diff --git a/phase2/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-privileged--aoucflm.json b/phase2/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-privileged--aoucflm.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d05754fcc012e0c42f2bf4e44c132ce87085edd
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-privileged--ec25zvg.json b/phase2/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-privileged--ec25zvg.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5d6060a040cf54f2dd286dc4e7456c05fd850b8
--- /dev/null
+++ b/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作。"
+     }
+    ]
+   },
+   "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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-privileged--hcephjb.json b/phase2/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-privileged--hcephjb.json
new file mode 100644
index 0000000000000000000000000000000000000000..88772cb0919752493529f0d12966c170511959a0
--- /dev/null
+++ b/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的接触证据，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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-privileged--pktk9h9.json b/phase2/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-privileged--pktk9h9.json
new file mode 100644
index 0000000000000000000000000000000000000000..c562da1761f69ef820a33810438700e7cfe90132
--- /dev/null
+++ b/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 可见它留在罐底。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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-privileged--sg9pboa.json b/phase2/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-privileged--sg9pboa.json
new file mode 100644
index 0000000000000000000000000000000000000000..74d69223a7f9c104464f65a1f312502ee150a379
--- /dev/null
+++ b/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": "观察：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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-privileged--wkfkvtu.json b/phase2/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-privileged--wkfkvtu.json
new file mode 100644
index 0000000000000000000000000000000000000000..3da9d6b470290a8fa715b51f0638cf14925ec95b
--- /dev/null
+++ b/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，夹爪接触查询为 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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-privileged--xk9rmqq.json b/phase2/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-privileged--xk9rmqq.json
new file mode 100644
index 0000000000000000000000000000000000000000..52d9d0567f18eb0609a259aded98719ff6074188
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-standard--4k9yxfs.json b/phase2/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-standard--4k9yxfs.json
new file mode 100644
index 0000000000000000000000000000000000000000..53f15ecf843fec8093fdf21c9b8fc827a912ed49
--- /dev/null
+++ b/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；未观察到第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。推断：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橱柜，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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-standard--g9j2iyi.json b/phase2/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-standard--g9j2iyi.json
new file mode 100644
index 0000000000000000000000000000000000000000..28cc8d8626956e744ef439eb5ca015e91ccfc962
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-standard--ue9tpcq.json b/phase2/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-standard--ue9tpcq.json
new file mode 100644
index 0000000000000000000000000000000000000000..28838677e9b02afa90e320e39b9e6549858937cd
--- /dev/null
+++ b/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；柜门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：底盘闭环未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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-standard--zpffod9.json b/phase2/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-standard--zpffod9.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8970b17efb59e07726e2285d51fefe431bf586f
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/canning_food/trajectories/behavior-canning-food-i00-privileged--6v36stp.json b/phase2/behavior-1k/canning_food/trajectories/behavior-canning-food-i00-privileged--6v36stp.json
new file mode 100644
index 0000000000000000000000000000000000000000..2254d56e5f7c786d7a91ee465778ea99f4e086a3
--- /dev/null
+++ b/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，操作中）、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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/canning_food/trajectories/behavior-canning-food-i00-privileged--fhp5yjy.json b/phase2/behavior-1k/canning_food/trajectories/behavior-canning-food-i00-privileged--fhp5yjy.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1b743e6e139d6e93918db428f89c5f0889f855a
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/canning_food/trajectories/behavior-canning-food-i00-privileged--q5kxkt7.json b/phase2/behavior-1k/canning_food/trajectories/behavior-canning-food-i00-privileged--q5kxkt7.json
new file mode 100644
index 0000000000000000000000000000000000000000..b39e41851dd880db04be2d72396fa931fbcad748
--- /dev/null
+++ b/phase2/behavior-1k/canning_food/trajectories/behavior-canning-food-i00-privileged--q5kxkt7.json
@@ -0,0 +1,349 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-canning-food-i00-privileged--q5kxkt7",
+ "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": 285,
+   "sim_steps": 285,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 894.4,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 0,
+   "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": 6.936,
+   "peak_memory_gb": 12.581,
+   "peak_processes": 47,
+   "peak_disk_gb": 9.484,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-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。"
+     }
+    ]
+   },
+   "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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/canning_food/trajectories/behavior-canning-food-i00-privileged--uuv47wr.json b/phase2/behavior-1k/canning_food/trajectories/behavior-canning-food-i00-privileged--uuv47wr.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d0690e8bc2823dd9b1ae32d489fc5726c93f17e
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/canning_food/trajectories/behavior-canning-food-i00-standard--5k363mg.json b/phase2/behavior-1k/canning_food/trajectories/behavior-canning-food-i00-standard--5k363mg.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc7f618aa815e649f71bf502a8c96189ae8fa8ff
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/canning_food/trajectories/behavior-canning-food-i00-standard--myyo6vy.json b/phase2/behavior-1k/canning_food/trajectories/behavior-canning-food-i00-standard--myyo6vy.json
new file mode 100644
index 0000000000000000000000000000000000000000..29f5048ab66fb6cdf4dabc6d5995199747364d8e
--- /dev/null
+++ b/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": "观察：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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/canning_food/trajectories/behavior-canning-food-i00-standard--pvbweur.json b/phase2/behavior-1k/canning_food/trajectories/behavior-canning-food-i00-standard--pvbweur.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a7f9722a18b145a18b76a2674027737a2db7d58
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/canning_food/trajectories/behavior-canning-food-i00-standard--rzw58v4.json b/phase2/behavior-1k/canning_food/trajectories/behavior-canning-food-i00-standard--rzw58v4.json
new file mode 100644
index 0000000000000000000000000000000000000000..de35ad12da2360e58c690852ab8eb7866d8ceb64
--- /dev/null
+++ b/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为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‘步骤工作从未开始’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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/canning_food/trajectories/behavior-canning-food-i00-standard--wzsdmlu.json b/phase2/behavior-1k/canning_food/trajectories/behavior-canning-food-i00-standard--wzsdmlu.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbd589d7e5cf00159a58f033dc1f0710600be958
--- /dev/null
+++ b/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。"
+     }
+    ]
+   },
+   "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阶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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/canning_food/trajectories/behavior-canning-food-i00-standard--xcwmnef.json b/phase2/behavior-1k/canning_food/trajectories/behavior-canning-food-i00-standard--xcwmnef.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a845c1aea92e7c7d39ce5afb48168db9e594953
--- /dev/null
+++ b/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误差，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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/clean_up_your_desk/trajectories/behavior-clean-up-your-desk-i00-privileged--3wmp3vh.json b/phase2/behavior-1k/clean_up_your_desk/trajectories/behavior-clean-up-your-desk-i00-privileged--3wmp3vh.json
new file mode 100644
index 0000000000000000000000000000000000000000..427027ada06ba53f18990689404facc3ac3a1142
--- /dev/null
+++ b/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 头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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/clean_up_your_desk/trajectories/behavior-clean-up-your-desk-i00-privileged--iyohmcn.json b/phase2/behavior-1k/clean_up_your_desk/trajectories/behavior-clean-up-your-desk-i00-privileged--iyohmcn.json
new file mode 100644
index 0000000000000000000000000000000000000000..42500d2bbc81abcef3c3438d765f43814fe39aaa
--- /dev/null
+++ b/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 的交付运行反馈为 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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/clean_up_your_desk/trajectories/behavior-clean-up-your-desk-i00-privileged--rjpmwuz.json b/phase2/behavior-1k/clean_up_your_desk/trajectories/behavior-clean-up-your-desk-i00-privileged--rjpmwuz.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f2faa7c0d46e2861b052b7d22500857108f1c54
--- /dev/null
+++ b/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，调整取书位置。"
+     }
+    ]
+   },
+   "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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/clean_up_your_desk/trajectories/behavior-clean-up-your-desk-i00-standard--23wgkge.json b/phase2/behavior-1k/clean_up_your_desk/trajectories/behavior-clean-up-your-desk-i00-standard--23wgkge.json
new file mode 100644
index 0000000000000000000000000000000000000000..f05b76d8b11b0f5c1e3bf875ad7b1aae8875ac8f
--- /dev/null
+++ b/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一项物品，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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/clean_up_your_desk/trajectories/behavior-clean-up-your-desk-i00-standard--8n3qsyo.json b/phase2/behavior-1k/clean_up_your_desk/trajectories/behavior-clean-up-your-desk-i00-standard--8n3qsyo.json
new file mode 100644
index 0000000000000000000000000000000000000000..89149a413773fd85ec93f48f6655fe289866285f
--- /dev/null
+++ b/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，屏幕相对键盘明显竖起；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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/clean_up_your_desk/trajectories/behavior-clean-up-your-desk-i00-standard--beuihje.json b/phase2/behavior-1k/clean_up_your_desk/trajectories/behavior-clean-up-your-desk-i00-standard--beuihje.json
new file mode 100644
index 0000000000000000000000000000000000000000..eacec346d91eff8d913cb6874723cdbfc991dea9
--- /dev/null
+++ b/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”从未成立；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 在柜前放掉书；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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/clean_up_your_desk/trajectories/behavior-clean-up-your-desk-i00-standard--nsuzzq9.json b/phase2/behavior-1k/clean_up_your_desk/trajectories/behavior-clean-up-your-desk-i00-standard--nsuzzq9.json
new file mode 100644
index 0000000000000000000000000000000000000000..70da83290d8650dba72d6d3ea57146621b7fcca8
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/clean_up_your_desk/trajectories/behavior-clean-up-your-desk-i00-standard--px2jgpr.json b/phase2/behavior-1k/clean_up_your_desk/trajectories/behavior-clean-up-your-desk-i00-standard--px2jgpr.json
new file mode 100644
index 0000000000000000000000000000000000000000..cef7bfee336d5b65aeee01857500630088413d43
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/clean_up_your_desk/trajectories/behavior-clean-up-your-desk-i00-standard--q2f8zjb.json b/phase2/behavior-1k/clean_up_your_desk/trajectories/behavior-clean-up-your-desk-i00-standard--q2f8zjb.json
new file mode 100644
index 0000000000000000000000000000000000000000..22dc4241c7cee0f4f5df9fbef7e5563191367a78
--- /dev/null
+++ b/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": {
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+  "reward": 0.09090909090909091,
+  "source": "catalog",
+  "raw": {
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+   "live_success": 0,
+   "graded_by_live": 1,
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+   "missing_log": 0,
+   "n_actions": 11639,
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+   "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移动；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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/clean_up_your_desk/trajectories/behavior-clean-up-your-desk-i00-standard--uumkp5c.json b/phase2/behavior-1k/clean_up_your_desk/trajectories/behavior-clean-up-your-desk-i00-standard--uumkp5c.json
new file mode 100644
index 0000000000000000000000000000000000000000..25253dbd42ba71d75b044a111658bda91359a8f3
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/clean_up_your_desk/trajectories/behavior-clean-up-your-desk-i00-standard--xguchaq.json b/phase2/behavior-1k/clean_up_your_desk/trajectories/behavior-clean-up-your-desk-i00-standard--xguchaq.json
new file mode 100644
index 0000000000000000000000000000000000000000..de42c9e135e3e589b6aca3d0c1b73602044f17eb
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/cook_brussels_sprouts/trajectories/behavior-cook-brussels-sprouts-i00-privileged--pxvl7e7.json b/phase2/behavior-1k/cook_brussels_sprouts/trajectories/behavior-cook-brussels-sprouts-i00-privileged--pxvl7e7.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e02b859290d9924ff876de266bd8d4985b596e1
--- /dev/null
+++ b/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_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_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。恢复关闭约为视频 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，故不虚构失败现象与根因。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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/cook_brussels_sprouts/trajectories/behavior-cook-brussels-sprouts-i00-privileged--uek6xwe.json b/phase2/behavior-1k/cook_brussels_sprouts/trajectories/behavior-cook-brussels-sprouts-i00-privileged--uek6xwe.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f9e6ebddda9b9798e0dd8f0c65955abb60ae36b
--- /dev/null
+++ b/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个目标半颗入炉则至少增加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，冰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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/cook_brussels_sprouts/trajectories/behavior-cook-brussels-sprouts-i00-privileged--xrsuqy6.json b/phase2/behavior-1k/cook_brussels_sprouts/trajectories/behavior-cook-brussels-sprouts-i00-privileged--xrsuqy6.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4c4673a3b28e6a923fad79826b0cc1b8ed7d21e
--- /dev/null
+++ b/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颗切半（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，不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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/cook_brussels_sprouts/trajectories/behavior-cook-brussels-sprouts-i00-standard--9ggh3da.json b/phase2/behavior-1k/cook_brussels_sprouts/trajectories/behavior-cook-brussels-sprouts-i00-standard--9ggh3da.json
new file mode 100644
index 0000000000000000000000000000000000000000..74af53f80c4ad02a00af9c83b4f643a73d34e42b
--- /dev/null
+++ b/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。没有凭烤箱灯光推定熟态。"
+     }
+    ]
+   },
+   "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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/cook_brussels_sprouts/trajectories/behavior-cook-brussels-sprouts-i00-standard--9qnovw2.json b/phase2/behavior-1k/cook_brussels_sprouts/trajectories/behavior-cook-brussels-sprouts-i00-standard--9qnovw2.json
new file mode 100644
index 0000000000000000000000000000000000000000..6028eb699b3b7105d00148acfccde3aff83b1d3a
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/cook_brussels_sprouts/trajectories/behavior-cook-brussels-sprouts-i00-standard--ikadqtn.json b/phase2/behavior-1k/cook_brussels_sprouts/trajectories/behavior-cook-brussels-sprouts-i00-standard--ikadqtn.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bbf81994488642b597b6bb106a49368cab8ae1a
--- /dev/null
+++ b/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。至少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，未见菜接近热源或发生熟态外观变化。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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/cook_brussels_sprouts/trajectories/behavior-cook-brussels-sprouts-i00-standard--vzwhav7.json b/phase2/behavior-1k/cook_brussels_sprouts/trajectories/behavior-cook-brussels-sprouts-i00-standard--vzwhav7.json
new file mode 100644
index 0000000000000000000000000000000000000000..adc43a45644186ccd1ce9ca51a2438ec646536f9
--- /dev/null
+++ b/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_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_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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-privileged--hlzzwbt.json b/phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-privileged--hlzzwbt.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d40c1dafbd27b2c9effeaa09062b4ee0f81deb4
--- /dev/null
+++ b/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触。"
+     }
+    ]
+   },
+   "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": {
+   "run_json_sha256": "9e69f6d89bed559121e43641cac3c1f2f51794af2c58e097f90929c6a99934f7",
+   "video_sha256": "d72121cdad3c0b0807971e6175e595dfeb46a54fdf127a2832cead96e97934ab",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-privileged--jys5ern.json b/phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-privileged--jys5ern.json
new file mode 100644
index 0000000000000000000000000000000000000000..db8e4736652b0b0b1dc185b8befaf0f9d73fbc62
--- /dev/null
+++ b/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": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 2457,
+   "sim_steps": 2457,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1028.2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 2,
+   "agent_resets": 12,
+   "agent_sim_steps": 2457,
+   "agent_records": 1,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-laying-tile-floors-i00-privileged--jys5ern/replay.mp4",
+  "duration_s": 81.9,
+  "fps": 30.0,
+  "frames": 2457,
+  "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": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:29:42Z",
+  "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-laying-tile-floors-i00-privileged--jys5ern/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-laying-tile-floors-i00-privileged--jys5ern/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-laying-tile-floors-i00-privileged--jys5ern/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-laying-tile-floors-i00-privileged--jys5ern/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "fe1fe701ce6db6486811ea3cab5fed7b4326b29edc3a8e909384a9f9ca4f6038",
+   "video_sha256": "44b7f8f1c07b2a9a6be2f2dd13d1c955cd24e72fcaccc2e946e870814ca6d8b7",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-privileged--mvzl5ga.json b/phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-privileged--mvzl5ga.json
new file mode 100644
index 0000000000000000000000000000000000000000..b97850aa79b6a8e8555c5eb2ddf0b709a4513bfb
--- /dev/null
+++ b/phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-privileged--mvzl5ga.json
@@ -0,0 +1,337 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-laying-tile-floors-i00-privileged--mvzl5ga",
+ "taskKey": "behavior-1k/laying_tile_floors",
+ "dag_sha256": "9bf4d7ab26900c399e507d461862a0b11aed154e1aacec0f08de6cb2afc3792c",
+ "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": 7866,
+   "sim_steps": 7866,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 1.0,
+   "replay_wall_s": 2350.5,
+   "replay_timeout_s": 5133.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 3,
+   "agent_resets": 4,
+   "agent_sim_steps": 15732,
+   "agent_records": 1,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 16.787,
+   "peak_memory_gb": 15.994,
+   "peak_processes": 31,
+   "peak_disk_gb": 1.516,
+   "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 02:08:20"
+   }
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-laying-tile-floors-i00-privileged--mvzl5ga/replay.mp4",
+  "duration_s": 262.2,
+  "fps": 30.0,
+  "frames": 7866,
+  "sha256": "7ec38444a3a42360ec80466512a3c7a40d14660af6051b8d28b290abad5ad639"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "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 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放、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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-privileged--wv2ksfb.json b/phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-privileged--wv2ksfb.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0edfcd4c0b935a01bac0e6a43e513b953cad384
--- /dev/null
+++ b/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孤立砖、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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-standard--dpzmueg.json b/phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-standard--dpzmueg.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fe934378ce04a40cc20b252c12e6cdf4e148ed0
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-standard--gqgugmv.json b/phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-standard--gqgugmv.json
new file mode 100644
index 0000000000000000000000000000000000000000..edd7e04e30815936a62b902b54aaa2b9e68520c8
--- /dev/null
+++ b/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挡与识别缺口。",
+ "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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-standard--tasz4am.json b/phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-standard--tasz4am.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4c461feb347a03b76d04956c1ad62be090534e5
--- /dev/null
+++ b/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，最终不满足至少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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-standard--x43khze.json b/phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-standard--x43khze.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4187816c8469f86473c276a6e377657b903e8d3
--- /dev/null
+++ b/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确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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-standard--zfbawwq.json b/phase2/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-standard--zfbawwq.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec6885aa8e5886a199e66e110ad95ef9cea9b374
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/packing_meal_for_delivery/trajectories/behavior-packing-meal-for-delivery-i00-privileged--gt6whqg.json b/phase2/behavior-1k/packing_meal_for_delivery/trajectories/behavior-packing-meal-for-delivery-i00-privileged--gt6whqg.json
new file mode 100644
index 0000000000000000000000000000000000000000..483e1001566a44a8e458d5f785bc443e6ad52a04
--- /dev/null
+++ b/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"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/packing_meal_for_delivery/trajectories/behavior-packing-meal-for-delivery-i00-privileged--pfbwkhc.json b/phase2/behavior-1k/packing_meal_for_delivery/trajectories/behavior-packing-meal-for-delivery-i00-privileged--pfbwkhc.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd73bc33ac6c732af02f25bbe75c5c467b028c5c
--- /dev/null
+++ b/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只袋由箱顶直接承托。"
+     }
+    ]
+   },
+   "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",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-packing-meal-for-delivery-i00-privileged--pfbwkhc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-packing-meal-for-delivery-i00-privileged--pfbwkhc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "da543d94f0fbc4614f77f0950708da109416e0836ab48323c0d51b1b9dd9d5a8",
+   "video_sha256": "58386fd88288b5c212f37b1ae2ed4c4de8b45703e9d464483e6188115444544b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/packing_meal_for_delivery/trajectories/behavior-packing-meal-for-delivery-i00-privileged--uz8h4po.json b/phase2/behavior-1k/packing_meal_for_delivery/trajectories/behavior-packing-meal-for-delivery-i00-privileged--uz8h4po.json
new file mode 100644
index 0000000000000000000000000000000000000000..909bdbf1cdea09dbfa4c3c2976d86e2c408accdd
--- /dev/null
+++ b/phase2/behavior-1k/packing_meal_for_delivery/trajectories/behavior-packing-meal-for-delivery-i00-privileged--uz8h4po.json
@@ -0,0 +1,403 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-packing-meal-for-delivery-i00-privileged--uz8h4po",
+ "taskKey": "behavior-1k/packing_meal_for_delivery",
+ "dag_sha256": "4fcaf2f7983d9623e89a1c1b8bf9493a93ef2e245dcdd37262fa201c9fa6cd68",
+ "outcome": {
+  "success": 0,
+  "reward": 0.8333333333333334,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 0,
+   "n_actions": 8198,
+   "sim_steps": 8198,
+   "final_reward": 0.8333333333333334,
+   "q_score": 0.8333333333333334,
+   "replay_wall_s": 3353.2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 4,
+   "agent_resets": 6,
+   "agent_sim_steps": 26040,
+   "agent_records": 2,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-packing-meal-for-delivery-i00-privileged--uz8h4po/replay.mp4",
+  "duration_s": 273.267,
+  "fps": 30.0,
+  "frames": 8198,
+  "sha256": "8d032c9e903db873f502a87e3a050ea5693448ab0977fcaa455c8f22ffd4ec88"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "hamburgers_in_sacks_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      186.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 160,
+      "log_step": null,
+      "text_zh": "观察：视频 160.0–167.0 s，左夹爪拿起一个包装汉堡，托盘上剩两个，汉堡随夹爪离开原位。"
+     },
+     {
+      "t": 186.0,
+      "log_step": 398,
+      "text_zh": "观察：视频 185.5–186.5 s，首个汉堡翻转向下越过纸袋口并消失在袋腔中；后续取下一个汉堡，未见首个重新出袋。log step 398 记录对应延续段的 Inside=True；视频时间取自画面。"
+     },
+     {
+      "t": 273.2,
+      "log_step": null,
+      "text_zh": "推断：视频 186.0 s 的入袋过程及后续未取出的画面支持最终至少一对；评分器 q_score=5/6 与三只袋上箱、两个汉堡入袋相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左侧二指夹爪夹住第一个包装汉堡并提起、搬运；松开后汉堡仍随手移动，之后用手指接触调整，使其翻入纸袋。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：轮式底盘在搬运第一个包装汉堡时行驶、转向，并承托机器人。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 183.0–186.0 s，左夹爪接触汉堡并作向下的纠正动作，使汉堡翻入袋口。"
+     }
+    ]
+   },
+   "hamburgers_in_sacks_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      242.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 220,
+      "log_step": null,
+      "text_zh": "观察：视频 215.0–220.0 s，左夹爪夹取第二个汉堡并抬离托盘，原处只剩一个；视频 235.5–241.5 s，汉堡先留在另一袋的袋口。"
+     },
+     {
+      "t": 242.5,
+      "log_step": 427,
+      "text_zh": "观察：视频 240.0–244.0 s，左夹爪指端下压，第二个汉堡转为侧立并逐渐降到另一袋的口沿以下，随后夹爪退出，汉堡留在袋内；首次成立取视频约 242.5 s，袋沿遮挡使时刻有约半秒误差。"
+     },
+     {
+      "t": 273.2,
+      "log_step": null,
+      "text_zh": "推断：视频中的两次不同汉堡入不同袋的过程，结合最终三袋上箱及评分器 q_score=5/6，支持最终两对有效配对；同类物体按达成顺序计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左侧二指夹爪夹住第二个包装汉堡并提起、搬运；释放到袋口后，改用左夹爪的闭合指端下压。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：轮式底盘在搬运第二个包装汉堡时行驶、转向，并承托机器人。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 240.0–244.0 s，左夹爪闭合指端向下压第二个汉堡，将其从袋口推进袋内。"
+     }
+    ]
+   },
+   "hamburgers_in_sacks_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 259,
+      "log_step": null,
+      "text_zh": "观察：视频 250.0–259.0 s，机器人左夹爪夹取最后一个包装汉堡并抬离托盘；随后托盘为空，汉堡随左手向剩余纸袋移动。"
+     },
+     {
+      "t": 272.5,
+      "log_step": 440,
+      "text_zh": "观察：视频 272.4–273.2 s，左夹爪张开，最后一个汉堡仍横在袋口上方、跨靠袋沿，未落入袋腔；交付在此结束。log step 440 的对应片段末尾为 HAND None、Inside=False、sim_steps=8198；log step 488 明确只保存前8198行，因此其后的推压、滑落和重抓不属于本视频。"
+     },
+     {
+      "t": 273.2,
+      "log_step": null,
+      "text_zh": "推断：评分器最终 q_score=0.8333333333333334=5/6；三袋上箱和前两对入袋已由画面支持，故第三对最终为假，不能因其位于袋口而记为入袋。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左侧二指夹爪夹住第三个包装汉堡并提起、搬运；把汉堡搬到剩余袋口上方后张开夹爪，汉堡停在袋沿。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：轮式底盘在搬运第三个包装汉堡时行驶、转向，并承托机器人。"
+     }
+    ]
+   },
+   "sacks_on_box_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      46.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，橙色储物箱内没有纸袋，纸袋仍在台面上。"
+     },
+     {
+      "t": 46.0,
+      "log_step": 265,
+      "text_zh": "观察：视频 10.0–40.0 s，机器人左夹爪提着第一只袋随底盘移动；视频 42.0–46.5 s 将其降低到橙色箱的承托面，视频约 46.0 s 张爪后纸袋留在箱上。"
+     },
+     {
+      "t": 101,
+      "log_step": null,
+      "text_zh": "观察：视频 99.0–103.5 s，机器人重新夹起并横移第一只袋时，另一只已放好的袋仍留在箱上，至少一只袋上箱的计数没有中断。"
+     },
+     {
+      "t": 273.2,
+      "log_step": null,
+      "text_zh": "观察：视频 273.2 s，箱内三只袋仍并排立在同一承托面上，没有袋落到台面或离开箱体。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左侧二指夹爪夹住第一只纸袋的提手并提起、搬运；先放上箱，随后再次抓住提手小幅提起并移到箱面另一侧。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：轮式底盘在搬运第一只纸袋的提手时行驶、转向，并承托机器人。"
+     }
+    ]
+   },
+   "sacks_on_box_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      87.75,
+      99.5
+     ],
+     [
+      103.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 87.75,
+      "log_step": 279,
+      "text_zh": "观察：视频 87.5–88.0 s，机器人左夹爪松开第二只纸袋并撤离，腕部画面显出两只袋并排由橙色箱承托；此前第二袋随夹爪搬运。"
+     },
+     {
+      "t": 99.5,
+      "log_step": 283,
+      "text_zh": "推断：视频 99.0–103.5 s，左夹爪重新夹住第一袋提手，袋相对箱体抬起并横移后放回；log step 283 的实际调整脚本包含向上抬 0.035 m 后移位、松手，与连续检查的视频相符。这期间只剩另一袋直接受箱承托，计数暂低于二；起止约有半秒误差。"
+     },
+     {
+      "t": 103.5,
+      "log_step": 285,
+      "text_zh": "观察：视频 103.5–104.0 s，左夹爪张开并退出，调整过的袋与另一袋再次并排留在箱上；之后未再有一整只袋离开箱面。"
+     },
+     {
+      "t": 273.2,
+      "log_step": null,
+      "text_zh": "观察：视频 273.2 s，至少两只纸袋仍直接站在同一箱的承托面上。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左侧二指夹爪夹住第二只纸袋的提手并提起、搬运；放上箱后，再抓第一袋提手提起并横移，以调整两袋间距。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：轮式底盘在搬运第二只纸袋的提手时行驶、转向，并承托机器人。"
+     }
+    ]
+   },
+   "sacks_on_box_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      148.75,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 120,
+      "log_step": null,
+      "text_zh": "观察：视频 115.0–140.0 s，第三只纸袋随左夹爪离开原台面并随底盘移动，前两只袋留在箱上。"
+     },
+     {
+      "t": 148.75,
+      "log_step": 307,
+      "text_zh": "观察：视频 144.0–150.0 s，机器人把第三袋降低到箱上剩余位置；视频约 148.75 s 张爪退出后，腕部画面显示三只袋直接并排站在箱面，没有上下叠放。"
+     },
+     {
+      "t": 273.2,
+      "log_step": 440,
+      "text_zh": "观察：视频 150.0–273.2 s 的后续装汉堡过程里，袋虽受接触而平移、转动，三袋始终留在箱面；视频 273.2 s 的最后画面仍如此。log step 440 对应8198步片段末尾三只袋的 OnTop 均为True，支持最终计数三。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左侧二指夹爪夹住第三只纸袋的提手并提起、搬运；搬到箱上并降低、释放，与已放两袋并排。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：轮式底盘在搬运第三只纸袋的提手时行驶、转向，并承托机器人。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.8333333333333334,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "hamburgers_in_sacks_3",
+   "t": 272.5,
+   "log_step": 440,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 272.4–273.2 s，机器人松开最后一个汉堡后，汉堡仍横在剩余纸袋的袋口而未进入内部；此前两次入袋和三袋上箱均已完成。log step 488 只交付前8198行，故log step 441起的推压修复未包含在评分视频中。"
+  },
+  "unmet": {
+   "hamburgers_in_sacks_1": true,
+   "hamburgers_in_sacks_2": true,
+   "hamburgers_in_sacks_3": false,
+   "sacks_on_box_1": true,
+   "sacks_on_box_2": true,
+   "sacks_on_box_3": true
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 272.5,
+    "log_step": 440,
+    "evidence_zh": "观察：视频 272.4–273.2 s，机器人左夹爪已经张开，白色包装汉堡横跨袋口、停在口沿之上，释放时尚未到袋内。log step 440 对应交付末态的 Inside=False；此处是入袋位置未达成。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "source_zh": "日志 / 视频",
+    "log_step": 436,
+    "evidence_zh": "推断：log step 436 的第三次装袋脚本保持当前握持朝向，把汉堡中心目标设在袋局部横向偏移0.08 m、世界高度1.425 m的位置后直接张爪，没有先将中心引导到袋腔内；log step 440 最后一个末端目标的误差约0.000093 m，却仍记录汉堡中心高度1.282 m、Inside=False。视频 272.4–273.2 s 显示汉堡按此释放后横在袋沿，支持释放位置与接触几何不适配，而非没有解出该目标位姿；本袋的可行替代路径没有在交付中验证。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频；袋底部分受遮挡，上箱和小幅提起的边界、汉堡中心越过袋口的时刻按连续画面与对应脚本推断，约有半秒误差。最终计数由入袋过程、箱上三袋画面及评分器5/6共同确定；无法量化袋沿接触力。日志中8198步之后的修复不属于交付，未据其标注额外现象。"
+ },
+ "summary_zh": "机器人先将三只空袋搬上储物箱，调整第一袋时第二只袋上箱的计数短暂回退，随后把两个汉堡分别装入不同袋，最终达到5/6。断点为第3个汉堡入袋：视频约272.5 s释放后汉堡横停袋口，释放位置与接触几何未使其进入袋腔；评分器q_score=5/6，交付仅保留前8198个控制步。没有状态日志与成功参考视频，部分关系边界时刻由遮挡前后画面及对应脚本推断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "标签与视频和评分器 q=5/6 一致：三袋上箱、前两个汉堡入袋、第三个汉堡释放后停在袋口，断点在 hamburgers_in_sacks_3，现象为位姿不准，根因为抓取和接触设计（标为推断），未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T21:58:10Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-packing-meal-for-delivery-i00-privileged--uz8h4po/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-packing-meal-for-delivery-i00-privileged--uz8h4po/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "350c941b1b834d403f0c5fef08de901eaa0d97839e649e12d0ab29e877cbc19b",
+   "video_sha256": "8d032c9e903db873f502a87e3a050ea5693448ab0977fcaa455c8f22ffd4ec88",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/packing_meal_for_delivery/trajectories/behavior-packing-meal-for-delivery-i00-standard--cxeygxg.json b/phase2/behavior-1k/packing_meal_for_delivery/trajectories/behavior-packing-meal-for-delivery-i00-standard--cxeygxg.json
new file mode 100644
index 0000000000000000000000000000000000000000..37003a79f3ea2eb7b6c6fe8dcf800b4d7a201a03
--- /dev/null
+++ b/phase2/behavior-1k/packing_meal_for_delivery/trajectories/behavior-packing-meal-for-delivery-i00-standard--cxeygxg.json
@@ -0,0 +1,299 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-packing-meal-for-delivery-i00-standard--cxeygxg",
+ "taskKey": "behavior-1k/packing_meal_for_delivery",
+ "dag_sha256": "4fcaf2f7983d9623e89a1c1b8bf9493a93ef2e245dcdd37262fa201c9fa6cd68",
+ "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": 14866,
+   "sim_steps": 14866,
+   "physics_steps": 59464,
+   "steps": 6910,
+   "elapsed_s": 2938.4,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.423,
+   "peak_processes": 12,
+   "peak_disk_gb": 1.116,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-standard--cxeygxg/replay.mp4",
+  "duration_s": 495.533,
+  "fps": 30.0,
+  "frames": 14866,
+  "sha256": "df93df7e9fa532d0ed5f777b070d2b32cfc2331bb584bd3d4023bfd3662b244a"
+ },
+ "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": 82,
+      "log_step": null,
+      "text_zh": "观察：视频 82 s、104 s、232–262 s及288–336 s的头部或腕部画面中，三个白色包装汉堡仍在棕色托盘上；机器人伸臂及转动相机时夹爪未携带汉堡，未见汉堡进入纸袋的过程。"
+     },
+     {
+      "t": 495.48,
+      "log_step": null,
+      "text_zh": "推断：评分器字段 q_score=0.0、live_matches_replay=1；结合视频中汉堡留在托盘、没有装袋动作，且开局没有已成立的汉堡入袋关系，结束时有效汉堡—袋配对为0，故至少1对的本节点为假。视频 494.6–495.48 s末帧已转向墙面，末态数值由总分约束补足。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–495.48 s的探索过程中，机器人多次以轮式底盘支撑并移动、转向，寻找汉堡操作位置；视频 232–262 s可见汉堡仍在远端托盘，未见可确认的夹爪包夹汉堡，不标抓握。"
+     }
+    ]
+   },
+   "hamburgers_in_sacks_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 82,
+      "log_step": null,
+      "text_zh": "观察：视频 82 s、104 s、232–262 s及288–336 s的头部或腕部画面中，三个白色包装汉堡仍在棕色托盘上；机器人伸臂及转动相机时夹爪未携带汉堡，未见汉堡进入纸袋的过程。"
+     },
+     {
+      "t": 495.48,
+      "log_step": null,
+      "text_zh": "推断：评分器字段 q_score=0.0、live_matches_replay=1；结合视频中汉堡留在托盘、没有装袋动作，且开局没有已成立的汉堡入袋关系，结束时有效汉堡—袋配对为0，故至少2对的本节点为假。视频 494.6–495.48 s末帧已转向墙面，末态数值由总分约束补足。"
+     }
+    ]
+   },
+   "hamburgers_in_sacks_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 82,
+      "log_step": null,
+      "text_zh": "观察：视频 82 s、104 s、232–262 s及288–336 s的头部或腕部画面中，三个白色包装汉堡仍在棕色托盘上；机器人伸臂及转动相机时夹爪未携带汉堡，未见汉堡进入纸袋的过程。"
+     },
+     {
+      "t": 495.48,
+      "log_step": null,
+      "text_zh": "推断：评分器字段 q_score=0.0、live_matches_replay=1；结合视频中汉堡留在托盘、没有装袋动作，且开局没有已成立的汉堡入袋关系，结束时有效汉堡—袋配对为0，故至少3对的本节点为假。视频 494.6–495.48 s末帧已转向墙面，末态数值由总分约束补足。"
+     }
+    ]
+   },
+   "sacks_on_box_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 83,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s及82–83 s橙色储物箱在台面上，箱内及顶缘没有纸袋；视频 84–86 s箱体从台边翻落地面，视频 104 s、256 s、288–336 s箱体仍在地面，纸袋位于台面或另在地上，未见机器人持袋、搬袋到箱上的动作。"
+     },
+     {
+      "t": 495.48,
+      "log_step": null,
+      "text_zh": "推断：视频没有袋上箱的建立过程，开局也没有袋由箱顶承托；评分器 q_score=0.0且live_matches_replay=1，排除结束时新增的任何袋上箱目标关系，因此至少1只袋直接在箱上的本节点为假。视频 494.6–495.48 s目标物已不在相机视野内。"
+     }
+    ]
+   },
+   "sacks_on_box_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 83,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s及82–83 s橙色储物箱在台面上，箱内及顶缘没有纸袋；视频 84–86 s箱体从台边翻落地面，视频 104 s、256 s、288–336 s箱体仍在地面，纸袋位于台面或另在地上，未见机器人持袋、搬袋到箱上的动作。"
+     },
+     {
+      "t": 495.48,
+      "log_step": null,
+      "text_zh": "推断：视频没有袋上箱的建立过程，开局也没有袋由箱顶承托；评分器 q_score=0.0且live_matches_replay=1，排除结束时新增的任何袋上箱目标关系，因此至少2只袋直接在箱上的本节点为假。视频 494.6–495.48 s目标物已不在相机视野内。"
+     }
+    ]
+   },
+   "sacks_on_box_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 83,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s及82–83 s橙色储物箱在台面上，箱内及顶缘没有纸袋；视频 84–86 s箱体从台边翻落地面，视频 104 s、256 s、288–336 s箱体仍在地面，纸袋位于台面或另在地上，未见机器人持袋、搬袋到箱上的动作。"
+     },
+     {
+      "t": 495.48,
+      "log_step": null,
+      "text_zh": "推断：视频没有袋上箱的建立过程，开局也没有袋由箱顶承托；评分器 q_score=0.0且live_matches_replay=1，排除结束时新增的任何袋上箱目标关系，因此至少3只袋直接在箱上的本节点为假。视频 494.6–495.48 s目标物已不在相机视野内。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "hamburgers_in_sacks_1",
+   "t": 232.0,
+   "log_step": null,
+   "where": "探索",
+   "evidence_zh": "观察：视频 130、140、150、158 s的腕部画面主要是机器人自身收起的手臂、地面及架子，不能支持原先的伸臂取物描述；视频 200 s腕部视野已转向台面，视频 232–262 s可见机器人在台面附近观察，三个包装汉堡仍在远端托盘，未见夹爪携物或把汉堡送入纸袋。推断：机器人持续寻找第1个汉堡的操作位置而未进入实际取物装袋，断点仍为第1个汉堡入袋、位置为探索；视频 232 s仅作已核查的探索片段导航锚点，不与某个log step强行配对。观察：视频 484–495.48 s机器人最终倾倒；log step 285报EpisodeOver，log step 287服务状态done=true、control_steps=14866、reason=failure: the robot fell over，此时装袋仍未完成。"
+  },
+  "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": "其他",
+    "item": "目标搜索失败",
+    "t": 232.0,
+    "log_step": null,
+    "note_zh": "DECISIONS.md D25(d) / CASES.md OPEN-18的当前处理为其他加候选名。机器人一直定位、探查场景，没有可确认的汉堡抓取或放置尝试；既不能把观察位姿直接标成抓取位姿不准，也不能把已开始的机器人探索标成首步前的没尝试。",
+    "evidence_zh": "观察：视频 232、245、256、260、262 s汉堡留在远端托盘，机器人在近处空台面周围观察，未见夹爪携带汉堡；视频 288、300、336 s仍可见托盘上的三个包装汉堡。视频 420、440、460 s机器人继续改变观察方向，未见取物装袋。推断：第1个汉堡入袋所需的目标定位和接近没有收敛，持续搜索而未提交取物，不能据此断言一次抓取动作的末端位姿误差。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 175的像素反投影脚本将所选区域标为tray，输出中心(-9.504,-1.078,0.879)，其p10/p90范围同时跨过台面与背景；log step 193、214的在线脚本随后把(-9.50,-1.08)附近作为伸臂观察目标，并保持夹爪打开。log step 256的服务本体反馈显示命令目标(-9.50,-1.08,1.15)与实际TCP(-9.5,-1.08,1.149)接近，log step 269、277也读到末端到达所命令的扫描位置。视频 232–262 s实际托盘和汉堡仍在远端，视频 420、440、460 s机器人继续观察空台面及架子。推断：这些脚本将未可靠识别的区域作为托盘候选，后续探查仍未定位到汉堡；目标估计错误解释了持续搜索而没有进入装袋。这里的log step只作为动作与反馈证据，不把agent工作时间换算为视频时间，也不把这些log step逐一对应上述视频帧。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频；三个相机在部分探索阶段及视频末秒看不到全部目标物，无法恢复精确接触对与逐帧inside/ontop真值。六节点结束值仍由可见的未搬运过程与评分器q_score=0.0共同确定。原先视频 130 s与log step 193的配对不成立，修订后断点使用视频 232 s帧并令log_step=null，不推定首次伸臂的准确时刻。对于搜索未收敛应归位姿不准还是没尝试的分歧，遵循DECISIONS.md D25(d) / CASES.md OPEN-18的Now：其他加候选名，保留为目标搜索失败，不将检视动作当作抓取失败。观察：视频 83 s橙色储物箱在台边，视频 84–86 s翻落地面，视频 87–88 s及之后视频 256、288、300、336 s可见时均在地面；未见清楚的致因接触帧，不能确认由机器人哪个部位造成，也不标已证实的碰撞。末段摔倒作为服务终止事件记在断点证据中，不能由该事件反推前面搜索失败的控制根因。"
+ },
+ "summary_zh": "机器人反复移动、扫视和探查台面，未见汉堡入袋或纸袋上箱，最终为0/6；断点是第1个汉堡入袋的探索阶段，候选现象为目标搜索失败，日志中的托盘候选估计与后续空处探查支持感知根因。箱体在视频 84–86 s翻落地面，致因接触不明；末段服务以摔倒结束，终止事件不另列现象或控制根因。无状态日志，末态目标被遮挡，六节点为假由视频过程与q_score=0.0共同约束，搜索现象按D25(d)的当前处理归其他。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "六节点全假与 q_score=0 一致，节点值无异议；问题在 WHERE/WHY：断点 t=130 s / log_step 193 与证据把「agent 的后期伸臂探测」放到视频 128–158 s，用服务 control_steps 映射核对后对不上，该时段手臂在收起位姿；位姿不准的证据时间错误；摔倒是评分器结束事件，被单独标成 平衡 现象和 控制 根因，违反 S14/S15。",
+    "n_issues": 4,
+    "n_major": 3
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "六节点全假与q_score=0、视频一致；断点（第1个汉堡入袋，探索，log_step=null）已按上轮意见修正，摔倒终止仅写入断点证据，现象按D25(d)为其他+目标搜索失败，感知根因标为推断，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": "2026-10-30T22:30:11Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-packing-meal-for-delivery-i00-standard--cxeygxg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-packing-meal-for-delivery-i00-standard--cxeygxg/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-packing-meal-for-delivery-i00-standard--cxeygxg/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-packing-meal-for-delivery-i00-standard--cxeygxg/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "01bfb633191966934abbe7fc8701a46c65686bcfa8ebbe785a26a4b078d5d90b",
+   "video_sha256": "df93df7e9fa532d0ed5f777b070d2b32cfc2331bb584bd3d4023bfd3662b244a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/packing_meal_for_delivery/trajectories/behavior-packing-meal-for-delivery-i00-standard--muyrnnz.json b/phase2/behavior-1k/packing_meal_for_delivery/trajectories/behavior-packing-meal-for-delivery-i00-standard--muyrnnz.json
new file mode 100644
index 0000000000000000000000000000000000000000..c19de862d1810650fa8b8d52a930a04b7727de5a
--- /dev/null
+++ b/phase2/behavior-1k/packing_meal_for_delivery/trajectories/behavior-packing-meal-for-delivery-i00-standard--muyrnnz.json
@@ -0,0 +1,378 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-packing-meal-for-delivery-i00-standard--muyrnnz",
+ "taskKey": "behavior-1k/packing_meal_for_delivery",
+ "dag_sha256": "4fcaf2f7983d9623e89a1c1b8bf9493a93ef2e245dcdd37262fa201c9fa6cd68",
+ "outcome": {
+  "success": 0,
+  "reward": 0.16666666666666666,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 19959,
+   "sim_steps": 19959,
+   "physics_steps": 79836,
+   "steps": 10269,
+   "elapsed_s": 11443.2,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "q_score": 0.16666666666666666,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 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-standard--muyrnnz/replay.mp4",
+  "duration_s": 665.3,
+  "fps": 30.0,
+  "frames": 19959,
+  "sha256": "3f3d90eb7d9ac200f45a84fe092cec72a380d088f7d69dd8915135dc75eeb832"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "hamburgers_in_sacks_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–20 s，三个白色圆形包装汉堡均在棕色托盘上，纸袋在旁边，尚无入袋配对。"
+     },
+     {
+      "t": 520,
+      "log_step": 405,
+      "text_zh": "观察：视频 505–525 s，机器人右夹爪持袋、左夹爪夹起一个包装汉堡，将汉堡送向袋口；汉堡仍突出在袋沿外，随后左爪张开，未见其进入袋内。"
+     },
+     {
+      "t": 618,
+      "log_step": 449,
+      "text_zh": "观察：视频 609–618 s，左爪松开后，白色包装汉堡横跨地面箱内那只袋的袋口；视频 618–635 s，机器人左爪向下压，汉堡仍留在袋沿高度。"
+     },
+     {
+      "t": 665.13,
+      "log_step": null,
+      "text_zh": "推断：视频 664.3–665.13 s，箱内仍有一只袋，白色汉堡露在袋口上方；其余汉堡此前留在台面托盘。评分器 q_score=1/6、live_matches_replay=1，且已有一只袋被箱体直接承托，故末态没有额外的汉堡入袋目标成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 505–525 s，右二指夹爪夹持纸袋，左二指夹爪夹持包装汉堡并向袋口送入；两臂各夹一件物体配合装袋。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 618–635 s，左夹爪以指端下压停在袋口的包装汉堡，未夹住它。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 590–608 s，轮式底盘在左爪持汉堡、右爪持另一纸袋时转向并驶向地面的储物箱。"
+     }
+    ]
+   },
+   "hamburgers_in_sacks_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 525,
+      "log_step": null,
+      "text_zh": "观察：视频 500–525 s，机器人仅围绕一个汉堡和一只持握纸袋尝试装袋；视频 590–635 s，后续尝试仍未把汉堡送到另一有效袋内，未形成2组互不重复的汉堡—袋配对。"
+     },
+     {
+      "t": 665.13,
+      "log_step": null,
+      "text_zh": "推断：视频 664.3–665.13 s，仅一只袋由箱体承托且汉堡仍露在袋口；评分器 q_score=1/6 已由该袋的箱上关系占用，排除末态至少2个汉堡分别入袋。未将同一入袋步骤的重试算成新的计数。"
+     }
+    ]
+   },
+   "hamburgers_in_sacks_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 525,
+      "log_step": null,
+      "text_zh": "观察：视频 500–525 s，机器人仅围绕一个汉堡和一只持握纸袋尝试装袋；视频 590–635 s，后续尝试仍未把汉堡送到另一有效袋内，未形成3组互不重复的汉堡—袋配对。"
+     },
+     {
+      "t": 665.13,
+      "log_step": null,
+      "text_zh": "推断：视频 664.3–665.13 s，仅一只袋由箱体承托且汉堡仍露在袋口；评分器 q_score=1/6 已由该袋的箱上关系占用，排除末态至少3个汉堡分别入袋。未将同一入袋步骤的重试算成新的计数。"
+     }
+    ]
+   },
+   "sacks_on_box_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      126.0,
+      136.0
+     ],
+     [
+      539.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–20 s，橙色储物箱在台面上，纸袋在箱旁，没有纸袋由箱体承托。"
+     },
+     {
+      "t": 126,
+      "log_step": 125,
+      "text_zh": "观察：视频 123–131 s，机器人右夹爪逐渐降低一只纸袋，约视频 126 s 袋底落到橙色箱体的水平承托面；视频 131–134 s，右爪离开后该袋仍立在箱中。首次接触时刻约有1秒误差。"
+     },
+     {
+      "t": 136,
+      "log_step": 126,
+      "text_zh": "观察：视频 134–138.5 s，机器人右爪接触箱沿，箱体移向台边并翻转，原来直立的袋向箱外倾倒；视频 147–193 s，箱体翻落地面，袋摊在箱旁，未保持原承托关系。"
+     },
+     {
+      "t": 539.5,
+      "log_step": 414,
+      "text_zh": "观察：视频 537–541.5 s，机器人右爪在地面橙色箱上方放开此前捡起的纸袋；袋经过翻转下落，约视频 539.5 s 接触箱体并在视频 540.2 s 立住，随后右爪离开。按箱体直接承托的 ontop 关系计数，不因袋处于敞口箱内而漏计。"
+     },
+     {
+      "t": 665.13,
+      "log_step": null,
+      "text_zh": "观察：视频 550–635 s 以及视频 664.3–665.13 s，至少一只纸袋一直留在橙色箱体内并由箱体承托；末态该关系与评分器 q_score=1/6 一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 90–131 s，右二指夹爪夹住纸袋袋沿搬运、下放；视频 410–490 s，右爪又从地面夹起纸袋并调整握持，最终在视频 538–540 s 于箱上松开。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 134–138 s，右爪碰推橙色箱沿，箱体移出台面并翻落；视频 155–193 s，右爪继续接触箱沿调整箱体。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 95–122 s 与视频 529–537 s，轮式底盘在右爪持袋时移动、转向，将纸袋运向储物箱。"
+     }
+    ]
+   },
+   "sacks_on_box_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 260,
+      "log_step": 195,
+      "text_zh": "观察：视频 235–284 s，机器人右爪搬运另一只纸袋并多次向地面箱体下放，袋仍被夹在箱上方，随后又被提回台面；原先的袋此时摊在箱旁，没有两只袋同时由箱体直接承托。"
+     },
+     {
+      "t": 653.3,
+      "log_step": 471,
+      "text_zh": "观察：视频 637–653.3 s，右爪再次降低该纸袋，松开后纸袋向箱外翻倒；视频 654–665.13 s，腕部视角可见这只袋横在箱旁，另有一只袋留在箱中。"
+     },
+     {
+      "t": 665.13,
+      "log_step": null,
+      "text_zh": "推断：初态无箱上目标关系；末态视频可确认的一只袋箱上关系已占评分器 q_score=1/6 的全部一个满足字面量，因此末态至少两只袋上箱为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 235–331 s，右二指夹爪夹持另一纸袋的薄袋沿，反复搬向箱体又搬回台面；视频 560–653 s，再次夹住其袋沿搬运、下放并松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 240–255 s、视频 285–319 s 与视频 573–590 s，轮式底盘在右爪持该袋时移动、转向。"
+     }
+    ]
+   },
+   "sacks_on_box_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–20 s，三只袋均在箱旁，第三只袋上箱关系初始不成立。"
+     },
+     {
+      "t": 665.13,
+      "log_step": null,
+      "text_zh": "推断：视频全程粗查及各次放置密查未见三只袋同时被同一箱体直接承托；视频 550–665.13 s，仅一只袋在箱中，另一只最终横落箱旁，台面仍留有纸袋。评分器 q_score=1/6 也排除末态三只袋上箱；未见为达到第三只计数而实施的搬放。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.16666666666666666,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "sacks_on_box_2",
+   "t": 260.0,
+   "log_step": 195,
+   "where": "操作中",
+   "evidence_zh": "推断：视频 235–284 s，机器人已开始搬放另一只纸袋，但下放时袋持续悬在箱上方，最后搬回台面；这只袋的后续重试在视频 653 s 左右松开后又倒向箱外，始终未达到两只袋同时由箱体直接承托。首只袋在视频 136 s 的失去已于视频 539.5 s 恢复，因此首个始终未修复的计数步骤为第2只袋上箱；之后的汉堡入袋失败发生更晚。"
+  },
+  "unmet": {
+   "hamburgers_in_sacks_1": false,
+   "hamburgers_in_sacks_2": false,
+   "hamburgers_in_sacks_3": false,
+   "sacks_on_box_1": true,
+   "sacks_on_box_2": false,
+   "sacks_on_box_3": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 260.0,
+    "log_step": 195,
+    "evidence_zh": "观察：视频 259–284 s，机器人右爪持袋反复降低，袋底仍未到箱体承托面，随后将袋提走；log step 195 的下放目标末端高度为0.365米，脚本根据机器人反馈计算的高度误差为+0.219米，log step 197 读到实际高度0.584米。视频 653 s 左右的最终重试也在纸袋尚未稳落目标承托面时松开，纸袋落向箱外。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 260.0,
+    "log_step": 205,
+    "evidence_zh": "推断：log step 195、197 已给出明确的低位下放目标，但反馈末端比目标高0.165–0.219米；log step 205 从服务本体反馈读取躯干关节力矩为100.0、98.27、-100.0，log step 215 换一组下放姿态后仍出现多个100量级输出。结合视频 259–284 s 持袋停在箱上方、随后抬回台面的动作，支持负载下的下放控制未实现目标位姿；不能仅从这些记录区分握持布局、姿态选择与反馈跟踪各自的责任，保留到控制层。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "本目录没有状态日志，也没有成功参考视频。袋底与箱体的首次、短暂接触常被袋身或手臂遮挡，箱上区间边界约有1秒误差；第二只袋最终落下的局部过程只有腕部视角，末态使用可见布局与评分器总分联合判定。控制失败有位姿误差和本体反馈支持，但缺少足以验证替代握持/姿态方案的对照，故根因不细分。全部时刻取自视频抽帧，未用agent工作时间换算视频时间。"
+ },
+ "summary_zh": "机器人最终完成第1只袋上箱，六个目标节点末态为1/6，未完成任何汉堡入袋配对；首只袋曾随箱翻落，后在视频 539.5 s 左右恢复箱体承托。较早开始的第2只袋上箱在视频 260 s 左右下放不到位，后续重试仍未修复，日志的明显位姿误差及躯干力矩输出支持控制失败；后来的装袋尝试使汉堡停在袋口。没有状态日志，瞬时接触和区间边界存在约1秒的视觉判断误差，末态由视频与q_score=1/6联合确定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "WHERE 标签大体可信（首袋视频 126 s 入箱、136 s 箱翻落、539.5 s 再入箱，第2袋 260 s 起下放失败）。但末态 q_score=1/6 究竟对应“袋上箱”还是“汉堡入袋”，标注者仅凭推断就排除了后者，证据不足。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "复核视频 250–284 s（第2只袋悬在地面箱上方后提回）与 540、664.8 s（一只袋在箱内、另一只在箱旁）：节点区间、末态 1/6、断点 sacks_on_box_2 及位姿不准/控制判断与证据一致。第1轮提出的 inside/ontop 歧义已被标注者用证据回应，我没有新证据推翻。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:30:04Z",
+  "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-packing-meal-for-delivery-i00-standard--muyrnnz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-packing-meal-for-delivery-i00-standard--muyrnnz/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-packing-meal-for-delivery-i00-standard--muyrnnz/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-packing-meal-for-delivery-i00-standard--muyrnnz/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9e4854867433feaf0a02196dbbf41e2e00d8a650a681befc5fccc58d1a41a3af",
+   "video_sha256": "3f3d90eb7d9ac200f45a84fe092cec72a380d088f7d69dd8915135dc75eeb832",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/packing_meal_for_delivery/trajectories/behavior-packing-meal-for-delivery-i00-standard--wdq2adx.json b/phase2/behavior-1k/packing_meal_for_delivery/trajectories/behavior-packing-meal-for-delivery-i00-standard--wdq2adx.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f68a4c79411b76a09c6e0f292e401e30ef1bec0
--- /dev/null
+++ b/phase2/behavior-1k/packing_meal_for_delivery/trajectories/behavior-packing-meal-for-delivery-i00-standard--wdq2adx.json
@@ -0,0 +1,339 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-packing-meal-for-delivery-i00-standard--wdq2adx",
+ "taskKey": "behavior-1k/packing_meal_for_delivery",
+ "dag_sha256": "4fcaf2f7983d9623e89a1c1b8bf9493a93ef2e245dcdd37262fa201c9fa6cd68",
+ "outcome": {
+  "success": 0,
+  "reward": 0.16666666666666666,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "n_actions": 20213,
+   "sim_steps": 20213,
+   "physics_steps": 80852,
+   "steps": 19922,
+   "elapsed_s": 14032.2,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "q_score": 0.16666666666666666,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-packing-meal-for-delivery-i00-standard--wdq2adx/replay.mp4",
+  "duration_s": 673.767,
+  "fps": 30.0,
+  "frames": 20213,
+  "sha256": "c064515c0759334197c4a6787378a0a1bc1053e94871ecac9180ffedf492ced7"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 2,
+  "final": 1,
+  "nodes": {
+   "hamburgers_in_sacks_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      313.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–15 s，三个包装汉堡均在托盘上，三只纸袋在台面，开局没有入袋配对。"
+     },
+     {
+      "t": 313.5,
+      "log_step": 435,
+      "text_zh": "观察：视频 313.0–313.75 s，机器人右夹爪在箱上纸袋开口上方松开汉堡，包装物从腕部视野消失，纸袋随即翻出箱；视频 325、340、351 s 可见两只纸袋躺在地面，机器人随后取走较近的一只，较远的一只留在原处。袋壁遮住了落点，不能仅凭这次松手直接确认袋内关系。"
+     },
+     {
+      "t": 673.5,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=1/6，live_matches_replay=1；视频 658–673.5 s 储物箱为空，最后一只袋落在箱外侧，另外两袋留在地面，因而终态没有袋上箱的目标字面量，唯一满足的字面量只能是一组汉堡入袋。结合视频 313.5 s 的投放及此后远处袋未再被操作，将这组配对的起点估为视频 313.5 s；这是总分与物体去向的联合推断，非直接看见袋内。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频 13–35 s、213–242 s、303–313.5 s，机器人右二指夹爪实际夹持包装汉堡，搬向纸袋并松手；最后一次投放对应推定保留的第一组配对。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 23–31 s，轮式底盘在右手持汉堡时移动，调整到纸袋旁的操作位置。"
+     }
+    ]
+   },
+   "hamburgers_in_sacks_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 465,
+      "log_step": 658,
+      "text_zh": "观察：视频 449–465 s，机器人左夹爪持袋、右夹爪持最后一个托盘汉堡，右手在袋上方松开；视频 485–493 s 的腕部近景显示袋内为空，包装汉堡仍在台面。"
+     },
+     {
+      "t": 515,
+      "log_step": 692,
+      "text_zh": "观察：视频 506–515 s，机器人再次持汉堡接近箱内纸袋；随后纸袋倾倒，汉堡出现在箱底、袋外。视频 637–647 s 的又一次双手装袋尝试后，白色包装汉堡落在地板上。"
+     },
+     {
+      "t": 673.5,
+      "log_step": null,
+      "text_zh": "推断：视频 672.8–673.5 s 最近的汉堡仍在地板上、纸袋在箱侧；评分器 q_score=1/6 只允许一组有效配对，不可能有第二组终态入袋配对。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "视频 449–465 s 左二指夹爪夹住纸袋、右二指夹爪夹持汉堡配合投放；视频 619–647 s 改为左爪持汉堡、右爪持袋，再次配合装袋。中间也有单爪从台面和箱底取汉堡、送向受箱承托纸袋的尝试。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人为重新拾取和装入第二个有效配对的汉堡，多次驾驶底盘调整方位；视频 486–505 s 及 577–598 s 可见移动和转向。"
+     }
+    ]
+   },
+   "hamburgers_in_sacks_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 673.5,
+      "log_step": null,
+      "text_zh": "推断：已检查的投放与后续物体去向没有形成三组互不重复的汉堡—纸袋配对，评分器终态 q_score=1/6 也排除第三组配对；机器人直到视频结束仍在重试第二组配对，没有开始在已有两组配对基础上装第三袋。"
+     }
+    ]
+   },
+   "sacks_on_box_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      164,
+      313.5
+     ],
+     [
+      480,
+      621.5
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 164,
+      "log_step": null,
+      "text_zh": "观察：视频 162–165 s，机器人右夹爪把从地面取回的纸袋降入台面上的橙色储物箱，袋底到达箱底并由箱直接承托；视频 168–171 s 撤手后仍在箱上。"
+     },
+     {
+      "t": 205.5,
+      "log_step": 286,
+      "text_zh": "观察：视频 199–206.5 s，机器人左夹爪将另一只纸袋移向箱内，先前的袋被带出箱并落向地面，新袋随后由箱承托。两只袋在视野中相互遮挡，不能确认同时直接由箱承托；至少一袋上箱的区间按前后承托衔接保留。"
+     },
+     {
+      "t": 289,
+      "log_step": null,
+      "text_zh": "观察：视频 219–295 s，纸袋多次倾倒、被抓住把手并转正，袋的下部始终位于箱底或箱沿附近，未见明确整体离箱的间隔，因此没有仅凭手部抓放把本区间切断。"
+     },
+     {
+      "t": 313.5,
+      "log_step": null,
+      "text_zh": "观察：视频 313.25–314 s，汉堡投放后纸袋翻出箱，视频 314–321 s 箱内为空，本步丢失。"
+     },
+     {
+      "t": 485,
+      "log_step": 648,
+      "text_zh": "推断：视频 470–478 s 机器人左手持袋向地面储物箱下降，视频 485 s 再次看见袋在箱内，视频 493 s 近景可见袋口和箱底；首次重新承托估为视频 480 s，因袋底暂出画面，误差约数秒。"
+     },
+     {
+      "t": 621.5,
+      "log_step": 832,
+      "text_zh": "观察：视频 598–620 s 袋仍位于箱内；视频 621–623 s 机器人右手把袋转到箱外，袋下部离开箱的承托区域。视频 649–653 s 仍持袋，视频 658–662 s 松手后袋落在箱外侧的地面，视频 672.8–673.5 s 箱内仍空，未恢复本步。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人先用右二指夹爪夹住纸袋把手搬到箱上，随后也用左二指夹爪夹住另一袋的纸边，以及夹持把手回收、转正纸袋；视频 123–165 s、193–206 s、343–480 s 可见纸袋随夹爪离开原支撑并被搬运。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 130–155 s 机器人持袋驾驶底盘返回箱旁；后续回收地面纸袋及储物箱时也驾驶底盘调整操作位置。"
+     }
+    ]
+   },
+   "sacks_on_box_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 205.5,
+      "log_step": 286,
+      "text_zh": "观察：视频 193–206.5 s，机器人左夹爪夹持第二只纸袋，从台面搬向已有一袋的储物箱。视频 200–205.5 s 持袋与原袋位置重叠，原袋随操作翻出箱；视频 206.5–213 s 箱上只剩新袋，没有可确认的两袋同时直接由箱承托状态。"
+     },
+     {
+      "t": 673.5,
+      "log_step": null,
+      "text_zh": "观察：视频 325、340 s 两只袋在地面，机器人回收其中一只后另只仍留在地面；后续箱内一直至多一袋，视频 658–673.5 s 连最后搬运的袋也在箱外侧。因此终态不足两袋上箱。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频 193–206.5 s 左二指夹爪夹住第二只纸袋的上部纸边，将袋从台面搬向已有一袋的箱内；所持袋在接近和下降时挤动原袋。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人为搬第二袋而调整底盘位置，视频 197–204 s 可见携袋向箱移动、转向和对位。"
+     }
+    ]
+   },
+   "sacks_on_box_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 673.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 三只袋均在台面，视频 35–36 s 两袋被带出台面；机器人后来仅回收其中一只并搬动原本留在台面的一只，远侧第三只袋未被搬回储物箱。全段未见三袋同时直接由箱承托，视频 672.8–673.5 s 储物箱为空。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.16666666666666666,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "sacks_on_box_2",
+   "t": 205.5,
+   "log_step": 283,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 199–206.5 s，机器人左手把第二只纸袋搬向已有一袋的储物箱，持袋与原袋占据的空间重叠，原袋翻出箱；视频 206.5–213 s 只剩新袋在箱上。log step 280–285 是 agent 脚本下发第二袋的移近、分段下降及松手命令，log step 286 的 agent 自述也承认先前袋已落地；此后从未形成可确认的两袋同时上箱。更早的首个汉堡装袋失败后来由一组终态配对修复，故选这次第二袋放置失败为首个未修复步骤。"
+  },
+  "unmet": {
+   "hamburgers_in_sacks_1": true,
+   "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": "运动",
+    "item": "被挡/碰撞",
+    "t": 205.5,
+    "log_step": 283,
+    "evidence_zh": "观察：视频 200–206.5 s，机器人持第二只纸袋向箱内移近并下降，原袋在其旁边倾斜、被挤出箱，落向左侧地面，新袋随后留在箱内。操作碰动了已经放好的纸袋，使两袋无法同时保持箱上关系。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 205.5,
+    "log_step": 280,
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频 199–206.5 s 显示机器人夹持的第二只宽纸袋与原袋的占位重叠，移近和降低时把原袋推出箱，而非在两袋之间保留运动间隙。log step 280、283 的脚本按固定左末端位置先移近、再下降松手，期间所持袋持续遮住原袋；这支持放置时的物体接触与空间布局不适配。没有验证可同时容纳并完成三袋放置的替代接触方案。"
+   }
+  ],
+  "gap_zh": "无状态日志和成功参考视频。视频 313.5 s 投放后袋壁遮挡汉堡，第一组入袋的终态真值来自评分器总分与末段箱内为空的联合推断，首次达成时间和此后连续保持依赖物体去向，不能直接看见袋内；视频 205 s 附近两袋底部相互遮挡，不能排除不足约半秒的同时承托；视频 478–485 s 回放袋底出画，第二段上箱起点误差约数秒。纸袋在箱沿附近转正时部分接触点不可见，未把仅有抓放或倾斜的画面当成离箱；没有接触对或力数据，根因仅支持所见的放置空间与接触布局问题。"
+ },
+ "summary_zh": "本次终态为1/6：末段储物箱为空，结合评分器q_score=1/6推得保留了一组汉堡入袋；这组配对最可能来自视频313.5 s的投放，随后该袋翻落并留在地面。机器人曾将纸袋放到箱上，但在视频约205.5 s放第二袋时挤落原袋，第二袋上箱这一计数从未修复，后续也反复发生投放偏离和袋落在箱侧。无状态日志或成功参考视频，袋内关系及部分袋底承托时刻依赖总分和前后画面推断。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "抽查视频 20–36、215–243、305–316 s 帧及 log step 280–292，未发现足以改变节点值、断点或根因的错误；第一组汉堡入袋依评分器 q=1/6 与末态推断，已标为推断，处理合理。",
+    "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": "2026-10-30T22:03:38Z",
+  "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-packing-meal-for-delivery-i00-standard--wdq2adx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-packing-meal-for-delivery-i00-standard--wdq2adx/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "284f6d830f393b0dfacd5899310e1ee7706b050033b7c2f85c33836f0fccffa2",
+   "video_sha256": "c064515c0759334197c4a6787378a0a1bc1053e94871ecac9180ffedf492ced7",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/packing_meal_for_delivery/trajectories/behavior-packing-meal-for-delivery-i00-standard--wjqfmgc.json b/phase2/behavior-1k/packing_meal_for_delivery/trajectories/behavior-packing-meal-for-delivery-i00-standard--wjqfmgc.json
new file mode 100644
index 0000000000000000000000000000000000000000..11a9d775b12e3cac5750058bc95a0391215637fb
--- /dev/null
+++ b/phase2/behavior-1k/packing_meal_for_delivery/trajectories/behavior-packing-meal-for-delivery-i00-standard--wjqfmgc.json
@@ -0,0 +1,301 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-packing-meal-for-delivery-i00-standard--wjqfmgc",
+ "taskKey": "behavior-1k/packing_meal_for_delivery",
+ "dag_sha256": "4fcaf2f7983d9623e89a1c1b8bf9493a93ef2e245dcdd37262fa201c9fa6cd68",
+ "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": 53458,
+   "sim_steps": 53458,
+   "physics_steps": 213832,
+   "steps": 48178,
+   "elapsed_s": 13458.3,
+   "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-packing-meal-for-delivery-i00-standard--wjqfmgc/replay.mp4",
+  "duration_s": 1781.933,
+  "fps": 30.0,
+  "frames": 53458,
+  "sha256": "e14b7cbb3fe7bbf41bd6f888360310bc9ef2efb638089cfe11fe3538dec11d8c"
+ },
+ "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": 217.5,
+      "log_step": 162,
+      "text_zh": "观察：视频约217.5 s，机器人右夹爪夹持白色包装汉堡，汉堡随夹爪离开托盘，托盘上留下另外两个汉堡；拿起本身尚不满足入袋。"
+     },
+     {
+      "t": 228.3,
+      "log_step": 183,
+      "text_zh": "观察：视频227.5–228.1 s，右腕相机仍近距离看到夹持的汉堡；视频约228.3 s汉堡离开张开的右夹爪，释放点在纸袋外、台面近侧，未见汉堡进入袋口。log step 183的实际输出也显示袋口悬停及下降失败后仍松爪。"
+     },
+     {
+      "t": 1356.5,
+      "log_step": 355,
+      "text_zh": "观察：视频1348–1356 s右腕相机可见另一轮搬运中的汉堡仍在夹爪前；视频约1356.5 s松爪后，汉堡落在纸袋旁的金属台面上，未落入袋内。"
+     },
+     {
+      "t": 1781.8,
+      "log_step": 408,
+      "text_zh": "推断：评分器reward.q_score=0.0、live_matches_replay=1，初态六个目标关系均未成立，因此最终连一对汉堡—纸袋关系也未成立；视频1781.8 s末帧未显示任何补救装袋动作。agent在log step 343、356的入袋自述不能替代此终值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约217.5 s等片段，机器人右侧二指夹爪合拢夹持包装汉堡并搬运；左夹爪未共同夹持。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约220–227 s及后续回收过程中，轮式底盘移动、转向以调整汉堡与纸袋间的操作位置，右夹爪曾持物随车移动。"
