefbb100f29d206cdd8f880bc5dfbf1c93d34dbf3",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}

phase2/behavior-1k/packing_meal_for_delivery/trajectories/behavior-packing-meal-for-delivery-i00-privileged--pfbwkhc.json

@@ -0,0 +1,241 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-packing-meal-for-delivery-i00-privileged--pfbwkhc",
+ "taskKey": "behavior-1k/packing_meal_for_delivery",
+ "dag_sha256": "4fcaf2f7983d9623e89a1c1b8bf9493a93ef2e245dcdd37262fa201c9fa6cd68",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 0,
+   "n_actions": 1836,
+   "sim_steps": 1836,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 2352.0,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 13,
+   "agent_resets": 0,
+   "agent_sim_steps": 3144,
+   "agent_records": 2,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-packing-meal-for-delivery-i00-privileged--pfbwkhc/replay.mp4",
+  "duration_s": 61.2,
+  "fps": 30.0,
+  "frames": 1836,
+  "sha256": "58386fd88288b5c212f37b1ae2ed4c4de8b45703e9d464483e6188115444544b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "hamburgers_in_sacks_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频 5–55 s 的头部及左腕视角可见三个包装汉堡仍在托盘上，机器人只围绕同一个汉堡调整左臂；视频 40.0 s 可见三个汉堡与直立纸袋分处托盘和台面，未发生入袋。"
+     },
+     {
+      "t": 61.16,
+      "log_step": 169,
+      "text_zh": "观察：视频 56–61.16 s 左夹爪在托盘边夹住一个包装汉堡，末帧仍未把它送到袋口，纸袋留在台面；未见任何汉堡入袋过程。推断：全过程未达到1个不同汉堡分别入袋，评分器 q_score=0.0 亦与最终无新增目标关系一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 56–61.16 s 左侧二指夹爪在托盘边合拢夹住一个包装汉堡；左腕画面中包装贴近镜头，头部画面可见夹爪与包装的相对位置。没有送入纸袋。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–5 s 轮式底盘沿台面驶向汉堡和纸袋所在操作位置，之后停下供左臂操作。"
+     }
+    ]
+   },
+   "hamburgers_in_sacks_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频 5–55 s 的头部及左腕视角可见三个包装汉堡仍在托盘上，机器人只围绕同一个汉堡调整左臂；视频 40.0 s 可见三个汉堡与直立纸袋分处托盘和台面，未发生入袋。"
+     },
+     {
+      "t": 61.16,
+      "log_step": 169,
+      "text_zh": "观察：视频 56–61.16 s 左夹爪在托盘边夹住一个包装汉堡，末帧仍未把它送到袋口，纸袋留在台面；未见任何汉堡入袋过程。推断：全过程未达到2个不同汉堡分别入袋，评分器 q_score=0.0 亦与最终无新增目标关系一致。"
+     }
+    ]
+   },
+   "hamburgers_in_sacks_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频 5–55 s 的头部及左腕视角可见三个包装汉堡仍在托盘上，机器人只围绕同一个汉堡调整左臂；视频 40.0 s 可见三个汉堡与直立纸袋分处托盘和台面，未发生入袋。"
+     },
+     {
+      "t": 61.16,
+      "log_step": 169,
+      "text_zh": "观察：视频 56–61.16 s 左夹爪在托盘边夹住一个包装汉堡，末帧仍未把它送到袋口，纸袋留在台面；未见任何汉堡入袋过程。推断：全过程未达到3个不同汉堡分别入袋，评分器 q_score=0.0 亦与最终无新增目标关系一致。"
+     }
+    ]
+   },
+   "sacks_on_box_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–61.16 s 机器人未抓取或搬运纸袋；视频 40.0 s 可见纸袋直立在金属台面，橙色储物箱与袋分开，箱上没有袋。视频 61.16 s 纸袋仍在原台面，未达到1只袋由箱顶直接承托。"
+     }
+    ]
+   },
+   "sacks_on_box_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–61.16 s 机器人未抓取或搬运纸袋；视频 40.0 s 可见纸袋直立在金属台面，橙色储物箱与袋分开，箱上没有袋。视频 61.16 s 纸袋仍在原台面，未达到2只袋���箱顶直接承托。"
+     }
+    ]
+   },
+   "sacks_on_box_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 40.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–61.16 s 机器人未抓取或搬运纸袋；视频 40.0 s 可见纸袋直立在金属台面，橙色储物箱与袋分开，箱上没有袋。视频 61.16 s 纸袋仍在原台面，未达到3只袋由箱顶直接承托。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "hamburgers_in_sacks_1",
+   "t": 59.5,
+   "log_step": 169,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 56–59.5 s 机器人左夹爪夹住托盘边的第一个汉堡，至视频 61.16 s 仍停在纸袋外，未开始送入袋口。log step 169 的第4次录制输出显示，agent 的 drop_into_sack 函数在计算 toward @ long_ax 时因向量维度2与3不匹配抛出 ValueError，随后保存1836步；log step 177 核验交付文件也是1836步，log step 178 中 agent 明确自述交付仍是第4次录制。推断：该脚本异常截断了第1个汉堡入袋，视频约59.5 s 的停止为导航锚点，非将 agent 时钟换算成视频时钟。"
+  },
+  "unmet": {
+   "hamburgers_in_sacks_1": false,
+   "hamburgers_in_sacks_2": false,
+   "hamburgers_in_sacks_3": false,
+   "sacks_on_box_1": false,
+   "sacks_on_box_2": false,
+   "sacks_on_box_3": false
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "note_zh": "候选细分：控制脚本异常；现有控制子类未覆盖数组维度错误导致的控制流程终止，按D38保留控制父项。",
+    "evidence_zh": "观察：log step 169 的 traceback 指向 agent 自编 gen.py 的 drop_into_sack，二维 toward 与三维 long_ax 做矩阵乘法触发 ValueError；同条输出在异常后保存1836×25动作，success=False、q_score=0.0。log step 170 修正为 long_ax[:2]，但 log step 176–177 的文件检查显示后一次录制没有覆盖原文件，log step 178 中 agent 也自述保留第4次录制；评分视频 59.5–61.16 s 正是夹持汉堡后停止。推断：本次交付未完成入袋直接由 agent 控制脚本错误截断，不能归为后一次会话中的投放可达性问题。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 有完整视频与运行记录，但无状态日志和成功参考视频。评分视频止于夹住首个汉堡，未呈现向袋口执行的投放轨迹；因此无法支持位姿不准、够不着、没保持住或没松开等具体物理失败现象，现象层留空。log step 173–175 的投放误差属于第5次会话尝试，log step 177–178 证实未保存为此次交付，不用于本次节点或现象。"
+ },
+ "summary_zh": "机器人驶到台面并用左夹爪夹住第一个包装汉堡，但评分视频全程没有汉堡入袋或纸袋上箱，六个节点最终均未达成。断点是第1个汉堡入袋：log step 169 记录 agent 的入袋函数因二维、三维向量相乘报错，交付的是异常后保存的第4次录制，而非后续调试尝试。无状态日志；视频停在夹持阶段，缺少可归类的物理投放失败现象证据。",
+ "conf": 9,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标注与视频、log 一致：六个节点均未达成，断点为第1个汉堡入袋；log step 169 的 drop_into_sack 异常与 177–178 的交付核验支持 控制·控制（D38）；视频末帧左夹爪夹住汉堡、袋留在台面，现象层留空并有 gap_zh，符合 FAIL-23。未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:56:42Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
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+    "ok": true,
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