+     }
+    ]
+   },
+   "hamburgers_in_sacks_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1207.5,
+      "log_step": 352,
+      "text_zh": "观察：视频约1207.5 s及随后片段，右腕画面中的包装汉堡随右夹爪抬升，原托盘在后续头部视图中已空；机器人继续朝另一纸袋方向搬运。此处记录后续装袋尝试，不采信agent所称此前已成功装入第一袋。"
+     },
+     {
+      "t": 1356.5,
+      "log_step": 355,
+      "text_zh": "观察：视频约1356.5–1360 s，机器人右夹爪释放后，汉堡可见于袋外金属台面；未观察到两只不同袋各容纳一个汉堡。"
+     },
+     {
+      "t": 1781.8,
+      "log_step": 408,
+      "text_zh": "推断：评分器q_score=0.0且在线与回放一致，六个初态均为假的目标关系在终态均未获满足，故至少两对不同汉堡—纸袋关系的终值为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约1207.5–1356 s，机器人右二指夹爪夹住托盘汉堡并搬至另一袋旁后张开；本条按后续装袋尝试归属，不代表先前入袋已完成。"
+     }
+    ]
+   },
+   "hamburgers_in_sacks_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1642.5,
+      "log_step": 386,
+      "text_zh": "观察：视频后段约1597.5–1777.5 s，机器人沿台面调整位置，右臂多次下探、合爪再抬起，没有可见的第三个汉堡随爪搬向纸袋；log step 375、386、398、401的探抓输出均报告空夹。"
+     },
+     {
+      "t": 1781.8,
+      "log_step": 408,
+      "text_zh": "推断：最终评分器q_score=0.0、live_matches_replay=1，加上视频未见第三次有效入袋，至少三对不同汉堡—纸袋关系的终值为假；不能用agent声称前两次成功来补计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：机器人右夹爪在视频后段搜索、下探多个候选位置，但腕部画面反光且未见第三个汉堡被夹起；不能确认指尖是否碰到了目标汉堡。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约1380–1642.5 s，机器人轮式底盘沿岛台移动、转向，寻找并靠近第三个汉堡的候选位置。"
+     }
+    ]
+   },
+   "sacks_on_box_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 262.5,
+      "log_step": 182,
+      "text_zh": "观察：视频约262.5 s，纸袋直立在岛台金属台面上，橙色储物箱在旁边；完整视频的粗查和装袋操作段密查未见机器人抓起纸袋搬到箱顶，未观察到至少1只袋由箱顶直接承托。"
+     },
+     {
+      "t": 1781.8,
+      "log_step": 409,
+      "text_zh": "推断：评分器q_score=0.0且回放与在线一致，初态袋上箱关系均为假，故至少1只袋上箱的终值为假；log step 409的agent自述也明确称袋上箱未尝试。"
+     }
+    ]
+   },
+   "sacks_on_box_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 262.5,
+      "log_step": 182,
+      "text_zh": "观察：视频约262.5 s，纸袋直立在岛台金属台面上，橙色储物箱在旁边；完整视频的粗查和装袋操作段密查未见机器人抓起纸袋搬到箱顶，未观察到至少2只袋由箱顶直接承托。"
+     },
+     {
+      "t": 1781.8,
+      "log_step": 409,
+      "text_zh": "推断：评分器q_score=0.0且回放与在线一致，初态袋上箱关系均为假，故至少2只袋上箱的终值为假；log step 409的agent自述也明确称袋上箱未尝试。"
+     }
+    ]
+   },
+   "sacks_on_box_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 262.5,
+      "log_step": 182,
+      "text_zh": "观察：视频约262.5 s，纸袋直立在岛台金属台面上，橙色储物箱在旁边；完整视频的粗查和装袋操作段密查未见机器人抓起纸袋搬到箱顶，未观察到至少3只袋由箱顶直接承托。"
+     },
+     {
+      "t": 1781.8,
+      "log_step": 409,
+      "text_zh": "推断：评分器q_score=0.0且回放与在线一致，初态袋上箱关系均为假，故至少3只袋上箱的终值为假；log step 409的agent自述也明确称袋上箱未尝试。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "hamburgers_in_sacks_1",
+   "t": 228.3,
+   "log_step": 183,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约228.3 s，机器人右夹爪尚在纸袋外便松开汉堡；log step 183显示悬停到袋口及下降均失败，末端仍在原位置，但脚本继续释放。随后虽反复回收和搬运，视频约1356.5 s仍见汉堡被释放在袋外台面，最终评分器q_score=0.0，第一对入袋关系没有得到修复。"
+  },
+  "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": "运动",
+    "item": "位姿不准",
+    "t": 228.3,
+    "log_step": 183,
+    "evidence_zh": "观察：视频227.5–228.3 s，机器人持有汉堡的右夹爪没有移到纸袋内部即张开，汉堡从袋外释放；视频约1356.5 s后一次释放也让汉堡落在纸袋旁台面。问题发生在到达目标之前，不是装入袋后失稳。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "note_zh": "候选说明：控制脚本异常；已有明确的到位失败后无条件松爪证据，未进一步归为某种抓取几何或反馈控制子类。",
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 183的脚本将悬停和下降的返回值写入ok，但下降失败只break退出循环，后面的release段没有以ok为条件；实际输出为no IK、末端仍在(-9.000,-2.851,1.200)，随后grip从0.082变为0.100。视频约228.3 s可见汉堡在纸袋外被释放。推断：agent的控制脚本未用到位检查阻止松爪，使失败的输送动作继续执行了释放，造成这次装袋失败。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志，也没有成功参考视频；袋内空间和部分后段指尖受遮挡或反光影响，不能精确核验汉堡包围盒是否曾短暂跨入内部容积，未把这些不可确认的瞬间记为达成。最终六个假值由初态、视频中未见有效入袋或袋上箱以及评分器q_score=0.0共同约束；agent两次自述已入袋与后续可见袋外汉堡及最终判分不符。第三个汉堡的去向与探抓是否接触目标仍无法确定。"
+ },
+ "summary_zh": "机器人多次抓取、搬运并回收掉落的汉堡，但未确认任何有效入袋，纸袋上箱未启动，最终六个节点均为假。断点为第1个汉堡入袋：视频约228.3 s在袋外松爪，log step 183证实脚本在袋口运动失败后仍执行释放；后续所谓两次入袋没有得到画面及最终零分支持。没有状态日志，袋内遮挡与反光限制了短暂关系和第三个汉堡去向的核验。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标注与视频、log和评分器q_score=0一致：六个节点均为假，断点为第1个汉堡入袋，视频约228.3 s在袋外松爪，log step 183显示IK失败后脚本仍释放；根因按DECISIONS S-条目用“控制/控制”。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": "2026-10-30T22:01:23Z",
+  "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-packing-meal-for-delivery-i00-standard--wjqfmgc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-packing-meal-for-delivery-i00-standard--wjqfmgc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6a984318fcfbafc44992ad7b12bea738924962374cdb9f77f1b0bf5a623e568e",
+   "video_sha256": "e14b7cbb3fe7bbf41bd6f888360310bc9ef2efb638089cfe11fe3538dec11d8c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/packing_meal_for_delivery/trajectories/behavior-packing-meal-for-delivery-i00-standard--yggha4n.json b/phase2/behavior-1k/packing_meal_for_delivery/trajectories/behavior-packing-meal-for-delivery-i00-standard--yggha4n.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0a674542e9d2222af342a2c03dacce8abc4a9c9
--- /dev/null
+++ b/phase2/behavior-1k/packing_meal_for_delivery/trajectories/behavior-packing-meal-for-delivery-i00-standard--yggha4n.json
@@ -0,0 +1,301 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-packing-meal-for-delivery-i00-standard--yggha4n",
+ "taskKey": "behavior-1k/packing_meal_for_delivery",
+ "dag_sha256": "4fcaf2f7983d9623e89a1c1b8bf9493a93ef2e245dcdd37262fa201c9fa6cd68",
+ "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": 2520,
+   "sim_steps": 2520,
+   "physics_steps": 10080,
+   "steps": 414,
+   "elapsed_s": 6802.1,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-packing-meal-for-delivery-i00-standard--yggha4n/replay.mp4",
+  "duration_s": 84.0,
+  "fps": 30.0,
+  "frames": 2520,
+  "sha256": "0944c99b2c38525a8e5fceb2c5dabd85bb4f842224d4d687554714e220d8b4b6"
+ },
+ "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": 6.0,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0 s 可见三个白色包装汉堡均放在棕色托盘上，纸袋与托盘分开；机器人随后操作纸袋，没有将汉堡送入袋内。"
+     },
+     {
+      "t": 83.9,
+      "log_step": null,
+      "text_zh": "观察：视频 57–83.9 s 的头部画面中，三个包装汉堡仍留在原托盘上，最后一秒也未离开；未形成至少1个汉堡与不同纸袋的有效入袋配对。"
+     }
+    ]
+   },
+   "hamburgers_in_sacks_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0 s 可见三个白色包装汉堡均放在棕色托盘上，纸袋与托盘分开；机器人随后操作纸袋，没有将汉堡送入袋内。"
+     },
+     {
+      "t": 83.9,
+      "log_step": null,
+      "text_zh": "观察：视频 57–83.9 s 的头部画面中，三个包装汉堡仍留在原托盘上，最后一秒也未离开；未形成至少2个汉堡与不同纸袋的有效入袋配对。"
+     }
+    ]
+   },
+   "hamburgers_in_sacks_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0 s 可见三个白色包装汉堡均放在棕色托盘上，纸袋与托盘分开；机器人随后操作纸袋，没有将汉堡送入袋内。"
+     },
+     {
+      "t": 83.9,
+      "log_step": null,
+      "text_zh": "观察：视频 57–83.9 s 的头部画面中，三个包装汉堡仍留在原托盘上，最后一秒也未离开；未形成至少3个汉堡与不同纸袋的有效入袋配对。"
+     }
+    ]
+   },
+   "sacks_on_box_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0 s 的橙色储物箱为空，三只纸袋在箱外台面上，开局没有纸袋由箱体承托。"
+     },
+     {
+      "t": 61.5,
+      "log_step": 219,
+      "text_zh": "观察：视频 51–59 s，机器人左夹爪夹住一只纸袋提起并搬向橙色箱；视频 60–63 s 将袋降低后松爪，纸袋停在箱体后侧，未见其落在箱体内或由箱顶面直接承托。其余两只纸袋没有被搬到箱上。"
+     },
+     {
+      "t": 83.9,
+      "log_step": null,
+      "text_zh": "推断：视频 64–83.9 s 重抓后，先前搬动的袋仍在箱后侧，其余两袋仍在右侧台面；末尾袋底局部被箱壁遮挡。评分器 q_score=0.0，且开局六项目标关系均不成立、live_matches_replay=1，因此最终不可能有至少1只袋满足上箱关系。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 51–61.5 s，机器人左侧二指夹爪夹住纸袋提手，纸袋随夹爪离开台面并被搬运；右夹爪未参与。视频 19–20.5 s 的较早尝试还将袋碰倒在台面上。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 19–20.5 s，左夹爪接触立着的纸袋袋口，袋体随之翻倒在台面上；此前后还多次碰拨平躺的纸袋。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人为抓取纸袋移动底盘调整站位；视频约 55–59 s 携带已夹住的纸袋时也移动底盘靠近橙色箱。"
+     }
+    ]
+   },
+   "sacks_on_box_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0 s 的橙色储物箱为空，三只纸袋在箱外台面上，开局没有纸袋由箱体承托。"
+     },
+     {
+      "t": 61.5,
+      "log_step": 219,
+      "text_zh": "观察：视频 51–59 s，机器人左夹爪夹住一只纸袋提起并搬向橙色箱；视频 60–63 s 将袋降低后松爪，纸袋停在箱体后侧，未见其落在箱体内或由箱顶面直接承托。其余两只纸袋没有被搬到箱上。"
+     },
+     {
+      "t": 83.9,
+      "log_step": null,
+      "text_zh": "推断：视频 64–83.9 s 重抓后，先前搬动的袋仍在箱后侧，其余两袋仍在右侧台面；末尾袋底局部被箱壁遮挡。评分器 q_score=0.0，且开局六项目标关系均不成立、live_matches_replay=1，因此最终不可能有至少2只袋满足上箱关系。"
+     }
+    ]
+   },
+   "sacks_on_box_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.0,
+      "log_step": null,
+      "text_zh": "观察：视频 6.0 s 的橙色储物箱为空，三只纸袋在箱外台面上，开局没有纸袋由箱体承托。"
+     },
+     {
+      "t": 61.5,
+      "log_step": 219,
+      "text_zh": "观察：视频 51–59 s，机器人左夹爪夹住一只纸袋提起并搬向橙色箱；视频 60–63 s 将袋降低后松爪，纸袋停在箱体后侧，未见其落在箱体内或由箱顶面直接承托。其余两只纸袋没有被搬到箱上。"
+     },
+     {
+      "t": 83.9,
+      "log_step": null,
+      "text_zh": "推断：视频 64–83.9 s 重抓后，先前搬动的袋仍在箱后侧，其余两袋仍在右侧台面；末尾袋底局部被箱壁遮挡。评分器 q_score=0.0，且开局六项目标关系均不成立、live_matches_replay=1，因此最终不可能有至少3只袋满足上箱关系。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "sacks_on_box_1",
+   "t": 61.5,
+   "log_step": 219,
+   "where": "操作中",
+   "evidence_zh": "观察：机器人持续尝试搬放第一只纸袋；视频 51–59 s 左夹爪已将袋提起搬向橙色箱，视频约 61.5 s 松爪时袋却在箱体后侧，之后视频 64–83.9 s 的重抓没有将它搬到箱上。该上箱步骤始终未完成；三个汉堡仍在托盘。"
+  },
+  "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": "运动",
+    "item": "位姿不准",
+    "t": 61.5,
+    "log_step": 219,
+    "evidence_zh": "观察：视频 60–63 s，机器人降低左手所持纸袋并打开夹爪，袋体位于橙色箱后侧，箱内仍为空；随后左夹爪抬离，袋没有进入目标承托位置。视频 69–83.9 s 的后续抓取也没有将该袋移入目标位置。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 219 的机器人控制脚本明确安排底盘对位、降低纸袋、开爪释放及抬手撤离；视频 60–63 s 执行了该动作序列，但释放位置落在箱后侧。log step 235、257 又编写重抓、提起和放置脚本，视频 64–83.9 s 却未见纸袋被再次搬到箱上，说明搬放与抓取执行仍未实现预期；现有证据不足以区分接触设计、逆解或跟踪控制子类。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频。视频约 61–84 s 橙色箱壁遮挡纸袋底部，不能精确判定短暂擦碰、承托接触和辅助抓取状态；未观察到持续成立的上箱关系，最终值结合评分器总分判定。缺少接触力及逐帧物体状态，无法进一步确定控制失败子类。"
+ },
+ "summary_zh": "机器人反复操作同一只空纸袋，最终曾用左夹爪夹住提手并搬向橙色箱，但在视频约 61.5 s 于箱后侧释放，后续重抓仍未完成第1只袋上箱；三个汉堡一直留在托盘，六个节点最终均为假。失败现象为位姿不准，证据支持控制层面归因；箱壁遮挡袋底且无状态日志，短暂接触及具体控制机制无法确定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "六个节点最终为假与评分器 q_score=0、视频一致；视频 60–64 s 纸袋在箱后侧外释放，断点 sacks_on_box_1、位姿不准、控制根因均有证据支持，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": "2026-10-30T22:01:18Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-packing-meal-for-delivery-i00-standard--yggha4n/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-packing-meal-for-delivery-i00-standard--yggha4n/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b967624a219bea8f71fb5a3f37bb44ae8bdf6a598dfd5b7b88caad56acbccc46",
+   "video_sha256": "0944c99b2c38525a8e5fceb2c5dabd85bb4f842224d4d687554714e220d8b4b6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-privileged--4tzdxuj.json b/phase2/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-privileged--4tzdxuj.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7ec16028075f53f596b2b2d1568570ec865f4ab
--- /dev/null
+++ b/phase2/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-privileged--4tzdxuj.json
@@ -0,0 +1,331 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-put-together-a-basic-pruning-kit-i00-privileged--4tzdxuj",
+ "taskKey": "behavior-1k/put_together_a_basic_pruning_kit",
+ "dag_sha256": "45588bc2f9af512dc48078f6ad004600b8d7191ff8df999c957949771ce64a79",
+ "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": 2784,
+   "sim_breakdown": 0,
+   "goal": 0,
+   "settle_steps": 150,
+   "goal_first_step": -1,
+   "sim_steps": 2934,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 896.4,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "video_replay_matches": 1,
+   "agent_sessions": 1,
+   "agent_resets": 11,
+   "agent_sim_steps": 0,
+   "agent_records": 8,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 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-put-together-a-basic-pruning-kit-i00-privileged--4tzdxuj/replay.mp4",
+  "duration_s": 97.8,
+  "fps": 30.0,
+  "frames": 2934,
+  "sha256": "4c389cf74528e04c34b57929524ea6d63da188866b6a37a34744a783462e95a0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 2,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "toolbox_on_floor": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 红色工具箱落在车库灰色地板上；视频 4.0–20.0 s、63.0–92.0 s 的操作及视频 96.83–97.67 s 末段仍见箱体由地板支承，没有整箱被搬到其他支承物上的过程。"
+     },
+     {
+      "t": 84,
+      "log_step": null,
+      "text_zh": "推断：视频 81.0–85.5 s 操作箱盖时箱体有倾转和位移，但下沿仍接地；不将局部翘起当作整箱离地。"
+     }
+    ]
+   },
+   "toolbox_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 11.5,
+      "log_step": null,
+      "text_zh": "观察：视频 10.5–16.5 s 头部画面下沿可见箱盖与箱体分开形成两个红色平面，露出部分内腔；右腕画面见夹爪夹住黑色把手随盖运动。视频 17.5–18.0 s 盖又落回箱体；打开是已发生的事件，随后合盖不撤销它。"
+     },
+     {
+      "t": 10.5,
+      "log_step": 71,
+      "text_zh": "推断：首次开盖记在视频约 10.5 s；箱体处于头部画面下沿、腕部又贴近盖面，越过5%阈值的精确时刻不可见，锚点约有1–2秒误差。log step 71 的已保存候选记录开盖过程中 lidq 达1.712，随后回到0，与这段开合过程相符；不使用后续重置试验的开盖结果。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.5–17.0 s 右侧二指夹爪闭合夹住箱盖黑色把手，带动盖运动；不是双臂共同开盖。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–4.0 s 轮式底盘移动，使机器人接近地上的工具箱。"
+     }
+    ]
+   },
+   "pruner_in_toolbox": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.5,
+      "log_step": null,
+      "text_zh": "观察：视频 27.0–28.5 s 左夹爪接近并拨倒修枝剪；视频 33.5–39.5 s、44.5–46.5 s 左腕画面可见夹爪在红柄附近反复开合、退回，修枝剪始终留在灰色地板上。视频 48.0 s 机器人离开时，原处仍可见修枝剪。"
+     },
+     {
+      "t": 97.67,
+      "log_step": 71,
+      "text_zh": "推断：录像此后没有返回取修枝剪或把它送到箱内的动作，故从未入箱且末态为假；评分器 q_score=0.0 也不允许任一新增入箱目标在末态成立。保留开局就成立的落地与闭盖目标不增加该分数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 27.0–28.5 s 左夹爪将修枝剪拨到地板上；随后在红柄附近闭合尝试，未见形成能带走剪具的夹持，不把这些空夹记为已建立抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 20.0–26.0 s 底盘从工具箱处驶向修枝剪，视频约 29.0–32.0 s 调整取物位置。"
+     }
+    ]
+   },
+   "shears_in_toolbox": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 56,
+      "log_step": null,
+      "text_zh": "观察：视频 54.0–56.0 s 右夹爪夹住银色长刃大剪刀并从原地抬起；视频 60.0–62.0 s 携带它返回工具箱。"
+     },
+     {
+      "t": 69,
+      "log_step": null,
+      "text_zh": "观察：视频 63.0–68.0 s 大剪刀被降到仍闭合的红色箱盖外表面，视频 69.0–73.0 s 夹爪退开后银色刀刃和黑色柄仍在盖外侧；没有进入内腔的过程。"
+     },
+     {
+      "t": 97.67,
+      "log_step": null,
+      "text_zh": "推断：视频 78.0–91.0 s 后续操作针对箱盖，没有重新将大剪刀装入；评分器 q_score=0.0 将最终入箱关系限定为假，与视频中落在盖外的结果一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 54.0–68.0 s 右侧二指夹爪夹持大剪刀，抬起、携带到工具箱处并放到闭合盖面附近。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 48.0–53.0 s 底盘驶向大剪刀，视频 57.0–62.0 s 携带大剪刀驶回工具箱。"
+     }
+    ]
+   },
+   "toolbox_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      10.5
+     ],
+     [
+      17.5,
+      81
+     ],
+     [
+      86,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–6.5 s 箱盖贴合箱体，黑色把手朝上，初态闭盖成立。"
+     },
+     {
+      "t": 17.5,
+      "log_step": null,
+      "text_zh": "观察：视频 10.5–16.5 s 箱盖与箱体分开；视频 17.5–20.0 s 盖落回，视频 40.0–46.0 s 远处箱体及视频 63.0–73.0 s 近距离放大剪刀时均显示盖面覆盖箱口。"
+     },
+     {
+      "t": 83,
+      "log_step": null,
+      "text_zh": "观察：视频约 81.0–85.5 s 机器人右夹爪再次牵动盖面，头部画面可见盖与箱体张开；视频 86.0–91.0 s 盖恢复贴近箱沿。"
+     },
+     {
+      "t": 97.67,
+      "log_step": null,
+      "text_zh": "观察：视频 92.0–97.67 s 机器人退开，箱盖覆盖箱口且没有再掀开；末态闭盖为真。开合时刻由画面估计，5%关节阈值没有状态日志可供精确核对。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 78.0–90.5 s 右二指夹爪夹持黑色把手，带动盖开合，随后松开；末段盖回到闭合状态。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pruner_in_toolbox",
+   "t": 35.5,
+   "log_step": 71,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 33.5–39.5 s 左夹爪在修枝剪红柄旁反复闭合和退回，修枝剪仍躺在地板上；视频 44.5–46.5 s 再试后仍未带起，视频 48.0 s 机器人离开，之后没有修复这一步。log step 71 保存的2784步候选同样记录三次 hand=None；评分器 n_actions=2784，录像中动作次序与该候选一致。此前开盖事件已经发生，故断点取首先未修复的修枝剪入箱。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 35.5,
+    "log_step": 71,
+    "evidence_zh": "观察：视频 33.5–39.5 s、44.5–46.5 s 夹爪闭合时，修枝剪仍在地板原处，随后的撤手和离开均为空手；没有先持起再掉落的过程。缺失的是搬运所需的抓握接触，先前拨倒剪具的碰触不等于抓住。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频 33.5–46.5 s 显示机器人已把左夹爪送到修枝剪附近并执行多次闭合，但未形成抓握；log step 71 的已保存候选记录三个抓取高度下 move_ee 误差约0–0.004、object_in_hand 均为None。这支持抓取执行层面的控制失败；没有证据表明它找错物体或误读收纳目标，现有证据不足以区分接触几何和低层控制的具体问题。"
+   }
+  ],
+  "gap_zh": "没有状态日志，无法核对夹指接触对、辅助抓取附着状态和箱盖5%阈值的精确过渡；首次开盖发生在头部画面下沿，视频约10.5 s的锚点有1–2秒不确定性。抓取失败根因只能判到控制，不能进一步确认接触几何、夹紧力或控制参数。log step 71之后有多次重置试验，其中部分显示剪具入箱，但未见成功替换评分器采用的2784步交付；这些会话结果不计入本次节点进度。",
+  "unmet": {
+   "toolbox_on_floor": true,
+   "pruner_in_toolbox": false,
+   "shears_in_toolbox": false,
+   "toolbox_closed": true
+  }
+ },
+ "summary_zh": "评分轨迹曾打开工具箱，最终工具箱仍在地板上且盖已关闭，五个节点末态成立三个；修枝剪和大剪刀均未入箱。首个未修复失败是左夹爪反复尝试却未抓起修枝剪，随后大剪刀被放到闭合盖外；根因证据支持控制层面失败。无状态日志，箱盖阈值时刻和抓取控制子类存在缺口；后续重置试验的入箱结果不属于本段评分录像。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值、断点（修枝剪入箱，夹爪反复空夹、剪具始终在地板）、现象（没建立接触）和根因（控制，子类不明）与视频一致；大剪刀落在闭合盖外、末态盖闭合、工具箱在地板均可见。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": "2026-10-30T22:26:35Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-put-together-a-basic-pruning-kit-i00-privileged--4tzdxuj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-put-together-a-basic-pruning-kit-i00-privileged--4tzdxuj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "65bb68781b60bfb8a90525e810265bdbab21d9ad7cd8190fd5921d9c39564fd9",
+   "video_sha256": "4c389cf74528e04c34b57929524ea6d63da188866b6a37a34744a783462e95a0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-privileged--ps8nxdx.json b/phase2/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-privileged--ps8nxdx.json
new file mode 100644
index 0000000000000000000000000000000000000000..36b0d434dc511e9bc0a981e2b96431511c7160c5
--- /dev/null
+++ b/phase2/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-privileged--ps8nxdx.json
@@ -0,0 +1,305 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-put-together-a-basic-pruning-kit-i00-privileged--ps8nxdx",
+ "taskKey": "behavior-1k/put_together_a_basic_pruning_kit",
+ "dag_sha256": "45588bc2f9af512dc48078f6ad004600b8d7191ff8df999c957949771ce64a79",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 0,
+   "n_actions": 1372,
+   "sim_steps": 1372,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1219.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 44,
+   "agent_resets": 0,
+   "agent_sim_steps": 30906,
+   "agent_records": 37,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-put-together-a-basic-pruning-kit-i00-privileged--ps8nxdx/replay.mp4",
+  "duration_s": 45.733,
+  "fps": 30.0,
+  "frames": 1372,
+  "sha256": "884f480b12f018baeececc7bd63a7199a61f5e9a240e1b45c975b3b5ff75d704"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 2,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "toolbox_on_floor": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 红色工具箱闭盖放在车库灰色地板上。"
+     },
+     {
+      "t": 5.3,
+      "log_step": null,
+      "text_zh": "推断：视频 5.1–6.0 s 工具箱随开盖转倒，随后视频 23.5 s、39.5 s 及45.7 s 仍在地面，未见完整离地搬运；按可见地面承托关系保留落地状态，翻转中的精确接触因视角不全不能逐帧验证。"
+     }
+    ]
+   },
+   "toolbox_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.1,
+      "log_step": null,
+      "text_zh": "观察：视频 4.5–5.0 s 左夹爪靠近箱盖，视频 5.1–5.3 s 红色箱盖与箱体明显分开，露出两片分离的箱体/盖结构；开盖时间约为视频 5.1 s，精确5%关节阈值不可见。"
+     },
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 39.5 s 腕部画面可见工具箱翻倒、盖与箱体仍展开；与参考成功视频 48 s 朝上敞开的箱腔相比，本次没有恢复朝上的装载空间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 4.5–5.3 s 左夹爪伸到箱盖表面并推动开盖，同时带动箱体翻转；未见夹爪双指包夹住盖沿，不能记为抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–4.5 s 底盘载着机器人驶近工具箱后，左臂才开始开盖。"
+     }
+    ]
+   },
+   "pruner_in_toolbox": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 31,
+      "log_step": null,
+      "text_zh": "观察：视频 30.0 s 修枝剪在地面与左爪前方，视频 31.0–32.0 s 它离开原处并进入左爪两指之间，随后视频 32.0–39.5 s 随机器人运回工具箱。"
+     },
+     {
+      "t": 41.5,
+      "log_step": null,
+      "text_zh": "观察：视频 39.5–43.0 s 左爪持修枝剪靠向翻倒工具箱的红色实体外侧面，剪具接近时箱体也发生位移，未见剪具落入可见箱腔；视频 43.5–45.7 s 松爪后剪具仍可见于红色外表面附近。"
+     },
+     {
+      "t": 45.7,
+      "log_step": null,
+      "text_zh": "推断：视频 45.7 s 未见修枝剪处于朝上的箱腔，评分器 q_score=0.0（inputs/run.json，独立交付回放同为零，log step 614）；修枝剪入箱是开局未满足的目标，若末态成立将产生正分，因此末态为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 31.0–43.0 s 左夹爪两指夹持修枝剪并运至工具箱外侧，随后松开；未完成入箱。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 23.5–30.0 s 底盘驶向修枝剪，视频 36.0–39.5 s 承载夹持修枝剪的机器人返回工具箱。"
+     }
+    ]
+   },
+   "shears_in_toolbox": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 45.7,
+      "log_step": null,
+      "text_zh": "观察：检查视频 0.0–45.7 s，机器人只操作工具箱与修枝剪，没有抓取或搬运另一件大剪刀的动作。"
+     },
+     {
+      "t": 45.7,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的 q_score=0.0，且视频无大剪刀入箱过程；大剪刀入箱是初始不成立的目标，末态若成立必产生正分，因此末态为false。"
+     }
+    ]
+   },
+   "toolbox_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      5.1
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 工具箱闭盖，视频 4.5–5.0 s 仍可见带黑色把手的盖覆在箱体上。"
+     },
+     {
+      "t": 5.1,
+      "log_step": null,
+      "text_zh": "观察：视频 5.1–5.3 s 盖与箱体分开；视频 39.5 s、41.5 s 及45.7 s 可见翻倒后展开的箱盖/箱体，机器人未执行恢复闭盖动作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pruner_in_toolbox",
+   "t": 41.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 5.1–6.0 s 工具箱开盖时翻倒，但开盖事件已达成且箱体仍由地面承托；视频 39.5–43.0 s 机器人持修枝剪返回后，将剪具送向箱体外侧实体面，碰动箱体而未装入。视频 43.5–45.7 s 松爪后仍未修复入箱关系，故最早未完成的操作步骤是修枝剪入箱。"
+  },
+  "unmet": {
+   "toolbox_on_floor": true,
+   "pruner_in_toolbox": false,
+   "shears_in_toolbox": false,
+   "toolbox_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 41.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 40.0–43.0 s 左爪夹持的修枝剪被送向工具箱外侧的红色实体面，箱体随接近/接触移动，工具没有进入箱内；视频 43.5–45.7 s 剪具留在外表面附近。"
+   },
+   {
+    "cat": "接触",
+    "item": "带动本体",
+    "t": 5.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频 5.0 s 工具箱仍闭合放在地板上；视频 5.1–6.0 s 机器人左夹爪推动箱盖转开时，红色箱体也被一起带转、翻倒，并非只有盖绕稳定箱体转动。视频 23.5 s、39.5–43.0 s 箱体仍未扶正，后续修枝剪被送向箱体外侧实体面；这一早期翻倒没有在评分轨迹中修复。log step 448、568 的 agent 自述也诊断为箱口朝地，但这些会话诊断不用于换算视频时刻。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "推断：视频 5.1–6.0 s 机器人左夹爪操作箱盖时没有使箱体保持稳定，开盖接触带动整箱翻倒；视频 39.5–43.0 s 修枝剪随后碰向翻倒箱体的外侧实体面，装载空间的朝向未恢复。问题在于开盖时的接触与承载布局未稳住箱体，不能概括为没有规划恢复箱口。会话证据中，log step 448 已诊断箱口朝地，log step 468、498、513、549 的支撑方案及脚本修改、log step 568 的扶正脚本显示 agent 确实尝试了恢复；agent 在 log step 488、524、549 自述支撑接触落在盖上或未稳住箱体，在 log step 598 自述“恢复抓取未附着”。这些诊断是会话证据，未独立验证每次接触结果；log step 598 的封装脚本和 log step 604 的元数据表明最终交付仍为 place_trial 的1372步动作，而非后续支撑或扶正测试。先固定箱体再开盖是候选替代，但所读日志没有该支撑方案成功的独立结果，故可行性记未知。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志；开盖的5%关节阈值、翻转期间的瞬时地面接触及剪具包围盒中心不可直接读取，节点时刻依据可见帧约定。工具箱内部在本次多数腕部视角中被翻倒箱体遮住，修枝剪和大剪刀的末态false由可见过程与q_score=0.0共同约束；没有证据表明修枝剪曾短暂满足inside，故不增设达成区间。log step 437 是1329步的较早会话测试，不能当作最终1372步交付的节点状态；其后扶正和双臂支撑测试也不计入本视频。 会话中的支撑接触位置与恢复抓取结果主要来自 agent 在 log step 488、524、549、598 的自述，不能当作评分视频中的动作或独立测量；尚未验证先撑稳箱体再开盖这一候选方案成功。"
+ },
+ "summary_zh": "评分轨迹开局为2/5，约视频 5.1 s 打开工具箱后闭盖状态失去，末态仍为2/5（工具箱留地上、开箱事件已达成）。机器人夹起修枝剪运回，但工具箱已翻倒，视频 40–43 s 的插入动作碰到外侧实体面而未入箱；大剪刀未搬运，也未恢复闭盖，开盖接触未稳住箱体而将其带翻。agent 在会话中曾尝试支撑与扶正，但这些测试未纳入最终交付，不能归因为没有规划恢复箱口。无状态日志，瞬时inside与地面接触不能精确读取，末态剪具未入箱另有评分器零分支持；本次文本为目标关系成立即成功的旧规则，不以当前DAG新增的联合松手静置要求解释失败。",
+ "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（2/5，开盖约5.1 s、修枝剪与大剪刀未入箱）与视频一致；但根因“推理/规划”与日志不符：agent在 log step 448/568 已明确诊断箱口朝下并在 468–598 多次尝试撑住箱体、扶正（均失败），失败源头是开盖拉动使箱体翻倒、扶正抓取未吸附，属接触设计/抓取问题，且缺少“开盖时箱体翻倒”这一现象。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点（2/5：落地、开盖约视频5.1 s；修枝剪、大剪刀未入箱；q_score=0）、断点（修枝剪入箱，操作中）、现象（带动本体、被挡/碰撞）与根因（抓取和接触设计，alt_feasible 未知）均与视频及 log 一致，第一轮意见已妥善处理，未发现需改动之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:32:01Z",
+  "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-put-together-a-basic-pruning-kit-i00-privileged--ps8nxdx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-put-together-a-basic-pruning-kit-i00-privileged--ps8nxdx/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-put-together-a-basic-pruning-kit-i00-privileged--ps8nxdx/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-put-together-a-basic-pruning-kit-i00-privileged--ps8nxdx/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6984c560f0f940ef54123aa4790a7a029f092ffe5d86e62f812a7ea24e529da5",
+   "video_sha256": "884f480b12f018baeececc7bd63a7199a61f5e9a240e1b45c975b3b5ff75d704",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-privileged--svgxyt5.json b/phase2/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-privileged--svgxyt5.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ac91f09b5f95975e81d8e5cdfb7efaeb8966d91
--- /dev/null
+++ b/phase2/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-privileged--svgxyt5.json
@@ -0,0 +1,276 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-put-together-a-basic-pruning-kit-i00-privileged--svgxyt5",
+ "taskKey": "behavior-1k/put_together_a_basic_pruning_kit",
+ "dag_sha256": "45588bc2f9af512dc48078f6ad004600b8d7191ff8df999c957949771ce64a79",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 0,
+   "n_actions": 2916,
+   "sim_steps": 2916,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1228.1,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 1,
+   "agent_resets": 2,
+   "agent_sim_steps": 0,
+   "agent_records": 8,
+   "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-put-together-a-basic-pruning-kit-i00-privileged--svgxyt5/replay.mp4",
+  "duration_s": 97.2,
+  "fps": 30.0,
+  "frames": 2916,
+  "sha256": "6a3d573166df121f2af452c7de643e2d06564481e38fbc6bdbe43bd4bf5c0c92"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 2,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "toolbox_on_floor": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色工具箱位于车库灰色地板上；视频 47.0–49.0 s、82.0–97.16 s 再次可见箱体仍由地板支承，没有被抬起或移到其他支承物。"
+     },
+     {
+      "t": 97.16,
+      "log_step": null,
+      "text_zh": "观察：视频 97.16 s 末帧，箱体仍立在灰色地板上。"
+     }
+    ]
+   },
+   "toolbox_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 48,
+      "log_step": null,
+      "text_zh": "观察：视频 47.0–49.0 s 的腕部和头部视图显示箱盖仍盖住箱口；视频 82.0–97.16 s 机器人把修枝剪靠近箱盖，但没有翻开箱盖、露出内腔的动作。对照成功参考录像中明显转开的盖板，本次没有达到该可见判据。"
+     },
+     {
+      "t": null,
+      "log_step": 155,
+      "text_zh": "观察：log step 155 中 agent 写入生成脚本的策略说明明确选择保持闭盖、尝试从盖上的槽口投放工具；这是脚本的意图，未作为入箱成功证据。"
+     }
+    ]
+   },
+   "pruner_in_toolbox": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 77,
+      "log_step": null,
+      "text_zh": "观察：视频 68.0–76.5 s，左夹爪靠近红柄黑刃修枝剪并闭合；视频 77.0–87.5 s 可见修枝剪随左爪离开地板，机器人将它运至工具箱附近。抓取和搬运已发生，但尚不等于入箱。"
+     },
+     {
+      "t": 92.75,
+      "log_step": null,
+      "text_zh": "观察：视频 90.0–92.5 s，左爪持修枝剪下降到闭合箱盖附近；视频 92.75–93.0 s 左爪张开，修枝剪转倒，黑色刀片出现在红色盖面前。视频 93.0–97.16 s 没有可见的落入箱内过程。"
+     },
+     {
+      "t": 97.16,
+      "log_step": 153,
+      "text_zh": "推断：末段近距离腕部视图不能精确判断包围盒中心，但评分器 reward.q_score=0.0，且落地和闭盖为保持的初始目标，因此修枝剪入箱的末态为假；没有可确认的中途入箱区间。log step 153 的2916行动保存记录与本录像帧数相同，其会话末态也为q_score=0.0，但不以会话物体坐标替代评分录像。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 76.5–92.5 s，左侧二指夹爪夹住修枝剪，修枝剪随手离地并运输，视频约 92.75 s 张爪释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 49.0–68.0 s 底盘驶向修枝剪工作位置；视频 77.0–87.5 s 承载机器人及左爪所持修枝剪驶向工具箱。"
+     }
+    ]
+   },
+   "shears_in_toolbox": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14,
+      "log_step": null,
+      "text_zh": "观察：视频 7.5–14.0 s，右夹爪向地板上的黑柄银刃大剪刀靠近并闭合、抬起，剪刀仍留在原处地板上；视频 18.0–28.5 s 重试后也未随手离地。"
+     },
+     {
+      "t": 40,
+      "log_step": null,
+      "text_zh": "观察：视频 29.0–40.0 s，大剪刀虽在右爪附近改变朝向和位置，始终留在地板上；视频 40.0–42.0 s 右爪空手离开，剪刀留在后方地板，没有运输到工具箱。"
+     },
+     {
+      "t": 97.16,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0.0；工具箱落地及闭盖均为一直保持的初始目标，不贡献新增目标分数，因此末态不能再有大剪刀入箱关系。此结论也与视频 40.0–42.0 s 剪刀被留在地板、此后未再拾取相符。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 28.0–40.0 s，右夹爪反复靠近和闭合时拨动地板上的大剪刀；没有看到两指包住剪刀形成夹持并把它提离地面。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–7.5 s 底盘驶到大剪刀附近，视频 40.0–49.0 s 又承载机器人驶向工具箱，右爪此时没有携带大剪刀。"
+     }
+    ]
+   },
+   "toolbox_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 工具箱已闭盖；视频 47.0–49.0 s 和 82.0–97.16 s 箱盖持续覆盖箱口，未见掀开后再合上的过程。此state节点从初态计入，after边不门控初始闭盖状态。"
+     },
+     {
+      "t": 97.16,
+      "log_step": null,
+      "text_zh": "观察：视频 96.8 s、97.16 s，盖面和黑色把手仍保持闭盖外观，机器人没有执行独立合盖操作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "shears_in_toolbox",
+   "t": 14.0,
+   "log_step": 153,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 14.0 s，机器人右爪完成首轮闭合和抬起后，大剪刀仍在地板；视频 18.0–40.0 s 的后续重试也未把它带离地面，视频 40.0–42.0 s 右爪空手离开。此步始终未修复，之后修枝剪的失败不替换这一最早断点。log step 153 保存2916行动，评分器n_actions=2916与录像2916帧相符；log step 154 后另写的新抓法未有新的保存结果，不作为本次评分动作。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 14.0,
+    "log_step": 153,
+    "evidence_zh": "观察：视频 7.5–14.0 s、18.0–28.5 s，右爪反复闭合和抬起，而大剪刀仍平躺在地板；视频 29.0–40.0 s 只有地面上的位移和转向，视频 40.0–42.0 s 剪刀与空手离开的右爪分离。所需的夹持接触未建立，未见先持起再滑落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 152 的抓取函数对大剪刀包围盒中心做TCP平面校正、分段下降及闭爪，并用物体高度判断是否提起；log step 153 返回三次lifted: False，剪刀中心高度仍约0.013米。与视频 14.0–40.0 s 的空夹及地面拨动一致，失败可定位为抓取阶段未建立有效夹持的控制问题。现有证据不能进一步确定是抓点、手指高度、闭合方向还是辅助抓取触发条件所致。"
+   }
+  ],
+  "gap_zh": "没有提供状态日志，无法确认逐指接触对、关节5%阈值及inside包围盒中心的精确过界时刻；大剪刀的实际接触按可见拨动标注，不能由闭爪命令推定抓握。修枝剪末段遮住部分箱沿，未确认短暂入箱，末态为假由评分器q_score总分约束；log step 141–142 的其他会话试验曾声称入箱，不用于本次节点。抓取失败的控制子类型证据不足，保留在控制大类。",
+  "unmet": {
+   "toolbox_on_floor": true,
+   "pruner_in_toolbox": false,
+   "shears_in_toolbox": false,
+   "toolbox_closed": true
+  }
+ },
+ "summary_zh": "评分轨迹始终保留工具箱落地和闭盖两个初始节点，末态为2/5；未开箱，两件剪具均未完成入箱。最早未修复的断点是视频约 14.0 s 的大剪刀抓取失败：右爪多次空夹后离开，随后左爪虽搬运修枝剪至箱边并松手，末态q_score仍为0。缺少状态日志且末段箱沿受遮挡，修枝剪最终入箱关系依据评分器总分判假，控制根因不再细分。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值、时间、接触和断点（大剪刀抓取失败，右爪空夹）与帧一致；末态2/5与q_score=0相符。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": "2026-10-30T22:26:52Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-put-together-a-basic-pruning-kit-i00-privileged--svgxyt5/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-put-together-a-basic-pruning-kit-i00-privileged--svgxyt5/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4d5cbd263869af39947220a705e512de7b3a5986f6bdeaa694ff85328e721c0d",
+   "video_sha256": "6a3d573166df121f2af452c7de643e2d06564481e38fbc6bdbe43bd4bf5c0c92",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-privileged--wsiz3fx.json b/phase2/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-privileged--wsiz3fx.json
new file mode 100644
index 0000000000000000000000000000000000000000..52a4d5efe6cc4bcb357353490b7ed507c375da90
--- /dev/null
+++ b/phase2/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-privileged--wsiz3fx.json
@@ -0,0 +1,260 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-put-together-a-basic-pruning-kit-i00-privileged--wsiz3fx",
+ "taskKey": "behavior-1k/put_together_a_basic_pruning_kit",
+ "dag_sha256": "45588bc2f9af512dc48078f6ad004600b8d7191ff8df999c957949771ce64a79",
+ "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": 191,
+   "sim_steps": 191,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 716.5,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 1,
+   "agent_resets": 14,
+   "agent_sim_steps": 0,
+   "agent_records": 4,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-put-together-a-basic-pruning-kit-i00-privileged--wsiz3fx/replay.mp4",
+  "duration_s": 6.367,
+  "fps": 30.0,
+  "frames": 191,
+  "sha256": "d66e081ef3cc442322d3919071caa962b388bc5d096706f20ab2c127a624ca3e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 2,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "toolbox_on_floor": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 红色工具箱立在车库灰色地板上；视频 2.25–6.33 s 的右腕视角仍可见箱体留在汽车旁地面，机器人没有接近或抬起工具箱。"
+     }
+    ]
+   },
+   "toolbox_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 箱盖闭合；视频 2.25–6.33 s 的右腕视角中，红色工具箱保持相同闭盖外形，没有箱盖翻开及露出内腔的变化，机器人只向修枝剪伸手。成功参考视频 60–84 s 可见显著翻开的箱盖与内腔，本次评分视频未出现该线索。"
+     }
+    ]
+   },
+   "pruner_in_toolbox": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.2,
+      "log_step": null,
+      "text_zh": "观察：视频 2.9–3.5 s 机器人左夹爪靠近地板上的红柄修枝剪，修枝剪在夹爪前方轻微改变倾角；视频 3.5–6.33 s 未见它离开地面、随手抬起或运向远处的工具箱。"
+     },
+     {
+      "t": 6.3,
+      "log_step": null,
+      "text_zh": "推断：逐段检查视频 0.0–6.33 s，未出现修枝剪从地面进入工具箱的搬运动作，箱盖也始终未打开，因此本节点始终未成立；评分器 q_score=0.0 与此一致，不能据此否定初始成立的落地和闭盖关系。"
+     },
+     {
+      "t": null,
+      "log_step": 154,
+      "text_zh": "观察：log step 150 录下并保存 dev_actions 的 191 行动作，首次抓修枝剪后返回 False；log step 154 把该 191 行数组保存为交付轨迹，log step 157 确认文件含 actions (191,25)。这些记录确定交付来源，不将其他会话测试中的开箱算入评分轨迹。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–1.8 s 轮式底盘承载机器人移动并转向修枝剪所在位置。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "推断：视频约 3.2 s 左夹爪从侧面靠上修枝剪，红柄随接近动作短暂倾斜，形成侧向推碰；未见两指对向夹牢，不记抓握。局部指尖被手部遮挡。"
+     }
+    ]
+   },
+   "shears_in_toolbox": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.3,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–6.33 s 机器人只移向并尝试抓取修枝剪，没有转向另一件大剪刀的后续取放，也没有任何剪具入箱过程；工具箱保持闭合。"
+     },
+     {
+      "t": 6.3,
+      "log_step": null,
+      "text_zh": "推断：结合视频中未开箱、未搬运大剪刀及评分器 q_score=0.0，大剪刀入箱终态为假；这一判断不只来自零分。"
+     }
+    ]
+   },
+   "toolbox_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 红色箱盖覆盖箱口；视频 2.25–6.33 s 的右腕视角一直可见工具箱维持闭盖外形。此 state 节点按闭盖条件本身从开局计入，after 中两件剪具入箱不门控初始状态。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pruner_in_toolbox",
+   "t": 3.2,
+   "log_step": 150,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 3.2 s 机器人左夹爪已向修枝剪实施抓取接近，但视频 3.5–6.33 s 修枝剪仍在地面、未出现抬起或搬运；机器人停留在此处至结束。log step 150 的录制止于首次抓修枝剪失败，log step 154 保存的正是这段 191 行动作，因此断点归修枝剪入箱，而非尚未开始的开箱。"
+  },
+  "unmet": {
+   "toolbox_on_floor": true,
+   "pruner_in_toolbox": false,
+   "shears_in_toolbox": false,
+   "toolbox_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 3.2,
+    "log_step": 150,
+    "evidence_zh": "推断：视频 2.9–3.5 s 可见左夹爪靠到修枝剪旁并使红柄轻微倾斜，但视频 3.5–6.33 s 始终没有将修枝剪夹持抬起；缺失的是搬运所需的有效夹持，侧向碰触不算建立抓握。交付来源 log step 150 的录制输出为 side close -> in hand None，与未抬起的画面一致；没有先拿住再滑落的证据。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "t": 3.2,
+    "log_step": 150,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 150 的侧向抓取脚本先按修枝剪初始包围盒中心设定接近点，再沿侧面推进，最后才闭爪；该次会话录制输出末端位置误差为 0.0023 m，却报告物体已偏离原位置且 in hand None。评分视频约 3.2 s 同样显示夹爪从侧面靠上、红柄倾斜而没有形成可搬运夹持，支持接近与闭合的接触几何未适配，而不足以认定逆解失败；其他抓法在同一评分初态下是否可行未验证。"
+   }
+  ],
+  "gap_zh": "没有状态日志；视频局部指尖被手部遮挡，实际侧向推碰由接近前后红柄倾角变化推断，不能核实两指接触对或接触力。log step 150 的会话录制输出称修枝剪降至 z=0.0148 m，agent 在 log step 158 也自述其明显倒伏，但评分视频约 3.2–6.33 s 只清楚显示红柄留在夹爪前方且未被抬起，不能将会话中的具体倒伏程度或位移当成本次评分视频的事实；故不另标碰倒或滑落。"
+ },
+ "summary_zh": "评分轨迹仅保持工具箱落地与闭盖两个初始状态，终态为 2/5；机器人尝试抓修枝剪但未将其抬起，未进入开箱或两件剪具入箱阶段。断点是视频约 3.2 s 的修枝剪入箱操作，现象为未建立有效夹持，日志及画面支持侧向接近和闭爪的接触设计问题。无状态日志且指尖局部遮挡，会话所报明显倒伏不能由评分视频确认，未将其计为额外现象。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "评分轨迹仅 191 步（6.37 s），视频中机器人驶近修枝剪、左夹爪靠近后停住，未开箱、未搬运；初始落地与闭盖两个 state 节点保持，终态 2/5 与 q_score=0 一致。断点 pruner_in_toolbox、现象没建立接触、根因抓取和接触设计（alt_feasible 未知）均有视频与 log step 150/154 支撑，且已明确区分会话读数与评分视频，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": "2026-10-30T22:24:42Z",
+  "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-put-together-a-basic-pruning-kit-i00-privileged--wsiz3fx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-put-together-a-basic-pruning-kit-i00-privileged--wsiz3fx/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "37f57af9c3bdf70b3927530d3a897cd34aed305397330c606d79b373263ecb6e",
+   "video_sha256": "d66e081ef3cc442322d3919071caa962b388bc5d096706f20ab2c127a624ca3e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-privileged--zlsx7l3.json b/phase2/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-privileged--zlsx7l3.json
new file mode 100644
index 0000000000000000000000000000000000000000..47a6ebb6c57a6182fee847e2160de40f7fff5584
--- /dev/null
+++ b/phase2/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-privileged--zlsx7l3.json
@@ -0,0 +1,323 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-put-together-a-basic-pruning-kit-i00-privileged--zlsx7l3",
+ "taskKey": "behavior-1k/put_together_a_basic_pruning_kit",
+ "dag_sha256": "45588bc2f9af512dc48078f6ad004600b8d7191ff8df999c957949771ce64a79",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 1,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 0,
+   "n_actions": 3621,
+   "sim_steps": 3621,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 1.0,
+   "replay_wall_s": 1144.2,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 11,
+   "agent_resets": 53,
+   "agent_sim_steps": 14791,
+   "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": 12.966,
+   "peak_memory_gb": 16.71,
+   "peak_processes": 36,
+   "peak_disk_gb": 4.918,
+   "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-put-together-a-basic-pruning-kit-i00-privileged--zlsx7l3/replay.mp4",
+  "duration_s": 120.7,
+  "fps": 30.0,
+  "frames": 3621,
+  "sha256": "f4e8fc65704cb4d590cbf0dcf68c62fb96983c854bf72a10b1064e3f7f343604"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 2,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "toolbox_on_floor": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 的头部视角可见闭合的红色工具箱位于车库灰色地板上；视频 24.0、31.0、64.0、88.0 s 仍落地。"
+     },
+     {
+      "t": 120.667,
+      "log_step": null,
+      "text_zh": "观察：视频 39.5–55.0 s 及视频 96.5–120.667 s 机器人翻动箱盖，未见箱体被提离地面；末帧箱体仍在地板处，评分器 reward.q_score=1.0、all_success=1 与落地目标保持一致。"
+     }
+    ]
+   },
+   "toolbox_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      39.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 39.5,
+      "log_step": null,
+      "text_zh": "观察：视频 39.0 s 右夹爪在箱盖把手处，视频 39.5 s 箱盖开始翻起，视频 40.5–42.0 s 已露出内腔；首次开盖记在视频约 39.5 s，阈值跨越时刻有约半秒误差。"
+     },
+     {
+      "t": 98,
+      "log_step": null,
+      "text_zh": "观察：视频 96.5–99.0 s 右夹爪再次翻开箱盖；本节点是已完成即保持的开盖事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 39.0–42.0 s、96.5–99.0 s，机器人右二指夹爪夹住红色工具箱盖的黑色把手并沿铰链翻开。"
+     }
+    ]
+   },
+   "pruner_in_toolbox": {
+    "method": "visual",
+    "intervals": [
+     [
+      50,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 22,
+      "log_step": null,
+      "text_zh": "观察：视频 16.0–19.0 s 修枝剪仍在原处地板，视频 20.0–22.0 s 左夹爪夹住其细端并提起，原地不再留有该剪具，随后机器人持物驶向工具箱。"
+     },
+     {
+      "t": 50,
+      "log_step": null,
+      "text_zh": "观察：视频 48.5–49.5 s 左夹爪将红柄修枝剪下降送入打开的工具箱，视频 50.0–51.0 s 左腕视角可见修枝剪落在内腔；右夹爪同时握住箱盖把手。入箱关系取视频约 50.0 s，包围盒中心跨界时刻约有半秒误差。"
+     },
+     {
+      "t": 116,
+      "log_step": null,
+      "text_zh": "观察：视频 104.0、108.0、116.0–118.0 s 可见第一件剪具仍在箱内，视频 120.667 s 合盖后被遮住；评分器 reward.q_score=1.0 支持末态容纳关系，未见重新取出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 20.0–22.0 s 左二指夹爪夹持修枝剪；视频 48.5–51.0 s 左爪送入剪具，右爪同时抓握工具箱盖把手以保持开口。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 22.0–31.0 s 机器人底盘承载左爪夹持的修枝剪，从原地板位置驶到工具箱旁。"
+     }
+    ]
+   },
+   "shears_in_toolbox": {
+    "method": "visual",
+    "intervals": [
+     [
+      113.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 80,
+      "log_step": null,
+      "text_zh": "观察：视频 74.0–76.0 s 大剪刀原在前方地板处，视频 77.0–80.5 s 左腕视角可见黑色指环与银色长刃随左夹爪抬起，机器人随后持物驶回工具箱。"
+     },
+     {
+      "t": 113.5,
+      "log_step": null,
+      "text_zh": "观察：视频 112.0–113.0 s 左夹爪携大剪刀下降到箱口，视频 113.5–115.0 s 两长刃和指环进入内腔，视频 116.0 s 夹爪退开后剪刀仍在箱内；入箱关系取视频约 113.5 s，精确中心位置不能直接测量。"
+     },
+     {
+      "t": 120.667,
+      "log_step": null,
+      "text_zh": "推断：视频 116.0–118.0 s 未见大剪刀退出箱体，随后箱盖覆盖内腔；结合评分器 reward.q_score=1.0、all_success=1，末态大剪刀入箱判真。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 77.0–80.5 s 左二指夹爪夹持大剪刀；视频 112.0–115.0 s 左爪将剪刀送入箱内，右爪同时抓握箱盖把手。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 81.0–91.0 s 底盘承载左爪夹持的大剪刀，从剪刀原位置驶回工具箱。"
+     }
+    ]
+   },
+   "toolbox_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      39.5
+     ],
+     [
+      55,
+      96.5
+     ],
+     [
+      120.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0、24.0、31.0 s 工具箱箱盖闭合，视频 39.5–42.0 s 被右夹爪翻开。"
+     },
+     {
+      "t": 55,
+      "log_step": null,
+      "text_zh": "观察：视频 52.5–55.0 s 右夹爪握住把手带动箱盖回落，视频 55.0–59.0 s 箱盖贴近箱体，视频 64.0–92.0 s 保持闭合；视频 96.5–99.0 s 再次打开。首次恢复闭合取视频约 55.0 s，阈值时刻约有半秒误差。"
+     },
+     {
+      "t": 120.667,
+      "log_step": null,
+      "text_zh": "推断：视频 118.6–120.667 s 箱盖逐渐覆盖箱口，末帧右夹爪仍位于把手上；评分器 reward.q_score=1.0、all_success=1 支持最终 not open 成立，闭合区间起点近似记为视频 120.6 s，不能凭图像精确量出5%关节阈值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 52.5–55.0 s 机器人右二指夹爪抓住箱盖把手合盖；视频 118.6–120.667 s 右爪仍与把手接触并随盖下降，无法仅凭图像判断末段辅助抓取是否仍附着。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 1.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "toolbox_closed",
+   "t": 120.6,
+   "log_step": 123,
+   "where": "终态验收",
+   "evidence_zh": "推断：视频 113.5–118.0 s 两件剪具已在箱内，视频 120.667 s 箱盖已回落且右爪仍在把手处；评分器 reward.q_score=1.0、all_success=1、deterministic=1，却由 regrade_0154 记载 old=1、new=0、why=\"stricter rule\"，因此断点归于最后合盖后的联合验收，而不是此前已恢复的抓取失误。log step 123 记录所交付 gen9 在3621控制步旧规则成功，log step 124 安装同长轨迹；不把其他生成版本的失败当成本次断点。"
+  },
+  "unmet": {
+   "toolbox_on_floor": true,
+   "pruner_in_toolbox": true,
+   "shears_in_toolbox": true,
+   "toolbox_closed": true
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 无状态日志，reward 未提供 goal_held_steps、goal_objects_held 或 goal_objects_moving，末段箱内被盖遮挡，右爪虽位于把手上但辅助抓取附着状态不可直接读出。任务设计问题：inputs/run.json 的 task_text 明示四目标同时成立即自动终止，未要求松手静置；本次旧规则成功轨迹却被 regrade_0154 以 stricter rule 改判失败，DAG 说明新增所有目标均未附着、线速度不大于0.05米/秒并连续30控制步的联合验收。推断：失败发生于新增验收，但现有证据不能进一步区分未松手、目标运动或保持不足，故不为该评分版本差异虚构机器人失败现象或根因；节点仅记录DAG规定的几何关系，联合验收仍按当前评分记失败。"
+ },
+ "summary_zh": "观察：机器人分两趟搬运修枝剪与大剪刀，视频约 50.0 s、113.5 s 分别送入工具箱，箱体保持落地，视频末段再次合盖，五个节点末态均成立。任务设计问题：原任务文本承诺四目标成立即终止，reward.q_score=1.0 且旧判成功，regrade_0154 却以更严格规则改判失败，断点记最后合盖后的终态联合验收。推断：缺少目标附着、速度与连续保持步数记录，无法确定新增松手静置条件中具体哪项未满足，现象和根因留空。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值、时间与接触标注与视频一致（剪具入箱约50 s与113.5 s，箱盖末段合上）；旧规则成功被regrade改判失败，断点记终态验收、现象与根因留空并给出任务设计问题说明，符合S9。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": "2026-10-30T22:25:42Z",
+  "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-put-together-a-basic-pruning-kit-i00-privileged--zlsx7l3/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-put-together-a-basic-pruning-kit-i00-privileged--zlsx7l3/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "504ae13303a0f43fb6238c3cea3cc44bf7ca7285e0cde629019c0181ee8f1793",
+   "video_sha256": "f4e8fc65704cb4d590cbf0dcf68c62fb96983c854bf72a10b1064e3f7f343604",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-standard--d4pjmxn.json b/phase2/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-standard--d4pjmxn.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d1e931d3c34e33300503d9a74a33c6622328089
--- /dev/null
+++ b/phase2/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-standard--d4pjmxn.json
@@ -0,0 +1,272 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-put-together-a-basic-pruning-kit-i00-standard--d4pjmxn",
+ "taskKey": "behavior-1k/put_together_a_basic_pruning_kit",
+ "dag_sha256": "45588bc2f9af512dc48078f6ad004600b8d7191ff8df999c957949771ce64a79",
+ "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": 381,
+   "sim_steps": 381,
+   "physics_steps": 1524,
+   "steps": 27,
+   "elapsed_s": 1677.6,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-put-together-a-basic-pruning-kit-i00-standard--d4pjmxn/replay.mp4",
+  "duration_s": 12.7,
+  "fps": 30.0,
+  "frames": 381,
+  "sha256": "b39fc80db3e50fb3d1fe5208cc48522abca1f5f549d01a43afa4f4383a69dc40"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 2,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "toolbox_on_floor": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 红色工具箱位于车库灰色地板上；视频 4.5–7.0 s 再次看见箱体仍落地，机器人没有搬动箱体。"
+     },
+     {
+      "t": 12.67,
+      "log_step": 51,
+      "text_zh": "推断：视频 7.0 s 后机器人转向另一侧的修枝剪，视频 9.5–12.67 s 只进行左臂抓取和抬臂，未接近工具箱；箱体落地关系延续至结束。"
+     }
+    ]
+   },
+   "toolbox_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–7.0 s 多次看见红色工具箱盖覆盖箱口，未见盖翻开或箱内空间暴露；全片无机器人操作箱盖。参考成功录像中可见翻开的盖和内腔，本次没有相应变化。"
+     }
+    ]
+   },
+   "pruner_in_toolbox": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.5,
+      "log_step": 51,
+      "text_zh": "观察：视频 8.8–9.5 s 左腕视角中红柄黑刃修枝剪仍在灰色地板原处，位于张开的夹爪前方；未见修枝剪随夹爪离地。"
+     },
+     {
+      "t": 11.3,
+      "log_step": 58,
+      "text_zh": "观察：视频 11.3–12.67 s 左夹爪空合，指间无修枝剪，机器人未向工具箱运送物体。"
+     },
+     {
+      "t": 12.67,
+      "log_step": null,
+      "text_zh": "推断：结合视频中未完成抓取、未进行入箱运输，以及评分器 q_score=0.0、live_matches_replay=1，修枝剪入箱始终未达成，末态为假；并非仅由零分推断未操作。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 4.5–8.5 s 轮式底盘承载机器人平移并转向，靠近修枝剪，为后续左臂抓取定位。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "其他",
+      "note_zh": "观察：视频 8.8–9.5 s 左夹爪在修枝剪前方张开，视频 11.3–12.67 s 空合；候选名称“空夹”，未形成夹住修枝剪的对向接触，故不能记为抓握，现有接触方式无对应项。"
+     }
+    ]
+   },
+   "shears_in_toolbox": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频起始右腕视角可见另一件剪具在地板上；机器人随后扫描场景并驶向红柄修枝剪，全片未见夹取或运输大剪刀。"
+     },
+     {
+      "t": 12.67,
+      "log_step": null,
+      "text_zh": "推断：视频全片未见大剪刀转移，工具箱未开，评分器 q_score=0.0 且 live_matches_replay=1，故大剪刀入箱末态为假。"
+     }
+    ]
+   },
+   "toolbox_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 红色工具箱箱盖覆盖箱口，视频 4.5–7.0 s 再现时仍闭合；没有开盖动作。"
+     },
+     {
+      "t": 12.67,
+      "log_step": null,
+      "text_zh": "推断：视频后段机器人只在远离工具箱的位置尝试抓修枝剪，未操作箱盖，初始闭盖状态保持至结束；本节点为 state，装入两件剪具的 after 边不门控初始状态计数。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pruner_in_toolbox",
+   "t": 11.1,
+   "log_step": 51,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 9.5 s 修枝剪仍在原地，视频 11.3 s 左夹爪空合，直到视频 12.67 s 未夹起或送入工具箱；log step 51 的脚本确实提交了靠近、闭爪和抬起修枝剪的动作。推断：失败发生在修枝剪入箱步骤的抓取阶段，约视频 11.1 s 闭爪时，后续没有修复；不是从未操作的开箱节点反推断点。"
+  },
+  "unmet": {
+   "toolbox_on_floor": true,
+   "pruner_in_toolbox": false,
+   "shears_in_toolbox": false,
+   "toolbox_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 11.1,
+    "log_step": 51,
+    "evidence_zh": "观察：视频 8.8–9.5 s 修枝剪在左夹爪前方保持原位，视频 9.6 s 后腕部视角离开工具，视频 11.3–12.67 s 左夹爪闭合后指间为空，未出现夹住并带起修枝剪的阶段。推断：该次抓取没有建立所需的夹持接触。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 51 的脚本在固定时长后直接闭爪，未以实际末端到位为条件；log step 60 的诊断显示目标关节配置的正运动学末端世界高度约0.139米，而 log step 58 从同一 003_grasp_pruner 记录读取的闭爪帧末端高度约0.343米，log step 60 同时显示躯干关节未达到指令值。视频 11.3–12.67 s 也显示空夹。推断：执行未到达设定抓取位姿却继续闭爪，导致抓取失败；现有证据不足以进一步区分轨迹生成、关节跟踪或具体接触设计问题，保留上位“控制”。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 中有完整视频和运行日志，但没有状态日志；视频后段相机主要朝墙和天花板，工具箱不再入镜，其落地和闭盖末态依据前段观察及后续未接近、未操作作连续性推断。log step 71 为模型提供方过滤提示，发生于这次抓取及其诊断之后；中断前已有可观察的抓取失败，按该物理失败标注，不把外部过滤本身作为现象或根因。日志中的末端数值是 agent 读取已保存本体感知记录的诊断输出，未提供原始数组，控制细分与精确接触对无法独立复核。"
+ },
+ "summary_zh": "机器人完成场景扫描并靠近修枝剪，但左夹爪空合，未开箱或装入任一剪具；工具箱落地和闭盖两项初始状态保持，末态为2/5，q_score=0.0不计持续成立的初始目标。断点为修枝剪入箱的抓取阶段，约视频 11.1 s 未建立夹持接触，日志支持抓取位姿执行不到位的控制问题。log step 71 出现模型过滤提示；无状态日志且末段工具箱离开视野，保持状态及控制细节存在上述证据限制。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值（2/5，仅初始落地与闭盖保持）、断点（修枝剪入箱抓取阶段，视频约 11.1 s 闭爪）、没建立接触、控制根因与视频及日志一致；未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:27:37Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-put-together-a-basic-pruning-kit-i00-standard--d4pjmxn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-put-together-a-basic-pruning-kit-i00-standard--d4pjmxn/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ad2fdf3df19217bfa08707855b08aae9208634b703530bfc5c19c9aadd5701f0",
+   "video_sha256": "b39fc80db3e50fb3d1fe5208cc48522abca1f5f549d01a43afa4f4383a69dc40",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-standard--dfsrnpy.json b/phase2/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-standard--dfsrnpy.json
new file mode 100644
index 0000000000000000000000000000000000000000..06b80ad92ee5eaaecae7dd206f87fb87874c55fd
--- /dev/null
+++ b/phase2/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-standard--dfsrnpy.json
@@ -0,0 +1,430 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-put-together-a-basic-pruning-kit-i00-standard--dfsrnpy",
+ "taskKey": "behavior-1k/put_together_a_basic_pruning_kit",
+ "dag_sha256": "45588bc2f9af512dc48078f6ad004600b8d7191ff8df999c957949771ce64a79",
+ "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": 14321,
+   "sim_steps": 14321,
+   "physics_steps": 57284,
+   "steps": 14321,
+   "elapsed_s": 6702.7,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-put-together-a-basic-pruning-kit-i00-standard--dfsrnpy/replay.mp4",
+  "duration_s": 477.367,
+  "fps": 30.0,
+  "frames": 14321,
+  "sha256": "e50dcaae3de344bf76244375e7a0a738c10d231abb8245c16c70088b22795031"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 2,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "toolbox_on_floor": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      42.5
+     ],
+     [
+      48.5,
+      56.5
+     ],
+     [
+      65.5,
+      134.5
+     ],
+     [
+      140,
+      161
+     ],
+     [
+      190,
+      229
+     ],
+     [
+      235,
+      243.5
+     ],
+     [
+      257,
+      352
+     ],
+     [
+      361.5,
+      428.5
+     ],
+     [
+      434.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 25,
+      "log_step": null,
+      "text_zh": "推断：视频 25–38 s 首次近看时，闭合红箱直接放在车库地板上；此前机器人只取大剪刀，未碰箱体，结合任务初态将落地关系从视频 0 s 计入。"
+     },
+     {
+      "t": 44.5,
+      "log_step": 67,
+      "text_zh": "观察：视频 42.5–48.5 s 左夹爪提把手时，整箱随手上移，随后松手落回灰地板；视频 48.5–53 s 箱体重新由地板支承。边界按相邻半秒画面近似判断。"
+     },
+     {
+      "t": 60,
+      "log_step": 82,
+      "text_zh": "观察：视频 56.5–65.5 s 再次提把手并转腕时，整箱被抬起、翻转；视频 68–75 s 腕部视角重新见箱体落地。"
+     },
+     {
+      "t": 136,
+      "log_step": 134,
+      "text_zh": "推断：视频 134.5–140 s 左手夹角后上提并翻转整箱，箱体短暂离地；视频 140–147 s 翻至另一面后回落，视频 149–160 s 仍在地板上。箱底在部分画面出框，离地、恢复边界约有 1–2 s 不确定性。"
+     },
+     {
+      "t": 183,
+      "log_step": 154,
+      "text_zh": "推断：视频 161–190 s 右手从把手向外提箱，双手随后夹持箱体，最后右手将整箱旋回并降低；结合视频 161–189 s 连续画面中的整箱悬提及视频 190–194 s 松手后的落地状态，记为这段落地关系中断。"
+     },
+     {
+      "t": 231,
+      "log_step": 187,
+      "text_zh": "观察：视频 229–235 s 右手张开的手指勾提把手，箱底随整箱升起；右手撤开后箱体回落，视频 235–242 s 重回地板。"
+     },
+     {
+      "t": 250,
+      "log_step": 198,
+      "text_zh": "观察：视频 243.5–257 s 右夹爪夹把手提起整箱，在空中转动后降低；视频 257–260 s 松手并退开，箱体留在地板上。"
+     },
+     {
+      "t": 350,
+      "log_step": 271,
+      "text_zh": "推断：视频 343–350.5 s 腕部视角中箱体下缘仍贴近地板，之后左手携整箱转到相机侧边；视频 352–361.5 s 的腕部近景及释放后的视频 363–369 s 箱体位置表明曾被提离并回落。遮挡使这次离地、落地边界只能近似标注。"
+     },
+     {
+      "t": 431,
+      "log_step": 315,
+      "text_zh": "观察：视频 428.5–434.5 s 右手把整只侧立箱体向上提起、旋转并降低；视频 434.5–445 s 箱体重新接触地板。"
+     },
+     {
+      "t": 477.3,
+      "log_step": null,
+      "text_zh": "推断：视频 465–473 s 箱体在地板上，最后机器人用张开的右夹爪横向拨动箱体；检查视频 476.5–477.3 s 仍只有地板上的箱体边缘与夹爪，没有再次提箱的运动，终态维持落地。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左右夹爪先后夹持箱把手或箱角，提起、转动并降低箱体，松手后箱体重新落回地板；这也多次暂时破坏落地关系。"
+     }
+    ]
+   },
+   "toolbox_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 44.5,
+      "log_step": 67,
+      "text_zh": "观察：视频 38–51 s 左夹爪夹住黑色把手并向上提，盖和箱体一起平移、转动，没有出现相对掀盖后露出的内腔。"
+     },
+     {
+      "t": 177,
+      "log_step": 165,
+      "text_zh": "观察：视频 134–190 s 抓箱角、抓把手及双手分离尝试，仍使闭合箱体整体转动；视频 229–235 s 开爪勾把手也带动整箱。"
+     },
+     {
+      "t": 350,
+      "log_step": 266,
+      "text_zh": "观察：视频 319–350.5 s 的腕部近景仍见箱盖贴着箱体；视频 350.5–369 s 随左手转动的是整只箱，松手后仍是闭合箱体。agent 自述“opening the lid”（log step 266）不能代替开盖画面。"
+     },
+     {
+      "t": 444,
+      "log_step": 319,
+      "text_zh": "观察：视频 428–445 s 右手再次转动整箱，视频 445–470 s 可见的仍是闭合外壳；与参考成功录像视频 20、90 s 清楚露出的红色内腔相比，本次多次可见箱体时均没有对应开盖线索。"
+     },
+     {
+      "t": 477.3,
+      "log_step": null,
+      "text_zh": "推断：视频 474–477.3 s 末段开爪横向推拨箱体边缘，没有盖相对箱体掀开的运动；结合此前全程开盖尝试及可见闭合箱体，判为未打开，非仅因末帧出框而标未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左夹爪、右夹爪先后闭合夹住黑色提手、箱角和箱边，提拉及转腕时多次带动整箱。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "视频约 174–178 s 两夹爪分别夹箱角与把手；视频约 319–343 s 左夹爪夹把手，右夹爪夹取外侧黑色片及边缘，尝试固定并分离盖体。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "勾",
+      "note_zh": "视频约 225–234 s 张开的右夹爪手指伸入把手间隙并向上勾提，未形成闭合抓握。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "视频约 217–223 s 右侧张开手指顶拨箱前沿，视频 474–477.3 s 再横向推拨红色边缘。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人在视频约 25–38 s 驶近工具箱，后续多次倒车、转向和调整观察侧面的位置，以继续开盖尝试。"
+     }
+    ]
+   },
+   "pruner_in_toolbox": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 388,
+      "log_step": 295,
+      "text_zh": "观察：视频 383–390 s 红柄修枝剪从地板原位置离开并随右夹爪抬起，随后机器人持剪驶回箱边；这确认抓取发生，但不等于入箱。"
+     },
+     {
+      "t": 407,
+      "log_step": 307,
+      "text_zh": "观察：视频 402–410 s 右夹爪持红柄修枝剪接近箱的红色外侧面，剪具未穿入可见内腔；视频 411–414.5 s 松手后修枝剪落在箱外地板。"
+     },
+     {
+      "t": 468,
+      "log_step": null,
+      "text_zh": "观察：视频 438–469 s 红柄修枝剪一直在箱前地板上，未再被取起；评分器 q_score=0.0、live_matches_replay=1，与未入箱一致。终态 false 同时由画面及评分总量支持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右二指夹爪夹持红柄修枝剪并搬到工具箱外侧，之后张开夹爪，剪具留在地板。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约 390–397 s 底盘承载持修枝剪的机器人转向并驶近工具箱。"
+     }
+    ]
+   },
+   "shears_in_toolbox": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 20,
+      "log_step": 56,
+      "text_zh": "观察：视频 16–20.5 s 右夹爪闭合后，黑柄大剪刀从地板原位置抬起，并在右腕视角中稳定随夹爪移动；视频 25–38 s 机器人持剪驶向工具箱。"
+     },
+     {
+      "t": 114,
+      "log_step": 118,
+      "text_zh": "观察：视频 40–103 s 大剪刀一直留在右手、未被送进箱内；视频约 110–115 s 右手将它放至工具箱旁的地板，视频 120–125 s 头部视角可见箱旁的黑色剪具。"
+     },
+     {
+      "t": 465,
+      "log_step": 312,
+      "text_zh": "观察：后续操作一直针对箱体和红柄修枝剪，没有再把黑柄大剪刀取起入箱；视频 420–465 s 黑色剪具仍在箱外地板。"
+     },
+     {
+      "t": 477.3,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0.0，开局落地与闭盖关系不计新增分；两个入箱关系均不允许在终态成立。该总量与视频中黑柄大剪刀留在箱外的观察一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右二指夹爪夹持黑柄大剪刀，从地板抬起并持有，最后放到工具箱旁的地板。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约 21–38 s 底盘承载持大剪刀的机器人转向并驶近工具箱。"
+     }
+    ]
+   },
+   "toolbox_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 30,
+      "log_step": null,
+      "text_zh": "推断：视频 25–38 s 初次近看工具箱时箱盖贴合箱沿，且此前机器人未接触箱体；结合任务初态将闭合关系从视频 0 s 计入。"
+     },
+     {
+      "t": 337,
+      "log_step": 254,
+      "text_zh": "观察：视频 40–350.5 s 反复夹把手、箱角和外侧黑片，箱盖与箱体仍连成闭合外壳；视频 337 s 右腕近景可见箱沿贴合，没有露出成功录像视频 90 s 的内腔。"
+     },
+     {
+      "t": 468,
+      "log_step": null,
+      "text_zh": "观察：视频 398–414 s 修枝剪接近的是连续红色外壁；视频 438–469 s 箱体再次落地后仍为闭合外壳，没有装入剪具后的专门合盖操作。"
+     },
+     {
+      "t": 477.3,
+      "log_step": null,
+      "text_zh": "推断：视频 474–477.3 s 只有开爪横向拨动箱边，未见盖体相对转开；结合可见闭合外形及整段操作，闭合关系延续至终态。该节点是状态节点，未装入剪具不门控其初始闭盖计数。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "toolbox_opened",
+   "t": 43.5,
+   "log_step": 67,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 42.5–48.5 s 机器人左夹爪夹黑色把手上提时，整只闭合工具箱随手升起和转动，未露出内腔；后续反复抓角、勾把手、双手操作以及视频 343–369 s 的转腕仍未真正打开。视频 411–414.5 s 修枝剪放在箱外，至视频 477.3 s 结束也没有修复开盖步骤；因此最早未修复的步骤为打开工具箱。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "带动本体",
+    "t": 43.5,
+    "log_step": 67,
+    "evidence_zh": "观察：视频 43–48 s 左夹爪抬黑把手时箱盖和下部箱体共同抬起；视频 57–65.5 s、134–147 s、243.5–257 s 以及 428.5–434.5 s 继续出现整箱随手翻转或悬提，而没有盖相对箱体打开的内腔。机器人要操作箱盖，却反复把应留在地板上的箱体一起带动。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频",
+    "evidence_zh": "推断：视频 43–48 s 与 57–65.5 s 中夹爪已接触并夹持把手，但末端提拉、转腕落实为整箱运动；视频 174–178 s 双手分离尝试和视频 343–369 s 沿弧转腕也未产生需要的盖体相对运动。日志 log step 67、82、263、271 对应明确的夹持与末端位姿命令，agent 也在 log step 92、195 自述把手带动整箱。证据支持机构操作的接触/运动控制未奏效；没有接触对或关节状态，不能进一步确定是附着到箱体、夹持位置还是受约束的跟踪问题。"
+   }
+  ],
+  "gap_zh": "没有状态日志，不能直接读取箱盖关节、箱底接触对或辅助抓取附着链路；闭合/未开盖依据多角度连续画面及成功录像可见内腔的对照。箱底部分时间出框，落地节点的若干离地和恢复边界为上下文推断，约有 1–2 s 不确定性，尤其视频 134–147 s、161–190 s 与 352–361.5 s。视频末段箱体部分出框，终态由此前连续观察、最后动作及评分总量共同判断；根因保留在控制大类。",
+  "unmet": {
+   "toolbox_on_floor": true,
+   "pruner_in_toolbox": false,
+   "shears_in_toolbox": false,
+   "toolbox_closed": true
+  }
+ },
+ "summary_zh": "机器人抓起并搬运两件剪具，但大剪刀最终放在箱旁，修枝剪也在尝试插入后落在箱外；工具箱多次离地后回落，终态仅落地与闭盖两节点成立，为 2/5。断点是打开工具箱：抓提和转腕反复带动整箱，始终未见成功录像那样露出的内腔；agent 的若干开盖自述与画面不符。无状态日志，部分箱底接触边界及具体控制子类只能推断，q_score=0.0 与保留初始关系而无新增入箱目标相符。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "抽查画面与标注一致：工具箱始终为闭合外壳，两件剪具均未入箱，断点为打开工具箱、现象带动本体、根因控制均有画面支持；未发现需要改动的内容。落地节点的离地边界无法逐一核对，但未见相反证据。",
+    "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": "2026-10-30T22:31:48Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-put-together-a-basic-pruning-kit-i00-standard--dfsrnpy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-put-together-a-basic-pruning-kit-i00-standard--dfsrnpy/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d06a597909746322d992225e2852ebcebe7891c935962f702d5fdfb4c437784e",
+   "video_sha256": "e50dcaae3de344bf76244375e7a0a738c10d231abb8245c16c70088b22795031",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-standard--ezrdtkw.json b/phase2/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-standard--ezrdtkw.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5a98e0fce0d52f8eb01275fbf7df66e6b45d157
--- /dev/null
+++ b/phase2/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-standard--ezrdtkw.json
@@ -0,0 +1,326 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-put-together-a-basic-pruning-kit-i00-standard--ezrdtkw",
+ "taskKey": "behavior-1k/put_together_a_basic_pruning_kit",
+ "dag_sha256": "45588bc2f9af512dc48078f6ad004600b8d7191ff8df999c957949771ce64a79",
+ "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": 29311,
+   "sim_steps": 29311,
+   "physics_steps": 117244,
+   "steps": 8565,
+   "elapsed_s": 13798.2,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.075,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.436,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-put-together-a-basic-pruning-kit-i00-standard--ezrdtkw/replay.mp4",
+  "duration_s": 977.033,
+  "fps": 30.0,
+  "frames": 29311,
+  "sha256": "2a2cefb3cb34f237f222cebe3c7c35243f5f022e18d9ffbd00ae4720a146745d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 2,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "toolbox_on_floor": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 红色工具箱放在车库灰色地板上；视频 36–48 s、203 s、287 s、600–615 s、810 s 和 977.0 s 再次可见箱体由地板承托，操作中虽有转动和移位，未见箱体被搬离地板。"
+     },
+     {
+      "t": 977.0,
+      "log_step": null,
+      "text_zh": "观察：视频 976.0–977.0 s 末段，工具箱仍在车后灰色地板上，没有被夹爪持起或放到其他支承物上。"
+     }
+    ]
+   },
+   "toolbox_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25,
+      "log_step": 110,
+      "text_zh": "观察：视频 19.0–37.0 s 机器人右夹爪在黑色把手和红色盖面附近反复靠近、闭合及上抬，盖与箱体未出现可装入工具的分离，视频 36.0 s 退手后箱盖仍合着。log step 110 提交的是抓把手后抬起开盖的动作。"
+     },
+     {
+      "t": 810,
+      "log_step": null,
+      "text_zh": "观察：视频 600–615 s、682–715 s、790–825 s 及 880–910 s 的后续操作仍只有夹爪在盖面、把手或盖沿附近运动，没有露出箱内空间；视频 810–812 s 可见右夹爪离开把手后为空，箱盖未随手翻开。"
+     },
+     {
+      "t": 977.0,
+      "log_step": null,
+      "text_zh": "推断：对照参考成功录像中清楚可见的翻盖和内腔，本次从开局到视频 977.0 s 未观察到同类开盖结果，故打开工具箱事件未达成；此判断依据实际画面，不以 q_score=0 单独判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 19–37 s 右夹爪接近把手并抵在盖面附近，后续左右夹爪先后在盖沿、盖面处抵压；视频 800–810 s 右手接触盖面及把手后抬离，未确认夹爪可靠包夹盖体。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 600–615 s、710–715 s 等操作中，单侧夹爪先后拨推箱盖或箱体，箱子改变朝向，但未露出内腔；两手并未共同夹持箱盖。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在视频 7–18 s 驶近工具箱，后续又多次移动底盘调整箱前操作位置。"
+     }
+    ]
+   },
+   "pruner_in_toolbox": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 152,
+      "log_step": null,
+      "text_zh": "观察：视频 87–156 s 右腕视角先后出现红柄修枝剪贴近夹爪的抓取、抬举画面；视频 156 s 工具仍在箱外，视频 158–162 s 靠近的是闭合的工具箱，未见修枝剪进入箱内。"
+     },
+     {
+      "t": 968,
+      "log_step": null,
+      "text_zh": "观察：视频 966.0–968.0 s 左夹爪从箱外地板处再次抓起红柄修枝剪，随后带着它移动；视频 977.0 s 左腕仍可见手中的红柄，修枝剪没有落入工具箱。"
+     },
+     {
+      "t": 977.0,
+      "log_step": null,
+      "text_zh": "推断：末段修枝剪仍在箱外夹爪中；评分器 reward.q_score=0.0 且 live_matches_replay=1，也排除了末态新增的修枝剪入箱关系。落地和闭盖这两个初始成立且保留的关系不增加该分数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人先后使用单侧夹爪抓取红柄修枝剪，末段视频 966.5–968.0 s 可见左夹爪夹住并提起修枝剪；它随夹爪离开原地板位置。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 153–162 s 和 971–977 s 等搬运时段，轮式底盘承载机器人及夹持修枝剪的机械臂移动。"
+     }
+    ]
+   },
+   "shears_in_toolbox": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 194,
+      "log_step": null,
+      "text_zh": "观察：视频 185–194 s 右腕画面可见黑色环柄、银色刀刃的大剪刀被夹持并移动；视频 203–212 s 工具箱仍闭合，未见大剪刀到达内腔。"
+     },
+     {
+      "t": 284,
+      "log_step": null,
+      "text_zh": "观察：视频 266–284 s 机器人又抓取、搬运大剪刀到箱旁，视频 284–293 s 箱盖仍覆盖箱口，大剪刀没有可见的入箱落位。"
+     },
+     {
+      "t": 977.0,
+      "log_step": null,
+      "text_zh": "观察：视频 976.0–977.0 s 右腕相机可见黑色环柄大剪刀躺在灰色地板上；头部相机同时可见闭合工具箱，二者分离。"
+     },
+     {
+      "t": 977.0,
+      "log_step": null,
+      "text_zh": "推断：末态大剪刀在箱外地板，与评分器 reward.q_score=0.0、live_matches_replay=1 一致，故大剪刀入箱为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 185–194 s、266–281 s 右腕可见大剪刀刀刃或柄部被右夹爪夹持，随手移动；并非仅根据日志的“持有”自述判断。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在视频 188–212 s、278–293 s 等时段携大剪刀向工具箱移动，底盘承载机械臂和所持剪刀。"
+     }
+    ]
+   },
+   "toolbox_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 工具箱盖已合拢，视频 16–18 s 近景可见黑色把手位于覆盖箱口的红色盖面上；因此闭盖状态从开局计入。"
+     },
+     {
+      "t": 810,
+      "log_step": null,
+      "text_zh": "观察：视频 19–48 s 及 600–615 s、682–715 s、790–910 s 多次开盖操作之后，盖仍覆盖箱口；未见成功录像所示箱盖翻开、内腔外露的形态。"
+     },
+     {
+      "t": 977.0,
+      "log_step": null,
+      "text_zh": "观察：视频 976.0–977.0 s 箱盖仍贴着箱体，闭盖状态保留；这是初始闭盖关系持续成立，并非装入两件剪具后完成了合盖动作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "toolbox_opened",
+   "t": 25.0,
+   "log_step": 110,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 19–37 s 机器人右夹爪试图在把手处闭合、上抬，但盖没有与箱体分开；视频 36 s 退手后仍闭盖。log step 110 的脚本明确执行抓把手并抬升的开盖动作，后续视频 600–910 s 重试也未露出内腔，最早未修复的失败是打开工具箱。"
+  },
+  "unmet": {
+   "toolbox_on_floor": true,
+   "pruner_in_toolbox": false,
+   "shears_in_toolbox": false,
+   "toolbox_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 25.0,
+    "log_step": 110,
+    "evidence_zh": "观察：视频 19–37 s 右夹爪在把手附近动作，但上抬和退手没有带起箱盖；视频 804–812 s 右夹爪又靠近把手、闭合并空手抬离，盖保持覆盖箱口。推断：开盖所需的有效抓握或勾持没有建立；手指擦碰盖面不等于夹住可驱动箱盖的部位。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：机器人能驶到箱前并执行接近、闭合及上抬，却反复无法把夹爪动作传给箱盖，支持控制层面的抓盖执行失败。视频 19–37 s、804–812 s 显示空手抬离而箱盖不动；log step 1528 的服务读数为夹爪闭合至 0.00000 m，log step 2600 回读该次开盖脚本的执行结果也记载夹盖后右夹爪为 0.00000 m、两段轨迹均执行完毕。这些读数只作执行证据，开盖是否达成仍以画面为准。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "未提供状态日志，无法逐控制步核对箱盖5%行程阈值、物体包围盒中心或接触对；部分抓取瞬间被机械臂遮挡。已对照成功录像并检查本次开盖操作前后及视频 976–977 s，未见箱内空间外露，两件剪具末态在箱外；缺少足够的目标位姿误差与接触力记录，控制根因不再细分为抓取几何、逆解或跟踪问题。"
+ },
+ "summary_zh": "机器人多次抓取、搬运两件剪具并反复尝试开箱，但没有观察到箱盖打开或剪具进入内腔；末态仅工具箱落地、闭盖两个初始关系成立，进度为2/5，q_score为0.0。最早未修复的断点是打开工具箱：夹爪未建立能驱动箱盖的有效抓握或勾持，反复上抬后仍闭盖，归为控制问题。没有状态日志，细微开合阈值及更细控制原因无法精确核实。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（落地、闭盖初始成立并保持，开盖与两件剪具入箱均未达成，2/5）与 q_score=0 一致；末段帧未见箱盖翻开，断点 toolbox_opened 合理。根因“控制”为推断且已在 gap_zh 说明无法细分，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": "2026-10-30T22:29:06Z",
+  "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-put-together-a-basic-pruning-kit-i00-standard--ezrdtkw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-put-together-a-basic-pruning-kit-i00-standard--ezrdtkw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b41f01c7744e7809d12c0e9571ca8b4510c3c1a82d219f587f705785829e0e02",
+   "video_sha256": "2a2cefb3cb34f237f222cebe3c7c35243f5f022e18d9ffbd00ae4720a146745d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-standard--fbfkukf.json b/phase2/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-standard--fbfkukf.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c03abe8ea193eb9f1711452c46d5aed5be9835d
--- /dev/null
+++ b/phase2/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-standard--fbfkukf.json
@@ -0,0 +1,364 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-put-together-a-basic-pruning-kit-i00-standard--fbfkukf",
+ "taskKey": "behavior-1k/put_together_a_basic_pruning_kit",
+ "dag_sha256": "45588bc2f9af512dc48078f6ad004600b8d7191ff8df999c957949771ce64a79",
+ "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": 13027,
+   "sim_steps": 13027,
+   "physics_steps": 52108,
+   "steps": 6555,
+   "elapsed_s": 3185.0,
+   "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": 0.216,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.405,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-put-together-a-basic-pruning-kit-i00-standard--fbfkukf/replay.mp4",
+  "duration_s": 434.233,
+  "fps": 30.0,
+  "frames": 13027,
+  "sha256": "ac6b8ef6b4aa7c6d85443ab172432e8bd2c6b19ac12dc74bfd3e811c68794e52"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 2,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "toolbox_on_floor": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      81.5
+     ],
+     [
+      85.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 15,
+      "log_step": null,
+      "text_zh": "观察：视频 15 s 可见闭合红色工具箱支承在车库灰色地板上。"
+     },
+     {
+      "t": 83.5,
+      "log_step": 76,
+      "text_zh": "推断：视频 81–85 s 左夹爪夹住把手，闭合箱盖与箱体一同随手上移再落回，未露出内腔；结合 log step 76 的竖直上提0.04米及 log step 77 的反向下放，判定约视频 81.5–85 s 整箱短暂离地，边界约有0.5秒误差。"
+     },
+     {
+      "t": 272,
+      "log_step": null,
+      "text_zh": "观察：视频 272 s 工具箱侧躺时仍以侧边接触下方地板；侧倒本身不等于离开地板。视频 320–373 s 双夹爪推箱时箱体沿地板滑动，未被搬到别的支承物。"
+     },
+     {
+      "t": 413,
+      "log_step": 163,
+      "text_zh": "观察：视频 397–410 s 左夹爪夹把手使箱体绕落地边翻回，视频 413 s 与视频 424 s 均见箱体已在地板上，夹爪已离开；随后机器人侧翻，未见箱体再移动。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左夹爪夹住工具箱把手，视频 81–85 s 提起并下放整箱；视频 397–410 s 再夹把手翻正侧躺箱体。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "推/扫",
+      "note_zh": "视频 320–333 s、360–373 s，机器人两只闭合夹爪同时抵住侧躺工具箱，推动箱体沿地板滑动，未形成对箱体的包夹抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "双夹爪抵箱推动期间，轮式底盘前移承载机械臂并推动工具箱。"
+     }
+    ]
+   },
+   "toolbox_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      174.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 175,
+      "log_step": 92,
+      "text_zh": "推断：视频 174.5–177 s 左夹爪夹把手使盖相对箱体轻微翘起，随后反向复位；结合 log step 92 的开盖弧线及后续视频 193.5–202.5 s 同方向开盖露出内腔，首次开盖约记视频 174.5 s。无关节状态日志，5%阈值的首次越过时间不精确。"
+     },
+     {
+      "t": 201.5,
+      "log_step": 101,
+      "text_zh": "观察：视频 198–202.5 s 可见箱盖明显转开、箱内空间露出；视频 203 s 松手后盖回落。这已满足打开事件，后续重新闭盖不撤销事件。成功参考录像的 oracle 视频 45–60 s 也以盖转开、内腔露出为可见线索，仅用于比较外观。"
+     },
+     {
+      "t": 233,
+      "log_step": 119,
+      "text_zh": "观察：视频 229–235 s 机器人再次夹把手开盖，之后继续翻动并使整个箱体侧倒；未接着装入工具。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左二指夹爪从两侧夹住黑色盖把手，沿弧线抬盖；多次复位、松开后重新夹持。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘多次绕工具箱改变接近方位；视频 418–424 s 空手移动，准备再次接近工具箱时失稳。"
+     }
+    ]
+   },
+   "pruner_in_toolbox": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 35,
+      "log_step": null,
+      "text_zh": "观察：视频开头的扫视可见地板上的剪具；检查整段视频的粗采样及各操作段，机器人始终围绕工具箱开盖、翻箱和推箱，未见夹爪抓起或搬运修枝剪，视频 198–202.5 s 暴露的箱内也没有装入剪具。"
+     },
+     {
+      "t": 434.15,
+      "log_step": null,
+      "text_zh": "推断：视频 424–434.15 s 机器人侧倒后没有继续操作；评分器 reward.q_score=0、live_matches_replay=1，在初始落地和闭盖两项目标不计新增得分的规则下，也排除终态修枝剪入箱。此判断同时依据全程没有剪具转移的画面，不单凭零分反推未操作。"
+     }
+    ]
+   },
+   "shears_in_toolbox": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 35,
+      "log_step": null,
+      "text_zh": "观察：视频开头的扫视可见地板上的剪具；检查整段视频的粗采样及各操作段，机器人始终围绕工具箱开盖、翻箱和推箱，未见夹爪抓起或搬运大剪刀，视频 198–202.5 s 暴露的箱内也没有装入剪具。"
+     },
+     {
+      "t": 434.15,
+      "log_step": null,
+      "text_zh": "推断：视频 424–434.15 s 机器人侧倒后没有继续操作；评分器 reward.q_score=0、live_matches_replay=1，在初始落地和闭盖两项目标不计新增得分的规则下，也排除终态大剪刀入箱。此判断同时依据全程没有剪具转移的画面，不单凭零分反推未操作。"
+     }
+    ]
+   },
+   "toolbox_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      174.5
+     ],
+     [
+      179.5,
+      191.5
+     ],
+     [
+      203.0,
+      227.5
+     ],
+     [
+      253.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 15,
+      "log_step": null,
+      "text_zh": "观察：视频 15 s 箱盖贴合箱口，视频 58–173.5 s 的抓把手、整箱倾动和提放均未露出可确认的内腔；初始闭盖独立于装工具前置计入。"
+     },
+     {
+      "t": 179.5,
+      "log_step": 93,
+      "text_zh": "推断：视频 174.5–177 s 的轻微掀盖后，左夹爪反向复位；视频 179.5–190.5 s 盖恢复覆盖箱口。按可见盖沿相对运动，约视频 191.5 s 再次开盖，视频 203 s 松手后盖落回箱沿；5%关节阈值附近边界约有1秒误差。"
+     },
+     {
+      "t": 253,
+      "log_step": 122,
+      "text_zh": "推断：视频 227.5–235 s 再次掀盖，后续整箱翻倒；log step 122 张开左夹爪。视频 253–260 s 腕部视角重新看见箱体，盖与侧躺箱体贴合；合盖发生在视频约 246–253 s 的遮挡段，区间以首次可确认的 视频 253 s 为恢复锚点。"
+     },
+     {
+      "t": 424,
+      "log_step": null,
+      "text_zh": "观察：视频 397–410 s 翻正箱体后，视频 413–424 s 盖覆盖箱口、黑把手在上方，箱内没有装入剪具；机器人侧翻前未再开盖，视频 433.5–434.15 s 机器人保持侧倒。终态闭盖成立不表示整项任务完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频 177.5–180 s 左夹爪保持夹住盖把手，反向带盖复位；视频 203 s、约视频 246 s 松开把手后箱盖回落。此处记录实际复位接触，未把未发生的装箱后合盖当作完成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pruner_in_toolbox",
+   "t": 424.0,
+   "log_step": 166,
+   "where": "转场",
+   "evidence_zh": "观察：视频 198–202.5 s 箱盖转开并露出内腔，打开事件已达成；松手后盖回落，随后操作使箱体侧倒，视频 410–413 s 箱体已翻正、闭盖落地，双手退出。视频 418–424 s 机器人空手绕箱移动，视频 424–426.5 s 视野快速侧转，之后直至视频 434.15 s 仍侧倒。log step 166 的脚本安排绕到箱子另一侧重新定位盖把手，途中服务返回 failure: the robot fell over，log step 167 确认终止。推断：开盖事件按event规则锁存，不再作为未完成断点；继续装箱的准备转场被跌倒中断，两件剪具均未入箱。以DAG顺序首个未达成节点 pruner_in_toolbox 记录断点；两件剪具无先后依赖，此归属不表示画面已显示抓取修枝剪或选定先装哪件。"
+  },
+  "unmet": {
+   "toolbox_on_floor": true,
+   "pruner_in_toolbox": false,
+   "shears_in_toolbox": false,
+   "toolbox_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 424.0,
+    "log_step": 166,
+    "evidence_zh": "观察：视频 424 s 机器人开始明显侧倾，视频 424.5–426.5 s 头部及腕部视图随本体急剧滚转，至视频 434.15 s 未恢复；log step 166–167 记录服务以机器人跌倒结束回合。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 166 的机器人脚本在松开工具箱、收回双臂后命令底盘移动并转向；视频 418–424 s 该空手移动之后紧接着本体侧翻，未保持住移动时的支撑稳定，因此归入控制。log step 167 明确为物理跌倒终止，非脚本异常或外部中断；画面无法进一步区分底盘与躯干的跟踪失稳机制，不指定控制子类。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "无状态日志，低分辨率头部及腕部视角不能精确测得箱盖5%关节阈值、整箱短暂离地时刻及跌倒时的底盘接触和躯干受力；开闭区间有约1秒误差，视频约 246–253 s 的合盖恢复时刻受遮挡，只能用首次重现锚定。终末侧倒导致工具箱不在最后视野，终态落地、闭盖结合视频 413–424 s、此后无操作及评分总分推断。"
+ },
+ "summary_zh": "机器人曾夹把手打开工具箱，短暂提箱后放回，又将侧倒箱体翻正；两件剪具始终未被装入，按DAG初始进度2/5、峰值和终态均3/5（含锁存的开盖事件）。视频约 424 s，机器人空手绕箱准备再次开盖以继续装箱时失去平衡，服务以跌倒终止；已锁存的开盖事件不作断点，断点归于DAG顺序首个未达成的修枝剪入箱，位置为转场，根因仅能归为控制。缺少状态日志使微小开合阈值、离地与遮挡段恢复时间及具体失稳机制不能精确确定；本次任务文本称目标关系成立即结束，未用DAG新增的联合松手静置窗口解释此次失败。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点区间、跌倒与根因基本有据；主要问题是断点 ref 指向已达成（锁存）的事件节点 toolbox_opened，而 unmet 中该节点并不在内，断点应落在跌倒时尚未完成、正要推进的未达成步骤。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "第二轮：断点已改为 pruner_in_toolbox（转场），节点区间、侧倒/跌倒现象与控制根因与视频及 log step 166-167 相符；未发现需改内容的错误。81.5–85 s 整箱离地为推断且已标注并给出误差，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": "2026-10-30T22:32:30Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-put-together-a-basic-pruning-kit-i00-standard--fbfkukf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-put-together-a-basic-pruning-kit-i00-standard--fbfkukf/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-put-together-a-basic-pruning-kit-i00-standard--fbfkukf/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-put-together-a-basic-pruning-kit-i00-standard--fbfkukf/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c24e50dcfad98dc832bc89ca138e16d4357f26f3ff737d8aa45fee2a37ab38f8",
+   "video_sha256": "ac6b8ef6b4aa7c6d85443ab172432e8bd2c6b19ac12dc74bfd3e811c68794e52",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-standard--hmqke5q.json b/phase2/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-standard--hmqke5q.json
new file mode 100644
index 0000000000000000000000000000000000000000..6eea502405afdc657f8470f573a758d24247b6c9
--- /dev/null
+++ b/phase2/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-standard--hmqke5q.json
@@ -0,0 +1,354 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-put-together-a-basic-pruning-kit-i00-standard--hmqke5q",
+ "taskKey": "behavior-1k/put_together_a_basic_pruning_kit",
+ "dag_sha256": "45588bc2f9af512dc48078f6ad004600b8d7191ff8df999c957949771ce64a79",
+ "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": 17867,
+   "sim_steps": 17867,
+   "physics_steps": 71468,
+   "steps": 11366,
+   "elapsed_s": 13964.1,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-put-together-a-basic-pruning-kit-i00-standard--hmqke5q/replay.mp4",
+  "duration_s": 595.567,
+  "fps": 30.0,
+  "frames": 17867,
+  "sha256": "7b6a34fcadd6f0b9b0ceef23653807dc8e452543a0ba48deec0ac18596664bad"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 2,
+  "peak": 3,
+  "final": 2,
+  "nodes": {
+   "toolbox_on_floor": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      367.8
+     ],
+     [
+      371.7,
+      381.5
+     ],
+     [
+      570.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，红色小工具箱放在车库灰色地板上；视频 58.0 s 开盖时仍在原地，视频 157.0 s、342.0 s 可见闭盖箱体仍落地。"
+     },
+     {
+      "t": 369,
+      "log_step": 565,
+      "text_zh": "推断：视频 367.5–371.9 s 左腕画面显示机器人夹住黑色提手后红色箱面随手抬升、随后降回；log step 565、568 的同一实时操作分别抬升和降低提手，短暂离地约记为视频 367.8–371.7 s。此段箱底被相机边缘遮挡，边界约有 1 s 不确定性。"
+     },
+     {
+      "t": 384,
+      "log_step": 581,
+      "text_zh": "观察：视频 378.8–384.0 s，机器人左夹爪拉开箱盖，随后箱体也随左臂上移；视频 390.0 s、420.0 s、530.0 s 箱体悬在左手下方。推断：箱底离地边界取视频约 381.5 s，受视野裁切影响约有 2 s 不确定性。"
+     },
+     {
+      "t": 570.5,
+      "log_step": 629,
+      "text_zh": "观察：视频 568.3–570.6 s，左夹爪离开提手，箱体下落并翻转，视频 570.5 s 起箱体落在灰色地板上；视频 571.0 s 可见它留在地面。推断：此后机器人仅用右手在另一处抓修枝剪，至视频 595.53 s 未再搬箱，落地关系保持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左夹爪夹住工具箱黑色提手或盖部，曾连同箱体抬起，随后降低并松手使箱体回到地板。"
+     }
+    ]
+   },
+   "toolbox_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      54.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 56,
+      "log_step": 156,
+      "text_zh": "观察：视频 54.0–58.1 s，机器人左夹爪夹住箱盖把手并向上拉，箱盖与箱体分开；视频 56.0 s 已能看见箱内空间，视频 58.0 s 内腔清楚。开盖首次越过小角度阈值约在视频 54.5 s，精确 5% 关节阈值无状态日志可核。"
+     },
+     {
+      "t": 58.7,
+      "log_step": 165,
+      "text_zh": "观察：视频 58.3–58.7 s，机器人左夹爪松开后箱盖自行回落覆盖箱口；打开工具箱为锁存事件，后续回落不取消已发生的打开。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左夹爪夹住黑色把手，拉起红色箱盖；后段再次夹住盖部拉开并带起箱体。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人在操作箱盖前移动、转向至工具箱旁，底盘承载机械臂接近开盖位置。"
+     }
+    ]
+   },
+   "pruner_in_toolbox": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 138,
+      "log_step": 291,
+      "text_zh": "观察：视频 138.0 s 修枝剪的红色手柄随机器人右夹爪离开地板；视频 148.0 s 机器人携带它回到箱旁。"
+     },
+     {
+      "t": 159,
+      "log_step": 319,
+      "text_zh": "观察：视频 157.0–160.0 s，红色工具箱仍闭盖，机器人右夹爪在箱体旁松开修枝剪；视频 159.0 s 右腕画面显示红柄修枝剪停在箱外灰色地板上。"
+     },
+     {
+      "t": 310,
+      "log_step": 457,
+      "text_zh": "观察：视频 287.0–300.0 s 机器人再次夹起修枝剪，视频 305.0–310.0 s 右手张开后它又落在箱旁地板，未见进入箱内；视频 340.0 s 仍见红柄工具在地面。"
+     },
+     {
+      "t": 595.53,
+      "log_step": 658,
+      "text_zh": "观察：视频 590.0–595.53 s，机器人右夹爪继续在地面修枝剪附近下降、闭合、微抬；右腕画面中的红柄修枝剪仍在地板上。推断：结合评分器 q_score=0.0，两次搬运与末段重抓均未实现修枝剪入箱。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人右夹爪先后夹住修枝剪红色手柄并搬运，释放到箱外；末段多次闭爪未将它带离地面。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "后段机器人左夹爪夹住工具箱盖部，右臂同时伸向地板修枝剪并尝试夹取；左侧确有持箱接触，右侧该阶段未形成成功搬运。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘在首次携带修枝剪时从墙角驶回工具箱旁。"
+     }
+    ]
+   },
+   "shears_in_toolbox": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 22,
+      "log_step": 84,
+      "text_zh": "观察：视频 18.0 s 大剪刀仍在地板上；视频 20.0–24.5 s 它离开原地并随机器人右夹爪抬起，随后被携带至工具箱附近。"
+     },
+     {
+      "t": 81,
+      "log_step": 193,
+      "text_zh": "观察：视频 80.3–81.2 s，机器人右夹爪张开，黑柄银刃大剪刀落在灰色地板上；视频 81.2 s、84.0 s 右腕画面可见大剪刀在箱外，未进入红色内腔。log step 193 的服务计数为 control_steps=2423；17867 个控制步对应视频 595.567 s，故 2423/30=视频 80.77 s，与此处松手画面核对一致。"
+     },
+     {
+      "t": 594.6,
+      "log_step": null,
+      "text_zh": "推断：视频 81.2 s 后机器人转去抓修枝剪，后续所检视频未见大剪刀再次移入箱内；评分器 q_score=0.0、live_matches_replay=1 排除终态满足新增的剪具入箱目标。大剪刀入箱终态为假，不能用 agent 在 log step 199、242 的“已在箱内”自述替代画面。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人右夹爪夹持大剪刀黑色手柄，抬起并携带，随后在箱外张开释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人底盘在右夹爪携带大剪刀时转向并驶向工具箱。"
+     }
+    ]
+   },
+   "toolbox_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      54.5
+     ],
+     [
+      58.6,
+      378.8
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 红色工具箱箱盖覆盖箱口；视频 54.0–56.0 s 左手拉盖后露出内腔，关闭状态失去。"
+     },
+     {
+      "t": 58.7,
+      "log_step": 165,
+      "text_zh": "观察：视频 58.3–58.7 s 左夹爪松手，箱盖落回箱沿，视频 58.7 s 起看见带黑色把手的完整外盖而非内腔；视频 157.0 s、200.0 s、342.0 s、376.0 s 仍为闭盖。视频 367.5–371.9 s 的提手短暂抬升中未见盖板与箱体分离，未另断开关闭区间。"
+     },
+     {
+      "t": 380,
+      "log_step": 581,
+      "text_zh": "观察：视频 378.8–380.4 s 左夹爪再次拉起盖部，红色内腔显露，关闭状态再次失去；视频 390.0 s 后机器人连箱带起。"
+     },
+     {
+      "t": 570.6,
+      "log_step": 629,
+      "text_zh": "观察：视频 569.6–570.8 s 箱体落地时盖板与箱体呈明显夹角，视频 570.4–570.8 s 仍能看到开口和内腔。推断：此后机器人转向地板修枝剪，至视频 595.53 s 未再合盖，因此终态未关闭；落地瞬间盖板摆动不作为稳定恢复。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左夹爪曾抓住箱盖把手后松手，首次盖板自行回落合上；后段抓盖并下放、松手后盖仍张开。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "shears_in_toolbox",
+   "t": 80.5,
+   "log_step": 193,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 80.3–81.2 s，机器人右夹爪在工具箱外释放大剪刀，视频 81.2 s、84.0 s 大剪刀停在地板上，之后未被重新装入。推断：最早未修复的步骤是大剪刀入箱；先前抓空后来抓起已修复，开盖曾达到，后续修枝剪和合盖尝试不修复这次错放。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 80.5,
+    "log_step": 193,
+    "evidence_zh": "观察：视频 80.3–81.2 s 机器人右手张开放下大剪刀，它落到灰色地板而非红色工具箱内，视频 84.0 s 仍在箱外。推断：释放位置未进入容器，应标位姿不准；没有先在箱内放稳再滚出的过程。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "t": 80.5,
+    "log_step": 191,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：agent 在 log step 191 称右手位于“open cavity”上方，log step 199 又把释放后的画面解释成“大剪刀在箱内底部”；同一实时运行的 log step 191 显示右 TCP 已到其目标 [-7.5594,5.8205,0.2200]，而视频 58.7 s 箱盖早已回落，视频 81.2 s、84.0 s 显示释放处是箱外地板。推断：agent 对箱内空间的位置及开闭状态的视觉判断错误，导致在错误目标处释放；不能据此归因于未解出放置轨迹。"
+   }
+  ],
+  "gap_zh": "没有状态日志，箱体底部在若干近距腕部视角被裁切；工具箱落地关系的短暂失去与恢复依连续画面和同一实时操作推断，视频约 367.8–371.7 s 边界约有 1 s、视频约 381.5 s 边界约有 2 s 不确定性。精确 inside 包围盒中心和开盖 5% 阈值无法逐帧数值核验；两件剪具终态为假同时受箱外画面与 q_score=0.0 支持。视频 595.53 s 已检查，末尾箱体不在画面中，闭盖终态依据视频 570.4–570.8 s 的开盖及之后没有合盖动作推断。",
+  "unmet": {
+   "toolbox_on_floor": true,
+   "pruner_in_toolbox": false,
+   "shears_in_toolbox": false,
+   "toolbox_closed": false
+  }
+ },
+ "summary_zh": "机器人打开过工具箱，初始落地与闭盖共为 2/5；两件剪具均未装入，工具箱后段被抬起后落地且盖仍开着，结束为 2/5（落地、打开事件）。最早未修复的是视频约 80.5 s 的大剪刀箱外释放：agent 将箱外地面误判为箱内空间，后续还搬运修枝剪但未修复大剪刀错放。无状态日志，箱体离地边界和精确开合阈值有视觉不确定性；评分 q_score=0.0 与两个新增入箱目标均未达一致。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "抽查视频 80.0、84.0、100 s 帧：大剪刀在箱外释放且盖已回落，断点 shears_in_toolbox、位姿不准、感知（log step 191/199 自述箱内与画面不符）均有证据支持；节点进度 2/5、峰值 3 与时钟换算（2423/30≈80.8 s）未见错误。",
+    "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": "2026-10-30T22:30:37Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-put-together-a-basic-pruning-kit-i00-standard--hmqke5q/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-put-together-a-basic-pruning-kit-i00-standard--hmqke5q/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7716198d03ed52891eb2971df5d89be545726e3e75a58d74d9aada6656f9c0ed",
+   "video_sha256": "7b6a34fcadd6f0b9b0ceef23653807dc8e452543a0ba48deec0ac18596664bad",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-standard--otk2rmz.json b/phase2/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-standard--otk2rmz.json
new file mode 100644
index 0000000000000000000000000000000000000000..15648701a23a1b75d9d9564a78ffa84e6e8e29fa
--- /dev/null
+++ b/phase2/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-standard--otk2rmz.json
@@ -0,0 +1,276 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-put-together-a-basic-pruning-kit-i00-standard--otk2rmz",
+ "taskKey": "behavior-1k/put_together_a_basic_pruning_kit",
+ "dag_sha256": "45588bc2f9af512dc48078f6ad004600b8d7191ff8df999c957949771ce64a79",
+ "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": 45835,
+   "sim_steps": 45835,
+   "physics_steps": 183340,
+   "steps": 10996,
+   "elapsed_s": 11396.0,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-put-together-a-basic-pruning-kit-i00-standard--otk2rmz/replay.mp4",
+  "duration_s": 1527.833,
+  "fps": 30.0,
+  "frames": 45835,
+  "sha256": "1cae18bcc344b94bc5296b95881d4f2229d0b83e7cf63d287793c9f729a65b9b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 2,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "toolbox_on_floor": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 的头部画面中，红色工具箱箱体放在木柜与红车之间的灰色车库地板上。视频 8–13 s 可近看箱底与地板相接。"
+     },
+     {
+      "t": 1460,
+      "log_step": null,
+      "text_zh": "观察：视频 1356 s、1457–1460 s、1480 s 可见工具箱仍在木柜前的灰色地板上，未见被夹爪搬上其他支承物。"
+     },
+     {
+      "t": 1527.8,
+      "log_step": null,
+      "text_zh": "推断：视频 1480 s 后机器人翻滚移向门口，视频 1526.85–1527.8 s 的末段看不到工具箱；结合此前箱体落地、后续机器人远离且没有箱体搬运动作，判定落地关系保持至终局。没有将相机转动误当箱体离地。"
+     }
+    ]
+   },
+   "toolbox_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.5,
+      "log_step": 66,
+      "text_zh": "观察：视频 8–13 s 机器人近距离观察工具箱，红色顶盖和黑色提手可见，盖仍覆盖箱口，没有翻出内腔；log step 66 是观察姿态与相机采集，未执行开盖。"
+     },
+     {
+      "t": 1460,
+      "log_step": null,
+      "text_zh": "观察：视频 1356 s、1457–1460 s、1480 s 再次看到的工具箱仍是完整闭盖外形；全片粗查及这些近景未见夹爪拉盖或盖板转开。对照 oracle 视频 15 s、50 s 的明确翻盖和露出内腔，本回合未出现该线索。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–13 s 轮式底盘承载机器人驶近并转向工具箱进行观察；没有可见的夹爪抓盖、勾盖或推盖接触。"
+     }
+    ]
+   },
+   "pruner_in_toolbox": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 13.5,
+      "log_step": 68,
+      "text_zh": "观察：视频 13.5–15.5 s 机器人转向地面红色小剪具，腕部画面可见它仍躺在地板上，夹爪没有夹住或抬起它；随后画面明显倾斜。log step 68 的实际调用是向地面候选点行驶并采集图像。"
+     },
+     {
+      "t": 15.5,
+      "log_step": 68,
+      "text_zh": "推断：视频 15.5 s 红色短柄、黑色尖端的小剪具外观与 oracle 视频 30 s 所示待拾取的修枝剪相符，区别于 oracle 视频 70 s 的长刃大剪刀；因此将这段候选物探查归于修枝剪入箱，辨认没有近距离抓取画面支持。"
+     },
+     {
+      "t": 1527.8,
+      "log_step": 200,
+      "text_zh": "推断：视频全段未见修枝剪从地板被夹起并进入箱内，工具箱也未开盖；末段视频 1526.85–1527.8 s 机器人仍倒在门边。评分器 q_score=0.0 与两件初始在箱外的剪具均未入箱一致；log step 200 的 agent 自述“未找到或抓取剪具”仅作补充，不代替视频。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 13.5–15.5 s 底盘在探查地上红色小剪具时转向、移动并失衡；没有可见的手指夹持剪具，不能标抓握。"
+     }
+    ]
+   },
+   "shears_in_toolbox": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1527.8,
+      "log_step": 200,
+      "text_zh": "观察：从视频开局到末段，机器人主要在转向观察、侧翻及用手臂撑地恢复，未见长刃大剪刀被夹持或送入工具箱；oracle 视频 70 s、112–128 s 可见的持长刃剪具和箱内剪具线索在本回合未出现。"
+     },
+     {
+      "t": 1527.8,
+      "log_step": null,
+      "text_zh": "推断：本回合箱盖未打开，视频没有大剪刀搬入动作；评分器 q_score=0.0 对原先在箱外的新增入箱目标给出零进展，故末态入箱为假。未仅凭零分推断没有抓取。"
+     }
+    ]
+   },
+   "toolbox_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 工具箱已经闭盖；视频 8–13 s 可见黑色提手位于红色顶盖上，箱口未露出。按 state 节点独立计数，入箱前置不门控这一初始闭盖状态。"
+     },
+     {
+      "t": 1460,
+      "log_step": null,
+      "text_zh": "观察：视频 1356 s、1457–1460 s、1480 s 箱体仍呈闭合外形；未见机器人完成过开盖或主动合盖动作。"
+     },
+     {
+      "t": 1527.8,
+      "log_step": null,
+      "text_zh": "推断：结合全段未见盖板打开、最后可见箱体仍闭合，以及机器人随后倒在远离工具箱的门边，闭盖关系保持至终局；末帧遮挡不作为一次状态丢失。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pruner_in_toolbox",
+   "t": 13.5,
+   "log_step": 68,
+   "where": "探索",
+   "evidence_zh": "推断：视频 13 s 机器人仍面对闭合工具箱，视频 13.5–15.5 s 转向地面红色小剪具时车库墙线、地面和腕部视角发生大幅倾转，随后长期侧倒。log step 68 是对地面剪具候选点的接近与观察，结合该物体外观将断点归于修枝剪入箱的探索阶段。视频后续未见修枝剪被拿起或入箱；log step 170 虽报告机器人恢复直立，这并未完成该步骤，后续又翻倒，不能视作修复。"
+  },
+  "unmet": {
+   "toolbox_on_floor": true,
+   "pruner_in_toolbox": false,
+   "shears_in_toolbox": false,
+   "toolbox_closed": true
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 13.5,
+    "log_step": 68,
+    "evidence_zh": "观察：视频 13–14 s 的车库墙面和天花板突然大幅翻转，视频 15.5–31.5 s 头部视角持续倾斜、手臂与夹爪低贴地面，视频 50 s 后多次显示机器人侧倒并撑地。log step 75 的实时自身姿态读数给出底座 roll 47.9°、pitch −23.7°，log step 95 及后续动作尝试撑地起身；视频 1526.85–1527.8 s 仍为倒伏、受遮挡的门口视角。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 13.5,
+    "log_step": 68,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 20 的 nav_to 主要依据底盘平面位置与偏航误差分配转向、行驶命令；log step 68 在躯干保持观察姿态时执行该导航，视频 13–15.5 s 随即发生大幅失衡。log step 70 又因已观察到摇摆而修改行驶步幅并增加停稳，说明问题发生在移动与机身姿态的协调控制；后续视频大量撑地、摇摆动作仍未使剪具收纳继续。证据支持控制失稳，尚不足以区分具体驱动参数、重心布局或闭环跟踪子类。"
+   }
+  ],
+  "gap_zh": "无状态日志，无法精确读取工具箱开合关节、包围盒中心及每一瞬间箱底接触；工具箱在若干段及末帧被遮挡，闭盖、落地的连续性结合前后画面和后续无搬运动作推断。断点所探查的红色小剪具依据外观与 oracle 对照辨为修枝剪，未获得抓取近景；底盘失衡的具体动力学原因未记录，故根因停留在控制大类。q_score 不计仍成立的初始目标，因此零分不否定落地、闭盖两项。"
+ },
+ "summary_zh": "工具箱落地与闭盖两项从开局保持，末态为2/5；工具箱未打开，两件剪具均未入箱。机器人在视频约 13.5 s 探查地面红色修枝剪候选物时失衡，之后虽曾恢复直立却未完成该步，后续再次翻倒并停在门边，主要失败现象为平衡、根因为控制。无状态日志，剪具辨认及工具箱被遮挡期间的状态连续性依赖前后画面推断；q_score=0.0 不计初始已成立目标，与2/5的节点进度并不冲突。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点进度（落地、闭盖保持，其余三项未达成，2/5）与视频一致；断点在修枝剪入箱的探索阶段、现象为平衡，视频约14 s起视角大幅倾斜，与log step 70/75的摇摆、roll约48°读数相符。根因“控制”是推断，已如实标为推断并写明gap。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": "2026-10-30T22:29:59Z",
+  "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-put-together-a-basic-pruning-kit-i00-standard--otk2rmz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-put-together-a-basic-pruning-kit-i00-standard--otk2rmz/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a4f3eed6a44b796411b6ecd36fa33b1504bc360de59bac2563ac5e1d6f2589bb",
+   "video_sha256": "1cae18bcc344b94bc5296b95881d4f2229d0b83e7cf63d287793c9f729a65b9b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/putting_dishes_away_after_cleaning/trajectories/behavior-putting-dishes-away-after-cleaning-i00-privileged--5mzorgg.json b/phase2/behavior-1k/putting_dishes_away_after_cleaning/trajectories/behavior-putting-dishes-away-after-cleaning-i00-privileged--5mzorgg.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1bbad7ade50c5ac138ffe14c91c31b7fc7f5809
--- /dev/null
+++ b/phase2/behavior-1k/putting_dishes_away_after_cleaning/trajectories/behavior-putting-dishes-away-after-cleaning-i00-privileged--5mzorgg.json
@@ -0,0 +1,495 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-putting-dishes-away-after-cleaning-i00-privileged--5mzorgg",
+ "taskKey": "behavior-1k/putting_dishes_away_after_cleaning",
+ "dag_sha256": "930fb7d3e67544053d5db0daf06fdea40b0df09de9dd00b7f34599a37a484f43",
+ "outcome": {
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+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 3198,
+   "sim_steps": 3198,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1605.0,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 1,
+   "agent_resets": 3,
+   "agent_sim_steps": 0,
+   "agent_records": 1,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 6.94,
+   "peak_memory_gb": 12.809,
+   "peak_processes": 48,
+   "peak_disk_gb": 0.915,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-putting-dishes-away-after-cleaning-i00-privileged--5mzorgg/replay.mp4",
+  "duration_s": 106.6,
+  "fps": 30.0,
+  "frames": 3198,
+  "sha256": "0d9de66b41f63a70e8e451724ed839d8af5512955519d7f44e424f9c9e847362"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 15,
+  "base": 6,
+  "peak": 6,
+  "final": 6,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.5,
+      "log_step": null,
+      "text_zh": "观察：视频 5.25–6.5 s，机器人左夹爪握住高柜门把手并向外拉，门板离开柜体、露出多层内腔；视频 9–18 s 门进一步敞开。开门时刻取约视频 5.5 s，关节超过5%阈值的精确时刻无状态日志核对。"
+     },
+     {
+      "t": 106.5,
+      "log_step": null,
+      "text_zh": "观察：视频 105.6–106.5 s，所选柜门仍敞开，未见机器人将其关闭。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 4–7 s，机器人左二指夹爪夹住柜门横把手并拉动门板；视频 9–15 s 再次操作把手扩大开度。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–3 s 底盘转向靠近高柜，视频 7–10 s 在开门过程中重新调整位置。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24,
+      "log_step": null,
+      "text_zh": "观察：视频 22–27 s，机器人在台面前调整左臂，夹爪未夹起盘子，盘子仍停在台面；此后反复换位置重试，直至视频结束仍未完成首个盘入柜计数。"
+     },
+     {
+      "t": 65.5,
+      "log_step": null,
+      "text_zh": "观察：视频 20–65.5 s，机器人多次向台面盘子伸爪；视频 57.5–61 s 右夹爪将盘子顶斜、推移，盘子仍留在台面，视频 65.5–70 s 双爪空手回到柜前，未见盘子被送入内腔。"
+     },
+     {
+      "t": 106.5,
+      "log_step": null,
+      "text_zh": "推断：视频 78–87 s 再次取盘后，视频 89–106.5 s 机器人在柜前仍未携盘，未见任何入柜完成；评分器 q_score=0.0，初始八盘均未入柜（DAG初态）。该总分排除终态至少1盘同柜，故本节点 final=false；开局已关闭且保留的橱柜不计入该总分。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 47–50 s、57.5–61 s 及81–85 s，机器人夹爪接近盘沿并将盘子推移或顶斜，未见相向夹持后携盘离台；多次换盘重试均未完成首个入柜计数。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 18–22 s 底盘从柜前转向台面；视频 45–51 s、65–68 s 及74–90 s 又移动、转向调整取盘和柜前位置。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 65.5,
+      "log_step": null,
+      "text_zh": "观察：视频 20–65.5 s，机器人多次向台面盘子伸爪；视频 57.5–61 s 右夹爪将盘子顶斜、推移，盘子仍留在台面，视频 65.5–70 s 双爪空手回到柜前，未见盘子被送入内腔。"
+     },
+     {
+      "t": 106.5,
+      "log_step": null,
+      "text_zh": "推断：视频 78–87 s 再次取盘后，视频 89–106.5 s 机器人在柜前仍未携盘，未见任何入柜完成；评分器 q_score=0.0，初始八盘均未入柜（DAG初态）。该总分排除终态至少2盘同柜，故本节点 final=false；开局已关闭且保留的橱柜不计入该总分。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 65.5,
+      "log_step": null,
+      "text_zh": "观察：视频 20–65.5 s，机器人多次向台面盘子伸爪；视频 57.5–61 s 右夹爪将盘子顶斜、推移，盘子仍留在台面，视频 65.5–70 s 双爪空手回到柜前，未见盘子被送入内腔。"
+     },
+     {
+      "t": 106.5,
+      "log_step": null,
+      "text_zh": "推断：视频 78–87 s 再次取盘后，视频 89–106.5 s 机器人在柜前仍未携盘，未见任何入柜完成；评分器 q_score=0.0，初始八盘均未入柜（DAG初态）。该总分排除终态至少3盘同柜，故本节点 final=false；开局已关闭且保留的橱柜不计入该总分。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 65.5,
+      "log_step": null,
+      "text_zh": "观察：视频 20–65.5 s，机器人多次向台面盘子伸爪；视频 57.5–61 s 右夹爪将盘子顶斜、推移，盘子仍留在台面，视频 65.5–70 s 双爪空手回到柜前，未见盘子被送入内腔。"
+     },
+     {
+      "t": 106.5,
+      "log_step": null,
+      "text_zh": "推断：视频 78–87 s 再次取盘后，视频 89–106.5 s 机器人在柜前仍未携盘，未见任何入柜完成；评分器 q_score=0.0，初始八盘均未入柜（DAG初态）。该总分排除终态至少4盘同柜，故本节点 final=false；开局已关闭且保留的橱柜不计入该总分。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 65.5,
+      "log_step": null,
+      "text_zh": "观察：视频 20–65.5 s，机器人多次向台面盘子伸爪；视频 57.5–61 s 右夹爪将盘子顶斜、推移，盘子仍留在台面，视频 65.5–70 s 双爪空手回到柜前，未见盘子被送入内腔。"
+     },
+     {
+      "t": 106.5,
+      "log_step": null,
+      "text_zh": "推断：视频 78–87 s 再次取盘后，视频 89–106.5 s 机器人在柜前仍未携盘，未见任何入柜完成；评分器 q_score=0.0，初始八盘均未入柜（DAG初态）。该总分排除终态至少5盘同柜，故本节点 final=false；开局已关闭且保留的橱柜不计入该总分。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 65.5,
+      "log_step": null,
+      "text_zh": "观察：视频 20–65.5 s，机器人多次向台面盘子伸爪；视频 57.5–61 s 右夹爪将盘子顶斜、推移，盘子仍留在台面，视频 65.5–70 s 双爪空手回到柜前，未见盘子被送入内腔。"
+     },
+     {
+      "t": 106.5,
+      "log_step": null,
+      "text_zh": "推断：视频 78–87 s 再次取盘后，视频 89–106.5 s 机器人在柜前仍未携盘，未见任何入柜完成；评分器 q_score=0.0，初始八盘均未入柜（DAG初态）。该总分排除终态至少6盘同柜，故本节点 final=false；开局已关闭且保留的橱柜不计入该总分。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 65.5,
+      "log_step": null,
+      "text_zh": "观察：视频 20–65.5 s，机器人多次向台面盘子伸爪；视频 57.5–61 s 右夹爪将盘子顶斜、推移，盘子仍留在台面，视频 65.5–70 s 双爪空手回到柜前，未见盘子被送入内腔。"
+     },
+     {
+      "t": 106.5,
+      "log_step": null,
+      "text_zh": "推断：视频 78–87 s 再次取盘后，视频 89–106.5 s 机器人在柜前仍未携盘，未见任何入柜完成；评分器 q_score=0.0，初始八盘均未入柜（DAG初态）。该总分排除终态至少7盘同柜，故本节点 final=false；开局已关闭且保留的橱柜不计入该总分。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 65.5,
+      "log_step": null,
+      "text_zh": "观察：视频 20–65.5 s，机器人多次向台面盘子伸爪；视频 57.5–61 s 右夹爪将盘子顶斜、推移，盘子仍留在台面，视频 65.5–70 s 双爪空手回到柜前，未见盘子被送入内腔。"
+     },
+     {
+      "t": 106.5,
+      "log_step": null,
+      "text_zh": "推断：视频 78–87 s 再次取盘后，视频 89–106.5 s 机器人在柜前仍未携盘，未见任何入柜完成；评分器 q_score=0.0，初始八盘均未入柜（DAG初态）。该总分排除终态至少8盘同柜，故本节点 final=false；开局已关闭且保留的橱柜不计入该总分。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG注明六个目标橱柜初始均关闭，视频 0–5 s 所选高柜门板也处于合拢位置；视频全程只见机器人打开这一个柜，其他柜未被操作。因此至少1个柜关闭从视频 0 s 保持到结束；不是用 q_score=0 否定初始关闭状态。"
+     },
+     {
+      "t": 106.5,
+      "log_step": null,
+      "text_zh": "观察：视频 105.6–106.5 s 所选高柜门仍开着；视频 20–65 s、74–87 s 转向台面时可见的其他柜门保持合拢，未见机器人开第二个目标柜。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG注明六个目标橱柜初始均关闭，视频 0–5 s 所选高柜门板也处于合拢位置；视频全程只见机器人打开这一个柜，其他柜未被操作。因此至少2个柜关闭从视频 0 s 保持到结束；不是用 q_score=0 否定初始关闭状态。"
+     },
+     {
+      "t": 106.5,
+      "log_step": null,
+      "text_zh": "观察：视频 105.6–106.5 s 所选高柜门仍开着；视频 20–65 s、74–87 s 转向台面时可见的其他柜门保持合拢，未见机器人开第二个目标柜。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG注明六个目标橱柜初始均关闭，视频 0–5 s 所选高柜门板也处于合拢位置；视频全程只见机器人打开这一个柜，其他柜未被操作。因此至少3个柜关闭从视频 0 s 保持到结束；不是用 q_score=0 否定初始关闭状态。"
+     },
+     {
+      "t": 106.5,
+      "log_step": null,
+      "text_zh": "观察：视频 105.6–106.5 s 所选高柜门仍开着；视频 20–65 s、74–87 s 转向台面时可见的其他柜门保持合拢，未见机器人开第二个目标柜。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG注明六个目标橱柜初始均关闭，视频 0–5 s 所选高柜门板也处于合拢位置；视频全程只见机器人打开这一个柜，其他柜未被操作。因此至少4个柜关闭从视频 0 s 保持到结束；不是用 q_score=0 否定初始关闭状态。"
+     },
+     {
+      "t": 106.5,
+      "log_step": null,
+      "text_zh": "观察：视频 105.6–106.5 s 所选高柜门仍开着；视频 20–65 s、74–87 s 转向台面时可见的其他柜门保持合拢，未见机器人开第二个目标柜。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG注明六个目标橱柜初始均关闭，视频 0–5 s 所选高柜门板也处于合拢位置；视频全程只见机器人打开这一个柜，其他柜未被操作。因此至少5个柜关闭从视频 0 s 保持到结束；不是用 q_score=0 否定初始关闭状态。"
+     },
+     {
+      "t": 106.5,
+      "log_step": null,
+      "text_zh": "观察：视频 105.6–106.5 s 所选高柜门仍开着；视频 20–65 s、74–87 s 转向台面时可见的其他柜门保持合拢，未见机器人开第二个目标柜。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_6": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      5.5
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG初态确认六柜全关，视频 0–5 s 所选高柜门也合拢，故六柜关闭从视频 0 s 成立。"
+     },
+     {
+      "t": 5.5,
+      "log_step": null,
+      "text_zh": "观察：视频 5.25–6.5 s，机器人拉开所选柜门、显露内腔，六柜全关条件在约视频 5.5 s 失去；视频 9–18 s、66–70 s、90–106.5 s 均可见该柜敞开，期间未出现关回柜体的动作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "plates_in_same_cabinet_1",
+   "t": 24,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 22–27 s，机器人已在为盘子入柜尝试取盘，但夹爪未夹起台面上的盘子；视频 47–65.5 s 的再次取盘仅推移、顶斜盘子，随后双爪空手返回柜前。视频 81–87 s 重试仍未携盘，直至视频 106.5 s 都没有首个盘入柜，这一步从未修复。"
+  },
+  "unmet": {
+   "plates_in_same_cabinet_1": false,
+   "plates_in_same_cabinet_2": false,
+   "plates_in_same_cabinet_3": false,
+   "plates_in_same_cabinet_4": false,
+   "plates_in_same_cabinet_5": false,
+   "plates_in_same_cabinet_6": false,
+   "plates_in_same_cabinet_7": false,
+   "plates_in_same_cabinet_8": false,
+   "kitchen_cabinets_closed_1": true,
+   "kitchen_cabinets_closed_2": true,
+   "kitchen_cabinets_closed_3": true,
+   "kitchen_cabinets_closed_4": true,
+   "kitchen_cabinets_closed_5": true,
+   "kitchen_cabinets_closed_6": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 24,
+    "log_step": null,
+    "evidence_zh": "观察：视频 22–27 s 机器人夹爪未夹起盘子；视频 57.5–61 s 右爪虽接触盘沿并顶斜、拨动盘子，但盘子随即留在台面，视频 65.5–70 s 双爪空手到柜前。所需的夹持搬运接触未建立；这里并非完全没有指尖碰触盘子。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频 22–44 s 取盘阶段夹爪未到达可夹持盘沿的位置，视频 57.5–65.5 s 再试也只推动盘子并空手离开，表明接近和夹持控制没有完成取盘。会话日志 log step 38 的逆解虽返回成功，实际左末端约[7.403,-0.265,0.723]而目标约[7.164,-0.126,1.072]；log step 40 实测与命令关节值亦明显不同，支持执行未达到命令的控制问题。上述日志只作会话根因证据，不将其时刻映射到视频，也不足以再细分为接触设计或反馈控制。"
+   },
+   {
+    "cat": "交付",
+    "item": "交付操作出错",
+    "source_zh": "日志 / 评分器字段 / 视频",
+    "evidence_zh": "推断：agent 在 log step 33 定义恢复仿真检查点并截断录制列表的 ck_load，log step 51、55 实际恢复后继续录制，log step 56 保存3198行轨迹。该步的交互检查声称两盘在柜内，log step 59 又明确表示未做新进程回放检查；评分器 agent_replays=0、deterministic=1、q_score=0.0，而视频 65.5–70 s 和89–106.5 s 展示空爪在柜前运动，不能重现交互的两盘结果。恢复后续录的文件未经过回放验收便交付，未确保记录可从初态重现；不据此归咎评分器或仿真器。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 有完整视频和run.json，但无状态日志、无成功参考视频。视频为腕部和头部视角，无法直接读出柜门5%关节阈值、盘子Inside谓词或线速度，因此开门时刻取约视频 5.5 s，未入柜终值结合评分器 q_score=0.0 约束。log step 56 的交互两盘入柜结果与评分回放不符，不计为本轨迹进度；恢复检查点后为何具体失去重现性缺少逐步状态对照，控制根因保留大类。"
+ },
+ "summary_zh": "观察：评分回放中机器人约在视频 5.5 s 打开一个橱柜，六柜全关由此降为五柜关闭；此后反复取盘只推移、顶斜盘子，未见任何盘子被运入柜内，终态进度为6/15（开柜事件加五个关闭计数）。推断：断点为第1个盘入柜，所需夹持搬运接触未建立；会话经过检查点恢复后保存且未回放验收的交付文件，未重现交互日志声称的两盘入柜，评分器 q_score=0.0。观察：本次无状态日志及成功示范，柜门阈值时间为视觉近似，交互与回放差异的具体动力学来源无法确定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "标注与视频、评分器字段一致：约视频 5.5–8 s 开柜，盘子始终未入柜，q_score=0 约束终值，断点与现象、根因（控制、交付操作出错）有证据支持，未发现需要改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:22:40Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-putting-dishes-away-after-cleaning-i00-privileged--5mzorgg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-putting-dishes-away-after-cleaning-i00-privileged--5mzorgg/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b7265a64d2de34b1f12655b34f99b2fa8eb5bc14eb3968d0bdd928c796241e18",
+   "video_sha256": "0d9de66b41f63a70e8e451724ed839d8af5512955519d7f44e424f9c9e847362",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/putting_dishes_away_after_cleaning/trajectories/behavior-putting-dishes-away-after-cleaning-i00-privileged--nfq4eeb.json b/phase2/behavior-1k/putting_dishes_away_after_cleaning/trajectories/behavior-putting-dishes-away-after-cleaning-i00-privileged--nfq4eeb.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5afd8a6f5f9d3814bc9d4a0b72a665de59576f5
--- /dev/null
+++ b/phase2/behavior-1k/putting_dishes_away_after_cleaning/trajectories/behavior-putting-dishes-away-after-cleaning-i00-privileged--nfq4eeb.json
@@ -0,0 +1,547 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-putting-dishes-away-after-cleaning-i00-privileged--nfq4eeb",
+ "taskKey": "behavior-1k/putting_dishes_away_after_cleaning",
+ "dag_sha256": "930fb7d3e67544053d5db0daf06fdea40b0df09de9dd00b7f34599a37a484f43",
+ "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": 6946,
+   "sim_steps": 6946,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 4022.7,
+   "replay_timeout_s": 4673.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 2,
+   "agent_resets": 7,
+   "agent_sim_steps": 6946,
+   "agent_records": 4,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-putting-dishes-away-after-cleaning-i00-privileged--nfq4eeb/replay.mp4",
+  "duration_s": 231.533,
+  "fps": 30.0,
+  "frames": 6946,
+  "sha256": "5412032b3fd1c34595b5339d0c8839c969f35e7dd30e412644b5eb1359ec42d7"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 15,
+  "base": 6,
+  "peak": 7,
+  "final": 7,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.4,
+      "log_step": null,
+      "text_zh": "观察：视频约3.4–7.3 s，机器人左夹爪夹住高黑柜右门的横把手，底盘后退时门板向外转动，腕部及头部画面随后露出柜内空间；这是实际开门，不只是接近把手。开门起点按画面估计，误差约0.5 s。"
+     },
+     {
+      "t": 7.0,
+      "log_step": 172,
+      "text_zh": "观察：log step 158启动生成最终交付的独立录制，log step 170报告6946步；log step 172中这次录制的脚本输出opened=1.181、open_ok=True。视频约7.0 s可见门板伸出，与这次录制的开门过程相符；没有使用会话中的开关门测试来定视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "视频约3.4–5.4 s，左二指夹爪夹住目标高柜右门的横把手并拉动门板；随后松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "开柜时底盘移动靠近把手，夹住后后退并调整位置，带动门板转开。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 13.5,
+      "log_step": null,
+      "text_zh": "观察：视频约13.0–18.0 s，左腕画面中的白盘离开原台面，随左夹爪及底盘移动到高柜前；视频21.0–24.4 s盘子仍在夹爪附近、位于柜门外，未在柜内离手静置。"
+     },
+     {
+      "t": 22.0,
+      "log_step": null,
+      "text_zh": "观察：视频约18.6–20.8 s门板在机器人持盘靠近时转回柜体前沿；视频21.0–24.4 s左臂反复调整，盘子未进入内腔。后续视频35.0–46.0 s及94.0–108.5 s的持盘送柜也未见柜内释放静置。"
+     },
+     {
+      "t": 203.0,
+      "log_step": null,
+      "text_zh": "观察：视频193.0–202.0 s蓝花盘被左夹爪夹住并搬到柜前，视频203.0 s该盘已在柜外下方；视频219.0–231.5 s另一个白盘也被带到柜门外，未见任何盘子留在柜内。"
+     },
+     {
+      "t": 231.5,
+      "log_step": null,
+      "text_zh": "推断：评分器reward.q_score=0.0，结合初态八盘均在柜外、六柜关闭，以及全程未见盘子在柜内离手静置，终态同柜盘数为0。因此所有至少k个盘入同柜的节点终态均为false；初态已成立的关柜条件不增加BEHAVIOR的q_score，不能由零分反推关柜失败。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左二指夹爪实际夹持盘沿搬运：例如视频13.0–24.4 s的白盘、35.0–45.4 s的金边盘和193.0–202.0 s的蓝花盘。多次送盘均未形成首个柜内已离手静止的盘子。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "视频约55.0–80.0 s抓取台面盘子的过程中，左夹爪反复碰拨盘沿，盘子发生倾转、移位，随后仍未形成入柜放置。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人在台面与高柜间多次驾驶底盘，包含左夹爪持盘期间的平移、转向和靠柜调整。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 203.0,
+      "log_step": null,
+      "text_zh": "观察：视频全程送盘过程中没有可确认的首个盘子在柜内离手静置；例如视频193.0–202.0 s蓝花盘随左夹爪移到柜前，视频203.0 s又出现在柜外下方，未形成第2个同柜放置。"
+     },
+     {
+      "t": 231.5,
+      "log_step": null,
+      "text_zh": "推断：评分器reward.q_score=0.0；八盘初始均不在柜内，初始关闭且保留的柜门不计入新增目标分数。结合视频未出现柜内释放静置，终态同一柜内盘数为0，不满足至少2个；各次搬盘是争取首个柜内计数的重复尝试，未按实例号虚构更高数量节点的完成。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 203.0,
+      "log_step": null,
+      "text_zh": "观察：视频全程送盘过程中没有可确认的首个盘子在柜内离手静置；例如视频193.0–202.0 s蓝花盘随左夹爪移到柜前，视频203.0 s又出现在柜外下方，未形成第3个同柜放置。"
+     },
+     {
+      "t": 231.5,
+      "log_step": null,
+      "text_zh": "推断：评分器reward.q_score=0.0；八盘初始均不在柜内，初始关闭且保留的柜门不计入新增目标分数。结合视频未出现柜内释放静置，终态同一柜内盘数为0，不满足至少3个；各次搬盘是争取首个柜内计数的重复尝试，未按实例号虚构更高数量节点的完成。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 203.0,
+      "log_step": null,
+      "text_zh": "观察：视频全程送盘过程中没有可确认的首个盘子在柜内离手静置；例如视频193.0–202.0 s蓝花盘随左夹爪移到柜前，视频203.0 s又出现在柜外下方，未形成第4个同柜放置。"
+     },
+     {
+      "t": 231.5,
+      "log_step": null,
+      "text_zh": "推断：评分器reward.q_score=0.0；八盘初始均不在柜内，初始关闭且保留的柜门不计入新增目标分数。结合视频未出现柜内释放静置，终态同一柜内盘数为0，不满足至少4个；各次搬盘是争取首个柜内计数的重复尝试，未按实例号虚构更高数量节点的完成。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 203.0,
+      "log_step": null,
+      "text_zh": "观察：视频全程送盘过程中没有可确认的首个盘子在柜内离手静置；例如视频193.0–202.0 s蓝花盘随左夹爪移到柜前，视频203.0 s又出现在柜外下方，未形成第5个同柜放置。"
+     },
+     {
+      "t": 231.5,
+      "log_step": null,
+      "text_zh": "推断：评分器reward.q_score=0.0；八盘初始均不在柜内，初始关闭且保留的柜门不计入新增目标分数。结合视频未出现柜内释放静置，终态同一柜内盘数为0，不满足至少5个；各次搬盘是争取首个柜内计数的重复尝试，未按实例号虚构更高数量节点的完成。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 203.0,
+      "log_step": null,
+      "text_zh": "观察：视频全程送盘过程中没有可确认的首个盘子在柜内离手静置；例如视频193.0–202.0 s蓝花盘随左夹爪移到柜前，视频203.0 s又出现在柜外下方，未形成第6个同柜放置。"
+     },
+     {
+      "t": 231.5,
+      "log_step": null,
+      "text_zh": "推断：评分器reward.q_score=0.0；八盘初始均不在柜内，初始关闭且保留的柜门不计入新增目标分数。结合视频未出现柜内释放静置，终态同一柜内盘数为0，不满足至少6个；各次搬盘是争取首个柜内计数的重复尝试，未按实例号虚构更高数量节点的完成。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 203.0,
+      "log_step": null,
+      "text_zh": "观察：视频全程送盘过程中没有可确认的首个盘子在柜内离手静置；例如视频193.0–202.0 s蓝花盘随左夹爪移到柜前，视频203.0 s又出现在柜外下方，未形成第7个同柜放置。"
+     },
+     {
+      "t": 231.5,
+      "log_step": null,
+      "text_zh": "推断：评分器reward.q_score=0.0；八盘初始均不在柜内，初始关闭且保留的柜门不计入新增目标分数。结合视频未出现柜内释放静置，终态同一柜内盘数为0，不满足至少7个；各次搬盘是争取首个柜内计数的重复尝试，未按实例号虚构更高数量节点的完成。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 203.0,
+      "log_step": null,
+      "text_zh": "观察：视频全程送盘过程中没有可确认的首个盘子在柜内离手静置；例如视频193.0–202.0 s蓝花盘随左夹爪移到柜前，视频203.0 s又出现在柜外下方，未形成第8个同柜放置。"
+     },
+     {
+      "t": 231.5,
+      "log_step": null,
+      "text_zh": "推断：评分器reward.q_score=0.0；八盘初始均不在柜内，初始关闭且保留的柜门不计入新增目标分数。结合视频未出现柜内释放静置，终态同一柜内盘数为0，不满足至少8个；各次搬盘是争取首个柜内计数的重复尝试，未按实例号虚构更高数量节点的完成。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "推断：DAG已核实六柜初始关闭；视频0.0–231.5 s的厨房巡回视角中，仅高黑柜右门反复开合，其余上柜和台下柜门保持合拢，未见第二个目标柜打开。因此至少1柜关闭的条件从初态一直保留；不是把遮挡帧单独当作关闭证据。"
+     },
+     {
+      "t": 231.5,
+      "log_step": null,
+      "text_zh": "观察：视频203.0–231.5 s机器人继续在台面与高柜前移动，所经视角中的上柜、台下柜与高柜门板均合拢；视频最后一秒及231.5 s末帧没有新开柜动作。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "推断：DAG已核实六柜初始关闭；视频0.0–231.5 s的厨房巡回视角中，仅高黑柜右门反复开合，其余上柜和台下柜门保持合拢，未见第二个目标柜打开。因此至少2柜关闭的条件从初态一直保留；不是把遮挡帧单独当作关闭证据。"
+     },
+     {
+      "t": 231.5,
+      "log_step": null,
+      "text_zh": "观察：视频203.0–231.5 s机器人继续在台面与高柜前移动，所经视角中的上柜、台下柜与高柜门板均合拢；视频最后一秒及231.5 s末帧没有新开柜动作。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "推断：DAG已核实六柜初始关闭；视频0.0–231.5 s的厨房巡回视角中，仅高黑柜右门反复开合，其余上柜和台下柜门保持合拢，未见第二个目标柜打开。因此至少3柜关闭的条件从初态一直保留；不是把遮挡帧单独当作关闭证据。"
+     },
+     {
+      "t": 231.5,
+      "log_step": null,
+      "text_zh": "观察：视频203.0–231.5 s机器人继续在台面与高柜前移动，所经视角中的上柜、台下柜与高柜门板均合拢；视频最后一秒及231.5 s末帧没有新开柜动作。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "推断：DAG已核实六柜初始关闭；视频0.0–231.5 s的厨房巡回视角中，仅高黑柜右门反复开合，其余上柜和台下柜门保持合拢，未见第二个目标柜打开。因此至少4柜关闭的条件从初态一直保留；不是把遮挡帧单独当作关闭证据。"
+     },
+     {
+      "t": 231.5,
+      "log_step": null,
+      "text_zh": "观察：视频203.0–231.5 s机器人继续在台面与高柜前移动，所经视角中的上柜、台下柜与高柜门板均合拢；视频最后一秒及231.5 s末帧没有新开柜动作。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "推断：DAG已核实六柜初始关闭；视频0.0–231.5 s的厨房巡回视角中，仅高黑柜右门反复开合，其余上柜和台下柜门保持合拢，未见第二个目标柜打开。因此至少5柜关闭的条件从初态一直保留；不是把遮挡帧单独当作关闭证据。"
+     },
+     {
+      "t": 231.5,
+      "log_step": null,
+      "text_zh": "观察：视频203.0–231.5 s机器人继续在台面与高柜前移动，所经视角中的上柜、台下柜与高柜门板均合拢；视频最后一秒及231.5 s末帧没有新开柜动作。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_6": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      3.4
+     ],
+     [
+      20.8,
+      27.3
+     ],
+     [
+      42.6,
+      47.5
+     ],
+     [
+      81.8,
+      82.7
+     ],
+     [
+      107.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "推断：DAG核实六柜初始全关；结合视频初始巡视和后续视角，未操作的五柜保持关闭。本节点只随目标高柜右门开合变化。"
+     },
+     {
+      "t": 3.4,
+      "log_step": null,
+      "text_zh": "观察：视频约3.4–7.3 s机器人握把手后退并把高柜右门拉开；视频约18.6–20.8 s持盘靠柜时，该门板转回柜体前沿、内腔入口重新合拢。"
+     },
+     {
+      "t": 27.3,
+      "log_step": null,
+      "text_zh": "观察：视频约27.3–31.3 s机器人再次握把手拉开门板；视频42.2–42.6 s门板重新贴回柜体，之后到视频47.4 s没有开口。"
+     },
+     {
+      "t": 47.5,
+      "log_step": null,
+      "text_zh": "观察：视频约47.5–52.0 s机器人又握把手拉开门板；视频53.0–80.0 s取盘期间可见门板仍伸出，视频81.3–82.0 s机器人返回门前时门板回到合拢位置。"
+     },
+     {
+      "t": 82.7,
+      "log_step": null,
+      "text_zh": "观察：视频约82.7–86.7 s机器人再次拉开右门，随后去取另一个盘子；视频106.5–107.1 s门板回到与相邻柜面接近平齐的位置。各5%开合阈值的时间均由门板运动估计，约有0.5–1 s误差。"
+     },
+     {
+      "t": 231.5,
+      "log_step": 172,
+      "text_zh": "推断：视频109.2–113.7 s、150.0–154.0 s及171.0–174.0 s机器人虽再次把夹爪伸向把手，门板没有出现先前拉开时的大幅旋转；后续送盘和视频231.5 s末帧也未见门口打开。结合log step 172所记录交付生成过程的final_angle=0.0，终态六柜全关；后来的会话分块测试未用于本节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "目标高柜右门在视频约18.6–20.8 s、42.2–42.6 s、81.3–82.0 s和106.5–107.1 s随机器人近柜操作回到合拢位置。门板与机器人接触点被持盘手、门板及相机视角遮挡，不能可靠区分是夹爪、臂段还是底盘推合；不把会话中的专门推门测试复制为实际接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "上述门板回合拢阶段机器人底盘正在近柜移动、调整或退离。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "plates_in_same_cabinet_1",
+   "t": 21.0,
+   "log_step": 172,
+   "where": "操作中",
+   "evidence_zh": "观察：视频13.0–18.0 s机器人左夹爪持盘向高柜移动，视频18.6–20.8 s柜门回合，视频21.0–24.4 s盘子仍在柜外、左臂多次调整却未完成柜内释放。log step 172中最终交付生成记录的首盘drop_try均偏离柜内目标且drop_done=False；后续视频送盘仍未形成首个柜内静置盘子，所以最早未修复的步骤是第1个盘入柜。"
+  },
+  "unmet": {
+   "plates_in_same_cabinet_1": false,
+   "plates_in_same_cabinet_2": false,
+   "plates_in_same_cabinet_3": false,
+   "plates_in_same_cabinet_4": false,
+   "plates_in_same_cabinet_5": false,
+   "plates_in_same_cabinet_6": false,
+   "plates_in_same_cabinet_7": false,
+   "plates_in_same_cabinet_8": false,
+   "kitchen_cabinets_closed_1": true,
+   "kitchen_cabinets_closed_2": true,
+   "kitchen_cabinets_closed_3": true,
+   "kitchen_cabinets_closed_4": true,
+   "kitchen_cabinets_closed_5": true,
+   "kitchen_cabinets_closed_6": true
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 21.0,
+    "log_step": 172,
+    "evidence_zh": "观察：视频21.0–24.4 s左夹爪和所持白盘在柜外反复调整，没有把盘子送入柜内；视频35.0–46.0 s同类偏位再次出现，金边盘始终留在左腕近景，随后在柜外下落。log step 172中首盘目标位置如[8.9,-1.86,1.0]，实际末端为[8.896,-1.551,1.256]，且首盘drop_done=False；这些数值只用来支持偏位，不用来换算视频时间。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 158生成并交付的完整脚本在log step 172记录，首盘连续四个柜内目标均未到达，实际末端的y值约为-1.55，脚本未执行成功放盘；第二盘实际x值约9.50–9.54，而目标x=8.94。视频21.0–24.4 s、38.0–45.4 s也显示机器人已抓住盘子却在柜外调整，故支持搬运/送入控制未实现目标位姿。缺少关节跟踪与接触力记录，不能进一步确定是逆解分支、碰撞几何还是反馈跟踪问题，停留在控制类。"
+   }
+  ],
+  "gap_zh": "未提供状态日志或成功参考视频。柜门5%开合阈值及短时遮挡处的合拢时刻只能依门板运动前后估计，约有0.5–1 s误差；合门的具体接触部位不可见，已标未知。柜内释放、静止速度缺少逐帧状态值，但全程无可确认的柜内放置，终态另由q_score=0约束；没有关节误差、碰撞对或力测量来区分控制子类，因此不另加碰撞现象或推断不可达。"
+ },
+ "summary_zh": "评分轨迹打开过目标高柜并多次夹盘搬运，但没有盘子在柜内离手静置；终态为0/8盘入柜、六柜关闭，加上已发生的开柜事件共7/15节点成立。断点是第1个盘入柜：左臂持盘到柜前后反复偏位，未能完成送入，日志中的目标与实际末端位置也支持控制失败。没有状态日志，门板阈值时间和合门接触部位只能从画面估计，控制子类无法进一步确定。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（开柜成立、八个盘入柜均未成立、六柜关闭保持）与q_score=0、log step 172中plates_in=0/released=False以及视频帧一致；断点为第1个盘入柜，位姿不准+控制可由日志目标与实际末端偏差支持，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": "2026-10-30T22:26:54Z",
+  "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-putting-dishes-away-after-cleaning-i00-privileged--nfq4eeb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-putting-dishes-away-after-cleaning-i00-privileged--nfq4eeb/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "efbcd65c002fc777f7ab79ff1790a5dafab6e4e6d569555560e21113d0ba0700",
+   "video_sha256": "5412032b3fd1c34595b5339d0c8839c969f35e7dd30e412644b5eb1359ec42d7",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/putting_dishes_away_after_cleaning/trajectories/behavior-putting-dishes-away-after-cleaning-i00-privileged--qgcdyht.json b/phase2/behavior-1k/putting_dishes_away_after_cleaning/trajectories/behavior-putting-dishes-away-after-cleaning-i00-privileged--qgcdyht.json
new file mode 100644
index 0000000000000000000000000000000000000000..ede4376ea9341078b52ed69299e6d90334e770cf
--- /dev/null
+++ b/phase2/behavior-1k/putting_dishes_away_after_cleaning/trajectories/behavior-putting-dishes-away-after-cleaning-i00-privileged--qgcdyht.json
@@ -0,0 +1,521 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-putting-dishes-away-after-cleaning-i00-privileged--qgcdyht",
+ "taskKey": "behavior-1k/putting_dishes_away_after_cleaning",
+ "dag_sha256": "930fb7d3e67544053d5db0daf06fdea40b0df09de9dd00b7f34599a37a484f43",
+ "outcome": {
+  "success": 0,
+  "reward": 0.2857142857142857,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 8738,
+   "sim_steps": 8738,
+   "final_reward": 0.2857142857142857,
+   "q_score": 0.2857142857142857,
+   "replay_wall_s": 3396.2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 4,
+   "agent_resets": 5,
+   "agent_sim_steps": 0,
+   "agent_records": 3,
+   "agent_replays": 3,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-putting-dishes-away-after-cleaning-i00-privileged--qgcdyht/replay.mp4",
+  "duration_s": 291.267,
+  "fps": 30.0,
+  "frames": 8738,
+  "sha256": "f3b203867977c06fc4c19c229f289c03e970400f6589693ab08a258a2f73f868"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 15,
+  "base": 6,
+  "peak": 11,
+  "final": 11,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.0,
+      "log_step": 325,
+      "text_zh": "观察：视频 8.75–11.0 s，机器人右夹爪拉动下层柜门，门板明显离开柜体并露出层架内腔；视频 27–29 s 门仍打开。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8.75–11.0 s，右二指夹爪夹住装盘柜下层门把手并拉开门板；log step 325 的辅助抓取反馈指向 cabinet.n.01_2。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–3 s 底盘驶到柜前，开门期间亦调整朝向和位置。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      99.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 99.0,
+      "log_step": 350,
+      "text_zh": "观察：视频 36–46 s，机器人左夹爪夹住盘沿，盘子离开台面随手搬运；视频 90–106 s 将该盘送入先前打开的同一柜内，约视频 99.0 s 夹爪张开并退离，腕部视图中的盘子留在内腔，随后空手退出。达到时刻按离手后稳定画面估计，误差约0.5秒。"
+     },
+     {
+      "t": 291.2,
+      "log_step": 423,
+      "text_zh": "推断：视频四次取放过程及后续未再取出盘子的画面支持该计数保持至末帧；评分器 q_score=4/14 与四盘入柜一致，初始已关闭的柜不另贡献该分数。柜号由 log step 423 的记录对应为 cabinet.n.01_2。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 36–46 s 左二指夹爪夹住该盘的盘沿，随后持盘送入柜内并张爪释放；另一只手未协同持盘。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 36–90 s 底盘驶到盘前，并在左夹爪持盘时转向、驶回装盘柜及调整插入位置。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      154.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 154.0,
+      "log_step": 393,
+      "text_zh": "观察：视频 119–128 s，机器人左夹爪夹住盘沿，盘子离开台面随手搬运；视频 145–160 s 将该盘送入先前打开的同一柜内，约视频 154.0 s 夹爪张开并退离，腕部视图中的盘子留在内腔，随后空手退出。达到时刻按离手后稳定画面估计，误差约0.5秒。"
+     },
+     {
+      "t": 291.2,
+      "log_step": 423,
+      "text_zh": "推断：视频四次取放过程及后续未再取出盘子的画面支持该计数保持至末帧；评分器 q_score=4/14 与四盘入柜一致，初始已关闭的柜不另贡献该分数。柜号由 log step 423 的记录对应为 cabinet.n.01_2。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 119–128 s 左二指夹爪夹住该盘的盘沿，随后持盘送入柜内并张爪释放；另一只手未协同持盘。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 119–145 s 底盘驶到盘前，并在左夹爪持盘时转向、驶回装盘柜及调整插入位置。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      208.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 208.5,
+      "log_step": 396,
+      "text_zh": "观察：视频 172–181 s，机器人左夹爪夹住盘沿，盘子离开台面随手搬运；视频 198–215 s 将该盘送入先前打开的同一柜内，约视频 208.5 s 夹爪张开并退离，腕部视图中的盘子留在内腔，随后空手退出。达到时刻按离手后稳定画面估计，误差约0.5秒。"
+     },
+     {
+      "t": 291.2,
+      "log_step": 423,
+      "text_zh": "推断：视频四次取放过程及后续未再取出盘子的画面支持该计数保持至末帧；评分器 q_score=4/14 与四盘入柜一致，初始已关闭的柜不另贡献该分数。柜号由 log step 423 的记录对应为 cabinet.n.01_2。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 172–181 s 左二指夹爪夹住该盘的盘沿，随后持盘送入柜内并张爪释放；另一只手未协同持盘。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 172–198 s 底盘驶到盘前，并在左夹爪持盘时转向、驶回装盘柜及调整插入位置。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      255.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 255.5,
+      "log_step": 402,
+      "text_zh": "观察：视频 222–232 s，机器人左夹爪夹住盘沿，盘子离开台面随手搬运；视频 247–261 s 将该盘送入先前打开的同一柜内，约视频 255.5 s 夹爪张开并退离，腕部视图中的盘子留在内腔，随后空手退出。达到时刻按离手后稳定画面估计，误差约0.5秒。"
+     },
+     {
+      "t": 291.2,
+      "log_step": 423,
+      "text_zh": "推断：视频四次取放过程及后续未再取出盘子的画面支持该计数保持至末帧；评分器 q_score=4/14 与四盘入柜一致，初始已关闭的柜不另贡献该分数。柜号由 log step 423 的记录对应为 cabinet.n.01_2。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 222–232 s 左二指夹爪夹住该盘的盘沿，随后持盘送入柜内并张爪释放；另一只手未协同持盘。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 222–247 s 底盘驶到盘前，并在左夹爪持盘时转向、驶回装盘柜及调整插入位置。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 265.0,
+      "log_step": null,
+      "text_zh": "观察：视频 263.5–267.0 s，机器人在第四盘入柜后空手离柜转向，视野迅速侧翻；视频 267–291.2 s 维持侧倒姿态，未再出现第五次盘子离台面并被放入柜内的过程。"
+     },
+     {
+      "t": 291.2,
+      "log_step": 423,
+      "text_zh": "推断：此前逐次确认同柜四盘；评分器 q_score=0.2857142857=4/14，初始闭柜条件不计新增得分，因此最终不可能满足同柜至少5盘，final=false；不是单凭失败总分认定未取放。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 261–267 s，机器人底盘空手离开装盘柜、转向下一取盘位置时翻倒；该转场属于第五盘步骤，尚未到达或夹取第五盘。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 265.0,
+      "log_step": null,
+      "text_zh": "观察：视频 263.5–267.0 s，机器人在第四盘入柜后空手离柜转向，视野迅速侧翻；视频 267–291.2 s 维持侧倒姿态，未再出现第五次盘子离台面并被放入柜内的过程。"
+     },
+     {
+      "t": 291.2,
+      "log_step": 423,
+      "text_zh": "推断：此前逐次确认同柜四盘；评分器 q_score=0.2857142857=4/14，初始闭柜条件不计新增得分，因此最终不可能满足同柜至少6盘，final=false；不是单凭失败总分认定未取放。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 265.0,
+      "log_step": null,
+      "text_zh": "观察：视频 263.5–267.0 s，机器人在第四盘入柜后空手离柜转向，视野迅速侧翻；视频 267–291.2 s 维持侧倒姿态，未再出现第五次盘子离台面并被放入柜内的过程。"
+     },
+     {
+      "t": 291.2,
+      "log_step": 423,
+      "text_zh": "推断：此前逐次确认同柜四盘；评分器 q_score=0.2857142857=4/14，初始闭柜条件不计新增得分，因此最终不可能满足同柜至少7盘，final=false；不是单凭失败总分认定未取放。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 265.0,
+      "log_step": null,
+      "text_zh": "观察：视频 263.5–267.0 s，机器人在第四盘入柜后空手离柜转向，视野迅速侧翻；视频 267–291.2 s 维持侧倒姿态，未再出现第五次盘子离台面并被放入柜内的过程。"
+     },
+     {
+      "t": 291.2,
+      "log_step": 423,
+      "text_zh": "推断：此前逐次确认同柜四盘；评分器 q_score=0.2857142857=4/14，初始闭柜条件不计新增得分，因此最终不可能满足同柜至少8盘，final=false；不是单凭失败总分认定未取放。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG已核实六柜初始关闭，视频 0–9 s 所见柜门合拢；全片只有装盘柜被打开，其他柜门未被操作，故至少1柜关闭的条件从视频 0 s 到视频 291.2 s 始终成立。视频 33–36 s、114–120 s、216–223 s 可见其余厨房柜门仍合拢。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG已核实六柜初始关闭，视频 0–9 s 所见柜门合拢；全片只有装盘柜被打开，其他柜门未被操作，故至少2柜关闭的条件从视频 0 s 到视频 291.2 s 始终成立。视频 33–36 s、114–120 s、216–223 s 可见其余厨房柜门仍合拢。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG已核实六柜初始关闭，视频 0–9 s 所见柜门合拢；全片只有装盘柜被打开，其他柜门未被操作，故至少3柜关闭的条件从视频 0 s 到视频 291.2 s 始终成立。视频 33–36 s、114–120 s、216–223 s 可见其余厨房柜门仍合拢。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG已核实六柜初始关闭，视频 0–9 s 所见柜门合拢；全片只有装盘柜被打开，其他柜门未被操作，故至少4柜关闭的条件从视频 0 s 到视频 291.2 s 始终成立。视频 33–36 s、114–120 s、216–223 s 可见其余厨房柜门仍合拢。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG已核实六柜初始关闭，视频 0–9 s 所见柜门合拢；全片只有装盘柜被打开，其他柜门未被操作，故至少5柜关闭的条件从视频 0 s 到视频 291.2 s 始终成立。视频 33–36 s、114–120 s、216–223 s 可见其余厨房柜门仍合拢。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_6": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      9.0
+     ],
+     [
+      291.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG核实六柜初始全闭；视频 0–8.5 s 柜门合拢，约视频 9.0 s 机器人拉开装盘柜后，全闭条件失去。"
+     },
+     {
+      "t": 291.0,
+      "log_step": 423,
+      "text_zh": "推断：视频 284–291.2 s，机器人保持侧倒姿态并移动，腕部视图中装盘柜门逐步转回柜体。log step 420 在控制步8721仍报告该柜 open=True，log step 423 在控制步8738报告全部六柜 open=False；该8738步文件被保存并交付（log steps 423、426），与评分器 n_actions=8738 及视频时长8738/30=291.267 s一致。用30 Hz控制步核对视频末段推门过程，并以约视频 291.0 s 作为恢复关闭的锚点；精确5%阈值由这些一致的记录辅助判断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "推/扫",
+      "note_zh": "推断：视频 284–291.2 s 侧倒的机器人移动时柜门逐步回转；log steps 411、418、421 的脚本通过底盘位移动作推柜门关闭，未使用夹爪抓把手。具体机体接触点被遮挡。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 276–291.2 s 机器人侧倒后仍通过底盘动作移动位置，推动柜门回闭。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.2857142857142857,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "plates_in_same_cabinet_5",
+   "t": 264.5,
+   "log_step": 403,
+   "where": "转场",
+   "evidence_zh": "观察：视频 255.5–261 s 第四盘已释放在柜内，机器人空手退出；视频 263.5–267 s 在转向下一取盘位置时快速侧翻，随后至视频 291.2 s 未恢复直立，也没有第五盘入柜。log step 403 的已录制动作在 pick_fast(plate.n.04_5) 的 exit_cab 转场中报告底盘无进展及 robot tilted；此前视频约 48–65 s 的倾斜后来恢复且第一盘完成，不作为断点。"
+  },
+  "unmet": {
+   "plates_in_same_cabinet_1": true,
+   "plates_in_same_cabinet_2": true,
+   "plates_in_same_cabinet_3": true,
+   "plates_in_same_cabinet_4": true,
+   "plates_in_same_cabinet_5": false,
+   "plates_in_same_cabinet_6": false,
+   "plates_in_same_cabinet_7": false,
+   "plates_in_same_cabinet_8": false,
+   "kitchen_cabinets_closed_1": true,
+   "kitchen_cabinets_closed_2": true,
+   "kitchen_cabinets_closed_3": true,
+   "kitchen_cabinets_closed_4": true,
+   "kitchen_cabinets_closed_5": true,
+   "kitchen_cabinets_closed_6": true
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 264.5,
+    "log_step": 403,
+    "evidence_zh": "观察：视频 263.5–267.0 s，机器人空手离柜转向时相机中的柜体、墙面与台面连续旋转至近侧向，机体落向台面旁地面；视频 267–291.2 s 维持明显侧倒姿态。log step 403 报告底盘高度约0.373米、姿态严重倾斜，后续恢复动作未使其直立。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 264.5,
+    "log_step": 403,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：视频 263.5–267 s 机器人执行离柜转向时失去平衡；log step 403 的 move_base 报告连续60控制步无进展、仍差0.23米与约1.47弧度，并在 exit_cab 中检测到倾斜，log steps 406、409 的后续底盘和关节恢复动作也未恢复站姿。说明转场运动执行及稳定性控制未能维持可用姿态；现有证据不足以细分为反馈控制、参数或具体碰撞几何问题。"
+   }
+  ],
+  "gap_zh": "无逐帧状态日志或成功示范。柜内盘子的包围盒中心和精确速度不可直接测量，放盘时刻依据离手、留柜及稳定画面估计；末段关门的5%阈值依赖与交付动作计数一致的日志记录辅助。侧翻时底盘、柜门及台面的具体接触点被机体遮挡，不能确定是哪一处阻挡触发翻倒，故根因仅标控制，不细分。"
+ },
+ "summary_zh": "机器人打开装盘柜，并在视频约99.0、154.0、208.5、255.5 s依次将四个盘子离手留在同一柜内，最后恢复六柜全闭，终态为11/15节点。视频约264–267 s空手转向第五盘取盘位置时侧翻，后续未恢复可用姿态，第5至第8盘未入柜；失败现象为平衡，证据支持转场控制问题。无状态日志，盘子精确静止时刻、末段闭门阈值及侧翻接触几何需结合画面与交付记录推断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值、四盘入柜时刻、断点（第五盘转场侧翻，平衡/控制）与 q_score=4/14 一致；末帧关柜依据控制步 8738 与视频时长对应，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": "2026-10-30T22:22:06Z",
+  "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-putting-dishes-away-after-cleaning-i00-privileged--qgcdyht/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-putting-dishes-away-after-cleaning-i00-privileged--qgcdyht/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b0750f0dd79513c6a989b85c72a2598ae341875c8827c965d012e53f62a05050",
+   "video_sha256": "f3b203867977c06fc4c19c229f289c03e970400f6589693ab08a258a2f73f868",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/putting_dishes_away_after_cleaning/trajectories/behavior-putting-dishes-away-after-cleaning-i00-privileged--wghsdzd.json b/phase2/behavior-1k/putting_dishes_away_after_cleaning/trajectories/behavior-putting-dishes-away-after-cleaning-i00-privileged--wghsdzd.json
new file mode 100644
index 0000000000000000000000000000000000000000..664aa35e2955d1bfb5b015cf8e73142dcddf668e
--- /dev/null
+++ b/phase2/behavior-1k/putting_dishes_away_after_cleaning/trajectories/behavior-putting-dishes-away-after-cleaning-i00-privileged--wghsdzd.json
@@ -0,0 +1,387 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-putting-dishes-away-after-cleaning-i00-privileged--wghsdzd",
+ "taskKey": "behavior-1k/putting_dishes_away_after_cleaning",
+ "dag_sha256": "930fb7d3e67544053d5db0daf06fdea40b0df09de9dd00b7f34599a37a484f43",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 30,
+   "sim_steps": 30,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1288.7,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 2,
+   "agent_resets": 0,
+   "agent_sim_steps": 342,
+   "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-putting-dishes-away-after-cleaning-i00-privileged--wghsdzd/replay.mp4",
+  "duration_s": 1.0,
+  "fps": 30.0,
+  "frames": 30,
+  "sha256": "fe32be2d03b89d08d7635af88da8b47286997a32c38025d31811100be36e4aa4"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 15,
+  "base": 6,
+  "peak": 6,
+  "final": 6,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 146,
+      "text_zh": "观察：log step 146 的 agent 脚本离线生成30行、每行25维全零动作，log step 150 将该占位文件复制为最终提交；评分器 n_actions=30、sim_steps=30，与视频长度1.0 s一致。"
+     },
+     {
+      "t": 0.97,
+      "log_step": 150,
+      "text_zh": "观察：逐帧检查视频 0.0–0.97 s，机器人双臂及相机视角随关节运动改变，夹爪没有抓住柜门或盘子，未出现拉门、露出柜内腔的操作；台面上的可见盘子仍在原处。推断：结合DAG核实的六柜初始关闭及提交动作，评分轨迹没有完成开柜；会话中的门接触测试不属于此评分轨迹。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.97,
+      "log_step": 150,
+      "text_zh": "观察：视频 0.0–0.97 s 的全部30帧中，可见白盘始终留在台面，机器人夹爪为空，未见抓起、搬运或释放入柜；log step 146、150 显示提交的是30行全零占位动作。推断：结合DAG核实的八盘初始均未入柜及评分器 q_score=0.0，同柜盘数没有增至1个，本节点全程不成立；未将会话抓盘测试计入评分进度。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.97,
+      "log_step": 150,
+      "text_zh": "观察：视频 0.0–0.97 s 的全部30帧中，可见白盘始终留在台面，机器人夹爪为空，未见抓起、搬运或释放入柜；log step 146、150 显示提交的是30行全零占位动作。推断：结合DAG核实的八盘初始均未入柜及评分器 q_score=0.0，同柜盘数没有增至2个，本节点全程不成立；未将会话抓盘测试计入评分进度。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.97,
+      "log_step": 150,
+      "text_zh": "观察：视频 0.0–0.97 s 的全部30帧中，可见白盘始终留在台面，机器人夹爪为空，未见抓起、搬运或释放入柜；log step 146、150 显示提交的是30行全零占位动作。推断：结合DAG核实的八盘初始均未入柜及评分器 q_score=0.0，同柜盘数没有增至3个，本节点全程不成立；未将会话抓盘测试计入评分进度。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.97,
+      "log_step": 150,
+      "text_zh": "观察：视频 0.0–0.97 s 的全部30帧中，可见白盘始终留在台面，机器人夹爪为空，未见抓起、搬运或释放入柜；log step 146、150 显示提交的是30行全零占位动作。推断：结合DAG核实的八盘初始均未入柜及评分器 q_score=0.0，同柜盘数没有增至4个，本节点全程不成立；未将会话抓盘测试计入评分进度。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.97,
+      "log_step": 150,
+      "text_zh": "观察：视频 0.0–0.97 s 的全部30帧中，可见白盘始终留在台面，机器人夹爪为空，未见抓起、搬运或释放入柜；log step 146、150 显示提交的是30行全零占位动作。推断：结合DAG核实的八盘初始均未入柜及评分器 q_score=0.0，同柜盘数没有增至5个，本节点全程不成立；未将会话抓盘测试计入评分进度。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.97,
+      "log_step": 150,
+      "text_zh": "观察：视频 0.0–0.97 s 的全部30帧中，可见白盘始终留在台面，机器人夹爪为空，未见抓起、搬运或释放入柜；log step 146、150 显示提交的是30行全零占位动作。推断：结合DAG核实的八盘初始均未入柜及评分器 q_score=0.0，同柜盘数没有增至6个，本节点全程不成立；未将会话抓盘测试计入评分进度。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.97,
+      "log_step": 150,
+      "text_zh": "观察：视频 0.0–0.97 s 的全部30帧中，可见白盘始终留在台面，机器人夹爪为空，未见抓起、搬运或释放入柜；log step 146、150 显示提交的是30行全零占位动作。推断：结合DAG核实的八盘初始均未入柜及评分器 q_score=0.0，同柜盘数没有增至7个，本节点全程不成立；未将会话抓盘测试计入评分进度。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.97,
+      "log_step": 150,
+      "text_zh": "观察：视频 0.0–0.97 s 的全部30帧中，可见白盘始终留在台面，机器人夹爪为空，未见抓起、搬运或释放入柜；log step 146、150 显示提交的是30行全零占位动作。推断：结合DAG核实的八盘初始均未入柜及评分器 q_score=0.0，同柜盘数没有增至8个，本节点全程不成立；未将会话抓盘测试计入评分进度。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 146,
+      "text_zh": "推断：DAG本节点判据及初始条件说明明确六个目标橱柜从初始时刻关闭；视频 0.0–0.97 s 未见机器人操作柜门，log step 146、150 证实评分文件只有30行全零占位动作，没有会话中的导航和开门测试，故至少1柜关闭从视频 0.0 s 保持至结束。六柜未同时进入相机视野，关闭数量由已核实初态和本段无开柜操作合并判断，非逐柜直接读数；q_score不计保留的初始真目标，0分不否定这些节点。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 146,
+      "text_zh": "推断：DAG本节点判据及初始条件说明明确六个目标橱柜从初始时刻关闭；视频 0.0–0.97 s 未见机器人操作柜门，log step 146、150 证实评分文件只有30行全零占位动作，没有会话中的导航和开门测试，故至少2柜关闭从视频 0.0 s 保持至结束。六柜未同时进入相机视野，关闭数量由已核实初态和本段无开柜操作合并判断，非逐柜直接读数；q_score不计保留的初始真目标，0分不否定这些节点。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 146,
+      "text_zh": "推断：DAG本节点判据及初始条件说明明确六个目标橱柜从初始时刻关闭；视频 0.0–0.97 s 未见机器人操作柜门，log step 146、150 证实评分文件只有30行全零占位动作，没有会话中的导航和开门测试，故至少3柜关闭从视频 0.0 s 保持至结束。六柜未同时进入相机视野，关闭数量由已核实初态和本段无开柜操作合并判断，非逐柜直接读数；q_score不计保留的初始真目标，0分不否定这些节点。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 146,
+      "text_zh": "推断：DAG本节点判据及初始条件说明明确六个目标橱柜从初始时刻关闭；视频 0.0–0.97 s 未见机器人操作柜门，log step 146、150 证实评分文件只有30行全零占位动作，没有会话中的导航和开门测试，故至少4柜关闭从视频 0.0 s 保持至结束。六柜未同时进入相机视野，关闭数量由已核实初态和本段无开柜操作合并判断，非逐柜直接读数；q_score不计保留的初始真目标，0分不否定这些节点。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 146,
+      "text_zh": "推断：DAG本节点判据及初始条件说明明确六个目标橱柜从初始时刻关闭；视频 0.0–0.97 s 未见机器人操作柜门，log step 146、150 证实评分文件只有30行全零占位动作，没有会话中的导航和开门测试，故至少5柜关闭从视频 0.0 s 保持至结束。六柜未同时进入相机视野，关闭数量由已核实初态和本段无开柜操作合并判断，非逐柜直接读数；q_score不计保留的初始真目标，0分不否定这些节点。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_6": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 146,
+      "text_zh": "推断：DAG本节点判据及初始条件说明明确六个目标橱柜从初始时刻关闭；视频 0.0–0.97 s 未见机器人操作柜门，log step 146、150 证实评分文件只有30行全零占位动作，没有会话中的导航和开门测试，故至少6柜关闭从视频 0.0 s 保持至结束。六柜未同时进入相机视野，关闭数量由已核实初态和本段无开柜操作合并判断，非逐柜直接读数；q_score不计保留的初始真目标，0分不否定这些节点。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "cabinet_opened",
+   "t": null,
+   "log_step": 150,
+   "where": "首步前",
+   "evidence_zh": "观察：log step 146 的 agent 脚本生成30行、每行25维全零占位动作，log step 150 将其复制为最终 trajectory.npz，log step 152 再次读取仍为(30,25)的占位文件；评分器 n_actions=30、sim_steps=30、agent_replays=0。视频 0.0–0.97 s 的全部30帧中，机器人双臂姿态变化，但未抓柜门或盘子、未启动开柜或搬盘，可见盘子仍在台面。推断：评分交付是从未启动首个未达步骤 cabinet_opened 的基线，按 docs/03_trajectory.md Step 3.1 标为首步前；log step 137 自启的 gen.py 生成进程在 log step 154 所示段错误后未产出实际操作轨迹，不将其作为无交付的外因切断，也不将会话接触测试当作评分断点。"
+  },
+  "unmet": {
+   "plates_in_same_cabinet_1": false,
+   "plates_in_same_cabinet_2": false,
+   "plates_in_same_cabinet_3": false,
+   "plates_in_same_cabinet_4": false,
+   "plates_in_same_cabinet_5": false,
+   "plates_in_same_cabinet_6": false,
+   "plates_in_same_cabinet_7": false,
+   "plates_in_same_cabinet_8": false,
+   "kitchen_cabinets_closed_1": true,
+   "kitchen_cabinets_closed_2": true,
+   "kitchen_cabinets_closed_3": true,
+   "kitchen_cabinets_closed_4": true,
+   "kitchen_cabinets_closed_5": true,
+   "kitchen_cabinets_closed_6": true
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 150,
+    "evidence_zh": "观察：log step 146、150、152 显示 agent 最终交付30行全零占位动作；视频 0.0–0.97 s 的全部30帧中，机器人未抓柜门或搬盘，可见盘子一直留在台面。推断：评分基线从未启动 cabinet_opened，按 docs/03_trajectory.md Step 3.2 标为没尝试。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/提供完整日志与1.0 s评分视频，没有状态日志或成功参照视频；六柜未同时进入相机视野，关柜节点依据DAG已核实初态和本段无开柜动作推断。log step 137 记录 agent 自行启动 gen.py 生成进程，log step 154 记录该进程的原生段错误，log step 150、152 记录最终交付仍为占位动作。推断：根因层留空，不从没尝试或实际操作轨迹缺失反推根因；agent 在 log step 155、157 自述的双仿真进程共用GPU致崩溃及会话开门接触失败未独立核实，不作为评分现象或已证实根因，生成进程崩溃也不等同于评分回放中的控制脚本异常。"
+ },
+ "summary_zh": "观察：评分视频 0.0–0.97 s 的全部30帧中机器人没有启动开柜或搬盘，最终提交为30行全零占位动作（log step 146、150、152），评分器 success=0、q_score=0；结合DAG已核实初态，15个节点中仅六个初始关柜节点保持成立，八个入柜节点与开柜节点均未达到。推断：断点为 cabinet_opened／首步前，现象为没尝试；log step 137 自启的 gen.py 生成进程发生段错误（log step 154），但具体原因未核实，根因留空。推断：缺少状态日志且六柜未全部可见，关柜数量依初态延续判断；会话抓盘及门接触测试不代表评分进度，置信度保持7。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点值与时钟无误（六个关柜节点依初态保持、其余未达、log step 取自步骤 id 均存在）。但断点被当作外因崩溃标成 unknown/首步前并清空两层：段错误发生在 agent 自己并行启动的 gen.py 进程里（不是 harness/SDK 崩溃），且最终交付了30行全零占位文件（评分尝试存在、从未开始任何步骤），应按 03 规则标为首个未达步骤 cabinet_opened / 首步前 / 没尝试。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点值（六个关柜节点保持、其余未达）、断点 cabinet_opened/首步前、现象没尝试、根因留空且有 gap_zh，均与30帧视频和 log 146/150/152 一致；时钟均用视频 0.0–0.97 s，无换算。第1轮意见已采纳，无新问题。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:30:41Z",
+  "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-putting-dishes-away-after-cleaning-i00-privileged--wghsdzd/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-putting-dishes-away-after-cleaning-i00-privileged--wghsdzd/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-putting-dishes-away-after-cleaning-i00-privileged--wghsdzd/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-putting-dishes-away-after-cleaning-i00-privileged--wghsdzd/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a5585ab60f7f935610c2ba8d0fcd047a50d5a2dd0bd0058836cd8b0bc5434740",
+   "video_sha256": "fe32be2d03b89d08d7635af88da8b47286997a32c38025d31811100be36e4aa4",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/putting_dishes_away_after_cleaning/trajectories/behavior-putting-dishes-away-after-cleaning-i00-privileged--ymn5jjg.json b/phase2/behavior-1k/putting_dishes_away_after_cleaning/trajectories/behavior-putting-dishes-away-after-cleaning-i00-privileged--ymn5jjg.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9ce719f7199b3f1b07e04fde4759e703058f127
--- /dev/null
+++ b/phase2/behavior-1k/putting_dishes_away_after_cleaning/trajectories/behavior-putting-dishes-away-after-cleaning-i00-privileged--ymn5jjg.json
@@ -0,0 +1,481 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-putting-dishes-away-after-cleaning-i00-privileged--ymn5jjg",
+ "taskKey": "behavior-1k/putting_dishes_away_after_cleaning",
+ "dag_sha256": "930fb7d3e67544053d5db0daf06fdea40b0df09de9dd00b7f34599a37a484f43",
+ "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": 757,
+   "sim_breakdown": 0,
+   "goal": 0,
+   "settle_steps": 150,
+   "goal_first_step": -1,
+   "sim_steps": 907,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 968.3,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "video_replay_matches": 1,
+   "agent_sessions": 3,
+   "agent_resets": 0,
+   "agent_sim_steps": 757,
+   "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-putting-dishes-away-after-cleaning-i00-privileged--ymn5jjg/replay.mp4",
+  "duration_s": 30.233,
+  "fps": 30.0,
+  "frames": 907,
+  "sha256": "5dbaad43f7c72be90eda0059461224930f2cccf7b6d481c31f76cc47bfc1d6b4"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 15,
+  "base": 6,
+  "peak": 6,
+  "final": 6,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 20.0,
+      "log_step": null,
+      "text_zh": "观察：视频0–30.2 s机器人抓盘、搬盘并在台面处松手，未见其拉动柜门；视频8–22.8 s可见的上柜及下柜门板保持合拢，没有露出装盘入口。"
+     },
+     {
+      "t": null,
+      "log_step": 64,
+      "text_zh": "观察：log step 64的录制脚本明确采用不操作柜门、从上方投盘的方案；会话中早先的柜门测试不属于交付轨迹。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 22.2,
+      "log_step": null,
+      "text_zh": "观察：视频8.5–20.9 s左夹爪携带一个蓝白盘；视频21.4–22.8 s夹爪张开并退离，盘子仍立在灶台旁的浅色台面上、靠着红色挡板，没有进入柜内。其余盘子没有出现入柜搬运。"
+     },
+     {
+      "t": 30.2,
+      "log_step": null,
+      "text_zh": "推断：评分器q_score=0且video_replay_matches=1；结合DAG所列开局八盘均未入柜、六柜已关以及视频中首盘留在柜外的画面，终态同一柜内不足1个盘子。初始已成立的关柜条件不贡献新增q_score，不能用q_score=0否认初始关柜状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约8.5–21.3 s左二指夹爪夹持蓝白盘盘沿搬运，视频21.4 s前后张爪松手；没有双臂共同抓盘。前段脚本所写推盘的直接接触被遮挡，未据脚本追加推/扫标签。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0–8 s底盘转向、接近取盘台面，视频17–19 s底盘在左爪持盘时移动和转向放盘处。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 22.2,
+      "log_step": null,
+      "text_zh": "观察：视频8.5–20.9 s左夹爪携带一个蓝白盘；视频21.4–22.8 s夹爪张开并退离，盘子仍立在灶台旁的浅色台面上、靠着红色挡板，没有进入柜内。其余盘子没有出现入柜搬运。"
+     },
+     {
+      "t": 30.2,
+      "log_step": null,
+      "text_zh": "推断：评分器q_score=0且video_replay_matches=1；结合DAG所列开局八盘均未入柜、六柜已关以及视频中首盘留在柜外的画面，终态同一柜内不足2个盘子。初始已成立的关柜条件不贡献新增q_score，不能用q_score=0否认初始关柜状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频23–25.2 s机器人空手转身并移向下一处取盘位置，之后画面停住，未见夹爪与下一盘接触。推断：结合log step 64的盘子顺序及log step 76的下一盘接近逆解报错，这是第二轮搬盘的取盘转场，未完成。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 22.2,
+      "log_step": null,
+      "text_zh": "观察：视频8.5–20.9 s左夹爪携带一个蓝白盘；视频21.4–22.8 s夹爪张开并退离，盘子仍立在灶台旁的浅色台面上、靠着红色挡板，没有进入柜内。其余盘子没有出现入柜搬运。"
+     },
+     {
+      "t": 30.2,
+      "log_step": null,
+      "text_zh": "推断：评分器q_score=0且video_replay_matches=1；结合DAG所列开局八盘均未入柜、六柜已关以及视频中首盘留在柜外的画面，终态同一柜内不足3个盘子。初始已成立的关柜条件不贡献新增q_score，不能用q_score=0否认初始关柜状态。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 22.2,
+      "log_step": null,
+      "text_zh": "观察：视频8.5–20.9 s左夹爪携带一个蓝白盘；视频21.4–22.8 s夹爪张开并退离，盘子仍立在灶台旁的浅色台面上、靠着红色挡板，没有进入柜内。其余盘子没有出现入柜搬运。"
+     },
+     {
+      "t": 30.2,
+      "log_step": null,
+      "text_zh": "推断：评分器q_score=0且video_replay_matches=1；结合DAG所列开局八盘均未入柜、六柜已关以及视频中首盘留在柜外的画面，终态同一柜内不足4个盘子。初始已成立的关柜条件不贡献新增q_score，不能用q_score=0否认初始关柜状态。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 22.2,
+      "log_step": null,
+      "text_zh": "观察：视频8.5–20.9 s左夹爪携带一个蓝白盘；视频21.4–22.8 s夹爪张开并退离，盘子仍立在灶台旁的浅色台面上、靠着红色挡板，没有进入柜内。其余盘子没有出现入柜搬运。"
+     },
+     {
+      "t": 30.2,
+      "log_step": null,
+      "text_zh": "推断：评分器q_score=0且video_replay_matches=1；结合DAG所列开局八盘均未入柜、六柜已关以及视频中首盘留在柜外的画面，终态同一柜内不足5个盘子。初始已成立的关柜条件不贡献新增q_score，不能用q_score=0否认初始关柜状态。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 22.2,
+      "log_step": null,
+      "text_zh": "观察：视频8.5–20.9 s左夹爪携带一个蓝白盘；视频21.4–22.8 s夹爪张开并退离，盘子仍立在灶台旁的浅色台面上、靠着红色挡板，没有进入柜内。其余盘子没有出现入柜搬运。"
+     },
+     {
+      "t": 30.2,
+      "log_step": null,
+      "text_zh": "推断：评分器q_score=0且video_replay_matches=1；结合DAG所列开局八盘均未入柜、六柜已关以及视频中首盘留在柜外的画面，终态同一柜内不足6个盘子。初始已成立的关柜条件不贡献新增q_score，不能用q_score=0否认初始关柜状态。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 22.2,
+      "log_step": null,
+      "text_zh": "观察：视频8.5–20.9 s左夹爪携带一个蓝白盘；视频21.4–22.8 s夹爪张开并退离，盘子仍立在灶台旁的浅色台面上、靠着红色挡板，没有进入柜内。其余盘子没有出现入柜搬运。"
+     },
+     {
+      "t": 30.2,
+      "log_step": null,
+      "text_zh": "推断：评分器q_score=0且video_replay_matches=1；结合DAG所列开局八盘均未入柜、六柜已关以及视频中首盘留在柜外的画面，终态同一柜内不足7个盘子。初始已成立的关柜条件不贡献新增q_score，不能用q_score=0否认初始关柜状态。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 22.2,
+      "log_step": null,
+      "text_zh": "观察：视频8.5–20.9 s左夹爪携带一个蓝白盘；视频21.4–22.8 s夹爪张开并退离，盘子仍立在灶台旁的浅色台面上、靠着红色挡板，没有进入柜内。其余盘子没有出现入柜搬运。"
+     },
+     {
+      "t": 30.2,
+      "log_step": null,
+      "text_zh": "推断：评分器q_score=0且video_replay_matches=1；结合DAG所列开局八盘均未入柜、六柜已关以及视频中首盘留在柜外的画面，终态同一柜内不足8个盘子。初始已成立的关柜条件不贡献新增q_score，不能用q_score=0否认初始关柜状态。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG记载冻结初态六柜均关闭，视频0–30.2 s未见机器人打开任何柜门，视频8–22.8 s可见柜门保持合拢，因此至少1柜关闭从开局保持至结束；这是保留初始条件，未发生主动关柜动作。"
+     },
+     {
+      "t": 29.8,
+      "log_step": null,
+      "text_zh": "观察：视频29.3–30.2 s尾段画面不再变化，可见下柜门仍合拢；交付轨迹没有新增开关柜动作。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG记载冻结初态六柜均关闭，视频0–30.2 s未见机器人打开任何柜门，视频8–22.8 s可见柜门保持合拢，因此至少2柜关闭从开局保持至结束；这是保留初始条件，未发生主动关柜动作。"
+     },
+     {
+      "t": 29.8,
+      "log_step": null,
+      "text_zh": "观察：视频29.3–30.2 s尾段画面不再变化，可见下柜门仍合拢；交付轨迹没有新增开关柜动作。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG记载冻结初态六柜均关闭，视频0–30.2 s未见机器人打开任何柜门，视频8–22.8 s可见柜门保持合拢，因此至少3柜关闭从开局保持至结束；这是保留初始条件，未发生主动关柜动作。"
+     },
+     {
+      "t": 29.8,
+      "log_step": null,
+      "text_zh": "观察：视频29.3–30.2 s尾段画面不再变化，可见下柜门仍合拢；交付轨迹没有新增开关柜动作。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG记载冻结初态六柜均关闭，视频0–30.2 s未见机器人打开任何柜门，视频8–22.8 s可见柜门保持合拢，因此至少4柜关闭从开局保持至结束；这是保留初始条件，未发生主动关柜动作。"
+     },
+     {
+      "t": 29.8,
+      "log_step": null,
+      "text_zh": "观察：视频29.3–30.2 s尾段画面不再变化，可见下柜门仍合拢；交付轨迹没有新增开关柜动作。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG记载冻结初态六柜均关闭，视频0–30.2 s未见机器人打开任何柜门，视频8–22.8 s可见柜门保持合拢，因此至少5柜关闭从开局保持至结束；这是保留初始条件，未发生主动关柜动作。"
+     },
+     {
+      "t": 29.8,
+      "log_step": null,
+      "text_zh": "观察：视频29.3–30.2 s尾段画面不再变化，可见下柜门仍合拢；交付轨迹没有新增开关柜动作。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_6": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG记载冻结初态六柜均关闭，视频0–30.2 s未见机器人打开任何柜门，视频8–22.8 s可见柜门保持合拢，因此至少6柜关闭从开局保持至结束；这是保留初始条件，未发生主动关柜动作。"
+     },
+     {
+      "t": 29.8,
+      "log_step": null,
+      "text_zh": "观察：视频29.3–30.2 s尾段画面不再变化，可见下柜门仍合拢；交付轨迹没有新增开关柜动作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "plates_in_same_cabinet_1",
+   "t": 21.4,
+   "log_step": 64,
+   "where": "操作中",
+   "evidence_zh": "观察：视频21.4–22.8 s机器人在柜外台面张开左夹爪，首个搬运盘留在灶台旁并靠着红色挡板，未进入橱柜；随后机器人转身离开，直至视频30.2 s未修复。log step 76所报下一盘接近时逆解失败是后续中断，不能把首盘未入柜视为已修复。"
+  },
+  "unmet": {
+   "plates_in_same_cabinet_1": false,
+   "plates_in_same_cabinet_2": false,
+   "plates_in_same_cabinet_3": false,
+   "plates_in_same_cabinet_4": false,
+   "plates_in_same_cabinet_5": false,
+   "plates_in_same_cabinet_6": false,
+   "plates_in_same_cabinet_7": false,
+   "plates_in_same_cabinet_8": false,
+   "kitchen_cabinets_closed_1": true,
+   "kitchen_cabinets_closed_2": true,
+   "kitchen_cabinets_closed_3": true,
+   "kitchen_cabinets_closed_4": true,
+   "kitchen_cabinets_closed_5": true,
+   "kitchen_cabinets_closed_6": true
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 21.4,
+    "log_step": null,
+    "evidence_zh": "观察：视频21.4 s前后左夹爪松开时蓝白盘仍位于浅色台面、红色挡板前；视频22.2–22.8 s夹爪已退离，盘子仍在柜外。盘子在释放前就未到柜内，属于放置位置未达标。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "t": 21.4,
+    "log_step": 64,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 64的agent把bottom_cabinet_no_top解释为可直接从上方投盘，录制脚本跳过开门，以STACK=[4.18,-1.15]、stack_z=0.17向下送盘后直接松手并开始下一轮；视频20–22.8 s却显示该投放动作停留在连续台面及红色挡板前，盘子未进入内腔。将无顶柜模型等同于场景中存在可通行的上方入口，使所选装柜路线未成立；这项路线假设有明确脚本证据。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频，无法精确核实柜门关节阈值、早期推盘时的指端接触及放盘受力；关柜区间依据冻结初态与视频中未发生开门的动作链推断，入柜终态另由q_score=0约束。首盘释放在柜外可直接观察；log step 79自述首盘循环完成不能作为入柜证据，log step 77后修改脚本的动作也未重新录制。"
+ },
+ "summary_zh": "六个关柜数量节点从初态保持成立，终态为6/15；机器人确实抓起并搬运一个蓝白盘，但视频约21.4 s在柜外台面松手，未完成任何盘子入柜。首个未修复断点是第1个盘入柜：agent依据无顶柜模型选择从上方直接投盘，实际盘子留在灶台旁；随后下一盘接近逆解报错，交付停在该处。无状态日志，柜门精确阈值及接触力不可核实，但首盘柜外落点与评分器q_score=0一致。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标注与视频一致：约21–22 s左夹爪在灶台旁台面松手，盘子留在柜外，6/15 来自初始关柜节点；断点、位姿不准与推理/规划根因均有 log step 64 与帧支持。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:17:53Z",
+  "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-putting-dishes-away-after-cleaning-i00-privileged--ymn5jjg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-putting-dishes-away-after-cleaning-i00-privileged--ymn5jjg/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "679151ea9ff84250b012810a29812e598d96c927f74587a7669af02e6186f236",
+   "video_sha256": "5dbaad43f7c72be90eda0059461224930f2cccf7b6d481c31f76cc47bfc1d6b4",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/putting_dishes_away_after_cleaning/trajectories/behavior-putting-dishes-away-after-cleaning-i00-standard--j4upnek.json b/phase2/behavior-1k/putting_dishes_away_after_cleaning/trajectories/behavior-putting-dishes-away-after-cleaning-i00-standard--j4upnek.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcd33571b7f9dc9f91363f8736b2445765104d82
--- /dev/null
+++ b/phase2/behavior-1k/putting_dishes_away_after_cleaning/trajectories/behavior-putting-dishes-away-after-cleaning-i00-standard--j4upnek.json
@@ -0,0 +1,471 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-putting-dishes-away-after-cleaning-i00-standard--j4upnek",
+ "taskKey": "behavior-1k/putting_dishes_away_after_cleaning",
+ "dag_sha256": "930fb7d3e67544053d5db0daf06fdea40b0df09de9dd00b7f34599a37a484f43",
+ "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": 8001,
+   "sim_steps": 8001,
+   "physics_steps": 32004,
+   "steps": 1348,
+   "elapsed_s": 3036.0,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-putting-dishes-away-after-cleaning-i00-standard--j4upnek/replay.mp4",
+  "duration_s": 266.7,
+  "fps": 30.0,
+  "frames": 8001,
+  "sha256": "32387c9d2cc490cfd3d1f18998758ab364f6d1630cefb41b83a11bdd92d15c8f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 15,
+  "base": 6,
+  "peak": 6,
+  "final": 6,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 191.5,
+      "log_step": 148,
+      "text_zh": "观察：视频191.5–213.5 s机器人右臂朝台面下方柜前伸出，夹爪合拢后退拉；腕部画面中的夹爪内未见柜门或把手随动，头部画面未出现门板拉离柜体或柜内腔。"
+     },
+     {
+      "t": 228.5,
+      "log_step": 151,
+      "text_zh": "观察：视频223.5–228.5 s机器人继续移动腕部相机查看柜前，门板仍合拢；视频248.5–256.5 s的移动观察也未见打开的目标柜。推断：结合初始关闭状态和整段开柜尝试，打开橱柜事件未达到。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "右夹爪在柜前合拢并退拉，但夹爪与柜门的接触区域被机件遮挡；不能确认是否碰到门板，不能把合爪命令记为实际抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘移动到墙边柜前，并在寻找其他开柜位置时平移、转向；末段在靠近台面时倾倒。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 110.5,
+      "log_step": 123,
+      "text_zh": "观察：视频105.5–110.7 s机器人左夹爪下降到岛台盘沿并合拢，随后带盘沿上移，夹爪两指位于盘沿两侧；视频110.8–111.5 s可见夹爪张开，盘子留回岛台上，未经过任何柜内腔。"
+     },
+     {
+      "t": 119,
+      "log_step": 129,
+      "text_zh": "观察：视频117.5–119.5 s左腕视角离开盘子，头部画面重新显示岛台上的盘子，机器人随后转向查看柜门；视频185.5–228.5 s墙边盘子也仍在台面，直至视频266.65 s未见任何入柜放盘动作。推断：评分器q_score=0且live_matches_replay=1与零盘入柜一致；六柜关闭是初始已满足条件，不在新增目标得分中。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人左二指夹爪夹住岛台盘子的盘沿并短暂抬起，随后在柜外张开，盘子回到台面；此前还有未抓起盘子的合爪重试。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人轮式底盘在抓盘前驶到岛台旁，并为再次抓盘平移、转向调整位置。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 228.5,
+      "log_step": 148,
+      "text_zh": "观察：视频0–266.65 s的巡看与操作中，没有盘子被送入柜内；视频191.5–228.5 s只有柜前合爪、退拉和查看动作，柜门未打开。推断：同柜盘数未达到1，也未达到2；评分器q_score=0、live_matches_replay=1与此一致，不能把抓盘计为入柜。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 228.5,
+      "log_step": 148,
+      "text_zh": "观察：视频0–266.65 s的巡看与操作中，没有盘子被送入柜内；视频191.5–228.5 s只有柜前合爪、退拉和查看动作，柜门未打开。推断：同柜盘数未达到1，也未达到3；评分器q_score=0、live_matches_replay=1与此一致，不能把抓盘计为入柜。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 228.5,
+      "log_step": 148,
+      "text_zh": "观察：视频0–266.65 s的巡看与操作中，没有盘子被送入柜内；视频191.5–228.5 s只有柜前合爪、退拉和查看动作，柜门未打开。推断：同柜盘数未达到1，也未达到4；评分器q_score=0、live_matches_replay=1与此一致，不能把抓盘计为入柜。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 228.5,
+      "log_step": 148,
+      "text_zh": "观察：视频0–266.65 s的巡看与操作中，没有盘子被送入柜内；视频191.5–228.5 s只有柜前合爪、退拉和查看动作，柜门未打开。推断：同柜盘数未达到1，也未达到5；评分器q_score=0、live_matches_replay=1与此一致，不能把抓盘计为入柜。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 228.5,
+      "log_step": 148,
+      "text_zh": "观察：视频0–266.65 s的巡看与操作中，没有盘子被送入柜内；视频191.5–228.5 s只有柜前合爪、退拉和查看动作，柜门未打开。推断：同柜盘数未达到1，也未达到6；评分器q_score=0、live_matches_replay=1与此一致，不能把抓盘计为入柜。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 228.5,
+      "log_step": 148,
+      "text_zh": "观察：视频0–266.65 s的巡看与操作中，没有盘子被送入柜内；视频191.5–228.5 s只有柜前合爪、退拉和查看动作，柜门未打开。推断：同柜盘数未达到1，也未达到7；评分器q_score=0、live_matches_replay=1与此一致，不能把抓盘计为入柜。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 228.5,
+      "log_step": 148,
+      "text_zh": "观察：视频0–266.65 s的巡看与操作中，没有盘子被送入柜内；视频191.5–228.5 s只有柜前合爪、退拉和查看动作，柜门未打开。推断：同柜盘数未达到1，也未达到8；评分器q_score=0、live_matches_replay=1与此一致，不能把抓盘计为入柜。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.5,
+      "log_step": 41,
+      "text_zh": "观察：视频0–37.5 s机器人转向巡看厨房，岛台、墙边及高柜的可见门板合拢，没有暴露柜内腔。推断：结合DAG核实的六柜全闭初态，至少1个柜关闭从视频0 s成立；此状态不受放盘前置边限制。"
+     },
+     {
+      "t": 254.5,
+      "log_step": 148,
+      "text_zh": "观察：视频191.5–228.5 s右夹爪退拉未带开柜门，视频248.5–256.5 s可见柜门仍合拢；视频266.65 s机器人倾倒后的画面未见目标柜门被带开。推断：全程没有可见的开柜状态变化，六柜初始关闭状态保留，因此至少1个柜关闭持续到结束；这不代表机器人另完成了1次关门操作。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.5,
+      "log_step": 41,
+      "text_zh": "观察：视频0–37.5 s机器人转向巡看厨房，岛台、墙边及高柜的可见门板合拢，没有暴露柜内腔。推断：结合DAG核实的六柜全闭初态，至少2个柜关闭从视频0 s成立；此状态不受放盘前置边限制。"
+     },
+     {
+      "t": 254.5,
+      "log_step": 148,
+      "text_zh": "观察：视频191.5–228.5 s右夹爪退拉未带开柜门，视频248.5–256.5 s可见柜门仍合拢；视频266.65 s机器人倾倒后的画面未见目标柜门被带开。推断：全程没有可见的开柜状态变化，六柜初始关闭状态保留，因此至少2个柜关闭持续到结束；这不代表机器人另完成了2次关门操作。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.5,
+      "log_step": 41,
+      "text_zh": "观察：视频0–37.5 s机器人转向巡看厨房，岛台、墙边及高柜的可见门板合拢，没有暴露柜内腔。推断：结合DAG核实的六柜全闭初态，至少3个柜关闭从视频0 s成立；此状态不受放盘前置边限制。"
+     },
+     {
+      "t": 254.5,
+      "log_step": 148,
+      "text_zh": "观察：视频191.5–228.5 s右夹爪退拉未带开柜门，视频248.5–256.5 s可见柜门仍合拢；视频266.65 s机器人倾倒后的画面未见目标柜门被带开。推断：全程没有可见的开柜状态变化，六柜初始关闭状态保留，因此至少3个柜关闭持续到结束；这不代表机器人另完成了3次关门操作。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.5,
+      "log_step": 41,
+      "text_zh": "观察：视频0–37.5 s机器人转向巡看厨房，岛台、墙边及高柜的可见门板合拢，没有暴露柜内腔。推断：结合DAG核实的六柜全闭初态，至少4个柜关闭从视频0 s成立；此状态不受放盘前置边限制。"
+     },
+     {
+      "t": 254.5,
+      "log_step": 148,
+      "text_zh": "观察：视频191.5–228.5 s右夹爪退拉未带开柜门，视频248.5–256.5 s可见柜门仍合拢；视频266.65 s机器人倾倒后的画面未见目标柜门被带开。推断：全程没有可见的开柜状态变化，六柜初始关闭状态保留，因此至少4个柜关闭持续到结束；这不代表机器人另完成了4次关门操作。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.5,
+      "log_step": 41,
+      "text_zh": "观察：视频0–37.5 s机器人转向巡看厨房，岛台、墙边及高柜的可见门板合拢，没有暴露柜内腔。推断：结合DAG核实的六柜全闭初态，至少5个柜关闭从视频0 s成立；此状态不受放盘前置边限制。"
+     },
+     {
+      "t": 254.5,
+      "log_step": 148,
+      "text_zh": "观察：视频191.5–228.5 s右夹爪退拉未带开柜门，视频248.5–256.5 s可见柜门仍合拢；视频266.65 s机器人倾倒后的画面未见目标柜门被带开。推断：全程没有可见的开柜状态变化，六柜初始关闭状态保留，因此至少5个柜关闭持续到结束；这不代表机器人另完成了5次关门操作。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_6": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.5,
+      "log_step": 41,
+      "text_zh": "观察：视频0–37.5 s机器人转向巡看厨房，岛台、墙边及高柜的可见门板合拢，没有暴露柜内腔。推断：结合DAG核实的六柜全闭初态，至少6个柜关闭从视频0 s成立；此状态不受放盘前置边限制。"
+     },
+     {
+      "t": 254.5,
+      "log_step": 148,
+      "text_zh": "观察：视频191.5–228.5 s右夹爪退拉未带开柜门，视频248.5–256.5 s可见柜门仍合拢；视频266.65 s机器人倾倒后的画面未见目标柜门被带开。推断：全程没有可见的开柜状态变化，六柜初始关闭状态保留，因此至少6个柜关闭持续到结束；这不代表机器人另完成了6次关门操作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "plates_in_same_cabinet_1",
+   "t": 111.0,
+   "log_step": 129,
+   "where": "操作中",
+   "evidence_zh": "观察：视频110.2–110.7 s左夹爪夹着盘沿上移，视频110.8–111.5 s夹爪在岛台上方张开，盘子留回台面而未入柜；之后机器人转去找柜门，直到视频266.65 s都未修复第1个盘入柜步骤。推断：这是早于开柜失败的未修复放盘尝试，故断点取该步骤；视频约256.5 s之后机器人靠近台面时明显倾倒，log step 174、176服务最终报告failure: the robot fell over，是更晚的终止事件。"
+  },
+  "unmet": {
+   "plates_in_same_cabinet_1": false,
+   "plates_in_same_cabinet_2": false,
+   "plates_in_same_cabinet_3": false,
+   "plates_in_same_cabinet_4": false,
+   "plates_in_same_cabinet_5": false,
+   "plates_in_same_cabinet_6": false,
+   "plates_in_same_cabinet_7": false,
+   "plates_in_same_cabinet_8": false,
+   "kitchen_cabinets_closed_1": true,
+   "kitchen_cabinets_closed_2": true,
+   "kitchen_cabinets_closed_3": true,
+   "kitchen_cabinets_closed_4": true,
+   "kitchen_cabinets_closed_5": true,
+   "kitchen_cabinets_closed_6": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 111.0,
+    "log_step": 129,
+    "evidence_zh": "观察：视频108.5–110.5 s左腕及头部画面显示机器人左夹爪夹住盘沿并带盘抬起；视频110.8–111.5 s左夹爪张开，盘子落回岛台，未进入柜内。推断：结合log step 90、123、129中右臂动作将未指定的左夹爪默认设为张开的代码，这是已抓住后的非计划松手，属于没保持住。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 90的Arm.row在gl未指定时把左夹爪命令设为1.0（张开）；log step 123的Picker.goto_tcp仅覆盖被操作侧夹爪命令，log step 129改动右臂时未为左夹爪指定保持闭合。log step 141才把默认逻辑改为按当前夹爪开度保持；agent也在log step 184自述默认张开造成释放。推断：结合视频110.8–111.5 s的柜外张爪，右臂观察动作意外释放了左手所夹盘子，属于夹爪命令保持错误；证据不足以归入轨迹或逆解、反馈控制等更细子类。"
+   }
+  ],
+  "gap_zh": "无状态日志和成功参考视频；三相机画面分辨率较低，柜门关节是否严格位于5%行程内无法直接测量，关闭计数依据已核实初态及全程未见开柜的连续过程推断。右夹爪在柜前是否碰到门板被自身机件遮挡，因此开柜接触填未知；失盘锚点约为视频111 s，不能仅靠夹爪开度或agent的成功抓取自述认定入柜。"
+ },
+ "summary_zh": "机器人尝试抓盘及开柜，但没有盘子入柜，也未成功打开橱柜；六个关柜状态从开局保留，最终为6/15节点。首个未修复步骤是第1个盘入柜：视频约111 s左夹爪在夹盘抬起后意外张开，盘子落回岛台，属于没保持住，日志显示右臂动作将未指定的左夹爪默认设为张开；后续开柜仍失败，机器人在视频约256.5 s起倾倒并最终触发跌倒终止。缺少状态日志，柜门5%阈值与开柜尝试的实际接触有视觉推断和遮挡缺口。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点值与断点基本可信（0 盘入柜、未开柜、6/15）；但第1个盘入柜步骤的现象标成了位姿不准，而证据（左夹爪夹着盘沿抬起后意外张开）是拿到后又松手，应为没保持住。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "第1轮修正后（没保持住）与证据一致；节点值（0盘入柜、未开柜、6/15）、断点和根因均可由视频与日志支持，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": "2026-10-30T22:31:20Z",
+  "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-putting-dishes-away-after-cleaning-i00-standard--j4upnek/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-putting-dishes-away-after-cleaning-i00-standard--j4upnek/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-putting-dishes-away-after-cleaning-i00-standard--j4upnek/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-putting-dishes-away-after-cleaning-i00-standard--j4upnek/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f5e95b22c6e1189ff79c0d024a6f1c48861dc2517e4b236f190aff0e22b5f268",
+   "video_sha256": "32387c9d2cc490cfd3d1f18998758ab364f6d1630cefb41b83a11bdd92d15c8f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/putting_dishes_away_after_cleaning/trajectories/behavior-putting-dishes-away-after-cleaning-i00-standard--jkexpdm.json b/phase2/behavior-1k/putting_dishes_away_after_cleaning/trajectories/behavior-putting-dishes-away-after-cleaning-i00-standard--jkexpdm.json
new file mode 100644
index 0000000000000000000000000000000000000000..e31581523b31cd07182cb3178032d2e405392ca0
--- /dev/null
+++ b/phase2/behavior-1k/putting_dishes_away_after_cleaning/trajectories/behavior-putting-dishes-away-after-cleaning-i00-standard--jkexpdm.json
@@ -0,0 +1,502 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-putting-dishes-away-after-cleaning-i00-standard--jkexpdm",
+ "taskKey": "behavior-1k/putting_dishes_away_after_cleaning",
+ "dag_sha256": "930fb7d3e67544053d5db0daf06fdea40b0df09de9dd00b7f34599a37a484f43",
+ "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": 16389,
+   "sim_steps": 16389,
+   "physics_steps": 65556,
+   "steps": 2815,
+   "elapsed_s": 5292.3,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-putting-dishes-away-after-cleaning-i00-standard--jkexpdm/replay.mp4",
+  "duration_s": 546.3,
+  "fps": 30.0,
+  "frames": 16389,
+  "sha256": "c9dd9d49c1abdf28994a633c9d2ca74e0b6dcae71f1479f7927387363c3fe88e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 15,
+  "base": 6,
+  "peak": 6,
+  "final": 6,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      455.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 455.5,
+      "log_step": 585,
+      "text_zh": "观察：视频 455.5–459.5 s，灶台下方柜门离开柜体并逐渐向机器人侧展开，视频 460–470 s 可见较宽的黑色内腔入口及斜向门板，明显超过仅碰把手的程度；开柜为已发生即保留的事件，末段门板仍未合拢。"
+     },
+     {
+      "t": 201,
+      "log_step": 199,
+      "text_zh": "观察：log step 199 把测量区域称作“opened cooktop drawer”，但视频 200–206 s 的下柜门板仍合拢，未显示可放盘的开口；该日志称呼不用于提前计入开柜。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "推断：机器人右二指夹爪在视频约 455.5–470 s 的开柜过程中夹持门沿或把手区域并带动门板；依据门板随末端拉动展开、腕部近景及 log step 583、585 的闭爪后拉动作综合判断，精确指垫接触点被遮挡。此前左右夹爪分别试拉，不构成同时双臂协作。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在视频 30–44 s 接近水槽下柜，并在视频 195–203 s 移至灶台下柜前，轮式底盘承载双臂调整开柜工作位置。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 210,
+      "log_step": 209,
+      "text_zh": "观察：视频 208–210 s 机器人左夹爪在盘子上方合拢，随后空爪运动至柜前并张开；视频 213.5–214.5 s 台面盘子仍可见。log step 204、206 的动作意图是抓盘并放入柜内，但画面没有完成该转移。"
+     },
+     {
+      "t": 546.2,
+      "log_step": 629,
+      "text_zh": "推断：同柜盘子数未达到1个。视频 208–214 s 的首次搬放动作未携带盘子，视频 216–228 s 可见夹爪抬起后盘子仍在原台面；随后反复试夹、推盘，未见盘子进入柜内。视频 532–546.2 s 仍可见水槽台面上的盘子；评分器 q_score=0、live_matches_replay=1，与零盘入柜相符，且开局即成立的关柜条件不增加该分数。"
+     },
+     {
+      "t": 227.5,
+      "log_step": 227,
+      "text_zh": "观察：视频 216–219.5 s 左夹爪向台面盘子下压后抬起，盘子留在台面；视频 224–227.5 s 再次合爪、抬手仍未带走盘子。log step 227 的末帧夹爪开度约为零，不能据此认定抓取成功。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：机器人左夹爪在视频 216–219 s、224–227 s 等试夹中下压盘面或盘沿，随后空爪抬起；没有把闭爪命令或非零开度直接算作成功抓握。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 233.5–235 s 左夹爪横向拨动台面盘子，后续又在台面边缘试推、试夹；这些动作均属于争取首个盘入柜的尝试，日志中的盘子编号不等于已完成数量。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 213–216 s、220–224 s 机器人底盘转向以对准台面盘子，承载正在进行首盘操作的机械臂。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 546.2,
+      "log_step": 629,
+      "text_zh": "推断：同柜盘子数未达到2个。视频 208–214 s 的首次搬放动作未携带盘子，视频 216–228 s 可见夹爪抬起后盘子仍在原台面；随后反复试夹、推盘，未见盘子进入柜内。视频 532–546.2 s 仍可见水槽台面上的盘子；评分器 q_score=0、live_matches_replay=1，与零盘入柜相符，且开局即成立的关柜条件不增加该分数。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 546.2,
+      "log_step": 629,
+      "text_zh": "推断：同柜盘子数未达到3个。视频 208–214 s 的首次搬放动作未携带盘子，视频 216–228 s 可见夹爪抬起后盘子仍在原台面；随后反复试夹、推盘，未见盘子进入柜内。视频 532–546.2 s 仍可见水槽台面上的盘子；评分器 q_score=0、live_matches_replay=1，与零盘入柜相符，且开局即成立的关柜条件不增加该分数。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 546.2,
+      "log_step": 629,
+      "text_zh": "推断：同柜盘子数未达到4个。视频 208–214 s 的首次搬放动作未携带盘子，视频 216–228 s 可见夹爪抬起后盘子仍在原台面；随后反复试夹、推盘，未见盘子进入柜内。视频 532–546.2 s 仍可见水槽台面上的盘子；评分器 q_score=0、live_matches_replay=1，与零盘入柜相符，且开局即成立的关柜条件不增加该分数。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 546.2,
+      "log_step": 629,
+      "text_zh": "推断：同柜盘子数未达到5个。视频 208–214 s 的首次搬放动作未携带盘子，视频 216–228 s 可见夹爪抬起后盘子仍在原台面；随后反复试夹、推盘，未见盘子进入柜内。视频 532–546.2 s 仍可见水槽台面上的盘子；评分器 q_score=0、live_matches_replay=1，与零盘入柜相符，且开局即成立的关柜条件不增加该分数。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 546.2,
+      "log_step": 629,
+      "text_zh": "推断：同柜盘子数未达到6个。视频 208–214 s 的首次搬放动作未携带盘子，视频 216–228 s 可见夹爪抬起后盘子仍在原台面；随后反复试夹、推盘，未见盘子进入柜内。视频 532–546.2 s 仍可见水槽台面上的盘子；评分器 q_score=0、live_matches_replay=1，与零盘入柜相符，且开局即成立的关柜条件不增加该分数。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 546.2,
+      "log_step": 629,
+      "text_zh": "推断：同柜盘子数未达到7个。视频 208–214 s 的首次搬放动作未携带盘子，视频 216–228 s 可见夹爪抬起后盘子仍在原台面；随后反复试夹、推盘，未见盘子进入柜内。视频 532–546.2 s 仍可见水槽台面上的盘子；评分器 q_score=0、live_matches_replay=1，与零盘入柜相符，且开局即成立的关柜条件不增加该分数。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 546.2,
+      "log_step": 629,
+      "text_zh": "推断：同柜盘子数未达到8个。视频 208–214 s 的首次搬放动作未携带盘子，视频 216–228 s 可见夹爪抬起后盘子仍在原台面；随后反复试夹、推盘，未见盘子进入柜内。视频 532–546.2 s 仍可见水槽台面上的盘子；评分器 q_score=0、live_matches_replay=1，与零盘入柜相符，且开局即成立的关柜条件不增加该分数。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：至少1柜关闭从视频 0 s 持续成立。DAG 核实六柜初始关闭；视频 0–35 s 的环视及后续画面显示其余柜门合拢，整段仅见灶台下方一个柜在视频约 455.5 s 打开。复核视频 481–492 s、510–532 s，门板仍外摆，未恢复全闭；视频 533–546.2 s 机器人转向水槽，其下柜未出现开口。故关闭数量始终不少于5，不再依赖原先视频 485 s 合门的错误判断。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：至少2柜关闭从视频 0 s 持续成立。DAG 核实六柜初始关闭；视频 0–35 s 的环视及后续画面显示其余柜门合拢，整段仅见灶台下方一个柜在视频约 455.5 s 打开。复核视频 481–492 s、510–532 s，门板仍外摆，未恢复全闭；视频 533–546.2 s 机器人转向水槽，其下柜未出现开口。故关闭数量始终不少于5，不再依赖原先视频 485 s 合门的错误判断。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：至少3柜关闭从视频 0 s 持续成立。DAG 核实六柜初始关闭；视频 0–35 s 的环视及后续画面显示其余柜门合拢，整段仅见灶台下方一个柜在视频约 455.5 s 打开。复核视频 481–492 s、510–532 s，门板仍外摆，未恢复全闭；视频 533–546.2 s 机器人转向水槽，其下柜未出现开口。故关闭数量始终不少于5，不再依赖原先视频 485 s 合门的错误判断。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：至少4柜关闭从视频 0 s 持续成立。DAG 核实六柜初始关闭；视频 0–35 s 的环视及后续画面显示其余柜门合拢，整段仅见灶台下方一个柜在视频约 455.5 s 打开。复核视频 481–492 s、510–532 s，门板仍外摆，未恢复全闭；视频 533–546.2 s 机器人转向水槽，其下柜未出现开口。故关闭数量始终不少于5，不再依赖原先视频 485 s 合门的错误判断。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：至少5柜关闭从视频 0 s 持续成立。DAG 核实六柜初始关闭；视频 0–35 s 的环视及后续画面显示其余柜门合拢，整段仅见灶台下方一个柜在视频约 455.5 s 打开。复核视频 481–492 s、510–532 s，门板仍外摆，未恢复全闭；视频 533–546.2 s 机器人转向水槽，其下柜未出现开口。故关闭数量始终不少于5，不再依赖原先视频 485 s 合门的错误判断。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_6": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      455.5
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG 核实六个目标柜起始关闭，视频 0–35 s 环视以及视频 200–206 s 的灶台柜正面均显示门板合拢，故六柜全关从视频 0 s 计入。"
+     },
+     {
+      "t": 459.5,
+      "log_step": 585,
+      "text_zh": "观察：视频约 455.5 s 开始，灶台下柜门外摆；视频 459.5–470 s 可见门板斜向突出及内腔开口，此时六柜全关失效。"
+     },
+     {
+      "t": 485,
+      "log_step": null,
+      "text_zh": "观察：复核视频 481–492 s，柜门区域因机器人及相机运动改变视角，但斜向门板和门旁暗隙仍可见；视频 485 s 不能支持内腔已合拢，视频 488 s 的腕部画面也未显示全门齐平。视频 495、500、510、515 s 的头部或右腕部画面继续显示外摆门板或开口，因此不计入原先标注的视频 485 s 恢复。"
+     },
+     {
+      "t": 532,
+      "log_step": null,
+      "text_zh": "观察：视频 520、525、530–532 s，头部画面左侧柜门仍呈斜开状，下缘露出白色缝隙。推断：视频 533–546.2 s 机器人转向水槽，未见灶台下柜合门或恢复齐平，末段也未见使该门复位的动作；六柜全关终值为 false。精确关节比例不可读，但保留的外摆门板支持未恢复关闭。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "plates_in_same_cabinet_1",
+   "t": 210,
+   "log_step": 206,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 208–214 s 的首个抓盘并搬放动作中，机器人左夹爪闭合后空手运动、张开，台面盘子没有随手进入柜内；视频 216–228 s 的重复试夹也未带走盘子。此前试开柜的困难在视频 455.5–470 s 已通过真正开门修复；视频 470–546.2 s 机器人继续操作柜门、随后转向水槽下柜，未见再次抓盘。推断：开柜后首盘抓取未再尝试，视频 208–230 s 已出现的首盘入柜失败到视频 546.2 s 仍未修复，故断点保留为首盘入柜。"
+  },
+  "unmet": {
+   "plates_in_same_cabinet_1": false,
+   "plates_in_same_cabinet_2": false,
+   "plates_in_same_cabinet_3": false,
+   "plates_in_same_cabinet_4": false,
+   "plates_in_same_cabinet_5": false,
+   "plates_in_same_cabinet_6": false,
+   "plates_in_same_cabinet_7": false,
+   "plates_in_same_cabinet_8": false,
+   "kitchen_cabinets_closed_1": true,
+   "kitchen_cabinets_closed_2": true,
+   "kitchen_cabinets_closed_3": true,
+   "kitchen_cabinets_closed_4": true,
+   "kitchen_cabinets_closed_5": true,
+   "kitchen_cabinets_closed_6": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 210,
+    "log_step": 209,
+    "evidence_zh": "观察：视频 208–214 s 机器人左夹爪在盘子上方合爪后空手移动，视频 216–220 s、224–228 s 又在盘子处闭爪并抬手，但盘子仍受台面支承，未随夹爪抬起；首轮及这些重试未建立搬盘所需的有效夹持接触。log step 209、227 记录闭爪开度趋近零，与画面空夹相符。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "观察：log step 221 的重试脚本采用自上而下的夹爪朝向，在[4.667,-1.938,0.95]米闭爪后抬至1.15米；log step 227 输出末帧末端[4.6670294,-1.9389589,1.1502411]米、夹爪开度2.5897987e-7米，该抬升终点与脚本目标吻合。视频 216–218 s 左夹爪从上方压向台面上平放的盘子，视频 219–220 s 空手抬离，盘子仍留在台面；视频 224–228 s 的再次试夹也未带走盘子。推断：这些重试所用的顶部夹取没有形成盘沿上下的有效夹持，台面支承限制了指尖绕入盘下的空间，接触几何不适配。该证据支持抓取和接触设计问题，不将首轮位姿偏差外推为全部重试均未到位；悬边水平夹取的可行性未由本次视频中的成功搬盘验证，替代方案可行性为未知。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频；三相机合成画面的单视角仅224×224像素，柜门的5%开合阈值、盘子速度和精确指垫接触点无法直接读取。开柜时间取自实际检查的画面；复核视频 481–532 s 仍可见外摆柜门，删除原先视频约 485 s 恢复关闭的判断，视频 533–546.2 s 转向水槽后的灶台柜终值结合最后可见的斜开门板及未见复位动作推断。盘子终值由可见空夹、无入柜转移及评分器 q_score=0共同限定。根因依据视频 216–228 s 的顶部试夹细化为抓取和接触设计；精确接触力、指尖与盘底的间隙未被记录，不能断言所有合法抓法不可行，悬边水平夹取替代方案也未在本次视频中验证。日志引用须区分两次尝试：log step 209 的首轮实测闭爪段约[4.70,-1.53,1.18]米确与 log step 204 的[4.395,-1.534,0.87]米目标不同；后一次 log step 227 的抬升终点才与 log step 221 的目标吻合，不能据此宣称首轮或全程跟踪准确。"
+ },
+ "summary_zh": "机器人反复试拉橱柜和抓取台面盘子，视频约 455.5 s 打开过灶台下柜，但视频 485–532 s 门板仍外摆，未见恢复关闭；结束时开柜事件与至少五柜关闭成立，共6/15节点，八个盘子入柜计数均未达到。断点为首盘入柜：视频 208–214 s 起的空夹、空手搬放未被修复，视频 216–228 s 顶部试夹的接触几何不适配支持根因“控制·抓取和接触设计”，开柜后视频 470–546.2 s 未见再次抓盘。缺少状态日志，柜门阈值时刻、转向水槽后灶台柜终值的直接视野、精确接触点和替代抓法可行性仍有观测缺口。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "断点（首盘入柜）与现象基本可接受，但灶台下柜的“合门于视频约485 s”不成立：视频485–515 s 柜门仍明显外摆，520–530 s 左侧柜门仍呈斜开状，没有看到合拢；kitchen_cabinets_closed_6 的恢复区间和最终值、进度 final/peak 因此不可靠。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值、开柜时间和断点（首盘入柜）可接受；但根因证据引用的 log step 209 数值与日志不符，且被用来论证“逆解到位≠抓取位姿到位”，实际日志显示末端位姿与脚本目标吻合，应改为抓取和接触设计（自上而下夹平放盘子）。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "I1 部分接受成立：log id 与数组序号不同，id 209/204 的原数值属实，根因已改为控制·抓取和接触设计并限定推断范围；I2 已补明开柜后未再抓盘。",
+    "n_issues": 0,
+    "n_checks": 2
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "I1 部分接受成立：log id 与数组序号不同，id 209/204 的原数值属实，根因已改为控制·抓取和接触设计并限定推断范围；I2 已补明开柜后未再抓盘。",
+   "checks_ok": "2/2",
+   "n_factual_errors": 0
+  }
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:34:21Z",
+  "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-putting-dishes-away-after-cleaning-i00-standard--jkexpdm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-putting-dishes-away-after-cleaning-i00-standard--jkexpdm/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-putting-dishes-away-after-cleaning-i00-standard--jkexpdm/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-putting-dishes-away-after-cleaning-i00-standard--jkexpdm/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-putting-dishes-away-after-cleaning-i00-standard--jkexpdm/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/behavior-putting-dishes-away-after-cleaning-i00-standard--jkexpdm/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": "277357ebbd7966a9fcabf5d32a99f6ee32bcdddf4294c0cb65a38c3dd010575a",
+   "video_sha256": "c9dd9d49c1abdf28994a633c9d2ca74e0b6dcae71f1479f7927387363c3fe88e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/putting_dishes_away_after_cleaning/trajectories/behavior-putting-dishes-away-after-cleaning-i00-standard--twtrbu5.json b/phase2/behavior-1k/putting_dishes_away_after_cleaning/trajectories/behavior-putting-dishes-away-after-cleaning-i00-standard--twtrbu5.json
new file mode 100644
index 0000000000000000000000000000000000000000..12dc395d8ff8a98c8b6a5956e13f8596b3030d8a
--- /dev/null
+++ b/phase2/behavior-1k/putting_dishes_away_after_cleaning/trajectories/behavior-putting-dishes-away-after-cleaning-i00-standard--twtrbu5.json
@@ -0,0 +1,558 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-putting-dishes-away-after-cleaning-i00-standard--twtrbu5",
+ "taskKey": "behavior-1k/putting_dishes_away_after_cleaning",
+ "dag_sha256": "930fb7d3e67544053d5db0daf06fdea40b0df09de9dd00b7f34599a37a484f43",
+ "outcome": {
+  "success": 0,
+  "reward": 0.07142857142857142,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 5244,
+   "sim_steps": 5244,
+   "physics_steps": 20976,
+   "steps": 874,
+   "elapsed_s": 6489.5,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "q_score": 0.07142857142857142,
+   "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-putting-dishes-away-after-cleaning-i00-standard--twtrbu5/replay.mp4",
+  "duration_s": 174.8,
+  "fps": 30.0,
+  "frames": 5244,
+  "sha256": "00b02bb04886e83e88749640d322152b8cb53c8d5ec3c2034230a739a890142e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 15,
+  "base": 6,
+  "peak": 8,
+  "final": 8,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      19.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 19.0,
+      "log_step": 60,
+      "text_zh": "观察：视频约19.0–20.0 s，机器人左夹爪拉动水槽下方目标柜的一扇门，门板转出并露出黑色内腔及层板；视频约24.0–29.0 s又操作另一扇门。开柜时间按可见门缝扩大估计，误差约0.5 s。"
+     },
+     {
+      "t": 68.0,
+      "log_step": 129,
+      "text_zh": "观察：视频约60.0–69.0 s，机器人左手持盘，右夹爪继续拨动柜门扩大入口；柜门后来关闭不撤销本事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约18.0–29.0 s，左、右二指夹爪先后夹住同一柜的两个门把手拉门；视频约60.0–69.0 s右夹爪还推拨门板。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约14.0–18.0 s，轮式底盘移动、转向，将机械臂送到水槽下柜门前；持盘调整位置后还继续开门。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      75.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 75.5,
+      "log_step": 140,
+      "text_zh": "观察：视频约71.0–75.5 s，机器人左夹爪将第一只白盘降到打开的水槽下柜内，张爪后盘子留在内腔层板处，夹爪退出；视频约76.0–77.0 s仍可见柜内白色盘沿。按离手后落定估计视频75.5 s达到，误差约0.5 s。"
+     },
+     {
+      "t": 126.0,
+      "log_step": null,
+      "text_zh": "观察：视频约124.0–127.0 s，腕部视角可见柜内层板上的一只盘子，柜前地面另有盘子；后续机器人反复尝试拾取地面盘子，没有取走柜内这一盘。"
+     },
+     {
+      "t": 174.766,
+      "log_step": null,
+      "text_zh": "推断：视频最后一帧174.766 s柜门遮住内部，但之前的入柜盘没有可见取出过程；评分器q_score=1/14、live_matches_replay=1与一盘留柜一致。初始已成立的关柜字面量不计入该q_score。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约37.0–75.0 s，左二指夹爪夹住白盘盘沿、抬离台面，持续持盘并最终送入柜内后松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约51.0–60.0 s，轮式底盘载着左夹爪持有的白盘移动、调整柜前位置。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 87.5,
+      "log_step": 140,
+      "text_zh": "观察：视频约84.0–88.5 s，机器人左夹爪持第二只白盘靠近柜口，但松开时盘仍在门板前方，随即下落到柜前地面，没有留在柜内层板上。"
+     },
+     {
+      "t": 123.0,
+      "log_step": 161,
+      "text_zh": "观察：视频约118.0–123.0 s，机器人又将两只盘子降到柜前并张爪，两盘落向柜前地面；视频约124.0–127.0 s腕部视角能看到地上盘子，柜内仍只确认一盘。"
+     },
+     {
+      "t": 174.766,
+      "log_step": null,
+      "text_zh": "推断：视频约128.0–174.766 s的多次地面拾取没有显示盘子随夹爪离开原处并入柜；评分器q_score=1/14只允许一个新增目标字面量，至少两盘同柜在终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频约50.0–57.0 s左右夹爪各夹持一只白盘；随后右手暂放其盘、左手重新抓取并在视频约87.5 s失败释放。视频约100.0–123.0 s双臂又各持一盘，试图增加同柜盘数。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约51.0–60.0 s及107.0–117.0 s，底盘在机械臂持盘时移动到目标柜前。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 122.0,
+      "log_step": 161,
+      "text_zh": "观察：视频约100.0–117.0 s，机器人双夹爪从另一段台面各取一只盘并搬到同一水槽下柜；视频约118.0–123.0 s两盘未送进层板内侧就释放，落到柜前，未形成至少3盘同柜。这里记录该批第三、第四只物理盘的放入尝试，不固定盘子实例身份。"
+     },
+     {
+      "t": 174.766,
+      "log_step": null,
+      "text_zh": "推断：视频约124.0–174.766 s未见新增盘子成功入柜，评分器q_score=1/14也排除终态至少3盘同柜。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频约100.0–123.0 s，左右二指夹爪各夹住一只盘的盘沿，协同抬起、搬运并下降；释放时两盘仍在柜前。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约107.0–117.0 s，底盘载着双臂各持的盘子从取盘台面返回目标柜前。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 122.0,
+      "log_step": 161,
+      "text_zh": "观察：视频约100.0–117.0 s，机器人双夹爪从另一段台面各取一只盘并搬到同一水槽下柜；视频约118.0–123.0 s两盘未送进层板内侧就释放，落到柜前，未形成至少4盘同柜。这里记录该批第三、第四只物理盘的放入尝试，不固定盘子实例身份。"
+     },
+     {
+      "t": 174.766,
+      "log_step": null,
+      "text_zh": "推断：视频约124.0–174.766 s未见新增盘子成功入柜，评分器q_score=1/14也排除终态至少4盘同柜。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频约100.0–123.0 s，左右二指夹爪各夹住一只盘的盘沿，协同抬起、搬运并下降；释放时两盘仍在柜前。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约107.0–117.0 s，底盘载着双臂各持的盘子从取盘台面返回目标柜前。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 174.766,
+      "log_step": null,
+      "text_zh": "观察：视频全段0.0–174.766 s，机器人只搬动过前述四只盘，之后反复操作柜前落地盘；另一段台面上的四只盘未被搬往柜内。"
+     },
+     {
+      "t": 174.766,
+      "log_step": null,
+      "text_zh": "推断：没有可见至少5盘进入同一柜的过程；评分器q_score=0.07142857142857142（1/14）也排除终态至少5盘同柜。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 174.766,
+      "log_step": null,
+      "text_zh": "观察：视频全段0.0–174.766 s，机器人只搬动过前述四只盘，之后反复操作柜前落地盘；另一段台面上的四只盘未被搬往柜内。"
+     },
+     {
+      "t": 174.766,
+      "log_step": null,
+      "text_zh": "推断：没有可见至少6盘进入同一柜的过程；评分器q_score=0.07142857142857142（1/14）也排除终态至少6盘同柜。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 174.766,
+      "log_step": null,
+      "text_zh": "观察：视频全段0.0–174.766 s，机器人只搬动过前述四只盘，之后反复操作柜前落地盘；另一段台面上的四只盘未被搬往柜内。"
+     },
+     {
+      "t": 174.766,
+      "log_step": null,
+      "text_zh": "推断：没有可见至少7盘进入同一柜的过程；评分器q_score=0.07142857142857142（1/14）也排除终态至少7盘同柜。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 174.766,
+      "log_step": null,
+      "text_zh": "观察：视频全段0.0–174.766 s，机器人只搬动过前述四只盘，之后反复操作柜前落地盘；另一段台面上的四只盘未被搬往柜内。"
+     },
+     {
+      "t": 174.766,
+      "log_step": null,
+      "text_zh": "推断：没有可见至少8盘进入同一柜的过程；评分器q_score=0.07142857142857142（1/14）也排除终态至少8盘同柜。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频起始及全景巡视约0.0–14.0 s，厨房上下柜门合拢；DAG确认六柜初始关闭。机器人后续只操作水槽下的同一个双门柜。"
+     },
+     {
+      "t": 174.766,
+      "log_step": null,
+      "text_zh": "推断：结合视频全段的开关过程，仅该目标柜一度打开，其余五柜未被操作或可见推开，因而始终至少1柜关闭；视频174.766 s其余可见柜门仍合拢。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频起始及全景巡视约0.0–14.0 s，厨房上下柜门合拢；DAG确认六柜初始关闭。机器人后续只操作水槽下的同一个双门柜。"
+     },
+     {
+      "t": 174.766,
+      "log_step": null,
+      "text_zh": "推断：结合视频全段的开关过程，仅该目标柜一度打开，其余五柜未被操作或可见推开，因而始终至少2柜关闭；视频174.766 s其余可见柜门仍合拢。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频起始及全景巡视约0.0–14.0 s，厨房上下柜门合拢；DAG确认六柜初始关闭。机器人后续只操作水槽下的同一个双门柜。"
+     },
+     {
+      "t": 174.766,
+      "log_step": null,
+      "text_zh": "推断：结合视频全段的开关过程，仅该目标柜一度打开，其余五柜未被操作或可见推开，因而始终至少3柜关闭；视频174.766 s其余可见柜门仍合拢。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频起始及全景巡视约0.0–14.0 s，厨房上下柜门合拢；DAG确认六柜初始关闭。机器人后续只操作水槽下的同一个双门柜。"
+     },
+     {
+      "t": 174.766,
+      "log_step": null,
+      "text_zh": "推断：结合视频全段的开关过程，仅该目标柜一度打开，其余五柜未被操作或可见推开，因而始终至少4柜关闭；视频174.766 s其余可见柜门仍合拢。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频起始及全景巡视约0.0–14.0 s，厨房上下柜门合拢；DAG确认六柜初始关闭。机器人后续只操作水槽下的同一个双门柜。"
+     },
+     {
+      "t": 174.766,
+      "log_step": null,
+      "text_zh": "推断：结合视频全段的开关过程，仅该目标柜一度打开，其余五柜未被操作或可见推开，因而始终至少5柜关闭；视频174.766 s其余可见柜门仍合拢。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_6": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      19.0
+     ],
+     [
+      171.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频起始及约0.0–14.0 s全景巡视显示柜门合拢，DAG确认六个目标柜初始均关闭。"
+     },
+     {
+      "t": 19.0,
+      "log_step": 60,
+      "text_zh": "观察：视频约19.0 s，水槽下目标柜的一扇门被拉开，六柜全关失去；此后只推回一扇门时，另一扇仍敞开，不恢复全关。"
+     },
+     {
+      "t": 171.5,
+      "log_step": 235,
+      "text_zh": "观察：视频约169.0–171.5 s，机器人空夹爪伸向柜口，机械臂接触使两扇门先后转回柜体前沿；视频约171.5–174.766 s门板合拢，内腔入口消失，恢复六柜关闭。恢复时间按门板外观估计，误差约0.5 s；该关闭是搬盘动作中的附带结果，按状态计入。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "推/扫",
+      "note_zh": "观察：视频约169.0–171.5 s，机器人两臂在空手执行入柜轨迹时先后顶推两扇门，使其合拢；早先视频约33.0–35.0 s还曾单臂推回一扇门，但另一扇未关。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.07142857142857142,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "plates_in_same_cabinet_2",
+   "t": 87.5,
+   "log_step": 140,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约86.8–88.5 s，机器人左夹爪在第二只白盘尚位于柜门外侧时张开，盘子下落到柜前地面；此前首盘已经入柜。随后视频约118.0–123.0 s另两盘也落在柜外，视频约128.0–174.766 s的地面拾取始终没有使同柜盘数达到二；因此这是最早未修复的放入失败。"
+  },
+  "unmet": {
+   "plates_in_same_cabinet_1": true,
+   "plates_in_same_cabinet_2": false,
+   "plates_in_same_cabinet_3": false,
+   "plates_in_same_cabinet_4": false,
+   "plates_in_same_cabinet_5": false,
+   "plates_in_same_cabinet_6": false,
+   "plates_in_same_cabinet_7": false,
+   "plates_in_same_cabinet_8": false,
+   "kitchen_cabinets_closed_1": true,
+   "kitchen_cabinets_closed_2": true,
+   "kitchen_cabinets_closed_3": true,
+   "kitchen_cabinets_closed_4": true,
+   "kitchen_cabinets_closed_5": true,
+   "kitchen_cabinets_closed_6": true
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 87.5,
+    "log_step": 140,
+    "evidence_zh": "观察：视频约86.8–88.5 s，白盘在夹爪张开前仍在柜门外侧，松手后落到柜前地面，而不是落在柜内层板；这是放入位置未到位时的释放。视频约121.0–123.0 s后续两盘出现相同的柜前释放。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "t": 87.5,
+    "log_step": 139,
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 139的放盘脚本对预计算关节姿态作定长插值，等待固定行数后直接张爪，没有用实际末端是否到达柜内作为释放条件。log step 151读取该次放盘的实测轨迹：释放前left_tcp约[5.970,-1.570,0.757]，明显偏离脚本目标[6.160,-1.800,0.560]；张爪后才到目标。推断：实际运动未到位时脚本仍按计划时序释放，导致视频约87.5 s的柜外掉盘；证据支持执行反馈与释放条件失配，不能进一步把偏差归为某个具体碰撞或IK分支。"
+   }
+  ],
+  "gap_zh": "无状态日志、无成功示范；关节开合5%阈值、离手静止阈值及节点边界只按相机外观估计，约有0.5 s误差。视频末尾柜门遮住柜内首盘，终态盘数结合此前放入过程和评分器1/14总数推断；日志中agent关于盘子已入柜及盘子身份的自述不作为完成依据。第二次放盘前的具体受阻部位不清楚，因此未额外标碰撞、抓取设计或感知根因。"
+ },
+ "summary_zh": "机器人打开水槽下橱柜并成功放入一盘，最终柜门在空手操作中被推回关闭，终态为8/15个节点（开柜事件、首盘入柜及六个关柜计数节点）。断点是第二盘入柜：视频约87.5 s盘子未进入柜内便被释放，后续两盘也掉在柜前，地面拾取未修复；日志显示脚本未按实际到位状态门控松手。没有状态日志，首盘终态与精确开合阈值依据视频过程及q_score=1/14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": "节点时间、终态（8/15，与q_score=1/14一致）、断点（第2盘入柜，约87.5 s）及根因均无可证伪之处；帧上未发现与标注矛盾的证据。",
+    "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": "2026-10-30T22:25:47Z",
+  "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-putting-dishes-away-after-cleaning-i00-standard--twtrbu5/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-putting-dishes-away-after-cleaning-i00-standard--twtrbu5/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "99f9fff559a6127a45ac7f17af23cfb45328597ff68ea041a3f4da34172ec553",
+   "video_sha256": "00b02bb04886e83e88749640d322152b8cb53c8d5ec3c2034230a739a890142e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/putting_dishes_away_after_cleaning/trajectories/behavior-putting-dishes-away-after-cleaning-i00-standard--uytnunv.json b/phase2/behavior-1k/putting_dishes_away_after_cleaning/trajectories/behavior-putting-dishes-away-after-cleaning-i00-standard--uytnunv.json
new file mode 100644
index 0000000000000000000000000000000000000000..98d05d2ed3a6d4291e21874eabfbbc4f69dec731
--- /dev/null
+++ b/phase2/behavior-1k/putting_dishes_away_after_cleaning/trajectories/behavior-putting-dishes-away-after-cleaning-i00-standard--uytnunv.json
@@ -0,0 +1,504 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-putting-dishes-away-after-cleaning-i00-standard--uytnunv",
+ "taskKey": "behavior-1k/putting_dishes_away_after_cleaning",
+ "dag_sha256": "930fb7d3e67544053d5db0daf06fdea40b0df09de9dd00b7f34599a37a484f43",
+ "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": 10442,
+   "sim_steps": 10442,
+   "physics_steps": 41768,
+   "steps": 1662,
+   "elapsed_s": 4885.0,
+   "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-putting-dishes-away-after-cleaning-i00-standard--uytnunv/replay.mp4",
+  "duration_s": 348.1,
+  "fps": 10.0,
+  "frames": 3481,
+  "sha256": "640c6fb1162308859055759ce4a833d44923b8498606e94a9dbd99b0e937b069"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 15,
+  "base": 6,
+  "peak": 6,
+  "final": 6,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 185,
+      "log_step": null,
+      "text_zh": "观察：视频全程粗查及视频 25–65 s、210–235 s、330–348 s 的密集画面中，机器人主要伸右夹爪接近台面盘子；可见柜门保持贴合柜体，未见机器人拉门或露出可装盘的内腔。"
+     },
+     {
+      "t": 348,
+      "log_step": null,
+      "text_zh": "推断：结合任务 DAG 核实的六柜初始关闭状态、视频 0 s、185 s 的柜体视图以及全程无开门动作，打开橱柜事件未发生。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 224,
+      "log_step": null,
+      "text_zh": "观察：视频 34.8–36.6 s、49–60 s、220–227.5 s 的右腕视图中，右夹爪在盘沿附近闭合后离开，盘子仍在台面；未见盘子随手离开台面或送入柜内。同柜至少1盘的条件未见成立。"
+     },
+     {
+      "t": 348,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0，且视频没有显示任何成功入柜过程，因此终态同柜至少1盘为假；此判断同时依据抓取前后画面，不由零分单独推断。"
+     },
+     {
+      "t": 220.5,
+      "log_step": 280,
+      "text_zh": "推断：本局无重置或恢复，服务控制率为30赫兹（log step 34）；log step 280 的 control_steps=6606 对应视频 220.2 s，随后15控制步闭爪，已在视频 220–221 s 的闭爪画面核对。终局10442/30≈348.07 s也与视频长度一致；未把agent工作时间当视频时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 34.8–36.6 s、220–227.5 s 右夹爪在盘子上方开合并空手离开；盘沿与指尖接近处被夹爪和透视遮挡，不能确认是否有轻触或压擦，未确认对向夹持，不记抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频开局机器人沿厨房通道移动并转向；视频后段为再次接近首个盘子而调整底盘，视频约338 s起机体失衡。底盘移动期间承载躯干和双臂。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 224,
+      "log_step": null,
+      "text_zh": "观察：视频 34.8–36.6 s、49–60 s、220–227.5 s 的右腕视图中，右夹爪在盘沿附近闭合后离开，盘子仍在台面；未见盘子随手离开台面或送入柜内。同柜至少2盘的条件未见成立。"
+     },
+     {
+      "t": 348,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0，且视频没有显示任何成功入柜过程，因此终态同柜至少2盘为假；此判断同时依据抓取前后画面，不由零分单独推断。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 224,
+      "log_step": null,
+      "text_zh": "观察：视频 34.8–36.6 s、49–60 s、220–227.5 s 的右腕视图中，右夹爪在盘沿附近闭合后离开，盘子仍在台面；未见盘子随手离开台面或送入柜内。同柜至少3盘的条件未见成立。"
+     },
+     {
+      "t": 348,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0，且视频没有显示任何成功入柜过程，因此终态同柜至少3盘为假；此判断同时依据抓取前后画面，不由零分单独推断。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 224,
+      "log_step": null,
+      "text_zh": "观察：视频 34.8–36.6 s、49–60 s、220–227.5 s 的右腕视图中，右夹爪在盘沿附近闭合后离开，盘子仍在台面；未见盘子随手离开台面或送入柜内。同柜至少4盘的条件未见成立。"
+     },
+     {
+      "t": 348,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0，且视频没有显示任何成功入柜过程，因此终态同柜至少4盘为假；此判断同时依据抓取前后画面，不由零分单独推断。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 224,
+      "log_step": null,
+      "text_zh": "观察：视频 34.8–36.6 s、49–60 s、220–227.5 s 的右腕视图中，右夹爪在盘沿附近闭合后离开，盘子仍在台面；未见盘子随手离开台面或送入柜内。同柜至少5盘的条件未见成立。"
+     },
+     {
+      "t": 348,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0，且视频没有显示任何成功入柜过程，因此终态同柜至少5盘为假；此判断同时依据抓取前后画面，不由零分单独推断。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 224,
+      "log_step": null,
+      "text_zh": "观察：视频 34.8–36.6 s、49–60 s、220–227.5 s 的右腕视图中，右夹爪在盘沿附近闭合后离开，盘子仍在台面；未见盘子随手离开台面或送入柜内。同柜至少6盘的条件未见成立。"
+     },
+     {
+      "t": 348,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0，且视频没有显示任何成功入柜过程，因此终态同柜至少6盘为假；此判断同时依据抓取前后画面，不由零分单独推断。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 224,
+      "log_step": null,
+      "text_zh": "观察：视频 34.8–36.6 s、49–60 s、220–227.5 s 的右腕视图中，右夹爪在盘沿附近闭合后离开，盘子仍在台面；未见盘子随手离开台面或送入柜内。同柜至少7盘的条件未见成立。"
+     },
+     {
+      "t": 348,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0，且视频没有显示任何成功入柜过程，因此终态同柜至少7盘为假；此判断同时依据抓取前后画面，不由零分单独推断。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 224,
+      "log_step": null,
+      "text_zh": "观察：视频 34.8–36.6 s、49–60 s、220–227.5 s 的右腕视图中，右夹爪在盘沿附近闭合后离开，盘子仍在台面；未见盘子随手离开台面或送入柜内。同柜至少8盘的条件未见成立。"
+     },
+     {
+      "t": 348,
+      "log_step": null,
+      "text_zh": "推断：评分器 reward.q_score=0，且视频没有显示任何成功入柜过程，因此终态同柜至少8盘为假；此判断同时依据抓取前后画面，不由零分单独推断。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务 DAG 已核实六柜初始关闭，视频 0 s 可见台面及合拢柜面；故至少1柜关闭从视频 0 s成立。"
+     },
+     {
+      "t": 348,
+      "log_step": null,
+      "text_zh": "推断：视频全程所见操作集中在台面盘子，视频约185 s 的厨房视图未见柜门打开，视频 347.1–348.0 s 中可见柜面仍合拢；结合无开关柜操作，至少1柜关闭保留至结束。六柜不曾同时完整入镜，沿初态及门板无变化判断；q_score不计保留的初始条件，不能用其零值否定关闭状态。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务 DAG 已核实六柜初始关闭，视频 0 s 可见台面及合拢柜面；故至少2柜关闭从视频 0 s成立。"
+     },
+     {
+      "t": 348,
+      "log_step": null,
+      "text_zh": "推断：视频全程所见操作集中在台面盘子，视频约185 s 的厨房视图未见柜门打开，视频 347.1–348.0 s 中可见柜面仍合拢；结合无开关柜操作，至少2柜关闭保留至结束。六柜不曾同时完整入镜，沿初态及门板无变化判断；q_score不计保留的初始条件，不能用其零值否定关闭状态。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务 DAG 已核实六柜初始关闭，视频 0 s 可见台面及合拢柜面；故至少3柜关闭从视频 0 s成立。"
+     },
+     {
+      "t": 348,
+      "log_step": null,
+      "text_zh": "推断：视频全程所见操作集中在台面盘子，视频约185 s 的厨房视图未见柜门打开，视频 347.1–348.0 s 中可见柜面仍合拢；结合无开关柜操作，至少3柜关闭保留至结束。六柜不曾同时完整入镜，沿初态及门板无变化判断；q_score不计保留的初始条件，不能用其零值否定关闭状态。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务 DAG 已核实六柜初始关闭，视频 0 s 可见台面及合拢柜面；故至少4柜关闭从视频 0 s成立。"
+     },
+     {
+      "t": 348,
+      "log_step": null,
+      "text_zh": "推断：视频全程所见操作集中在台面盘子，视频约185 s 的厨房视图未见柜门打开，视频 347.1–348.0 s 中可见柜面仍合拢；结合无开关柜操作，至少4柜关闭保留至结束。六柜不曾同时完整入镜，沿初态及门板无变化判断；q_score不计保留的初始条件，不能用其零值否定关闭状态。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务 DAG 已核实六柜初始关闭，视频 0 s 可见台面及合拢柜面；故至少5柜关闭从视频 0 s成立。"
+     },
+     {
+      "t": 348,
+      "log_step": null,
+      "text_zh": "推断：视频全程所见操作集中在台面盘子，视频约185 s 的厨房视图未见柜门打开，视频 347.1–348.0 s 中可见柜面仍合拢；结合无开关柜操作，至少5柜关闭保留至结束。六柜不曾同时完整入镜，沿初态及门板无变化判断；q_score不计保留的初始条件，不能用其零值否定关闭状态。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_6": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：任务 DAG 已核实六柜初始关闭，视频 0 s 可见台面及合拢柜面；故至少6柜关闭从视频 0 s成立。"
+     },
+     {
+      "t": 348,
+      "log_step": null,
+      "text_zh": "推断：视频全程所见操作集中在台面盘子，视频约185 s 的厨房视图未见柜门打开，视频 347.1–348.0 s 中可见柜面仍合拢；结合无开关柜操作，至少6柜关闭保留至结束。六柜不曾同时完整入镜，沿初态及门板无变化判断；q_score不计保留的初始条件，不能用其零值否定关闭状态。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "plates_in_same_cabinet_1",
+   "t": 35.5,
+   "log_step": 130,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 34.8–36.6 s，机器人右夹爪在首个盘沿前闭合，随后离开时盘子仍在台面；视频 49–60 s、220–227.5 s 继续反复空夹，始终没有搬盘入柜。视频约338–348 s机器人又失衡倾倒；log step 506、508的服务返回 failure: the robot fell over。推断：首个盘的放入步骤已在取盘环节受阻且从未修复，后续倾倒仍发生在为这一盘调整姿态期间。"
+  },
+  "unmet": {
+   "plates_in_same_cabinet_1": false,
+   "plates_in_same_cabinet_2": false,
+   "plates_in_same_cabinet_3": false,
+   "plates_in_same_cabinet_4": false,
+   "plates_in_same_cabinet_5": false,
+   "plates_in_same_cabinet_6": false,
+   "plates_in_same_cabinet_7": false,
+   "plates_in_same_cabinet_8": false,
+   "kitchen_cabinets_closed_1": true,
+   "kitchen_cabinets_closed_2": true,
+   "kitchen_cabinets_closed_3": true,
+   "kitchen_cabinets_closed_4": true,
+   "kitchen_cabinets_closed_5": true,
+   "kitchen_cabinets_closed_6": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 35.5,
+    "log_step": 130,
+    "evidence_zh": "观察：视频 34.8–36.6 s 右夹爪闭合后撤离，盘子留在台面；视频 220–227.5 s 的闭爪、抬手后同样未带起盘子。log step 281、295的服务读数显示右夹爪开度接近零。推断：搬盘所需的有效夹持未建立，不能把靠近盘面或可能轻触算作抓住后丢失。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频",
+    "evidence_zh": "推断：视频 34.8–60 s、220–227.5 s 显示机器人虽反复改变接近姿态、闭爪并抬手，仍不能建立有效盘沿夹持；后续底盘调位又在视频约338 s后失稳。log step 265的服务逆解返回多个ok=false，log step 269虽找到部分ok=true，之后视频仍无成功抓取；log step 281、295的闭爪读数也未对应盘子离台。证据支持抓取及机体调位执行存在控制问题，但不足以细分为接触设计、逆解或反馈控制。"
+   }
+  ],
+  "gap_zh": "无状态日志和成功参照视频。腕部画面可确认反复空手离开及盘子仍在台面，但盘沿与指尖接近处受遮挡，无法区分完全未触及与短暂轻触、压擦；六柜未同时完整入镜，关闭计数依据已核实初态、可见柜面和全程未开门的过程推断。后段许多日志调用的out为空，无法独立核实agent关于扭矩限位、碰到障碍的自述，故不据此增加碰撞现象或更细根因。"
+ },
+ "summary_zh": "机器人反复尝试从台面抓取首个盘子，始终未见成功抬起或入柜，也未打开橱柜；六柜关闭状态从开局保留，最终6/15节点成立。断点为第1个盘入柜的取盘环节（视频约35.5 s空夹），后续尝试未修复，最终视频约338–348 s失衡并由服务判定倾倒失败，根因标为控制。无状态日志或成功参照，指尖实际轻触方式及六柜全局关闭计数存在视觉推断成分。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "WHERE 标签（时钟换算、节点值、断点 plates_in_same_cabinet_1 @ ~35.5 s）与视频/日志一致：log step 130 control_steps=1048→34.9 s、step 280 control_steps=6606→220.2 s，右夹爪读数闭合为空、盘仍在台面。唯一问题：把终局倾倒单列为第二个现象。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "第2轮：倾倒现象已删除；节点值、断点（取盘空夹，约35.5 s）、时钟换算与视频一致，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": "2026-10-30T22:31:21Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-putting-dishes-away-after-cleaning-i00-standard--uytnunv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-putting-dishes-away-after-cleaning-i00-standard--uytnunv/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-putting-dishes-away-after-cleaning-i00-standard--uytnunv/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-putting-dishes-away-after-cleaning-i00-standard--uytnunv/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "91cf5dd2a5d8db4e19558484aaa2c6359a68934430b30f5d95363bdd8d2f3c83",
+   "video_sha256": "640c6fb1162308859055759ce4a833d44923b8498606e94a9dbd99b0e937b069",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/putting_dishes_away_after_cleaning/trajectories/behavior-putting-dishes-away-after-cleaning-i00-standard--vgvcmil.json b/phase2/behavior-1k/putting_dishes_away_after_cleaning/trajectories/behavior-putting-dishes-away-after-cleaning-i00-standard--vgvcmil.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd875392be7d5919a533507504ae12804a7fd166
--- /dev/null
+++ b/phase2/behavior-1k/putting_dishes_away_after_cleaning/trajectories/behavior-putting-dishes-away-after-cleaning-i00-standard--vgvcmil.json
@@ -0,0 +1,637 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-putting-dishes-away-after-cleaning-i00-standard--vgvcmil",
+ "taskKey": "behavior-1k/putting_dishes_away_after_cleaning",
+ "dag_sha256": "930fb7d3e67544053d5db0daf06fdea40b0df09de9dd00b7f34599a37a484f43",
+ "outcome": {
+  "success": 0,
+  "reward": 0.2857142857142857,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 41498,
+   "sim_steps": 41498,
+   "physics_steps": 165992,
+   "steps": 25509,
+   "elapsed_s": 9197.8,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "q_score": 0.2857142857142857,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.264,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.333,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-putting-dishes-away-after-cleaning-i00-standard--vgvcmil/replay.mp4",
+  "duration_s": 1383.267,
+  "fps": 30.0,
+  "frames": 41498,
+  "sha256": "151c1ad71c2803a85da8bef59fbbb41d691a42ac4db7f8822d7b3b6ea2c307b7"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 15,
+  "base": 6,
+  "peak": 10,
+  "final": 10,
+  "nodes": {
+   "cabinet_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      404.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 404.5,
+      "log_step": 141,
+      "text_zh": "观察：视频 403–405 s，机器人左夹爪握住水槽台面下柜门把手向外拉，门板离开柜体并露出内腔；视频 410–425 s 内腔持续可见，首次开柜约为视频 404.5 s。"
+     },
+     {
+      "t": 590,
+      "log_step": 190,
+      "text_zh": "观察：视频 574–610 s，机器人右夹爪握住同一柜门把手，底盘绕门铰链移动，把门进一步拉开；这是同一在线回合的后续开柜，不是重置。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人先以左夹爪夹住柜门细把手拉开，随后改以右夹爪握把手并配合底盘转动开门。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 495–515 s 等片段中，机器人左夹爪直接拨推门板，门板随之转动；这些接触未始终保持抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在操作期间驾驶轮式底盘平移、转向，承载躯干和机械臂调整工作位置。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      903.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 906,
+      "log_step": 247,
+      "text_zh": "观察：视频 869–890 s，机器人左夹爪从岛台夹起金边盘，原位置空出并持盘驶向水槽下同一柜；视频 895–904 s 将盘转立、送入上层内腔并松手。视频 905–912 s 空夹爪退出，盘留在柜内上层；约视频 903.5 s 起计第1个盘入柜。"
+     },
+     {
+      "t": 1345,
+      "log_step": null,
+      "text_zh": "推断：视频 905–1345 s 的后续操作没有取出已释放的盘，四次释放均进入同一柜；评分器 q_score=4/14，live_matches_replay=1，与最终四个新增入柜字面量一致。六柜关闭是初始已满足条件，不加入该分子的新增完成数；据放入过程、后续留置画面和总分判断该数量条件保持至视频结束。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左二指夹爪夹住盘沿，盘子离开台面后随夹爪运动，被转立送入柜内后松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在操作期间驾驶轮式底盘平移、转向，承载躯干和机械臂调整工作位置。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      1095.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1099,
+      "log_step": 264,
+      "text_zh": "观察：视频 925–950 s，机器人左夹爪从岛台拿起另一金边盘并带到柜前；几次插入受阻后仍持盘，视频 1028–1060 s 右夹爪协助重开柜门。视频 1075–1094 s 左夹爪将该盘转立送入同一柜，视频 1095–1100 s 松手并空爪退开，原有盘未被取出；约视频 1095.5 s 起计同柜至少2盘。"
+     },
+     {
+      "t": 1345,
+      "log_step": null,
+      "text_zh": "推断：视频 905–1345 s 的后续操作没有取出已释放的盘，四次释放均进入同一柜；评分器 q_score=4/14，live_matches_replay=1，与最终四个新增入柜字面量一致。六柜关闭是初始已满足条件，不加入该分子的新增完成数；据放入过程、后续留置画面和总分判断该数量条件保持至视频结束。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左二指夹爪夹住盘沿，盘子离开台面后随夹爪运动，被转立送入柜内后松开。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：该次放盘受阻后，左夹爪持续夹持盘沿，右夹爪同时夹住柜门把手，机器人配合底盘转动重开柜门，再继续放盘。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在操作期间驾驶轮式底盘平移、转向，承载躯干和机械臂调整工作位置。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      1274,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1278,
+      "log_step": 273,
+      "text_zh": "观察：视频 1125–1150 s，机器人左夹爪从岛台拿起下一金边盘并带到柜前；此前柜门被碰回，放入受阻后机器人持盘重开门。视频 1260–1274 s 再送入并松手，视频 1277–1281 s 空爪退出，柜内上层可见多个盘，约视频 1274 s 起计同柜至少3盘。"
+     },
+     {
+      "t": 1345,
+      "log_step": null,
+      "text_zh": "推断：视频 905–1345 s 的后续操作没有取出已释放的盘，四次释放均进入同一柜；评分器 q_score=4/14，live_matches_replay=1，与最终四个新增入柜字面量一致。六柜关闭是初始已满足条件，不加入该分子的新增完成数；据放入过程、后续留置画面和总分判断该数量条件保持至视频结束。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左二指夹爪夹住盘沿，盘子离开台面后随夹爪运动，被转立送入柜内后松开。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：该次放盘受阻后，左夹爪持续夹持盘沿，右夹爪同时夹住柜门把手，机器人配合底盘转动重开柜门，再继续放盘。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在操作期间驾驶轮式底盘平移、转向，承载躯干和机械臂调整工作位置。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      1335,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1340,
+      "log_step": 274,
+      "text_zh": "观察：视频 1310–1315 s，机器人左夹爪拿起南侧台面蓝花盘，旧位置空出；视频 1320–1335 s 将盘转立送入同一上层内腔并松手，视频 1337–1345 s 空爪退出，蓝花盘与先前盘子留在柜中，约视频 1335 s 起计同柜至少4盘。"
+     },
+     {
+      "t": 1345,
+      "log_step": null,
+      "text_zh": "推断：视频 905–1345 s 的后续操作没有取出已释放的盘，四次释放均进入同一柜；评分器 q_score=4/14，live_matches_replay=1，与最终四个新增入柜字面量一致。六柜关闭是初始已满足条件，不加入该分子的新增完成数；据放入过程、后续留置画面和总分判断该数量条件保持至视频结束。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左二指夹爪夹住盘沿，盘子离开台面后随夹爪运动，被转立送入柜内后松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在操作期间驾驶轮式底盘平移、转向，承载躯干和机械臂调整工作位置。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1381.5,
+      "log_step": 275,
+      "text_zh": "观察：视频 1345–1381 s，机器人空手移向南侧台面西端的下一盘，右腕视角贴近侧柜、手臂运动受阻；没有看到该盘离开旧位置。视频 1381.5–1382 s 机器人进一步倾倒，视频 1383.2 s 仍侧倾，未完成第5个盘入柜。"
+     },
+     {
+      "t": 1383.2,
+      "log_step": null,
+      "text_zh": "推断：视频全程仅见四次在同一柜内释放盘子，视频 1345 s 后机器人空手去取下一盘，没有再完成搬运。评分器 q_score=0.2857142857142857=4/14，初始关闭柜门不贡献新增字面量，因此最终同柜盘数不可能达到5；不是由失败总分单独反推未做抓取。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 1345–1381 s，机器人空手驾驶底盘去取南侧台面西端下一盘，并在受阻后向东移动。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 1350–1383.2 s 右腕相机被柜体或机器人遮挡，无法确认具体哪一机器人连杆与柜体接触；未见夹爪夹住下一盘，不能记作抓握。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1383.2,
+      "log_step": null,
+      "text_zh": "推断：视频全程仅见四次在同一柜内释放盘子，视频 1345 s 后机器人空手去取下一盘，没有再完成搬运。评分器 q_score=0.2857142857142857=4/14，初始关闭柜门不贡献新增字面量，因此最终同柜盘数不可能达到6；不是由失败总分单独反推未做抓取。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1383.2,
+      "log_step": null,
+      "text_zh": "推断：视频全程仅见四次在同一柜内释放盘子，视频 1345 s 后机器人空手去取下一盘，没有再完成搬运。评分器 q_score=0.2857142857142857=4/14，初始关闭柜门不贡献新增字面量，因此最终同柜盘数不可能达到7；不是由失败总分单独反推未做抓取。"
+     }
+    ]
+   },
+   "plates_in_same_cabinet_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1383.2,
+      "log_step": null,
+      "text_zh": "推断：视频全程仅见四次在同一柜内释放盘子，视频 1345 s 后机器人空手去取下一盘，没有再完成搬运。评分器 q_score=0.2857142857142857=4/14，初始关闭柜门不贡献新增字面量，因此最终同柜盘数不可能达到8；不是由失败总分单独反推未做抓取。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG核实六柜初始关闭，视频 0 s 及早期转向巡查的可见柜门均合拢；视频 404.5 s 后只操作水槽下同一双门柜的一扇门，其余五个目标柜未见被打开。因此至少1个柜关闭从视频 0 s 保持至结尾；同一柜的两扇门不按两个柜计数。"
+     },
+     {
+      "t": 1345,
+      "log_step": null,
+      "text_zh": "观察：视频 1340–1345 s 装盘柜仍敞开，周围可见柜门保持合拢；视频 1382.3–1383.2 s 的末段也未见机器人再操作其余柜门。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG核实六柜初始关闭，视频 0 s 及早期转向巡查的可见柜门均合拢；视频 404.5 s 后只操作水槽下同一双门柜的一扇门，其余五个目标柜未见被打开。因此至少2个柜关闭从视频 0 s 保持至结尾；同一柜的两扇门不按两个柜计数。"
+     },
+     {
+      "t": 1345,
+      "log_step": null,
+      "text_zh": "观察：视频 1340–1345 s 装盘柜仍敞开，周围可见柜门保持合拢；视频 1382.3–1383.2 s 的末段也未见机器人再操作其余柜门。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG核实六柜初始关闭，视频 0 s 及早期转向巡查的可见柜门均合拢；视频 404.5 s 后只操作水槽下同一双门柜的一扇门，其余五个目标柜未见被打开。因此至少3个柜关闭从视频 0 s 保持至结尾；同一柜的两扇门不按两个柜计数。"
+     },
+     {
+      "t": 1345,
+      "log_step": null,
+      "text_zh": "观察：视频 1340–1345 s 装盘柜仍敞开，周围可见柜门保持合拢；视频 1382.3–1383.2 s 的末段也未见机器人再操作其余柜门。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG核实六柜初始关闭，视频 0 s 及早期转向巡查的可见柜门均合拢；视频 404.5 s 后只操作水槽下同一双门柜的一扇门，其余五个目标柜未见被打开。因此至少4个柜关闭从视频 0 s 保持至结尾；同一柜的两扇门不按两个柜计数。"
+     },
+     {
+      "t": 1345,
+      "log_step": null,
+      "text_zh": "观察：视频 1340–1345 s 装盘柜仍敞开，周围可见柜门保持合拢；视频 1382.3–1383.2 s 的末段也未见机器人再操作其余柜门。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG核实六柜初始关闭，视频 0 s 及早期转向巡查的可见柜门均合拢；视频 404.5 s 后只操作水槽下同一双门柜的一扇门，其余五个目标柜未见被打开。因此至少5个柜关闭从视频 0 s 保持至结尾；同一柜的两扇门不按两个柜计数。"
+     },
+     {
+      "t": 1345,
+      "log_step": null,
+      "text_zh": "观察：视频 1340–1345 s 装盘柜仍敞开，周围可见柜门保持合拢；视频 1382.3–1383.2 s 的末段也未见机器人再操作其余柜门。"
+     }
+    ]
+   },
+   "kitchen_cabinets_closed_6": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      404.5
+     ],
+     [
+      513,
+      528.5
+     ],
+     [
+      627.5,
+      713.5
+     ],
+     [
+      995,
+      1031.5
+     ],
+     [
+      1162,
+      1189.5
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "推断：DAG给出的六柜关闭初态与视频 0 s 起的巡查画面一致；视频约 404.5 s 第一次拉开装盘柜后，全关条件失去。"
+     },
+     {
+      "t": 513,
+      "log_step": 166,
+      "text_zh": "观察：视频 510–516 s，机器人拨门后门板回到柜前，仅余窄缝；视频 520–527 s 仍靠拢，约视频 528.5 s 再次拉开。按门板外观将约视频 513–528.5 s 记为关闭，5%行程边界为视觉估计。"
+     },
+     {
+      "t": 635,
+      "log_step": 192,
+      "text_zh": "推断：视频 619–627 s 机器人移动到装盘柜前，门逐渐被带回；视频 627–634 s 门的下部被视角裁掉，视频 635–638 s 可见门板与柜前齐平。将这次闭合锚定约视频 627.5 s，误差可达数秒；视频 694–709 s 仍关闭，约视频 713.5 s 右手重新拉门后失去。"
+     },
+     {
+      "t": 1008,
+      "log_step": 260,
+      "text_zh": "推断：视频 988 s 门仍打开，视频 992–998 s 视角部分遮住门，视频 999–1028 s 门已合拢；结合机器人抬臂检查动作，将闭合估计在视频 995 s（约±4 s）。视频 1031–1033 s 右夹爪拉开门，约视频 1031.5 s 再失去。"
+     },
+     {
+      "t": 1170,
+      "log_step": 270,
+      "text_zh": "观察：视频 1160 s 柜口仍开，视频 1162–1188 s 门板被碰回柜前并维持合拢；视频 1189–1191 s 机器人右夹爪再次拉开门，故这段全关约为视频 1162–1189.5 s。"
+     },
+     {
+      "t": 1345,
+      "log_step": null,
+      "text_zh": "观察：视频 1277–1281 s、1337–1345 s 装盘柜内腔清楚敞开，最后一次装盘后机器人空手离开；直到视频 1383.2 s 结束没有再关此门，终态不是六柜全关。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：机器人在尝试开门及撤臂过程中拨推门板，视频 510–516 s 门随左夹爪接触回到柜前；其后部分闭门由手臂移动时偶然碰回，未见专门的最终关柜操作。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在操作期间驾驶轮式底盘平移、转向，承载躯干和机械臂调整工作位置。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.2857142857142857,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "plates_in_same_cabinet_5",
+   "t": 1381.5,
+   "log_step": 276,
+   "where": "转场",
+   "evidence_zh": "观察：视频 1337–1345 s 第四盘已释放、机器人空手离开柜前，随后去南侧台面西端取下一盘；视频 1350–1381 s 右腕视角紧贴柜体，目标盘未被拿起。视频 1381.5–1382 s 场景快速侧翻，视频 1383.2 s 仍大幅倾倒；log step 275 的下一盘抓取失败，log step 276 的向东脱困动作后基座向上轴竖直分量从0.947降至0.356。此后未修复，断在第5盘的取物转场；先前开门和插入受阻均已恢复并完成四盘放入。"
+  },
+  "unmet": {
+   "plates_in_same_cabinet_1": true,
+   "plates_in_same_cabinet_2": true,
+   "plates_in_same_cabinet_3": true,
+   "plates_in_same_cabinet_4": true,
+   "plates_in_same_cabinet_5": false,
+   "plates_in_same_cabinet_6": false,
+   "plates_in_same_cabinet_7": false,
+   "plates_in_same_cabinet_8": false,
+   "kitchen_cabinets_closed_1": true,
+   "kitchen_cabinets_closed_2": true,
+   "kitchen_cabinets_closed_3": true,
+   "kitchen_cabinets_closed_4": true,
+   "kitchen_cabinets_closed_5": true,
+   "kitchen_cabinets_closed_6": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 1360,
+    "log_step": 275,
+    "evidence_zh": "观察：视频 1350、1360 s 右腕画面紧贴侧柜板面，头部画面可见台面转角；视频 1375 s 右腕画面大部被近处表面遮挡，机器人尚未拿起下一盘。log step 275 的机器人动作脚本连续输出关节跟踪偏差告警，最大偏差由1.615 rad增至2.568 rad，抬臂及继续前进时仍约2 rad，最后输出 grasp IK fail、pick fail。推断：结合柜边局部画面、持续跟踪受阻和身体倾斜，机器人右臂在侧柜附近受到接触阻挡，是后续脱困倾倒之前的独立失败现象；并非仅由相机遮挡推断碰撞。具体碰撞连杆、接触对和接触力未记录，不能精确定位。"
+   },
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 1381.5,
+    "log_step": 276,
+    "evidence_zh": "观察：视频 1381 s 前机器人已倾斜，视频 1381.5–1382 s 进一步翻倒，视频 1382.3–1383.2 s 头部及腕部画面持续侧转，恢复动作没有扶正。单回合机器人服务的本体读数在 log step 277 给出基座向上轴竖直分量0.356，log step 278 恢复后仍约0.372。log step 277 control_steps=41468，按30 Hz对应视频1382.27 s，与所检查倾倒帧吻合；这不是agent工作时间换算。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "t": 1350,
+    "log_step": 275,
+    "alt_feasible": "未知",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 274 的 cycle_south 按 bx=guess[0]-0.15 选底盘位置，先驾驶至 y=-0.70、-0.95，之后才执行所选左臂的 arm_raise_seq；该序列在 log step 126 的定义只改变所选臂。log step 275 对西端盘复用此序列，在到达 (4.47,-0.95) 时即出现1.615 rad关节偏差，随后多次告警仍继续抬左臂并前进至 y=-1.36；视频 1350、1360 s 右腕贴近侧柜，视频 1375 s 仍受遮挡。log step 276 保持 cmd_current() 的机械臂指令直接令底盘侧移0.25米，基座向上轴竖直分量从0.947降至0.356，视频 1381.5–1382.3 s 同步进一步翻倒。推断：固定偏置的取物站位与先驾驶、后抬所选臂的动作顺序未为另一条下垂手臂保留侧柜净空；受阻后的脱困序列也未先处理手臂姿态和支撑稳定性。这是跨转场、取物及脱困阶段的动作规划问题，按 docs/03_trajectory.md Step 3.3 和 CASES.md FAIL-10 优先归推理/规划。没有证据证明该站位与姿态方案本来可行而只是控制器执行失败，故不再另列控制根因；可行替代姿态或路线未实测，alt_feasible记未知。"
+   }
+  ],
+  "gap_zh": "观察：inputs/有完整运行日志和视频，但没有状态日志或成功示范。头部视角在接近台面时裁掉柜口下部，门板5%行程阈值、个别偶然闭合时刻及盘子的0.05米/秒速度不能直接量测；闭门边界约视频627.5 s和995 s有数秒不确定性。四盘终态由已检查的释放和留置画面结合评分器4/14推断，未把agent自述的insert True当作独立完成证据。末段具体碰撞连杆被遮挡；log step 279 服务仍done=false、reason=null，故只记录实际倾倒，不声称评分器已触发持续10秒跌倒终止。 推断：侧柜阻挡及净空规划缺失由局部画面、动作代码和跟踪偏差合并判断，具体接触对与可行替代路线未验证，故整体置信度由7降为6。"
+ },
+ "summary_zh": "机器人打开水槽下橱柜，并先后把四个盘子松手留在同一柜内；其余五柜保留关闭，装盘柜最后敞开，终态10/15节点成立，原生q_score为4/14。空手去取第5盘时机器人在侧柜附近受阻、倾斜，脱困侧移动作后于视频约1381.5 s进一步翻倒，恢复动作未能扶正；动作代码和视频支持跨阶段净空及脱困规划不当。没有状态日志，柜门阈值与部分闭合时刻、盘子静置速度及终态留置需结合前后画面和评分总数推断，具体碰撞连杆与可行替代路线也未验证，因此置信度由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": "节点进度、四盘入柜时间和断点（第5盘）与视频、q_score=4/14一致；缺口在失败原因：第5盘途中机械臂在侧柜处被挡（右腕画面贴柜体、关节偏差1.6–2.6 rad）是视频与服务读数都支持的可见现象，却只标了平衡，且归因只给控制，没有评估规划（带着下垂手臂贴近侧台、无视连续告警）。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点进度（10/15）、四盘入柜时间、断点（第5盘取物转场）与视频及q_score=4/14一致；round 1 已补的被挡/碰撞、平衡和推理/规划根因有视频与日志支持，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": "2026-10-30T22:32:08Z",
+  "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-putting-dishes-away-after-cleaning-i00-standard--vgvcmil/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-putting-dishes-away-after-cleaning-i00-standard--vgvcmil/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-putting-dishes-away-after-cleaning-i00-standard--vgvcmil/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-putting-dishes-away-after-cleaning-i00-standard--vgvcmil/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b74f851cfb76548fe3ce0988164a58e3159b7d77c8c8340dfc6cd4f39f339858",
+   "video_sha256": "151c1ad71c2803a85da8bef59fbbb41d691a42ac4db7f8822d7b3b6ea2c307b7",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-privileged--2th48dx.json b/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-privileged--2th48dx.json
new file mode 100644
index 0000000000000000000000000000000000000000..af1a1a976255c668cfb5ef77f53662bc114610f8
--- /dev/null
+++ b/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-privileged--2th48dx.json
@@ -0,0 +1,379 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-setting-the-fire-i00-privileged--2th48dx",
+ "taskKey": "behavior-1k/setting_the_fire",
+ "dag_sha256": "19507bd718341b3403b2bc2e2fbad8d813135099c25a0278caeff61f37511fd7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.125,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 0,
+   "n_actions": 1690,
+   "sim_breakdown": 0,
+   "goal": 0,
+   "settle_steps": 150,
+   "goal_first_step": -1,
+   "sim_steps": 1840,
+   "fallen": 0,
+   "final_reward": 0.125,
+   "q_score": 0.125,
+   "replay_wall_s": 893.1,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "video_replay_matches": 1,
+   "agent_sessions": 7,
+   "agent_resets": 2,
+   "agent_sim_steps": 0,
+   "agent_records": 7,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 10.376,
+   "peak_memory_gb": 15.945,
+   "peak_processes": 77,
+   "peak_disk_gb": 4.694,
+   "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-setting-the-fire-i00-privileged--2th48dx/replay.mp4",
+  "duration_s": 61.333,
+  "fps": 30.0,
+  "frames": 1840,
+  "sha256": "a335dd8733091767bf3027ba5bfb5323ad08b52df1978a2fabd4b5b782299c36"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 1,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "newspaper_in_fireplace": {
+    "method": "visual",
+    "intervals": [
+     [
+      52.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 19.0,
+      "log_step": null,
+      "text_zh": "观察：视频 14–20 s，机器人左夹爪沿桌面推动正在燃烧的报纸至桌边；视频 23–30 s，报纸离开桌面并随右夹爪及底盘移动，桌上只留下打火机。"
+     },
+     {
+      "t": 52.0,
+      "log_step": null,
+      "text_zh": "观察：视频 48–51 s，右腕画面可见燃烧报纸送至炉腔后部；视频约 52 s 起，右夹爪后撤而报纸留在炉内，视频 56.3 s 和 60.3–61.3 s 仍可见报纸靠在炉腔后壁附近燃烧，未落到炉外地面。离手时刻按画面估计，误差约半秒；本节点不要求报纸平铺。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "视频 14–20 s，机器人张开的左夹爪推动报纸，使其移到桌边；此阶段没有合指夹持。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "随后机器人右二指夹爪夹住报纸边缘，将其提离桌面、搬到壁炉并松开；左手的推纸和右手搬运依次发生。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频约 20–34 s，轮式底盘调整取物位置，并承载右臂及报纸驶向壁炉。"
+     }
+    ]
+   },
+   "firewood_positioned_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 56.3,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程及视频 60.3–61.3 s 末段，机器人只操作打火机与报纸，没有去地面取柴或把柴送入壁炉；炉腔内可见报纸，未见柴放在其上。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0.125，即八个目标字面量中只新增满足一个；已由视频确认报纸燃烧，初始即成立的打火机关机不占新增计数，因此末态不可能再有一块柴同时满足炉内和报纸上两项关系，至少1块柴就位为假。此结论同时有未搬柴的视频支持。"
+     }
+    ]
+   },
+   "firewood_positioned_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 56.3,
+      "log_step": null,
+      "text_zh": "观察：已检查视频全程及视频 60.3–61.3 s 末段，机器人只操作打火机与报纸，没有去地面取柴或把柴送入壁炉；炉腔内可见报纸，未见柴放在其上。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0.125，即八个目标字面量中只新增满足一个；已由视频确认报纸燃烧，初始即成立的打火机关机不占新增计数，因此末态不可能再有一块柴同时满足炉内和报纸上两项关系，至少2块柴就位为假。此结论同时有未搬柴的视频支持。"
+     }
+    ]
+   },
+   "newspaper_on_fire": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.0,
+      "log_step": null,
+      "text_zh": "观察：视频 9.5 s 报纸尚未出现独立火焰，视频约 9.8–10.0 s 桌上报纸自身出现黄色火焰；机器人随后关闭打火机，报纸火焰仍持续。"
+     },
+     {
+      "t": 61.3,
+      "log_step": null,
+      "text_zh": "观察：视频 23–30 s 搬运中的报纸、视频 48–56 s 炉内的报纸及视频 60.3–61.3 s 末段均有自身火焰，没有观察到熄灭。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "无接触",
+      "how": "不适用",
+      "note_zh": "设备完成：桌上开启的打火机使邻近报纸升温着火；点燃发生时机器人没有夹持报纸。夹爪触压打火机的接触另记于开关节点。"
+     }
+    ]
+   },
+   "firewood_on_fire_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 61.3,
+      "log_step": null,
+      "text_zh": "观察：视频全程机器人没有将柴靠近打火机或燃烧报纸；视频 36–61.3 s 炉腔内唯一可见的燃烧物是报纸，没有柴自身的燃烧效果。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0.125=1/8，报纸燃烧已经占用唯一新增满足的目标字面量；初始关闭的打火机不计新增分，因此末态没有柴的 on_fire 目标成立，至少1块柴点燃为假。"
+     }
+    ]
+   },
+   "firewood_on_fire_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 61.3,
+      "log_step": null,
+      "text_zh": "观察：视频全程机器人没有将柴靠近打火机或燃烧报纸；视频 36–61.3 s 炉腔内唯一可见的燃烧物是报纸，没有柴自身的燃烧效果。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0.125=1/8，报纸燃烧已经占用唯一新增满足的目标字面量；初始关闭的打火机不计新增分，因此末态没有柴的 on_fire 目标成立，至少2块柴点燃为假。"
+     }
+    ]
+   },
+   "lighter_off": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      6.8
+     ],
+     [
+      12.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "观察：视频 3–6.5 s 左腕近景可见桌上绿色打火机、红色按钮标记且没有自身火焰；DAG明确初始开关关闭，因此从视频 0 s 计入。"
+     },
+     {
+      "t": 7.0,
+      "log_step": null,
+      "text_zh": "观察：视频 6.5 s 打火机尚无火焰，视频约 6.8–7.0 s 左夹爪触压后按钮变绿并出现打火机火焰，关闭条件失去。"
+     },
+     {
+      "t": 12.5,
+      "log_step": null,
+      "text_zh": "观察：视频约 12.3 s 机器人左夹爪再次触压，按钮恢复红色且打火机自身火焰熄灭，桌上报纸仍在燃烧；视频 24–28 s 左腕回看桌面，打火机留在桌上，没有自身火焰。"
+     },
+     {
+      "t": 61.3,
+      "log_step": null,
+      "text_zh": "推断：视频约 28 s 后机器人携报纸到壁炉，直至视频 61.3 s 再未返回或接触桌上打火机；故已观察到的关闭状态保持至末态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "视频约 12.3 s，机器人闭合的左夹爪指尖再次触压打火机切换按钮，关闭打火机；没有拿起或夹住打火机。"
+     }
+    ]
+   },
+   "lighter_on": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 7.0,
+      "log_step": null,
+      "text_zh": "观察：视频 6.5 s 打火机按钮为红色且无火焰，视频约 6.8–7.0 s 机器人左夹爪指尖触压后按钮变绿、打火机自身出现黄色火焰；此为已发生事件，之后关机不撤销。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "机器人用闭合左夹爪的指尖触压桌上打火机的切换按钮，没有抓起外壳。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 0–3 s 机器人轮式底盘驶至桌边，为随后左夹爪触压打火机提供工作位置。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.125,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "firewood_positioned_1",
+   "t": 56.3,
+   "log_step": 113,
+   "where": "首步前",
+   "evidence_zh": "观察：视频约 52 s 报纸已放入炉腔，机器人随后撤手；视频 56.3–61.3 s 停在壁炉前，没有开始取柴或搬柴。log step 113 明确将仅含1690行的报纸操作前缀写为最终 trajectory.npz，并注明“logs not placed”；评分器 n_actions=1690、settle_steps=150，与视频的操作后静置相符。第1块柴就位是交付尝试中首先未启动的必需步骤，时间取操作结束附近作导航锚点。"
+  },
+  "unmet": {
+   "firewood_positioned_1": false,
+   "firewood_positioned_2": false,
+   "newspaper_on_fire": true,
+   "firewood_on_fire_1": false,
+   "firewood_on_fire_2": false,
+   "lighter_off": true
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 56.3,
+    "log_step": 113,
+    "evidence_zh": "观察：视频全程只有桌上打火机开关、报纸推动与搬入壁炉的动作，视频 56.3–61.3 s 双臂停在壁炉前，始终没有抓取或搬运任一块柴；log step 113 保存的前缀明确不含放柴。会话后来尝试过的柴操作没有出现在这次评分交付中。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": null,
+    "log_step": 71,
+    "source_zh": "日志 / agent 自述",
+    "evidence_zh": "推断：会话中的柴搬运与摆放控制没有实现可用的完整流程，是最终只交付报纸前缀的原因。依据是 log step 66 会话试验已抓起柴，但 log step 71 的放柴执行输出显示关节跟踪最大误差达2.879 rad，释放后柴在炉外地面，ontop=False、inside=False；log step 75 再抓时 object_in_hand=None。log step 98 的另一次生成试验也在入炉航点出现0.996 rad跟踪误差；log step 115 agent 自述没有把柴放到正确报纸上的完整流程，最终选择 log step 113 的报纸前缀。上述为会话根因证据，未把这些试验动作算作评分视频现象；不足以区分接触几何、逆解轨迹与跟踪控制的责任。"
+   }
+  ],
+  "gap_zh": "没有状态日志，也没有成功参考视频；报纸离手与开关切换时刻由画面估计，误差约半秒。打火机离开视野后的关闭末态由已观察到的关机及无后续触碰推断，柴的点燃末态还受评分器总分约束。最终文件来自 log step 58 重置后重放前缀、log step 64 拼接报纸操作，再由 log step 113 保存；会话 log step 64 的平铺报纸不能替代评分视频中靠在炉腔后部的实际落点。控制根因来自未交付的会话试验，缺少这些试验的完整视频和状态记录，故不进一步细分控制子类。"
+ },
+ "summary_zh": "评分尝试完成报纸点燃、报纸入壁炉及恢复打火机关闭，非可选节点末态为3/7；可选的开启打火机事件也已发生，q_score为0.125。交付动作在报纸入炉后结束，断点是尚未启动的第1块柴就位；会话中的放柴控制反复未完成可用流程，最终提交了不含搬柴的动作前缀。没有状态日志或成功参考，节点时间按视频估计，控制根因仅由会话执行输出支持。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点时间与终态（报纸入炉约52 s、报纸点燃约9.8 s、打火机开6.8 s/关12.3 s）与视频及 q_score=1/8 一致；断点为首步前/没尝试，符合已交付前缀不含放柴；控制根因按 FAIL-22 来自会话证据且已声明局限。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": "2026-10-30T22:16:05Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-setting-the-fire-i00-privileged--2th48dx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-setting-the-fire-i00-privileged--2th48dx/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "39fb7d5121d6e1c50b3c6c740b92036e325a43fc3d2a2cd78226520fa91f480a",
+   "video_sha256": "a335dd8733091767bf3027ba5bfb5323ad08b52df1978a2fabd4b5b782299c36",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-privileged--5yvzhz5.json b/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-privileged--5yvzhz5.json
new file mode 100644
index 0000000000000000000000000000000000000000..30f42c6598175633393434a64f9731dd988412d7
--- /dev/null
+++ b/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-privileged--5yvzhz5.json
@@ -0,0 +1,348 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-setting-the-fire-i00-privileged--5yvzhz5",
+ "taskKey": "behavior-1k/setting_the_fire",
+ "dag_sha256": "19507bd718341b3403b2bc2e2fbad8d813135099c25a0278caeff61f37511fd7",
+ "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": 1901,
+   "sim_steps": 1901,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1004.8,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 15,
+   "agent_resets": 0,
+   "agent_sim_steps": 2295,
+   "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-setting-the-fire-i00-privileged--5yvzhz5/replay.mp4",
+  "duration_s": 63.367,
+  "fps": 30.0,
+  "frames": 1901,
+  "sha256": "5428191e107885a85313f136659af78d7e4e491d7691b9fbc33a54e72de10249"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "newspaper_in_fireplace": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.7,
+      "log_step": null,
+      "text_zh": "观察：视频 2.4–3.7 s 报纸仍在茶几边缘；视频 4.1 s 报纸已落在茶几与蓝沙发之间的地板上，未见夹爪夹持它。"
+     },
+     {
+      "t": 12.5,
+      "log_step": null,
+      "text_zh": "观察：视频 8–23 s 机器人转向并在壁炉前运动，腕部画面未见携带报纸，炉内未出现放入的报纸；视频 24–63.33 s 也未见返回捡起报纸再送入壁炉。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "推断：视频 3.4–4.1 s 左臂末端在画面下缘接近报纸，报纸被拨离茶几并落地；没有可确认的对向包夹，因此不记抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 0–3 s、8–13 s 机器人底盘在茶几与壁炉之间移动，承载机械臂；没有观察到报纸随底盘运输。"
+     }
+    ]
+   },
+   "firewood_positioned_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 28.5,
+      "log_step": null,
+      "text_zh": "观察：视频 24–29.5 s 机器人对地面的第一块柴做取物动作，柴仍在地板上，机器人随后转向壁炉时未见柴随夹爪移动；视频 45–52 s 炉外地面仍可见柴，炉内没有报纸承托柴的堆叠。"
+     },
+     {
+      "t": 63.33,
+      "log_step": null,
+      "text_zh": "推断：评分器字段 q_score=0.0；两块柴起初在地面，炉内且在报纸上的关系均非初始成立条件，因此该总分排除最终有一块柴同时满足就位所需关系。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频中可见左臂向地面柴附近伸出，但夹爪与柴的接触点未被腕部相机拍清，头部画面也受手臂和桌边遮挡；无法确定具体接触方式，未见柴被夹起。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 23–25 s、29–36 s 底盘在地面柴旁与壁炉之间移动，支承机械臂；没有观察到实际载柴搬运。"
+     }
+    ]
+   },
+   "firewood_positioned_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 44,
+      "log_step": null,
+      "text_zh": "观察：视频 37–44 s 机器人再次转向茶几及炉外地面做取物动作；视频 45–52 s 炉外地面仍有两块柴，未见第二块柴入炉，也未形成两块柴在炉内报纸上的关系。"
+     },
+     {
+      "t": 63.33,
+      "log_step": null,
+      "text_zh": "推断：评分器字段 q_score=0.0，结合视频初始两块柴均在地面的状态，最终两块柴就位为假；没有从会话中的抓取成功消息计入搬运。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频中可见左臂向地面柴附近伸出，但夹爪与柴的接触点未被腕部相机拍清，头部画面也受手臂和桌边遮挡；无法确定具体接触方式，未见柴被夹起。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 36–39 s、44–47 s 底盘再次往返炉外地面与壁炉附近，支承机械臂；画面未显示夹爪载柴。"
+     }
+    ]
+   },
+   "newspaper_on_fire": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.1,
+      "log_step": null,
+      "text_zh": "观察：视频 4.1–7.5 s 报纸落在沙发前地面时没有自身火焰；检查全片及视频 62.3–63.33 s 的结束画面，未见点燃报纸的过程或持续燃烧效果。"
+     },
+     {
+      "t": 63.33,
+      "log_step": null,
+      "text_zh": "推断：评分器字段 q_score=0.0；报纸着火并非初始成立条件，因此最终报纸未着火。"
+     }
+    ]
+   },
+   "firewood_on_fire_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29,
+      "log_step": null,
+      "text_zh": "观察：视频 24–29.5 s 的地面柴及视频 45–52 s 的炉外柴均无自身火焰；机器人空手在炉口操作，未见柴被运至热源或持续燃烧。"
+     },
+     {
+      "t": 63.33,
+      "log_step": null,
+      "text_zh": "推断：评分器字段 q_score=0.0；两块柴初始均未着火，所以该总分排除最终至少一块柴着火。"
+     }
+    ]
+   },
+   "firewood_on_fire_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50,
+      "log_step": null,
+      "text_zh": "观察：视频 45–52 s 炉外地面仍可见未燃烧的两块柴，视频 62.3–63.33 s 炉口也未出现两块柴持续燃烧的效果。"
+     },
+     {
+      "t": 63.33,
+      "log_step": null,
+      "text_zh": "推断：评分器字段 q_score=0.0，结合初始无燃烧，最终两块柴同时着火为假。"
+     }
+    ]
+   },
+   "lighter_off": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.6,
+      "log_step": null,
+      "text_zh": "观察：视频 2.4–3.7 s 茶几上绿色、红色的打火机无自身火焰，视频 6.5–7.5 s 的腕部画面也可见其外观且无火焰；DAG 明确此关闭条件初始成立。"
+     },
+     {
+      "t": 58,
+      "log_step": null,
+      "text_zh": "推断：视频 42–44 s、57–59 s 打火机仍在茶几上且未出现火焰，全片未见有效开关触发；结合初始关闭，关闭状态从视频 0 s 保持到结束。q_score=0.0 不否定该初始已成立条件。"
+     }
+    ]
+   },
+   "lighter_on": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58,
+      "log_step": null,
+      "text_zh": "观察：视频 54–63.33 s 机器人再次转向茶几，视频 57–59 s 打火机仍在桌上，无自身火焰；未见夹爪将它带往壁炉或成功触发开关，全片未出现打火机开启的火焰。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 54–60 s 底盘从壁炉附近朝茶几移动，属于接近打火机的准备动作。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频 57–63.33 s 未显示清晰的打火机按钮接触；只能确认接近茶几，不能确认夹爪是否实际碰到打火机，不记压按钮或抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "newspaper_in_fireplace",
+   "t": 4.1,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 3.4–4.1 s 机器人在茶几边取报纸时，报纸离开桌面落到沙发前地板，没有随夹爪搬走；视频 8–23 s 机器人仍转向壁炉做后续动作，之后未返回完成报纸入炉。这是最早未修复的步骤，后续取柴与点火失败没有补回该步骤。"
+  },
+  "unmet": {
+   "firewood_positioned_1": false,
+   "firewood_positioned_2": false,
+   "newspaper_on_fire": false,
+   "firewood_on_fire_1": false,
+   "firewood_on_fire_2": false,
+   "lighter_off": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 4.1,
+    "log_step": null,
+    "evidence_zh": "推断：视频 3.4–4.1 s 报纸从茶几边落地，视频 4.1–7.5 s 留在沙发前地板；随后视频 8–13 s 机器人转向壁炉，夹爪没有携带报纸。结合未出现对向夹持与随手抬升，未建立搬运所需的抓持接触；拨碰不等于抓住。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "交付",
+    "item": "交付操作出错",
+    "t": 4.1,
+    "log_step": 398,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 398 的 grasp_press 在正常抓取未建立时直接调用 robot._establish_grasp 建立辅助抓取关节；log step 379 所读接口说明确认它直接创建并保存关节状态。log step 234 的 gen.py 仅 record_start→pipeline.run→record_stop→save_trajectory 保存动作序列；log step 452 保存的文件为 1901 个动作，log step 489 确认 actions 为 (1901,25)，评分器 agent_replays=0。该直接建关节操作未编码为动作，解释了 log step 449/452 会话中报纸入炉为真、评分回放视频 4.1 s 却丢下报纸且最终 q_score=0 的差异；交付前没有重放验证这种状态修改能否复现。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频；部分夹爪触点被机身与桌边遮挡，柴及打火机的具体接触方式无法确定。log step 452 原会话记录报纸入炉、第一块柴在炉内、fallen=true、q_score=0.125，但评分回放未显示这些搬运，评分器为 fallen=0、q_score=0.0；节点以评分视频为准，未把会话测试状态当作评分回合状态。直接辅助抓取未随动作交付是代码与视频差异支持的推断，缺少逐步关节/接触状态日志来定位精确分歧步。"
+ },
+ "summary_zh": "评分回放仅保持初始的打火机关闭状态，最终为 1/7 个必需节点；报纸在视频约 4.1 s 落在沙发前地面，未被抓持送入壁炉，两块柴也未就位或点燃。最早未修复断点是报纸入壁炉；日志显示脚本直接建立辅助抓取关节后仅交付动作序列且未做重放验证，推断这种交付遗漏导致会话中的持物状态未在评分回放复现。没有状态日志，部分接触方式仍不确定，原会话的入炉与跌倒读数不能用于回放进度。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（仅 lighter_off 自 0 s 起为真，final 1/7）、断点（报纸入壁炉，视频约 4.1 s 报纸落地）、没建立接触现象与交付操作出错根因均与视频帧、log 及评分器字段（q_score=0.0, agent_replays=0）一致；未发现需修改的内容。",
+    "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": "2026-10-30T22:12:00Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-setting-the-fire-i00-privileged--5yvzhz5/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-setting-the-fire-i00-privileged--5yvzhz5/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c538762ed4f2b7d88de62e63b7d12e1fc47b4f5cb5741f3898ed9b8dc0edebd8",
+   "video_sha256": "5428191e107885a85313f136659af78d7e4e491d7691b9fbc33a54e72de10249",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-privileged--esj2kh6.json b/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-privileged--esj2kh6.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cc241c9c3acb9f15a919ec2b2573c61013e0b71
--- /dev/null
+++ b/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-privileged--esj2kh6.json
@@ -0,0 +1,343 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-setting-the-fire-i00-privileged--esj2kh6",
+ "taskKey": "behavior-1k/setting_the_fire",
+ "dag_sha256": "19507bd718341b3403b2bc2e2fbad8d813135099c25a0278caeff61f37511fd7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 0,
+   "n_actions": 3141,
+   "sim_steps": 3141,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1745.6,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 14,
+   "agent_resets": 0,
+   "agent_sim_steps": 10707,
+   "agent_records": 5,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-setting-the-fire-i00-privileged--esj2kh6/replay.mp4",
+  "duration_s": 104.7,
+  "fps": 30.0,
+  "frames": 3141,
+  "sha256": "cd6cf4a867f767b38d7d35b78f1ebf5423d98c9c0e00b2a3943f1ee43b7d9873"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "newspaper_in_fireplace": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 7.5,
+      "log_step": 143,
+      "text_zh": "观察：视频 6.5–14.5 s，机器人左夹爪在桌上报纸处反复开合；报纸始终留在桌上，视频 15.0–18.0 s 夹爪空手撤开。"
+     },
+     {
+      "t": 104.6,
+      "log_step": null,
+      "text_zh": "观察：视频 44.0 s、54.5 s 和103.7–104.6 s，报纸仍在原桌面，未见机器人携带报纸到壁炉或在炉内释放。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 6.5–14.5 s，机器人左夹爪向桌上的报纸靠近并开合，但没有把它带走；腕部画面被物体表面占据，头部视角不能辨清两指与物体的实际接触，故不认定抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–6.5 s，轮式底盘承载机器人驶向桌上的报纸的取物位置。"
+     }
+    ]
+   },
+   "firewood_positioned_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": 143,
+      "text_zh": "观察：视频 21.0–30.0 s，机器人左夹爪朝第一处地上的柴反复下探、开合及抬起，柴仍在地板上，桌上报纸未移动。"
+     },
+     {
+      "t": 42.0,
+      "log_step": null,
+      "text_zh": "观察：视频 31.0–42.0 s，机器人改在另一块柴处重复动作，两块柴仍可见于炉外地板；没有柴被带往壁炉或放在报纸上。"
+     },
+     {
+      "t": 104.6,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0.0，不允许末态有任一块柴同时满足新建立的炉内与报纸上关系；结合视频 21.0–42.0 s 的取柴失败及后续未搬柴画面，本节点全程未达到，末态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 21.0–30.0 s，机器人左夹爪向第一处地上的柴靠近并开合，但没有把它带走；腕部画面被物体表面占据，头部视角不能辨清两指与物体的实际接触，故不认定抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 18.0–21.0 s，轮式底盘承载机器人驶向第一处地上的柴的取物位置。"
+     }
+    ]
+   },
+   "firewood_positioned_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 37.0,
+      "log_step": 143,
+      "text_zh": "观察：视频 31.0–42.0 s，机器人左夹爪在第二处柴附近反复尝试，抬手后柴仍在地板；两块柴未在炉内报纸上就位。"
+     },
+     {
+      "t": 104.6,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0.0 排除末态两块柴均满足炉内且在报纸上；视频中未发生任何成功的搬柴入炉，本节点全程未达到。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 32.0–42.0 s，机器人左夹爪向第二处地上的柴靠近并开合，但没有把它带走；腕部画面被物体表面占据，头部视角不能辨清两指与物体的实际接触，故不认定抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 30.0–32.0 s，轮式底盘承载机器人驶向第二处地上的柴的取物位置。"
+     }
+    ]
+   },
+   "newspaper_on_fire": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 44.0,
+      "log_step": null,
+      "text_zh": "观察：视频 17.0 s、25.0 s、44.0 s 和54.5 s，报纸一直在桌上，其自身没有火焰；机器人没有将热源带到报纸处加热。"
+     },
+     {
+      "t": 104.6,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0.0 排除原先未成立的报纸着火目标在末态成立；视频至104.6 s 未见报纸自身燃烧，故记未达到。"
+     }
+    ]
+   },
+   "firewood_on_fire_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 37.0,
+      "log_step": null,
+      "text_zh": "观察：视频 21.0–42.0 s，两块柴在地板上均无自身火焰；机器人只尝试抓柴，未带着热源接近它们。"
+     },
+     {
+      "t": 104.6,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0.0 排除末态任一块柴着火；结合视频中的未点燃初态、未见点火过程和结束前未见火焰，本节点未达到。"
+     }
+    ]
+   },
+   "firewood_on_fire_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 42.0,
+      "log_step": null,
+      "text_zh": "观察：视频 31.0–42.0 s，两块柴仍在地面，均无自身燃烧效果；此后机器人回到桌边，没有对柴进行加热。"
+     },
+     {
+      "t": 104.6,
+      "log_step": null,
+      "text_zh": "推断：评分器 q_score=0.0 排除末态两块柴同时着火；视频中也没有两块柴燃烧的过程，本节点未达到。"
+     }
+    ]
+   },
+   "lighter_off": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "推断：DAG记载打火机初始关闭，视频 0.0 s 的打火机在桌上，近景视频 7.5 s、17.0 s、44.0 s 和54.5 s 均未见其自身火焰；没有出现成功拿起后由另一只手切换开关的过程，故判关闭条件从视频 0.0 s 延续。"
+     },
+     {
+      "t": 104.6,
+      "log_step": 144,
+      "text_zh": "推断：视频 54.0–55.0 s 腕部仍可见打火机留在桌上且无火焰，之后至视频104.6 s 机器人未再执行可见的开关操作。最终提交来源的诊断亦记录 lt_toggled=false（log step 144，仅作辅助）；综合判断末态关闭。该初始条件仍成立不计入 BEHAVIOR q_score，故与评分器 q_score=0.0 不矛盾。"
+     }
+    ]
+   },
+   "lighter_on": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 54.5,
+      "log_step": null,
+      "text_zh": "观察：视频 43.0–55.0 s，机器人回到桌边并伸出左夹爪；腕部视频 54.0–55.0 s 可见绿色打火机仍在桌上，没有自身火焰，未见另一只手执行开关触压。"
+     },
+     {
+      "t": 104.6,
+      "log_step": null,
+      "text_zh": "推断：结合视频 43.0–55.0 s 未成功取走打火机、其后至104.6 s 未再操作开关，未见从关闭变为开启，本可选事件未达到。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 47.0–55.0 s，机器人左夹爪向桌上的打火机靠近并开合，但没有把它带走；腕部画面被物体表面占据，头部视角不能辨清两指与物体的实际接触，故不认定抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 42.0–47.0 s，轮式底盘承载机器人驶向桌上的打火机的取物位置。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "newspaper_in_fireplace",
+   "t": 14.5,
+   "log_step": 143,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 6.5–14.5 s，机器人左夹爪在报纸上方反复闭合后抬起，报纸没有离开桌面；视频 15.0–18.0 s 机器人空手撤离并转向地上的柴，至视频104.6 s 报纸仍在桌上。这是首个尝试后未修复的步骤。log step 143 的最终生成尝试亦记录三次报纸 held=null、place_newspaper 失败；后续取柴、取打火机不构成修复。"
+  },
+  "unmet": {
+   "firewood_positioned_1": false,
+   "firewood_positioned_2": false,
+   "newspaper_on_fire": false,
+   "firewood_on_fire_1": false,
+   "firewood_on_fire_2": false,
+   "lighter_off": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 14.5,
+    "log_step": 143,
+    "evidence_zh": "观察：视频 6.5–14.5 s 机器人左夹爪反复接近报纸并开合，撤起时没有报纸随夹爪运动，视频17.0 s 报纸仍完整留在桌上；未见先持起再掉落的过程。推断：搬运所需的有效夹持未建立；这不表示完全排除手指曾擦碰报纸表面。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：最终生成尝试的 log step 143 记录报纸三次抓取均 held=null，末端目标误差依次约0.024、0.039、0.055米，随后报告 newspaper grasp failed；视频6.5–17.0 s 的反复空夹且报纸留桌与之相符。会话诊断 log step 127 也曾在末端接近目标时得到 contacts=[]、raycast=[]、held=null。证据支持抓取执行未建立有效夹持，尚不能区分接触几何、末端跟踪和辅助抓取匹配的具体贡献，故仅归为控制。"
+   }
+  ],
+  "gap_zh": "没有仿真状态日志或成功参考视频。头部和腕部画面不能分辨报纸、柴及打火机附近的指垫接触，相关 contact_actual 保留未知，并另记可见底盘移动；没有以空夹结果反推具体擦碰或抓握。视频末段打火机本体局部在画外，关闭条件的延续由初态、最后近景和之后未再操作综合推断。agent 在 log step 146 将失败归咎于辅助抓取射线配置，但未排除其他合法抓法，不能据此判任务或环境故障。log step 144 的 EXIT=139 出现在轨迹已保存并输出失败状态之后，log step 145 已确认提交文件可加载，不作为此次失败的外部中断。"
+ },
+ "summary_zh": "机器人尝试抓报纸、两块柴及打火机，但未完成任何搬运或点火，仅保留初始成立的打火机关闭条件，最终进度为1/7。首个未修复的失败位于视频约14.5 s 的报纸入壁炉步骤：左夹爪未建立有效夹持，根因证据支持控制问题。没有状态日志和成功参考视频，实际指垫接触以及更细的控制根因无法确认，末段打火机关闭状态为综合推断。",
+ "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 11 s、36 s、100 s 与标注一致：报纸、柴始终未被搬走，进度 1/7 合理，断点与现象无明显错误。",
+    "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": "2026-10-30T22:14:05Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-setting-the-fire-i00-privileged--esj2kh6/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-setting-the-fire-i00-privileged--esj2kh6/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bd5076dea71999af5fefe402fb9cf00efb4341a1310cfb2ca7b1478de1585d56",
+   "video_sha256": "cd6cf4a867f767b38d7d35b78f1ebf5423d98c9c0e00b2a3943f1ee43b7d9873",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-privileged--ijxe5kk.json b/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-privileged--ijxe5kk.json
new file mode 100644
index 0000000000000000000000000000000000000000..40ba6ab065439f3565c239d9ee52182bbf9d26b1
--- /dev/null
+++ b/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-privileged--ijxe5kk.json
@@ -0,0 +1,409 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-setting-the-fire-i00-privileged--ijxe5kk",
+ "taskKey": "behavior-1k/setting_the_fire",
+ "dag_sha256": "19507bd718341b3403b2bc2e2fbad8d813135099c25a0278caeff61f37511fd7",
+ "outcome": {
+  "success": 0,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 1,
+   "deterministic": 0,
+   "instance_ok": 1,
+   "instance_exact": 0,
+   "n_actions": 7765,
+   "sim_steps": 7765,
+   "final_reward": 1.0,
+   "q_score": 1.0,
+   "replay_wall_s": 1898.7,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 4,
+   "agent_resets": 1,
+   "agent_sim_steps": 23295,
+   "agent_records": 1,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-setting-the-fire-i00-privileged--ijxe5kk/replay.mp4",
+  "duration_s": 258.833,
+  "fps": 30.0,
+  "frames": 7765,
+  "sha256": "6e8489f543557e87676715add072be3885161c7393092326cd2f02ae9f39df34"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 1,
+  "peak": 7,
+  "final": 7,
+  "nodes": {
+   "newspaper_in_fireplace": {
+    "method": "visual",
+    "intervals": [
+     [
+      69.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 55,
+      "log_step": null,
+      "text_zh": "观察：视频 50–55 s 左腕画面可见左夹爪夹住报纸边缘；视频 55–60 s 报纸离开桌面随机器人驶向壁炉，桌上的绿色打火机留在原处。"
+     },
+     {
+      "t": 69.5,
+      "log_step": 143,
+      "text_zh": "观察：视频 68.5–70.5 s 左夹爪张开、撤离，燃烧的报纸留在炉内；视频 126–136 s 机器人继续用夹爪把报纸向炉内推平，报纸未退出壁炉。log step 143 的已录制回合工具反馈也记载报纸离手且 INSIDE=True。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左二指夹爪从侧面夹住报纸边缘，搬运进壁炉后张开释放。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：左夹爪先将桌上报纸推向桌边，入炉释放后又把报纸推向炉内铺平；不是双臂共同夹持。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：轮式底盘在取物处与壁炉间行驶，承载机械臂和所搬运物体。"
+     }
+    ]
+   },
+   "firewood_positioned_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      192.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 149,
+      "log_step": 197,
+      "text_zh": "观察：视频 145–151 s 左夹爪围住第1块柴，柴离开地板并随夹爪升高；视频 150 s 可见夹爪间的柴，另一块柴仍留在地板。"
+     },
+     {
+      "t": 192.0,
+      "log_step": 241,
+      "text_zh": "推断：视频 191.5–192.8 s 左夹爪在炉内放下第1块柴并撤离；报纸与落点近景受夹爪、柴和炉框遮挡，约视频 192.0 s 计为就位。log step 241 从最终交付录制数组读取首次开爪索引5747，5747/30=视频 191.57 s，与画面动作核对；7765个30赫兹动作也与7765帧、视频总长258.833 s吻合。"
+     },
+     {
+      "t": 199.7,
+      "log_step": 227,
+      "text_zh": "推断：视频 193–201 s 未见第1块柴被再次带出；已录制回合的 log step 227 报告离手后 ontop=True、inside=True、fire=True；最终评分器 all_success=1、q_score=1.0，且视频无相反画面，支持该关系持续到末态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左二指夹爪夹住第1块柴，搬到壁炉内后张开；右臂未协同持柴。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：轮式底盘在取物处与壁炉间行驶，承载机械臂和所搬运物体。"
+     }
+    ]
+   },
+   "firewood_positioned_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      258.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 220,
+      "log_step": 232,
+      "text_zh": "观察：视频 215–218 s 左夹爪在剩余柴两侧闭合；视频 219–223 s 柴从地板抬起并随夹爪、底盘离开取物处。"
+     },
+     {
+      "t": 258.8,
+      "log_step": 252,
+      "text_zh": "推断：视频 248–258.67 s 第2块柴仍横在左腕相机前；视频 258.73–258.80 s 夹爪开始张开，落点被柴及炉框遮住。最终评分器 all_success=1、q_score=1.0 表明两块柴均满足炉内且在报纸上的目标，故按本次实际评分规则计末态就位，时间取视频 258.8 s；不能仅凭遮挡将已被评分器接受的目标记未知。log step 252 的交付录制结束于7765控制步并报告两块柴 ontop=True、inside=True、HAND=None。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左二指夹爪夹持第2块柴从地面搬至炉内，视频末尾张开；右臂未共同持柴。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：轮式底盘在取物处与壁炉间行驶，承载机械臂和所搬运物体。"
+     }
+    ]
+   },
+   "newspaper_on_fire": {
+    "method": "visual",
+    "intervals": [
+     [
+      15.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 15.3,
+      "log_step": 47,
+      "text_zh": "推断：视频 9.5 s 起打火机出现火焰，随后报纸被加热；报纸起燃瞬间在所有相机视域边缘，采用视频约15.3 s作为保守确认锚点，真实起燃位于视频约10.3–15.3 s内。log step 47 的原始录制前缀在459控制步报告报纸温度1000摄氏度，459/30=视频15.3 s；该前缀后来在 log step 118、130 的新进程中重放并录入最终7765步文件，不能把失败的中途重置测试当成本段。"
+     },
+     {
+      "t": 21,
+      "log_step": null,
+      "text_zh": "观察：视频 20–23 s 桌上报纸自身有大团火焰，视频 55–70 s 机器人搬动报纸时火焰随报纸进入壁炉，绿色打火机留在桌上；视频 126–136 s 报纸仍有自身火焰。"
+     },
+     {
+      "t": 258.8,
+      "log_step": null,
+      "text_zh": "推断：视频 258.0–258.8 s 炉内仍有火焰；评分器 all_success=1、q_score=1.0 支持报纸燃烧目标末态为真。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：左夹爪在桌边闭合时手指持续触及绿色打火机开关，使其开启并在报纸旁加热；这里记录机器人启动热源的接触，未见打火机刚体直接擦压报纸。"
+     }
+    ]
+   },
+   "firewood_on_fire_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      191.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 191.7,
+      "log_step": null,
+      "text_zh": "推断：视频 185–191.5 s 左夹爪将第1块柴送到燃烧报纸附近，视频 191.67–192.5 s 左腕近景从柴下边缘的小团火焰扩展为包围柴的明亮火焰；结合放下后 log step 227 的 fire=True 及最终 all_success=1，约视频 191.7 s 计第1块柴已引燃，精确起燃时刻有遮挡误差。"
+     },
+     {
+      "t": 258.8,
+      "log_step": null,
+      "text_zh": "推断：视频 193–258.8 s 未见取走或熄灭第1块柴的动作，最终评分器 q_score=1.0、all_success=1 支持至少1块柴持续着火至末态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左夹爪持第1块柴送至炉内燃烧报纸附近、随后释放，使柴受热；点火来自报纸传热，未见机器人拿打火机触碰柴。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：轮式底盘在取物处与壁炉间行驶，承载机械臂和所搬运物体。"
+     }
+    ]
+   },
+   "firewood_on_fire_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      253.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 253.3,
+      "log_step": 249,
+      "text_zh": "推断：视频 248–252.7 s 第2块柴挡在左腕相机前，仅下方有火光；视频 253.3 s 起火焰扩展到柴前，视频 254–258.8 s 持续大面积可见。结合已录制回合 log step 249 报告 q_score从0.625升至0.75，以及最终 all_success=1、q_score=1.0，判第2块柴约视频 253.3 s 起已燃烧；单独邻近报纸的火光不作为此节点完成证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左夹爪持第2块柴进入燃烧报纸及第1块柴附近，调整位置至被引燃后才开爪；未见再次拿取打火机。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：轮式底盘在取物处与壁炉间行驶，承载机械臂和所搬运物体。"
+     }
+    ]
+   },
+   "lighter_off": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      9.5
+     ],
+     [
+      24.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–9.33 s 绿色打火机位于桌上，近景无自身火焰，符合DAG核实的初始关闭状态。"
+     },
+     {
+      "t": 24.0,
+      "log_step": 56,
+      "text_zh": "观察：视频 23.5–23.83 s 打火机喷口仍有黄焰；左夹爪闭合触压后，视频 24.0 s 喷口火焰消失且按钮恢复红色，视频 24.17–25.0 s 持续关闭。log step 56 的录制前缀工具反馈 LIGHT=False 与画面一致。"
+     },
+     {
+      "t": 258.8,
+      "log_step": null,
+      "text_zh": "推断：视频 29 s 后机器人转而搬运报纸、两块柴，未再操作打火机；视频 144 s、221 s 等远景仍见它留在桌上。最终评分器 all_success=1、q_score=1.0 支持关闭状态保持至末态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：左夹爪手指在视频约24.0 s闭合触压打火机开关，使喷口火焰熄灭；触压时夹爪也围住打火机外壳。"
+     }
+    ]
+   },
+   "lighter_on": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.5,
+      "log_step": 44,
+      "text_zh": "观察：视频 9.0–9.33 s 左夹爪两指在绿色打火机两侧合拢，视频 9.5–9.67 s 按钮由红变绿且喷口开始出现黄焰；log step 44 的录制前缀反馈 LIGHT=True。此为可选事件，开启后锁存，后来关闭不撤销事件。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：左夹爪闭合时手指持续压到打火机开关，夹爪同时围住外壳；喷口随即出现火焰。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–3 s 底盘驶向放有打火机的桌边，承载机械臂到达开关操作位置。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 1.0,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 295,
+   "where": "终态验收",
+   "evidence_zh": "观察：最终评分器 success=0、all_success=1、q_score=1.0、deterministic=0、instance_ok=1、grader_error=0；视频末尾仍在炉内放第2块柴，未见未修复的目标物理失败。log step 285、294 的两次新进程自检均success=True、q_score=1.0，但末态state_sha分别为0028c10458371d4e和e0b776f328c88c69；log step 295只断言各自成功和满分，未比较两者哈希。推断：拒收发生在跨重放确定性验收，DAG没有与该验收对应的语义节点，故ref取unknown，且不存在可定位的视频失败瞬间。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "任务设计问题：评分器在两次重放均完成目标（all_success=1、q_score=1.0）时仍因deterministic=0拒收；这是末态哈希一致性条件，不是视频中某个未完成的生火步骤，故不虚构机器人失败现象或根因。log step 285、294确证同初始哈希的新进程最终哈希不同，但没有逐状态日志，无法判断差异来自哪些物体或内部状态，也不能证明合法动作可消除该差异。inputs/有完整视频和run.json，但无状态日志和成功参考；炉框、腕部近景及火焰遮挡报纸起燃与柴落点，部分时间为近似推断，尤其报纸起燃位于视频约10.3–15.3 s内。版本差异：本次任务文本称目标成立即结束；log step 249到252仅再执行5控制步即成功，视频258.73–258.80 s刚开爪就结束，未显示DAG当前版要求的连续30步松手静止窗口；依实际评分将已接受的末态关系记真。",
+  "unmet": {
+   "firewood_positioned_1": true,
+   "firewood_positioned_2": true,
+   "newspaper_on_fire": true,
+   "firewood_on_fire_1": true,
+   "firewood_on_fire_2": true,
+   "lighter_off": true
+  }
+ },
+ "summary_zh": "机器人先在桌上点燃报纸并关闭打火机，约视频69.5 s将报纸放入壁炉，随后把两块柴送入炉内并引燃；按本次实际评分规则，7个必需节点末态均成立，期间第一块柴搬运中的倾倒及进炉受阻均在后续完成中修复。任务设计问题：评分器all_success=1、q_score=1.0却因deterministic=0判总失败，log step 285、294也显示两次成功重放的末态哈希不同，因此断在终态验收，无法归到某个失败的语义步骤。无状态日志，火焰及炉框遮挡部分关键时刻；最后一次开爪后即结束与DAG当前版30步静置验收不同，已按该运行实际接受规则标注。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "标注与证据一致：评分器 all_success=1、q_score=1.0 但 deterministic=0 拒收，7个节点末态按视频与评分器均成立，断点取 unknown/终态验收并以“任务设计问题”说明合理；最终7765步文件由新进程重放前缀后连续录制，未跨 restore 拼接，故不需要交付类根因。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:08:23Z",
+  "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-setting-the-fire-i00-privileged--ijxe5kk/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-setting-the-fire-i00-privileged--ijxe5kk/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bdb4422bb2d501397abde2e44c98e886297b8c0272decd3a3611ff4949ed803a",
+   "video_sha256": "6e8489f543557e87676715add072be3885161c7393092326cd2f02ae9f39df34",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-standard--aqscdp2.json b/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-standard--aqscdp2.json
new file mode 100644
index 0000000000000000000000000000000000000000..72766171e2b533ac8f318ed415d74b7935c51f8c
--- /dev/null
+++ b/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-standard--aqscdp2.json
@@ -0,0 +1,418 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-setting-the-fire-i00-standard--aqscdp2",
+ "taskKey": "behavior-1k/setting_the_fire",
+ "dag_sha256": "19507bd718341b3403b2bc2e2fbad8d813135099c25a0278caeff61f37511fd7",
+ "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": 52839,
+   "sim_steps": 52839,
+   "physics_steps": 211356,
+   "steps": 10759,
+   "elapsed_s": 13853.4,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.96,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.399,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-setting-the-fire-i00-standard--aqscdp2/replay.mp4",
+  "duration_s": 1761.3,
+  "fps": 30.0,
+  "frames": 52839,
+  "sha256": "5043d410bfa03aecb61ac5e479a5a1115dbe41407e4a3ec5a40d08b7638757ba"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "newspaper_in_fireplace": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 298,
+      "log_step": null,
+      "text_zh": "观察：视频 270、287、298 s 的右腕视角可见折叠报纸夹在右爪两指之间，报纸已经离开桌面，机器人携带它驶近壁炉。"
+     },
+     {
+      "t": 306,
+      "log_step": 436,
+      "text_zh": "观察：视频 301–303 s 右爪仍夹着报纸，视频 304–306.5 s 松手并撤回；视频 306、307、327 s 的头部视角可见白色报纸落在炉口前的木地板上，未进入抬高的炉内腔。"
+     },
+     {
+      "t": 1761.2,
+      "log_step": null,
+      "text_zh": "观察：后续粗查全片并细查视频 354–363、879–890、1759.5–1761.2 s，未见机器人重新拾取并把报纸送入炉内；末尾仍没有报纸入炉的完成画面。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右夹爪夹住折叠报纸的边缘，搬运后在壁炉前张开释放；左爪另持打火机，没有共同承托报纸。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "推断：结合 log step 227、293 的推纸操作与视频 140、173、207 s 报纸向桌边移动的画面，右爪先推移报纸，随后才夹取搬运。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 290–300 s 底盘载着右爪中的报纸从桌边驶向壁炉。"
+     }
+    ]
+   },
+   "firewood_positioned_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 330,
+      "log_step": 468,
+      "text_zh": "观察：视频 316–327 s 右腕视角可见右爪夹持第一块柴并搬到壁炉前；视频 327–330 s 撤手后，柴与白色报纸留在炉口外，未见柴在炉内报纸上静置。"
+     },
+     {
+      "t": 886,
+      "log_step": 1396,
+      "text_zh": "观察：视频 879–884 s 右爪再次确实夹起一块柴，视频 885–886 s 在炉口前释放；右腕视角显示浅色柴停在炉口下方的外沿，炉内可见区域没有报纸承托它。log step 1396 的脚本输出自称放柴成功，但不替代这个画面。"
+     },
+     {
+      "t": 1761.2,
+      "log_step": null,
+      "text_zh": "推断：视频末尾 1759.5–1761.2 s 没有出现符合判据的炉内报纸承柴状态；评分器 q_score=0、live_matches_replay=1，且初始已关闭打火机不计新增字面量，因此任一块柴的新增 inside 与 ontop 目标都未在末态成立，至少一块柴就位的 final 为 false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右夹爪包夹第一块柴并抬离地面，搬到炉边后张开放下；后续又有夹持与重放柴的动作。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 316–327 s 搬第一块柴时，底盘在取柴处与壁炉之间移动并承载柴。"
+     }
+    ]
+   },
+   "firewood_positioned_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 354,
+      "log_step": 494,
+      "text_zh": "观察：视频 338、346 s 右腕可见第二块柴被夹持，视频 354 s 柴落在壁炉前地板上，右爪已经撤开，没有两块柴同时在炉内报纸上的画面。"
+     },
+     {
+      "t": 886,
+      "log_step": 1396,
+      "text_zh": "观察：视频 735–875 s 的多次地面取柴动作之后，视频 879–884 s 才可见一块柴随右爪抬起，视频 886 s 再次放在炉口外沿；这次搬运没有把报纸搬入炉内，也没有建立两柴受炉内报纸承托的状态。"
+     },
+     {
+      "t": 1761.2,
+      "log_step": null,
+      "text_zh": "推断：末态评分器 q_score=0，live_matches_replay=1；结合视频 354、886、1761.2 s 的炉外柴和缺少炉内报纸的画面，两块柴同时 inside 且 ontop 报纸的合取为 false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右夹爪夹持另一块柴并搬至壁炉前释放；后续多次重新抓取，其中视频 879–884 s 可见柴确实离地随爪运动。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 338–354 s 底盘载着右爪中的柴从地面取物处返回壁炉前。"
+     }
+    ]
+   },
+   "newspaper_on_fire": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 915,
+      "log_step": 1407,
+      "text_zh": "观察：视频 884.5、889、915、951–956 s 的黄色火焰依附左爪中的绿色打火机，随打火机移动；纸不在炉内，未见报纸自身持续燃烧。"
+     },
+     {
+      "t": 1761.2,
+      "log_step": null,
+      "text_zh": "推断：视频 956.5–960 s 打火机熄灭后，没有留下报纸燃烧的火焰，后续粗查及视频 1759.5–1761.2 s 均未见点燃结果；末态 q_score=0 排除新增的报纸 on_fire 字面量，final 为 false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "无接触",
+      "how": "不适用",
+      "note_zh": "观察：设备完成：打火机传热点火的尝试；机器人左爪持打火机反复移向炉口并停留，视频 884.5–956 s 曾见打火机火焰，未见燃料自身持续着火。开关按钮的夹爪操作另记在打火机节点；没有把邻近火焰记作刚体接触。"
+     }
+    ]
+   },
+   "firewood_on_fire_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 951,
+      "log_step": 1407,
+      "text_zh": "观察：视频 885–886、915、951–956 s 火焰来自左爪中的打火机，未见1块柴自身持续燃烧；视频 956.5–960 s 打火机火焰消失后，炉口与可见柴没有留下燃烧火焰。"
+     },
+     {
+      "t": 1761.2,
+      "log_step": null,
+      "text_zh": "推断：后续多轮持打火机向炉口停留，包括视频 1675、1735–1761.2 s，仍未见柴的持续火焰；末态 q_score=0 排除两块柴新增 on_fire 字面量，至少1块柴点燃的 final 为 false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "无接触",
+      "how": "不适用",
+      "note_zh": "观察：设备完成：打火机传热点火的尝试；机器人左爪持打火机反复移向炉口并停留，视频 884.5–956 s 曾见打火机火焰，未见燃料自身持续着火。开关按钮的夹爪操作另记在打火机节点；没有把邻近火焰记作刚体接触。"
+     }
+    ]
+   },
+   "firewood_on_fire_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 951,
+      "log_step": 1407,
+      "text_zh": "观察：视频 885–886、915、951–956 s 火焰来自左爪中的打火机，未见2块柴自身持续燃烧；视频 956.5–960 s 打火机火焰消失后，炉口与可见柴没有留下燃烧火焰。"
+     },
+     {
+      "t": 1761.2,
+      "log_step": null,
+      "text_zh": "推断：后续多轮持打火机向炉口停留，包括视频 1675、1735–1761.2 s，仍未见柴的持续火焰；末态 q_score=0 排除两块柴新增 on_fire 字面量，至少2块柴点燃的 final 为 false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "无接触",
+      "how": "不适用",
+      "note_zh": "观察：设备完成：打火机传热点火的尝试；机器人左爪持打火机反复移向炉口并停留，视频 884.5–956 s 曾见打火机火焰，未见燃料自身持续着火。开关按钮的夹爪操作另记在打火机节点；没有把邻近火焰记作刚体接触。"
+     }
+    ]
+   },
+   "lighter_off": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      884.5
+     ],
+     [
+      956.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 73,
+      "log_step": null,
+      "text_zh": "观察：视频 73 s 左腕近景清楚显示绿色打火机而无自身火焰；结合 DAG 所述已核实初态，关闭状态从视频 0 s 计入。"
+     },
+     {
+      "t": 884.5,
+      "log_step": null,
+      "text_zh": "观察：视频 884 s 尚无打火机火焰，视频 884.5、885、886 s 左腕出现贴随绿色打火机的明显黄色火焰，关闭条件失去，边界约有 0.5 s 不确定性。"
+     },
+     {
+      "t": 956.5,
+      "log_step": 1437,
+      "text_zh": "观察：视频 953–956 s 头部及左腕视角均可见打火机喷出火焰；视频 956.5、957、958–960 s 火焰消失，绿色外壳与喷口附近可见，关闭条件恢复。"
+     },
+     {
+      "t": 1761.2,
+      "log_step": null,
+      "text_zh": "观察：视频 990、1100、1260、1447–1454、1759.5、1760.5、1761.2 s 的左腕视角继续可见打火机且无自身火焰；它末态仍为关闭。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：左夹爪始终夹住打火机，右夹爪多次靠近并合爪包夹其外壳或按钮端，随后张开撤回；两臂共同完成开关尝试（如视频 735、939、954–956 s）。首次可见火焰发生时，具体触发按钮的接触点被遮挡，不能确认是哪一根手指触发。"
+     }
+    ]
+   },
+   "lighter_on": {
+    "method": "visual",
+    "intervals": [
+     [
+      884.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 884.5,
+      "log_step": null,
+      "text_zh": "观察：视频 884–884.5 s 绿色打火机旁从无火焰变为明显黄色火焰，视频 885–886、889–915 s 仍可见火焰，首次开启约为视频 884.5 s；这是可选 event 节点，后来熄灭不撤销曾开启的事件。"
+     },
+     {
+      "t": 956,
+      "log_step": null,
+      "text_zh": "观察：视频 953–956 s 的头部视角可见左爪持绿色打火机且其喷口仍有黄色火焰，进一步确认曾开启，而不是把报纸或柴的火焰误认作打火机。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：左夹爪始终夹住打火机，右夹爪多次靠近并合爪包夹其外壳或按钮端，随后张开撤回；两臂共同完成开关尝试（如视频 735、939、954–956 s）。首次可见火焰发生时，具体触发按钮的接触点被遮挡，不能确认是哪一根手指触发。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "newspaper_in_fireplace",
+   "t": 304.0,
+   "log_step": 436,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 301–303 s 机器人右爪持报纸伸向壁炉，视频 304–306.5 s 松手撤回，视频 306、307、327 s 报纸却在炉口前的木地板上；后续搬柴、开关打火机和加热均未把报纸重新放进炉腔。该报纸放入步骤是最先发生且始终未修复的失败，不能改选后来的点火尝试。"
+  },
+  "unmet": {
+   "firewood_positioned_1": false,
+   "firewood_positioned_2": false,
+   "newspaper_on_fire": false,
+   "firewood_on_fire_1": false,
+   "firewood_on_fire_2": false,
+   "lighter_off": true
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 304.0,
+    "log_step": 436,
+    "evidence_zh": "观察：视频 303–306.5 s 右爪在炉口前释放报纸，视频 306、307、327 s 报纸停在外面的木地板上，抬高的炉内腔没有接到报纸；不是在目标内放下后才滚出。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：log step 435 的放纸脚本把右末端目标设为 [5.75,6.40,0.16]，随后按固定序列张爪并撤回（log step 436 执行），释放前没有依据报纸已进入炉腔的反馈作调整；视频 301–307 s 显示该放置动作确实把纸留在炉外。证据支持放置控制没有实现报纸所需的落点，尚不能进一步区分接触几何、逆解跟踪或目标估计误差。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频；壁炉边框和手臂遮挡了部分落点、柴与纸的接触面，无法精确恢复每块柴的瞬时原生 inside/ontop 值，末态由可见空间关系与 q_score=0 共同限定。开关原生 toggled_on 未记录，火焰变化边界约有 0.5 s 不确定性；首次开启的触发接触点被遮挡。报纸落在炉外的结果清楚，但缺少报纸位姿与末端跟踪记录，控制根因不细分。"
+ },
+ "summary_zh": "机器人把报纸和两块柴搬到壁炉前，并曾开启后熄灭打火机；七个必需节点末态仅“关闭打火机”成立，三项燃烧目标均未达成。最早未修复的失败在视频约 304 s：右爪把报纸释放在炉口外地板上，放置落点不准，后续未重新入炉。没有状态日志或成功参考，局部接触面被遮挡；末态柴就位与燃烧状态同时受评分器 q_score=0 约束，控制原因只能确定到大类。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "断点（视频约304 s 报纸落在炉口外地板）、各节点末态与 q_score=0 一致，抽查帧未发现矛盾；位姿不准 + 控制根因证据充分。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:28:38Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-setting-the-fire-i00-standard--aqscdp2/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-setting-the-fire-i00-standard--aqscdp2/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "141db10159e1289cc0ead47fa0f3c21637236ff44794e9ce32c749d8ed919d93",
+   "video_sha256": "5043d410bfa03aecb61ac5e479a5a1115dbe41407e4a3ec5a40d08b7638757ba",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-standard--gklyft6.json b/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-standard--gklyft6.json
new file mode 100644
index 0000000000000000000000000000000000000000..4be9de0b1c3015c4d7494114f0d3233811dcc78b
--- /dev/null
+++ b/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-standard--gklyft6.json
@@ -0,0 +1,404 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-setting-the-fire-i00-standard--gklyft6",
+ "taskKey": "behavior-1k/setting_the_fire",
+ "dag_sha256": "19507bd718341b3403b2bc2e2fbad8d813135099c25a0278caeff61f37511fd7",
+ "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": 65037,
+   "sim_steps": 65037,
+   "physics_steps": 260148,
+   "steps": 61200,
+   "elapsed_s": 13840.8,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-setting-the-fire-i00-standard--gklyft6/replay.mp4",
+  "duration_s": 2167.9,
+  "fps": 30.0,
+  "frames": 65037,
+  "sha256": "12c3f4e6ea5bec07f81254d9a77dbee0bb2796d0dcb92825d62a3f305aaad451"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "newspaper_in_fireplace": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 112.5,
+      "log_step": 117,
+      "text_zh": "观察：视频 109.0–114.0 s，左夹爪在带白色及褐色印刷块的报纸附近张开、合拢并抬起；头部视角中的报纸仍留在地面，未随夹爪离地。log step 117 的服务返回抬起后左夹爪开度为 0.0，agent 在 log step 119 自述“报纸已抓住”，画面不支持这一判断。"
+     },
+     {
+      "t": 142,
+      "log_step": 132,
+      "text_zh": "观察：视频 134.0–145.5 s，机器人把左夹爪伸向炉内再退出，右腕画面仍可见带印刷块的报纸在炉外地板上；没有报纸随手进入内腔并被放下的过程。"
+     },
+     {
+      "t": 2167.8,
+      "log_step": null,
+      "text_zh": "观察：视频 1220.0 s、1225.0 s 及 2166.9–2167.8 s，带相同印刷块的报纸仍在壁炉前的木地板上，柴块在报纸旁或炉口附近，报纸没有入炉。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 109.0–114.0 s 可定位左夹爪的取报纸尝试，但指垫与报纸的微小接触点不清；只能确认没有形成带起报纸的抓握，不能据闭合动作虚构实际抓握或触压。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 115.5–142.0 s 轮式底盘承载机械臂驶向壁炉，执行这次未成功的报纸搬运尝试。"
+     }
+    ]
+   },
+   "firewood_positioned_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 785,
+      "log_step": 291,
+      "text_zh": "观察：视频约 705–785 s，左夹爪夹住一块柴并随底盘搬到炉口；视频 1220.0–1225.0 s 可见一块柴在炉口前缘，另一块在外侧地板，带印刷块的报纸也在炉外。"
+     },
+     {
+      "t": 2167.8,
+      "log_step": null,
+      "text_zh": "推断：视频 112.5–114.0 s 的报纸未被带起，视频 142.0 s、1225.0 s 及 2167.8 s 均见报纸在炉外；后续搬柴、再抓及推进炉口没有补做报纸入炉，因此没有观察到任何柴同时在炉内且由报纸从下承托。评分器最终 q_score=0.0 也排除该两字面量组合在末态成立；初始关闭打火机不计入这个分数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 705–785 s，左夹爪两指夹住一块柴并搬到壁炉；随后还对炉口处的柴重新抓取搬动。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人抓柴后以轮式底盘载柴驶向壁炉，并在重新抓放时调整底盘位置。"
+     }
+    ]
+   },
+   "firewood_positioned_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1130,
+      "log_step": 348,
+      "text_zh": "观察：视频 1130.0 s 左腕视角可见另一块柴夹在左夹爪两指之间并随机器人搬运；视频 1225.0 s 两块柴仍分别位于炉口前缘与炉外，报纸在外侧木地板。"
+     },
+     {
+      "t": 1590,
+      "log_step": 425,
+      "text_zh": "观察：视频约 1575–1600 s，左夹爪沿炉口向内推进柴块，未见把炉外报纸移到柴下的动作；炉框遮住部分柴的最终落点。"
+     },
+     {
+      "t": 2167.8,
+      "log_step": null,
+      "text_zh": "推断：视频 2166.9–2167.8 s 报纸仍在炉外地板，未见两块柴在炉内报纸上静置。评分器 q_score=0.0 排除末态存在任一块同时满足 inside 与 ontop 的柴，因此“至少两块就位”也为假；这并不否认机器人确实搬动过两块柴。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 1130.0 s 左夹爪夹住第二次成功搬运的柴；此前也尝试用右臂取柴，但不把空夹计为实际抓握。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 1575–1600 s，左夹爪在炉口处向内推进柴块，与此前抓握搬运依次发生。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 1130–1225 s，底盘承载左臂所夹的柴向壁炉移动，后续调整工作位置。"
+     }
+    ]
+   },
+   "newspaper_on_fire": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2135,
+      "log_step": 524,
+      "text_zh": "观察：视频 2095.0–2135.0 s 左夹爪把绿色打火机持在炉口附近，打火机及炉内均没有火焰；视频 2166.9–2167.8 s 炉外带印刷块的报纸也未燃烧。"
+     },
+     {
+      "t": 2167.8,
+      "log_step": null,
+      "text_zh": "推断：从全片粗查及点火阶段近景未见报纸自身持续火焰，最终 q_score=0.0 排除新增的报纸 on_fire 字面量成立，末态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 2095.0 s 与 2135.0 s，左夹爪夹着绿色打火机，将其送到炉口并停留；这是机器人实施点火尝试的持热源接触，未见热源产生火焰，也未确认工具与燃料发生刚体接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 2075–2095 s，底盘载着左夹爪所持打火机驶回壁炉。"
+     }
+    ]
+   },
+   "firewood_on_fire_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2135,
+      "log_step": 524,
+      "text_zh": "观察：视频 2095.0–2135.0 s 机器人持打火机在炉口停留，视频 2158.0–2167.8 s 继续调整打火机；未见柴块自身产生火焰，炉口及可见柴仍为未燃烧外观。"
+     },
+     {
+      "t": 2167.8,
+      "log_step": null,
+      "text_zh": "推断：评分器最终 q_score=0.0，且视频中没有引燃后持续燃烧的现象，至少1块柴着火的条件末态不成立。初始关闭打火机不计入 q_score，不能将其误作新增着火进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 2095.0 s 与 2135.0 s，左夹爪夹着绿色打火机，将其送到炉口并停留；这是机器人实施点火尝试的持热源接触，未见热源产生火焰，也未确认工具与燃料发生刚体接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 2075–2095 s，底盘载着左夹爪所持打火机驶回壁炉。"
+     }
+    ]
+   },
+   "firewood_on_fire_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2135,
+      "log_step": 524,
+      "text_zh": "观察：视频 2095.0–2135.0 s 机器人持打火机在炉口停留，视频 2158.0–2167.8 s 继续调整打火机；未见柴块自身产生火焰，炉口及可见柴仍为未燃烧外观。"
+     },
+     {
+      "t": 2167.8,
+      "log_step": null,
+      "text_zh": "推断：评分器最终 q_score=0.0，且视频中没有引燃后持续燃烧的现象，至少2块柴着火的条件末态不成立。初始关闭打火机不计入 q_score，不能将其误作新增着火进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 2095.0 s 与 2135.0 s，左夹爪夹着绿色打火机，将其送到炉口并停留；这是机器人实施点火尝试的持热源接触，未见热源产生火焰，也未确认工具与燃料发生刚体接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 2075–2095 s，底盘载着左夹爪所持打火机驶回壁炉。"
+     }
+    ]
+   },
+   "lighter_off": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：DAG 的关闭打火机节点明确记载原生初始 not toggled_on 为真；视频 0.0 s 打火机尚在桌面附近，后续没有观察到其成功开启。"
+     },
+     {
+      "t": 1965,
+      "log_step": 517,
+      "text_zh": "观察：视频 1964.0–1985.0 s、2053.0–2067.5 s 的腕部近景显示打火机绿色外壳、红色按钮及灰色喷口，没有打火机火焰；视频 2095.0 s、2135.0 s 夹持到炉口时仍无火焰。"
+     },
+     {
+      "t": 2167.8,
+      "log_step": null,
+      "text_zh": "推断：视频 2158.0–2164.0 s 喷口附近可见且无火焰，视频最后一秒仍未出现火焰；结合初始关闭及整段操作未观察到开启结果，关闭状态从视频 0.0 s 保留至末态。这里是保留初始状态，不是完成了一次关机操作。"
+     }
+    ]
+   },
+   "lighter_on": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1980,
+      "log_step": 489,
+      "text_zh": "观察：视频 1977.0–1985.0 s 左夹爪围着打火机合拢又抬开，打火机未产生火焰；log step 489 的右臂按钮触压尝试返回末端未到所命令的按钮位置，不能据该脚本名称认定按钮被触发。"
+     },
+     {
+      "t": 2135,
+      "log_step": 528,
+      "text_zh": "观察：视频 2095.0 s 与 2135.0 s 可见左夹爪夹持绿色打火机，喷口没有火焰；视频 2158.0–2164.0 s 继续开合夹爪后，打火机仍未燃起。"
+     },
+     {
+      "t": 2167.8,
+      "log_step": 536,
+      "text_zh": "观察：视频 2166.9–2167.8 s 打火机留在炉口附近，未见开启火焰。agent 在 log step 536 也改称“先前停留没有作用，因为打火机从未开启”，但本节点判断依据为上述近景画面。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 2095.0 s 与 2135.0 s，左夹爪夹着绿色打火机，将其送到炉口并停留；这是机器人实施点火尝试的持热源接触，未见热源产生火焰，也未确认工具与燃料发生刚体接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约 2075–2095 s，底盘载着左夹爪所持打火机驶回壁炉。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "newspaper_in_fireplace",
+   "t": 112.5,
+   "log_step": 117,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 112.25–114.0 s，左夹爪合拢并抬起，但头部视角中的印刷报纸留在地板上；随后视频 134.0–145.5 s 的伸手、张爪没有把它放入内腔，视频 2167.8 s 仍见它在炉外。log step 119、153、178 却把抓取及入炉当作已完成，机器人转去搬柴而未补做此步。这是最早尝试后始终未修复的节点。"
+  },
+  "unmet": {
+   "firewood_positioned_1": false,
+   "firewood_positioned_2": false,
+   "newspaper_on_fire": false,
+   "firewood_on_fire_1": false,
+   "firewood_on_fire_2": false,
+   "lighter_off": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 112.5,
+    "log_step": 117,
+    "evidence_zh": "观察：视频 109.0–114.0 s 左夹爪张开、下降、合拢并上提，报纸没有随手离开地板，抬起后两指之间没有报纸；log step 117 返回抬起后的左夹爪开度为 0.0。未建立搬运所需的夹持接触，不能把后面空手伸入炉内算作报纸搬运。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "t": 142,
+    "log_step": 178,
+    "evidence_zh": "推断：agent 在 log step 119 将未带起报纸的动作判断为已抓住，log step 153、172、178 又把炉内灰白区域判断为报纸，并在 log step 178 将炉外印刷报纸认作“小标签盒子”，据此转去搬柴。视频 112.5–114.0 s、142.0 s、1225.0 s 及 2167.8 s 显示报纸仍在地板，炉内灰白底面与此前空炉时外观一致；这组物体身份和位置误判使失败的报纸步骤没有得到补救。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频。报纸取物时的细小指垫接触点看不清，故其目标接触填未知；可确认未形成带起报纸的抓握，但不能进一步区分抓取几何、执行跟踪或辅助抓取未触发等低层机制。炉框也遮住部分柴的落点；末态两级柴就位以炉外报纸的连续观察及 q_score=0.0 的上界判假，不将 agent 自述的“已放好”计为进度。打火机关闭的连续区间由初态与多段无火焰近景推断，没有原生开关状态流。"
+ },
+ "summary_zh": "观察：机器人多次搬动两块柴，并将打火机带到炉口尝试点火；末态仅保留初始“关闭打火机”，七个必需节点中一个为真，原生 q_score=0.0。推断：最早未修复的失败是报纸入壁炉，视频 112.5 s 左夹爪未带起报纸，agent 又把炉内底面误认作报纸而转去搬柴，视频 2167.8 s 报纸仍在炉外且全场未见持续燃烧。观察：无状态日志，指垫细小接触及部分柴落点被遮挡，低层抓取机制和开关连续状态仍有证据缺口。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "断点在报纸入壁炉（视频约112.5 s 左夹爪未带起报纸，报纸留在地板，末帧仍在炉外），与帧一致；节点值、q_score=0 的上界、lighter_off 从0起保留、现象与根因均有证据支持，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:22:25Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-setting-the-fire-i00-standard--gklyft6/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-setting-the-fire-i00-standard--gklyft6/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "691a5ccc2d44c9c0b69e41477ba27e1fb785d7fc71f31898f16a1e67fd027695",
+   "video_sha256": "12c3f4e6ea5bec07f81254d9a77dbee0bb2796d0dcb92825d62a3f305aaad451",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-standard--hzq5qqu.json b/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-standard--hzq5qqu.json
new file mode 100644
index 0000000000000000000000000000000000000000..818d25f71fe3d409eb1c3f366f0b15614bd8e5f5
--- /dev/null
+++ b/phase2/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-standard--hzq5qqu.json
@@ -0,0 +1,389 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-setting-the-fire-i00-standard--hzq5qqu",
+ "taskKey": "behavior-1k/setting_the_fire",
+ "dag_sha256": "19507bd718341b3403b2bc2e2fbad8d813135099c25a0278caeff61f37511fd7",
+ "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": 13250,
+   "sim_steps": 13250,
+   "physics_steps": 53000,
+   "steps": 1248,
+   "elapsed_s": 13967.2,
+   "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-setting-the-fire-i00-standard--hzq5qqu/replay.mp4",
+  "duration_s": 441.667,
+  "fps": 30.0,
+  "frames": 13250,
+  "sha256": "b2a8bca25616d2488ecff5caaa3c7775d6eb5f6b9f1eaa3eab5780ad31bda8b5"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "newspaper_in_fireplace": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17,
+      "log_step": 72,
+      "text_zh": "观察：视频15.5–17 s机器人左夹爪在桌上报纸上方合拢后抬起，夹爪为空，报纸仍在桌上；视频24–26 s再次抬手后报纸也未随手离桌。"
+     },
+     {
+      "t": 56,
+      "log_step": 142,
+      "text_zh": "观察：视频47–56 s机器人改用侧向接近，夹爪使报纸沿桌面向沙发一侧移位，未将它夹起；视频129–144 s又试夹，报纸仍未被搬向壁炉。"
+     },
+     {
+      "t": 441.6,
+      "log_step": null,
+      "text_zh": "推断：已检查全片粗采样及报纸操作段、视频439.6–441.6 s尾段；报纸从未随夹爪转运入炉，后段机器人搬的是长条柴，因此报纸入炉事件未达成。后段报纸具体落点被桌沿和沙发遮挡。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频15.5–24 s左夹爪向下接触桌上报纸表面；左右夹爪先后试夹，未见报纸被两指夹住并带离桌面。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频47–56 s及129–144 s夹爪侧向接近时推移报纸，将其推向桌边和沙发；这些是推碰而非成功抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频9–15 s轮式底盘转向并驶近茶几，承载机械臂到报纸取物位置。"
+     }
+    ]
+   },
+   "firewood_positioned_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 350,
+      "log_step": 449,
+      "text_zh": "观察：视频341–350 s左夹爪合拢并将一块长条柴从地板提起，随后底盘带柴转向、驶近壁炉。"
+     },
+     {
+      "t": 375,
+      "log_step": 487,
+      "text_zh": "观察：视频368–375 s机器人把所持柴伸向炉口并张爪，视频376–384 s可见柴落下、转动；画面中没有报纸在柴下方承托，不能把送到炉口算作本节点完成。"
+     },
+     {
+      "t": 441.6,
+      "log_step": null,
+      "text_zh": "推断：报纸未被转移至炉内，柴与报纸承托关系未建立；评分器最终q_score=0.0且live_matches_replay=1也排除任一新增的柴在报纸上及炉内关系同时成立，故最终为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频341–350 s左夹爪两指夹住第一块柴并提离地板，视频357–374 s保持夹持、搬向炉口，随后张爪。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频357–369 s底盘带着左夹爪所持柴转向并行驶至壁炉前。"
+     }
+    ]
+   },
+   "firewood_positioned_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 430,
+      "log_step": 628,
+      "text_zh": "观察：视频415–430 s机器人左夹爪在地面候选位置反复下降、闭合和抬起，未见第二块柴被送至壁炉。"
+     },
+     {
+      "t": 441.6,
+      "log_step": 661,
+      "text_zh": "观察：视频431–441.6 s腕部近景可见长条柴仍在取物处、被夹爪碰动和转向；视频最后一秒机器人仍在柴旁开合夹爪，没有把第二块柴搬入炉内报纸上。"
+     },
+     {
+      "t": 441.6,
+      "log_step": null,
+      "text_zh": "推断：第一块柴就位关系尚未建立，画面亦未出现两块柴在炉内报纸上；评分器q_score=0.0进一步决定本节点最终为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频431–441.6 s左夹爪下降和试夹时碰动第二块长条柴，使其在取物处移位、转向；未见两指稳定夹持并搬走。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频412–418 s及约438 s底盘转向、移动，调整左臂接近第二块柴的位置。"
+     }
+    ]
+   },
+   "newspaper_on_fire": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 125,
+      "log_step": null,
+      "text_zh": "观察：视频124.6–142 s的火焰出自绿色打火机的端部；报纸仍在桌面另一侧，没有报纸自身持续燃烧的画面。"
+     },
+     {
+      "t": 441.6,
+      "log_step": null,
+      "text_zh": "推断：全片未见机器人将热源送至报纸，也未见报纸自身火焰；评分器最终q_score=0.0且live_matches_replay=1，报纸着火不是初始成立的字面量，因此最终报纸着火为假。"
+     }
+    ]
+   },
+   "firewood_on_fire_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 350,
+      "log_step": null,
+      "text_zh": "观察：视频341–350 s被左夹爪提起的柴没有自身火焰；视频368–384 s送柴到炉口、松手及抽手期间，也未见柴燃烧。"
+     },
+     {
+      "t": 441.6,
+      "log_step": null,
+      "text_zh": "观察：视频431–441.6 s取物处的另一块柴没有自身火焰，机器人未把打火机带来点柴。"
+     },
+     {
+      "t": 441.6,
+      "log_step": null,
+      "text_zh": "推断：全片未见柴自身燃烧，评分器最终q_score=0.0且live_matches_replay=1；柴着火字面量初始为假，故至少1块柴着火的最终条件为假。"
+     }
+    ]
+   },
+   "firewood_on_fire_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 350,
+      "log_step": null,
+      "text_zh": "观察：视频341–350 s被左夹爪提起的柴没有自身火焰；视频368–384 s送柴到炉口、松手及抽手期间，也未见柴燃烧。"
+     },
+     {
+      "t": 441.6,
+      "log_step": null,
+      "text_zh": "观察：视频431–441.6 s取物处的另一块柴没有自身火焰，机器人未把打火机带来点柴。"
+     },
+     {
+      "t": 441.6,
+      "log_step": null,
+      "text_zh": "推断：全片未见柴自身燃烧，评分器最终q_score=0.0且live_matches_replay=1；柴着火字面量初始为假，故至少2块柴着火的最终条件为假。"
+     }
+    ]
+   },
+   "lighter_off": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      124.5
+     ],
+     [
+      199.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 14,
+      "log_step": null,
+      "text_zh": "观察：视频13–15 s桌上绿色打火机可见，按钮为红色、无自身火焰；与DAG所记初始关闭条件一致。"
+     },
+     {
+      "t": 124.6,
+      "log_step": null,
+      "text_zh": "观察：视频124.4 s左夹爪手指靠在打火机按钮处，视频124.6 s按钮变绿并出现黄色火焰；关闭状态在约视频124.5 s失去。"
+     },
+     {
+      "t": 199,
+      "log_step": null,
+      "text_zh": "观察：视频198.8 s按钮仍为绿色，视频199.0 s左手指接触处按钮变红，火焰随后衰减，视频201 s已无自身火焰；约视频199 s恢复关闭，时间精度约0.5 s。"
+     },
+     {
+      "t": 252,
+      "log_step": null,
+      "text_zh": "推断：视频201–252 s连续近景显示红色按钮及熄灭的打火机；之后机器人离开茶几操作柴，未再接近打火机，故关闭状态延续到视频441.667 s末。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频约199 s左夹爪手指接触桌上打火机的按钮，按钮由绿变红、火焰熄灭；发生在反复尝试抓取打火机过程中。"
+     }
+    ]
+   },
+   "lighter_on": {
+    "method": "visual",
+    "intervals": [
+     [
+      124.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 124.6,
+      "log_step": null,
+      "text_zh": "观察：视频124.2–124.6 s左夹爪手指接触桌上打火机端部按钮，按钮由红变绿，打火机自身冒出黄色火焰；开启事件在约视频124.5 s达成。视频随后持续有火焰，直至约视频199 s关闭。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频124.2–124.6 s左夹爪手指触压打火机按钮，随后出现打火机火焰。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "unit": "1",
+   "threshold": null,
+   "direction": "higher_better",
+   "value": 0.0
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "newspaper_in_fireplace",
+   "t": 17.0,
+   "log_step": 72,
+   "where": "操作中",
+   "evidence_zh": "观察：视频15.5–17 s机器人左夹爪在报纸上方闭合后空手抬起，报纸留在桌面；视频24–26 s、47–56 s及129–144 s的重试仍未搬起报纸。log step 72是agent脚本的抬起检查，log step 101中agent自述向下抓报纸均未抓到；后续直到视频441.6 s没有完成报纸入炉，因此这是最早始终未修复的步骤。"
+  },
+  "unmet": {
+   "firewood_positioned_1": false,
+   "firewood_positioned_2": false,
+   "newspaper_on_fire": false,
+   "firewood_on_fire_1": false,
+   "firewood_on_fire_2": false,
+   "lighter_off": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 17.0,
+    "log_step": 72,
+    "evidence_zh": "观察：视频16.5–17 s左夹爪合拢、抬起，报纸没有随手离桌；视频24–26 s抬手后仍为空夹，视频47–56 s侧向尝试只推移报纸。缺少的是能提起报纸的两指抓握接触，已有的推压接触不等于抓住；未见先持住再滑落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 17.0,
+    "log_step": 81,
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "推断：视频15.5–26 s多次合爪及抬手都没有建立抓握，视频47–56 s改为侧向接近后仍只把报纸推走；log step 81中服务反馈左爪开度从约0.058 m降到0.0011 m，log step 104右爪也几乎闭合到零，log step 142再次合爪后开度约0。结合报纸始终留在支承面上的画面，问题发生在实际抓取动作和接触建立；没有证据认定目标理解错误，也不足以进一步区分接触几何与逆解跟踪的贡献，故根因仅标控制。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频，无法核实辅助抓取标志、精确接触对及关节碰撞；视频144 s后报纸具体落点被桌沿和沙发遮挡，但未见任何报纸转运入炉，故不据agent猜测补记搬运。燃烧节点最终值同时用评分器q_score=0.0作逻辑约束；初始已成立的打火机关闭不计入该分数。打火机最后直接可见约在视频252 s，最终关闭由此后未再操作推断；控制根因保留大类，未臆定具体控制子类。"
+ },
+ "summary_zh": "机器人未能夹起并转运报纸，最早在视频约17 s空手抬起后留下未修复的报纸入炉失败，现象为未建立有效抓握接触，根因证据支持控制问题。随后机器人曾开启并关闭打火机，也抓起一块柴送到炉口，但没有建立柴在炉内报纸上的关系，报纸和两块柴均未点燃；必需节点最终1/7，仅打火机关闭成立，可选开启事件已达成。无状态日志，后段报纸落点及打火机末帧状态有遮挡，最终燃烧与摆放判定结合画面和评分器零分约束。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "未发现需要修改的错误：打火机开启约124.5 s、关闭约199 s与帧一致；报纸始终未入炉，柴被搬到炉口但没有报纸承托，各燃烧节点为假，断点在报纸抓取、现象为没建立接触、根因停在控制，均有视频支持。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:23:51Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-setting-the-fire-i00-standard--hzq5qqu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-setting-the-fire-i00-standard--hzq5qqu/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d74cfe4451c0ec1efefd42b589dca34f5866037d341f4a421cffbdbae6a29c9c",
+   "video_sha256": "b2a8bca25616d2488ecff5caaa3c7775d6eb5f6b9f1eaa3eab5780ad31bda8b5",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-privileged--3ymcdmv.json b/phase2/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-privileged--3ymcdmv.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d365ca6380958bc8371bd766e5acf909de49b8f
--- /dev/null
+++ b/phase2/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-privileged--3ymcdmv.json
@@ -0,0 +1,278 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-sorting-bottles-cans-and-paper-i00-privileged--3ymcdmv",
+ "taskKey": "behavior-1k/sorting_bottles_cans_and_paper",
+ "dag_sha256": "c6a17fb377bf88080da35329a4db6429ac0880e966001b02e8b92aa5a65071e4",
+ "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": 386,
+   "sim_steps": 386,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 824.8,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 2,
+   "agent_resets": 68,
+   "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": 0,
+   "peak_gpu_memory_gb": 7.006,
+   "peak_memory_gb": 10.084,
+   "peak_processes": 27,
+   "peak_disk_gb": 1.314,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-sorting-bottles-cans-and-paper-i00-privileged--3ymcdmv/replay.mp4",
+  "duration_s": 12.867,
+  "fps": 30.0,
+  "frames": 386,
+  "sha256": "ee37b1cc7cf566616f613b62e9eed9d0d82296e7c12259c07a2a9d49fca46235"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "wine_bottles_in_bucket_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0–10.6 s 机器人从起点驶入厨房并把左夹爪移向地面酒瓶；视频 10.6–12.83 s 腕部画面显示酒瓶仍在地面，左夹爪靠近瓶口并闭合，未见酒瓶离地或被搬进桶内。"
+     },
+     {
+      "t": 12.8,
+      "log_step": null,
+      "text_zh": "推断：结合视频全程没有酒瓶入桶动作、任务初态目标未成立及 inputs/run.json 中评分器 q_score=0.0，至少一个酒瓶入合格桶的条件在终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0–约 8 s 轮式底盘承载机器人从起点驶入厨房，接近待取的地面酒瓶。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 11.8–12.83 s 左夹爪指尖在酒瓶瓶口附近闭合，指尖与瓶口重叠；腕部及头部画面不能确认具体接触面，也不能确认形成对向夹持。此项指左夹爪与酒瓶的交互，不把闭爪指令当作已发生抓握。"
+     }
+    ]
+   },
+   "wine_bottles_in_bucket_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0–12.83 s 机器人仅接近并尝试夹取一个地面酒瓶，没有酒瓶到桶的搬运或释放。"
+     },
+     {
+      "t": 12.8,
+      "log_step": null,
+      "text_zh": "推断：任务初态两个酒瓶均未入桶，视频没有建立任何酒瓶入桶关系，评分器 q_score=0.0 亦不允许终态存在新增的酒瓶入桶目标；两个酒瓶同桶条件始终未达成。"
+     }
+    ]
+   },
+   "soda_cans_in_bucket_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0–12.83 s 机器人驶入厨房后仅向地面酒瓶伸出左夹爪，未对汽水罐执行取放，也没有向桶内投放物体。"
+     },
+     {
+      "t": 12.8,
+      "log_step": null,
+      "text_zh": "推断：结合任务初态汽水罐均未入桶、视频没有搬运汽水罐及评分器 q_score=0.0，至少一个汽水罐入桶条件未曾达成，终态为假。"
+     }
+    ]
+   },
+   "soda_cans_in_bucket_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0–12.83 s 机器人驶入厨房后仅向地面酒瓶伸出左夹爪，未对汽水罐执行取放，也没有向桶内投放物体。"
+     },
+     {
+      "t": 12.8,
+      "log_step": null,
+      "text_zh": "推断：结合任务初态汽水罐均未入桶、视频没有搬运汽水罐及评分器 q_score=0.0，两个汽水罐同桶条件未曾达成，终态为假。"
+     }
+    ]
+   },
+   "newspaper_in_bucket": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0–12.83 s 机器人仅接近并尝试夹取地面酒瓶，未取放报纸，未向桶内释放任何物体。"
+     },
+     {
+      "t": 12.8,
+      "log_step": null,
+      "text_zh": "推断：结合任务初态报纸未入桶、视频没有相关搬运及评分器 q_score=0.0，报纸入合格桶条件始终未成立，终态为假。"
+     }
+    ]
+   },
+   "magazine_in_bucket": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0–12.83 s 机器人仅接近并尝试夹取地面酒瓶，未取放杂志，未向桶内释放任何物体。"
+     },
+     {
+      "t": 12.8,
+      "log_step": null,
+      "text_zh": "推断：结合任务初态杂志未入桶、视频没有相关搬运及评分器 q_score=0.0，杂志入合格桶条件始终未成立，终态为假。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "wine_bottles_in_bucket_1",
+   "t": 11.9,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 10.6 s 起机器人左夹爪对准地面酒瓶，视频约 11.9 s 指尖在瓶口附近合拢后停住，至视频 12.83 s 酒瓶仍留在地面，未开始持瓶搬运；整段视频未出现酒瓶入桶。推断：最早未修复的失败属于第1个酒瓶入桶步骤的取瓶阶段。"
+  },
+  "unmet": {
+   "wine_bottles_in_bucket_1": false,
+   "wine_bottles_in_bucket_2": false,
+   "soda_cans_in_bucket_1": false,
+   "soda_cans_in_bucket_2": false,
+   "newspaper_in_bucket": false,
+   "magazine_in_bucket": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 11.9,
+    "log_step": null,
+    "evidence_zh": "观察：视频 11.8–12.83 s 左夹爪闭合在瓶口附近，酒瓶没有离开地面，未见先持稳后滑落的过程。推断：所需的有效抓持未建立，失败发生在取瓶阶段，尚未进入向桶搬运或放置阶段。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 11.9,
+    "log_step": 2155,
+    "source_zh": "视频 / 日志",
+    "evidence_zh": "观察：视频 11.8–12.83 s 机器人左夹爪已到酒瓶附近并闭合，但没有取起酒瓶。会话诊断 log step 2155 记录左夹爪检测到酒瓶接触、辅助抓取射线命中集合为空、object_in_hand=None；这是会话取瓶调试证据，未当作评分回放的逐帧状态。推断：失败集中于建立有效抓持的控制环节；现有证据不足以区分接触几何不合适与末端执行误差，故不指定控制子类。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频。末段左夹爪与瓶口在腕部画面重叠，头部画面看不到精细接触，无法确认真实接触方式，故该交互标未知。日志含大量重置及独立调试：log step 2091 的“两瓶在桶内”读数不属于视频所示的评分轨迹，不能计入进度；log step 2147 的执行脚本含抓取断言和 finally 保存，但 log step 2149 只有异步启动返回，没有该次录制结束与保存的实际返回，因此不能断言评分短轨迹必因该断言退出，也不另标交付根因。各物品终态结合初态、视频没有搬运及评分器 q_score=0.0 判断，非依据 agent 的会话成功说法。"
+ },
+ "summary_zh": "评分轨迹中机器人驶入厨房，只尝试夹取一个地面酒瓶，未搬起或向桶内放入任何物品，六个节点最终均未达成（0/6，q_score=0.0）。断点为第1个酒瓶入桶：视频约 11.9 s 左夹爪在瓶口附近闭合后未建立有效抓持，根因归控制；没有状态日志，精细接触方式及短轨迹结束的确切原因不能确认，会话调试中的成功取放不计入评分进度。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "六个节点均为假、q_score=0 与帧一致（视频 12.3 s 腕部画面可见左夹爪合拢在瓶口、酒瓶仍在地面）；断点、现象、根因范围克制，已说明会话读数不计入评分进度，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:00:55Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-sorting-bottles-cans-and-paper-i00-privileged--3ymcdmv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-sorting-bottles-cans-and-paper-i00-privileged--3ymcdmv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "306185f17bf8bcb70aa8056ede5eab930c7af30cf83dac4756dae84cda0f3583",
+   "video_sha256": "ee37b1cc7cf566616f613b62e9eed9d0d82296e7c12259c07a2a9d49fca46235",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-privileged--kxxpdpb.json b/phase2/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-privileged--kxxpdpb.json
new file mode 100644
index 0000000000000000000000000000000000000000..e37078cf8b483af5073951f4b4ddde471466cf7b
--- /dev/null
+++ b/phase2/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-privileged--kxxpdpb.json
@@ -0,0 +1,356 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-sorting-bottles-cans-and-paper-i00-privileged--kxxpdpb",
+ "taskKey": "behavior-1k/sorting_bottles_cans_and_paper",
+ "dag_sha256": "c6a17fb377bf88080da35329a4db6429ac0880e966001b02e8b92aa5a65071e4",
+ "outcome": {
+  "success": 0,
+  "reward": 0.3125,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 3703,
+   "sim_steps": 3703,
+   "fallen": 0,
+   "final_reward": 0.3125,
+   "q_score": 0.3125,
+   "replay_wall_s": 1416.5,
+   "replay_timeout_s": 3668.7,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 3,
+   "agent_resets": 3,
+   "agent_sim_steps": 4634,
+   "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-sorting-bottles-cans-and-paper-i00-privileged--kxxpdpb/replay.mp4",
+  "duration_s": 123.433,
+  "fps": 30.0,
+  "frames": 3703,
+  "sha256": "a9613099ea292523106bda293732c23befbd4de7fdd912ef50b5c21cae8e05fc"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "wine_bottles_in_bucket_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 95.0,
+      "log_step": null,
+      "text_zh": "观察：视频 89.0–95.0 s，机器人左夹爪夹住灶旁酒瓶并提离台面；报纸仍留在台面。随后机器人持瓶驶向另一酒瓶。"
+     },
+     {
+      "t": 123.4,
+      "log_step": null,
+      "text_zh": "观察：视频 108.0–120.0 s，机器人两爪各持一个酒瓶移动；视频 122.5–123.4 s，左腕视角中的酒瓶仍被夹爪夹着，右爪所持另一酒瓶靠近浅蓝色桶沿，未见任何酒瓶松手落稳在桶内。故第1个合格酒瓶入桶条件始终未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：先由机器人左二指夹爪夹起台面酒瓶；后来右爪另夹一瓶，左右爪各夹一瓶共同搬运，直到视频结束左爪仍持瓶。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人底盘持瓶从灶台驶向地面第二个酒瓶，再双爪持瓶移向目标桶。"
+     }
+    ]
+   },
+   "wine_bottles_in_bucket_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 107.5,
+      "log_step": null,
+      "text_zh": "观察：视频 103.0–107.5 s，机器人左爪保持第一瓶，右爪接近地面另一酒瓶，闭爪将其提起；之后双腕视角各可见一个所持酒瓶。"
+     },
+     {
+      "t": 123.4,
+      "log_step": null,
+      "text_zh": "观察：视频 122.5–123.4 s，机器人右爪所持酒瓶停在浅蓝色桶沿附近，左爪仍持另一瓶，未见松手与两瓶同桶静置。全段视频没有已放入桶内的合格酒瓶，因此第2个酒瓶入桶条件未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：机器人左夹爪保持第一瓶，右二指夹爪夹起地面第二瓶，随后两手各握一瓶协同搬运，末尾右爪仍夹着第二瓶。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：底盘在左爪持瓶时驶向第二个酒瓶，双爪持瓶后继续向放置位置移动。"
+     }
+    ]
+   },
+   "soda_cans_in_bucket_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      21.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 14.5,
+      "log_step": null,
+      "text_zh": "观察：视频 11.0–14.5 s，机器人右夹爪夹住地面蓝色汽水罐，将其提离原处，随后底盘驶向浅蓝色桶。"
+     },
+     {
+      "t": 21.0,
+      "log_step": null,
+      "text_zh": "观察：视频 19.5–21.0 s，右腕视角显示汽水罐离开夹爪并落在浅蓝色桶内；视频 21.0 s 已躺在桶底。视频 34.8–35.8 s 再次可见它仍在该桶内，之后机器人未再取出汽水罐。到达时间按可见落稳估计，误差约0.5秒。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人右二指夹爪夹住地面汽水罐，搬至浅蓝色桶后松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：底盘承载机器人及右爪所持汽水罐，从取物位置驶到浅蓝色桶旁。"
+     }
+    ]
+   },
+   "soda_cans_in_bucket_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      35.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 31.5,
+      "log_step": null,
+      "text_zh": "观察：视频 27.0–31.5 s，机器人左夹爪从水槽旁台面夹起第二个蓝色汽水罐；其原台面位置变空，罐随左爪移走。"
+     },
+     {
+      "t": 35.5,
+      "log_step": null,
+      "text_zh": "观察：视频 34.5–35.8 s，机器人左夹爪在同一浅蓝色桶上方松开第二个罐；左腕视角显示原先的罐和新放入的罐同处桶内，新罐在视频 35.5 s 附近落稳。后续无取罐或向该桶混入异类的动作。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左二指夹爪直接夹住台面汽水罐，运至已有汽水罐的桶内后松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人底盘在台面取罐位置与浅蓝色桶之间移动并承载所持汽水罐。"
+     }
+    ]
+   },
+   "newspaper_in_bucket": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 66.5,
+      "log_step": null,
+      "text_zh": "观察：视频 61.0–69.5 s，机器人左夹爪在灶具旁台面拨推报纸，报纸在台面上移动、转动，但没有被带离台面。"
+     },
+     {
+      "t": 73.8,
+      "log_step": null,
+      "text_zh": "观察：视频 70.0–73.8 s，机器人左夹爪靠近报纸边缘并闭合、撤回；视频 73.8–74.0 s 夹爪已空着撤离，报纸仍平放台面。视频 75.0–83.5 s 机器人空手在杂志桶旁执行后续动作；视频 89.0–96.0 s 再次看到报纸仍在灶旁台面，之后未再搬报纸。"
+     },
+     {
+      "t": null,
+      "log_step": 240,
+      "text_zh": "观察：log step 220、240 的独立调试输出曾报告持有报纸及报纸入桶，但其间存在恢复检查点；这与评分视频中的报纸留在台面不符，因此不把这些调试结果计为本次轨迹进展。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 61.0–69.5 s，机器人左夹爪拨推报纸使其沿台面移位；随后尝试在纸边闭爪，但未见能提起报纸的有效夹持，故不标成功抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人底盘驶到灶旁报纸位置，夹取失败后又空手驶往纸品桶旁执行放置动作。"
+     }
+    ]
+   },
+   "magazine_in_bucket": {
+    "method": "visual",
+    "intervals": [
+     [
+      53.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 45.5,
+      "log_step": null,
+      "text_zh": "观察：视频 40.0–45.5 s，机器人左夹爪夹住人物封面的杂志边角，杂志离开水槽旁台面并随左臂抬起。"
+     },
+     {
+      "t": 53.0,
+      "log_step": null,
+      "text_zh": "观察：视频 51.0–53.5 s，机器人将杂志送入深色桶并张开左夹爪，杂志留在桶底；视频 56.0 s、75.0 s、108.0 s 仍可见杂志留在该桶，桶内未出现酒瓶或汽水罐。按视频 53.0 s 的松手落稳画面记到达，误差约0.5秒。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机器人左二指夹爪夹住杂志边角，搬到深色纸品桶内后松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：底盘承载左爪所持杂志，从水槽台面驶向深色纸品桶。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.3125,
+   "unit": "比例",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "newspaper_in_bucket",
+   "t": 73.8,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 70.0–73.8 s，机器人左夹爪在报纸边缘闭合并撤回，但报纸仍平放灶旁台面，撤回的夹爪为空。视频 75.0–83.5 s 机器人空手执行向纸品桶放置的动作，视频 89.0–96.0 s 报纸仍在原台面；该步从未修复，是此前两个汽水罐及杂志入桶后首个未完成的已尝试步骤。"
+  },
+  "unmet": {
+   "wine_bottles_in_bucket_1": false,
+   "wine_bottles_in_bucket_2": false,
+   "soda_cans_in_bucket_1": true,
+   "soda_cans_in_bucket_2": true,
+   "newspaper_in_bucket": false,
+   "magazine_in_bucket": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 73.8,
+    "log_step": null,
+    "evidence_zh": "观察：视频 72.3–73.8 s，机器人左夹爪靠向报纸悬出边缘、闭合并抬退，报纸没有随夹爪离开台面；视频 74.0 s 夹爪为空，报纸仍在台面。先前拨推接触确实使报纸移位，但搬运需要的夹持始终没有建立。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "视频",
+    "evidence_zh": "推断：视频 61.0–69.5 s 的拨推能使报纸移位，视频 70.0–74.0 s 的纸边闭爪和抬退却未夹起报纸；失败发生在把纸边纳入有效夹持的具体操作中。机器人随后空手继续放置动作。证据支持夹取执行层面的控制问题，但不足以细分为接触几何不合适或逆解、跟踪误差。"
+   }
+  ],
+  "gap_zh": "没有状态日志和成功参考视频，无法核对报纸夹取时的接触对、关节跟踪与辅助抓取状态，因此控制根因不细分；入桶落稳时间按画面估计，约有0.5秒误差。日志含多次恢复检查点和独立调试，log step 240 的报纸入桶读数与评分视频不符，仅作会话证据；不据此断言回放或交付错误。评分器只报告总 q_score，未提供逐物体终态。"
+ },
+ "summary_zh": "评分轨迹完成两个汽水罐同桶及杂志入纸品桶，最终3/6节点成立。机器人在视频约73.8 s 未能夹起报纸，随后空手执行放置，报纸始终留在台面；这是最早未修复的失败，证据支持控制问题，两个酒瓶虽被夹起但到视频123.4 s仍未松手入桶。没有状态日志，不能进一步区分报纸夹取的接触几何与运动跟踪原因，日志中的检查点调试成功不计入本次轨迹。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "抽查帧与标注一致：汽水罐约21 s、35.5 s入桶，杂志约53 s入桶，报纸74 s仍在灶旁台面，结尾酒瓶仍在爪中；断点与现象与证据相符。未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:03:54Z",
+  "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-sorting-bottles-cans-and-paper-i00-privileged--kxxpdpb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-sorting-bottles-cans-and-paper-i00-privileged--kxxpdpb/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "285e806716744dc08e854d61d69a39fe08c33dc9f854a4f8d46a1e9af7f54424",
+   "video_sha256": "a9613099ea292523106bda293732c23befbd4de7fdd912ef50b5c21cae8e05fc",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-privileged--r7ers4g.json b/phase2/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-privileged--r7ers4g.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfb19dd027ddbcb485c8f338494983128be39a6b
--- /dev/null
+++ b/phase2/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-privileged--r7ers4g.json
@@ -0,0 +1,375 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-sorting-bottles-cans-and-paper-i00-privileged--r7ers4g",
+ "taskKey": "behavior-1k/sorting_bottles_cans_and_paper",
+ "dag_sha256": "c6a17fb377bf88080da35329a4db6429ac0880e966001b02e8b92aa5a65071e4",
+ "outcome": {
+  "success": 0,
+  "reward": 0.3125,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 7056,
+   "sim_steps": 7056,
+   "fallen": 0,
+   "final_reward": 0.3125,
+   "q_score": 0.3125,
+   "replay_wall_s": 1950.6,
+   "replay_timeout_s": 4728.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 6,
+   "agent_resets": 7,
+   "agent_sim_steps": 13906,
+   "agent_records": 3,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 11.788,
+   "peak_memory_gb": 16.287,
+   "peak_processes": 35,
+   "peak_disk_gb": 3.712,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-sorting-bottles-cans-and-paper-i00-privileged--r7ers4g/replay.mp4",
+  "duration_s": 235.2,
+  "fps": 30.0,
+  "frames": 7056,
+  "sha256": "c1ab4d7ae5f78e91e3b4b013930b1e1aff0e3b1941d917a4345300f297210a8f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "wine_bottles_in_bucket_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      35.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 35.0,
+      "log_step": 308,
+      "text_zh": "观察：视频 16–20 s，左夹爪夹起地面的酒瓶，原地不再留有该瓶；视频 33.5 s 仍夹持于楼梯旁浅色桶上方，视频 34.5–37 s 松手后酒瓶留在桶内且不再明显移动。第1个按实际入桶顺序计。"
+     },
+     {
+      "t": 235.17,
+      "log_step": null,
+      "text_zh": "推断：该物品在所述入桶后未再被机器人取出，后续画面未见该桶倾倒或异类混入，故该关系保留至视频 235.17 s；静置按连续画面无明显运动判断，未测得精确线速度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左二指夹爪夹住第1个酒瓶，随机器人搬运并在桶口松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人底盘在取物处与目标桶之间行驶，承载机械臂及所持第1个酒瓶。"
+     }
+    ]
+   },
+   "wine_bottles_in_bucket_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      85.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 85.0,
+      "log_step": 309,
+      "text_zh": "观察：视频 54 s 台面角落可见另一酒瓶，视频 57–65 s 右夹爪夹持并将其移离台面；视频 83.5 s 将其移到同一个楼梯旁浅色桶，视频 84.5–88 s 松手后两瓶留在该桶内。第2个按实际入桶顺序计，达到时刻约为视频 85 s。"
+     },
+     {
+      "t": 235.17,
+      "log_step": null,
+      "text_zh": "推断：该物品在所述入桶后未再被机器人取出，后续画面未见该桶倾倒或异类混入，故该关系保留至视频 235.17 s；静置按连续画面无明显运动判断，未测得精确线速度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右二指夹爪夹住第2个酒瓶，随机器人搬运并在桶口松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人底盘在取物处与目标桶之间行驶，承载机械臂及所持第2个酒瓶。"
+     }
+    ]
+   },
+   "soda_cans_in_bucket_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      123.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 123.5,
+      "log_step": 310,
+      "text_zh": "观察：视频 107 s 蓝色汽水罐仍在地上，视频 109–113 s 右夹爪夹住并搬离原处；视频 122.5 s 已松手落入玻璃门旁浅色桶，视频 123–126 s 罐体在桶底停止明显移动，桶内无酒瓶或纸品。"
+     },
+     {
+      "t": 235.17,
+      "log_step": null,
+      "text_zh": "推断：该物品在所述入桶后未再被机器人取出，后续画面未见该桶倾倒或异类混入，故该关系保留至视频 235.17 s；静置按连续画面无明显运动判断，未测得精确线速度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右二指夹爪夹住第1个汽水罐，随机器人搬运并在桶口松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人底盘在取物处与目标桶之间行驶，承载机械臂及所持第1个汽水罐。"
+     }
+    ]
+   },
+   "soda_cans_in_bucket_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      178.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 178.0,
+      "log_step": 311,
+      "text_zh": "观察：视频 160–163 s 另一蓝色汽水罐在水槽左侧台面，视频 164–170 s 右夹爪夹持并移离；视频 177 s 松手落入先前的玻璃门旁浅色桶，视频 177.5–180 s 可见同桶内两个汽水罐，无酒瓶或纸品。"
+     },
+     {
+      "t": 235.17,
+      "log_step": null,
+      "text_zh": "推断：该物品在所述入桶后未再被机器人取出，后续画面未见该桶倾倒或异类混入，故该关系保留至视频 235.17 s；静置按连续画面无明显运动判断，未测得精确线速度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右二指夹爪夹住第2个汽水罐，随机器人搬运并在桶口松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人底盘在取物处与目标桶之间行驶，承载机械臂及所持第2个汽水罐。"
+     }
+    ]
+   },
+   "newspaper_in_bucket": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 220,
+      "log_step": null,
+      "text_zh": "观察：视频 188 s 报纸仍铺在水槽右侧台面；视频 190–216 s 机器人在台面上推移报纸并调整底盘位置，视频 218–220 s 双臂接近报纸边角。"
+     },
+     {
+      "t": 235.17,
+      "log_step": 313,
+      "text_zh": "观察：视频 228–235.17 s，左夹爪夹住报纸边角，报纸随左手抬起，右夹爪在另一侧配合；至最后一帧仍在水槽、台面旁，未被运至任何桶口或松手入桶。"
+     },
+     {
+      "t": null,
+      "log_step": 314,
+      "text_zh": "观察：提交轮运行输出记载 newspaper 已在手、goto_q: RRT failed、tripN: False，最终保存 7056 行动作；log step 315 随后将该轮文件选为交付。此记录用于确认提交轮及停止环节，不以此前会话测试的报纸运输代替视频进度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 190–216 s，右夹爪沿台面推动报纸，使其边角接近台面边缘。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 218–235.17 s，两夹爪在报纸不同部位配合操作；最终左二指夹爪夹住报纸一角并抬起，右手参与固定；不是两手之间挤住整张纸。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "压/擦",
+      "note_zh": "观察：视频 218–230 s，一只夹爪向下压住报纸，另一只在边角尝试夹取，两手先后交换角色。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人在视频 182–188 s 驶向报纸所在台面，并在后续推纸、夹角过程中调整底盘工作位置。"
+     }
+    ]
+   },
+   "magazine_in_bucket": {
+    "method": "visual",
+    "intervals": [
+     [
+      153.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 153.5,
+      "log_step": 311,
+      "text_zh": "观察：视频 130–134 s 人像封面的杂志在水槽旁台面；视频 134–143 s 双臂在杂志上协作，左夹爪夹住一角，右夹爪压住另一处，随后杂志离开台面随左手移动。视频 151–152 s 左手将其送到深色大桶口松开，视频 152.5–157.5 s 杂志已落在桶内且不再明显移动，无酒瓶或汽水罐混入。"
+     },
+     {
+      "t": 235.17,
+      "log_step": null,
+      "text_zh": "推断：该物品在所述入桶后未再被机器人取出，后续画面未见该桶倾倒或异类混入，故该关系保留至视频 235.17 s；静置按连续画面无明显运动判断，未测得精确线速度。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 134–143 s，左二指夹爪夹住杂志边角，右夹爪同时在另一处固定杂志；之后左手单独夹持搬运，到深色大桶口松开。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "压/擦",
+      "note_zh": "观察：视频 134–143 s，右夹爪向下压住杂志，配合左夹爪夹角；固定手按实际按压标注。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 144–151 s，底盘承载左手所持杂志从水槽旁行驶到深色大桶。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.3125,
+   "unit": "比例",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "newspaper_in_bucket",
+   "t": 233.0,
+   "log_step": 314,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 228–235.17 s，机器人已夹住报纸并略抬起，但双臂仍停留在水槽台面旁，未开始向纸品桶运输；log step 314 的提交轮输出在持报纸之后记录 goto_q: RRT failed，tripN: False，随后保存交付，报纸入桶始终未完成。视频 233 s 为末段夹持状态的近似导航锚点，不能从画面精确定位规划器返回失败的时刻。"
+  },
+  "unmet": {
+   "wine_bottles_in_bucket_1": true,
+   "wine_bottles_in_bucket_2": true,
+   "soda_cans_in_bucket_1": true,
+   "soda_cans_in_bucket_2": true,
+   "newspaper_in_bucket": false,
+   "magazine_in_bucket": true
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "t": 233.0,
+    "log_step": 314,
+    "evidence_zh": "推断：视频 228–235.17 s 显示左夹爪已夹住并带动报纸，故最终停点不是从未建立抓握。log step 313–314 的提交轮输出先报告 inhand newspaper.n.03_1，再报告 goto_q: RRT failed、tripN: False；log step 315 选取该轮 7056 行动作交付，评分器同样报告 n_actions=7056、deterministic=1。结合 agent 在 log step 317 对持纸后收臂规划失败的说明，支持后续收臂轨迹未求出，运输未继续；不据此声称所有合法路线均不可行。",
+    "source_zh": "日志 / 视频 / agent 自述 / 评分器字段"
+   }
+  ],
+  "gap_zh": "无状态日志或成功参考视频，精确 inside 谓词和 0.05 米/秒静置阈值不能逐帧核实，入桶时刻按可见落桶、稳定近似，约有 0.5 秒误差。视频末段能确认报纸被夹持但未运走，不能确认有阻挡收臂的真实碰撞或其他具体接触失效；log step 314 的 start in collision 来自 agent 自建碰撞模型，不当作模拟器接触事实，故现象层留空，仅用其 RRT failed 输出支持轨迹求解根因。"
+ },
+ "summary_zh": "机器人将两个酒瓶放入楼梯旁同一个浅色桶、两个汽水罐放入玻璃门旁另一浅色桶，并将杂志放入深色大桶，最终完成5/6节点。报纸在视频末段被左夹爪夹住但未送入桶，提交轮日志记录持纸后收臂路径搜索失败，断点为报纸入桶。无状态日志，入桶和静置按画面判断；真实物理卡阻未获确认，故失败现象层留空。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "5/6 节点（两酒瓶、两汽水罐、杂志入桶，报纸未入桶）与视频帧及 q_score=0.3125 相符；断点为报纸入桶、操作中，根因轨迹或逆解有提交轮日志（log step 314 的 RRT failed、持纸后保存）支持，现象层留空并有 gap_zh，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": "2026-10-30T22:09:24Z",
+  "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-sorting-bottles-cans-and-paper-i00-privileged--r7ers4g/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-sorting-bottles-cans-and-paper-i00-privileged--r7ers4g/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "44f8e81a6610c4f82355dcc07d6cb55b43377a367dc7166dadca02fb95b5737f",
+   "video_sha256": "c1ab4d7ae5f78e91e3b4b013930b1e1aff0e3b1941d917a4345300f297210a8f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-privileged--sl8jcg2.json b/phase2/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-privileged--sl8jcg2.json
new file mode 100644
index 0000000000000000000000000000000000000000..d05433219e49b8bf6e54fe54d6fea422a86b11c7
--- /dev/null
+++ b/phase2/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-privileged--sl8jcg2.json
@@ -0,0 +1,352 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-sorting-bottles-cans-and-paper-i00-privileged--sl8jcg2",
+ "taskKey": "behavior-1k/sorting_bottles_cans_and_paper",
+ "dag_sha256": "c6a17fb377bf88080da35329a4db6429ac0880e966001b02e8b92aa5a65071e4",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0625,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 1,
+   "n_actions": 9938,
+   "sim_steps": 9938,
+   "fallen": 0,
+   "final_reward": 0.0625,
+   "q_score": 0.0625,
+   "replay_wall_s": 2799.8,
+   "replay_timeout_s": 7825.3,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 3,
+   "agent_resets": 10,
+   "agent_sim_steps": 0,
+   "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-sorting-bottles-cans-and-paper-i00-privileged--sl8jcg2/replay.mp4",
+  "duration_s": 331.267,
+  "fps": 30.0,
+  "frames": 9938,
+  "sha256": "f4b77ce72393eb4fbefe9278e26d310ee7fe15a9874f45173e67bba8975190fb"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "wine_bottles_in_bucket_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 123.0,
+      "log_step": null,
+      "text_zh": "观察：视频 116–124 s，机器人在地面酒瓶取物区域伸出左夹爪；视频 125–150 s 的腕部视角夹爪为空，随后到桶附近执行动作，未见酒瓶随手搬运或落入桶内。"
+     },
+     {
+      "t": 202.0,
+      "log_step": null,
+      "text_zh": "观察：视频 180–206 s，另一个深色酒瓶与报纸仍在灶台旁的台面上，机器人伸臂后收回，没有完成酒瓶入桶。"
+     },
+     {
+      "t": 331.23,
+      "log_step": null,
+      "text_zh": "推断：已确认一个汽水罐入桶，评分器 reward.q_score=1/16 无法再支持酒瓶入桶这一新增关系；结合视频 116–150 s 未见有效搬运及视频 268–300 s 台面酒瓶仍在，酒瓶计数至少一个的节点终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 116–124 s，机器人左夹爪在地面酒瓶区域执行取物动作，但没有可确认的酒瓶随手运动；实际指尖接触情况被局部视角遮挡。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 96–117 s，底盘驶向地面酒瓶的取物区域；视频 125–150 s 空手转向桶附近。"
+     }
+    ]
+   },
+   "wine_bottles_in_bucket_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 198.0,
+      "log_step": null,
+      "text_zh": "观察：视频 180–206 s，机器人左臂多次靠近灶台旁台面上的深色酒瓶，酒瓶仍在报纸旁，没有随夹爪搬走。"
+     },
+     {
+      "t": 290.0,
+      "log_step": null,
+      "text_zh": "观察：视频 264–270 s、288–294 s，腕部视角仍能看到同一台面酒瓶；机器人之后收臂离开，未见第二个酒瓶放入桶。"
+     },
+     {
+      "t": 331.23,
+      "log_step": null,
+      "text_zh": "推断：视频未建立任何酒瓶入桶关系，且评分器 reward.q_score=1/16 的新增满足量已由第一个汽水罐解释；两个酒瓶同桶的节点终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 180–206 s 及视频 264–294 s，机器人左夹爪接近台面酒瓶并收回；画面可确认没有搬走酒瓶，但不能确认夹爪是否与瓶身形成短暂触碰，故不标抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 154–180 s、254–264 s、282–288 s，底盘驶向或重新调整到台面酒瓶的取物位置。"
+     }
+    ]
+   },
+   "soda_cans_in_bucket_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      48.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：视频 18–24 s，机器人左夹爪靠近台面上的蓝色汽水罐，随后罐离开台面并随左手搬运；视频 42–47.8 s 该罐仍位于左夹爪内。"
+     },
+     {
+      "t": 48.5,
+      "log_step": null,
+      "text_zh": "观察：视频 47.8–48.5 s，左夹爪在蓝灰色小桶口松开，腕部视角显示罐落入桶底并停留；视频 90–95 s 再次俯视同一桶，桶内仍有罐，机器人没有将其取出。入桶静置时间按画面取约视频 48.5 s。"
+     },
+     {
+      "t": 331.23,
+      "log_step": null,
+      "text_zh": "推断：视频后续操作未移走该桶内的罐；评分器 reward.q_score=0.0625（1/16）与一个新增入桶关系一致。结合视频 330.3–331.23 s 的终段检查，该节点终态为真。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 24–47.8 s，机器人左二指夹爪夹住蓝色汽水罐搬运，在小桶口松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 27–44 s，轮式底盘承载持罐的左臂，从厨房台面驶向楼梯旁的小桶。"
+     }
+    ]
+   },
+   "soda_cans_in_bucket_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 73.8,
+      "log_step": null,
+      "text_zh": "观察：视频 64–73.5 s，机器人左夹爪对地面另一汽水罐进行靠近和闭合动作；视频 73.8–78.5 s，夹爪收回后为空，蓝罐仍可见于地面，没有随手离开取物位置。"
+     },
+     {
+      "t": 94.0,
+      "log_step": null,
+      "text_zh": "观察：视频 89–95 s，机器人空着左夹爪到小桶处执行下降与张开动作，没有第二个罐进入桶；后续视频未见机器人重新取回地面蓝罐。"
+     },
+     {
+      "t": 331.23,
+      "log_step": null,
+      "text_zh": "推断：已有一个汽水罐入桶，评分器 reward.q_score=0.0625=1/16 不能再支持第二个新增入桶关系；结合视频 73.8–95 s 的空手搬运，两个汽水罐同桶未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 68–73.8 s，左夹爪在地面汽水罐旁闭合并收回，未见罐被有效夹住搬起；腕部画面不能确定指尖是否短暂触碰或擦过罐体，不能标成已发生抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 54–67 s，底盘驶向地面汽水罐；视频 78–89 s，又空手驶向小桶。"
+     }
+    ]
+   },
+   "newspaper_in_bucket": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 202.0,
+      "log_step": null,
+      "text_zh": "观察：视频 190–206 s，印有报头的报纸仍在灶台旁台面上；机器人在邻近酒瓶处伸臂，没有将报纸搬走。"
+     },
+     {
+      "t": 292.0,
+      "log_step": null,
+      "text_zh": "观察：视频 266–270 s、290–292 s，报纸再次出现在同一台面区域；视频后段没有报纸离台并进入桶的过程。"
+     },
+     {
+      "t": 331.23,
+      "log_step": null,
+      "text_zh": "推断：视频中没有报纸入桶，且评分器 reward.q_score=1/16 的新增满足量已由第一个汽水罐解释，报纸入桶终态为假。"
+     }
+    ]
+   },
+   "magazine_in_bucket": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：视频 20–27 s，封面带人物头像的杂志放在厨房台面上；机器人只取走旁边的汽水罐。"
+     },
+     {
+      "t": 328.0,
+      "log_step": null,
+      "text_zh": "观察：视频 306–328 s，机器人在台面旁调位、伸出左臂，大桶出现在左腕及头部视角附近；没有看见杂志被夹住、扫离台面或落入桶。视频 330.3–331.23 s 仍无持纸或放纸动作。"
+     },
+     {
+      "t": 331.23,
+      "log_step": null,
+      "text_zh": "推断：后段未完成可见纸品转移，评分器 reward.q_score=1/16 的新增满足量已由第一个汽水罐解释，杂志入桶终态为假。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 316–328 s，机器人为纸品处理在台面和大桶附近伸出左夹爪；杂志及指尖接触位置没有同时清晰显示，无法确认有直接接触或抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 302–314 s，底盘驶向台面旁大桶，视频 328–331.23 s 又调整机身位置；这是纸品操作的准备阶段。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0625,
+   "unit": "比例",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "soda_cans_in_bucket_2",
+   "t": 74.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 68–73.5 s，机器人左夹爪靠近地面第二个汽水罐并执行闭合；视频 73.8–78.5 s 收臂后夹爪为空，蓝罐仍留在地面。视频 89–95 s 到桶边时仍为空手，后续没有修复这一入桶步骤，故它早于后面的酒瓶和纸品失败。"
+  },
+  "unmet": {
+   "wine_bottles_in_bucket_1": false,
+   "wine_bottles_in_bucket_2": false,
+   "soda_cans_in_bucket_1": true,
+   "soda_cans_in_bucket_2": false,
+   "newspaper_in_bucket": false,
+   "magazine_in_bucket": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 74.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 68–73.5 s，左夹爪对地面蓝罐进行取物动作；视频 73.8–78.5 s 夹爪撤回而蓝罐仍在地面，随后视频 89–95 s 在桶口执行的是空手动作。未见有效夹持和离地搬运，所需抓取接触未建立；不把仅在腕部视野中接近罐体当作拿起。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "没有状态日志或成功参考视频；两只腕部画面中的目标有遮挡，不能确定第二个汽水罐取物失败的具体指尖接触、夹持力或控制误差，因此根因留空，失败现象仅指未建立有效抓取。log step 326 记录 agent 重置后重新录制，log step 329、331、355 的会话检查称两个汽水罐和一个酒瓶已入桶（会话 q_score=0.1875），但评分视频显示后两次为空手操作，评分器 reward.q_score=0.0625；这些会话结论不用于记节点或归咎环境。评分器 agent_replays=0，尚无证据确定会话与评分回放差异的来源。所有入桶时间由画面判断，速度阈值以可见静止近似，终态低分用作新增入桶关系数量上界。"
+ },
+ "summary_zh": "评分回放仅确认第1个汽水罐于视频约 48.5 s 松手静置在桶内，终态完成1/6节点；酒瓶和两件纸品均未完成入桶。最早未修复的失败是视频约 74 s 第二个汽水罐取物后夹爪空着撤回，随后空手到桶边执行放置动作。会话检查声称完成的数量高于评分回放，且缺少状态接触日志，故以视频和评分器总分判断进展，具体根因留空。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "第1个汽水罐约48.5 s入桶、第2个汽水罐约64-76 s夹爪在地面罐旁闭合后空手撤回（罐留在地面）均与帧一致；终态1/6与q_score=1/16吻合，断点与『没建立接触』现象成立，根因留空并附gap_zh可接受。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:14:52Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-sorting-bottles-cans-and-paper-i00-privileged--sl8jcg2/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-sorting-bottles-cans-and-paper-i00-privileged--sl8jcg2/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0e3c4097f6374bd504b4fe43c245e8550437b29e0d4d27ee62242c56b8b70d3f",
+   "video_sha256": "f4b77ce72393eb4fbefe9278e26d310ee7fe15a9874f45173e67bba8975190fb",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-privileged--wfbjmmd.json b/phase2/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-privileged--wfbjmmd.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfef01ac5f402849f3dcd072ed79749e564ee7aa
--- /dev/null
+++ b/phase2/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-privileged--wfbjmmd.json
@@ -0,0 +1,403 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-sorting-bottles-cans-and-paper-i00-privileged--wfbjmmd",
+ "taskKey": "behavior-1k/sorting_bottles_cans_and_paper",
+ "dag_sha256": "c6a17fb377bf88080da35329a4db6429ac0880e966001b02e8b92aa5a65071e4",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 1,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 12113,
+   "sim_steps": 12113,
+   "final_reward": 0.0,
+   "q_score": 1.0,
+   "replay_wall_s": 2943.4,
+   "replay_timeout_s": 7256.5,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 3,
+   "agent_resets": 0,
+   "agent_sim_steps": 36339,
+   "agent_records": 1,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "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-sorting-bottles-cans-and-paper-i00-privileged--wfbjmmd/replay.mp4",
+  "duration_s": 403.767,
+  "fps": 30.0,
+  "frames": 12113,
+  "sha256": "aac85965299837724139078185085d5a9cc56de7ad4f3eb0f92084ecdec95c63"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "wine_bottles_in_bucket_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      24.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 14,
+      "log_step": 43,
+      "text_zh": "观察：视频 14 s 左腕相机中酒瓶被左夹爪夹住并离开原来的地面位置；机器人随后持瓶行驶。"
+     },
+     {
+      "t": 24.5,
+      "log_step": 46,
+      "text_zh": "观察：视频 22.5–23.0 s 左夹爪把酒瓶降入小浅色桶，视频 23.5–25.5 s 夹爪已空，瓶留在桶底并停止明显运动；按视频约 24.5 s 记首次松手静置入桶。log step 46 的 BOTTLE_IN=True 与画面一致。"
+     },
+     {
+      "t": 403.73,
+      "log_step": 203,
+      "text_zh": "推断：视频 269–272 s 第二个瓶放入同一桶，之后机器人没有再操作该桶；结合 log step 203 的两瓶终态位置及 q_score=1.0，判定首个酒瓶入桶关系保持至视频结束。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左二指夹爪夹住地面酒瓶，持瓶搬运后在小浅色桶内张开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘从取瓶处驶向桶旁，承载左夹爪所持酒瓶。"
+     }
+    ]
+   },
+   "wine_bottles_in_bucket_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      270,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 256,
+      "log_step": 130,
+      "text_zh": "观察：视频 256–264 s 左夹爪夹着从台面后角取下的第二个酒瓶，瓶已离开台面，并随机器人移动。"
+     },
+     {
+      "t": 270,
+      "log_step": 133,
+      "text_zh": "观察：视频 268–268.5 s 第二个酒瓶仍在左夹爪中并位于小浅色桶口内；视频 269 s 夹爪张开，视频 269.5–272 s 空爪退出，瓶留在桶内。按视频约 270 s 记静置完成；log step 133 的 WINES_IN 显示两瓶均在同一桶。"
+     },
+     {
+      "t": 403.73,
+      "log_step": 203,
+      "text_zh": "推断：视频 272 s 后该酒瓶桶不再被操作，log step 203 终态中两瓶均在该桶处，原生 q_score=1.0；未见类别混入或酒瓶被取出，故终值为真。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左二指夹爪改用侧向夹瓶颈，搬运第二个酒瓶，在已有首瓶的小浅色桶内松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘持第二个酒瓶从台面后角驶向酒瓶桶。"
+     }
+    ]
+   },
+   "soda_cans_in_bucket_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      88.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 62,
+      "log_step": 64,
+      "text_zh": "观察：视频 41–48 s 右夹爪把地面汽水罐抬离地面；视频 62–72 s 左夹爪又从台面夹走另一罐，原台面位置不再有该罐，双爪各持一罐。"
+     },
+     {
+      "t": 88.5,
+      "log_step": 67,
+      "text_zh": "观察：视频 85.5–87.5 s 左夹爪在楼梯旁浅色桶口下降，视频 88–90 s 左腕视角显示罐已留在桶底、夹爪退出；按视频约 88.5 s 记首罐静置入桶。log step 67 的 CAN2_IN=True 与所见相符，计数节点按实际入桶先后分配。"
+     },
+     {
+      "t": 95,
+      "log_step": 70,
+      "text_zh": "观察：视频 95 s 腕部视角可见两罐均位于同一桶内；后续机器人离开该处，未再处理汽水罐。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "右夹爪夹住地面汽水罐，左夹爪夹住台面汽水罐；两臂同时各持一罐运输，随后先左后右在同一个远端浅色桶内松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘同时承载两臂各持的一罐，绕餐桌驶向楼梯旁的浅色桶。"
+     }
+    ]
+   },
+   "soda_cans_in_bucket_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      95,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 95,
+      "log_step": 70,
+      "text_zh": "观察：视频 93–94 s 右夹爪仍在桶口持另一罐，视频 94.5 s 松开后罐下落，视频 95–96 s 桶底可见两个罐，右夹爪退出；按视频约 95 s 记两罐同桶静置。"
+     },
+     {
+      "t": 403.73,
+      "log_step": 203,
+      "text_zh": "推断：视频 96 s 后机器人离开汽水罐桶且未返回操作，log step 203 两罐终态位置仍集中于该桶，q_score=1.0 与入桶关系一致；没有看见异类混入，终值为真。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "右夹爪夹住地面汽水罐，左夹爪夹住台面汽水罐；两臂同时各持一罐运输，随后先左后右在同一个远端浅色桶内松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘同时承载两臂各持的一罐，绕餐桌驶向楼梯旁的浅色桶。"
+     }
+    ]
+   },
+   "newspaper_in_bucket": {
+    "method": "visual",
+    "intervals": [
+     [
+      369,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 290,
+      "log_step": 144,
+      "text_zh": "观察：视频 278–288 s 报纸从台面进入右夹爪，视频 290–296 s 报纸离开原台面并随右夹爪搬运。"
+     },
+     {
+      "t": 345,
+      "log_step": 180,
+      "text_zh": "观察：视频 335–350 s 左夹爪抓住倾倒纸品桶的桶沿，将桶提起并扶正；右夹爪同时持续夹着报纸，随后机器人把桶移到空地放稳。"
+     },
+     {
+      "t": 369,
+      "log_step": 189,
+      "text_zh": "观察：视频 365.5–367 s 报纸已由右夹爪竖着降入扶正后的大桶，视频 368.5–369.5 s 右夹爪张开并抬离，报纸留在桶内静止。按视频约 369 s 记松手静置；log step 189 的 NEWSSTABLE=True 与画面一致。"
+     },
+     {
+      "t": 403.73,
+      "log_step": 203,
+      "text_zh": "观察：视频 374–376 s 及视频 400–403.73 s 报纸仍在大桶内，机器人没有再抓取它，桶内未混入瓶罐。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "右二指夹爪夹持报纸；搬放准备中左夹爪同时夹住大桶桶沿、提起扶正并重放，右爪一直持纸，最后右爪单独将报纸降入桶内并松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘持报纸从台面驶向纸品桶，并在左臂持桶、右臂持报纸时移动到空地。"
+     }
+    ]
+   },
+   "magazine_in_bucket": {
+    "method": "visual",
+    "intervals": [
+     [
+      204,
+      293
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 125,
+      "log_step": 74,
+      "text_zh": "观察：视频约 115–130 s 左夹爪在台面上推移杂志，杂志离开台面落到地面；此后机器人多次在地面尝试夹取。"
+     },
+     {
+      "t": 201,
+      "log_step": 113,
+      "text_zh": "观察：视频 195–199 s 杂志确实夹在左夹爪中，已离开原地面位置；视频 200–201 s 杂志降入大桶、夹爪松开，视频 201 s 可见杂志在桶内，桶随之明显倾斜，视频 202–204 s 倾侧后停下。log step 113 的 MAG_IN=True 与这一放入画面相符。"
+     },
+     {
+      "t": 204,
+      "log_step": 114,
+      "text_zh": "推断：视频约 204 s 纸品桶及杂志已无明显运动，夹爪也已离开；结合松手前后画面与 log step 114 的同一录制会话容纳检查，判定此时杂志暂时合格入桶。"
+     },
+     {
+      "t": 293,
+      "log_step": 144,
+      "text_zh": "观察：视频 293–296 s 右腕视角清楚显示封面有头像和红色图案的杂志躺在大桶外地板上；右夹爪持的是报纸。log step 144 的 SORTED5 也显示杂志不在任意桶内。"
+     },
+     {
+      "t": 293,
+      "log_step": null,
+      "text_zh": "推断：将杂志入桶区间结束近似定位在视频 293 s 首次清楚见到桶外杂志的位置；视频此前的取瓶、取报纸及转向过程中桶内区域多被遮挡，实际离桶瞬间不确定，不能把此锚点当成精确掉出时刻。"
+     },
+     {
+      "t": 403.73,
+      "log_step": 200,
+      "text_zh": "观察：视频 376–386 s 左夹爪重新从地面夹起杂志，原地面位置空出；视频 398–403.73 s 左腕近景显示夹爪持续夹着杂志一角，头部视角中杂志被降向已有报纸的大桶，到最后一帧仍未松开。log step 200 最后一段只有下降和状态查询，没有松爪动作，log step 203 随即报告旧服务 success=True；所以这次回放没有恢复本节点要求的松手静置。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "左夹爪在台面上推拨杂志，使其移动到台面边缘并落地。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左二指夹爪随后夹住杂志角部，首次搬到大桶内松开；杂志离桶后又由左夹爪从地面重新夹起，最后夹持杂志降入纸品桶，视频结束时仍未松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘持杂志从取物处驶向纸品桶，并在再次拾取后持杂志返回桶旁。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 1.0,
+   "unit": "比例",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "magazine_in_bucket",
+   "t": 293,
+   "log_step": 144,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 200–204 s 机器人已松手把杂志留在大桶内，桶发生倾侧；视频 293–296 s 机器人右夹爪持报纸转向桶附近时，腕部画面清楚显示杂志已在桶外地板上。推断：杂志入桶是首个后来丢失且按当前松手静置判据未修复的节点，视频 293 s 仅为首次明确发现丢失的导航锚点；视频 403.73 s 左夹爪仍持着重取的杂志，不能算恢复。"
+  },
+  "unmet": {
+   "wine_bottles_in_bucket_1": true,
+   "wine_bottles_in_bucket_2": true,
+   "soda_cans_in_bucket_1": true,
+   "soda_cans_in_bucket_2": true,
+   "newspaper_in_bucket": true,
+   "magazine_in_bucket": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "放后不稳",
+    "t": 293,
+    "log_step": 144,
+    "evidence_zh": "观察：视频 201 s 杂志已在桶中，视频 201–204 s 松手后的纸品桶明显倾侧；视频 293–296 s 杂志已离开桶、躺在地板上，视频 376 s 仍可见机器人从那里重新取它。推断：已释放到目标桶内的杂志未能保留在桶中，属于放置后的状态丢失；离桶瞬间及是否另受机器人碰撞被遮挡，不能进一步断言具体碰撞。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "没有状态日志或成功参考视频；松手静置时刻按可见停稳近似，无法直接核对0.05米/秒阈值。杂志首次放入后至视频 293 s 首次清楚见到其落在桶外期间，桶内及具体接触多被遮挡，区间末端和断点取观察锚点，无法确定精确离桶时刻或区分放置几何、后续碰撞等根因，因此根因留空。任务设计问题：运行时任务文本写明容纳目标一成立即自动结束，log step 200–204 中杂志尚未松爪便收到 success=True 并保存，log step 262 两次独立回放同样通过；reward.regrade_0154 随后以 stricter rule 将成功从1改为0。当前DAG要求松手静置并连续满足30个控制步，旧服务的成功与q_score=1.0不能证明这一新增验收，亦不能据此把服务终止归因为机器人控制或错误完成信念。"
+ },
+ "summary_zh": "机器人把两个酒瓶、两个汽水罐分别放入两只浅色桶，并将报纸松手放入扶正后的大桶，最终满足5/6个节点。杂志曾暂时入桶，随后出现在桶外地板上；重新抓取后虽被降回纸品桶，视频 403.73 s 结束时左夹爪仍未松开，杂志节点未恢复。任务设计问题：旧服务在持物容纳成立时自动报成功，两次回放均通过，但后来按更严格的松手静置规则改判失败；没有状态日志，杂志离桶的精确时刻和接触根因无法确认。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "五个节点的入桶时间与视频一致；杂志在视频约 201–204 s 入桶，293 s 时已落在桶外地板上，376–403.7 s 重新夹起并降向桶，最后一帧左夹爪仍夹着杂志。因此杂志节点 final=false，断点与 放后不稳 现象都有帧证据。任务设计问题的说明合理，空根因附了 gap_zh。没有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": "2026-10-30T22:15:39Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-sorting-bottles-cans-and-paper-i00-privileged--wfbjmmd/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-sorting-bottles-cans-and-paper-i00-privileged--wfbjmmd/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e6d5bb20a61d8444f509cb05d61d871d7352f9ba2ef8a2894b350c15f14a550c",
+   "video_sha256": "aac85965299837724139078185085d5a9cc56de7ad4f3eb0f92084ecdec95c63",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-standard--a8kayfe.json b/phase2/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-standard--a8kayfe.json
new file mode 100644
index 0000000000000000000000000000000000000000..dead1c3ddcf53b67dd1b589edf48a3a6233c4419
--- /dev/null
+++ b/phase2/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-standard--a8kayfe.json
@@ -0,0 +1,412 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-sorting-bottles-cans-and-paper-i00-standard--a8kayfe",
+ "taskKey": "behavior-1k/sorting_bottles_cans_and_paper",
+ "dag_sha256": "c6a17fb377bf88080da35329a4db6429ac0880e966001b02e8b92aa5a65071e4",
+ "outcome": {
+  "success": 0,
+  "reward": 0.3125,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "n_actions": 32898,
+   "sim_steps": 32898,
+   "physics_steps": 131592,
+   "steps": 32730,
+   "elapsed_s": 12751.4,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "q_score": 0.3125,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-sorting-bottles-cans-and-paper-i00-standard--a8kayfe/replay.mp4",
+  "duration_s": 1096.6,
+  "fps": 30.0,
+  "frames": 32898,
+  "sha256": "53c7cee0ea42b91740540ad5ae4679080649554a0b500d48675cfa21c96667a6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "wine_bottles_in_bucket_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      380.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 63.0,
+      "log_step": 96,
+      "text_zh": "观察：视频 43–48 s 右夹爪夹住地面酒瓶并提起；视频 62–65 s 首次松手时酒瓶落在桶旁地面，未入桶。"
+     },
+     {
+      "t": 381.0,
+      "log_step": 245,
+      "text_zh": "观察：机器人扶正深色桶后，用左夹爪重新夹起该酒瓶；视频 379–382 s 酒瓶从夹爪下落到深色桶内，视频 385–389 s 留在桶底，夹爪已撤开。按同类达成顺序计为第1个酒瓶。"
+     },
+     {
+      "t": 528.0,
+      "log_step": 332,
+      "text_zh": "观察：视频 500–509 s 第二只酒瓶落入同一深色桶；视频 526–536 s 腕部近景可见桶内两只绿色酒瓶，没有罐或纸品，之后机器人未再取走酒瓶。"
+     },
+     {
+      "t": 380.5,
+      "log_step": 245,
+      "text_zh": "推断：本局只有一次实时操作且无恢复重放；服务的 control_steps 按 30 Hz 对应视频，log step 245 的 11475/30=382.5 s 与视频 382 s 酒瓶已落桶的画面吻合。松手后的首次静置约在视频 380.5 s，速度阈值按画面近似判断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右夹爪先夹住地面酒瓶颈部搬运；首次落桶失败后，左夹爪抓住酒瓶瓶身重新搬放，并曾抓住深色桶把手将桶扶正，均为先后单臂操作。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "机器人持瓶向深色桶移动，并为空桶扶正和落地酒瓶回收调整底盘位置。"
+     }
+    ]
+   },
+   "wine_bottles_in_bucket_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      500.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 478.0,
+      "log_step": 314,
+      "text_zh": "观察：视频 474–478 s 右夹爪夹住台面角落酒瓶的瓶颈，酒瓶离开原处并随右手抬升；没有把较早的空夹算成拿起。"
+     },
+     {
+      "t": 501.0,
+      "log_step": 332,
+      "text_zh": "观察：视频 499–502 s 机器人张开右夹爪，第二只酒瓶下落到已有酒瓶的深色桶；视频 507–509 s 及 526–536 s 可见两瓶均留在同一桶内。约视频 500 s 达成，随后未再取出或混入其他类别。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右夹爪夹住台面酒瓶颈部，抬离台面、搬到深色桶上方后张开释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘在持有第二只酒瓶时转向并移动到深色桶旁。"
+     }
+    ]
+   },
+   "soda_cans_in_bucket_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      197.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 173.0,
+      "log_step": 156,
+      "text_zh": "观察：视频 164–174 s 左夹爪合拢夹住地面蓝色汽水罐，罐体离开地面并持续随手移动；较早右手的抓取未将罐提离原处。"
+     },
+     {
+      "t": 198.0,
+      "log_step": 165,
+      "text_zh": "观察：视频 195 s 罐仍在左手下方；视频 196 s 松手后罐落到窗边浅色桶底，视频 197–205 s 可见其静止留在桶内，左夹爪撤开。按同类达成顺序计为第1个汽水罐。"
+     },
+     {
+      "t": 258.0,
+      "log_step": 191,
+      "text_zh": "观察：视频 252–259 s 机器人把从台面取来的另一只汽水罐释放到同一浅色桶开口内并撤手；后续机器人没有再伸手到罐桶内，也没有将酒瓶或纸品放进该桶。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人先用右夹爪尝试，最终由左夹爪直接夹住地面汽水罐，抬起并在窗边浅色桶上方松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘为避开倒下的深色桶而转场，并在左手持罐时移动到窗边浅色桶。"
+     }
+    ]
+   },
+   "soda_cans_in_bucket_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      253.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 237.0,
+      "log_step": 183,
+      "text_zh": "观察：视频 232–238 s 右夹爪从侧面夹住台面蓝色罐，罐体离开台面、随右手上升，台面原位置已空。"
+     },
+     {
+      "t": 254.0,
+      "log_step": 191,
+      "text_zh": "观察：视频 252–254 s 右夹爪在窗边浅色桶开口上方释放从台面取来的蓝罐，罐体向桶内下落；视频 256–259 s 右手已离开，桶口内可见蓝色罐体，周围地面未见该罐。"
+     },
+     {
+      "t": 258.0,
+      "log_step": 191,
+      "text_zh": "推断：第1只罐在视频 196–205 s 已明确留在桶底且未再取出，第2只罐在视频 252–254 s 从持握位置落入相同开口，撤手后没有出桶迹象，因此按连续过程判断两罐同桶；视频 258 s 的单个视角不能分别看全两罐。达成锚点约视频 253 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右夹爪从侧面夹住台面汽水罐的罐身，搬到窗边同一个浅色桶后松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘持罐转向并移近窗边的汽水罐桶。"
+     }
+    ]
+   },
+   "newspaper_in_bucket": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 624.0,
+      "log_step": 405,
+      "text_zh": "观察：机器人用右夹爪反复拨动、压移台面报纸，直到纸角悬出台面；视频 616–624 s 右夹爪从侧面夹住纸边，报纸离开台面并随手上升，随后持纸绕过餐桌。"
+     },
+     {
+      "t": 734.0,
+      "log_step": 478,
+      "text_zh": "观察：视频 728–737 s 机器人把竖直报纸下缘放进第三只浅色桶并松手，报纸仍高架在桶口附近；视频 737 s 夹爪已离开，报纸仍维持该姿态。没有仅因纸的下缘进入桶内就记为完整入桶。"
+     },
+     {
+      "t": 924.0,
+      "log_step": 598,
+      "text_zh": "观察：视频 902–920 s 机器人调整纸品时夹起了桶把手，桶连同纸品一起升起、转动，再放回地面；视频 923–925 s 报纸仍立在桶口。视频 934–946 s 右手侧推报纸并撤开，报纸仍未明显下沉。"
+     },
+     {
+      "t": 946.0,
+      "log_step": 617,
+      "text_zh": "推断：视频 737 s、873 s、924 s、946 s 的近景均显示报纸跨在桶口附近，中心处于桶沿高度，而非深落桶底；agent 对视频约 946.4 s 的保存深度做拟合，给出报纸中心高度约 0.4067 m（log step 617），仅作为估计而非原生状态。结合两瓶、两罐及最终较低的杂志所在位置，以及评分器 q_score=0.3125=5/16，可判报纸最终没有满足 inside；初始空桶的排他文字已成立，不贡献新增的正向入桶进度。未观察到报纸松手后可靠满足中心入内的时段。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右夹爪从台面外露纸边夹住报纸，提起并一路搬到第三只桶旁；成功的抓纸与后续误夹桶把手是不同操作。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "右夹爪先推移报纸使纸角悬出台面，后又在桶口侧推报纸试图使其落得更低。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右夹爪指尖曾压在台面报纸上并拖移纸面，为后续边缘夹取创造空间。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "底盘在右手持报纸时绕过餐桌和椅子，驶向楼梯附近的第三只桶。"
+     }
+    ]
+   },
+   "magazine_in_bucket": {
+    "method": "visual",
+    "intervals": [
+     [
+      921.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 816.0,
+      "log_step": 522,
+      "text_zh": "观察：视频 793–798 s 右夹爪将人物封面的杂志角推出台面；视频 811–817 s 夹住外露纸角并提起，杂志离开台面、随右手运动。"
+     },
+     {
+      "t": 870.0,
+      "log_step": 560,
+      "text_zh": "观察：视频 864–870 s 机器人将杂志竖放进纸桶开口并松手，人物封面仍较高；视频 873 s 可见其与报纸并排停在桶沿附近。视频 879–895 s 下压和一次空夹都未把它有效提起再放置，故不把首次松手直接算为达成。"
+     },
+     {
+      "t": 924.0,
+      "log_step": 598,
+      "text_zh": "观察：视频 902–919 s 机器人误夹桶把手并将整个桶升起、倾转和放回，杂志随之向桶里滑低；视频 921–925 s 夹爪已张开撤离，桶落地稳定，原先高出的杂志封面不再架在桶口，报纸仍高出。视频 934–950 s 未见杂志被取出或掉到桶外。"
+     },
+     {
+      "t": 921.0,
+      "log_step": 610,
+      "text_zh": "推断：结合视频 921–946 s 杂志下沉后的桶内位置、瓶罐四件仍各自在原桶，以及最终 q_score=5/16，杂志最终入桶、报纸未达。把约视频 921 s 桶落地并松手静置作为可靠达成锚点，误差约 1–2 s；不以 agent 对首次落放的自述替代画面。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右夹爪夹住杂志悬出台面的纸角并搬运释放；调整纸品时又误夹住纸桶把手，实际抬起了整个桶。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "右夹爪先推杂志使其角部越出台面边缘。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "首次释放后，机器人用右夹爪从上方向纸品施压，试图使杂志落得更低。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "右手持杂志时，底盘绕过餐桌返回纸桶。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.3125,
+   "unit": "比例",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "newspaper_in_bucket",
+   "t": 729.0,
+   "log_step": 476,
+   "where": "操作中",
+   "evidence_zh": "推断：视频 728–737 s 报纸首次松手后高架于纸桶开口，后续视频 923–946 s 的落桶和侧推仍未让其中心可靠进入内腔；这是最早始终未修复的放入步骤。首个酒瓶的桶旁落地后来在视频 380–382 s 修复。视频约 962.5–968 s 机器人在返回厨房检查罐桶时翻倒，直到视频 1096.57 s 仍侧倒；这一较晚事件没有修复报纸步骤，故断点仍选报纸入桶。"
+  },
+  "unmet": {
+   "wine_bottles_in_bucket_1": true,
+   "wine_bottles_in_bucket_2": true,
+   "soda_cans_in_bucket_1": true,
+   "soda_cans_in_bucket_2": true,
+   "newspaper_in_bucket": false,
+   "magazine_in_bucket": true
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 729.0,
+    "log_step": 476,
+    "evidence_zh": "推断：视频 728–737 s 机器人释放报纸时，纸面仍跨在桶口高度，松手后只是下缘进入桶内；视频 924 s 和 946 s 的近景仍显示同样的高架姿态。log step 617 的深度拟合把纸中心估在桶沿略上方，最终评分器仅记录 5/16；结合其他五件的位置，缺的是报纸的中心入内，不能把它算成已放妥后失稳。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 471 将持纸末端定位到高度 0.60 m，log step 473 实测 0.599905 m，随后 log step 474 直接张爪；视频 728–737 s 表明夹爪到位仍让大张报纸跨在桶口附近。后续视频 902–919 s 重新夹取时实际夹住桶把手而非纸边，视频 934–946 s 侧推后报纸仍未下沉，说明纸边抓持后的落放几何与桶沿/把手接触安排未解决；现有证据没有验证其他抓持或放入姿态是否可行。"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 有完整视频和运行日志，但没有状态日志或成功参考视频。推断：报纸中心非常接近桶沿，原生 inside、辅助持物及 0.05 m/s 速度阈值无法直接读取，节点终值结合近景和评分器总量判断；静置时间均为视觉近似，杂志滑入桶内的达成锚点约视频 921 s、误差约 1–2 s，无法排除更早极短的阈值跨越。酒瓶桶曾有位置变化，但画面不能量出短暂速度，不凭此另造丢失区间。 第2只汽水罐落下后与第1只在视角中重叠，同桶终值依据连续搬放画面推断，而非同时看清两个完整罐体。"
+ },
+ "summary_zh": "观察：两只酒瓶和两只汽水罐分别留在两个桶内，杂志经纸桶的抬起再放下后落得更低；报纸始终高架于第三桶口附近。推断：最终为 5/6 个节点，最早未修复的是报纸入桶，主要是纸张落放及桶沿附近的接触几何未到位，之后机器人在视频约 962.5 s 返回检查时翻倒且未恢复。观察：评分器 success=0、q_score=0.3125；无状态日志，报纸中心及杂志达成时间依赖近景和总分推断。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点终值、断点（报纸入桶）与现象/根因与帧和评分器 q=5/16 一致；未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:21:41Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-sorting-bottles-cans-and-paper-i00-standard--a8kayfe/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-sorting-bottles-cans-and-paper-i00-standard--a8kayfe/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "93bbd84c0f4a7c3f6f0b6d907a1e745b42ba9cf4d2a50c8bd8cd2f8b2f2018a9",
+   "video_sha256": "53c7cee0ea42b91740540ad5ae4679080649554a0b500d48675cfa21c96667a6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-standard--bwfsypl.json b/phase2/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-standard--bwfsypl.json
new file mode 100644
index 0000000000000000000000000000000000000000..80a8fc3d7212d502128c54eed4a21cb4dda8d9e8
--- /dev/null
+++ b/phase2/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-standard--bwfsypl.json
@@ -0,0 +1,389 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-sorting-bottles-cans-and-paper-i00-standard--bwfsypl",
+ "taskKey": "behavior-1k/sorting_bottles_cans_and_paper",
+ "dag_sha256": "c6a17fb377bf88080da35329a4db6429ac0880e966001b02e8b92aa5a65071e4",
+ "outcome": {
+  "success": 0,
+  "reward": 0.25,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 5940,
+   "sim_steps": 5940,
+   "physics_steps": 23760,
+   "steps": 990,
+   "elapsed_s": 6587.9,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "q_score": 0.25,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.395,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.361,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-sorting-bottles-cans-and-paper-i00-standard--bwfsypl/replay.mp4",
+  "duration_s": 198.0,
+  "fps": 30.0,
+  "frames": 5940,
+  "sha256": "a4250500796d877f70504794d52ad7f2b2dbe2640ce371d2e16f317816b84f4c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "wine_bottles_in_bucket_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      113.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 91,
+      "log_step": null,
+      "text_zh": "观察：视频 87–90 s，左爪携第一酒瓶伸向黑桶；视频 91–93 s，松手后的酒瓶躺在黑桶近侧的地面，未在桶内，因此这次释放不计入桶。"
+     },
+     {
+      "t": 113.5,
+      "log_step": 161,
+      "text_zh": "观察：视频 105–111 s，左腕相机重新可见夹住的酒瓶，机器人将其移到黑桶中心上方；视频 113–114.5 s，左爪打开，酒瓶落入黑桶底部并停止明显运动；视频 115–115.5 s，夹爪撤离，瓶仍在桶内且无罐或纸品。以视频约 113.5 s 计首次达成，早先桶外放置已修复。"
+     },
+     {
+      "t": 144.5,
+      "log_step": null,
+      "text_zh": "推断：视频 141–144.5 s，第二瓶进入同一黑桶，第一瓶未被取出；其后机器人操作台面纸品，未再操作黑桶，故第一瓶入桶关系保持至结束。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 78–91 s，左二指夹爪夹持地面酒瓶并搬到黑桶处；首次放在桶外后，机器人再次以左夹爪抓起该瓶，并于视频 113 s 左右在桶内松手。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 81–88 s，底盘承载左爪所持酒瓶移向黑桶；重新抓取后主要以机械臂调整放置。"
+     }
+    ]
+   },
+   "wine_bottles_in_bucket_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      143,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 132,
+      "log_step": 188,
+      "text_zh": "观察：视频 123 s，第二酒瓶仍立在转角台面；视频 129–135 s，原处酒瓶消失，左腕视角显示夹住的酒瓶随左爪回收，头部视角可见瓶体离开台面。"
+     },
+     {
+      "t": 143,
+      "log_step": 195,
+      "text_zh": "观察：视频 139–142 s，左爪所持第二酒瓶进入已有第一瓶的黑桶；视频 142.5–143.5 s，左夹爪打开，桶内可见两瓶且不再明显运动；视频 144–144.5 s，夹爪撤出，两瓶留在同一黑桶，无罐和纸品混入。"
+     },
+     {
+      "t": 197.8,
+      "log_step": null,
+      "text_zh": "推断：视频 145 s 后，机器人转到台面取纸品，没有再从黑桶取瓶或加入异类，故两瓶同桶关系保持至结束。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 129–143.5 s，左二指夹爪夹住转角台面酒瓶，搬到黑桶后打开释放。右臂在取瓶时避让，没有共同夹持该瓶。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 135–140 s，底盘载着左爪持有的第二酒瓶，从转角台面移至黑桶前并转向桶口。"
+     }
+    ]
+   },
+   "soda_cans_in_bucket_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      44.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 33,
+      "log_step": 78,
+      "text_zh": "观察：视频 31–36 s，机器人左夹爪从地面夹住蓝色汽水罐，罐体离开地面并随左臂抬升；视频 40–43.5 s，机器人载着该罐移到东侧蓝桶并伸爪到桶口。"
+     },
+     {
+      "t": 44.5,
+      "log_step": 89,
+      "text_zh": "观察：视频 44–45.5 s，左腕相机显示第一罐已脱离夹爪，落在蓝桶底部，随后夹爪空手撤出；视频 46.5 s，头部视角仍可见罐在桶内，未混入酒瓶或纸品。约以视频 44.5 s 为松手落稳时刻。"
+     },
+     {
+      "t": 72.5,
+      "log_step": null,
+      "text_zh": "推断：视频 69.5–72.5 s，同一蓝桶接收第二罐，第一罐未被取出；其后机器人只操作黑桶及台面物品，至视频 197.8 s 未再取动蓝桶或罐，故该关系保持到结束。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 31–45.5 s，左二指夹爪夹住地面汽水罐，搬至东侧蓝桶后松开。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 36–42 s，底盘承载机器人及左爪所持汽水罐，驶到东侧蓝桶前。"
+     }
+    ]
+   },
+   "soda_cans_in_bucket_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      70,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 60,
+      "log_step": 107,
+      "text_zh": "观察：视频 57–63 s，台面汽水罐从原处离开，左夹爪夹住罐体并回收，左腕相机可见罐盖及罐身随夹爪运动。"
+     },
+     {
+      "t": 70,
+      "log_step": 110,
+      "text_zh": "观察：视频 67–69 s，机器人将左爪所持第二罐送到先前蓝桶内；视频 69.5–70.5 s，左腕视角可见两个蓝罐同在桶底，夹爪已打开，罐体不再明显运动；视频 71–72.5 s，左爪空手撤出，两个罐仍在桶内且无异类混入。"
+     },
+     {
+      "t": 197.8,
+      "log_step": null,
+      "text_zh": "推断：视频 72.5 s 后，机器人转而搬酒瓶和操作纸品，没有再次取动这两个罐或向蓝桶加入异类，故第二罐入桶关系保持至结束。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 57–70.5 s，左二指夹爪夹持台面汽水罐，搬到同一蓝桶内释放。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 63–68 s，底盘在持罐状态下从台面前驶回东侧蓝桶。"
+     }
+    ]
+   },
+   "newspaper_in_bucket": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 164.5,
+      "log_step": 221,
+      "text_zh": "观察：视频 160–163 s，机器人右夹爪从上方向水槽右侧台面报纸闭合、拖动；视频 164–166 s，右爪回提并撤离时为空，报纸仍铺在台面上，没有随爪离台。"
+     },
+     {
+      "t": 184,
+      "log_step": 252,
+      "text_zh": "观察：视频 173–187 s，右爪反复靠近报纸表面压擦、向台面边缘移动并回撤，报纸仅有局部小幅位移，没有被抓离台面，也未运到桶口。"
+     },
+     {
+      "t": 197.8,
+      "log_step": 261,
+      "text_zh": "观察：视频 191–195.5 s，右夹爪换成侧向靠近报纸边缘，闭合后回提；视频 196.8–197.8 s，报纸仍在水槽右侧台面，右爪空手撤回，未进入任何桶。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 161–164 s、175–185 s，右夹爪指端在台面报纸上方压下并擦拖；后又尝试侧向闭爪，但没有看见两指夹住并带起报纸，故不记实际抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 155–160 s，底盘载着机器人从杂志取物点移到转角台面，接近报纸作业位置。"
+     }
+    ]
+   },
+   "magazine_in_bucket": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 154,
+      "log_step": 210,
+      "text_zh": "观察：视频 149–153 s，机器人左二指夹爪夹住台面杂志悬出的边角；视频 154–158 s，杂志离开原台面，并随左爪及底盘移动到转角区域。抓取已发生，但尚未入桶。"
+     },
+     {
+      "t": 197.8,
+      "log_step": null,
+      "text_zh": "观察：视频 160–197.8 s，机器人左爪始终持着封面有人像的杂志，右爪尝试取报纸；最后一秒杂志仍在左爪上方、位于台面附近，从未送到纸品桶并松手。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 151–197.8 s，左二指夹爪夹住杂志边角，将其从台面提起并持续持有；右爪处理的是另一件报纸，未共同夹持杂志。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 155–160 s，底盘在左爪持杂志的状态下移动并转向转角台面。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.25,
+   "unit": "比例",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "newspaper_in_bucket",
+   "t": 164.5,
+   "log_step": 221,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 161–163 s，机器人右夹爪在台面报纸上闭合并回拖，视频 164–166 s 空爪抬回，报纸留在台面；视频 173–197.8 s 的后续压拖和侧向夹取仍未将报纸带起或放入桶。先前第一瓶桶外放置已于视频 113.5 s 左右修复；杂志已抓起待运，随后机器人直接处理报纸，因此首个未修复的具体失败是报纸取放。"
+  },
+  "unmet": {
+   "wine_bottles_in_bucket_1": true,
+   "wine_bottles_in_bucket_2": true,
+   "soda_cans_in_bucket_1": true,
+   "soda_cans_in_bucket_2": true,
+   "newspaper_in_bucket": false,
+   "magazine_in_bucket": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 164.5,
+    "log_step": 221,
+    "evidence_zh": "观察：视频 161–166 s，右爪接近、闭合、擦拖报纸后空爪抬回，报纸仍平放在台面；视频 191–197.8 s 的侧向闭爪重试后，报纸也没有离台。这里未建立的是能夹住并搬运报纸的对向抓握接触，表面压擦接触实际发生；不是已持住后掉落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "source_zh": "日志 / 视频",
+    "t": 164.5,
+    "log_step": 219,
+    "evidence_zh": "推断：log step 219 的动作脚本让右爪从上方向仍贴在台面的报纸闭合，再沿台面拖拽和抬升；视频 161–166 s 显示指端只在纸面附近压拖，未形成夹住纸张两侧的接触，抬回时纸仍在台面。log step 230、250 又以闭合指端压擦纸面，视频 175–187 s 仍无持纸搬运；log step 259 改为侧向夹边，视频 191–197.8 s 仍空爪撤回。这支持报纸抓取接触几何未建立，而没有证据证明某种替代抓法已经可行。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频，无法精确核验速度阈值、指端接触力及报纸夹取失败时的毫米级几何；节点达成时刻按画面落稳估计，误差约半秒。纸品的末态直接可见，均未入桶；瓶罐入桶后没有再被操作，末段持续成立依据动作连续性推断。q_score=0.25 是聚合分数，不将其直接换算为六节点完成比例。"
+ },
+ "summary_zh": "机器人将两个汽水罐放入同一蓝桶、两个酒瓶放入同一黑桶，最终完成4/6节点；第一瓶早先放到桶外，随后重新抓取并修复。断点是报纸入桶：视频约164.5 s 的首次取纸回提为空，之后多次压拖和侧向夹取仍未建立可搬运的抓握，杂志则一直留在左爪中未入桶。没有状态日志，精确静置速度及接触几何只能由画面近似判断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值、时间、断点（报纸取放）与现象/根因与画面一致；瓶罐入桶时刻、第一瓶桶外后修复、杂志被左爪持住未入桶、报纸始终留在台面均能在帧中核对。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": "2026-10-30T22:19:11Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-sorting-bottles-cans-and-paper-i00-standard--bwfsypl/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-sorting-bottles-cans-and-paper-i00-standard--bwfsypl/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "067cf824cde9d9471690152f65f5617776632c278a87a56a4fee13a938e30c68",
+   "video_sha256": "a4250500796d877f70504794d52ad7f2b2dbe2640ce371d2e16f317816b84f4c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-standard--ftrzu6f.json b/phase2/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-standard--ftrzu6f.json
new file mode 100644
index 0000000000000000000000000000000000000000..62d4d4295662ef36e6528b2e821d36c11bc08e67
--- /dev/null
+++ b/phase2/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-standard--ftrzu6f.json
@@ -0,0 +1,347 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-sorting-bottles-cans-and-paper-i00-standard--ftrzu6f",
+ "taskKey": "behavior-1k/sorting_bottles_cans_and_paper",
+ "dag_sha256": "c6a17fb377bf88080da35329a4db6429ac0880e966001b02e8b92aa5a65071e4",
+ "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": 5208,
+   "sim_steps": 5208,
+   "physics_steps": 20832,
+   "steps": 4090,
+   "elapsed_s": 2509.2,
+   "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-sorting-bottles-cans-and-paper-i00-standard--ftrzu6f/replay.mp4",
+  "duration_s": 173.6,
+  "fps": 30.0,
+  "frames": 5208,
+  "sha256": "6445d44f9ef5f89d6bb43ca42db48e1859b06209d954b48432cd45c614cf6812"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "wine_bottles_in_bucket_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 98,
+      "log_step": 205,
+      "text_zh": "观察：视频约97.5–104.3 s，右夹爪夹住酒瓶，右腕视角中的瓶颈保持在两指之间，酒瓶离开原地并随机械臂搬运。"
+     },
+     {
+      "t": 104.5,
+      "log_step": 211,
+      "text_zh": "观察：视频约104.5–105.5 s，右爪两指分开，酒瓶离开夹爪并翻落；视频108–115 s可见酒瓶横躺在黑桶外地板上，机器人随后仍向黑桶伸臂。"
+     },
+     {
+      "t": 155,
+      "log_step": 231,
+      "text_zh": "观察：视频约153–160 s仍能看到黑桶旁地面的酒瓶，之后机器人只在台面蓝罐附近操作，没有捡回该瓶；log step 231也把该物标为Bottle (floor)。"
+     },
+     {
+      "t": 173.55,
+      "log_step": null,
+      "text_zh": "推断：视频中的酒瓶从未显示松手后静置于桶内；结合评分器q_score=0.0、live_matches_replay=1，最终第1个酒瓶入桶为false，不能采信log step 263自述已入桶。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约97.5–104.3 s右二指夹爪夹持酒瓶；约104.5 s张开并失去瓶子，未完成入桶。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：机器人驶近地面酒瓶，夹瓶后向黑桶移动；视频约104.5 s酒瓶掉落后仍继续移动并伸臂。"
+     }
+    ]
+   },
+   "wine_bottles_in_bucket_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 70,
+      "log_step": null,
+      "text_zh": "观察：视频约65–70 s的厨房巡查能看到水槽附近台面的另一酒瓶，后续搬放围绕地面酒瓶和蓝色汽水罐进行，没有看到机器人取走台面酒瓶。"
+     },
+     {
+      "t": 155,
+      "log_step": null,
+      "text_zh": "观察：视频约153–160 s仍可见地面酒瓶在黑桶外；两个酒瓶从未一同入桶。"
+     },
+     {
+      "t": 173.55,
+      "log_step": null,
+      "text_zh": "推断：全片未见第二个酒瓶的搬放，第1瓶仍在桶外，且评分器q_score=0.0，故两个酒瓶同桶的最终条件为false。"
+     }
+    ]
+   },
+   "soda_cans_in_bucket_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 129,
+      "log_step": 221,
+      "text_zh": "观察：视频约123–129.5 s机器人接近地面蓝罐并调整机械臂；右腕视角在视频约128.5–129.5 s仍见蓝罐位于地板上，未显示随夹爪抬起。"
+     },
+     {
+      "t": 154,
+      "log_step": 231,
+      "text_zh": "观察：视频约153–159 s地面蓝罐仍在黑桶旁地板上，台面蓝罐仍在台面；log step 231同样把地面罐标为Soda Can 1 (floor)。"
+     },
+     {
+      "t": 173.55,
+      "log_step": 260,
+      "text_zh": "观察：视频173.0 s和173.55 s台面蓝罐仍紧邻夹爪、纸品和台面，没有移至桶内；log step 260服务报告回合已因跌倒结束。"
+     },
+     {
+      "t": 173.55,
+      "log_step": null,
+      "text_zh": "推断：两只蓝罐均未见完成入桶，评分器q_score=0.0进一步限定最终没有汽水罐入桶；第1个计数节点为false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频约128–149 s机器人针对地面汽水罐执行取放尝试，但头部视角转向天花板、腕部视角不能完整显示手指与罐身的接触，无法确认是否夹住或仅擦碰；后续地面罐仍在原区域。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约117–128 s底盘绕黑桶驶向地面汽水罐，之后继续转向浅蓝桶和台面区域。"
+     }
+    ]
+   },
+   "soda_cans_in_bucket_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 154,
+      "log_step": 240,
+      "text_zh": "观察：视频约153–160 s，地面罐仍在地板上，机器人又接近台面第二只蓝罐并用左臂尝试取罐。这里按本轮对两只汽水罐的尝试顺序描述接触，不据脚本的成功宣称增加计数。"
+     },
+     {
+      "t": 165,
+      "log_step": 256,
+      "text_zh": "观察：视频约162–173.55 s左夹爪在台面蓝罐旁反复接近、闭合，蓝罐倾倒在台面纸品附近，没有离开台面到达浅蓝桶。"
+     },
+     {
+      "t": 173.55,
+      "log_step": 260,
+      "text_zh": "推断：视频末尾两只罐均未入同一桶，且评分器q_score=0.0；第2个汽水罐入桶为false。服务在log step 260报告failure: the robot fell over。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约162–173.55 s左夹爪碰动台面蓝色汽水罐，罐身倾倒并在台面纸品旁改变姿态；未看到可靠的对向夹持及离台搬运。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频约150–154 s机器人从浅蓝桶附近转向台面蓝罐并靠近取物位置。"
+     }
+    ]
+   },
+   "newspaper_in_bucket": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 155,
+      "log_step": null,
+      "text_zh": "观察：视频约153–160 s可见两件纸品仍铺在水槽旁台面上，机器人操作的是旁边的蓝色罐。"
+     },
+     {
+      "t": 173.55,
+      "log_step": null,
+      "text_zh": "观察：视频173.0 s和173.55 s，灰白纸品仍位于台面、在人像封面的杂志旁，没有被运至任何桶。"
+     },
+     {
+      "t": 173.55,
+      "log_step": null,
+      "text_zh": "推断：全片没有报纸搬放入桶，末尾纸品仍在台面；评分器q_score=0.0与报纸入桶final=false一致。"
+     }
+    ]
+   },
+   "magazine_in_bucket": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 155,
+      "log_step": null,
+      "text_zh": "观察：视频约153–160 s，人像封面的杂志仍在水槽旁台面，机器人没有将其搬至桶中。"
+     },
+     {
+      "t": 173.55,
+      "log_step": null,
+      "text_zh": "观察：视频173.0 s及173.55 s，人像封面杂志仍架在台面纸品区域，左夹爪操作其旁的蓝罐；未见杂志入桶。"
+     },
+     {
+      "t": 173.55,
+      "log_step": null,
+      "text_zh": "推断：杂志从未被搬入桶，评分器q_score=0.0与final=false一致。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "wine_bottles_in_bucket_1",
+   "t": 104.5,
+   "log_step": 211,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约98–104.3 s右爪夹持酒瓶，约104.5 s夹爪张开、酒瓶脱离并翻落；视频约108–115 s酒瓶横躺黑桶外，之后未捡回。推断：这是最早未修复的入桶步骤；后来抓罐时的倾斜和log step 260服务报告的跌倒终止不修复该步骤，也不把断点改成抓罐。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 104.5,
+    "log_step": 211,
+    "evidence_zh": "观察：视频约102–104.3 s右腕视角中酒瓶仍夹在两指间，视频约104.5–105.5 s两指张开、瓶子从腕部视角消失并在头部视角中翻落；视频约108–115 s瓶子留在黑桶外地面，机器人继续接近黑桶和摆动机械臂。推断：搬运中失去已建立的抓持，没有完成目标内的计划放置。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 104.5,
+    "log_step": 193,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "观察：log step 204的取瓶脚本用grip_r=0.0持续闭爪并抬瓶；log step 210的后续脚本先调用navigate_to搬运，再移动右臂到桶口并开爪。log step 193把导航函数的右爪目标改为每轮读取的state[grip_r]，即实测开度，而非继续发送闭合目标。视频约104.5 s出现夹爪张开、酒瓶掉落，随后机器人仍向黑桶移动和伸臂。推断：抓取到导航的控制衔接没有保持持物夹紧状态；实测开度被反复用作目标是有日志依据的可能机制，但缺少逐控制步夹爪指令、力和辅助抓取状态，保留在控制大类，不断言更细的失稳机制。"
+   }
+  ],
+  "gap_zh": "没有状态日志或成功参考视频；现有视频足以确认酒瓶脱手落在桶外，但未提供逐控制步的夹爪命令、接触力和辅助抓取状态，无法直接验证导航更新开度如何导致失持。地面汽水罐尝试时头部视角仰向天花板，腕部视角未完整显示夹爪接触，因此该尝试的手部接触标为未知；其后地面罐仍可见。末尾按服务log step 260确认跌倒终止，不把agent在log step 263自述的碰台面因果当作已证实原因。",
+  "unmet": {
+   "wine_bottles_in_bucket_1": false,
+   "wine_bottles_in_bucket_2": false,
+   "soda_cans_in_bucket_1": false,
+   "soda_cans_in_bucket_2": false,
+   "newspaper_in_bucket": false,
+   "magazine_in_bucket": false
+  }
+ },
+ "summary_zh": "机器人抓起并搬运一个酒瓶，但在视频约104.5 s失持，酒瓶落到黑桶外且未捡回；之后对两只汽水罐的尝试均未实现入桶，纸品仍在台面，最终节点为0/6。最早未修复断点为第1个酒瓶入桶，现象为没保持住，控制衔接未维持抓持；末尾抓台面罐时机器人持续倾斜，服务在log step 260报告跌倒结束，与agent最终声称酒瓶已入桶不符。缺少状态日志，夹爪失持的具体力学机制及地面罐尝试的手部接触无法直接核实。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "6个节点均为false与q_score=0一致；酒瓶在约97–104 s被夹持、约105 s松脱并在108–112 s横躺桶外的帧证据成立，断点（第1个酒瓶入桶、操作中、接触·没保持住）合理。根因停留在控制大类，措辞已保守，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": "2026-10-30T22:08:40Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-sorting-bottles-cans-and-paper-i00-standard--ftrzu6f/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-sorting-bottles-cans-and-paper-i00-standard--ftrzu6f/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5644b506634839e562f656ae3ae757073a76a6f9414a87ba0e90fff764c0901c",
+   "video_sha256": "6445d44f9ef5f89d6bb43ca42db48e1859b06209d954b48432cd45c614cf6812",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/turning_out_all_lights_before_sleep/trajectories/behavior-turning-out-all-lights-before-sleep-i00-privileged--asot58h.json b/phase2/behavior-1k/turning_out_all_lights_before_sleep/trajectories/behavior-turning-out-all-lights-before-sleep-i00-privileged--asot58h.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7d3380ecf77986826918dbce912053361096e47
--- /dev/null
+++ b/phase2/behavior-1k/turning_out_all_lights_before_sleep/trajectories/behavior-turning-out-all-lights-before-sleep-i00-privileged--asot58h.json
@@ -0,0 +1,246 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-turning-out-all-lights-before-sleep-i00-privileged--asot58h",
+ "taskKey": "behavior-1k/turning_out_all_lights_before_sleep",
+ "dag_sha256": "190d15a1d8bb83038f5682a64b319c77917898da47e6dfda9af6a18722b5d1fa",
+ "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": 629,
+   "sim_steps": 629,
+   "fallen": 1,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1416.0,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 12,
+   "agent_resets": 0,
+   "agent_sim_steps": 1838,
+   "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-turning-out-all-lights-before-sleep-i00-privileged--asot58h/replay.mp4",
+  "duration_s": 20.967,
+  "fps": 30.0,
+  "frames": 629,
+  "sha256": "866d525da89de1070407987277e641a5c39f67d6ad1fee46b3fc7d32cc157a2b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "utility_door_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.5,
+      "log_step": null,
+      "text_zh": "观察：本次视频0.0–20.933 s中机器人始终留在起始走廊及门前，未见夹爪拉开杂物间白色滑门，也未出现通向洗衣机、长台面和白色搁架的开口；成功参考视频48.0 s、70.0 s则清楚显示该通路与室内设施。"
+     },
+     {
+      "t": 20.933,
+      "log_step": 312,
+      "text_zh": "推断：视频20.933 s机器人仍倾倒在走廊，结合log step 311–312最终交付只执行前往首个墙壁开关的导航、随后跌倒结束，杂物间门开启事件未发生；参考视频仅用于辨认开启后的视觉线索。"
+     }
+    ]
+   },
+   "switches_off_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 20.933,
+      "log_step": 312,
+      "text_zh": "推断：任务文本明确三个目标墙壁开关初始均开启；本次视频0.0–20.933 s仅见机器人在走廊行进、贴近门板并倾倒，从未到达目标开关进行按压，亦无关闭后的绿色交互标记。评分器reward.q_score=0.0限制终局新增满足的五个关灯条件为零，故至少1个墙壁开关关闭不成立；log step 312保存的最终629动作试验也报告三个开关仍开启，与视频一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频0.0–6.0 s轮式底盘支承机器人在走廊移动，随后机器人在门前倾倒；log step 311确认这段导航是前往首个目标switch.n.01_2。视频未显示夹爪触碰任何目标开关，故不标按钮按压或抓握。"
+     }
+    ]
+   },
+   "switches_off_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 20.933,
+      "log_step": 312,
+      "text_zh": "推断：任务文本明确三个目标墙壁开关初始均开启；本次视频0.0–20.933 s仅见机器人在走廊行进、贴近门板并倾倒，从未到达目标开关进行按压，亦无关闭后的绿色交互标记。评分器reward.q_score=0.0限制终局新增满足的五个关灯条件为零，故至少2个墙壁开关关闭不成立；log step 312保存的最终629动作试验也报告三个开关仍开启，与视频一致。"
+     }
+    ]
+   },
+   "switches_off_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 20.933,
+      "log_step": 312,
+      "text_zh": "推断：任务文本明确三个目标墙壁开关初始均开启；本次视频0.0–20.933 s仅见机器人在走廊行进、贴近门板并倾倒，从未到达目标开关进行按压，亦无关闭后的绿色交互标记。评分器reward.q_score=0.0限制终局新增满足的五个关灯条件为零，故至少3个墙壁开关关闭不成立；log step 312保存的最终629动作试验也报告三个开关仍开启，与视频一致。"
+     }
+    ]
+   },
+   "lamps_off_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 20.933,
+      "log_step": 312,
+      "text_zh": "推断：任务文本明确两盏目标台灯初始均开启；本次视频0.0–20.933 s机器人没有抵达客厅茶几或杂物间台面，未见接触台灯或执行关灯。结合评分器reward.q_score=0.0，终局至少1盏台灯关闭不成立；log step 312最终交付试验报告两盏仍开启，与视频未操作台灯的过程一致。"
+     }
+    ]
+   },
+   "lamps_off_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 20.933,
+      "log_step": 312,
+      "text_zh": "推断：任务文本明确两盏目标台灯初始均开启；本次视频0.0–20.933 s机器人没有抵达客厅茶几或杂物间台面，未见接触台灯或执行关灯。结合评分器reward.q_score=0.0，终局至少2盏台灯关闭不成立；log step 312最终交付试验报告两盏仍开启，与视频未操作台灯的过程一致。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "switches_off_1",
+   "t": 10.5,
+   "log_step": 312,
+   "where": "转场",
+   "evidence_zh": "观察：视频5.75–8.75 s机器人靠近走廊棕色门板，视频9.0–11.0 s视角明显滚转，至视频11.0–20.933 s持续倾倒且未恢复，始终没有操作开关。log step 311–312最终交付试验正导航至首个目标switch.n.01_2，尚距其按钮约4.81米便以fallen=True结束并保存629个动作；评分器也给fallen=1、n_actions=629。推断：第1个开关关闭在空手前往操作位置时失败；视频10.5 s为倾倒过程的粗略定位，不以日志工作时间换算视频时间。"
+  },
+  "unmet": {
+   "switches_off_1": false,
+   "switches_off_2": false,
+   "switches_off_3": false,
+   "lamps_off_1": false,
+   "lamps_off_2": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 10.5,
+    "log_step": 312,
+    "evidence_zh": "观察：视频9.0–11.0 s机器人相机画面急剧滚转，门框、墙面及地面相对画面明显倾斜；视频11.0–20.933 s保持倾倒视角，没有起身恢复。log step 312的最终交付试验和评分器reward.fallen=1均确认机器人跌倒。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "evidence_zh": "推断：agent在log step 277把导航航点安排为穿越走廊窄口，在log step 293的地图检查中已读到通路在世界坐标y=2.40处中断；log step 309仍保留原导航，仅在其后追加底盘沿目标方向直推障碍的方案，没有先建立可通过的开口。log step 311–312的最终试验继续沿该路线前往switch.n.01_2，在门前结束；视频5.75–11.0 s显示机器人贴近门板后倾倒，未见先操作门机构。结合这些记录，导航策略未解决通路阻挡是失败原因；具体障碍实体和受力链路不能由现有视角确定。",
+    "source_zh": "日志",
+    "log_step": 309
+   }
+  ],
+  "gap_zh": "没有逐帧状态或接触力日志；门前的底盘及碰撞部位被第一人称视角遮挡，无法确定哪个机器人连杆与哪块门板接触、精确受力和跌倒阈值开始时刻，因此不另标被挡/碰撞，也不归因于特定控制参数。五个目标没有在结尾同屏显示，其终局关闭数量由初始全开启、全程未到达并操作目标及评分器q_score=0.0共同判定；不将agent关于调试中按钮按压成功或场景缺陷的自述当作本次进度或环境根因。"
+ },
+ "summary_zh": "本次交付未完成任何DAG节点（终局0/6）：机器人空手前往首个墙壁开关时，在走廊门前倾倒，视频约10.5 s后未恢复，五个关灯目标终局均未满足。结合最终生成脚本和地图检查记录，失败与未先解决窄口阻挡、继续沿原路线驱动的导航规划有关；评分器fallen=1、q_score=0.0与视频一致。没有状态与接触力日志，具体碰撞对象、受力链路和精确失衡起点仍不确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点全部未达成、终局0/6、跌倒断点（switches_off_1，转场）与视频及评分器fallen=1、q_score=0一致；视频约9–11 s画面滚转并持续倾倒，未见任何开关或台灯操作。平衡现象和规划根因有日志（gen12：d_to_marker=4.81、fallen True）支持，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:09:31Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-turning-out-all-lights-before-sleep-i00-privileged--asot58h/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-turning-out-all-lights-before-sleep-i00-privileged--asot58h/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a260b3b754e8a32e5557e2c752d44ac7cc12e5c2b5169f092a70ada0e82b8257",
+   "video_sha256": "866d525da89de1070407987277e641a5c39f67d6ad1fee46b3fc7d32cc157a2b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/turning_out_all_lights_before_sleep/trajectories/behavior-turning-out-all-lights-before-sleep-i00-privileged--d6bba8v.json b/phase2/behavior-1k/turning_out_all_lights_before_sleep/trajectories/behavior-turning-out-all-lights-before-sleep-i00-privileged--d6bba8v.json
new file mode 100644
index 0000000000000000000000000000000000000000..0186e95180b60167bccd4fdcd4d5d9973b7fdfa0
--- /dev/null
+++ b/phase2/behavior-1k/turning_out_all_lights_before_sleep/trajectories/behavior-turning-out-all-lights-before-sleep-i00-privileged--d6bba8v.json
@@ -0,0 +1,263 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-turning-out-all-lights-before-sleep-i00-privileged--d6bba8v",
+ "taskKey": "behavior-1k/turning_out_all_lights_before_sleep",
+ "dag_sha256": "190d15a1d8bb83038f5682a64b319c77917898da47e6dfda9af6a18722b5d1fa",
+ "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": 1761,
+   "sim_steps": 1761,
+   "fallen": 0,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 2509.1,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 1,
+   "agent_resets": 1,
+   "agent_sim_steps": 0,
+   "agent_records": 1,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-turning-out-all-lights-before-sleep-i00-privileged--d6bba8v/replay.mp4",
+  "duration_s": 58.7,
+  "fps": 30.0,
+  "frames": 1761,
+  "sha256": "367360012ba2f834c9d75c604c1920a42b57c4fc23f20aa19e83b5138d23b146"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "utility_door_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 59,
+      "text_zh": "观察：视频0.0–58.67 s始终是起始房间的木色滑门及近旁白墙，机器人未通过该门；log step 59在重置后启动录制，并明确操作sliding_door_tprpvb_12，log step 60继续操作同一扇门。"
+     },
+     {
+      "t": 58.65,
+      "log_step": 61,
+      "text_zh": "推断：本段从未抵达或操作DAG所指的杂物间门sliding_door_tprpvb_7，故打开杂物间门未达成。参照成功样例视频65.0–68.0 s，形成通路后能清楚看到杂物间长台面、洗衣机和白色搁架；本次视频从未出现该视野。log step 57–58对杂物间门的尝试及跌倒发生在log step 59重置前，不计入交付。"
+     }
+    ]
+   },
+   "switches_off_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": 59,
+      "text_zh": "观察：视频0.0–58.67 s机器人只在起始房间木色门前移动、用右夹爪擦推门板；未接近或触碰三个目标墙壁开关中的任何一个，也没有出现目标按钮变绿的操作。"
+     },
+     {
+      "t": 58.65,
+      "log_step": 61,
+      "text_zh": "推断：结合整段视频机器人未离开起始房间、交付录制仅包含log step 59–60的开门动作，第1个关闭计数全程未达成。评分器reward.q_score=0.0、success=0，且log step 61保存的1761行轨迹终态q_score=0.0；五个关灯目标初始均为开启（会话初态查询log step 30），故总分也限定本节点final=false，而非只凭零分判断未尝试。"
+     }
+    ]
+   },
+   "switches_off_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": 59,
+      "text_zh": "观察：视频0.0–58.67 s机器人只在起始房间木色门前移动、用右夹爪擦推门板；未接近或触碰三个目标墙壁开关中的任何一个，也没有出现目标按钮变绿的操作。"
+     },
+     {
+      "t": 58.65,
+      "log_step": 61,
+      "text_zh": "推断：结合整段视频机器人未离开起始房间、交付录制仅包含log step 59–60的开门动作，第2个关闭计数全程未达成。评分器reward.q_score=0.0、success=0，且log step 61保存的1761行轨迹终态q_score=0.0；五个关灯目标初始均为开启（会话初态查询log step 30），故总分也限定本节点final=false，而非只凭零分判断未尝试。"
+     }
+    ]
+   },
+   "switches_off_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": 59,
+      "text_zh": "观察：视频0.0–58.67 s机器人只在起始房间木色门前移动、用右夹爪擦推门板；未接近或触碰三个目标墙壁开关中的任何一个，也没有出现目标按钮变绿的操作。"
+     },
+     {
+      "t": 58.65,
+      "log_step": 61,
+      "text_zh": "推断：结合整段视频机器人未离开起始房间、交付录制仅包含log step 59–60的开门动作，第3个关闭计数全程未达成。评分器reward.q_score=0.0、success=0，且log step 61保存的1761行轨迹终态q_score=0.0；五个关灯目标初始均为开启（会话初态查询log step 30），故总分也限定本节点final=false，而非只凭零分判断未尝试。"
+     }
+    ]
+   },
+   "lamps_off_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": 59,
+      "text_zh": "观察：视频0.0–58.67 s机器人只在起始房间木色门前移动、用右夹爪擦推门板；未接近或触碰两盏目标台灯中的任何一个，也没有出现目标按钮变绿的操作。"
+     },
+     {
+      "t": 58.65,
+      "log_step": 61,
+      "text_zh": "推断：结合整段视频机器人未离开起始房间、交付录制仅包含log step 59–60的开门动作，第1个关闭计数全程未达成。评分器reward.q_score=0.0、success=0，且log step 61保存的1761行轨迹终态q_score=0.0；五个关灯目标初始均为开启（会话初态查询log step 30），故总分也限定本节点final=false，而非只凭零分判断未尝试。"
+     }
+    ]
+   },
+   "lamps_off_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": 59,
+      "text_zh": "观察：视频0.0–58.67 s机器人只在起始房间木色门前移动、用右夹爪擦推门板；未接近或触碰两盏目标台灯中的任何一个，也没有出现目标按钮变绿的操作。"
+     },
+     {
+      "t": 58.65,
+      "log_step": 61,
+      "text_zh": "推断：结合整段视频机器人未离开起始房间、交付录制仅包含log step 59–60的开门动作，第2个关闭计数全程未达成。评分器reward.q_score=0.0、success=0，且log step 61保存的1761行轨迹终态q_score=0.0；五个关灯目标初始均为开启（会话初态查询log step 30），故总分也限定本节点final=false，而非只凭零分判断未尝试。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": 8.0,
+   "log_step": 59,
+   "where": "操作中",
+   "evidence_zh": "观察：视频6.0–11.0 s右夹爪贴木色门板横移，但门未形成可通过的开口；视频32.0–53.0 s再次压擦、推边仍未打开通路，视频57.0–58.67 s机器人仍停在门前。log step 59–61明确交付为重置后对起始房间门sliding_door_tprpvb_12的两轮尝试。推断：最早未修复的失败是该门开通失败；DAG没有对应节点，不能把它当成另一扇门的utility_door_opened，故ref填unknown。"
+  },
+  "unmet": {
+   "switches_off_1": false,
+   "switches_off_2": false,
+   "switches_off_3": false,
+   "lamps_off_1": false,
+   "lamps_off_2": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "接触力异常",
+    "t": 8.0,
+    "log_step": 59,
+    "evidence_zh": "观察：视频6.0–9.0 s机器人右夹爪在门板表面压擦横移，门板仅微动；视频43.0–50.0 s右夹爪移向门边后继续横推，仍只产生窄缝，未使门板充分滑离门洞。log step 59记录这一交付段首次拖擦后门关节0.040、推边后0.068；log step 60记录重试推边后0.135，随后收臂前进仍未通过。推断：这是对门的作用未产生足够开门运动的接触异常；没有将非抓握擦推误记为持物滑落。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：开门控制未能稳定实现预期的门板运动。log step 59–60的交付脚本用闭合右夹爪压门面、沿横向扫动，再把指端放到门边推；两轮输出的门开度均很小，脚本仍收臂并驱动底盘穿门，视频6.0–11.0 s、43.0–53.0 s的擦推动作及视频57.0–58.67 s仍被门隔住与此一致。证据支持控制层失败，但不足以区分接触几何、法向作用力与轨迹跟踪，故不细分子类。"
+   }
+  ],
+  "gap_zh": "观察：inputs/有完整视频和run.json，但无逐帧状态日志；目标设备在本次视频中不入镜，关闭计数由全程未离开起始房间的行为、初态查询和终局总分联合推断。DAG只列杂物间门sliding_door_tprpvb_7，未列实际卡住的起始房间门sliding_door_tprpvb_12，故无法把真实开门断点对应到现有节点，保留unknown；其右夹爪压/擦、推/扫及底盘移动只在断点证据中说明，不冒记为杂物间门的contact_actual。缺少接触力和关节逐帧记录，控制根因不再细分。"
+ },
+ "summary_zh": "观察：交付视频0.0–58.67 s仅含起始房间木色滑门的两轮压擦、推边和通行尝试，机器人一直未通过，六个DAG节点最终均为false，评分器q_score=0.0。推断：开门接触作用未带来足够的门板滑动，阻断后续关灯，根因可归到控制层；会话中重置前的成功开门与跌倒不属于本次交付。DAG未含实际失败的起始房间门而只列另一扇杂物间门，故断点引用为unknown；无逐帧状态日志，五个关灯目标的终态依赖视频上下文和评分总量联合判断。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标签与证据一致：交付的1761步录像只含起始房间门sliding_door_tprpvb_12的两轮压擦/推边，机器人始终未出房间，6个节点final=false与q_score=0相符；会话中重置前的成功开门和跌倒未计入交付。ref=unknown、接触力异常、控制根因均有日志和画面支持。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:12:31Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-turning-out-all-lights-before-sleep-i00-privileged--d6bba8v/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-turning-out-all-lights-before-sleep-i00-privileged--d6bba8v/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "afd68b09a058666ff599707438d42de131a13f159dec6e57f95c059507190f7d",
+   "video_sha256": "367360012ba2f834c9d75c604c1920a42b57c4fc23f20aa19e83b5138d23b146",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/turning_out_all_lights_before_sleep/trajectories/behavior-turning-out-all-lights-before-sleep-i00-privileged--uicmrjv.json b/phase2/behavior-1k/turning_out_all_lights_before_sleep/trajectories/behavior-turning-out-all-lights-before-sleep-i00-privileged--uicmrjv.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd920122f1b4861f6a0caacedf6d918e5ed01d72
--- /dev/null
+++ b/phase2/behavior-1k/turning_out_all_lights_before_sleep/trajectories/behavior-turning-out-all-lights-before-sleep-i00-privileged--uicmrjv.json
@@ -0,0 +1,226 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-turning-out-all-lights-before-sleep-i00-privileged--uicmrjv",
+ "taskKey": "behavior-1k/turning_out_all_lights_before_sleep",
+ "dag_sha256": "190d15a1d8bb83038f5682a64b319c77917898da47e6dfda9af6a18722b5d1fa",
+ "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": 2150,
+   "sim_steps": 2150,
+   "fallen": 1,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 2063.7,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 14,
+   "agent_resets": 0,
+   "agent_sim_steps": 9193,
+   "agent_records": 3,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 7.08,
+   "peak_memory_gb": 8.915,
+   "peak_processes": 19,
+   "peak_disk_gb": 9.828,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-turning-out-all-lights-before-sleep-i00-privileged--uicmrjv/replay.mp4",
+  "duration_s": 71.667,
+  "fps": 30.0,
+  "frames": 2150,
+  "sha256": "664937f6f8f9b7613acb25b42ed7e9e551219ec74e74f92171edada2cf22fb04"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "utility_door_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–60.0 s 的抽帧显示机器人在走廊的墙角、门板附近移动和转向；视频 60.5–64.5 s 加密帧及视频 70.667–71.6 s 末段均未出现杂物间滑门横向移开、露出洗衣机与长台面通路的过程。对照成功样例视频约 56.5–66.5 s，可清楚看到门洞及室内白色搁架，本次未见该开门结果。"
+     }
+    ]
+   },
+   "switches_off_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 71.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–71.6 s 所查走廊画面未见机器人夹爪操作墙壁目标开关，也未见其交互球变绿；视频 62.0–66.0 s 机器人视野翻转，视频 70.667–71.6 s 贴近地板。推断：评分器 q_score=0.0，结合目标初态为开启且本次没有可见关灯事件，终局关闭开关数为0，未达到至少1个；空区间依据视频未见操作和状态变化，未由零分单独反推。"
+     }
+    ]
+   },
+   "switches_off_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 71.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–71.6 s 所查走廊画面未见机器人夹爪操作墙壁目标开关，也未见其交互球变绿；视频 62.0–66.0 s 机器人视野翻转，视频 70.667–71.6 s 贴近地板。推断：评分器 q_score=0.0，结合目标初态为开启且本次没有可见关灯事件，终局关闭开关数为0，未达到至少2个；空区间依据视频未见操作和状态变化，未由零分单独反推。"
+     }
+    ]
+   },
+   "switches_off_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 71.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–71.6 s 所查走廊画面未见机器人夹爪操作墙壁目标开关，也未见其交互球变绿；视频 62.0–66.0 s 机器人视野翻转，视频 70.667–71.6 s 贴近地板。推断：评分器 q_score=0.0，结合目标初态为开启且本次没有可见关灯事件，终局关闭开关数为0，未达到至少3个；空区间依据视频未见操作和状态变化，未由零分单独反推。"
+     }
+    ]
+   },
+   "lamps_off_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 71.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–71.6 s 所查画面未见夹爪接近或按压目标台灯按钮，未见台灯交互标记变绿；成功样例视频约 199.5 s、223.5 s 可辨认白色灯罩及绿色按钮标记，本次没有相应操作画面。推断：两盏灯初态开启，评分器 q_score=0.0 且视频无关灯事件，终局未达到至少1盏关闭；不将日志后续会话中的台灯尝试记入本次视频。"
+     }
+    ]
+   },
+   "lamps_off_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 71.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–71.6 s 所查画面未见夹爪接近或按压目标台灯按钮，未见台灯交互标记变绿；成功样例视频约 199.5 s、223.5 s 可辨认白色灯罩及绿色按钮标记，本次没有相应操作画面。推断：两盏灯初态开启，评分器 q_score=0.0 且视频无关灯事件，终局未达到至少2盏关闭；不将日志后续会话中的台灯尝试记入本次视频。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": 63.5,
+   "log_step": null,
+   "where": "转场",
+   "evidence_zh": "观察：视频 60.5–61.5 s 机器人空爪在走廊转向，视频 62.0–64.5 s 视野大幅翻转并降低到地板附近，视频 65.0–71.6 s 未恢复正常站立视角；评分器 fallen=1，n_actions=2150。推断：此次交付在空手移动时失衡，未见其正在操作哪一个目标，无法可靠把失败归到具体DAG步骤；故ref为unknown，不用跌倒约束代替步骤。"
+  },
+  "unmet": {
+   "switches_off_1": false,
+   "switches_off_2": false,
+   "switches_off_3": false,
+   "lamps_off_1": false,
+   "lamps_off_2": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 63.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频 62.0–64.5 s 机器人相机中的墙面、门框和地板快速翻转，随后视角降低；视频 65.0–71.6 s 右侧主视图主要是近处倾斜的木地板，最后一秒亦如此，机器人没有恢复；评分器 fallen=1 支持机器人已翻倒。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/中有完整评分视频和运行日志，但没有逐帧状态日志；机器人底座与轮地接触不在相机视野中。log step 773 记录的是2332动作的会话录制，log step 925报告另一会话通过走廊门，log step 1050仅称再次启动更新脚本；它们均不能直接对应评分器报告的2150动作交付。推断：视频足以确认未见关灯进展及最终失衡，但无法确定空手移动所服务的具体节点，亦无法区分造成失衡的碰撞、轨迹控制或其他具体机制，根因留空；未把会话测试的接触复制到contact_actual。目标设备大部分不在视野中，关闭节点的终值同时使用评分总数约束，区间依据全程无可见操作判断。"
+ },
+ "summary_zh": "本次评分视频未见杂物间门打开或任何目标灯关闭，六个节点最终均未完成，q_score为0。机器人在走廊空手移动期间反复倾斜，视频约 63.5 s 后翻倒且直至视频 71.6 s 未恢复，评分器记录fallen=1。日志包含多次会话测试，缺少将交付动作与某次会话可靠对应的记录及逐帧状态，具体失败节点和失衡根因保留未知。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "视频全程只见机器人在走廊墙角与杂物间门板附近移动，未见开门或任何关灯，六个节点均未达成与 q_score=0 一致；约 63–65 s 视角翻到地板且未恢复，与 fallen=1 一致，平衡现象有据。ref=unknown 与空根因附带 gap_zh，可接受。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:10:33Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-turning-out-all-lights-before-sleep-i00-privileged--uicmrjv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-turning-out-all-lights-before-sleep-i00-privileged--uicmrjv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9221a66c4626c05f4bbf3e262e1597499b6787720fd1db80eb57aa831158e245",
+   "video_sha256": "664937f6f8f9b7613acb25b42ed7e9e551219ec74e74f92171edada2cf22fb04",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/turning_out_all_lights_before_sleep/trajectories/behavior-turning-out-all-lights-before-sleep-i00-privileged--wwj64nt.json b/phase2/behavior-1k/turning_out_all_lights_before_sleep/trajectories/behavior-turning-out-all-lights-before-sleep-i00-privileged--wwj64nt.json
new file mode 100644
index 0000000000000000000000000000000000000000..849862307bb78083746390c64700c549df0595eb
--- /dev/null
+++ b/phase2/behavior-1k/turning_out_all_lights_before_sleep/trajectories/behavior-turning-out-all-lights-before-sleep-i00-privileged--wwj64nt.json
@@ -0,0 +1,273 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-turning-out-all-lights-before-sleep-i00-privileged--wwj64nt",
+ "taskKey": "behavior-1k/turning_out_all_lights_before_sleep",
+ "dag_sha256": "190d15a1d8bb83038f5682a64b319c77917898da47e6dfda9af6a18722b5d1fa",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 136,
+   "sim_steps": 136,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1465.6,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 15,
+   "agent_resets": 0,
+   "agent_sim_steps": 4455,
+   "agent_records": 1,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-turning-out-all-lights-before-sleep-i00-privileged--wwj64nt/replay.mp4",
+  "duration_s": 4.533,
+  "fps": 30.0,
+  "frames": 136,
+  "sha256": "99500a19694ef57de2b6d39c12a3fff070452315fa3ec582c3a536d53f2ff419"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "utility_door_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 264,
+      "text_zh": "观察：本次视频 0.00–4.50 s 的三相机视图始终在起始白墙和木地板处，视频约 2.0–2.5 s 仅有小幅视点上下变化；机器人没有移向门或伸手操作门。log step 264 的最终回退分支只执行保持、躯干关节小幅往返和保持，log step 273 保存该分支的136步动作。"
+     },
+     {
+      "t": 4.5,
+      "log_step": null,
+      "text_zh": "推断：结合任务DAG已核实的杂物间门初态关闭，以及本次视频 0.00–4.50 s 没有任何开门或进入杂物间的动作，打开杂物间门事件未发生。成功参考视频 60.00–66.00 s 可见门洞及洗衣机、台面和白色搁架；本次始终留在起始位置，没有建立该通路。"
+     }
+    ]
+   },
+   "switches_off_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.27,
+      "log_step": 264,
+      "text_zh": "观察：本次视频 0.00–4.50 s（包括视频 3.50–4.50 s 尾段）机器人停留在起始墙角，仅在视频约 2.0–2.5 s 小幅改变躯干姿态，未移向或操作墙壁开关。log step 264 的交付分支仅包含保持和躯干往返，不包含任何手指按灯操作。"
+     },
+     {
+      "t": 4.5,
+      "log_step": 279,
+      "text_zh": "推断：任务文本明确三个开关和两盏台灯初始全部开启；本次视频 0.00–4.50 s 无设备操作，故至少1个墙壁开关关闭的条件未曾成立。inputs/run.json 的评分器 q_score=0.0，log step 279 对同一136步交付文件的新进程重放也报告 q_score=0.0、deterministic=true；五个关闭条件均非初始已满足项，因此总分限定本节点终态为false。"
+     }
+    ]
+   },
+   "switches_off_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.27,
+      "log_step": 264,
+      "text_zh": "观察：本次视频 0.00–4.50 s（包括视频 3.50–4.50 s 尾段）机器人停留在起始墙角，仅在视频约 2.0–2.5 s 小幅改变躯干姿态，未移向或操作墙壁开关。log step 264 的交付分支仅包含保持和躯干往返，不包含任何手指按灯操作。"
+     },
+     {
+      "t": 4.5,
+      "log_step": 279,
+      "text_zh": "推断：任务文本明确三个开关和两盏台灯初始全部开启；本次视频 0.00–4.50 s 无设备操作，故至少2个墙壁开关关闭的条件未曾成立。inputs/run.json 的评分器 q_score=0.0，log step 279 对同一136步交付文件的新进程重放也报告 q_score=0.0、deterministic=true；五个关闭条件均非初始已满足项，因此总分限定本节点终态为false。"
+     }
+    ]
+   },
+   "switches_off_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.27,
+      "log_step": 264,
+      "text_zh": "观察：本次视频 0.00–4.50 s（包括视频 3.50–4.50 s 尾段）机器人停留在起始墙角，仅在视频约 2.0–2.5 s 小幅改变躯干姿态，未移向或操作墙壁开关。log step 264 的交付分支仅包含保持和躯干往返，不包含任何手指按灯操作。"
+     },
+     {
+      "t": 4.5,
+      "log_step": 279,
+      "text_zh": "推断：任务文本明确三个开关和两盏台灯初始全部开启；本次视频 0.00–4.50 s 无设备操作，故至少3个墙壁开关关闭的条件未曾成立。inputs/run.json 的评分器 q_score=0.0，log step 279 对同一136步交付文件的新进程重放也报告 q_score=0.0、deterministic=true；五个关闭条件均非初始已满足项，因此总分限定本节点终态为false。"
+     }
+    ]
+   },
+   "lamps_off_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.27,
+      "log_step": 264,
+      "text_zh": "观察：本次视频 0.00–4.50 s（包括视频 3.50–4.50 s 尾段）机器人停留在起始墙角，仅在视频约 2.0–2.5 s 小幅改变躯干姿态，未移向或操作台灯。log step 264 的交付分支仅包含保持和躯干往返，不包含任何手指按灯操作。"
+     },
+     {
+      "t": 4.5,
+      "log_step": 279,
+      "text_zh": "推断：任务文本明确三个开关和两盏台灯初始全部开启；本次视频 0.00–4.50 s 无设备操作，故至少1个台灯关闭的条件未曾成立。inputs/run.json 的评分器 q_score=0.0，log step 279 对同一136步交付文件的新进程重放也报告 q_score=0.0、deterministic=true；五个关闭条件均非初始已满足项，因此总分限定本节点终态为false。"
+     }
+    ]
+   },
+   "lamps_off_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.27,
+      "log_step": 264,
+      "text_zh": "观察：本次视频 0.00–4.50 s（包括视频 3.50–4.50 s 尾段）机器人停留在起始墙角，仅在视频约 2.0–2.5 s 小幅改变躯干姿态，未移向或操作台灯。log step 264 的交付分支仅包含保持和躯干往返，不包含任何手指按灯操作。"
+     },
+     {
+      "t": 4.5,
+      "log_step": 279,
+      "text_zh": "推断：任务文本明确三个开关和两盏台灯初始全部开启；本次视频 0.00–4.50 s 无设备操作，故至少2个台灯关闭的条件未曾成立。inputs/run.json 的评分器 q_score=0.0，log step 279 对同一136步交付文件的新进程重放也报告 q_score=0.0、deterministic=true；五个关闭条件均非初始已满足项，因此总分限定本节点终态为false。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": 0.0,
+   "log_step": 264,
+   "where": "首步前",
+   "evidence_zh": "观察：本次视频 0.00–4.50 s 只有起始位置的保持和小幅躯干往返，没有启动任何门、开关或台灯的操作。log step 264 编写该回退分支，log step 265 以 --quick --record 录制，log step 273 保存136步，log step 279 确认重放失败且q_score=0.0。由于交付轨迹没有指向任何具体语义步骤，无法唯一指定一个节点为断点。"
+  },
+  "unmet": {
+   "switches_off_1": false,
+   "switches_off_2": false,
+   "switches_off_3": false,
+   "lamps_off_1": false,
+   "lamps_off_2": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 0.0,
+    "log_step": 264,
+    "evidence_zh": "观察：本次视频 0.00–4.50 s 机器人未导航至任何目标，夹爪未执行开门或按灯动作；视频 3.50–4.50 s 直到最后一帧仍在原地。log step 264 的回退代码只保持60步、躯干小幅往返、再保持60步；log step 273 保存的是该136步轨迹。所有任务步骤在评分尝试中均未启动。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "log_step": 260,
+    "source_zh": "日志",
+    "evidence_zh": "推断：放弃实际任务动作之前，agent 的会话实验未形成可靠的滑门控制：log step 207 的脚本输出隔断门12先移到18.141又退回18.114，log step 239、242 记录另一尝试先前进0.101米再退回0.055米，log step 258、260 记录修改后先前进0.138米、下一次又后退0.007米。agent 随后在 log step 261、264 明确因开门推进不可靠而终止完整任务录制，改录只保持和躯干往返的文件；视频 0.00–4.50 s 与该分支一致。由此将根因保守归为控制能力不足，不能进一步确定接触几何、逆解或反馈控制的具体子类；这些会话实验只用于根因，不算本次评分轨迹的接触或进度。"
+   }
+  ],
+  "gap_zh": "本次无状态日志，相机始终只见起始白墙、地板及机器人局部，目标设备及杂物间门不在视野内；五个设备的终态由初始全部开启、评分视频无任务操作和q_score=0共同限定，未把遮挡本身当作关闭失败证据。回退轨迹没有启动任何具体步骤，因此断点ref保留unknown。根因来自会话实验及交付分支记录，缺少实验的完整接触力和逐帧状态，无法细分控制子类；实验中的开门动作不计入本次评分片段。"
+ },
+ "summary_zh": "本次评分视频仅4.533秒，机器人原地保持并小幅往返躯干，六个节点均未完成，五个关灯目标终态为false，与评分器q_score=0一致。最终交付的是log step 264–273录制的简短回退分支，未启动具体任务步骤，断点记unknown／首步前，现象为没尝试；会话内反复开门推进不足支持控制根因。目标未进入相机视野且无状态日志，门与关灯进度结合初态、交付动作及评分总量推断，控制细分原因仍不确定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "进度节点全 false、没尝试现象、控制根因与视频(整段4.5 s停在起始墙角)和 q_score=0 一致；但断点 ref 写成 unknown 不当：agent 的会话实验都在做杂物间开门，交付轨迹是该步骤之前就放弃的空动作，应按 FAIL-22 记为第一步 utility_door_opened / 首步前。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频全程停在起始墙角，六节点均未达成，与 q_score=0 一致；断点 unknown/首步前/没尝试及控制根因可接受（DAG 中多个节点可先开始，交付未指向具体节点，第1轮意见已被有证据驳回）。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:30:00Z",
+  "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-turning-out-all-lights-before-sleep-i00-privileged--wwj64nt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-turning-out-all-lights-before-sleep-i00-privileged--wwj64nt/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-turning-out-all-lights-before-sleep-i00-privileged--wwj64nt/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-turning-out-all-lights-before-sleep-i00-privileged--wwj64nt/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d993dceda6bc20d014cf4f69368db40a838b8708178f34ca46d8872f932aaf0b",
+   "video_sha256": "99500a19694ef57de2b6d39c12a3fff070452315fa3ec582c3a536d53f2ff419",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/turning_out_all_lights_before_sleep/trajectories/behavior-turning-out-all-lights-before-sleep-i00-standard--6bgmfgy.json b/phase2/behavior-1k/turning_out_all_lights_before_sleep/trajectories/behavior-turning-out-all-lights-before-sleep-i00-standard--6bgmfgy.json
new file mode 100644
index 0000000000000000000000000000000000000000..097be85aacdf9f2e30407b8f159e6fc89b9e82e5
--- /dev/null
+++ b/phase2/behavior-1k/turning_out_all_lights_before_sleep/trajectories/behavior-turning-out-all-lights-before-sleep-i00-standard--6bgmfgy.json
@@ -0,0 +1,245 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-turning-out-all-lights-before-sleep-i00-standard--6bgmfgy",
+ "taskKey": "behavior-1k/turning_out_all_lights_before_sleep",
+ "dag_sha256": "190d15a1d8bb83038f5682a64b319c77917898da47e6dfda9af6a18722b5d1fa",
+ "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": 6870,
+   "sim_steps": 6869,
+   "physics_steps": 27476,
+   "steps": 4796,
+   "elapsed_s": 3961.6,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-turning-out-all-lights-before-sleep-i00-standard--6bgmfgy/replay.mp4",
+  "duration_s": 217.167,
+  "fps": 30.0,
+  "frames": 6515,
+  "sha256": "8aa561da9484c92343a9f2adf441941b88c70df80201ec00e12e2716811704f7"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "utility_door_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0–29 s 机器人反复面对起始棕色门及相邻白色隔墙；视频 30–217.13 s 仍在同一处倾斜观察墙面、地板和窗，未出现杂物间洗衣机、长台面及搁架。成功参考视频 21–24 s 先通过起始棕色门，参考视频 42–69 s 才另外打开白色滑门并进入有洗衣机和搁架的杂物间；本次未见该开口形成，未达到此节点，亦未操作该目标滑门。"
+     }
+    ]
+   },
+   "switches_off_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 217.13,
+      "log_step": null,
+      "text_zh": "推断：任务初态说明五个目标均开启；本次视频 0–217.13 s 仅见机器人在起始棕色门、白墙和窗附近移动，视频约 30 s 翻倒，此后未离开该处，未见机器人到达或触碰目标设备。评分器 q_score=0.0 限定终局没有新增关闭目标，故本计数节点终局为假；live_matches_replay=0，该总分属于现场运行，仅用于与视频不矛盾的终局推断，不能单独证明过程。未见关闭任何目标墙壁开关的操作，未建立“至少1个关闭”的区间。"
+     }
+    ]
+   },
+   "switches_off_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 217.13,
+      "log_step": null,
+      "text_zh": "推断：任务初态说明五个目标均开启；本次视频 0–217.13 s 仅见机器人在起始棕色门、白墙和窗附近移动，视频约 30 s 翻倒，此后未离开该处，未见机器人到达或触碰目标设备。评分器 q_score=0.0 限定终局没有新增关闭目标，故本计数节点终局为假；live_matches_replay=0，该总分属于现场运行，仅用于与视频不矛盾的终局推断，不能单独证明过程。未见关闭任何目标墙壁开关的操作，未建立“至少2个关闭”的区间。"
+     }
+    ]
+   },
+   "switches_off_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 217.13,
+      "log_step": null,
+      "text_zh": "推断：任务初态说明五个目标均开启；本次视频 0–217.13 s 仅见机器人在起始棕色门、白墙和窗附近移动，视频约 30 s 翻倒，此后未离开该处，未见机器人到达或触碰目标设备。评分器 q_score=0.0 限定终局没有新增关闭目标，故本计数节点终局为假；live_matches_replay=0，该总分属于现场运行，仅用于与视频不矛盾的终局推断，不能单独证明过程。未见关闭任何目标墙壁开关的操作，未建立“至少3个关闭”的区间。"
+     }
+    ]
+   },
+   "lamps_off_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 217.13,
+      "log_step": null,
+      "text_zh": "推断：任务初态说明五个目标均开启；本次视频 0–217.13 s 仅见机器人在起始棕色门、白墙和窗附近移动，视频约 30 s 翻倒，此后未离开该处，未见机器人到达或触碰目标设备。评分器 q_score=0.0 限定终局没有新增关闭目标，故本计数节点终局为假；live_matches_replay=0，该总分属于现场运行，仅用于与视频不矛盾的终局推断，不能单独证明过程。未见关闭任何目标台灯的操作，未建立“至少1个关闭”的区间。"
+     }
+    ]
+   },
+   "lamps_off_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 217.13,
+      "log_step": null,
+      "text_zh": "推断：任务初态说明五个目标均开启；本次视频 0–217.13 s 仅见机器人在起始棕色门、白墙和窗附近移动，视频约 30 s 翻倒，此后未离开该处，未见机器人到达或触碰目标设备。评分器 q_score=0.0 限定终局没有新增关闭目标，故本计数节点终局为假；live_matches_replay=0，该总分属于现场运行，仅用于与视频不矛盾的终局推断，不能单独证明过程。未见关闭任何目标台灯的操作，未建立“至少2个关闭”的区间。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": 30.0,
+   "log_step": null,
+   "where": "转场",
+   "evidence_zh": "观察：视频 29–30.5 s 机器人在起始棕色门旁移动，随后地面和窗框在头部视角中大幅旋转；视频 34.5 s 后持续侧倾，直到视频 217.13 s 仍未恢复。机器人未通过起始门，也未开始任何目标开关、台灯或杂物间滑门的操作。推断：失败发生于寻找目标前的通路转场；此门不是成功参考视频 42–69 s 打开的杂物间目标滑门，且本次未选定下一项关灯目标，无法唯一映射至现有 DAG 节点。"
+  },
+  "unmet": {
+   "switches_off_1": false,
+   "switches_off_2": false,
+   "switches_off_3": false,
+   "lamps_off_1": false,
+   "lamps_off_2": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 30.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 29.5–30.5 s 机器人移动后相机画面急剧翻转，视频 34.5–217.13 s 的地面、墙和窗持续倾斜；后续臂和躯干运动没有使机器人回到直立姿态。log step 83 的服务本体读数给出底座高度 0.335 m、四元数 [0.607,0.322,0.608,0.398]，log step 85 输出机体竖直轴的世界竖直分量约 0.055，与翻倒一致；因视频和现场不保证一致，日志读数仅作定性佐证，不用于换算视频时刻。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：门口接近控制没有维持底盘稳定。log step 75 写入的 goto 控制器只按平面位置和偏航误差反复下发底盘位移，无倾斜或受阻退出判断，其执行输出显示多轮位置几乎不前进；log step 77 再试横移后底座升高，log step 82 再次执行 goto，结束时底座高度 0.335 m，log step 83、85 的本体姿态读数已侧翻。视频 29–35 s 同样显示机器人在狭窄门口移动后翻倒并未恢复；因此归入控制，现有证据不足以区分具体接触几何、碰撞力或反馈跟踪子类。"
+   }
+  ],
+  "gap_zh": "没有状态日志；相机未显示造成翻倒的具体接触对，不能确认 agent 在 log step 173 所称“门板撞倒机器人”的假说。核对 inputs/run.json 后，log step 54 的“The robot rammed the door”、log step 63 的“The base keeps ramming the door”和 log step 78 的“The base seems blocked by the door”均在 say 字段，是 agent 自述，不是服务返回的碰撞或接触检测结果。现场工具输出中的本体读数及其计算结果（log step 53 的底座虚拟关节、log step 75 的位置变化、log step 77 的横移前后位置和高度、log step 83 的底座姿态）支持受阻或失衡的推断，但未报告底盘—门接触对，不能据此确定回放中存在该碰撞。视频 29–33 s 可见翻转、不能辨认底盘与门接触；保留全身·平衡，不增加运动·被挡/碰撞。机器人只在未纳入 DAG 的起始门口转场，无法确定其下一项目标，故 breakpoint.ref 保留 unknown；未实际开展的六个 DAG 节点均省略 contact_actual。评分器 deterministic=0、live_matches_replay=0；现场 log step 162–167 记录底座四元数 NaN 和 reason=error，但视频末尾只是保持侧倾画面，不能把该报错按控制步数映射到视频，也不能把现场诊断动作当作回放中的精确时序；此前可见的翻倒仍是未修复的物理失败。"
+ },
+ "summary_zh": "六个节点均未完成：机器人在起始门口反复接近，约视频 30 s 翻倒，直到视频 217.13 s 仍未恢复，未到达目标杂物间滑门或五个照明设备。门口底盘控制未能维持稳定，现象为全身平衡失败；翻倒发生在未确定下一项关灯目标的转场，故断点节点为 unknown。无状态日志且现场与回放不一致，具体致倒接触及现场最终 NaN 报错的回放时刻不能确定。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点全未达成、翻倒时间(视频约30 s)与帧一致，这部分认可；但断点 ref=unknown 不对：机器人始终在尝试穿过起始棕色门去杂物间，首个未达成步骤是 utility_door_opened，应作为断点；且门口撞门/受阻这一接触现象被漏掉。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "六个节点均未达成、视频约30 s翻倒并持续侧倾至结束，与帧一致；断点unknown的理由（起始棕色门不是DAG的杂物间滑门）已在上一轮有证据地答复，无新证据推翻；平衡现象与控制根因有证据支持。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:32:23Z",
+  "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-turning-out-all-lights-before-sleep-i00-standard--6bgmfgy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-turning-out-all-lights-before-sleep-i00-standard--6bgmfgy/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-turning-out-all-lights-before-sleep-i00-standard--6bgmfgy/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
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+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4c10cbe952772f0b02b091214cc13c68017a776afd9df54195460935fa21f447",
+   "video_sha256": "8aa561da9484c92343a9f2adf441941b88c70df80201ec00e12e2716811704f7",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/turning_out_all_lights_before_sleep/trajectories/behavior-turning-out-all-lights-before-sleep-i00-standard--rg6cgkr.json b/phase2/behavior-1k/turning_out_all_lights_before_sleep/trajectories/behavior-turning-out-all-lights-before-sleep-i00-standard--rg6cgkr.json
new file mode 100644
index 0000000000000000000000000000000000000000..0933fc76d534bdcdcf135ad6825e590af4e1f408
--- /dev/null
+++ b/phase2/behavior-1k/turning_out_all_lights_before_sleep/trajectories/behavior-turning-out-all-lights-before-sleep-i00-standard--rg6cgkr.json
@@ -0,0 +1,292 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-turning-out-all-lights-before-sleep-i00-standard--rg6cgkr",
+ "taskKey": "behavior-1k/turning_out_all_lights_before_sleep",
+ "dag_sha256": "190d15a1d8bb83038f5682a64b319c77917898da47e6dfda9af6a18722b5d1fa",
+ "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": 2740,
+   "sim_steps": 2740,
+   "physics_steps": 10960,
+   "steps": 904,
+   "elapsed_s": 1852.1,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.258,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.392,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-turning-out-all-lights-before-sleep-i00-standard--rg6cgkr/replay.mp4",
+  "duration_s": 91.333,
+  "fps": 30.0,
+  "frames": 2740,
+  "sha256": "d6ba0586c62de99250f7efca0e4fa708e45ab9fceb52809451299a33734a52c5"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "utility_door_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 66.0,
+      "log_step": 205,
+      "text_zh": "观察：本次视频 60.0–70.0 s，机器人左夹爪沿木纹滑门边缘向侧方推动，门后露出的是长走廊；视频 71.5–91.3 s 随后转为墙面、横置地面及天空视图，没有到达洗衣机、长台面和白色搁架所在的杂物间。"
+     },
+     {
+      "t": 70.0,
+      "log_step": 211,
+      "text_zh": "推断：本次视频 66.0–70.0 s 的长走廊入口对应参考成功视频 20.0–45.0 s 所见的前一道隔断；参考成功视频 55.0–70.0 s 还须操作另一道门才出现杂物间。故本次打开的门不计为 utility_door_opened，任务 DAG 也明确未单列走廊隔断门；该节点始终未达成，不能把隔断门上的夹爪接触记在本节点。"
+     }
+    ]
+   },
+   "switches_off_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：log step 15 的机器人服务规格中，任务文本明确三个目标墙壁开关和两盏目标台灯初始全部开启；本次视频 0.0–70.0 s 仅显示机器人转身、移向走廊隔断门并操作该门，未见手指操作厨房、杂物间或餐厅的目标开关。"
+     },
+     {
+      "t": 91.3,
+      "log_step": 254,
+      "text_zh": "推断：本次视频 71.5–91.3 s 的机器人未进入目标开关操作场景，末秒视频 90.4、90.8、91.3 s 仍为倾斜朝天视图；结合全部开启的服务初态、全程没有目标开关操作，以及评分器 q_score=0、live_matches_replay=1，关闭数量始终不足1个，终值为 false。不是仅凭零分推断未尝试。"
+     }
+    ]
+   },
+   "switches_off_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：log step 15 的机器人服务规格中，任务文本明确三个目标墙壁开关和两盏目标台灯初始全部开启；本次视频 0.0–70.0 s 仅显示机器人转身、移向走廊隔断门并操作该门，未见手指操作厨房、杂物间或餐厅的目标开关。"
+     },
+     {
+      "t": 91.3,
+      "log_step": 254,
+      "text_zh": "推断：本次视频 71.5–91.3 s 的机器人未进入目标开关操作场景，末秒视频 90.4、90.8、91.3 s 仍为倾斜朝天视图；结合全部开启的服务初态、全程没有目标开关操作，以及评分器 q_score=0、live_matches_replay=1，关闭数量始终不足2个，终值为 false。不是仅凭零分推断未尝试。"
+     }
+    ]
+   },
+   "switches_off_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：log step 15 的机器人服务规格中，任务文本明确三个目标墙壁开关和两盏目标台灯初始全部开启；本次视频 0.0–70.0 s 仅显示机器人转身、移向走廊隔断门并操作该门，未见手指操作厨房、杂物间或餐厅的目标开关。"
+     },
+     {
+      "t": 91.3,
+      "log_step": 254,
+      "text_zh": "推断：本次视频 71.5–91.3 s 的机器人未进入目标开关操作场景，末秒视频 90.4、90.8、91.3 s 仍为倾斜朝天视图；结合全部开启的服务初态、全程没有目标开关操作，以及评分器 q_score=0、live_matches_replay=1，关闭数量始终不足3个，终值为 false。不是仅凭零分推断未尝试。"
+     }
+    ]
+   },
+   "lamps_off_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：log step 15 的机器人服务任务文本明确客厅茶几和杂物间台面的两盏目标台灯初始全部开启；本次视频 0.0–70.0 s 中机器人只在走廊隔断门前探索和开门，未到茶几或杂物间台面，未见夹爪接近或触压任一目标台灯按钮。"
+     },
+     {
+      "t": 91.3,
+      "log_step": 254,
+      "text_zh": "推断：本次视频 71.5–91.3 s 机器人失衡后没有进行台灯操作，末秒视频 90.4、90.8、91.3 s 仍朝向天空；结合服务记载的全部开启初态、全程未操作台灯及评分器 q_score=0、live_matches_replay=1，关闭数量始终不足1盏，终值为 false。"
+     }
+    ]
+   },
+   "lamps_off_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 15,
+      "text_zh": "观察：log step 15 的机器人服务任务文本明确客厅茶几和杂物间台面的两盏目标台灯初始全部开启；本次视频 0.0–70.0 s 中机器人只在走廊隔断门前探索和开门，未到茶几或杂物间台面，未见夹爪接近或触压任一目标台灯按钮。"
+     },
+     {
+      "t": 91.3,
+      "log_step": 254,
+      "text_zh": "推断：本次视频 71.5–91.3 s 机器人失衡后没有进行台灯操作，末秒视频 90.4、90.8、91.3 s 仍朝向天空；结合服务记载的全部开启初态、全程未操作台灯及评分器 q_score=0、live_matches_replay=1，关闭数量始终不足2盏，终值为 false。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": 75.0,
+   "log_step": 211,
+   "where": "转场",
+   "evidence_zh": "观察：本次视频 66.0–71.0 s 机器人推开通向长走廊的隔断门；视频约 71.5 s 起视野剧烈转动，视频 75.0–80.0 s 地面近乎横置，视频 82.0–91.3 s 朝向天空且未恢复正常行进。log step 211 执行的目标是穿门抵达走廊坐标，而非某一目标灯具；log step 254 的服务状态以 failure: the robot fell over 终止。推断：失败发生在进入任务区域的空手转场；实际操作的隔断门不在 DAG 中，尚无证据表明已选定杂物间门、第一个墙壁开关或台灯中的哪一步，故 ref 保留 unknown。"
+  },
+  "unmet": {
+   "switches_off_1": false,
+   "switches_off_2": false,
+   "switches_off_3": false,
+   "lamps_off_1": false,
+   "lamps_off_2": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 75.0,
+    "log_step": 215,
+    "evidence_zh": "观察：本次视频 71.5–80.0 s，穿过隔断门时机器人视野翻转，地面长时间横置；视频 82.0–91.3 s 三个相机视图呈倾斜的天空、墙顶和机器人手臂。log step 215 的服务本体观测 base_pose.z=3.245 m，base_joint_pos 的 rx≈23.8°、ry≈−54.6°；log step 235 仍报告相近倾角，log step 254 服务最终判定机器人翻倒。推断：这不是单纯头部俯仰，而是本体失去正常地面支撑，且未恢复。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 75.0,
+    "log_step": 131,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 131 的底盘导航控制器仅按平面位置与偏航误差更新驱动，每轮执行 0.5 秒指令，没有底座倾角或离地高度的停止条件；log step 211 在门口调用该控制器最多执行25轮。视频 71.5–83.0 s 的持续侧翻和抬升，与 log step 215 的底座高度3.245 m、倾角观测相符；log step 217、228、236 等恢复控制后，视频 90.4–91.3 s 仍未恢复。因此证据支持穿门及恢复过程中的本体控制失败；尚不能区分门口接触几何、关节轨迹与反馈控制各自的贡献，保留在控制总类。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志或接触对，无法识别翻倒时具体哪个机器人部件被哪一处门框或墙面阻挡，因此不追加碰撞现象或更细控制子类。任务目标的按钮状态在本次镜头中不可直接读出，节点未达成依据服务任务文本的全部开启初态（log step 15）、视频全程未接近目标的动作经过和与回放一致的 q_score=0 联合推断。走廊隔断门不在此 DAG 中，且穿门导航尚未指定下一目标，故可定位物理失败和转场阶段，但不能唯一指定失败节点；各 DAG 节点均未实际开始目标操作，故不把隔断门上的夹爪接触或一般探索行驶复制为其 contact_actual。"
+ },
+ "summary_zh": "本次评分轨迹只推开了通向长走廊的隔断门，未到达 DAG 所指的杂物间门，也未操作三个目标开关或两盏目标台灯，最终完成0/6个节点，q_score=0。机器人在视频约 71.5–75.0 s 的穿门转场中失衡，随后未能恢复并被服务判为翻倒；日志支持本体控制失败。隔断门不属于 DAG 且下一目标未确定，断点节点保留 unknown；无逐帧状态或接触日志，不能进一步确定阻挡部件和控制子类。 本轮复核确认本次与成功样例共享走廊入口，但该通路不能唯一确定随后选择的目标；无法彻底排除审查者所推断的杂物间路线，故拒绝将断点指定为杂物间门时，将置信度由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 false、平衡现象和控制根因与视频及服务字段一致；但断点 ref 不应为 unknown：机器人全程是在前往杂物间门的途中（打开走廊隔断门、穿门时翻倒），应归入第一步 utility_door_opened。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点全 false、平衡现象、控制根因与视频及服务字段一致；上轮提出的断点 ref 问题，标注者以 DAG 中三个首步均无前驱、log step 211 的目标是走廊入口为由拒绝，该理由成立，ref=unknown 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": "2026-10-30T22:32:23Z",
+  "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-turning-out-all-lights-before-sleep-i00-standard--rg6cgkr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-turning-out-all-lights-before-sleep-i00-standard--rg6cgkr/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-turning-out-all-lights-before-sleep-i00-standard--rg6cgkr/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-turning-out-all-lights-before-sleep-i00-standard--rg6cgkr/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c31bcb00c62d3cd01b6faf13d1895c28b2a64facd6456ba93fec9abef6efe443",
+   "video_sha256": "d6ba0586c62de99250f7efca0e4fa708e45ab9fceb52809451299a33734a52c5",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/turning_out_all_lights_before_sleep/trajectories/behavior-turning-out-all-lights-before-sleep-i00-standard--ru3bck4.json b/phase2/behavior-1k/turning_out_all_lights_before_sleep/trajectories/behavior-turning-out-all-lights-before-sleep-i00-standard--ru3bck4.json
new file mode 100644
index 0000000000000000000000000000000000000000..5db34e6fe28079b5e1dd4801b06f596b68669cbb
--- /dev/null
+++ b/phase2/behavior-1k/turning_out_all_lights_before_sleep/trajectories/behavior-turning-out-all-lights-before-sleep-i00-standard--ru3bck4.json
@@ -0,0 +1,270 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-turning-out-all-lights-before-sleep-i00-standard--ru3bck4",
+ "taskKey": "behavior-1k/turning_out_all_lights_before_sleep",
+ "dag_sha256": "190d15a1d8bb83038f5682a64b319c77917898da47e6dfda9af6a18722b5d1fa",
+ "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": 2272,
+   "sim_steps": 2272,
+   "physics_steps": 9088,
+   "steps": 2272,
+   "elapsed_s": 1021.4,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.181,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.717,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-turning-out-all-lights-before-sleep-i00-standard--ru3bck4/replay.mp4",
+  "duration_s": 75.733,
+  "fps": 30.0,
+  "frames": 2272,
+  "sha256": "ed206f5d5dd070eba93cbadf1d8b859fea74e333f050b0ac2e08c826609ca280"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "utility_door_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 39.0,
+      "log_step": 33,
+      "text_zh": "观察：视频 22–42 s 机器人左夹爪夹住起始房间木色滑门的凹入把手，横向移动门板，随后松手；视频 44–57 s 机器人进入走廊并转动观察。log step 25–34 的操作均针对同一个起始门把手；log step 36 也将其称为起始房间的门。"
+     },
+     {
+      "t": 56.0,
+      "log_step": 36,
+      "text_zh": "观察：视频 44–57 s 可见走廊旁的白色面板与远处搁架，机器人没有操作该白色面板；对照成功样例视频 48–66 s，样例还进行了另一处开门操作，并在样例视频 66–70 s 进入有洗衣机、长台面和白色搁架的空间。推断：本次木色起始门的开启不等于 DAG 的杂物间门开启；本次此后直接朝客厅方向移动、翻倒，未达到该节点。"
+     }
+    ]
+   },
+   "switches_off_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.0,
+      "log_step": 40,
+      "text_zh": "观察：视频 0–58 s 机器人只扫描、操作起始木色滑门并在走廊移动；视频 58–71.5 s 双臂未伸向墙壁开关，头部视角随后上仰、侧翻；视频 71.5–75.7 s 是倒地后的恢复动作，没有按开关的动作。推断：结合任务文本的三个开关初始全开、只有手指持续触碰按钮才翻转的规则，未出现至少1个目标开关关闭的区间。"
+     },
+     {
+      "t": 75.7,
+      "log_step": 55,
+      "text_zh": "观察：评分器 reward.q_score=0.0、live_matches_replay=1；log step 55 的现场服务状态为 control_steps=2272、done=True、reason=\"failure: the robot fell over\"。推断：五个关闭目标初始均不成立，零总分约束所有目标开关的终值为未关闭，与视频未操作按钮一致。"
+     }
+    ]
+   },
+   "switches_off_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.0,
+      "log_step": 40,
+      "text_zh": "观察：视频 0–58 s 机器人只扫描、操作起始木色滑门并在走廊移动；视频 58–71.5 s 双臂未伸向墙壁开关，头部视角随后上仰、侧翻；视频 71.5–75.7 s 是倒地后的恢复动作，没有按开关的动作。推断：结合任务文本的三个开关初始全开、只有手指持续触碰按钮才翻转的规则，未出现至少2个目标开关关闭的区间。"
+     },
+     {
+      "t": 75.7,
+      "log_step": 55,
+      "text_zh": "观察：评分器 reward.q_score=0.0、live_matches_replay=1；log step 55 的现场服务状态为 control_steps=2272、done=True、reason=\"failure: the robot fell over\"。推断：五个关闭目标初始均不成立，零总分约束所有目标开关的终值为未关闭，与视频未操作按钮一致。"
+     }
+    ]
+   },
+   "switches_off_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.0,
+      "log_step": 40,
+      "text_zh": "观察：视频 0–58 s 机器人只扫描、操作起始木色滑门并在走廊移动；视频 58–71.5 s 双臂未伸向墙壁开关，头部视角随后上仰、侧翻；视频 71.5–75.7 s 是倒地后的恢复动作，没有按开关的动作。推断：结合任务文本的三个开关初始全开、只有手指持续触碰按钮才翻转的规则，未出现至少3个目标开关关闭的区间。"
+     },
+     {
+      "t": 75.7,
+      "log_step": 55,
+      "text_zh": "观察：评分器 reward.q_score=0.0、live_matches_replay=1；log step 55 的现场服务状态为 control_steps=2272、done=True、reason=\"failure: the robot fell over\"。推断：五个关闭目标初始均不成立，零总分约束所有目标开关的终值为未关闭，与视频未操作按钮一致。"
+     }
+    ]
+   },
+   "lamps_off_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.5,
+      "log_step": 40,
+      "text_zh": "观察：视频 50–59 s 的头部视角可见远处客厅沙发及茶几区域，机器人仍在走廊；视频 0–75.7 s 未见机器人手指操作台灯按钮，末段双臂只在地面附近作恢复动作。推断：结合任务文本的两盏目标台灯初始全开和触碰按钮翻转规则，未出现至少1盏目标台灯关闭的区间。"
+     },
+     {
+      "t": 75.7,
+      "log_step": 55,
+      "text_zh": "观察：评分器 reward.q_score=0.0，现场与回放一致；视频 75.7 s 机器人双臂在地面附近，未接触台灯。推断：五个关闭目标均从初始未满足状态开始，零总分决定两盏台灯终局均未关闭，因此该计数节点 final=false。"
+     }
+    ]
+   },
+   "lamps_off_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.5,
+      "log_step": 40,
+      "text_zh": "观察：视频 50–59 s 的头部视角可见远处客厅沙发及茶几区域，机器人仍在走廊；视频 0–75.7 s 未见机器人手指操作台灯按钮，末段双臂只在地面附近作恢复动作。推断：结合任务文本的两盏目标台灯初始全开和触碰按钮翻转规则，未出现至少2盏目标台灯关闭的区间。"
+     },
+     {
+      "t": 75.7,
+      "log_step": 55,
+      "text_zh": "观察：评分器 reward.q_score=0.0，现场与回放一致；视频 75.7 s 机器人双臂在地面附近，未接触台灯。推断：五个关闭目标均从初始未满足状态开始，零总分决定两盏台灯终局均未关闭，因此该计数节点 final=false。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": 65.5,
+   "log_step": 40,
+   "where": "探索",
+   "evidence_zh": "观察：视频 57–59 s 机器人沿走廊朝客厅方向移动；视频 60–65 s 头部视角上仰并转动，视频 65.5–67.5 s 画面进一步侧转至近乎横置，机器人翻倒。log step 40 的顺序是两次 goto 后运行 scan.py s2 6，即机器人原地转动扫描场景；随后 log step 42 的服务计数为2147，视频 71.5 s 仍是同一倒地位置。推断：失败发生在场景扫描探索阶段；机器人没有开始对某个灯或开关的明确操作，不能唯一归到某个 DAG 节点，故 ref=unknown。"
+  },
+  "unmet": {
+   "switches_off_1": false,
+   "switches_off_2": false,
+   "switches_off_3": false,
+   "lamps_off_1": false,
+   "lamps_off_2": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 65.5,
+    "log_step": 40,
+    "evidence_zh": "观察：视频 65.5–67.5 s 机器人的三个相机视角随本体大幅侧转，视频 68–71.5 s 保持倒地视角；视频 71.5–75.7 s 机器人伸臂、扭转尝试恢复，但未恢复稳定直立。log step 54 的现场服务最终返回 done=True、reason=\"failure: the robot fell over\"。推断：服务为30 Hz，2272个控制步对应视频2272/30=75.733 s；log step 42 的2147个控制步对应视频71.57 s，已与该处倒地画面核对，该计数只用于核对现场记录和视频的一致性。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "t": 65.5,
+    "log_step": 15,
+    "source_zh": "日志",
+    "evidence_zh": "观察：log step 8 的 zero_row(now) 读取 cur_q(now)，将测得的躯干、双臂关节位置直接写为下一批位置目标；log step 15 的 goto 在每一批移动前重新取 now 并调用 zero_row，扫描脚本也以当前测量姿态生成保持行。log step 18 的 torso_joint1 为1.045 rad，而 log step 48 从服务本体感知读到该关节已为−0.708 rad；视频 59.5–65 s 头部视角在侧翻前已持续上仰。推断：移动控制没有保持预定的直立关节目标，而是把已偏移的姿态继续当作保持目标，未纠正累积的躯干后偏，支持反馈控制失效归因；agent 在 log step 56、58 的事后诊断与代码一致。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志，视频未逐一近看五个目标按钮，终值结合初始全开、全程未见按钮操作与评分器零总分推断。机器人翻倒前仍在走廊扫描，未有明确的下一个设备选择或定向伸手，无法可靠地把断点归给某个关灯节点；因此未把通用导航接触硬分配给某个节点。起始木色门的抓握、推压及底盘移动属于 DAG 未列出的起始通路操作，不复制到杂物间门节点。最初造成躯干偏移的扰动不可见，agent 自述“可能手臂碰墙”（log step 58）不足以认定碰撞，因此不另标碰撞或接触设计根因。"
+ },
+ "summary_zh": "机器人拉开了起始房间的木色滑门并进入走廊，但未完成 DAG 中的杂物间开门或任何关灯节点，终局为0/6，评分器 q_score=0。视频约65.5 s 机器人在转动扫描场景时翻倒，随后恢复失败；控制代码反复以测得的偏移关节姿态作为保持目标，支持反馈控制归因。没有状态日志，且翻倒前未明确选择下一设备，故断点节点为 unknown，五个关灯终值由视频动作、初始全开和零总分共同推断。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点终值（0/6，均未达成）、起始木门不等同杂物间门、约65.5 s 倾倒（2272−300 步≈视频65.7 s，与 up_z 记录和服务 done 一致）、平衡现象与反馈控制根因（zero_row 把测得姿态作为保持目标）均有视频与日志支持；断点 unknown 因机器人朝客厅方向扫描而未锁定具体设备，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": "2026-10-30T22:15:13Z",
+  "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-turning-out-all-lights-before-sleep-i00-standard--ru3bck4/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-turning-out-all-lights-before-sleep-i00-standard--ru3bck4/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f238ece7f71530c4c995693636e5fdfde773e9857d37634aaf2d3d75c49cb977",
+   "video_sha256": "ed206f5d5dd070eba93cbadf1d8b859fea74e333f050b0ac2e08c826609ca280",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/turning_out_all_lights_before_sleep/trajectories/behavior-turning-out-all-lights-before-sleep-i00-standard--wirqgql.json b/phase2/behavior-1k/turning_out_all_lights_before_sleep/trajectories/behavior-turning-out-all-lights-before-sleep-i00-standard--wirqgql.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4a524c47a74358b39fc85d8468789996c6dee2a
--- /dev/null
+++ b/phase2/behavior-1k/turning_out_all_lights_before_sleep/trajectories/behavior-turning-out-all-lights-before-sleep-i00-standard--wirqgql.json
@@ -0,0 +1,302 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-turning-out-all-lights-before-sleep-i00-standard--wirqgql",
+ "taskKey": "behavior-1k/turning_out_all_lights_before_sleep",
+ "dag_sha256": "190d15a1d8bb83038f5682a64b319c77917898da47e6dfda9af6a18722b5d1fa",
+ "outcome": {
+  "success": 0,
+  "reward": 0.2,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 5238,
+   "sim_steps": 5238,
+   "physics_steps": 20952,
+   "steps": 867,
+   "elapsed_s": 6509.7,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "q_score": 0.2,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-turning-out-all-lights-before-sleep-i00-standard--wirqgql/replay.mp4",
+  "duration_s": 174.6,
+  "fps": 30.0,
+  "frames": 5238,
+  "sha256": "ddd5314faacbc779629a0f29fcb9bea46d170a385fd8f928bada95495e5836c5"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "utility_door_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27,
+      "log_step": 58,
+      "text_zh": "观察：视频 21–27 s 机器人操作并通过的是卧室棕色滑门；log step 58 的调用也明确为打开卧室门，并非目标杂物间门。"
+     },
+     {
+      "t": 174.56,
+      "log_step": null,
+      "text_zh": "推断：已检查视频 0–174.56 s 的行程，机器人离开卧室后在客厅操作台灯，再进入餐厨区；未出现参考视频 64–66 s 那样进入带洗衣机、长台面和白色搁架的杂物间通路，亦无杂物间门的操作，故该事件未达成。"
+     }
+    ]
+   },
+   "switches_off_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 172.4,
+      "log_step": 282,
+      "text_zh": "观察：视频 169.0–170.4 s 餐厅门旁左侧目标标记为绿、相邻另一标记为红；视频 171.6–173.2 s 机器人右指尖沿墙面法向推进并停在左侧绿色标记处，目标始终未切换。"
+     },
+     {
+      "t": 174.56,
+      "log_step": 285,
+      "text_zh": "观察：视频 173.4–174.56 s 右夹爪张开并撤离，末秒及视频 174.56 s 目标仍绿，相邻红色标记也未变。"
+     },
+     {
+      "t": 174.56,
+      "log_step": null,
+      "text_zh": "推断：本次及成功参考视频的实际关闭变化均是绿变红，DAG 的颜色说明相反；餐厅按压未关灯，其他目标墙壁开关没有受到操作。客厅台灯已关闭且评分器仅报 q_score=0.2，故终局三个目标墙壁开关均未关闭。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：轮式底盘从客厅驶入餐厨区并靠近餐厅目标墙壁开关，进行最后的位置调整（视频 117–170 s）。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：右夹爪合拢后用指端向餐厅左侧目标开关标记区域推进、停压，再张爪撤回（视频 171.6–174.56 s）；视觉可见指端贴向按钮区域，但开关没有触发。"
+     }
+    ]
+   },
+   "switches_off_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 174.56,
+      "log_step": null,
+      "text_zh": "推断：视频 0–174.56 s 仅在末段对餐厅一个目标墙壁开关实施按压，标记未切换，厨房与杂物间的目标未被操作；结合初态全开（log step 12）及终局 q_score=0.2 已对应客厅灯，不存在两个目标墙壁开关关闭的区间或终态。"
+     }
+    ]
+   },
+   "switches_off_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 174.56,
+      "log_step": null,
+      "text_zh": "推断：视频全程未出现第三个开关关闭的累积进展；机器人未进入杂物间，末段餐厅按压后目标仍绿（视频 174.56 s），且终局 q_score=0.2 只容许一个新满足目标，故三个目标墙壁开关全关从未达成。"
+     }
+    ]
+   },
+   "lamps_off_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      112.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 79.5,
+      "log_step": 125,
+      "text_zh": "观察：视频 78.0–81.5 s 右夹爪向客厅台灯按钮区域推进，球形标记仍绿；视频 85.0–91.5 s 台灯被机器人推移，离开茶几后倒在沙发旁地面。"
+     },
+     {
+      "t": 112.8,
+      "log_step": 230,
+      "text_zh": "观察：视频 110.0–112.7 s 客厅倒地台灯的标记仍绿，右夹爪在灯架内操作；视频 112.8 s 标记变红，视频 114.1 s 撤手视角仍清晰可见红色，灯罩也由发亮变暗。关闭首次发生在视频约 112.8 s，精度约 0.1 s。"
+     },
+     {
+      "t": 117,
+      "log_step": 242,
+      "text_zh": "推断：视频 115–117 s 机器人从已操作的倒地台灯旁离开，此后未再操作它；评分器 q_score=0.2、live_matches_replay=1 与仅此一盏关闭一致。DAG 所写“绿为关、红为开”反向：参考视频 198.5–201 s 的客厅灯操作及参考视频 228.1 s 的成功末帧同样显示关闭后为红。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：轮式底盘驶向客厅茶几，随后绕到沙发旁倒地台灯的操作位置（视频 55–70 s、97–108 s）。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：右夹爪接近灯架时推移台灯，使其从茶几边缘落到地面（视频 85–91.5 s）；未据此认定抓握。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：右夹爪指端向台灯按钮区域压入；先在茶几上尝试，随后在倒地灯架内部按压并触发关闭（视频 78–81.5 s、110–114.1 s）。"
+     }
+    ]
+   },
+   "lamps_off_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 117,
+      "log_step": 242,
+      "text_zh": "观察：视频 55–117 s 机器人只对客厅同一盏台灯反复操作，未操作杂物间台面上的另一盏。"
+     },
+     {
+      "t": 174.56,
+      "log_step": null,
+      "text_zh": "推断：初态任务说明所有五个目标均开启（log step 12 的服务规格 task_text）；视频全程无第二盏目标台灯的操作或关闭变化，终局 q_score=0.2 又已由客厅台灯占用一个目标字面量，故不可能有两盏台灯关闭。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.2,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "switches_off_1",
+   "t": 172.4,
+   "log_step": 282,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 171.6–173.2 s 机器人将右指尖推进餐厅目标开关区域并停压，标记保持绿色；视频 173.4–174.56 s 撤手后仍未切换。推断：客厅台灯的早期失误已在视频约 112.8 s 修复，随后这次餐厅开关按压未完成且直到结束未修复，因此断点是第1个开关关闭。"
+  },
+  "unmet": {
+   "switches_off_1": false,
+   "switches_off_2": false,
+   "switches_off_3": false,
+   "lamps_off_1": true,
+   "lamps_off_2": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "接触力异常",
+    "t": 172.4,
+    "log_step": 282,
+    "evidence_zh": "观察：视频 172.0–173.2 s 右夹爪指端贴向餐厅目标按钮标记区域，保持推进姿态，按钮没有由绿转红；视频 174.56 s 撤手后状态仍不变。推断：这次按压未触发按钮所需的交互；按“按钮没触发”的工作定义标接触力异常，不据此断言实际压力过大或过小。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：机器人在正确的餐厅按钮位置实施右指尖推进和停压，但未实现有效开关切换（视频 171.6–174.56 s）；log step 282 的控制脚本确实命令右爪闭合、沿墙面法向分段推进并保持后撤回，log step 286 的脚本读数显示右 TCP 到达所命令的坐标附近。证据支持按钮接触操作的控制失败，尚不能细分为接触几何、触碰持续时间或反馈控制问题（DECISIONS.md D26）。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "本次无状态日志或逐帧接触对、触碰计数及力反馈，不能判定餐厅按钮未触发的具体接触控制子因。DAG 的红绿判据与两段视频相反：本次客厅灯在视频 112.7–112.8 s 由绿转红后变暗，成功参考视频在参考视频 198.5–201 s、228.1 s 也显示关闭后为红；本标注按实际状态变化与终局评分判断，未修改 DAG。杂物间目标始终未进入近景，未达判断结合初态全开、完整行程及 q_score 总量，不从遮挡单独推断。"
+ },
+ "summary_zh": "机器人在视频约 112.8 s 关闭了倒在地面的客厅台灯，终局达到第1盏台灯关闭，DAG 进度为 1/6，原生 q_score=0.2；未打开杂物间门或操作其目标。视频约 172.4 s 的餐厅开关按压未触发，撤手至视频 174.56 s 仍未关闭，断点为第1个开关关闭，归为接触力异常及控制失败。DAG 的红绿含义与实际和成功参考视频相反，已按关闭前后的变化与评分判定；无状态和接触反馈，控制子因无法细分。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标注与视频一致：视频约112.8 s 客厅台灯标记由绿变红（初态为绿=开启，与餐厅开关初始绿色一致），评分 q=0.2 对应1/6；餐厅开关按压后标记仍绿，断点、现象与根因（控制，已声明无法细分）有证据支持。DAG 的红绿说明与实际相反，标注已按实际变化处理并说明。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:22:59Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-turning-out-all-lights-before-sleep-i00-standard--wirqgql/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-turning-out-all-lights-before-sleep-i00-standard--wirqgql/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b4164974b257f3525edb6fc933a177f0129cd7ee2e67f050ab8b8403bf47e9a5",
+   "video_sha256": "ddd5314faacbc779629a0f29fcb9bea46d170a385fd8f928bada95495e5836c5",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/turning_out_all_lights_before_sleep/trajectories/behavior-turning-out-all-lights-before-sleep-i00-standard--z7mbcek.json b/phase2/behavior-1k/turning_out_all_lights_before_sleep/trajectories/behavior-turning-out-all-lights-before-sleep-i00-standard--z7mbcek.json
new file mode 100644
index 0000000000000000000000000000000000000000..33d467f5227130cbce5e109ad25344d8f7e9081e
--- /dev/null
+++ b/phase2/behavior-1k/turning_out_all_lights_before_sleep/trajectories/behavior-turning-out-all-lights-before-sleep-i00-standard--z7mbcek.json
@@ -0,0 +1,268 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-turning-out-all-lights-before-sleep-i00-standard--z7mbcek",
+ "taskKey": "behavior-1k/turning_out_all_lights_before_sleep",
+ "dag_sha256": "190d15a1d8bb83038f5682a64b319c77917898da47e6dfda9af6a18722b5d1fa",
+ "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": 471,
+   "sim_steps": 471,
+   "physics_steps": 1884,
+   "steps": 139,
+   "elapsed_s": 524.7,
+   "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": 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-turning-out-all-lights-before-sleep-i00-standard--z7mbcek/replay.mp4",
+  "duration_s": 15.7,
+  "fps": 30.0,
+  "frames": 471,
+  "sha256": "984750fac9805fc72752c4c28bab15e9244447ac893320a245c508b5def67ded"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "utility_door_opened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频0.0–4.6 s机器人在有木色门、白色隔断和窗的初始走廊内转动观察；视频4.8–6.6 s画面逐渐倾斜，之后直至视频15.667 s仍未见机器人横向拉开杂物间滑门或形成通往洗衣机、长台面及白色搁架的开口。"
+     },
+     {
+      "t": 6.0,
+      "log_step": 94,
+      "text_zh": "观察：log step 94的脚本仅让底盘驶向点云中选定的走廊位置并拍照，没有伸手拉门；成功参考视频65.0–70.0 s则能从打开的门洞看见洗衣机和搁架。本次画面未出现该通路，初始隔断旁的空隙不能算作已打开杂物间门。"
+     }
+    ]
+   },
+   "switches_off_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 61,
+      "text_zh": "观察：log step 61的服务任务字段明确三个目标墙壁开关均为开启初态；视频0.0–15.667 s机器人始终在初始走廊观察、移动和失稳，未接近或按压目标墙壁开关，没有目标开关由红转绿的可见事件。"
+     },
+     {
+      "t": 15.667,
+      "log_step": null,
+      "text_zh": "推断：结合全片没有开关操作、服务给定的全开初态，以及评分器q_score=0.0、live_matches_replay=1，关闭开关数量全程未达到1个，终态为false；不是仅凭零分推断未执行。"
+     }
+    ]
+   },
+   "switches_off_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 61,
+      "text_zh": "观察：log step 61的服务任务字段明确三个目标墙壁开关均为开启初态；视频0.0–15.667 s机器人始终在初始走廊观察、移动和失稳，未接近或按压目标墙壁开关，没有目标开关由红转绿的可见事件。"
+     },
+     {
+      "t": 15.667,
+      "log_step": null,
+      "text_zh": "推断：结合全片没有开关操作、服务给定的全开初态，以及评分器q_score=0.0、live_matches_replay=1，关闭开关数量全程未达到2个，终态为false；不是仅凭零分推断未执行。"
+     }
+    ]
+   },
+   "switches_off_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 61,
+      "text_zh": "观察：log step 61的服务任务字段明确三个目标墙壁开关均为开启初态；视频0.0–15.667 s机器人始终在初始走廊观察、移动和失稳，未接近或按压目标墙壁开关，没有目标开关由红转绿的可见事件。"
+     },
+     {
+      "t": 15.667,
+      "log_step": null,
+      "text_zh": "推断：结合全片没有开关操作、服务给定的全开初态，以及评分器q_score=0.0、live_matches_replay=1，关闭开关数量全程未达到3个，终态为false；不是仅凭零分推断未执行。"
+     }
+    ]
+   },
+   "lamps_off_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 61,
+      "text_zh": "观察：log step 61的服务任务字段明确两盏目标台灯均为开启初态；视频0.0–15.667 s未见机器人进入客厅或杂物间、触碰台灯按钮，也未见白色灯罩下的按钮标记由红变绿。参考视频227.0 s可见台灯按钮的绿色标记，本次没有相应操作画面。"
+     },
+     {
+      "t": 15.667,
+      "log_step": null,
+      "text_zh": "推断：机器人全片未接触台灯，结合全开初态及评分器q_score=0.0，关闭台灯数量全程未达到1盏，终态为false；室内整体亮度不作为关灯判据。"
+     }
+    ]
+   },
+   "lamps_off_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": 61,
+      "text_zh": "观察：log step 61的服务任务字段明确两盏目标台灯均为开启初态；视频0.0–15.667 s未见机器人进入客厅或杂物间、触碰台灯按钮，也未见白色灯罩下的按钮标记由红变绿。参考视频227.0 s可见台灯按钮的绿色标记，本次没有相应操作画面。"
+     },
+     {
+      "t": 15.667,
+      "log_step": null,
+      "text_zh": "推断：机器人全片未接触台灯，结合全开初态及评分器q_score=0.0，关闭台灯数量全程未达到2盏，终态为false；室内整体亮度不作为关灯判据。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": 5.2,
+   "log_step": 94,
+   "where": "探索",
+   "evidence_zh": "观察：视频4.6 s机器人仍面对初始走廊的木色门和白色隔断；视频4.8–5.4 s驶近墙边时视野向上倾斜并明显滚转，视频5.8–9.6 s持续歪斜。log step 94仅记录向点云缺口驶近并观察，未指定任何目标灯具或杂物间门；此后机器人没有完成任何DAG步骤，因此无法把这次探索中的失稳唯一归到某个节点。"
+  },
+  "unmet": {
+   "switches_off_1": false,
+   "switches_off_2": false,
+   "switches_off_3": false,
+   "lamps_off_1": false,
+   "lamps_off_2": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 5.2,
+    "log_step": 133,
+    "evidence_zh": "观察：视频5.2–6.2 s头部和腕部视野一起大幅倾转，视频6.2–9.6 s持续歪斜；视频10.0–13.6 s再次翻转，视频14.7–15.667 s停在靠地面的倾斜视角，未恢复正常姿态。log step 119的服务本体读数显示底座竖直轴世界竖直分量为0.161；log step 133服务在control_steps=471返回done=true、reason=\"failure: the robot fell over\"。推断：该单局服务的30 Hz控制计数471/30=视频15.7 s，与末帧姿态和视频时长核对一致，属于机器人失去平衡而非仅相机转头。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "反馈控制",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 92的导航控制循环只根据底座x、y和yaw修正运动，每段又以当前测得的躯干及手臂关节位置作为下一段目标，没有用底座倾斜量进行姿态恢复或停止；视频5.2–6.2 s已经明显倾斜后，log step 109仍执行36次转动扫描，log step 111、113、117继续发出平移和旋转命令。log step 117的服务本体读数已出现底座rx=2.6301、ry=-1.2454 rad，后续仍继续旋转，log step 119的底座竖直分量降至0.161。该控制过程对失稳未形成有效纠正，支持移动阶段的反馈控制失败；不能据agent最终自述单独认定被动关节缺陷或精确的致倒机械机制。"
+   }
+  ],
+  "gap_zh": "没有逐帧状态日志或外部全身视角，无法确定最初失稳时的具体支承接触及墙体是否碰撞；因此不增加碰撞现象或环境故障归因。初始走廊探索没有明确选择目标灯具或杂物间门，且DAG区分走廊内部隔断与杂物间目标滑门，不能把当前木色门和白色隔断直接当成目标滑门，断点ref保留unknown。六个节点均未进入可辨识的专门操作，故不把走廊巡视的底盘支撑随意分配到某个节点的contact_actual；目标灯具未入镜，关闭计数由全开初态、全片无相关操作及终局评分共同推断。"
+ },
+ "summary_zh": "本次评分轨迹六个节点均未达成：机器人未打开杂物间通路，也未关闭任何目标墙壁开关或台灯，q_score为0.0。机器人在初始走廊探索时约视频5.2 s开始失稳，运动控制未有效纠正倾斜，最终服务以跌倒终止；关灯脚本的事后修改和逆解测试没有进入已结束的评分轨迹。探索尚未对应到具体DAG节点，断点保留unknown；缺少逐帧状态和外部全身视角，无法精确确定致倒接触机制。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "六个节点均未达成、q_score=0.0、服务以“robot fell over”终止，均与视频一致（视频0–4.6 s走廊内观察，约5 s起视野大幅倾斜并持续歪斜至15.7 s，无任何开门、按开关或台灯操作）。断点ref=unknown/探索、平衡现象与反馈控制根因（标注为推断）有证据支持，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:24:45Z",
+  "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-turning-out-all-lights-before-sleep-i00-standard--z7mbcek/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-turning-out-all-lights-before-sleep-i00-standard--z7mbcek/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d1a0af909efea7ead27b4d5e4b362a6667507c109a0e227e37b719a1f4bdceaa",
+   "video_sha256": "984750fac9805fc72752c4c28bab15e9244447ac893320a245c508b5def67ded",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-privileged--5de3wbp.json b/phase2/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-privileged--5de3wbp.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e8f5e09416fa31461828aaafbe90021807ffe6c
--- /dev/null
+++ b/phase2/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-privileged--5de3wbp.json
@@ -0,0 +1,164 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-vacuuming-floors-i00-privileged--5de3wbp",
+ "taskKey": "behavior-1k/vacuuming_floors",
+ "dag_sha256": "97df99877ae169af1d0573899715f7b770d769abc97a3fac3b3c73ec5effede5",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 0,
+   "n_actions": 3586,
+   "sim_steps": 3586,
+   "final_reward": 1.0,
+   "q_score": 1.0,
+   "replay_wall_s": 830.8,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 4,
+   "agent_resets": 0,
+   "agent_sim_steps": 14344,
+   "agent_records": 2,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-vacuuming-floors-i00-privileged--5de3wbp/replay.mp4",
+  "duration_s": 119.533,
+  "fps": 30.0,
+  "frames": 3586,
+  "sha256": "03ffef02b052c2b969f373bf9482bd79c33d6200dfa4f5c926b82f289d8c626f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "bedroom_floor_clean": {
+    "method": "visual",
+    "intervals": [
+     [
+      119.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，吸尘器直立在白色床头柜与床旁，木地板上可见散落的深色灰尘颗粒，清洁状态初始不成立。"
+     },
+     {
+      "t": 29.5,
+      "log_step": 79,
+      "text_zh": "观察：视频 26.0–30.5 s，机器人左夹爪持吸尘器手柄，右夹爪接近并按压开关；腕部视图的开关指示从视频 28.5 s 的红色变为视频 29.5 s 的绿色。log step 79 的工具输出同时记录 ON True；此处只用帧时间定位开机，不将 agent 时间换算为视频时间。"
+     },
+     {
+      "t": 117.4,
+      "log_step": null,
+      "text_zh": "观察：视频 45.0–114.0 s，机器人持吸尘器在房内转向、移动，并在多个地面位置升降吸头；视频 115.0–119.5 s 已转回床边，左夹爪继续持工具完成最后一处作业，末帧可见地面未见明显灰尘，但吸头及机体遮挡部分区域。"
+     },
+     {
+      "t": 119.5,
+      "log_step": 135,
+      "text_zh": "推断：全地面无尘的达成锚点约为视频 119.5 s（末帧，时点约有半秒不确定性），不是逐粒看清最后一粒消失。inputs/run.json 的 task_text 明定该次旧规则在目标成立时立即结束；评分器 reward 给出 success=1、all_success=1、deterministic=1、q_score=1.0、sim_steps=3586，与视频 119.533 s、30 Hz 的完整重放长度一致，且最后一秒画面仍是床边清洁。log step 135 记录交付动作共 3586 行及最终 DUST 0；log step 165、173 的独立重放输出均成功，故以评分器确认唯一目标的终态为真，将首次成立保守定位于结束附近。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 45.0–119.5 s，机器人左夹爪握吸尘器手柄并移动吸头到木地板多处作业；结合最终评分成功，推断吸头对灰尘的作用为吸除。候选方式：吸除；词表中的推/扫和压/擦不能准确表示吸尘作用，因此用其他。持工具的夹爪抓握不另重复计入工具至灰尘这条链路。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "压/擦",
+      "note_zh": "观察：开机准备阶段的视频 26.0–30.5 s，机器人左夹爪固定吸尘器手柄，右夹爪向开关施压，指示灯随后由红变绿；此项记录右夹爪按开关、左手同时稳住工具的协作，之后右手退出，由左手持工具清洁。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 51.0–60.0 s、84.0–87.0 s 及 114.0–116.0 s，机器人持吸尘器移动并转向，房间地面和家具相对头部视角平移、旋转；轮式底盘在木地板上承重行驶，使吸头到达不同灰尘位置。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 1.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人持吸尘器、双臂配合按开关后移动底盘并在多处降低吸头，最终完成“卧室地面除尘”唯一目标，终态 1/1，评分器确认成功且 q_score=1.0。按该次 task_text 的旧版即时目标规则标注，达成锚点推断为视频约 119.5 s；不据此声称验证了 DAG 当前版本新增的连续 30 控制步验收窗口。没有状态日志，微小残尘和末段吸头下区域不能逐粒看清，终态结合评分器成功与独立重放结果确认，达成时点为近似值。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "单节点成功标注与帧和评分器一致：视频 60/100/119 s 所见地面清洁进展，末帧床边无尘，q_score=1.0；时间用视频时钟，推断已标明，接触标注合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:16:26Z",
+  "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-vacuuming-floors-i00-privileged--5de3wbp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-vacuuming-floors-i00-privileged--5de3wbp/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "34d5d4ff0f0dea8215918e0651c29968a12410f82cdcc6ae9435b80fbafb866f",
+   "video_sha256": "03ffef02b052c2b969f373bf9482bd79c33d6200dfa4f5c926b82f289d8c626f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-privileged--7nppyk8.json b/phase2/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-privileged--7nppyk8.json
new file mode 100644
index 0000000000000000000000000000000000000000..87399317b8419e8680075e3928343599ca3285e6
--- /dev/null
+++ b/phase2/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-privileged--7nppyk8.json
@@ -0,0 +1,191 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-vacuuming-floors-i00-privileged--7nppyk8",
+ "taskKey": "behavior-1k/vacuuming_floors",
+ "dag_sha256": "97df99877ae169af1d0573899715f7b770d769abc97a3fac3b3c73ec5effede5",
+ "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": 945,
+   "sim_steps": 945,
+   "fallen": 1,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 543.0,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 21,
+   "agent_resets": 0,
+   "agent_sim_steps": 27921,
+   "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-vacuuming-floors-i00-privileged--7nppyk8/replay.mp4",
+  "duration_s": 31.5,
+  "fps": 30.0,
+  "frames": 945,
+  "sha256": "0c6038736c0bce562c5b4bd9b8e177a4118bf55acf6094ddb472e58c0ea77a73"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "bedroom_floor_clean": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0–4.0 s，卧室木地板上可见分散的小灰尘斑点，吸尘器最初竖在床与床头柜旁，地面除尘条件开局不成立。"
+     },
+     {
+      "t": 13.3,
+      "log_step": null,
+      "text_zh": "观察：视频 12.0–15.0 s，左夹爪围住吸尘器杆，吸尘器随机器人离开原位向窗边书桌方向移动；视频 20.8–26.0 s，机器人进一步倾倒，未继续覆盖卧室全部地面。"
+     },
+     {
+      "t": 31.47,
+      "log_step": 195,
+      "text_zh": "推断：视频 30.5–31.47 s，机器人仍翻倒在窗边书桌、凳子附近，目标地面部分被遮挡。评分器 q_score=0，DAG 唯一目标是清除全部灰尘，因此终值为 false；对应最终交付的生成记录（log step 195）报告 dust=7、fallen=true、945 步，log step 197、199 确认交付同一 945 行文件及 dust=7 元数据。结合全段画面，只有局部清扫，没有全部无尘的成立区间；不把其他调试运行的除尘数量计入此轨迹。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "候选方式：吸除；现有推/扫、压/擦不能表示吸尘器移除灰尘。视频 12.0–15.0 s，机器人左夹爪夹持吸尘器杆并带动吸头移动，随后在窗边继续持工具；对应交付记录 log step 195 的灰尘数由 8 变为 7，支持实际发生局部吸除。握工具属于同一接触链，不重复标夹爪抓握。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "视频 0.0–4.0 s，轮式底盘移动机器人接近吸尘器；视频约 13.3–21.0 s，持吸尘器向窗边书桌方向移动，底盘由地板承托，之后翻倒。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bedroom_floor_clean",
+   "t": 21.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 20.8–22.2 s，机器人持吸尘器在窗边书桌、凳子附近移动时，头部与腕部画面同时发生进一步的大幅倾转；视频 25.0–31.47 s，机体轮组和躯干横在视野中，未恢复直立或完成除尘。评分器 fallen=1、q_score=0；断点为正在执行的卧室地面除尘，视频约 21.0 s 为翻倒加剧的导航锚点，不将较早的头部姿态变化单独认定为基座跌倒。"
+  },
+  "unmet": {
+   "bedroom_floor_clean": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 21.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 20.8–22.2 s，多相机视野连续倾转；视频 26.0–31.47 s，机器人轮组及机体呈横倒姿态，未恢复。评分器 fallen=1，支持机器人在清洁操作中失去稳定支撑并翻倒。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：log step 190、192 的最终蛇形方案以首条吸头路线 Y=0.80 减去工具偏移，给底盘设定 y≈0.26、x 从 -6.05 到 -2.95 的路径；log step 195 确认最终生成运行使用了该首条路线。此前场景几何诊断（log step 135）给出书桌占据 x=[-5.991,-4.4834]、y=[-0.2868,0.3383]，窗位于 x≈-6.4，机器人当时水平包围盒约 0.73×0.76 米：路线起点紧贴桌角，随后横穿书桌范围，没有给底盘及躯干留出通行空间。log step 192 只把直线分段并修正吸头高度，未为家具绕行；视频 20.8–31.47 s 显示机器人正是在窗边桌凳区域翻倒，支持清扫路线未考虑机器人与家具的空间占用这一规划原因。"
+   }
+  ],
+  "gap_zh": "没有状态日志；腕部和头部视角不能完整展示轮子与桌、凳的接触点，无法确定最先触发翻倒的接触对象、作用力或基座倾角，也不据此另标碰撞现象。细小灰尘及部分地板在末段被机体遮挡，最终未清洁由唯一目标的 q_score=0 决定；dust=7 来自已核对交付身份的生成记录，未逐粒视觉计数。未把 agent 在 log step 200 汇总的其他测试除尘量、工具松动或 IK 报错当成本次评分轨迹的现象。"
+ },
+ "summary_zh": "评分轨迹中机器人启动并夹持吸尘器，进行了局部吸除，但卧室地面除尘节点始终未完成，最终为 0/1；评分器 q_score=0，交付文件对应记录仍有 7 个灰尘粒子。机器人在窗边桌凳区域于视频约 21.0 s 进一步翻倒，至视频 31.47 s 未恢复；日志中蛇形底盘路线与家具占据区域冲突，支持路线规划不足。没有状态日志且关键接触点被遮挡，具体翻倒机制及逐粒残尘位置无法确定。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "唯一目标节点未达成、final=false 与 q_score=0、fallen=1 一致；交付记录 log step 195/197/199 确认 945 步、dust=7、fallen=true；视频 20–31 s 机器人倾倒横卧，断点与平衡现象有据；规划根因有 log step 190/192/195 的路线参数支撑，gap_zh 已诚实说明接触对象不可见。",
+    "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": "2026-10-30T22:10:13Z",
+  "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-vacuuming-floors-i00-privileged--7nppyk8/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-vacuuming-floors-i00-privileged--7nppyk8/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "52fac9f215d7bee5baac2e606167115541741a1804906d883dc295bd7677eeeb",
+   "video_sha256": "0c6038736c0bce562c5b4bd9b8e177a4118bf55acf6094ddb472e58c0ea77a73",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-privileged--cepnuvz.json b/phase2/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-privileged--cepnuvz.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca63301eea994f9d25d85b28a9e7b79252c88221
--- /dev/null
+++ b/phase2/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-privileged--cepnuvz.json
@@ -0,0 +1,219 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-vacuuming-floors-i00-privileged--cepnuvz",
+ "taskKey": "behavior-1k/vacuuming_floors",
+ "dag_sha256": "97df99877ae169af1d0573899715f7b770d769abc97a3fac3b3c73ec5effede5",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 0,
+   "n_actions": 4977,
+   "sim_steps": 4977,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 1265.7,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 2,
+   "agent_resets": 11,
+   "agent_sim_steps": 4977,
+   "agent_records": 12,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-vacuuming-floors-i00-privileged--cepnuvz/replay.mp4",
+  "duration_s": 165.9,
+  "fps": 30.0,
+  "frames": 4977,
+  "sha256": "377984359a2542260ce217ec19f78fc12a1fa89b8fae85a33047d3efb7c1ae36"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "bedroom_floor_clean": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 吸尘器直立在床边，木地板上已有分散的黑色灰尘颗粒，地面除尘条件起初不成立。"
+     },
+     {
+      "t": 24.0,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–48.0 s 左腕画面可见夹爪夹住吸尘器上部手柄，工具随机器人移动和调整；视频 24.0 s、46.0 s 可见区域仍留有黑色颗粒，未见全地面清洁完成。"
+     },
+     {
+      "t": 64.0,
+      "log_step": null,
+      "text_zh": "观察：视频 48.0–48.5 s 夹爪松开后，吸尘器手柄移至指间之外；视频 61.5–66.5 s 再接近和合拢时手柄仍在夹爪左侧，没有随夹爪抬起。视频 82.0–100.0 s 及 134.0–165.85 s 左夹爪继续空手运动，吸尘器仍可在其他视角的地面旁看到。"
+     },
+     {
+      "t": 165.85,
+      "log_step": null,
+      "text_zh": "观察：视频 164.9 s、165.85 s 床边木地板及腕部视角中仍有黑色灰尘颗粒，吸尘器与伸出的空夹爪分离；检查到视频末尾，没有观察到全部灰尘消失。"
+     },
+     {
+      "t": 165.85,
+      "log_step": 597,
+      "text_zh": "推断：评分器 reward.q_score=0.0、success=0，任务只有地面无尘这一个目标文字式，且它初始为假，因此目标终值为假；这与视频末尾残尘一致。log step 597 的独立重放同样返回 success=false、q_score=0.0。"
+     },
+     {
+      "t": null,
+      "log_step": 599,
+      "text_zh": "观察：agent 在 log step 574 自述会话中清完灰尘并停止保存；log step 599 明确说明会话中 success=true、q_score=1.0，但所保存 4977 个动作的独立重放失败。会话内清洁成功不能替代本交付视频的节点证据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 8.0–48.0 s 左夹爪持吸尘器上部手柄，底盘和左臂带动吸头在木地板附近移动。候选方式为“吸除”：词表没有吸除，推/扫或压/擦不能准确表示吸尘器对灰尘的作用；这里只记录实际使用工具的尝试，不据此声称清除了全部灰尘。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 4.0–7.0 s 左夹爪指端接近并按在吸尘器上部开关区域，旁边球形标记由红变绿。这是清洁准备中的开关按压，与持工具清洁的接触链不同。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–3.0 s、19.0–24.0 s 等时段房间相对机器人发生明显平移及转向，机器人在地板支撑下靠近吸尘器并移动到门边等工作区域，包含持工具移动。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bedroom_floor_clean",
+   "t": 48.2,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 48.0 s 左夹爪仍夹持吸尘器上部手柄；视频 48.27–48.5 s 两指张开，手柄摆离指间，机器人失去工具夹持。视频 61.5–66.5 s 左夹爪再接近并合拢，但手柄仍在夹爪外，未被重新提起；此后继续空手运动，视频 164.9–165.85 s 地板仍有残尘，卧室地面除尘步骤未修复完成。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 48.2,
+    "log_step": null,
+    "evidence_zh": "观察：视频 47.5 s、48.0 s 吸尘器上部手柄位于左夹爪两指之间，绿色标记随手柄处于指间；视频 48.27 s 手柄已摆离两指，视频 48.5 s 完全在指外，视频 49.0–50.0 s 工具与张开的夹爪分离。此前已持有工具，此处是失去既有夹持；其后约视频 64.0 s 的再抓取仍未恢复夹持。"
+   },
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 64.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 63.5–64.5 s 左夹爪在吸尘器手柄旁合拢，手柄位于两指之外；视频 66.0–70.0 s 手柄没有随手移动，视频 82.0–100.0 s 及 134.0–165.85 s 仍能看到空夹爪与独立的吸尘器。此处指松手后的重新抓取未建立夹持接触，早先持有工具不算本次再抓取成功。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "没有状态日志，不能精确计数每一时刻的残尘或读取夹爪接触对、抓持标志、夹爪指令及关节跟踪误差；相机有遮挡，未判断每颗灰尘何时被吸走。视频能确认约视频 48.2 s 工具脱离夹持、约视频 64.0 s 再抓取未成功以及末尾仍有残尘，但无法判断脱手原因。会话与交付重放不一致：log step 505 的工具输出含 hand vacuum.n.04_1，log step 551 为 agent 自述已重新抓住，log step 552 的工具输出显示吸头随抬升和下降移动；这些会话证据不能替代交付视频。log step 449 在 reset 后 record_start，至 log step 574 record_stop 之间未见再次 reset、恢复快照或重启录制，不能把此前多次 reset 当成该段拼接证据。log step 597 的独立重放和 reward 均为 success=false、q_score=0.0，且 deterministic=true、instance_exact=false；这些字段不能判定控制失误、交付操作或仿真故障中的哪一种导致差异。因此根因留空，不将差异归咎于基准。",
+  "unmet": {
+   "bedroom_floor_clean": false
+  }
+ },
+ "summary_zh": "机器人开启并抓持吸尘器，在卧室内移动和调整吸头，但约视频 48.2 s 失去工具夹持，约视频 64.0 s 的再抓取也未成功；视频 165.85 s 仍有残尘，卧室地面除尘节点最终为假（0/1）。会话内报告的清洁成功未被独立重放及交付视频复现，缺少状态日志与夹爪控制证据，不能确定脱手及重放差异的原因，根因留空，conf 从 7 降为 6。本次 task_text 使用无尘即结束的旧规则，按该次规则判断，失败并非由 DAG 新增的静止窗口造成。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点终值为假、残尘与重放失败均与视频和评分一致。但断点与现象锚在 64 s 的再抓取，而真正的首个失败是视频 48.0–48.5 s 吸尘器脱手（没保持住）；再抓取失败是其后果。控制根因仅凭视频无法排除重放与会话分叉，证据偏弱。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "第1轮意见已采纳：断点为视频约48.2 s脱手（没保持住），64 s再抓取失败为第二现象，根因留空并有gap_zh；节点终值为假与q_score=0一致。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": "2026-10-30T22:31:38Z",
+  "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-vacuuming-floors-i00-privileged--cepnuvz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-vacuuming-floors-i00-privileged--cepnuvz/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-vacuuming-floors-i00-privileged--cepnuvz/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-vacuuming-floors-i00-privileged--cepnuvz/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "505aeb84cd261c9daadf0c8fa9ed4ffa1442a6473c8a3cfa6763b72e99b26341",
+   "video_sha256": "377984359a2542260ce217ec19f78fc12a1fa89b8fae85a33047d3efb7c1ae36",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-privileged--g5akeln.json b/phase2/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-privileged--g5akeln.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f07dd49f6d34f600104b19f5c29d0cca6d7c77d
--- /dev/null
+++ b/phase2/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-privileged--g5akeln.json
@@ -0,0 +1,268 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-vacuuming-floors-i00-privileged--g5akeln",
+ "taskKey": "behavior-1k/vacuuming_floors",
+ "dag_sha256": "97df99877ae169af1d0573899715f7b770d769abc97a3fac3b3c73ec5effede5",
+ "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": 2615,
+   "sim_breakdown": 0,
+   "goal": 0,
+   "settle_steps": 0,
+   "goal_first_step": -1,
+   "sim_steps": 2615,
+   "fallen": 1,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 846.5,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "video_replay_matches": 1,
+   "agent_sessions": 6,
+   "agent_resets": 2,
+   "agent_sim_steps": 5787,
+   "agent_records": 4,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-vacuuming-floors-i00-privileged--g5akeln/replay.mp4",
+  "duration_s": 87.167,
+  "fps": 30.0,
+  "frames": 2615,
+  "sha256": "bcc65ce0fc970dde7d6afe8efd56e5e415ceecb720f15398ef2d3a951171cd1e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "bedroom_floor_clean": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 吸尘器立在床边，木地板上有灰色小颗粒，地面尚未清洁。"
+     },
+     {
+      "t": 7.5,
+      "log_step": 133,
+      "text_zh": "观察：视频 6.5–9.0 s 左夹爪夹住吸尘器立杆，工具随机器人手臂转动，吸头随后被抬离原来的地板位置；视频 12.0–15.5 s 右夹爪向手柄附近伸近，工具和头部视野大幅摆动。log step 133 是最终 gen4 生成过程的输出，报告左手持有吸尘器及旋转动作；此处只用画面定位视频时间。"
+     },
+     {
+      "t": 16.0,
+      "log_step": null,
+      "text_zh": "观察：视频 14.5–15.0 s 尚可辨认床、窗和手柄附近的双臂；视频 15.5–16.5 s 头部画面明显转向天花板、窗口斜转，视频 17–18 s 仍明显倾斜。这是较早可见的明显姿态异常，不能再把视频 77 s 当作首次失稳；相机未直接拍到基座与地面的支撑接触。"
+     },
+     {
+      "t": 35.0,
+      "log_step": 134,
+      "text_zh": "观察：视频 20、25、35、45、55、65、70 s 的腕部画面持续可见左夹爪夹住吸尘器立杆；头部画面反复倾斜、朝向天花板或转回床和地板，视频 35–38 s 又能看到较完整的床与地板。只能确认继续持工具及姿态变化，不能据此认定中段一直正常移动清扫，也不能确认吸头扫过各灰尘区。log step 134 的最终 gen4 生成输出记载清扫航点 d3 a1、after sweep: n_part: 8、covered: True、boxz=0.1606，并保存 2615 行动作；这是日志读数，与评分器 n_actions=2615、q_score=0.0、goal=0 一致，不是从这些视频帧数出的残尘，也不把日志工作耗时换算成视频时间。"
+     },
+     {
+      "t": 77.2,
+      "log_step": 134,
+      "text_zh": "观察：视频 77.0–77.6 s 机器人视野再次急剧侧转，此后至视频 87.1 s 头部视野保持明显倾斜，未见有效贴地吸尘；这不是全片首次大幅倾斜。log step 134 报告最终保存 2615 行动作、灰尘仍为 8 粒、covered=True、fallen=True；评分器也给出 n_actions=2615、video_replay_matches=1、goal=0、goal_first_step=-1。"
+     },
+     {
+      "t": 87.1,
+      "log_step": null,
+      "text_zh": "推断：本 DAG 只有一个初始为假的目标，即全部除尘；评分器 q_score=0.0、goal=0 决定其最终为 false。全片抽帧与关键动作密集检查未见完整清洁结果，且 goal_first_step=-1 支持从未达成，故 intervals=[]；末段地板大部不在视野内，不能仅从末帧逐粒计数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 6.5–9.0 s 左夹爪夹住吸尘器立杆并带动工具转动，视频 12.0–15.5 s 右夹爪伸向手柄、左手继续持物，属于双臂配合的准备操作；视频 20、25、35、45、55、65、70、75 s 左腕画面仍可见夹住的立杆，补记随后以左手持续持工具的阶段。吸头是否接触并吸除地板灰尘无法从这些帧确认，此处只记录夹爪对工具的抓握。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "未知",
+      "note_zh": "观察：视频 12.0–15.5 s 右夹爪靠近手柄，左手仍持杆；右指与开关的接触瞬间被遮挡。log step 135 的最终 gen4 输出报告 TOGGLED: True，支持该生成过程的设备开机状态，但不能单独确定视频中右指的具体接触方式和时刻，故该接触的 how 记未知。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–3.5 s 机器人向吸尘器靠近，记录该准备移动阶段底盘在卧室地板上的移动支撑。视频约 16 s 后头部视野反复倾斜或朝天，虽仍持杆且房间相对视野变化，但不能区分底盘正常行进、躯干运动和失稳摆动；后续底盘是否正常移动支撑未知。log step 134 的清扫底盘航点是指令与生成输出，不足以把视频 16–77 s 判为正常持杆移动清扫；本条支撑不据此延伸到该整段。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bedroom_floor_clean",
+   "t": 16.0,
+   "log_step": 134,
+   "where": "操作中",
+   "evidence_zh": "观察：机器人已抓持、旋转吸尘器，并在视频 12–15.5 s 用右夹爪靠近手柄；视频 15.5–16.5 s 头部画面明显转向天花板且窗口斜转，后续反复大幅倾斜，视频 77.0–77.6 s 再次侧转，末段至视频 87.1 s 保持倾斜。log step 134 保存的最终轨迹为 2615 行，与评分器 n_actions=2615 一致，输出 fallen=True、covered=True；评分器 fallen=1、goal_first_step=-1。推断：除尘操作中的平衡控制失败未带来完成清洁的结果；以视频约 16 s 的较早明显姿态异常作为断点导航锚点，不将其当作精确的 fallen 判定时刻，也不认定视频 16–87 s 始终保持同一侧倒姿态。"
+  },
+  "unmet": {
+   "bedroom_floor_clean": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 16.0,
+    "log_step": 134,
+    "evidence_zh": "观察：视频 15.5–16.5 s 头部视图转向天花板，窗口明显斜转，视频 17–18 s 仍倾斜；视频 20、25、45、62、70 s 也有显著倾斜或朝天视角，视频 35–38 s 则重新看见较完整的床与地板。视频 77.0–77.6 s 又一次急剧侧转，末段至视频 87.1 s 仍倾斜。log step 134 的最终输出 fallen=True 和评分器 fallen=1 确认该次轨迹存在机器人失去支撑的平衡失败。推断：较早的明显失稳导航锚点取视频约 16 s；单凭头部视角不能精确断定首次完全侧倒或连续失去支撑的起止时刻。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "推断：视频 15.5–16.5 s 已出现明显姿态异常，之后持杆过程中头部视角反复大幅倾斜或朝天，视频 77.0–77.6 s 再次侧转，末段至视频 87.1 s 未见有效清扫恢复；不能将视频 16–77 s 描述为正常持工具除尘。结合 log step 134 最终生成输出 fallen=True、boxz=0.1606、covered=True 和评分器 fallen=1、video_replay_matches=1，执行控制未能维持本体平衡，根因保留在控制大类。具体触发失稳的碰撞和控制动作未被画面清楚显示，不能进一步区分接触设计、轨迹或反馈子类；右臂靠近手柄与早期倾斜相邻，并不独立证明右臂撞到手柄导致侧倒。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "观察：inputs/ 没有状态日志；视频约 16 s 起反复出现倾斜或朝天视角，视频 35–38 s 又可见较完整的床与地板，因此不能断言视频 16–87 s 始终侧倒，也不能精确定位首次完全失去支撑或评分器 fallen 生效的时刻。底盘是否在后续正常移动、吸头实际扫过哪些灰尘区、右指按中开关的瞬间均无法确认；log step 134 的 n_part=8、boxz=0.1606 是最终生成输出读数，不代表视频约 16 s 的同步状态。log step 136 的 agent 自述将失败归于右臂碰到倾斜手柄，画面不足以独立确认该碰撞、所称倾角及因果链，故只保留控制大类；视频约 16 s 只是较早明显姿态异常的导航锚点，视频时间均取自所检帧，未用日志工作耗时换算。"
+ },
+ "summary_zh": "观察：机器人靠近吸尘器，左手抓持、旋转工具并配合右手靠近手柄；随后持续持杆但头部视野反复倾斜，吸头对灰尘的作用不清楚，卧室地面除尘从未达成，最终为 0/1，评分器 q_score=0.0。推断：平衡失败发生在除尘操作中，较早明显姿态异常的导航锚点改为视频约 16 s，视频 77 s 是再次大幅侧转，根因仅保留控制大类。观察：没有状态日志，首次完全侧倒时刻、是否连续失去支撑及具体触发机制仍不能精确判定，因此 conf 从 7 降为 6。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "断点（除尘中、约视频 77 s 侧倒）与平衡现象基本成立，但标签完全没有覆盖视频约 16–77 s 的清扫阶段；根因 控制 的推断把 7.5–15.5 s 的开关操作与 77 s 的侧倒硬连起来，证据不足；contact_actual 也漏了清扫阶段的实际接触。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "侧倒时间很可能错了：头部视角在视频约 15–16 s 就翻向天花板并此后一直是倾斜/朝天视角（16–70 s 均如此），77.2 s 并不是唯一的失稳事件；agent 自述（仅作旁证）也称右臂回撤时碰到倾斜手柄后机器人失稳。断点 t、平衡现象 t 与 16–77 s 被写成“持杆继续除尘”的叙述需改为 unknown/重写。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "三条回应均已在 prev/trajectory.json 中落实：断点与平衡现象 t 前移到 16.0 s，删除“77 s 才首次侧倒/中段正常除尘”的断言；底盘支撑仅保留 0–3.5 s 准备移动。writer 对“16–87 s 始终侧倒”的保留与帧一致（35–38 s 可见完整床和地板）。",
+    "n_issues": 0,
+    "n_checks": 3
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "三条回应均已在 prev/trajectory.json 中落实：断点与平衡现象 t 前移到 16.0 s，删除“77 s 才首次侧倒/中段正常除尘”的断言；底盘支撑仅保留 0–3.5 s 准备移动。writer 对“16–87 s 始终侧倒”的保留与帧一致（35–38 s 可见完整床和地板）。",
+   "checks_ok": "3/3",
+   "n_factual_errors": 0
+  }
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:34:27Z",
+  "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-vacuuming-floors-i00-privileged--g5akeln/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-vacuuming-floors-i00-privileged--g5akeln/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-vacuuming-floors-i00-privileged--g5akeln/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-vacuuming-floors-i00-privileged--g5akeln/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-vacuuming-floors-i00-privileged--g5akeln/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/behavior-vacuuming-floors-i00-privileged--g5akeln/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": "89c2e6c1713318c6db14fa30f3006b23b52be305ffa495a535635225f75c4a75",
+   "video_sha256": "bcc65ce0fc970dde7d6afe8efd56e5e415ceecb720f15398ef2d3a951171cd1e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-privileged--js6nukm.json b/phase2/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-privileged--js6nukm.json
new file mode 100644
index 0000000000000000000000000000000000000000..ece48cfea73ce6c50f20baeccc97e2ee98f5dbfb
--- /dev/null
+++ b/phase2/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-privileged--js6nukm.json
@@ -0,0 +1,182 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-vacuuming-floors-i00-privileged--js6nukm",
+ "taskKey": "behavior-1k/vacuuming_floors",
+ "dag_sha256": "97df99877ae169af1d0573899715f7b770d769abc97a3fac3b3c73ec5effede5",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "infra_error": 0,
+   "instance_exact": 0,
+   "n_actions": 899,
+   "sim_steps": 899,
+   "fallen": 0,
+   "final_reward": 1.0,
+   "q_score": 1.0,
+   "replay_wall_s": 677.9,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 14,
+   "agent_resets": 0,
+   "agent_sim_steps": 10160,
+   "agent_records": 2,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 7.099,
+   "peak_memory_gb": 8.852,
+   "peak_processes": 18,
+   "peak_disk_gb": 4.38,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_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-vacuuming-floors-i00-privileged--js6nukm/replay.mp4",
+  "duration_s": 29.967,
+  "fps": 30.0,
+  "frames": 899,
+  "sha256": "6b4a6aa3d89e64144e982ecf39572dab3a1cbbc9fa16e08ab41add9594b82ca6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "bedroom_floor_clean": {
+    "method": "visual",
+    "intervals": [
+     [
+      29.93,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 吸尘器立在床边，木地板上可见细小深色灰尘点；视频 8.0–13.0 s 的腕部及头部视图仍可见散落尘点，初态不满足全部除尘。"
+     },
+     {
+      "t": 7.0,
+      "log_step": null,
+      "text_zh": "观察：视频 3.0–7.0 s 机器人右夹爪在吸尘器顶部附近动作，圆形指示由红色变为绿色；视频 7.0–9.0 s 工具离开原来床边位置，黑色杆体随后持续出现在右腕视图内并随机器人移动。"
+     },
+     {
+      "t": 29.93,
+      "log_step": null,
+      "text_zh": "观察：已检查视频 26.0–29.8 s 每约 0.2 s 的画面及视频 29.93 s 末帧，机器人携工具转向床头柜一侧，末帧可见木地板无明显残尘；inputs/run.json 的评分器 reward 给出 success=1、all_success=1、deterministic=1、q_score=1.0。"
+     },
+     {
+      "t": 29.93,
+      "log_step": 364,
+      "text_zh": "推断：评分器确认唯一目标成立，且末段画面没有直接反证，故卧室地面除尘终态为真；视频无法完整显示最后一粒灰尘被吸除的瞬间，无状态日志，区间起点保守记为已检查的末帧视频 29.93 s，实际首达可能稍早。log step 364 只确认交付文件含 899 个动作，不将 agent 工作时间换算为视频时间。"
+     },
+     {
+      "t": null,
+      "log_step": 10,
+      "text_zh": "观察：log step 10 展示的本次运行工具说明为 BDDL 目标一成立即结束；评分器 reward 未提供连续静止窗口字段。推断：按暂行 P19 使用本次运行的旧版即时目标规则接受该节点，不能据此声称已验证 DAG 当前版本新增的连续 30 个控制步验收窗口。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 3.0–7.0 s 右夹爪贴近吸尘器顶部开关区域动作，指示由红变绿。推断：右夹爪按压开关启动吸尘器；这是准备阶段的开关接触。"
+     },
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 7.0–9.0 s 吸尘器离开床边原位，随后其黑色杆体在右腕视图内随机器人移动，机器人沿卧室地面多次平移及转向；末段地面可见区域无明显残尘。推断：右夹爪持吸尘器，使吸头在地面灰尘附近吸除灰尘；候选方式为“吸除”，词表中的推/扫、压/擦不能准确表示，故用其他。握工具本身不重复记录；吸口局部被遮挡。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–2.5 s 机器人接近吸尘器，视频 7.5–29.93 s 携工具在床、书桌和搁架之间平移、转向。推断：轮式底盘以卧室地板为支撑，移动机器人及手持工具覆盖分散灰尘。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 1.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "机器人启动并持吸尘器在卧室内移动清洁，评分器确认唯一除尘目标成功，终态为 1/1。视频末段及末帧的可见地面无明显残尘；没有状态日志，最后一粒灰尘的吸除过程受遮挡，故以视频 29.93 s 作为可确认完成的保守锚点，首达可能稍早。本次运行按旧版即时目标规则验收（log step 10；暂行 P19），不据此验证当前 DAG 新增的连续 30 个控制步窗口。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，唯一节点 bedroom_floor_clean 终态为真与评分器 q_score=1.0、n_actions=899=视频帧数一致（旧规则目标成立即结束，故起点取视频末帧合理且已声明保守）；右夹爪启动吸尘器（指示灯红变绿）及持工具移动与帧一致；无失败层，无需修改。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:16:20Z",
+  "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-vacuuming-floors-i00-privileged--js6nukm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-vacuuming-floors-i00-privileged--js6nukm/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f9da11bd4b674d263f6743424a4718681c7a101716f5aaa3b44642c9642f20af",
+   "video_sha256": "6b4a6aa3d89e64144e982ecf39572dab3a1cbbc9fa16e08ab41add9594b82ca6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-privileged--weazyff.json b/phase2/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-privileged--weazyff.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf8fae832304f84eda4a417604eb5507971abf27
--- /dev/null
+++ b/phase2/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-privileged--weazyff.json
@@ -0,0 +1,197 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-vacuuming-floors-i00-privileged--weazyff",
+ "taskKey": "behavior-1k/vacuuming_floors",
+ "dag_sha256": "97df99877ae169af1d0573899715f7b770d769abc97a3fac3b3c73ec5effede5",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "instance_ok": 1,
+   "instance_exact": 0,
+   "n_actions": 891,
+   "sim_steps": 891,
+   "final_reward": 0.0,
+   "q_score": 0.0,
+   "replay_wall_s": 651.2,
+   "replay_timeout_s": 3600.0,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "agent_sessions": 30,
+   "agent_resets": 0,
+   "agent_sim_steps": 20971,
+   "agent_records": 21,
+   "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-vacuuming-floors-i00-privileged--weazyff/replay.mp4",
+  "duration_s": 29.7,
+  "fps": 30.0,
+  "frames": 891,
+  "sha256": "a9c5539d3fe1bc4544df983b3370369fadda16f5fd88e5acd5de8107da4eddbd"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "bedroom_floor_clean": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，吸尘器直立在白色床头柜前，床边木地板上可见零散深色颗粒；视频 0.0–8.0 s 机器人转向并靠近吸尘器。"
+     },
+     {
+      "t": 23.0,
+      "log_step": null,
+      "text_zh": "观察：视频 8.0–27.0 s 头部视图主要朝向床和床头柜，腕部视图显示手臂调整，但近距离操作区域被机器人结构遮挡；未见机器人持吸尘器扫过卧室各处地面的过程。"
+     },
+     {
+      "t": 29.67,
+      "log_step": null,
+      "text_zh": "观察：视频 28.7–29.67 s，吸尘器黑色手柄仍在床头柜前的头部视图下缘，未见全地面除尘完成的可见过程；inputs/run.json 的评分器字段 success=0、q_score=0.0。"
+     },
+     {
+      "t": 29.67,
+      "log_step": null,
+      "text_zh": "推断：本任务只有一个初始不成立的目标文字 not covered(floor,dust)，评分器最终 q_score=0.0 决定该节点 final=false；结合全段未见清扫、未见全部灰尘消失，标为从未达到。评分器总分不能说明具体剩余粒数。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–8.0 s 机器人轮式底盘在木地板上转向并移动，接近床头柜前的吸尘器，属于本次清洁尝试的工具准备。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 8.0–29.67 s 腕部画面主要被机器人自身结构遮挡，头部画面未覆盖夹爪与吸尘器的近距离接触处；无法确认哪一指或腕部是否实际触碰、夹持或推动吸尘器，也不能确认工具与灰尘发生吸除接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bedroom_floor_clean",
+   "t": null,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "推断：视频 0.0–8.0 s 机器人接近床头柜前的吸尘器，视频 8.0–27.0 s 调整手臂，直至视频 29.67 s 仍未见持工具清扫地面的过程；评分器最终 q_score=0.0。该尝试停在除尘方案的工具接近/拿取准备阶段，清洁节点未完成；具体动作失效的瞬间被遮挡，故不指定断点视频时刻。"
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "source_zh": "日志",
+    "evidence_zh": "推断：会话测试的 log step 255 输出在接近吸尘器时 left_arm_link7 接触，随后 PHASE B 与 PHASE C 均失败；log step 261 的另一测试输出 left_gripper_link 接触后中断接近，随后 PHASE B 与 PHASE C 也均失败。这些是脚本测试输出，不是 agent 对失败原因的自述；按 docs/03_trajectory.md Step 3，仅作为根因证据。结合评分视频 8.0–29.67 s 只见工具附近手臂调整、未见进入持工具清扫，有限支持工具接近/抓取的控制问题这一粗分类。未建立上述测试与评分器 891 个动作的对应关系，不能断言测试中的具体接触就是评分回放的失效事件，亦不足以细分控制子类。"
+   }
+  ],
+  "gap_zh": "没有状态日志；已检查视频全段、视频 28.7–29.67 s 的密集帧及成功参考录像。夹爪与吸尘器的接触区域在各视图中被遮挡，无法区分本次是否抓空、碰撞受阻或其他接触失败，因此现象层留空、接触细节标未知、断点时刻留空。日志末段未记录与评分器 891 个动作对应的完整执行结果，不能把 log step 255 或 261 的会话测试碰撞当成本次评分现象；会话测试仅支持根因粗分为控制的推断；log step 255、261 的测试分别报告 875、964 个仿真步，与评分器 891 个动作不同，尚不能核实具体对应，因此这一归因仍有不确定性。画面没有覆盖全部残尘，最终未清洁由唯一目标的 q_score=0.0 确定。",
+  "unmet": {
+   "bedroom_floor_clean": false
+  }
+ },
+ "summary_zh": "机器人接近床头柜前的吸尘器并调整手臂，未见持工具扫过卧室地面；唯一除尘节点最终未达成，评分器 q_score=0.0。失败停在清洁方案的工具准备阶段，会话测试输出仅支持粗分为控制问题的推断，不作为评分轨迹的接触现象；评分录像的关键接触区被遮挡，无法确定具体失败现象和失效时刻。由于测试与评分回放的具体对应尚无法核实，置信度由 6 下调为 5。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点未达成、final=false、断点与 contact_actual 基本站得住（视频 4–29 s 头部画面未见持吸尘器清扫，q_score=0）。主要问题：根因“控制”仅依据 agent 会话测试（log step 255/261/264）推断，而这些会话测试不属于被评分回放的可采信证据，视频又遮挡接触区，无法支撑该根因。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点 final=false 由 q_score=0 决定，视频未见清扫；contact_actual 与断点位置保守且有遮挡说明；控制根因依据会话测试输出，符合 docs/03 Step 3 允许的会话根因证据，现象层留空并有 gap_zh。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": "2026-10-30T22:31:20Z",
+  "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-vacuuming-floors-i00-privileged--weazyff/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-vacuuming-floors-i00-privileged--weazyff/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-vacuuming-floors-i00-privileged--weazyff/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-vacuuming-floors-i00-privileged--weazyff/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "300c61a3f0264b37d043153a41de8e5243a4a90366dee607d04b5d98a4647716",
+   "video_sha256": "a9c5539d3fe1bc4544df983b3370369fadda16f5fd88e5acd5de8107da4eddbd",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-standard--3egzbzt.json b/phase2/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-standard--3egzbzt.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2f95a15fb32996de839090ce8fd9172eb554131
--- /dev/null
+++ b/phase2/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-standard--3egzbzt.json
@@ -0,0 +1,209 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-vacuuming-floors-i00-standard--3egzbzt",
+ "taskKey": "behavior-1k/vacuuming_floors",
+ "dag_sha256": "97df99877ae169af1d0573899715f7b770d769abc97a3fac3b3c73ec5effede5",
+ "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": 14403,
+   "sim_steps": 14403,
+   "physics_steps": 57612,
+   "steps": 4615,
+   "elapsed_s": 1685.2,
+   "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": 0.413,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.26,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-vacuuming-floors-i00-standard--3egzbzt/replay.mp4",
+  "duration_s": 480.1,
+  "fps": 30.0,
+  "frames": 14403,
+  "sha256": "bece1fc145f91713bf448de70292984bbfbd6e4e854bc11f47dece550e8a828a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "bedroom_floor_clean": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，吸尘器直立在床头柜与床前的木地板上，地面有分散黑色颗粒；初始未满足全部除尘。"
+     },
+     {
+      "t": 18.5,
+      "log_step": 95,
+      "text_zh": "观察：视频 17.0–20.0 s，机器人右夹爪接近并合拢在吸尘器杆柄处，随后整台吸尘器离开原来的直立位置并随右臂转动；视频 25.0–60.0 s 可见右手持续持杆，机器人开始在床边移动。log step 95 为抓取脚本的执行记录。"
+     },
+     {
+      "t": 300.0,
+      "log_step": null,
+      "text_zh": "观察：视频 300.0 s，机器人已转向木门、电视柜与落地灯一侧，门前木地板上仍有多个分散的黑色颗粒；视频 400.0 s、460.0 s 的腕部视图中仍可见地面黑色颗粒，不能认定全部灰尘消失。"
+     },
+     {
+      "t": 480.06,
+      "log_step": 200,
+      "text_zh": "观察：视频 464.0–466.0 s，机器人在电视柜旁明显倾倒，视频 479.2 s、480.06 s 仍为倾斜朝向墙顶的画面。log step 200 中机器人服务报告 control_steps=14403、done=True、reason=\"failure: the robot fell over\"；评分字段 success=0、q_score=0、live_matches_replay=1。"
+     },
+     {
+      "t": 480.06,
+      "log_step": 48,
+      "text_zh": "推断：log step 48 的服务说明为单次、不可重置且目标一成立即结束的现场回合，log step 200 确认最终因跌倒而非成功结束；结合视频中持续残留的颗粒，卧室地面除尘未达到，终值为 false。q_score=0 对本 DAG 唯一目标的终值提供支持，但不据此断言机器人没有清掉任何一粒灰尘。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 18.0–20.0 s 机器人右侧二指夹爪夹住吸尘器杆柄，并带动吸尘器离开原位；视频 30.0 s、45.0 s、60.0 s 仍可见右手持杆。此处记录清洁尝试中实际发生的工具准备接触；吸头与灰尘的作用大多被画面边缘和杆体遮挡，未据脚本名称添加“吸除”接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 45.0–215.0 s 机器人持吸尘器在床边多次平移和转向，视频 230.0–460.0 s 又在书桌、门和电视柜旁移动；轮式底盘在木地板上承载机器人进行这些清洁尝试。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bedroom_floor_clean",
+   "t": 465.0,
+   "log_step": 197,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 452.0–463.0 s，机器人在门与电视柜附近继续持工具移动；视频 464.0–466.0 s，电视、柜体和墙面在头部视图中明显旋转倾斜，随后机器人一直未恢复直立，直到视频 480.06 s。log step 197 执行门边及电视柜清扫脚本，log step 200 服务确认因机器人跌倒结束；失败发生于尚未完成的卧室地面除尘操作中。"
+  },
+  "unmet": {
+   "bedroom_floor_clean": false
+  },
+  "phenomena": [
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 465.0,
+    "log_step": 200,
+    "evidence_zh": "观察：视频 463.0 s 机器人仍接近电视柜，视频 464.0–466.0 s 机载视图明显侧倾并抬向墙顶，视频 470.0 s、479.2 s、480.06 s 均未恢复直立；log step 200 机器人服务的最终原因是“failure: the robot fell over”。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 465.0,
+    "log_step": 196,
+    "source_zh": "日志",
+    "evidence_zh": "推断：log step 86 的底盘控制函数只按 x、y、yaw 生成预先计算的位移序列；log step 196 的清扫脚本在每个航点前读取一次姿态，将躯干与手臂关节保持为读取值后整段提交，执行期间没有依据本体侧倾调整姿态或中止移动的分支。该脚本由 log step 197 在现场执行；视频 464.0–480.06 s 显示持工具移动过程中失稳且未恢复，log step 200 确认跌倒终止，支持本次移动的稳定性控制不足。",
+    "note_zh": "具体是家具接触、工具载荷还是其他动力学因素触发倾倒，现有证据不能区分，因此只标控制，不细分控制子类。"
+   }
+  ],
+  "gap_zh": "没有模拟器状态日志。吸头及其与地面的相对高度、灰尘吸除接触在大多数视图中被遮挡，无法逐粒确认清除了多少，也不能依据 agent 的末尾总结认定已清干净；只能结合可见残尘与现场结束结果判定唯一目标未完成。倾倒时底盘与家具的接触部位不可见，缺少接触力和连续本体姿态记录，不能确定触发失稳的具体机制。"
+ },
+ "summary_zh": "机器人用右夹爪抓住吸尘器，在床边、书桌及门边多次移动尝试清洁，但地面仍有可见颗粒，唯一的卧室地面除尘节点未完成，最终为 0/1。视频约 465.0 s，机器人在电视柜旁倾倒且未恢复，现场服务随后以跌倒结束；执行脚本缺少对侧倾的在线处置，支持一般控制层面的归因。吸头作用区和底盘碰撞部位被遮挡，没有状态或接触力日志，无法确定实际吸除量及触发倾倒的具体机制。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "单节点 bedroom_floor_clean 终值 false、q_score=0、断点在约 465 s 倒下并在 480 s 仍未恢复，均有帧和服务读数（control_steps=14403、failure: the robot fell over）支持；现象“平衡”与根因停在“控制”、证据标为推断，均合理。",
+    "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": "2026-10-30T22:13:02Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-vacuuming-floors-i00-standard--3egzbzt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-vacuuming-floors-i00-standard--3egzbzt/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "dbfd30278509e8ce092f6204c486357d00d519c8933b17ab03b8ccb9af9441a3",
+   "video_sha256": "bece1fc145f91713bf448de70292984bbfbd6e4e854bc11f47dece550e8a828a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-standard--gvfg8d8.json b/phase2/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-standard--gvfg8d8.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bee246d3ab18c240abf558c2147ed37f3b5f10b
--- /dev/null
+++ b/phase2/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-standard--gvfg8d8.json
@@ -0,0 +1,195 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-vacuuming-floors-i00-standard--gvfg8d8",
+ "taskKey": "behavior-1k/vacuuming_floors",
+ "dag_sha256": "97df99877ae169af1d0573899715f7b770d769abc97a3fac3b3c73ec5effede5",
+ "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": 2460,
+   "sim_steps": 2460,
+   "physics_steps": 9840,
+   "steps": 493,
+   "elapsed_s": 6823.8,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 0,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-vacuuming-floors-i00-standard--gvfg8d8/replay.mp4",
+  "duration_s": 82.0,
+  "fps": 30.0,
+  "frames": 2460,
+  "sha256": "c86484884ed95d57ac67e342b24de25e61c7cc56198d5a14be1a4cf8968f7764"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "bedroom_floor_clean": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：本次视频 0.0 s，卧室床边吸尘器仍立在原处，木地板上可见分散的深色尘点，初态并未全部除尘。"
+     },
+     {
+      "t": 18.0,
+      "log_step": null,
+      "text_zh": "观察：视频 14.0–18.0 s，右腕相机（画面左下）显示机器人持吸尘器来回移动，吸头附近的深色尘点在往返后仍可见；视频 20.0 s 和 73.5 s 的地板上也能看到尘点。未观察到全地面灰尘全部消失的状态。"
+     },
+     {
+      "t": 81.97,
+      "log_step": null,
+      "text_zh": "观察：视频 81.0 s、81.5 s 至末帧 81.97 s，机器人仍持吸尘器；末帧右腕相机中吸头右侧木地板上仍有清晰深色尘点，不能把头部相机局部看似干净判为全地面无尘。"
+     },
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：inputs/run.json 的评分器字段 q_score=0.0、success=0、live_matches_replay=1；DAG 仅有一个初始未满足的目标 not covered(floor,dust)，因此该总分决定除尘节点终值为 false，与视频残尘一致；零分不代表未拿取工具或未尝试清洁。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 14.0–18.0 s、40.0–42.0 s 及 72.0–80.0 s，机器人左夹爪控制吸尘器杆，使吸头沿木地板移动。候选方式：贴地吸尘尝试；词表没有吸除方式，推/扫、压/擦不能准确表示此工具操作。只确认持工具贴地移动，不声称灰尘已被吸走；握工具不另重复计接触。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 14.0–18.0 s、36.0–45.0 s 及 72.0–80.0 s，轮式底盘支撑机器人并在卧室地板上平移或转向，带动所持吸尘器扫行。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bedroom_floor_clean",
+   "t": 18.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 14.0–18.0 s，机器人已持吸尘器来回扫行，但右腕相机中的尘点未随这次扫行消失；之后继续在卧室扫行，视频 73.5 s 与末帧 81.97 s 仍见残尘。清洁步骤已经启动，却始终没有完成全部除尘。"
+  },
+  "unmet": {
+   "bedroom_floor_clean": false
+  },
+  "phenomena": [
+   {
+    "cat": "其他",
+    "item": "清洁残留",
+    "t": 18.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 14.0–18.0 s 的吸头往返后，右腕视图仍见地面深色尘点；视频 73.5 s、81.97 s 也能看到吸头旁的尘点。机器人有持续清洁动作，但结果仍留尘。",
+    "note_zh": "候选现象：清洁残留。现有条目没有清洁已尝试但仍留尘的结果；画面不足以确认某个接触未建立、握持丢失或吸头位姿误差是残尘的具体机制，按 DECISIONS.md D25(a) 使用其他。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "观察：本任务没有状态日志；视频中吸头底部及开关接触细节部分遮挡，log step 198、221 是 agent 脚本尝试触碰开关并扫行的记录，log step 222 是其自行调用正运动学检查末端位置的结果，均未提供可靠的开机状态或吸力读数。推断：可以确认清洁残留，但不能据此确定是开关未触发、有效吸口未覆盖尘点还是其他接触控制问题，故根因留空；不从 q_score=0 反推这些原因。"
+ },
+ "summary_zh": "机器人夹持吸尘器并通过底盘移动在卧室内反复扫行，但视频 18.0 s 的往返后以及末帧 81.97 s 仍见尘点，唯一除尘节点始终未完成，最终为 0/1（q_score=0）。断点是卧室地面除尘的操作中，现象为清洁残留；缺少状态日志及可靠的开关、吸力证据，无法确定具体根因。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "视频显示机器人持吸尘器在卧室内扫行，直到末帧仍可见残尘；节点 false、断点操作中、其他·清洁残留（D25(a)）与空根因加 gap_zh 均与证据一致，未发现需要修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
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+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "codex",
+  "model": "gpt-6.1-sol",
+  "effort": "high",
+  "created": "2026-10-30T22:14:22Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
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+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
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+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-vacuuming-floors-i00-standard--gvfg8d8/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-vacuuming-floors-i00-standard--gvfg8d8/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
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diff --git a/phase2/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-standard--musn7cb.json b/phase2/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-standard--musn7cb.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9b781e06e3348d60d5b37092ef628bf1400c37c
--- /dev/null
+++ b/phase2/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-standard--musn7cb.json
@@ -0,0 +1,242 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-vacuuming-floors-i00-standard--musn7cb",
+ "taskKey": "behavior-1k/vacuuming_floors",
+ "dag_sha256": "97df99877ae169af1d0573899715f7b770d769abc97a3fac3b3c73ec5effede5",
+ "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": 9105,
+   "sim_steps": 9105,
+   "physics_steps": 36420,
+   "steps": 5145,
+   "elapsed_s": 2810.0,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-vacuuming-floors-i00-standard--musn7cb/replay.mp4",
+  "duration_s": 303.5,
+  "fps": 30.0,
+  "frames": 9105,
+  "sha256": "98e2c87ef3b18c3cbea6ab5e90ca1bb46dadc534a07f757f97bd983eafc68d9f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "bedroom_floor_clean": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 的床边木地板有分散小黑点，吸尘器立在白色床头柜前；视频 18–27 s 可见机器人右夹爪夹住吸尘器杆身，随后吸尘器随机器人离开原处。"
+     },
+     {
+      "t": 210,
+      "log_step": 77,
+      "text_zh": "观察：视频 206–212 s 左夹爪伸到右夹爪所持吸尘器的手柄顶端，腕部视图中的球形标记从红色变为绿色；视频 214–224 s 机器人持工具移动，吸头贴近床边地板。这里只确认开关操作和沿地面扫过，不把 agent 自述“清掉一粒”（log step 82）当作全部除尘完成。"
+     },
+     {
+      "t": 268,
+      "log_step": 95,
+      "text_zh": "观察：视频 238–260 s 吸尘器已明显倾斜，视频 266–293 s 则横躺在机器人前方地板上，右夹爪离开工具，之后没有重新拿起；log step 95 的脚本明确张开右夹爪并收回右臂。"
+     },
+     {
+      "t": 303.46,
+      "log_step": 126,
+      "text_zh": "推断：唯一目标是清除全部地面灰尘，初态不成立；评分器 q_score=0、live_matches_replay=1 决定此节点终态为 false。该次任务文本规定目标一成立即结束，而现场服务在 log step 126 报告以翻倒失败结束，结合全片没有完成全部区域清扫的画面，判为从未达到；视频 303.46 s 相机朝向天花板，本身不能核验地面残尘。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 214–224 s 机器人右夹爪持吸尘器，使吸头贴近木地板并随底盘移动。候选方式为吸除；词表没有对应值，推/扫或压/擦不能准确表示吸尘器对灰尘的作用。此项记录实际清洁尝试，不据此宣称灰尘已全部消失；不重复记持工具的夹爪链路。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 206–212 s 的开关准备动作中，右夹爪围夹吸尘器杆身使其保持位置，左夹爪同时操作手柄顶端；这里的抓握指右夹爪固定工具，非两臂挤压。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "压/擦",
+      "note_zh": "观察：视频 206–212 s 右夹爪固定吸尘器时，左夹爪指端按入手柄顶端的红色球形开关区域，随后标记变绿；此项是左夹爪对开关的按压。"
+     },
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 18–27 s、214–234 s 机器人在地板上移动并携带吸尘器，视频 288–294 s 又空手移动以接近横躺的吸尘器；轮式底盘支撑并驱动这些清洁及工具重取动作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bedroom_floor_clean",
+   "t": 293.5,
+   "log_step": 109,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 238–262 s 机器人右夹爪所持吸尘器明显倾斜，视频 266–268 s 右夹爪离开工具，吸尘器横躺地面，此后没有恢复持工具清扫；log step 95 的控制脚本明确张开右夹爪并收回右臂。视频 288–293 s 机器人空手调整位置以重取工具，视频 293.25–294 s 视角突然下俯并靠近地面，机体失去直立支撑，此后未恢复，视频 303.46 s 双臂朝向天花板；log step 109 的现场本体读数给出基座直立分量 0.5014，log step 125 服务报告 failure: the robot fell over。两段异常均属于尚未完成的卧室地面除尘步骤：先是工具姿态未恢复，随后重取过程失衡；断点时间保留为重取失败的导航锚点。"
+  },
+  "unmet": {
+   "bedroom_floor_clean": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 250,
+    "log_step": 88,
+    "evidence_zh": "观察：视频 218 s 右夹爪持吸尘器手柄，工具杆身向下伸出画面；视频 238、250、262 s 工具已明显倾斜，机器人仍握着工具但未恢复原来的清扫姿态。视频 266–268 s 右夹爪撤离后，整支吸尘器横躺在地板上，视频 288–293 s 仍未被重新拿起。log steps 88、94 的抬高手臂指令后，现场关节实测值仍偏离命令；log step 95 脚本主动张开右夹爪并撤臂。这是工具姿态未恢复造成的清扫中断，不把主动松手本身解释为意外脱手；随后重取时的失衡和 log step 125 的翻倒终止并未修复这次工具姿态失败。"
+   },
+   {
+    "cat": "全身",
+    "item": "平衡",
+    "t": 293.5,
+    "log_step": 109,
+    "evidence_zh": "观察：视频 288–293 s 吸尘器仍横躺地面，机器人空手转向并接近工具以重新拿取；视频 293.25–294 s 机器人前倾失衡，尚未重新握住吸尘器。视频 295–303.46 s 虽然双臂和底盘继续动作，机体没有恢复直立，末段相机转而对着天花板。log step 109 的现场基座直立分量为 0.5014，log step 125 降为 -0.0422，并由服务以翻倒失败终止。这里的平衡现象描述同一除尘步骤内重取动作的物理失败，服务终止报告只是证据。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "t": 250,
+    "log_step": 88,
+    "source_zh": "日志 / 视频",
+    "evidence_zh": "推断：持工具阶段，log step 88 的抬高脚本虽得到逆解 ok=True，右臂关节命令 [0.275,0.156,0.093,-1.984,0.164,-0.231,-0.065] 与现场实测 [0.275,0.156,0.092,-1.540,0.579,0.001,-0.065] 仍有明显差异；log step 94 再次抬高后，第四关节命令 -1.782、实测 -1.069，第五关节命令 0.155、实测 0.543。结合视频 238–262 s 工具持续倾斜、视频 266–268 s 被主动放下，支持持工具时的姿态控制未能恢复，清扫中断。重取阶段，log step 109 的脚本将躯干保持在 [1.022,-1.444,-1.15,0] 的前俯姿态并执行底盘转向及移动，视频 288–294 s 显示该接近工具动作随即失衡，现场直立分量降至 0.5014；后续恢复未成功。因此还支持底盘移动与躯干姿态协调控制失败。没有足以区分握持几何、接触负载与跟踪动力学的证据，逆解返回成功也不证明持物接触方案动态可行，根因保留为控制而不强选子类。"
+   }
+  ],
+  "gap_zh": "没有状态日志；灰尘在原始头部视图中很小且部分地板被工具、床及机体遮挡，无法逐粒核实清除了多少，终态由唯一目标的 q_score=0 辅助确定。已检查成功参考视频 0–119.5 s，但参考不提供本次的灰尘数量。视频未直接显示吸尘器与椅子的阻挡接触，agent 在 log step 85、129 自述的“被椅子卡住”不另作碰撞现象；也无法确定翻倒的具体支撑接触或力矩。现场控制时钟校核：log step 110 的 8843 个控制步 / 30 Hz = 视频约 294.77 s，对应所查视频 294.5–295 s 的失衡姿态；log step 126 的 9105 步 / 30 Hz = 视频 303.5 s，与片尾一致，未使用 agent 工作时间换算视频时间。 对视频 238、250、262、266、268 s 和 log steps 88、94、95 的复核支持工具姿态失败，但未见可确认的工具相对夹爪滑移；主动张开夹爪不算意外脱手。无法由现有画面和关节读数确定具体抓取几何或轨迹/逆解子类，也未验证替代持握方案；因此未采用抓取和接触设计标签及其 alt_feasible 字段。"
+ },
+ "summary_zh": "机器人拿住吸尘器、操作开关并在床边做了局部清洁尝试，但唯一的卧室地面除尘节点始终未达到，终态为 0/1（q_score=0）。视频 238–262 s 工具持续倾斜，抬高动作的现场关节读数偏离命令，随后工具被主动放下；视频约 293.5 s 机器人在重取工具时失衡，恢复未成功，日志支持持工具姿态控制及底盘与前俯躯干的协调控制失败。没有状态日志，残尘无法逐粒核验，持工具失败的具体控制子类也未证实，故 conf 从 8 降至 7；本次 task_text 与成功参考均采用目标即时成立规则，按 P19 不追加 DAG 当前版本的静止窗口。",
+ "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（未达成）、时钟换算与断点节点都成立。主要问题：失败原因只标了摔倒，漏掉更早的吸尘器被握歪、倾斜后被放下这一步；摔倒是评分器的终止事件（S14/S15），不宜单独作为唯一现象和根因。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成、时钟换算（9105 步/30 Hz=303.5 s）、断点、位姿不准+平衡现象与控制根因均有帧和日志支持，第一轮意见已处理，未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
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+  "effort": "high",
+  "created": "2026-10-30T22:31:46Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
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+  "calls": [
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+    "ok": true,
+    "space": "work/runs/behavior-vacuuming-floors-i00-standard--musn7cb/03_label"
+   },
+   {
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+    "ok": true,
+    "space": "work/runs/behavior-vacuuming-floors-i00-standard--musn7cb/04_review_r1"
+   },
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+    "ok": true,
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+   },
+   {
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+    "ok": true,
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+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
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+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}
diff --git a/phase2/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-standard--nazwemh.json b/phase2/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-standard--nazwemh.json
new file mode 100644
index 0000000000000000000000000000000000000000..da065adae985c45a2cc555e85f51b13a7c0dee51
--- /dev/null
+++ b/phase2/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-standard--nazwemh.json
@@ -0,0 +1,221 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "behavior-vacuuming-floors-i00-standard--nazwemh",
+ "taskKey": "behavior-1k/vacuuming_floors",
+ "dag_sha256": "97df99877ae169af1d0573899715f7b770d769abc97a3fac3b3c73ec5effede5",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
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+   "replay_success": 0,
+   "deterministic": 1,
+   "live_matches_replay": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 2650,
+   "sim_steps": 2650,
+   "physics_steps": 10600,
+   "steps": 2599,
+   "elapsed_s": 2576.0,
+   "video_rendered": 1,
+   "gpu_lost": 0,
+   "replay_error": 0,
+   "instance_ok": 1,
+   "task_failure": 1,
+   "q_score": 0.0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "resource_emergency_kills": 0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "hf",
+  "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/behavior-vacuuming-floors-i00-standard--nazwemh/replay.mp4",
+  "duration_s": 88.333,
+  "fps": 30.0,
+  "frames": 2650,
+  "sha256": "b0e737f4110942e3d3ab66baae8e65319ef9c305179d1f0a285ba929ed83f336"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "bedroom_floor_clean": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s，吸尘器直立在床与白色床头柜旁，木地板上可见深色小颗粒；视频 12.6–15.4 s 的腕部视图仍可见地面颗粒。初始并非已完成的清洁状态。"
+     },
+     {
+      "t": 13.0,
+      "log_step": 159,
+      "text_zh": "观察：视频 12.0–15.4 s，机器人夹爪张合，吸尘器仍直立在床头柜旁，没有随夹爪抬起；视频 16.0–18.0 s 机器人转动后，工具仍在原位置。log step 159、171 是两次抓取命令及反馈，不能据末端接近目标的数值认定已抓住。"
+     },
+     {
+      "t": 19.0,
+      "log_step": 183,
+      "text_zh": "观察：视频 18.5–20.0 s，机器人机体前进贴近吸尘器，工具被推斜；视频 24.5–25.0 s 工具继续倾倒，后续多段画面显示机器人空手移动并反复倾斜，未出现稳定持吸尘器覆盖全地面的过程。"
+     },
+     {
+      "t": 88.3,
+      "log_step": 236,
+      "text_zh": "推断：评分器 q_score=0.0，唯一目标是初始不成立的地面无尘，因此该节点终值必为 false；并非用零分推断未尝试。log step 236 的现场服务终态为 done=True、reason=\"failure: the robot fell over\"，与视频 88.3 s 的倾倒终帧一致；单局服务在目标成立时即结束，结合全片未见清完，未标任何达成区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "底盘",
+      "how": "支撑",
+      "note_zh": "观察：视频 0.0–88.3 s，机器人以轮式底盘在木地板上移动、接近工具及尝试推动清洁；后段多次失去正常支撑而倾倒。"
+     },
+     {
+      "who": "底盘",
+      "how": "推/扫",
+      "note_zh": "推断：视频 18.5–20.0 s、24.5–25.0 s，机器人空手向吸尘器推进时，吸尘器被推斜、倾倒；结合 log step 183、189 的底盘推动命令，属于底盘推工具，没有证据认定为手持工具吸除灰尘。"
+     },
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频 12.0–15.4 s 有夹爪接近与闭合动作，但夹爪与吸尘器杆的接触区域被手腕相机外壳或画面边缘遮住；工具未被拿起，无法确定是否有短暂擦碰，不记为抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "q_score",
+   "value": 0.0,
+   "unit": "比例",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bedroom_floor_clean",
+   "t": 13.0,
+   "log_step": 159,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 13.0 s，机器人为除尘抓取吸尘器，夹爪闭合后工具仍留在原处；视频 14.8–16.0 s 的再次尝试也未拿起工具。随后机器人改用底盘推动工具与在地面往返，清洁步骤始终未完成，视频约 78.0 s 后持续倾倒，直到视频 88.3 s；log step 236 的服务终态明确为机器人跌倒失败。"
+  },
+  "unmet": {
+   "bedroom_floor_clean": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 13.0,
+    "log_step": 159,
+    "evidence_zh": "观察：视频 12.6–15.4 s，夹爪闭合时没有把吸尘器杆夹持带走，吸尘器仍直立在床头柜旁；视频 16.0–18.0 s 的后续视图确认工具未随手移动。这里缺少的是搬动工具所需的夹持接触，不能把可能的短暂擦碰称为抓握，也没有先抓住再滑落的证据。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "观察：inputs/ 无状态日志。视频的头部和腕部视图存在机体遮挡，不能逐粒确认剩余灰尘数量，也不能确认夹爪是否曾短暂擦到吸尘器杆；log step 159、171 记录两次闭爪及夹爪开度接近零，但没有夹持成功或接触力读数；视频 12.0–16.0 s 未见吸尘器被带起。抓取失败的原因无法由这些视频和日志判定，不能确认具体的夹爪轴向、夹持几何或跟踪问题，因此 root_causes 留空；log step 232 的倾斜警告只涉及后段底盘导航，不能解释视频约 13.0 s 的抓取失败。最终清洁值由唯一目标的 q_score 与现场终态共同限定，未将 agent 对碰撞物或夹爪轴向的解释直接当作事实。推断：日志为单次现场 episode（resumes=0），log step 32 给出控制频率 30 Hz，log step 236 的 2650 控制步对应视频 2650/30=88.333 s；log step 104 的仿真 6.1 s 恢复与视频约 6.0–6.5 s 的姿态变化核对一致，使用的是现场控制/仿真时钟，不是 agent 工作时间。"
+ },
+ "summary_zh": "机器人尝试抓取吸尘器但未形成夹持，随后用底盘推移工具并在房间内往返，卧室地面除尘始终未完成，最终为 0/1；后段持续倾倒，log step 236 确认服务以跌倒失败结束本局。夹爪接触细节和残尘数量受遮挡限制，抓取失败根因无法判定，因此根因留空，置信度由 8 降为 6。该次运行的 task_text 与现场服务按目标一成立即结束的旧规则运行，不能据此验证 DAG 当前新增的连续 30 控制步窗口；本次唯一清洁目标本身未达成。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "断点（抓取吸尘器未成功，约视频 13 s）与节点 false 可接受；但 phenomena[1] 平衡与 root_causes[0] 反馈控制解释的是评分器终局规则（跌倒），不是断点处的失败，且根因证据不足以说明抓取为何失败。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点 false（q_score=0、视频全程未见持吸尘器清尘）、断点（约 13 s 抓取吸尘器未成功）、单一现象“没建立接触”、根因留空并有 gap_zh，均与视频和 log 一致；上一轮问题（平衡现象、反馈控制根因）已删除。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": "2026-10-30T22:31:11Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/behavior-vacuuming-floors-i00-standard--nazwemh/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-vacuuming-floors-i00-standard--nazwemh/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/behavior-vacuuming-floors-i00-standard--nazwemh/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/behavior-vacuuming-floors-i00-standard--nazwemh/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f0a9c545652dac0dd837e9208a1c4dd54210a04f6d4ba90495e13b9f35645ac1",
+   "video_sha256": "b0e737f4110942e3d3ab66baae8e65319ef9c305179d1f0a285ba929ed83f336",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4"
+  }
+ }
+}